CN111030246A - Charging device and charging method for inspection robot of transformer substation - Google Patents
Charging device and charging method for inspection robot of transformer substation Download PDFInfo
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- CN111030246A CN111030246A CN201911392184.XA CN201911392184A CN111030246A CN 111030246 A CN111030246 A CN 111030246A CN 201911392184 A CN201911392184 A CN 201911392184A CN 111030246 A CN111030246 A CN 111030246A
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- 238000007689 inspection Methods 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000001514 detection method Methods 0.000 claims abstract description 22
- 230000006854 communication Effects 0.000 claims abstract description 8
- 238000004891 communication Methods 0.000 claims abstract description 8
- 230000003993 interaction Effects 0.000 claims abstract description 7
- 230000007175 bidirectional communication Effects 0.000 claims abstract description 4
- 238000012544 monitoring process Methods 0.000 claims description 20
- 230000000903 blocking effect Effects 0.000 claims description 9
- 238000001816 cooling Methods 0.000 claims description 6
- 238000010438 heat treatment Methods 0.000 claims description 6
- 239000004973 liquid crystal related substance Substances 0.000 claims description 6
- 238000013461 design Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- 239000011159 matrix material Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
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- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Multimedia (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a charging device and a charging method for a transformer substation inspection robot, which belong to the technical field of transformer substations and comprise a charging chamber body, wherein the charging chamber body is internally provided with a charging device, a charging navigation positioning device and an automatic door system, the charging navigation positioning device and the charging device are matched to supply power to the robot entering the charging chamber, and the automatic door system comprises a door body opening and closing state detection module, a robot sensing module and an automatic door driving module; the door body opening and closing state detection module is used for detecting the opening state of the automatic door, the robot sensing module is a bidirectional communication interaction module, and the robot sensing module is in communication connection with a robot system and used for detecting whether the robot is close to the automatic door or not. The substation inspection robot charging device and the charging method have the advantages of simple structure, reasonable design, safety and reliability, and can ensure normal charging operation while preventing the robot from malfunctioning.
Description
Technical Field
The invention relates to a charging device and a charging method for a transformer substation inspection robot, and belongs to the technical field of transformer substations.
Background
With the development of robotics, more and more robots are appearing in the robot product market, and are beginning to be gradually noticed and accepted by people.
The transformer substation inspection robot is based on a trackless navigation technology and a motion four-wheel drive chassis, integrates various high-tech technologies into a whole, completes tasks such as infrared temperature monitoring, image recognition of instrument oil level, noise monitoring of a transformer and a reactor and the like on high-voltage equipment in an unattended environment in an autonomous or remote control mode, and replaces manual work for completing complex, difficult, dangerous and repetitive work in inspection.
In order to ensure that the robot has good cruising ability, the robot is usually powered by a storage battery so as to be repeatedly charged by a charging base matched with the robot, thereby realizing the cyclic cruising ability of the robot.
However, most robots in the prior art rely on manual operation for charging, which easily causes the problems of untimely charging and the like, and also increases the trouble of user use, thereby affecting the use experience. Therefore, how to recognize the orientation of the charging device by a simple technique to automatically charge the robot is a problem to be solved.
At present, the autonomous charging technology of the substation inspection robot is designed according to a navigation positioning technology, and the existing navigation positioning technology mostly adopts rail type navigation positioning, namely the inspection robot reaches a specified operation position according to a track laid in advance.
However, the track type inspection robot navigation and positioning technology needs to lay a track in advance, which brings a large amount of infrastructure construction work, and meanwhile, the track mostly adopts a magnetic point type track, which is often easy to fail, and leads to the derailment of the robot.
Simultaneously the transformer substation robot need charge in the charging chamber, just can patrol after charging, the room door is by motor drive switch, patrol and examine the robot and connect and charge on the electric pile that fills in the charging chamber.
In order to ensure the safety of the robot in the charging process and prevent the robot from being stolen and the like, when the robot enters the charging room for charging, the door of the charging room needs to be closed. When the robot starts to go to the site for inspection, the door of the charging room needs to be opened, and the robot is allowed to smoothly go out of the charging room. Therefore, the robot is required to autonomously control the opening and closing of the charging room door.
Disclosure of Invention
According to the defects in the prior art, the problems to be solved by the invention are as follows: the transformer substation inspection robot charging device and the charging method are simple in structure, reasonable in design, safe, reliable and capable of preventing charging failure of the robot and guaranteeing normal charging operation of the robot.
The technical scheme adopted by the invention for solving the technical problems is as follows: the charging device comprises a charging chamber body, wherein a charging device, a charging navigation positioning device and an automatic door system are arranged in the charging chamber body, the charging navigation positioning device and the charging device are matched to supply power to a robot entering the charging chamber, and the automatic door system comprises a door body opening and closing state detection module, a robot sensing module and an automatic door driving module; the door body opening and closing state detection module is used for detecting the opening state of the automatic door, the robot sensing module is a bidirectional communication interaction module, and the robot sensing module is in communication connection with a robot system and used for detecting whether the robot is close to the automatic door or not.
As a preferred scheme, the charging device comprises a charging box suspended on the inner wall of a robot charging chamber, the charging box comprises a constant-temperature and constant-humidity charger body, the charger body is divided into an upper layer and a lower layer, an alternating current input module, a direct current output module, a lightning protection device and a monitoring master control module of the charger are arranged on the upper layer of the charger body, and a charging layer is arranged on the lower layer of the charger body;
the alternating current input module is connected with a power distribution system through a power line and provides an electric quantity source for a charger;
the charging layer is connected with the output monitoring module through a direct current bus, and the output monitoring module is also connected with the monitoring master control module.
The utility model discloses a quick-witted air speed regulation device, including machine body upper strata and machine body lower floor, be equipped with the insulating layer between machine body upper strata and the machine body lower floor that charges, be equipped with a plurality of filter screens and fan in one side of machine body lower floor that charges, the opposite side is equipped with air exhauster and air outlet, machine body upper strata one side that charges also is equipped with filter screen and fan, and the opposite side is equipped with air exhauster and air outlet, be equipped with temperature detection module, humidity detection module, heating module, cooling module, dry module and air speed regulation device in each wind channel, temperature detection module, humidity detection module, heating module, cooling module, dry module.
As a preferred scheme, the monitoring master control module is communicated with an upper computer, monitors each performance parameter of the charger at any time, and generates an adjusting command at any time according to the performance parameter of the charger; the communication mode comprises broadband carrier, Ethernet, CAN, RS485 and GRPS; the monitoring master control module comprises a core board, wherein the core board is connected with the FPGA expansion board through a board-to-board connector, the board-to-board connector is further connected with the USB interface, the color screen liquid crystal interface, the RS232/RS485 interface, the CAN interface and the Ethernet interface respectively, and the color screen liquid crystal interface is connected with the display module.
As a preferable scheme, the charging layer comprises a hydraulic telescopic charging plug, and the central control system is connected with the hydraulic telescopic charging plug and the pressure sensor through a lead;
the hydraulic telescopic charging plug comprises a cylinder body, pistons and a charging plug, wherein the pistons are arranged in the cylinder body, the charging plug is arranged at the head of a connecting rod outside the pistons, volume cavities are respectively formed in the two sides of the pistons of the cylinder body, one volume cavity is connected with an oil port A, the other volume cavity is connected with an oil port B, and when oil is fed from the oil port A and discharged from the oil port B, the pistons can be pushed to move to one side of the charging plug; when the oil outlet A discharges oil and the oil inlet B discharges oil, the piston can be pushed to move to the opposite side of the charging plug; and blocking blocks are arranged on two sides of the charging plug, and pressure sensors are arranged on the blocking blocks.
As a preferred scheme, a projection device is arranged on the charging box, the projection device projects a plurality of two-dimensional codes with position information to a ceiling and a wall surface opposite to the automatic door, the robot is provided with two image acquisition devices, the image acquisition devices are arranged at the head of the robot, and the image acquisition devices continuously acquire the position information of the two-dimensional codes; and controlling the robot to move to a charging position for charging.
The provided charging method for the substation inspection robot is characterized by comprising the following steps:
(1) the robot enters a charging chamber;
(2) the robot rotates the cloud deck and recognizes the two-dimensional code and the wall two-dimensional code on the ceiling respectively;
(3) the robot determines the position of the robot, a path plan is formulated according to a preset map, and the robot moves to a charging area;
(4) the charging box charges the robot.
As a preferable mode, the step (1) includes: the robot returns to the front of the door of the charging room according to a preset instruction, when the robot arrives in front of the automatic door, the robot sensing module on the automatic door performs information interaction with the robot, whether the robot arrives in front of the automatic door or not is judged, and if the robot arrives, the door is opened, and the robot is placed in.
As a preferable mode, the step (2) and the step (3) include:
(1.1) moving a holder after the robot enters a charging chamber;
(1.2) aligning the image acquisition device with a two-dimensional code positioned right in front of the robot, and identifying the two-dimensional code right in front to determine the X coordinate of the robot;
(1.3) moving a cloud deck, aligning an image acquisition device with a two-dimensional code positioned right in front of the robot, and identifying the two-dimensional code right above to determine the X coordinate of the robot;
(1.4) after the coordinates of the robot are confirmed, planning a path according to a preset map in a robot system, and moving the robot to a charging area; and (1.5) after the robot moves to the charging area, moving the holder again, and repeating the steps (1.1) and (1.2) to confirm that the coordinates are correct until the position is correct.
And (1.6) charging the robot by the charging box.
As a preferable mode, the step (4) includes: (4.1) the robot moves to a designated charging area;
(4.2) locking the tire of the robot and fixing the position;
(4.3) the system gives a charging instruction to the charging box, and the hydraulic telescopic charging plug pushes the charging plug out of the charging box under the action of the hydraulic cylinder and is inserted into a charging socket of the robot;
(4.4) when the charging plug blocking block touches the side edge of the charging port of the robot, feeding back the pressure sensor to the system, and controlling the hydraulic cylinder to stop acting by the system and then supplying power;
(4.5) after charging, the system gives the charging box an instruction of stopping charging, firstly, the charging plug is powered off, and the hydraulic telescopic charging plug returns the charging plug to the charging box under the action of the hydraulic cylinder to finish charging operation.
As a preferred scheme, the image acquisition device is a high-definition focus-adjustable camera, and after the holder moves to a specified angle, the camera focuses and takes a picture according to a preset focus and identifies the two-dimensional code; the preset focal length and the specified angle are used for determining a proper charging position of the robot in advance for debugging personnel, and the angle of a cloud deck of the robot and the focal length of a camera are preset; and an automatic focusing camera can be adopted to automatically recognize the two-dimensional code until the information of the two-dimensional code is recognized.
The invention has the beneficial effects that: the acquired two-dimensional codes are respectively solved through a machine vision algorithm to acquire the coordinates of the robot under a global coordinate system, path planning can be performed, real-time online calibration can be realized on the track of the robot in the running process of the robot, the possibility of derailment is avoided, and the purpose of accurately reaching a charging point for charging is realized through feedback adjustment of the position of a target point.
Drawings
FIG. 1 is a flow chart of a charging method according to the present invention;
FIG. 2 is a system diagram of the present invention;
FIG. 3 is a schematic view of a charging case housing of the present invention;
FIG. 4 is a schematic view of a charging plug according to the present invention;
wherein, 1, a charging box; 2. the upper layer of the charger body; 3. a charging layer; 5. a hydraulic telescopic charging plug; 5-1, a cylinder body; 5-2, a piston; 5-3, a charging plug; 5-4, oil port A; 5-5, oil port B; 6. a pressure sensor.
Detailed Description
Example 1:
referring to the attached drawings of the specification, the invention provides a substation inspection robot charging device which comprises a charging chamber body, wherein a charging device, a charging navigation positioning device and an automatic door system are arranged in the charging chamber body, the charging navigation positioning device and the charging device are matched to supply power to a robot entering the charging chamber, and the automatic door system comprises a door body opening and closing state detection module, a robot sensing module and an automatic door driving module; the door body opening and closing state detection module is used for detecting the opening state of the automatic door, the robot sensing module is a bidirectional communication interaction module, and the robot sensing module is in communication connection with a robot system and used for detecting whether the robot is close to the automatic door or not.
As a preferred scheme, the charging device comprises a charging box 1 suspended on the inner wall of a robot charging chamber, the charging box comprises a constant-temperature and constant-humidity charger body, the charger body is divided into an upper layer and a lower layer, an alternating current input module, a direct current output module, a lightning protection device and a monitoring master control module of the charger are arranged on the upper layer 2 of the charger body, and a charging layer 3 is arranged on the lower layer of the charger body;
the alternating current input module is connected with a power distribution system through a power line and provides an electric quantity source for a charger;
the charging layer is connected with the output monitoring module through a direct current bus, and the output monitoring module is also connected with the monitoring master control module.
The utility model discloses a quick-witted air speed regulation device, including machine body upper strata and machine body lower floor, be equipped with the insulating layer between machine body upper strata and the machine body lower floor that charges, be equipped with a plurality of filter screens 4 and fan in one side of machine body lower floor that charges, the opposite side is equipped with air exhauster and air outlet, machine body upper strata one side that charges also is equipped with filter screen and fan, and the opposite side is equipped with air exhauster and air outlet, be equipped with temperature detection module, humidity detection module, heating module, cooling module, dry module and air speed regulation device in each wind channel, temperature detection module, humidity detection module, heating module, cooling module, dry module.
As a preferred scheme, the monitoring master control module is communicated with an upper computer, monitors each performance parameter of the charger at any time, and generates an adjusting command at any time according to the performance parameter of the charger; the communication mode comprises broadband carrier, Ethernet, CAN, RS485 and GRPS; the monitoring master control module comprises a core board, wherein the core board is connected with the FPGA expansion board through a board-to-board connector, the board-to-board connector is further connected with the USB interface, the color screen liquid crystal interface, the RS232/RS485 interface, the CAN interface and the Ethernet interface respectively, and the color screen liquid crystal interface is connected with the display module.
As a preferable scheme, the charging layer 3 comprises a hydraulic telescopic charging plug, and the central control system is connected with the hydraulic telescopic charging plug 5 and the pressure sensor 6 through a lead;
the hydraulic telescopic charging plug 5 comprises a cylinder body 5-1, pistons 5-2 and a charging plug 5-3, wherein the pistons 5-2 are arranged in the cylinder body, the charging plug 5-3 is arranged at the head of a connecting rod outside the pistons, volume cavities are respectively formed in the cylinder body 5-1 on two sides of the piston 52, one of the volume cavities is connected with an oil port A5-4, the other volume cavity is connected with an oil port B5-5, and when oil is fed from the oil port A5-4 and oil is discharged from the oil port B5-5, the pistons 5-2 can be pushed to move towards one side of the charging plug 5-3; when the oil is discharged from the oil port A5-4 and the oil is introduced from the oil port B5-5, the piston 5-2 can be pushed to move towards the opposite side of the charging plug 5-3; and blocking blocks are arranged on two sides of the charging plug 5-3, and pressure sensors are arranged on the blocking blocks.
As a preferred scheme, a projection device is arranged on the charging box, the projection device projects a plurality of two-dimensional codes with position information to a ceiling and a wall surface opposite to the automatic door, the robot is provided with two image acquisition devices, the image acquisition devices are arranged at the head of the robot, and the image acquisition devices continuously acquire the position information of the two-dimensional codes; and controlling the robot to move to a charging position for charging.
The provided charging method for the substation inspection robot is characterized by comprising the following steps:
(1) the robot enters a charging chamber;
(2) the robot rotates the cloud deck and recognizes the two-dimensional code and the wall two-dimensional code on the ceiling respectively;
(3) the robot determines the position of the robot, a path plan is formulated according to a preset map, and the robot moves to a charging area;
(4) the charging box charges the robot.
As a preferable mode, the step (1) includes: the robot returns to the front of the door of the charging room according to a preset instruction, when the robot arrives in front of the automatic door, the robot sensing module on the automatic door performs information interaction with the robot, whether the robot arrives in front of the automatic door or not is judged, and if the robot arrives, the door is opened, and the robot is placed in.
As a preferable mode, the step (2) and the step (3) include:
(1.1) moving a holder after the robot enters a charging chamber;
(1.2) aligning the image acquisition device with a two-dimensional code positioned right in front of the robot, and identifying the two-dimensional code right in front to determine the X coordinate of the robot;
(1.3) moving a cloud deck, aligning an image acquisition device with a two-dimensional code positioned right in front of the robot, and identifying the two-dimensional code right above to determine the X coordinate of the robot;
(1.4) after the coordinates of the robot are confirmed, planning a path according to a preset map in a robot system, and moving the robot to a charging area; and (1.5) after the robot moves to the charging area, moving the holder again, and repeating the steps (1.1) and (1.2) to confirm that the coordinates are correct until the position is correct.
And (1.6) charging the robot by the charging box.
As a preferable mode, the step (4) includes: (4.1) the robot moves to a designated charging area;
(4.2) locking the tire of the robot and fixing the position;
(4.3) the system gives a charging instruction to the charging box, and the hydraulic telescopic charging plug pushes the charging plug out of the charging box under the action of the hydraulic cylinder and is inserted into a charging socket of the robot;
(4.4) when the charging plug blocking block touches the side edge of the charging port of the robot, feeding back the pressure sensor to the system, and controlling the hydraulic cylinder to stop acting by the system and then supplying power;
(4.5) after charging, the system gives the charging box an instruction of stopping charging, firstly, the charging plug is powered off, and the hydraulic telescopic charging plug returns the charging plug to the charging box under the action of the hydraulic cylinder to finish charging operation.
As a preferred scheme, the image acquisition device is a high-definition focus-adjustable camera, and after the holder moves to a specified angle, the camera focuses and takes a picture according to a preset focus and identifies the two-dimensional code; the preset focal length and the specified angle are used for determining a proper charging position of the robot in advance for debugging personnel, and the angle of a cloud deck of the robot and the focal length of a camera are preset; and an automatic focusing camera can be adopted to automatically recognize the two-dimensional code until the information of the two-dimensional code is recognized.
Example 2:
in this embodiment, the robot sensing module may also be a two-dimensional code, when the robot performs a charging task back to the charging chamber and moves to a position near the charging chamber, the cradle head is moved to perform detection, and when a two-dimensional code matrix map attached to the entire outer surface of the charging chamber is detected, the two-dimensional code information is identified and transmitted to the robot system through the serial port, which indicates that the robot system has reached the outside of the charging chamber and the door can be opened; the robot system sends a door opening command to the automatic door driving module through the serial port, and the driving module sends the door opening command after receiving the command; after the automatic door driving module receives the command, the automatic door driving module drives the relay to electrify the automatic door motor, and in the door opening process, the automatic door driving module always detects the state of the automatic door through the detection module.
After the robot completely enters the charging chamber, the robot system can issue a door closing instruction, the whole door closing process is consistent with the door opening process, and finally the robot system needs to be informed of the closing by detecting the state of the reflection sensor 7.
Claims (10)
1. A transformer substation inspection robot charging device is characterized by comprising a charging chamber body, wherein a charging device, a charging navigation positioning device and an automatic door system are arranged in the charging chamber body, the charging navigation positioning device and the charging device are matched to supply power to a robot entering the charging chamber, and the automatic door system comprises a door body opening and closing state detection module, a robot sensing module and an automatic door driving module; the door body opening and closing state detection module is used for detecting the opening state of the automatic door, the robot sensing module is a bidirectional communication interaction module, and the robot sensing module is in communication connection with a robot system and used for detecting whether the robot is close to the automatic door or not.
2. The substation inspection robot charging device according to claim 1, wherein the charging device comprises a charging box suspended on the inner wall of a robot charging chamber, the charging box comprises a constant-temperature and constant-humidity charger body, the charger body is divided into an upper layer and a lower layer, an alternating current input module, a direct current output module, a lightning protection device and a monitoring master control module of the charger are arranged on the upper layer of the charger body, and a charging layer is arranged on the lower layer of the charger body;
the alternating current input module is connected with a power distribution system through a power line and provides an electric quantity source for a charger;
the charging layer is connected with the output monitoring module through a direct current bus, and the output monitoring module is also connected with the monitoring master control module.
The utility model discloses a quick-witted air speed regulation device, including machine body upper strata and machine body lower floor, be equipped with the insulating layer between machine body upper strata and the machine body lower floor that charges, be equipped with a plurality of filter screens and fan in one side of machine body lower floor that charges, the opposite side is equipped with air exhauster and air outlet, machine body upper strata one side that charges also is equipped with filter screen and fan, and the opposite side is equipped with air exhauster and air outlet, be equipped with temperature detection module, humidity detection module, heating module, cooling module, dry module and air speed regulation device in each wind channel, temperature detection module, humidity detection module, heating module, cooling module, dry module.
3. The substation inspection robot charging device according to claim 1, wherein the monitoring master control module is in communication with an upper computer, monitors various performance parameters of a charger at any time, and generates an adjustment command at any time according to the performance parameters of the charger; the communication mode comprises broadband carrier, Ethernet, CAN, RS485 and GRPS; the monitoring master control module comprises a core board, wherein the core board is connected with the FPGA expansion board through a board-to-board connector, the board-to-board connector is further connected with the USB interface, the color screen liquid crystal interface, the RS232/RS485 interface, the CAN interface and the Ethernet interface respectively, and the color screen liquid crystal interface is connected with the display module.
4. The substation inspection robot charging device according to claim 2, wherein the charging layer comprises a hydraulic telescopic charging plug, and the central control system is connected with the hydraulic telescopic charging plug and the pressure sensor through a lead;
the hydraulic telescopic charging plug comprises a cylinder body, pistons and a charging plug, wherein the pistons are arranged in the cylinder body, the charging plug is arranged at the head of a connecting rod outside the pistons, volume cavities are respectively formed in the two sides of the pistons of the cylinder body, one volume cavity is connected with an oil port A, the other volume cavity is connected with an oil port B, and when oil is fed from the oil port A and discharged from the oil port B, the pistons can be pushed to move to one side of the charging plug; when the oil outlet A discharges oil and the oil inlet B discharges oil, the piston can be pushed to move to the opposite side of the charging plug; and blocking blocks are arranged on two sides of the charging plug, and pressure sensors are arranged on the blocking blocks.
5. The substation inspection robot charging device according to claim 1, wherein a projection device is arranged on the charging box, the projection device projects a plurality of two-dimensional codes with position information to a ceiling and a wall surface opposite to the automatic door, the robot is provided with two image acquisition devices, the image acquisition devices are arranged at the head of the robot, and the image acquisition devices continuously acquire the position information of the two-dimensional codes; and controlling the robot to move to a charging position for charging.
6. The substation inspection robot charging method according to any one of claims 1 to 5, comprising the steps of:
(1) the robot enters a charging chamber;
(2) the robot rotates the cloud deck and recognizes the two-dimensional code and the wall two-dimensional code on the ceiling respectively;
(3) the robot determines the position of the robot, a path plan is formulated according to a preset map, and the robot moves to a charging area;
(4) the charging box charges the robot.
7. The substation inspection robot charging method according to claim 6, wherein the step (1) comprises the following steps: the robot returns to the front of the door of the charging room according to a preset instruction, when the robot arrives in front of the automatic door, the robot sensing module on the automatic door performs information interaction with the robot, whether the robot arrives in front of the automatic door or not is judged, and if the robot arrives, the door is opened, and the robot is placed in.
8. The substation inspection robot charging method according to claim 6, wherein the steps (2) and (3) comprise:
(1.1) moving a holder after the robot enters a charging chamber;
(1.2) aligning the image acquisition device with a two-dimensional code positioned right in front of the robot, and identifying the two-dimensional code right in front to determine the X coordinate of the robot;
(1.3) moving a cloud deck, aligning an image acquisition device with a two-dimensional code positioned right in front of the robot, and identifying the two-dimensional code right above to determine the X coordinate of the robot;
(1.4) after the coordinates of the robot are confirmed, planning a path according to a preset map in a robot system, and moving the robot to a charging area;
and (1.5) after the robot moves to the charging area, moving the holder again, and repeating the steps (1.1) and (1.2) to confirm that the coordinates are correct until the position is correct.
And (1.6) charging the robot by the charging box.
9. The substation inspection robot charging method according to claim 6, wherein the step (4) comprises the following steps:
(4.1) the robot moves to a designated charging area;
(4.2) locking the tire of the robot and fixing the position;
(4.3) the system gives a charging instruction to the charging box, and the hydraulic telescopic charging plug pushes the charging plug out of the charging box under the action of the hydraulic cylinder and is inserted into a charging socket of the robot;
(4.4) when the charging plug blocking block touches the side edge of the charging port of the robot, feeding back the pressure sensor to the system, and controlling the hydraulic cylinder to stop acting by the system and then supplying power;
(4.5) after charging, the system gives the charging box an instruction of stopping charging, firstly, the charging plug is powered off, and the hydraulic telescopic charging plug returns the charging plug to the charging box under the action of the hydraulic cylinder to finish charging operation.
10. The substation inspection robot charging method according to claim 8, wherein the image acquisition device is a high-definition adjustable-focus camera, and the camera performs focusing and photo shooting according to a preset focus after the holder moves to a specified angle, so as to identify the two-dimensional code; the preset focal length and the specified angle are used for determining a proper charging position of the robot in advance for debugging personnel, and the angle of a cloud deck of the robot and the focal length of a camera are preset; and an automatic focusing camera can be adopted to automatically recognize the two-dimensional code until the information of the two-dimensional code is recognized.
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