CN111571556A - Transformer substation intelligent patrol robot adopting wireless charging - Google Patents
Transformer substation intelligent patrol robot adopting wireless charging Download PDFInfo
- Publication number
- CN111571556A CN111571556A CN202010402900.4A CN202010402900A CN111571556A CN 111571556 A CN111571556 A CN 111571556A CN 202010402900 A CN202010402900 A CN 202010402900A CN 111571556 A CN111571556 A CN 111571556A
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- Prior art keywords
- charging
- robot
- ultrasonic
- infrared
- inspection
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
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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
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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
- B25J9/1679—Programme controls characterised by the tasks executed
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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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
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/005—Mechanical details of housing or structure aiming to accommodate the power transfer means, e.g. mechanical integration of coils, antennas or transducers into emitting or receiving devices
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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
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
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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
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/80—Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
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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
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Power Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a transformer substation intelligent patrol robot adopting wireless charging, wherein a charging pile and a patrol road are arranged in a transformer substation, the patrol robot is arranged in the patrol road, and the charging pile comprises a columnar cavity structure shell, a power transmission coil and a charging circuit; the inspection robot comprises an inspection device and a charging chassis; the inspection device comprises a first rotating holder, a camera and a wireless communication module, and the charging chassis comprises a power management unit and a power receiving coil; the inspection robot also comprises an ultrasonic receiving device, an infrared receiving device and a charging guide device; the charging pile is characterized in that a first ultrasonic transmitting device and a second ultrasonic transmitting device are respectively installed at the left end and the right end of the charging pile, and an infrared transmitting device is installed at the middle point between the first ultrasonic transmitting device and the second ultrasonic transmitting device.
Description
Technical Field
The invention relates to the field of power equipment, in particular to a transformer substation intelligent patrol robot adopting wireless charging.
Background
The basic area of the existing transformer substation is large, manual detection equipment in the transformer substation wastes time and labor, and especially at night, the condition of detection omission also exists due to manual detection. The robot is used for replacing manual patrol, and generally uses a storage battery as a driving energy source, and in order to realize normal operation of the robot, the robot needs to be automatically charged. Because the transformer substation is generally arranged outdoors, the safety of the traditional contact type charging mode is easily influenced by weather, and meanwhile, the traditional robot only depends on the plugging friction force to keep the charging state when charging, and the charging terminal is easy to fall off to cause the charging interruption phenomenon when being subjected to external force (such as large wind force), so that the charging state is not stable enough.
Disclosure of Invention
In order to solve the technical problem, the invention provides the intelligent substation inspection robot adopting wireless charging.
The technical scheme adopted by the invention is as follows: the intelligent patrol robot for the transformer substation is provided with a charging pile and a patrol road, wherein the patrol robot is arranged in the patrol road, the charging pile comprises a cylindrical cavity structure shell, a power transmission coil arranged on one side of the outer surface of the shell, and a charging circuit which is fixedly connected inside the shell through a support and is electrically connected with the power transmission coil; the inspection robot comprises an inspection device and a charging chassis; the inspection device comprises a first rotating holder, a camera mounted on the first rotating holder, and a wireless communication module used for wirelessly connecting the camera and a background terminal, the charging chassis comprises a power management unit used for supplying power to the robot and a power receiving coil electrically connected with the power management unit, the power receiving coil is arranged at the front end of the charging chassis, and the height and the position of the power receiving coil are consistent with those of the power transmission coil; the inspection robot also comprises an ultrasonic receiving device, an infrared receiving device and a charging guide device; fill electric pile left and right sides both ends and install first ultrasonic emission device, second ultrasonic emission device respectively, first ultrasonic emission device with mid point position between the second ultrasonic emission device installs infrared emission device, the guiding device that charges according to ultrasonic wave data adjustment that ultrasonic wave receiving arrangement received the position appearance of inspection robot, and according to infrared data that infrared receiving arrangement received is right the position appearance of inspection robot is finely tuned, makes receive electric coil on the inspection robot with fill the butt joint of electric coil of sending on the electric pile.
In the transformer substation intelligent patrol robot adopting wireless charging, the ultrasonic receiving device and the infrared receiving device are arranged on the front face of the patrol robot, and the first ultrasonic transmitting device and the second ultrasonic transmitting device are the same in height on the charging pile.
In the intelligent substation patrol robot adopting wireless charging, a navigation module is arranged in the charging processing device, and a route moving to the charging pile is generated through the navigation module.
In the transformer substation intelligent patrol robot adopting wireless charging, an infrared receiver is further arranged on the outer wall of the charging pile, an infrared transmitter corresponding to the infrared receiver is arranged on the body of the patrol robot, and the infrared receiver and the infrared transmitter are used for transmitting electric quantity information of the robot.
In the intelligent substation patrol robot adopting wireless charging, the patrol robot further comprises a sensing system and a sound-light alarm system which are connected with the background terminal.
In the intelligent substation patrol robot adopting wireless charging, the sensing system comprises a smoke sensor for detecting smoke concentration, a temperature and humidity sensor for detecting environment temperature and humidity and a GPS sensor for positioning, when the robot detects smoke or loses signals, an audible and visual alarm system can give an alarm, and the GPS sensor uploads the position of the robot, so that a manager can quickly and accurately find a fault point.
The intelligent substation inspection robot adopting wireless charging can automatically complete a charging task; no conductive element is in physical contact in the robot charging process, so that poor ignition contact and short circuit risk caused by exposed electrodes are avoided; adopt ultrasonic ranging and infrared range finding two kinds of modes, through the adjustment to the position of robot and direction, reached the purpose of aiming at the robot and filling electric pile to robot quick charge's technological effect has been realized.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a charging pile in the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 and fig. 2, in the intelligent patrol robot for a transformer substation using wireless charging according to the embodiment of the present invention, a charging pile 1 is disposed in the transformer substation, wherein the patrol robot 3 includes a patrol device, an ultrasonic wave receiving device, an infrared receiving device, a charging guide device, a charging chassis 11, and a traveling device 51. The patrol device comprises a first rotating holder 61, a camera arranged on the first rotating holder 61 and a wireless communication module used for wirelessly connecting the camera and the background terminal. The cameras include a visible light camera 63 and an infrared camera 62. Fill electric pile 1 and include cylindrical cavity structure shell 12, set up at the power transmission coil 13 of shell 12 surface one side, fix at the inside charging circuit who links to each other with power transmission coil 13 electrical property of shell through leg joint. The charging chassis 11 comprises a power management unit for supplying power to the robot and a power receiving coil 14 electrically connected with the power management unit, the power receiving coil 14 is arranged at the front end of the charging chassis 11, the height and the position of the power receiving coil 14 are consistent with those of the power transmitting coil 13, and when the power transmitting coil 13 and the power receiving coil 14 are close to each other, current can be transmitted to the power receiving coil 14 through the power transmitting coil 13, so that wireless charging of the patrol robot is realized.
In this embodiment, a first ultrasonic emission device 91 and a second ultrasonic emission device 92 are respectively installed at the left end and the right end of a charging pile 1, an infrared emission device 93 is installed at a midpoint between the first ultrasonic emission device 91 and the second ultrasonic emission device 92, a charging guide device adjusts the pose of the inspection robot according to ultrasonic data received by an ultrasonic receiving device, and fine-adjusts the pose of the inspection robot according to infrared data received by the infrared receiving device, so that a charging chassis 11 of the inspection robot 3 is aligned with and contacts the charging pile 1. The charge processing device can be based on the ultrasonic data that first ultrasonic emission device, second ultrasonic emission device sent carries out the primary adjustment to the position appearance of tour robot for tour robot moves back on the central line position of filling electric pile, has avoided the barrier, has prevented the interference of barrier to infrared signal, has guaranteed charge processing device is according to again infrared data that infrared emission device sent finely tunes the position appearance of tour robot, ensures that the robot is in near central line position for the last receiving coil of tour robot docks with the power transmission coil that fills on the electric pile. First supersound emitter with second supersound emitter is in fill the height on the electric pile the same, the same height has guaranteed to patrol the accuracy of robot position according to the ultrasonic wave adjustment. The ultrasonic receiving device with infrared receiving device installs in the front of inspection robot, and positive installation ultrasonic receiving device with infrared receiving device can guarantee charge processing apparatus to the robot that obtains of calculating with fill the effective value of electric pile's distance and judge to judge the turning of inspection robot, guarantee that the robot can aim at fill electric pile and contact, thereby reach the purpose of charging. The charging processing device is internally provided with a navigation module, and a route moving to the charging pile is generated through the navigation module so as to facilitate navigation to a position near the charging pile. The charging processing device comprises an orientation judgment module, a processing module, a first adjusting module and a second adjusting module. The direction judging module is used for judging the direction of the inspection robot according to the ultrasonic data received by the ultrasonic receiving device and sent by the first ultrasonic transmitting device and the second ultrasonic transmitting device; the processing module is used for calculating the distance between the inspection robot and the first ultrasonic transmitting device and the distance between the inspection robot and the second ultrasonic transmitting device if the robot faces the charging pile, and otherwise, controlling the inspection robot to rotate to face the charging pile; the first adjusting module is used for calculating and controlling the distance and the rotating direction of the inspection robot to move to the center line of the charging pile according to the ultrasonic data sent by the first ultrasonic transmitting device and the second ultrasonic transmitting device; and the second adjusting module is used for calculating the distance and the rotating direction for moving the patrol robot from the position of the central line of the charging pile to the position for aligning and contacting the patrol robot with the charging pile.
In order to enable the charging pile to obtain the charging condition of the inspection robot 3, an infrared receiver 15 is further arranged on the outer wall of the charging pile 1, the infrared receiver 15 is located above the power transmission coil 13, an infrared transmitter corresponding to the infrared receiver 15 is arranged on the body of the inspection robot 3, in the charging process, the inspection robot 3 sends data including the electric quantity of the battery and a charging request through the infrared transmitter, the charging pile receives the data through the infrared receiver 15 and performs charging mode control according to the charging request of the inspection robot 3, and when the charging request of the inspection robot 3 is low-speed charging, the charging pile performs trickle charging on the inspection robot 3 through mode change of a charging circuit, so that the battery system of the inspection robot 3 is maintained; when charging pile receives the quick charging request of inspection robot 3 through infrared receiver 15, charging pile carries out the quick charging of heavy current to the robot through the mode change of charging circuit to can make the robot accomplish in the most terminal time and charge and put into operation.
In other embodiments, for making to fill electric pile 1 and can provide the position of charging for many inspection robot 3, also for making things convenient for inspection robot 3 to dock with filling electric pile more easily simultaneously, fill four lateral walls of electric pile 1 shell and all be equipped with first ultrasonic emitter 91, second ultrasonic emitter 92, infrared emitter 93 and power transmission coil 13, make inspection robot 3 can establish the relation of charging with filling any one side of electric pile 1, can realize the function that the multirobot charges simultaneously.
Furthermore, the inspection robot in this embodiment further includes a sensing system and an audible and visual alarm system connected to the background terminal, where the sensing system includes a smoke sensor for detecting smoke concentration, a temperature and humidity sensor for detecting environmental temperature and humidity, and a GPS sensor for positioning, and when the robot detects smoke or a signal is lost, the robot can alarm through the audible and visual alarm system, and the GPS sensor uploads its own position, so that a manager can quickly and accurately find a fault point. The transformer substation is complex in structure, and equipment is various, and certain high altitude equipment or the narrow and small position in space can't install the camera, has the camera to keep watch on the blind area, and the realization that the inspection robot that this embodiment provided can be better patrols above-mentioned transformer substation, improves and patrols transformer substation
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (6)
1. The intelligent substation inspection robot adopting wireless charging is characterized in that a charging pile is arranged in a substation, and the charging pile comprises a columnar cavity structure shell, a power transmission coil arranged on one side of the outer surface of the shell, and a charging circuit which is fixedly connected inside the shell through a support and is electrically connected with the power transmission coil; the inspection robot comprises an inspection device and a charging chassis; the inspection device comprises a first rotating holder, a camera mounted on the first rotating holder, and a wireless communication module used for wirelessly connecting the camera and a background terminal, the charging chassis comprises a power management unit used for supplying power to the robot and a power receiving coil electrically connected with the power management unit, the power receiving coil is arranged at the front end of the charging chassis, and the height and the position of the power receiving coil are consistent with those of the power transmission coil; the inspection robot also comprises an ultrasonic receiving device, an infrared receiving device and a charging guide device; fill electric pile left and right sides both ends and install first ultrasonic emission device, second ultrasonic emission device respectively, first ultrasonic emission device with mid point position between the second ultrasonic emission device installs infrared emission device, the guiding device that charges according to ultrasonic wave data adjustment that ultrasonic wave receiving arrangement received the position appearance of inspection robot, and according to infrared data that infrared receiving arrangement received is right the position appearance of inspection robot is finely tuned, makes receive electric coil on the inspection robot with fill the butt joint of electric coil of sending on the electric pile.
2. The intelligent substation patrol robot adopting wireless charging according to claim 1, wherein the ultrasonic receiving device and the infrared receiving device are installed on the front face of the patrol robot, and the first ultrasonic transmitting device and the second ultrasonic transmitting device are at the same height on the charging pile.
3. The wireless charging type substation intelligent patrol robot according to claim 1, wherein a navigation module is built in the charging processing device, and a route for moving to the charging pile is generated through the navigation module.
4. The transformer substation intelligent patrol robot adopting wireless charging according to claim 1, wherein an infrared receiver is further arranged on the outer wall of the charging pile, an infrared transmitter corresponding to the infrared receiver is arranged on the body of the patrol robot, and the infrared receiver and the infrared transmitter are used for transmitting the electric quantity information of the robot.
5. The transformer substation intelligent patrol robot adopting wireless charging according to claim 1, further comprising a sensing system and an acousto-optic alarm system connected with the background terminal.
6. The intelligent substation patrol robot adopting wireless charging according to claim 5, wherein the sensing system comprises a smoke sensor for detecting smoke concentration, a temperature and humidity sensor for detecting environment temperature and humidity, and a GPS sensor for positioning, when the robot detects smoke or signals are lost, an alarm can be given through an audible and visual alarm system, and the GPS sensor uploads the position of the robot, so that a manager can quickly and accurately find a fault point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010402900.4A CN111571556A (en) | 2020-05-13 | 2020-05-13 | Transformer substation intelligent patrol robot adopting wireless charging |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010402900.4A CN111571556A (en) | 2020-05-13 | 2020-05-13 | Transformer substation intelligent patrol robot adopting wireless charging |
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| CN111571556A true CN111571556A (en) | 2020-08-25 |
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| CN202010402900.4A Pending CN111571556A (en) | 2020-05-13 | 2020-05-13 | Transformer substation intelligent patrol robot adopting wireless charging |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112000100A (en) * | 2020-08-26 | 2020-11-27 | 德鲁动力科技(海南)有限公司 | Charging system and method for robot |
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2020
- 2020-05-13 CN CN202010402900.4A patent/CN111571556A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112000100A (en) * | 2020-08-26 | 2020-11-27 | 德鲁动力科技(海南)有限公司 | Charging system and method for robot |
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