CN110955234A - Track robot inspection system for charging station and application method thereof - Google Patents
Track robot inspection system for charging station and application method thereof Download PDFInfo
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- CN110955234A CN110955234A CN201811116575.4A CN201811116575A CN110955234A CN 110955234 A CN110955234 A CN 110955234A CN 201811116575 A CN201811116575 A CN 201811116575A CN 110955234 A CN110955234 A CN 110955234A
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- 230000007246 mechanism Effects 0.000 claims abstract description 42
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- 230000003028 elevating effect Effects 0.000 claims abstract 3
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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Abstract
The invention discloses a track robot inspection system for a charging station and a use method thereof, wherein the system comprises a robot for inspecting a charging pile and a track; the track setting just closed ring in a plurality of tops of filling electric pile in the charging station, the track includes: the robot comprises a track body and two convex edges which are respectively arranged on two sides of the track body and used for mounting a robot, wherein the track body is of a cavity structure with a lower opening, and a synchronous belt and a sliding contact line are arranged on the inner wall of the track body; the robot is driven to follow the track removes in order to be used for detecting each state of filling electric pile, and the robot includes the robot body, install preceding ultrasonic sensor and back ultrasonic sensor on the robot body, be used for driving the robot body along the actuating mechanism of track body removal, elevating system, set up the cloud platform below elevating system, set up touch screen mechanism below the cloud platform and set up the camera below the cloud platform, and this method has the main function of automatic electric pile of filling to the charging station patrols and examines.
Description
Technical Field
The invention belongs to the technical field of charging piles, and particularly relates to a track robot inspection system for a charging station and a using method of the track robot inspection system.
Background
Charging pile is a power equipment for charging electric automobile, generally install in the charging station, be used for supplying electric automobile centralized power supply, quantity along with electric automobile constantly increases, the quantity of charging pile also constantly increases, and charging pile can normally work and play crucial effect to electric automobile's use, so whether normal work of charging pile is more and more important in the use in the detection, the method of charging pile is adopted the mode of artifical patrolling and examining to detect at present, arrive the scene through the measurement personnel, a series of operations such as operation charging pile touch-sensitive screen, judge whether to charge the work of electric pile normal, then inform maintenance personal to maintain, because charging pile in the charging station is numerous, the distribution is more dispersed, cause measurement personnel's the work of patrolling and examining to be heavier.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a track robot inspection system for a charging station, which has the main functional advantage of automatically inspecting a charging pile of the charging station.
Another object of the present invention is to provide a method for using a track robot inspection system for a charging station.
The invention is realized by the following technical scheme:
a track robot inspection system for a charging station is provided with a plurality of charging piles, a touch screen is arranged on each charging pile and used for displaying the working state of the charging pile, and comprises a robot and a track, wherein the robot is used for inspecting the charging piles;
the track setting in the charging station and closed ring in a plurality of fill electric pile's top, the track include: the robot comprises a track body and two convex edges which are respectively arranged on two sides of the track body and used for mounting the robot, wherein the track body is of a cavity structure with a lower opening, and a synchronous belt and a sliding contact line are arranged on the inner wall of the track body;
the robot is driven to move along the track so as to be used for detecting the state of each charging pile, and comprises a robot body, a front ultrasonic sensor and a rear ultrasonic sensor which are arranged on the robot body, a driving mechanism used for driving the robot body to move along the track body, a lifting mechanism arranged below the robot body, a cradle head arranged below the lifting mechanism, a touch screen mechanism arranged below the cradle head and used for operating the charging piles, and a camera arranged below the cradle head;
the top end of the robot body is provided with a plurality of supporting plates which are respectively used for limiting the two convex edges;
the driving mechanism comprises a stepping servo motor, a speed reducer, a gear and a guide wheel which are connected, wherein an output shaft of the stepping servo motor is connected with an input shaft of the speed reducer, an output shaft of the speed reducer is connected with the gear, the gear is meshed and installed on the synchronous belt to be used for driving the robot body to move along the synchronous belt, and the guide wheel is arranged on the outer wall of the track body and movably connected with the supporting plate to limit the moving track of the robot body along the track body;
the lifting mechanism is used for driving the holder to move up and down and adjusting the height of the camera and the touch screen mechanism relative to the display screen of the charging pile.
In the above technical solution, the lifting mechanism includes a first telescopic rod, the upper end of the first telescopic rod is connected with the robot body, and the lower end of the first telescopic rod is installed on the holder.
In the above technical scheme, touch screen mechanism include rotating electrical machines, pinion rack, drive gear, second telescopic link, spring buffer, contact and proximity sensor, wherein, the stiff end setting of second telescopic link be in the cloud platform on, the removal end of second telescopic link install the pinion rack, the pinion rack on install drive gear, rotating electrical machines with drive gear connect, drive gear with the contact between be provided with spring buffer for the touching fill electric pile's display screen, the contact on be provided with proximity sensor for detect the contact with the display screen between the distance.
In the above technical scheme, one end of the supporting plate is installed at the top end of the robot body, and the other end of the supporting plate is provided with a protrusion, wherein the protrusion and the robot body are provided with a groove for limiting the convex edge between the protrusion and the robot body.
In the technical scheme, the robot body is provided with a power supply module for supplying power, and the power supply module is connected with the sliding contact line.
In the above technical solution, the track body is provided with a travel zero point contact switch for positioning an initial position of the robot body on the track body.
In the above technical solution, the first telescopic rod is provided with a traveling lifting zero point contact switch for limiting the initial position of the first telescopic rod.
In the technical scheme, the robot body is provided with a three-color indicator lamp for indicating different working states of the robot body.
In the above technical solution, the trolley line include sheath, conductor and current collector, the sheath install a side of the inner wall of the track body on, the current collector set up the robot body the upper end and install another side of the inner wall of the track body on, wherein, current collector, sheath all set up the top of gear, wherein, the sheath with power module connect.
A use method of a track robot inspection system for a charging station, comprising the steps of:
1) the robot is arranged on a travel zero point contact switch and moves to the position of the charging pile to be detected along the track body;
2) acquiring image information of the charging pile, and judging whether the charging pile is in a standby state;
3) when the charging pile is in a standby state, the touch screen mechanism executes touch screen action; when the charging pile is in a charging state, the robot moves to the position of the next charging pile or waits until the charging of the current charging pile is finished until the current charging pile is in a standby state, and then touch screen action is executed;
4) collecting images and judging whether to enter a working interface;
5) after entering the working interface, the touch screen mechanism executes the action of clicking the button and executes the step 6); when the charging pile does not enter the working interface, performing touch screen action again and the step 4), continuously performing touch screen action for three times, determining that the charging pile fails, and notifying a worker to maintain;
6) collecting state information of a charging pile;
7) whether normal charging pile is judged, when the charging pile is in a normal state, the robot moves to the next charging pile to be detected to detect, and when the charging pile is in an abnormal state, the robot informs workers to maintain.
The invention has the advantages and beneficial effects that:
the track robot inspection system for the charging station is matched with a robot, a track, a camera and a touch screen device, can automatically detect the state of a charging pile in the charging station and determine whether the charging pile can normally work, avoids a large amount of workload caused by manual inspection, reduces labor cost, and is simple in structure and convenient to use.
Drawings
FIG. 1 is a schematic diagram of the configuration of a track robot inspection system for a charging station according to the present invention;
FIG. 2 is a schematic diagram of a robot structure of a track robot inspection system for a charging station according to the present invention;
FIG. 3 is a schematic diagram of a driving mechanism of the inspection system for the track robot of the charging station according to the present invention;
FIG. 4 is a workflow diagram of a method of use of the present invention for a track robot inspection system for charging stations;
fig. 5 is a schematic diagram of the connection of a microcontroller of a track robot inspection system for a charging station according to the present invention.
Wherein:
1: track, 1-1: track body, 1-2: convex edge, 1-3: synchronous belt, 1-4: trolley line, 1-4-1: sheath, 1-4-2: conductor, 1-4-3: current collector, 2: robot, 2-1: robot body, 2-2: drive mechanism, 2-2-1: step servo motor, 2-2-2: reducer, 2-2-3: gear, 2-2-4: guide wheel, 2-3: lifting mechanism, 2-4: tripod head, 2-5: touch screen mechanism, 2-5-1: rotating electrical machine, 2-5-3: a second telescopic rod, 2-5-4: spring buffer device, 2-5-5: contact, 2-5-6: toothed plate, 2-6: camera, 2-7: support plate, 3: power module, a: fill electric pile, B: a support plate, C: a microcontroller.
For a person skilled in the art, other relevant figures can be obtained from the above figures without inventive effort.
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the technical solution of the present invention is further described below with reference to specific drawings 1 to 5 and examples.
Example 1
A track robot inspection system for a charging station is provided with a plurality of charging piles, a touch screen is arranged on each charging pile and used for displaying the working state of the charging pile, and comprises a robot 2 and a track 1, wherein the robot 2 is used for inspecting the charging piles;
the robot 2 is driven to move along the track 1 so as to detect the state of each charging pile, the robot 2 comprises a robot body 2-1, a front ultrasonic sensor and a rear ultrasonic sensor which are arranged on the robot body 2-1, a driving mechanism 2-2 for driving the robot body 2-1 to move along the track body 1-1, a lifting mechanism 2-3 arranged below the robot body 2-1, a cradle head 2-4 arranged below the lifting mechanism 2-3, a touch screen mechanism 2-5 arranged below the cradle head 2-4 and used for operating the charging pile and a camera 2-6 arranged below the cradle head 2-4, wherein the front ultrasonic sensor and the rear ultrasonic sensor are ultrasonic obstacle avoidance sensors, the farthest detection distance is 5m, and the detection area is a front sector area, when an obstacle exists in a detection area, a signal of the obstacle is sent, a front ultrasonic sensor detects whether the obstacle exists in the advancing direction of the robot, if the obstacle exists, the robot decelerates and stops moving, a rear ultrasonic sensor detects whether the obstacle exists in the rear direction of the robot, and when the obstacle exists in the detection area when the robot walks backwards, the robot decelerates and stops to be used for avoiding the obstacle in time;
the top end of the robot body 2-1 is provided with a plurality of supporting plates 2-7 which are respectively used for limiting the two convex edges 1-2, wherein the robot body 2-1 is arranged on the convex edges 1-2 through the supporting plates 2-7 and is used for moving along a track;
the driving mechanism 2-2 comprises a stepping servo motor 2-2-1, a speed reducer 2-2-2, a gear 2-2-3 and a guide wheel 2-2-4 which are connected, an output shaft of the stepping servo motor 2-2-1 is connected with an input shaft of the speed reducer 2-2-2, an output shaft of the speed reducer 2-2-2 is connected with the gear 2-2-3, the gear 2-2-3 is meshed and installed on a synchronous belt 1-3 to drive the robot body 2-1 to move along the synchronous belt 1-3, the guide wheel 2-2-4 is arranged on the outer wall of the track body 1-1 and is movably connected with a support plate 2-7 to limit the moving track of the robot body 2-1 along the track body 1-1, the supporting plate is provided with a groove corresponding to the guide wheel for limiting the guide wheel in the groove, so that the situation that the robot body 2-1 jumps up and down or swings left and right in the running process can be effectively avoided, and the robot body 2-1 runs stably;
the lifting mechanism 2-3 is used for driving the holder 2-4 to move up and down and is used for adjusting the height of the camera 2-6 and the touch screen mechanism 2-5 relative to a display screen of the charging pile.
The track robot inspection system for the charging station is matched with the robot, the track, the cameras 2-6 and the touch screen device, can automatically detect the state of the charging pile in the charging station and determine whether the charging pile can normally work, avoids a large amount of workload caused by manual inspection, reduces labor cost, and is simple in structure and convenient to use.
Furthermore, one end of the supporting plate 2-7 is installed at the top end of the robot body 2-1, the other end of the supporting plate is provided with a protrusion, a groove for limiting the convex edge 1-2 is formed between the protrusion and the robot body 2-1, the robot body can be guaranteed to move along the track body 1-1 all the time, and the robot body 2-1 can be effectively limited on the track body 1-1.
Further, a power module 3 for supplying power is arranged on the robot body 2-1, the power module 3 is connected with the trolley line 1-4, the power module 3 supplies power for the system, is directly connected with the mains supply 220V, and converts the mains supply voltage into levels of 24V, 12V, 5V and 3.3V for use.
Further, a zero-point travel contact switch is arranged on the track body 1-1 and used for positioning the initial position of the robot body 2-1 on the track body 1-1, the zero-point travel contact switch is a mechanical position contact switch and used for confirming the zero-point position of the robot body 2-1 on the track, after the robot body 2-1 receives a zero-point travel command, the robot body 2-1 moves in a reverse travel direction until the zero-point travel contact switch is touched, and the position of the zero-point travel contact switch is the zero-point position of the robot body 2-1 in the travel direction.
Further, a walking lifting zero point contact switch is arranged on the first telescopic rod and used for limiting the initial position of the first telescopic rod, the walking lifting zero point contact switch is a mechanical position touch switch and used for confirming the zero point position of the first telescopic rod in the vertical direction, after the robot body 2-1 receives a lifting zero point returning instruction, the first telescopic rod moves upwards until the walking lifting zero point contact switch is touched, and the walking lifting zero point contact switch is the zero point position of the lifting direction.
Further, the robot body 2-1 is provided with a three-color indicator light for indicating different working states of the robot body 2-1, when the robot fails, the three-color indicator light displays red, when the robot is in a normal working state, the three-color indicator light displays green, and when the robot is in a self-checking state, red, green and blue polling is flashing, so that the robot is convenient to use.
Preferably, a robot control center (MCU) is arranged on the robot and connected with an industrial personal computer, a microcontroller is arranged in the control center, the microcontroller is a Harvard structure microcontroller with a clock frequency of 72MHZ and used for controlling the robot to act, the microcontroller is connected with a power module 3, and the power module 3 supplies power to the microcontroller, wherein a buzzer is arranged on the robot and is a 24V piezoelectric buzzer and connected with the microcontroller in order to find out that the robot breaks down in time;
the control center is in communication connection with the upper computer and is in serial communication through RS232 so that the robot can complete command actions and tasks sent by the industrial personal computer;
the serial port 1 of the microcontroller sends various motion instructions and tasks to the robot, and receives the working state of the robot and the inspection result of the charging pile through the serial port 1; the serial port 2 of the microcontroller controls the movement of the stepping servo motor so as to control the movement of the robot; the serial port 3 of the microcontroller controls the lifting mechanisms 2-3 to act, and further controls the lifting stepping servo motor of the lifter to work so as to control the lifting work of the robot.
Example 2
The lifting mechanism 2-3 comprises a first telescopic rod, the upper end of the first telescopic rod is connected with the robot body 2-1, the lower end of the first telescopic rod is installed on the cloud deck 2-4 and used for driving the cloud deck to move up and down, and the first telescopic rod can be a motor telescopic rod.
Example 3
The touch screen mechanism 2-5 comprises a rotating motor 2-5-1, a toothed plate 2-5-6, a transmission gear, a second telescopic rod 2-5-3, a spring buffer device 2-5-4, a contact 2-5-5 and a proximity sensor, wherein the fixed end of the second telescopic rod 2-5-3 is arranged on the cradle head 2-4, the movable end of the second telescopic rod 2-5-3 is provided with the toothed plate 2-5-6, the toothed plate 2-5-6 is provided with the transmission gear, the rotating motor 2-5-1 is connected with the transmission gear, the spring buffer device 2-5-4 is arranged between the transmission gear and the contact 2-5-5 and used for touching a display screen of the charging pile, and the contact 2-5-5 is provided with the proximity sensor, the distance detection device is used for detecting the distance between the contact 2-5-5 and the display screen; the spring buffer device 2-5-4 can effectively prevent the display screen from being damaged due to overlarge impact force when the contact 2-5-5 touches the display screen, the spring buffer device 2-5-4 can adopt a spring strip, and the second telescopic rod 2-5-3 can adopt a motor telescopic rod.
The specific implementation mode is as follows: the robot body 2-1 reaches the position of a charging pile to be detected, photographing is carried out firstly to check information of a display screen of the charging pile, the information is transmitted to a microcontroller, whether the charging pile is in a standby state or not is judged through the information of the display screen, if the charging pile is in the standby state, touch screen mechanisms 2-5 conduct touch screen action to enable the display screen of the charging pile to enter a working interface, a state image of the display screen at the moment is transmitted to the microcontroller through cameras 2-6, whether the charging pile enters the working interface or not is judged, it is confirmed that the charging pile enters the working interface, the touch screen mechanisms 2-5 move to corresponding button positions, click button action is executed, after clicking is completed, whether the display screen correctly enters the working interface or not is judged through the image information, and whether the.
Example 4
The trolley conductor 1-4 comprises a sheath 1-4-1, a conductor 1-4-2 and a current collector 1-4-3, the sheath 1-4-1 is arranged on one side surface of the inner wall of the track body 1-1, the current collector 1-4-3 is arranged at the upper end of the robot body 2-1 and is arranged on the other side surface of the inner wall of the track body 1-1, wherein the current collector 1-4-3 and the sheath 1-4-1 are both arranged above the gear 2-2-3, the sheath 1-4-1 is connected with the power module 3, the current collector 1-4-3 is arranged at the upper end of the speed reducer 2-2-2 through a support plate, the support plate is of an L-shaped structure, an output shaft of the speed reducer 2-2-2 penetrates through the bottom surface of the support plate and is connected with the gear, the current collectors 1-4-3 are arranged on the side faces of the support plates, wherein the bottom faces of the support plates are arranged on the robot body 2-1 at the groove positions, power is supplied to the robot in the process of moving on the track, and the robot is safe and convenient to use.
Example 5
A use method of a track robot inspection system for a charging station, comprising the steps of:
1) arranging the robot 2 on a travel zero point contact switch, and moving the robot to the position of the charging pile to be detected along the track body 1-1;
2) acquiring image information of the charging pile, and judging whether the charging pile is in a standby state;
3) when the charging pile is in a standby state, the touch screen mechanism 2-5 executes a touch screen action; when the charging pile is in a charging state, the robot 2 moves to the position of the next charging pile or waits until the charging of the current charging pile is finished until the current charging pile is in a standby state, and then performs touch screen action;
4) collecting images and judging whether to enter a working interface;
5) after entering the working interface, the touch screen mechanisms 2-5 execute button clicking actions, when the charging pile does not enter the working interface, the touch screen actions are executed again, operation step 4) is carried out, the touch screen actions are continuously executed for three times, the charging pile still does not enter the working interface, the current charging pile is determined to have faults, the information is transmitted to the microcontroller, the microcontroller transmits the information to the industrial personal computer, the information is recorded, and a worker maintains the current charging pile according to the information;
6) collecting state information of a charging pile;
7) whether normal charging pile is charged in the judgement, when charging pile is normal state, the robot removes to next electric pile that fills that awaits measuring and detects, when charging pile is fault condition, transmits this information to microcontroller, and microcontroller transmits this information to the industrial computer to record this information, the staff maintains current electric pile that fills according to this information.
Spatially relative terms, such as "upper," "lower," "left," "right," and the like, may be used in the embodiments for ease of description to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatial terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "lower" can encompass both an upper and a lower orientation. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Moreover, relational terms such as "first" and "second," and the like, may be used solely to distinguish one element from another element having the same name, without necessarily requiring or implying any actual such relationship or order between such elements.
The invention has been described in an illustrative manner, and it is to be understood that any simple variations, modifications or other equivalent changes which can be made by one skilled in the art without departing from the spirit of the invention fall within the scope of the invention.
Claims (10)
1. A track robot inspection system for a charging station is provided with a plurality of charging piles, a touch screen is arranged on each charging pile and used for displaying the working state of the charging pile, and is characterized by comprising a robot (2) and a track (1) which are used for inspecting the charging piles;
the track (1) is arranged in the charging station and is closely surrounded above a plurality of charging piles, and the track (1) comprises: the robot comprises a track body (1-1) and two convex edges (1-2) which are respectively arranged on two sides of the track body (1-1) and used for mounting a robot (2), wherein the track body (1-1) is of a cavity structure with a lower opening, and a synchronous belt (1-3) and a sliding contact line (1-4) are arranged on the inner wall of the track body (1-1);
the robot (2) is driven to move along the track (1) for detecting the state of each charging pile, the robot (2) comprises a robot body (2-1), a front ultrasonic sensor and a rear ultrasonic sensor which are arranged on the robot body (2-1), a driving mechanism (2-2) for driving the robot body (2-1) to move along the track body (1-1), a lifting mechanism (2-3) arranged below the robot body (2-1), a cradle head (2-4) arranged below the lifting mechanism (2-3), a touch screen mechanism (2-5) arranged below the cradle head (2-4) and used for operating the charging pile, and a camera (2-6) arranged below the cradle head (2-4);
the top end of the robot body (2-1) is provided with a plurality of supporting plates (2-7) which are respectively used for limiting the two convex edges (1-2);
the driving mechanism (2-2) comprises a stepping servo motor (2-2-1), a speed reducer (2-2-2), a gear (2-2-3) and a guide wheel (2-2-4) which are connected, an output shaft of the stepping servo motor (2-2-1) is connected with an input shaft of the speed reducer (2-2-2), an output shaft of the speed reducer (2-2-2) is connected with the gear (2-2-3), the gear (2-2-3) is meshed and mounted on the synchronous belt (1-3) to drive the robot body (2-1) to move along the synchronous belt (1-3), and the guide wheel (2-2-4) is arranged on the outer wall of the track body (1-1) and is connected with the supporting plate (2-2-3) 2-7) is movably connected and used for limiting the moving track of the robot body (2-1) moving along the track body (1-1);
the lifting mechanism (2-3) is used for driving the cloud deck (2-4) to move up and down and adjusting the height of the camera (2-6) and the touch screen mechanism (2-5) relative to the display screen of the charging pile.
2. The orbital robot inspection system for the charging station according to claim 1, wherein the elevating mechanism (2-3) comprises a first telescopic rod, an upper end of the first telescopic rod is connected with the robot body (2-1), and a lower end of the first telescopic rod is mounted on the pan/tilt head (2-4).
3. The track robot inspection system for the charging station according to claim 1, wherein the touch screen mechanism (2-5) comprises a rotating motor (2-5-1), a toothed plate (2-5-6), a transmission gear, a second telescopic rod (2-5-3), a spring buffer device (2-5-4), a contact (2-5-5) and a proximity sensor, wherein a fixed end of the second telescopic rod (2-5-3) is arranged on the cloud deck (2-4), a moving end of the second telescopic rod (2-5-3) is provided with the toothed plate (2-5-6), the transmission gear is arranged on the toothed plate (2-5-6), and the rotating motor (2-5-1) is connected with the transmission gear, the spring buffer device (2-5-4) is arranged between the transmission gear and the contact (2-5-5) and used for touching a display screen of the charging pile, and the proximity sensor is arranged on the contact (2-5-5) and used for detecting the distance between the contact (2-5-5) and the display screen.
4. The orbital robot inspection system for the charging station according to claim 1, wherein one end of the support plate (2-7) is mounted on the top end of the robot body (2-1), and the other end is provided with a protrusion, wherein a groove for limiting the convex edge (1-2) is formed between the protrusion and the robot body (2-1).
5. The system for inspecting the track robot of the charging station according to the claim 1, characterized in that the robot body (2-1) is provided with a power module (3) for supplying power, and the power module (3) is connected with the trolley line (1-4).
6. The system for inspecting a track robot of a charging station according to claim 1, characterized in that the track body (1-1) is provided with a zero-point contact switch for positioning the starting position of the robot body (2-1) on the track body (1-1).
7. The orbital robot inspection system for charging stations of claim 1, wherein the first telescoping rod is provided with a travel lifting zero point contact switch for limiting the starting position of the first telescoping rod.
8. The orbital robot inspection system for the charging station according to claim 1, wherein the robot body (2-1) is provided with a three-color indicator light for indicating different working states of the robot body (2-1).
9. The orbital robot inspection system for the charging station according to claim 1, wherein the trolley wire (1-4) includes a sheath (1-4-1), a conductor (1-4-2) and a current collector (1-4-3), the sheath (1-4-1) is installed on one side of the inner wall of the orbital body (1-1), the current collector (1-4-3) is installed on the upper end of the robot body (2-1) and on the other side of the inner wall of the orbital body (1-1), wherein the current collector (1-4-3) and the sheath (1-4-1) are both installed above the gear (2-2-3), wherein, the sheath (1-4-1) is connected with the power module (3).
10. The use of the orbital robot inspection system for the charging station according to any one of claims 1 to 9, characterized by comprising the steps of:
1) the robot (2) is arranged on a travel zero point contact switch and moves to the position of the charging pile to be detected along the track body (1-1);
2) acquiring image information of the charging pile, and judging whether the charging pile is in a standby state;
3) when the charging pile is in a standby state, a touch screen mechanism (2-5) executes a touch screen action; when the charging pile is in a charging state, the robot (2) moves to the position of the next charging pile or waits until the charging of the current charging pile is finished until the current charging pile is in a standby state, and then performs a touch action;
4) collecting images and judging whether to enter a working interface;
5) after entering the working interface, the touch screen mechanism (2-5) executes a button clicking action and executes the step 6); when the charging pile does not enter the working interface, performing touch screen action again and the step 4), continuously performing touch screen action for three times, determining that the charging pile fails, and notifying a worker to maintain;
6) collecting state information of a charging pile;
7) whether normal charging pile is judged, when the charging pile is in a normal state, the robot (1) moves to the next charging pile to be detected to detect, and when the charging pile is in an abnormal state, the robot informs a worker to maintain.
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| CN111474941A (en) * | 2020-05-08 | 2020-07-31 | 唐山威程科技有限公司 | Track inspection robot |
| CN111629180A (en) * | 2020-05-13 | 2020-09-04 | 国网天津市电力公司 | Inspection system for electric vehicle charging station and inspection method thereof |
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