CN111864917A - Wireless charging device and method for intelligent inspection robot of transformer substation - Google Patents
Wireless charging device and method for intelligent inspection robot of transformer substation Download PDFInfo
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- CN111864917A CN111864917A CN202010605509.4A CN202010605509A CN111864917A CN 111864917 A CN111864917 A CN 111864917A CN 202010605509 A CN202010605509 A CN 202010605509A CN 111864917 A CN111864917 A CN 111864917A
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- 238000007689 inspection Methods 0.000 title claims abstract description 45
- 238000000034 method Methods 0.000 title claims abstract description 19
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 15
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 15
- 230000008569 process Effects 0.000 claims abstract description 5
- 238000001931 thermography Methods 0.000 claims description 15
- 230000005684 electric field Effects 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 12
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- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 238000001914 filtration Methods 0.000 claims description 6
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- 230000033228 biological regulation Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 230000003068 static effect Effects 0.000 abstract description 6
- 206010063385 Intellectualisation Diseases 0.000 abstract description 2
- 230000000694 effects Effects 0.000 abstract description 2
- 230000007547 defect Effects 0.000 description 5
- 230000005674 electromagnetic induction Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009529 body temperature measurement Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000009351 contact transmission Effects 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000002329 infrared spectrum Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000010287 polarization Effects 0.000 description 1
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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
- H02J50/12—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling of the resonant type
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
- G06K7/1417—2D bar codes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
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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
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/30—Transforming light or analogous information into electric information
- H04N5/33—Transforming infrared radiation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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Abstract
The invention discloses a wireless charging device and method for an intelligent inspection robot of a transformer substation, and belongs to the field of national grid security facilities. The robot comprises a robot body, a speed reducing motor, a battery compartment and a control system, wherein the speed reducing motor, the battery compartment and the control system are arranged in the robot body; a lithium battery for supplying power to all parts of the robot is arranged in the battery cabin, and the speed reducing motor and the lithium battery are connected with the control system; the robot body chassis is also provided with a charging cabin, a wireless charging receiving device is arranged in the charging cabin, and the wireless charging receiving device is respectively connected with the lithium battery and the control system; and the wireless charging receiving device and the wireless charging transmitting device on the wireless charging point in the transformer substation are charged correspondingly. The invention fully utilizes the two characteristics of fixed inspection route and static requirement during inspection of the inspection robot, so that the intelligent robot of the transformer substation can achieve the effects of charging while walking when being static in the inspection process, and the like, thereby really realizing the intellectualization, unmanned and energy-saving of the inspection robot.
Description
Technical Field
The invention provides a wireless charging device and method for an intelligent inspection robot of a transformer substation, and belongs to the field of national grid security facilities.
Background
The wireless power transmission technology originated at the end of the nineteenth century and was first proposed by nigula tesla, which has entered into the sight of people in view of its advantages of safety, convenience, strong environmental adaptability and the like and its capability of solving the application problems in some specific situations, and has become a research hotspot in the field of power electronics at present. The wireless power transmission system is mainly classified into an electromagnetic induction coupling type, a magnetic resonance coupling type and a microwave radiation type, wherein the electromagnetic induction coupling type wireless power transmission system is widely researched and applied due to high efficiency and simple structure. The electromagnetic induction coupling type wireless electric energy transmission system leads high-frequency alternating current into the primary magnetic circuit mechanism, then a high-frequency magnetic field is excited in the space, the secondary magnetic circuit mechanism obtains electric energy from the high-frequency magnetic field in an electromagnetic coupling mode, and non-contact transmission of the electric energy from the primary device to the secondary device is achieved.
The transformer substation inspection robot can autonomously inspect a transformer substation, improves the operation and maintenance level of the transformer substation, and has positive significance for ensuring safe and stable operation of the transformer substation. The transformer substation inspection robot has the main functions of data copying and temperature measurement, and defects of transformer substation equipment are found through data analysis. The stability and reliability of the substation equipment under different working conditions are different, for example, when the substation is under a high-power operating condition, the equipment can bear larger current, and the existing defects are also aggravated during a peak period when the equipment has defects under the working condition. The reliability and stability of different equipment under the rain, snow, strong wind, high temperature, low temperature condition also have the reduction of different degrees, and the defect or trouble just also appears more easily to equipment, so need in time, all-round, all-weather tour specific equipment under this kind of condition.
At present, the main charging mode of the intelligent inspection robot of the transformer substation is fixed-point contact charging, as shown in fig. 1. In general, the robot can operate for only 6 hours after 8 hours of charging. In the tour process, when the electric quantity of the robot is insufficient, the robot needs to stop tour operation and return to a charging chamber for static charging; after the power is fully charged, the power supply returns to the patrol route to continue working, so that the patrol is interrupted, and a large amount of time is wasted.
The battery charging mode can be divided into quick charging and slow charging, the quick charging has large damage to the battery, and particularly, the polarization speed of a battery polar plate can be accelerated in the later period of charging, so that the 'shallow charging, shallow discharging and repeated charging' can effectively relieve the damage of the quick charging to the battery while ensuring the charging speed. The slow charging power is smaller, the damage to the battery is small, the damage mainly occurs in the later period, and the damage to the battery can be effectively reduced if the battery is not fully charged.
Compared with the two charging modes, the wired charging mode has the advantages that potential safety hazards exist due to the fact that direct electrical connection is needed, an extra charging field is needed, the endurance time is limited, and the utilization rate of the robot is low.
Disclosure of Invention
The invention aims to provide a wireless charging device and a wireless charging method for an intelligent inspection robot of a transformer substation, which can overcome the defects, fully utilize the characteristics of fixed inspection route and static inspection during inspection of the inspection robot, so that the intelligent robot of the transformer substation can achieve the effects of charging while walking and the like when static inspection is carried out, and the intellectualization, unmanned performance and energy conservation of the inspection robot are really realized.
In order to achieve the purpose, the wireless charging device of the intelligent inspection robot for the transformer substation is characterized by comprising a robot body, a speed reducing motor, a battery compartment and a control system, wherein the speed reducing motor, the battery compartment and the control system are arranged in the robot body; wheels are arranged at the bottom of the robot body, lithium batteries for supplying power to all parts of the robot are arranged in the battery cabin, and the speed reduction motor and the lithium batteries are connected with the control system; the robot body chassis is also provided with a charging cabin, a wireless charging receiving device is arranged in the charging cabin, and the wireless charging receiving device is respectively connected with the lithium battery and the control system; and the wireless charging receiving device and the wireless charging transmitting device on the wireless charging point in the transformer substation are charged correspondingly.
As a preferred scheme, the control system comprises a processor, a camera unit, an infrared thermal imaging unit, a charging management unit and a 4G module; the processor is connected with the speed reducing motor through the PWM output interface, the camera unit is connected with the processor through the MIPI interface, the infrared thermal imaging unit is connected with the processor through the internet access, the charging management unit is connected with the processor through the I2C interface, and the 4G module is connected with the processor through the MINI-PCIE interface.
As a preferred scheme, a robot body is provided with a navigation positioning module and a safety obstacle avoidance module, wherein the navigation positioning module comprises a gray tracking sensor, a two-dimensional code reader and an infrared sensor; the gray tracking sensor is used for ground line seeking; the two-dimensional code reader is arranged at the front position of the center of the chassis and is used for reading a two-dimensional code landmark containing two-dimensional code information; wherein, the infrared sensors arranged on the front, the back, the left and the right of the second layer of the chassis are taken as a protection device for preventing the robot from colliding.
The wireless charging method for the intelligent inspection robot of the transformer substation comprises the following steps:
(1) the robot patrols;
(2) after the robot reaches the designated charging point, the robot is charged;
(3) the robot patrols;
(4) the robot navigates back.
Preferably, the step (2) specifically comprises the following steps:
s01: turning on a robot master switch and connecting the wireless charging transmitting device to a master power supply;
s02: the robot with the built-in wireless charging receiving device automatically monitors the electric quantity allowance of the charging receiver, when the electric quantity of the robot charging receiver with the built-in wireless charging receiving device is monitored to be lower than 80%, the control unit sends out an instruction, the wireless charging receiving device is automatically and wirelessly connected with the wireless charging transmitting device after the robot reaches a charging point, a wireless receiving coil of the connected wireless charging receiving device receives electric energy transmitted by the wireless charging transmitting device and converts the electric energy into magnetic energy and then into electric energy, and the rectifier rectifies the current and then provides the electric energy for the robot of the wireless charging receiving device;
S03: when the robot monitors that the electric quantity reaches 100%, the control unit sends an instruction, and the wireless charging receiving device is closed;
s04: and the robot with the built-in wireless charging receiving device continues to monitor the electric quantity residual quantity until the electric quantity of the robot is monitored to be lower than 60%, repeating the steps S02 and S03, and circulating the steps.
Preferably, the robot tour specifically includes the following steps: the processor controls the motion of the speed reducing motor through the PWM output interface, so that the robot can walk; the camera unit is used for acquiring images in real time, the processor is used for identifying and processing the images, when equipment needing inspection is set in advance in the process of walking on an inspection path, the robot stops, the processor controls the infrared thermal imaging unit to detect the temperature of the equipment through the internet access, the detected temperature data and the infrared thermal imaging picture are stored, and then the processor controls the camera unit to take pictures of the equipment through the MIPI interface and stores the pictures; the processor sends the collected temperature data, the infrared thermal imaging picture and the picture collected by the camera unit to a remote master station system through the 4G module through the MINI-PCIE interface.
Preferably, a wireless charging transmitting device is arranged at the charging point, a wireless charging transmitting end coil is arranged in the wireless charging transmitting device, a wireless charging receiving end coil is arranged in the wireless charging receiving device, and the wireless charging transmitting end coil and the wireless charging receiving end coil complete the change from an electric field to a magnetic field and then to the electric field by using magnetic coupling resonance, so that the wireless transmission of electric energy is realized; when the robot is fully charged, the wireless charging transmitting end detects that the charging current is reduced to be below 1A, and then the inspection robot is stopped to be charged.
Preferably, the wireless charging transmitting device and the wireless charging receiving device comprise two resonance systems of transmitting and receiving, which are composed of induction coils; the transmitting end is made to oscillate at a certain frequency by adjusting the transmitting frequency, and the generated non-radiative magnetic field forms an energy channel between the two coils; after multiple resonance, the transmitting end transmits energy to the receiving end through the energy channel, and the energy is converted from the electric field to the magnetic field and then to the electric field, so that wireless transmission of electric energy is realized.
Preferably, the wireless charging and transmitting device comprises a rectifying circuit for rectifying and filtering a 220V alternating current power supply, high-frequency inversion is carried out after voltage regulation is carried out through a direct current voltage regulating circuit, electric energy is transmitted to the receiving coil through the transmitting coil, and the receiving coil converts the received electric energy into electric energy to supply power to the lithium battery of the robot after rectification and filtering.
Compared with the prior art, the invention has the beneficial effects that:
(1) no external conductive point is provided, so that electric shock danger and mechanical abrasion are avoided;
(2) the intelligent inspection robot has the advantages that the intelligent inspection robot can be charged while walking, the working efficiency of the intelligent inspection robot is improved, and the electric quantity is always kept in a good state (60-80%);
(3) the battery volume of the robot is reduced, the whole weight of the robot is reduced, the miniaturization and the light weight of the battery can be realized finally, and the problem of environmental pollution caused by the battery is reduced.
Drawings
Fig. 1 is a schematic diagram of a wireless charging device and charging method of the present invention;
fig. 2 is a block diagram of the wireless charging device of the present invention.
FIG. 3 is a circuit simulation of the wireless charging device of the present invention;
Detailed Description
Example 1
The invention is further illustrated in the following figures 1-2, in conjunction with the accompanying drawings: the wireless charging device of the intelligent inspection robot for the transformer substation is characterized by comprising a robot body, a speed reducing motor, a battery compartment and a control system, wherein the speed reducing motor, the battery compartment and the control system are arranged in the robot body; wheels are arranged at the bottom of the robot body, lithium batteries for supplying power to all parts of the robot are arranged in the battery cabin, and the speed reduction motor and the lithium batteries are connected with the control system; the robot body chassis is also provided with a charging cabin, a wireless charging receiving device is arranged in the charging cabin, and the wireless charging receiving device is respectively connected with the lithium battery and the control system; and the wireless charging receiving device and the wireless charging transmitting device on the wireless charging point in the transformer substation are charged correspondingly.
The control system comprises a processor, a camera unit, an infrared thermal imaging unit, a charging management unit and a 4G module; the processor is connected with the speed reducing motor through the PWM output interface, the camera unit is connected with the processor through the MIPI interface, the infrared thermal imaging unit is connected with the processor through the internet access, the charging management unit is connected with the processor through the I2C interface, and the 4G module is connected with the processor through the MINI-PCIE interface.
The robot body is provided with a navigation positioning module and a safety obstacle avoidance module, and the navigation positioning module comprises a gray tracking sensor, a two-dimensional code reader and an infrared sensor; the gray tracking sensor is used for ground line seeking; the two-dimensional code reader is arranged at the front position of the center of the chassis and is used for reading a two-dimensional code landmark containing two-dimensional code information; wherein, the infrared sensors arranged on the front, the back, the left and the right of the second layer of the chassis are taken as a protection device for preventing the robot from colliding.
The wireless charging method for the intelligent inspection robot of the transformer substation comprises the following steps:
(1) the robot patrols;
(2) after the robot reaches the designated charging point, the robot is charged;
(3) the robot patrols;
(4) the robot navigates back.
The step (2) specifically comprises the following steps:
s01: turning on a robot master switch and connecting the wireless charging transmitting device to a master power supply;
s02: the robot with the built-in wireless charging receiving device automatically monitors the electric quantity allowance of the charging receiver, when the electric quantity of the robot charging receiver with the built-in wireless charging receiving device is monitored to be lower than 80%, the control unit sends out an instruction, the wireless charging receiving device is automatically and wirelessly connected with the wireless charging transmitting device after the robot reaches a charging point, a wireless receiving coil of the connected wireless charging receiving device receives electric energy transmitted by the wireless charging transmitting device and converts the electric energy into magnetic energy and then into electric energy, and the rectifier rectifies the current and then provides the electric energy for the robot of the wireless charging receiving device;
S03: when the robot monitors that the electric quantity reaches 100%, the control unit sends an instruction, and the wireless charging receiving device is closed;
s04: and the robot with the built-in wireless charging receiving device continues to monitor the electric quantity residual quantity until the electric quantity of the robot is monitored to be lower than 60%, repeating the steps S02 and S03, and circulating the steps.
The robot tour concretely comprises the following steps: the processor controls the motion of the speed reducing motor through the PWM output interface, so that the robot can walk; the camera unit is used for acquiring images in real time, the processor is used for identifying and processing the images, when equipment needing inspection is set in advance in the process of walking on an inspection path, the robot stops, the processor controls the infrared thermal imaging unit to detect the temperature of the equipment through the internet access, the detected temperature data and the infrared thermal imaging picture are stored, and then the processor controls the camera unit to take pictures of the equipment through the MIPI interface and stores the pictures; the processor sends the collected temperature data, the infrared thermal imaging picture and the picture collected by the camera unit to a remote master station system through the 4G module through the MINI-PCIE interface.
As shown in tables 1 and 2, a wireless charging transmitting device is arranged at a charging point, a wireless charging transmitting end coil is arranged in the wireless charging transmitting device, a wireless charging receiving end coil is arranged in the wireless charging receiving device, and the wireless charging transmitting end coil and the wireless charging receiving end coil complete the change from an electric field to a magnetic field and then to the electric field by using magnetic coupling resonance, so that the wireless transmission of electric energy is realized; when the robot is fully charged, the wireless charging transmitting end detects that the charging current is reduced to be below 1A, and then the inspection robot is stopped to be charged.
Table 1: wireless charging device transmitting end coil parameter
Table 2: receiving end coil parameter of wireless charging device
The wireless charging transmitting device and the wireless charging receiving device comprise transmitting and receiving two resonance systems consisting of induction coils; the transmitting end is made to oscillate at a certain frequency by adjusting the transmitting frequency, and the generated non-radiative magnetic field forms an energy channel between the two coils; after multiple resonance, the transmitting end transmits energy to the receiving end through the energy channel, and the energy is converted from the electric field to the magnetic field and then to the electric field, so that wireless transmission of electric energy is realized.
The wireless charging transmitting device comprises a rectifying circuit for rectifying and filtering a 220V alternating-current power supply, high-frequency inversion is carried out after voltage regulation is carried out through a direct-current voltage regulating circuit, electric energy is transmitted to a receiving coil through a transmitting coil, and the receiving coil converts the received electric energy into electric energy to supply power for a lithium battery of the robot after rectification and filtering.
The wireless charging of the invention adopts the magnetic coupling resonance principle, and the mode needs two resonance systems of transmitting and receiving which are respectively composed of induction coils. By adjusting the transmission frequency, the transmitting end is oscillated at a certain frequency, and the generated non-radiative magnetic field forms an energy channel between the two coils. After multiple resonance, the transmitting end transmits energy to the receiving end through the energy channel, and the energy is converted from the electric field to the magnetic field and then to the electric field, so that wireless transmission of electric energy is realized. On the basis of not destroying the original structure of the robot, a wireless electric energy receiving coil and an electric energy conversion circuit are designed at the bottom of the robot, a plurality of patrol point locations are selected according to the stay time of the patrol path of the robot at different patrol point locations and the actual conditions of a transformer substation where the patrol path of the robot is located, a wireless transmitting coil is arranged, and when the robot is static and starts to shoot videos and infrared spectrums, wireless charging is carried out on the robot.
Claims (9)
1. A wireless charging device of a transformer substation intelligent inspection robot is characterized by comprising a robot body, a speed reducing motor, a battery compartment and a control system, wherein the speed reducing motor, the battery compartment and the control system are arranged in the robot body; wheels are arranged at the bottom of the robot body, lithium batteries for supplying power to all parts of the robot are arranged in the battery cabin, and the speed reduction motor and the lithium batteries are connected with the control system; the robot body chassis is also provided with a charging cabin, a wireless charging receiving device is arranged in the charging cabin, and the wireless charging receiving device is respectively connected with the lithium battery and the control system; and the wireless charging receiving device and the wireless charging transmitting device on the wireless charging point in the transformer substation are charged correspondingly.
2. The wireless charging device for the intelligent inspection robot of the transformer substation according to claim 1, wherein the control system comprises a processor, a camera unit, an infrared thermal imaging unit, a charging management unit and a 4G module; the processor is connected with the speed reducing motor through the PWM output interface, the camera unit is connected with the processor through the MIPI interface, the infrared thermal imaging unit is connected with the processor through the internet access, the charging management unit is connected with the processor through the I2C interface, and the 4G module is connected with the processor through the MINI-PCIE interface.
3. The wireless charging device for the intelligent inspection robot of the transformer substation according to claim 1, wherein a navigation positioning module and a safety obstacle avoidance module are mounted on the robot body, and the navigation positioning module comprises a gray tracking sensor, a two-dimensional code reader and an infrared sensor; the gray tracking sensor is used for ground line seeking; the two-dimensional code reader is arranged at the front position of the center of the chassis and is used for reading a two-dimensional code landmark containing two-dimensional code information; wherein, the infrared sensors arranged on the front, the back, the left and the right of the second layer of the chassis are taken as a protection device for preventing the robot from colliding.
4. The wireless charging method for the intelligent inspection robot of the transformer substation according to claim 1, characterized by comprising the following steps:
(1) the robot patrols;
(2) after the robot reaches the designated charging point, the robot is charged;
(3) the robot patrols;
(4) the robot navigates back.
5. The wireless charging method for the substation intelligent inspection robot according to claim 4, wherein the step (2) specifically comprises the following steps:
s01: turning on a robot master switch and connecting the wireless charging transmitting device to a master power supply;
s02: the robot with the built-in wireless charging receiving device automatically monitors the electric quantity allowance of the charging receiver, when the electric quantity of the robot charging receiver with the built-in wireless charging receiving device is monitored to be lower than 80%, the control unit sends out an instruction, the wireless charging receiving device is automatically and wirelessly connected with the wireless charging transmitting device after the robot reaches a charging point, a wireless receiving coil of the connected wireless charging receiving device receives electric energy transmitted by the wireless charging transmitting device and converts the electric energy into magnetic energy and then into electric energy, and the rectifier rectifies the current and then provides the electric energy for the robot of the wireless charging receiving device;
S03: when the robot monitors that the electric quantity reaches 100%, the control unit sends an instruction, and the wireless charging receiving device is closed;
s04: and the robot with the built-in wireless charging receiving device continues to monitor the electric quantity residual quantity until the electric quantity of the robot is monitored to be lower than 60%, repeating the steps S02 and S03, and circulating the steps.
6. The wireless charging method for the substation intelligent inspection robot according to claim 1, wherein the inspection of the robot specifically comprises the following steps: the processor controls the motion of the speed reducing motor through the PWM output interface, so that the robot can walk; the camera unit is used for acquiring images in real time, the processor is used for identifying and processing the images, when equipment needing inspection is set in advance in the process of walking on an inspection path, the robot stops, the processor controls the infrared thermal imaging unit to detect the temperature of the equipment through the internet access, the detected temperature data and the infrared thermal imaging picture are stored, and then the processor controls the camera unit to take pictures of the equipment through the MIPI interface and stores the pictures; the processor sends the collected temperature data, the infrared thermal imaging picture and the picture collected by the camera unit to a remote master station system through the 4G module through the MINI-PCIE interface.
7. The wireless charging method for the intelligent inspection robot of the transformer substation according to claim 1, wherein a wireless charging transmitting device is arranged at a charging point, a wireless charging transmitting end coil is arranged in the wireless charging transmitting device, a wireless charging receiving end coil is arranged in the wireless charging receiving device, and the wireless charging transmitting end coil and the wireless charging receiving end coil use magnetic coupling resonance to complete the change from an electric field to a magnetic field and then to the electric field, so that the wireless transmission of electric energy is realized; when the robot is fully charged, the wireless charging transmitting end detects that the charging current is reduced to be below 1A, and then the inspection robot is stopped to be charged.
8. The wireless charging method for the intelligent inspection robot of the transformer substation according to claim 1, wherein the wireless charging transmitting device and the wireless charging receiving device comprise two resonance systems of transmitting and receiving, which are composed of induction coils; the transmitting end is made to oscillate at a certain frequency by adjusting the transmitting frequency, and the generated non-radiative magnetic field forms an energy channel between the two coils; after multiple resonance, the transmitting end transmits energy to the receiving end through the energy channel, and the energy is converted from the electric field to the magnetic field and then to the electric field, so that wireless transmission of electric energy is realized.
9. The wireless charging method for the intelligent inspection robot of the transformer substation according to claim 1, wherein the wireless charging transmitting device comprises a rectifying circuit for rectifying and filtering 220V alternating-current power supply, the high-frequency inversion is carried out after the voltage regulation is carried out through a direct-current voltage regulating circuit, electric energy is transmitted to a receiving coil through a transmitting coil, and the receiving coil converts the received electric energy into electric energy to supply power to a lithium battery of the robot after the rectification and the filtering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010605509.4A CN111864917A (en) | 2020-06-29 | 2020-06-29 | Wireless charging device and method for intelligent inspection robot of transformer substation |
Applications Claiming Priority (1)
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