CN111355280A - Explosion-proof type inspection robot charging system and charging method thereof - Google Patents
Explosion-proof type inspection robot charging system and charging method thereof Download PDFInfo
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- CN111355280A CN111355280A CN202010217012.5A CN202010217012A CN111355280A CN 111355280 A CN111355280 A CN 111355280A CN 202010217012 A CN202010217012 A CN 202010217012A CN 111355280 A CN111355280 A CN 111355280A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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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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Abstract
The invention discloses an explosion-proof inspection robot charging system, which comprises a robot, a charging pile, a positioning module, a remote module, a temperature control module, a charging module, an analysis module, a feedback module, a timing module and an anti-collision module, wherein the positioning module, the remote module, the temperature control module, the charging module, the analysis module, the feedback module, the timing module and the anti-collision module are all connected through a mainboard to form signal transmission. The safety and insurance are realized.
Description
Technical Field
The invention relates to the technical field of explosion-proof inspection robot charging, in particular to an explosion-proof inspection robot charging system and a charging method thereof
Background
The robot is a machine device for automatically executing work, can receive human commands, can run a pre-arranged program, can act according to the principle headings established by an artificial intelligence technology, and has the task of assisting or replacing the work of human work, such as production industry, construction industry or dangerous work;
but robot charging system is patrolled and examined to explosion-proof formula on the existing market can not carry out reasonable distribution to a plurality of robots with fill electric pile to unable normal data transmission appears, causes the matching failure, and in later stage charging, judges indefinitely to the position of self, causes and patrols and examines the distribution that the task can not be reasonable, thereby to a plurality of robots with fill the time and wait for of electric pile cooperation use, the great problem of error appears.
Disclosure of Invention
The invention provides an explosion-proof inspection robot charging system and a charging method thereof, which can effectively solve the problems that the explosion-proof inspection robot charging system in the current market cannot reasonably distribute a plurality of robots and charging piles, so that normal data transmission cannot be performed, matching failure is caused, the position judgment of the explosion-proof inspection robot charging system in the later charging process is ambiguous, inspection tasks cannot be reasonably distributed, and accordingly, errors are large when the explosion-proof inspection robot charging system is used with the plurality of robots and the charging piles in a matched mode.
In order to achieve the purpose, the invention provides the following technical scheme: an explosion-proof polling robot charging system comprises a robot, a charging pile, a positioning module, a remote module, a temperature control module, a charging module, an analysis module, a feedback module, a timing module and an anti-collision module;
the positioning module, the remote module, the temperature control module, the charging module, the analysis module, the feedback module, the timing module and the anti-collision module are all connected through the mainboard to form signal transmission.
According to the technical scheme, the positioning modules are divided into two parts, the two parts are respectively installed in the robot and the charging pile and used for positioning the robot and the charging pile, and the positioning modules of the robot and the charging pile are GPS;
the remote module is divided into two blocks, the two blocks are respectively installed in the robot and the charging pile and used for remote control of the robot and the charging pile, the robot can report the content of the battery inside through the remote module, the charging is not needed when the content of the battery is too low in a set value, and the remote module in the charging pile uploads a light opening signal for judging whether the power supply of the remote module is connected or not and whether other robots are charged or not.
According to the technical scheme, the temperature control module is installed in the charging pile and used for connecting the robot to the charging pile for charging, and the charging pile reports and controls the charging temperature in the power supply alternating current-direct current conversion, so that the charging temperature of the charging pile is adjusted, the charging pile can charge in multiple modes, and the robots with different powers can charge conveniently.
According to the technical scheme, the charging module is installed in the charging pile, the ambient temperature, the current-limiting protection, the surge lightning protection and the under-overvoltage protection are achieved through the charging module, and the charging module is used for carrying out normal charging pairing on the robot.
According to the technical scheme, the analysis module receives and analyzes the input information of the positioning module, the remote module, the temperature control module and the charging module;
the system comprises a positioning module, a remote module, a charging pile and a plurality of robots, wherein the positioning module is used for positioning the information of the positioning module, the polling paths in robot polling are mapped, and after the polling maps of the polling robots are calculated, the positions of the robots can be judged through the remote module, so that normal task allocation is realized;
the temperature control module reports the temperature of the charging pile in real time, is convenient for automatic cooling, and can calculate the conversion rate of the temperature control module;
the charging module calculates the charging time during charging so as to realize normal charging calculation;
and the analysis module calculates the data and then sends the data to the feedback module.
According to the technical scheme, the feedback module performs normal calculation and feedback through the data of the analysis module and records the data, and after the data is recorded and fed back, the data is transmitted to the timing module and the anti-collision module;
the timing module is arranged in the charging pile and is used for controlling the charging time, so that uniform power supply in different time periods is facilitated, and the simultaneous operation of overhauling and maintaining is realized;
the anti-collision module actively controls the robot to reduce the speed when the analysis module receives the distance between the robot and the GPS position of the charging pile, so that the robot is prevented from being impacted and the connecting port is convenient to connect.
A charging method of an explosion-proof inspection robot charging system comprises the following steps:
s1, when the robot needs to be charged, the robot is in signal connection with the charging piles through the remote module, so that the robot is connected with one of the plurality of charging piles, after the robot determines that the distance between the robot and the charging piles can be judged, and when the electric quantity can normally pass through the distance, the robot is paired with the charging piles;
s2, the position of the robot and the position of the charging pile are calculated by the analysis module, the robot on the route is excluded through a map calculated by the robot, the normal passing of the robot is ensured, and then the robot is connected with the charging pile through the robot to start formal charging;
s3, in the charging process, the charging module and the temperature control module start to work to realize normal electric quantity transmission and settle the required time, and the charging module is connected with an external APP through a remote module so as to be convenient for the external to control manually;
s4, after charging is completed, the robot moves normally, inspection before the robot completes, and manual intervention and charging suspension can be performed at the APP end controlled manually.
According to the technical scheme, the robot positions and maps the positions of the patrol area through the positioning module in the step S1 as follows:
a1, firstly, positioning the robot by a positioning module in the inspection process, ranging along the edge, and performing positioning judgment with a map of a database after encountering an obstacle;
a2, analyzing after judging the barrier, thereby realizing normal inspection;
and A3, uploading the position of the user and the mapped map after the first inspection, and comparing the position with the map of the database.
According to the technical scheme, the path behind the obstacle in the step A2 is the same as that of the map, the next obstacle is met and then routing inspection is directly carried out, when the path is inconsistent with the map of the database, the database is redrawn, and finally the path is compared with the map of the database and judged through manual modification.
According to the above technical solution, the calculated value of the remaining power in step S1 is 120%.
Compared with the prior art, the invention has the beneficial effects that: the intelligent charging system is scientific and reasonable in structure and safe and convenient to use, the positioning module is used for positioning the robot and the charging pile, the remote module is divided into two blocks which are respectively installed in the robot and the charging pile and used for remote control of the robot and the charging pile, remote control is realized, the temperature control module is used for protecting a normal circuit in the charging process, the charging module is used for protecting the ambient temperature, current limiting protection, surge lightning protection and under-voltage and over-voltage protection, safety and insurance are realized, the analysis module is used for receiving and analyzing input information of the positioning module, the remote module, the temperature control module and the charging module, data feedback is carried out through the feedback module, and the timing module and the anti-collision module can realize timing and anti-collision protection, so that the normal safety of machinery is guaranteed;
during charging, a robot is connected with one of a plurality of charging piles, after the distance is determined, the robot is subjected to distance judgment, when the electric quantity can normally pass through a route, the robot is matched with the charging piles to ensure normal charging pile distribution, a map calculated by the robot is used for excluding the robot on the route after all, the normal passing of the robot is ensured, the robot is connected with the charging piles through the robot to start formal charging, the mutual interference of the inspection of a plurality of robots is prevented, the robot is used for positioning the position of the robot through a positioning module during the inspection and measuring the distance along the edge, the robot is subjected to positioning judgment with the map of a database after encountering an obstacle, comparison is carried out after judging the first obstacle and the second obstacle, the accuracy of the map is ensured, 120% of the electric quantity is increased, and 20% of the increased electric quantity is convenient for ensuring the loss of a battery, the phenomenon of insufficient electricity appears and is not affected.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
In the drawings:
FIG. 1 is a schematic diagram of the system architecture of the present invention;
FIG. 2 is a schematic flow diagram of the method of the present invention;
fig. 3 is a flowchart illustrating the location positioning step of the positioning module for the inspection area in step S1 according to the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Example 1: as shown in fig. 1, the invention provides a technical scheme, and an explosion-proof polling robot charging system comprises a robot, a charging pile, a positioning module, a remote module, a temperature control module, a charging module, an analysis module, a feedback module, a timing module and an anti-collision module;
the positioning module, the remote module, the temperature control module, the charging module, the analysis module, the feedback module, the timing module and the anti-collision module are all connected through the mainboard to form signal transmission.
According to the technical scheme, the positioning modules are divided into two parts, the two parts are respectively installed in the robot and the charging pile and used for positioning the robot and the charging pile, and the positioning modules of the robot and the charging pile are GPS;
the remote module is divided into two blocks, and is installed respectively in the robot and the electric pile that fills for the remote control of robot and electric pile, the robot can report to inside battery content through remote module, and needn't charge when its battery content is too low at the setting value, and the remote module in the electric pile that charges has or not to have other robot to charge the light volume signal of opening that charges and upload.
According to the technical scheme, the temperature control module is installed in the charging pile and used for charging the robot in the charging pile connection, and the charging pile reports and controls the charging temperature in the power supply alternating current-direct current conversion, so that the charging temperature of the charging pile is adjusted, the charging pile can charge in multiple modes, and the robots with different powers can charge conveniently.
According to the technical scheme, the charging module is installed in the charging pile, the ambient temperature, the current-limiting protection, the surge lightning protection and the under-overvoltage protection are achieved through the charging module, and the charging module performs normal charging pairing on the robot in use.
According to the technical scheme, the analysis module receives and analyzes the input information of the positioning module, the remote module, the temperature control module and the charging module;
the system comprises a positioning module, a remote module, a charging pile and a plurality of robots, wherein the positioning module is used for positioning the information of the positioning module, the polling paths in robot polling are mapped, and after the polling maps of the polling robots are calculated, the positions of the robots can be judged through the remote module, so that normal task allocation is realized;
the temperature control module reports the temperature of the charging pile in real time, so that the charging pile can be automatically cooled, and the conversion rate of the charging pile can be calculated;
the charging module calculates the charging time during charging so as to realize normal charging calculation;
and the analysis module calculates the data and then sends the data to the feedback module.
According to the technical scheme, the feedback module performs normal calculation and feedback through the data of the analysis module and records the data, and after the data is recorded and fed back, the data is transmitted to the timing module and the anti-collision module;
the timing module is arranged in the charging pile and is used for controlling the charging time, so that uniform power supply in different time periods is facilitated, and the simultaneous operation of overhauling and maintaining is realized;
the collision avoidance module receives the robot and fills electric pile's GPS position distance when more and more near at analysis module, and the initiative control robot deceleration prevents the striking and the connector of being convenient for meets.
Example 2: as shown in fig. 2 to 3, the present invention provides a technical solution, and a charging method for an explosion-proof inspection robot charging system, including the following steps:
s1, when the robot needs to be charged, the robot is in signal connection with the charging piles through the remote module, so that the robot is connected with one of the plurality of charging piles, after the robot determines that the distance between the robot and the charging piles can be judged, and when the electric quantity can normally pass through the distance, the robot is paired with the charging piles;
s2, the position of the robot and the position of the charging pile are calculated by the analysis module, the robot on the route is excluded through a map calculated by the robot, the normal passing of the robot is ensured, and then the robot is connected with the charging pile through the robot to start formal charging;
s3, in the charging process, the charging module and the temperature control module start to work to realize normal electric quantity transmission and settle the required time, and the charging module is connected with an external APP through a remote module so as to be convenient for the external to control manually;
s4, after charging is completed, the robot moves normally, inspection before the robot completes, and manual intervention and charging suspension can be performed at the APP end controlled manually.
According to the technical scheme, the robot positions and maps the position of the inspection area through the positioning module in the step S1 as follows:
a1, firstly, positioning the robot by a positioning module in the inspection process, ranging along the edge, and performing positioning judgment with a map of a database after encountering an obstacle;
a2, analyzing after judging the barrier, thereby realizing normal inspection;
and A3, uploading the position of the user and the mapped map after the first inspection, and comparing the position with the map of the database.
According to the technical scheme, the path behind the obstacle in the step A2 is the same as that of the map, the next obstacle is met and then routing inspection is directly carried out, when the path is inconsistent with the map of the database, the map is re-drawn, and finally the path is compared with the map of the database and judged through manual modification.
According to the above technical solution, the calculated value of the remaining power in step S1 is 120%.
The robot and the charging pile are positioned through the positioning module, the remote module is divided into two blocks which are respectively installed in the robot and the charging pile and used for remote control of the robot and the charging pile, remote control is achieved, the temperature control module protects a normal circuit in the charging process, safety and insurance are achieved through ambient temperature, current limiting protection, surge protection and undervoltage protection of the charging module, the analysis module receives and analyzes input information of the positioning module, the remote module, the temperature control module and the charging module, data feedback is conducted through the feedback module, timing and anti-collision protection can be achieved through the timing module and the anti-collision module, and normal safety of machinery is guaranteed;
during charging, a robot is connected with one of a plurality of charging piles, after the distance is determined, the robot is subjected to distance judgment, when the electric quantity can normally pass through a route, the robot is matched with the charging piles to ensure normal charging pile distribution, a map calculated by the robot is used for excluding the robot on the route after all, the normal passing of the robot is ensured, the robot is connected with the charging piles through the robot to start formal charging, the mutual interference of the inspection of a plurality of robots is prevented, the robot is used for positioning the position of the robot through a positioning module during the inspection and measuring the distance along the edge, the robot is subjected to positioning judgment with the map of a database after encountering an obstacle, comparison is carried out after judging the first obstacle and the second obstacle, the accuracy of the map is ensured, 120% of the electric quantity is increased, and 20% of the increased electric quantity is convenient for ensuring the loss of a battery, the phenomenon of insufficient electricity appears and is not affected.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides an explosion-proof formula is patrolled and examined robot charging system which characterized in that: the intelligent monitoring system comprises a robot, a charging pile, a positioning module, a remote module, a temperature control module, a charging module, an analysis module, a feedback module, a timing module and an anti-collision module;
the positioning module, the remote module, the temperature control module, the charging module, the analysis module, the feedback module, the timing module and the anti-collision module are all connected through the mainboard to form signal transmission.
2. The explosion-proof inspection robot charging system according to claim 1, wherein the positioning modules are divided into two parts, which are respectively installed in the robot and the charging pile for positioning the robot and the charging pile, and the positioning modules of the robot and the charging pile are GPS;
the remote module is divided into two blocks, the two blocks are respectively installed in the robot and the charging pile and used for remotely controlling the robot and the charging pile, the robot can report the content of the battery inside through the remote module, the charging is not needed when the content of the battery is too low in a set value, and the remote module in the charging pile uploads a light opening quantity signal for judging whether the power supply of the remote module is connected or not and whether other robots are charged or not.
3. The explosion-proof inspection robot charging system according to claim 1, wherein the temperature control module is installed in the charging pile to connect the robot to the charging pile for charging, and the charging pile reports and controls the charging temperature due to the occurrence of the charging temperature in the power supply alternating current-direct current conversion, so that the charging temperature of the charging pile is adjusted, the charging pile can be conveniently charged in multiple modes, and the charging of robots with different powers is facilitated.
4. The explosion-proof inspection robot charging system according to claim 1, wherein the charging module is installed in a charging pile, the ambient temperature, current limiting protection, surge lightning protection and under-overvoltage protection are performed through the charging module, and the charging module performs normal charging pairing on the robot in use.
5. The explosion-proof inspection robot charging system according to claim 1, wherein the analysis module receives and analyzes input information of the positioning module, the remote module, the temperature control module and the charging module;
the system comprises a positioning module, a remote module, a charging pile and a plurality of robots, wherein the positioning module is used for positioning the information of the positioning module, the polling paths in robot polling are mapped, and after the polling maps of the polling robots are calculated, the positions of the robots can be judged through the remote module, so that normal task allocation is realized;
the temperature control module reports the temperature of the charging pile in real time, is convenient for automatic cooling, and can calculate the conversion rate of the temperature control module;
the charging module calculates the charging time during charging so as to realize normal charging calculation;
and the analysis module calculates the data and then sends the data to the feedback module.
6. The explosion-proof inspection robot charging system according to claim 5, wherein the feedback module performs normal calculation and feedback through analyzing data of the module, records the data, and transmits the data to the timing module and the anti-collision module after recording the feedback;
the timing module is arranged in the charging pile and is used for controlling the charging time, so that uniform power supply in different time periods is facilitated, and the simultaneous operation of overhauling and maintaining is realized;
the anticollision module receives the robot and fills the GPS position distance of electric pile when more and more being close at the analysis module, and the initiative control robot deceleration prevents the striking and the connector of being convenient for meets.
7. The charging method of the explosion-proof inspection robot charging system according to any one of claims 1 to 6, characterized by comprising the following steps:
s1, when the robot needs to be charged, the robot is in signal connection with the charging piles through the remote module, so that the robot is connected with one of the plurality of charging piles, after the robot determines that the distance between the robot and the charging piles can be judged, and when the electric quantity can normally pass through the distance, the robot is paired with the charging piles;
s2, the position of the robot and the position of the charging pile are calculated by the analysis module, the robot on the route is excluded through a map calculated by the robot, the normal passing of the robot is ensured, and then the robot is connected with the charging pile through the robot to start formal charging;
s3, in the charging process, the charging module and the temperature control module start to work to realize normal electric quantity transmission and settle the required time, and the charging module is connected with an external APP through a remote module to facilitate the external manual control;
s4, after charging is completed, the robot moves normally, inspection before the robot completes, and manual intervention and charging suspension can be performed at the APP end controlled manually.
8. The charging method for the explosion-proof inspection robot charging system according to claim 7, wherein the step of mapping the location of the inspection area by the robot through the location module in the step S1 is as follows:
a1, firstly, positioning the robot by a positioning module in the inspection process, ranging along the edge, and positioning and judging with a map of a database after encountering an obstacle;
a2, analyzing after judging the barrier, thereby realizing normal inspection;
and A3, uploading the position of the user and the mapped map after the first inspection, and comparing the position with the map of the database.
9. The charging method for the explosion-proof inspection robot charging system according to claim 8, wherein the path after the obstacle in the step a2 is the same as the map, the inspection is directly performed after the next obstacle is encountered, when the path is inconsistent with the map of the database, the redrawing is performed, and finally the comparison with the map of the database is performed, and the judgment is performed by artificial modification.
10. The charging method for the explosion-proof inspection robot charging system according to claim 7, wherein the calculated value of the remaining power in the step S1 is 120%.
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