CN112787406A - Robot track embedded wireless charging device and charging method - Google Patents
Robot track embedded wireless charging device and charging method Download PDFInfo
- Publication number
- CN112787406A CN112787406A CN202110038878.4A CN202110038878A CN112787406A CN 112787406 A CN112787406 A CN 112787406A CN 202110038878 A CN202110038878 A CN 202110038878A CN 112787406 A CN112787406 A CN 112787406A
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- charging
- receiving
- robot
- track
- disc
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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
- H02J50/12—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling of the resonant type
-
- 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
Abstract
The invention discloses a robot track embedded wireless charging device and a charging method, wherein the robot track embedded wireless charging device comprises the following steps: the launching disc is fixed below the charging track and is connected with the charging control box through a charging cable; the receiving disc is fixed on the robot main frame and is connected with the receiving host machine through a receiving cable; after receiving the instruction of the charging control box, the transmitting disc can perform magnetic resonance charging on the receiving disc, and the electric energy received by the receiving disc is processed by the receiving host and then output to the storage battery to store the electric energy. The charging assembly provided by the invention considers the application of a dripping wet environment or an outdoor environment, adopts the embedded installation of the transmitting assembly in the track, and the receiving assembly is provided with the water receiving device for protection. The adaptability of the track inspection robot to charge in the tunnel humid environment is improved.
Description
Technical Field
The invention relates to the technical field of track inspection robots, in particular to an embedded wireless charging device and a charging method for a robot track.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
In cities, in important municipal facilities, the inspection robot is often used for inspecting the running condition of equipment in places, and particularly, the rail type inspection robot has the advantages of high sight distance and low energy consumption and is widely adopted. The rail-mounted inspection robot inspects the rail along the guide rail, performs activities such as gas monitoring, radar detection, heat source search and the like besides video monitoring of the environment, and uploads detection data to a platform in real time for analysis and processing. Plays an indispensable role in intelligent monitoring. The track inspection robot needs the motor driving device to meet the inspection requirement, and various functional components carried by the robot consume a large amount of electric energy, and the inspection robot is a mobile device, so that the electric energy is obtained through a mobile power supply.
The mobile power supply needs to be charged irregularly after the electric energy is consumed, and the traditional charging mode comprises three modes of contact charging pile, electromagnetic induction type power taking and sliding contact type power taking.
The contact fills electric pile structure and is mechanical type, generally for rocker arm structure or pendulum rod realize charging electrode's action, during rethread motion inserted the electric pile that fills, this kind of charging structure cost is lower, but the structure is complicated, and is higher to the control accuracy requirement, has higher fault rate in the use.
The power taking method of the sliding contact type is characterized in that a power transmission cable is laid, a sliding contact is configured, a mobile power supply is not required to be carried, the power taking method has the advantages that electric energy can be continuously supplied, the defects are obvious, the cable needs to be exposed, the safety is low, good contact in sliding contact is guaranteed, and the power taking method is only suitable for dry places without waterproof requirements.
The electromagnetic induction type electricity taking mode is also to lay the power transmission cable, and different from sliding contact type electricity taking, the power transmission cable does not need to be exposed, so that the applicability to the application environment is improved, and the defects are that the power of the electricity taking head is lower, the manufacturing cost is very high, and the popularization with low cost is not suitable.
To the application in the humid environment in tunnel that needs, need not lay the cable, the tunnel of being convenient for low-cost using widely again patrols and examines the robot, how adopts comparatively simple charge mode, can conveniently protect, will have low fault rate simultaneously, has proposed the requirement.
Disclosure of Invention
In order to solve the problems, the invention provides the robot track embedded wireless charging device and the charging method, which do not need to lay a charging cable on the whole track, can be used in a humid environment, are beneficial to protection and have low failure rate.
In some embodiments, the following technical scheme is adopted:
a robot track embedded wireless charging device, comprising:
the launching disc is fixed below the charging track and is connected with the charging control box through a charging cable;
the receiving disc is fixed on the robot main frame and is connected with the receiving host machine through a receiving cable;
after receiving the instruction of the charging control box, the transmitting disc can perform magnetic resonance charging on the receiving disc, and the electric energy received by the receiving disc is processed by the receiving host and then output to the storage battery to store the electric energy.
Furthermore, the charging track is a T-shaped track, a transmitting disc bin is arranged below the charging track, the transmitting disc is embedded into the transmitting disc bin, and a charging cable coming out of the transmitting disc penetrates through a wire outlet of the charging track and enters the charging control box.
Further, the launching disk magazine forms a surrounding mounting for the launching disk.
Furthermore, a waterproof disc is fixed on the periphery of the receiving disc and communicated to the outside of the robot through a diversion trench.
Further, the receiving host and other robot body components are disposed below the waterproof tray.
Further, the receiving tray is of a waterproof design.
Further, the storage battery is a ternary material battery.
8. A rail-based robotic system comprising the robot rail embedded wireless charging apparatus of any of claims 1-7.
In other embodiments, the following technical solutions are adopted:
a robot track embedded wireless charging method comprises the following steps:
after receiving the charging instruction, the robot runs to a charging position through the charging track;
the receiving disc receives the in-place signal of the robot, the charging control box sends a charging instruction, and the transmitting disc is started to carry out magnetic resonance charging on the receiving disc;
the receiving disc enters a receiving host for processing after receiving the electric energy;
and receiving the electric energy output by the host computer to the robot battery for storage.
Further, when the battery capacity is charged to meet the requirement, the control unit in the charging control box can obtain the charging completion information through the current and voltage threshold values, then sends a charging stop instruction to the transmitting disc, and the system stops charging.
Compared with the prior art, the invention has the beneficial effects that:
(1) the charging assembly provided by the invention considers the application of a dripping wet environment or an outdoor environment, adopts the embedded installation of the transmitting assembly in the track, and the receiving assembly is provided with the water receiving device for protection. The adaptability of the track inspection robot to charge in the tunnel humid environment is improved.
(2) The invention adopts modules such as a magnetic resonance wireless power receiving assembly, a BMS energy management assembly, a ternary/lithium phosphate battery, a high-efficiency high-density power converter and the like. By adopting an intelligent charging mode, the robot can automatically adjust the charging frequency according to the scheduling task and the battery electric quantity, the service life of the battery is prevented from being shortened, the working stability of the system is improved, and the defect of high failure rate in the mechanical charging process of the track inspection robot is overcome.
Drawings
FIGS. 1(a) - (b) are schematic views respectively illustrating the installation of a launching pad on a T-shaped track in the embodiment of the present invention;
FIGS. 2(a) - (b) are schematic views respectively illustrating the installation of the receiving tray on the robot car body in the embodiment of the invention;
FIG. 3 is a cross-sectional view of a launch pad in a track configuration in an embodiment of the present invention;
FIG. 4 is a schematic diagram of a robot charging operation according to an embodiment of the present invention;
the robot comprises a charging rail 1, a transmitting disc 2, a charging cable 3, a receiving disc 4, a transmitting disc bin 5, an outlet 7, a fixing screw 8, a receiving host machine 9, a receiving cable 10, a main frame 11, a waterproof disc 12, a transmitting disc fixing hole 13 and a robot.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Example one
In one or more embodiments, a robot track embedded wireless charging device is disclosed, comprising:
the launching disc is fixed below the charging track and is connected with the charging control box through a charging cable;
the receiving disc is fixed on the robot main frame and is connected with the receiving host machine through a receiving cable;
after receiving the instruction of the charging control box, the transmitting disc can perform magnetic resonance charging on the receiving disc, and the electric energy received by the receiving disc is processed by the receiving host and then output to the storage battery to store the electric energy.
Referring to fig. 1(a) - (b), the charging track 1 is a T-shaped track, the lower part of the charging track is machined to form a launch plate bin 5, and after the launch plate 2 is embedded into the launch plate bin 5, the charging cable 3 coming out of the launch plate 2 can pass through the outlet 6 of the charging track 1 and enter the peripheral charging control box. The launching pad 2 is laterally fixed by the fixing screw 7 through the launching pad fixing hole 12 on the lateral side of the charging track 1, so that the launching pad 2 can implement the charging and discharging process through the instruction sent by the control unit. As the launching tray 2 is fixed in the launching tray bin 5, the surrounding installation of the launching tray 2 is formed, and a good waterproof effect is achieved.
Referring to fig. 2(a) - (b), the receiving tray 4 is fixed on the main frame 10, and a waterproof tray 11 is fixed on the periphery of the receiving tray 4. since the receiving tray 4 has a waterproof function, the waterproof tray 11 is used for dealing with water flowing down above the rail, and is mainly used for protecting the receiving host 8 or other parts of the robot body below the waterproof tray 11.
Referring to fig. 3, a receiving tray 4, a waterproof tray 11 and a receiving host 8 below are respectively fixed on a main frame 10 of a robot 13, power transmission and communication between the receiving tray 4 and the receiving host 8 are connected by a receiving cable 9, the receiving host 8 is further connected with other charging peripheral equipment, and when flowing water is sprayed on the waterproof tray 11, the water flow is discharged out of the robot 13 from a diversion trench of the waterproof tray 11, so that protection of the receiving host 8 is achieved.
Referring to fig. 4, the transmitting plate 2 is fixed below the charging rail, the transmitting surface is downward, the receiving plate 4 is positioned above the main frame of the robot, the receiving surface is upward, when the robot moves to the charging position, the transmitting surface of the transmitting plate 2 is just aligned with the receiving surface of the receiving plate 4, and then the resonance charging can be realized.
When the robot 13 feeds electricity, a charging control PLC processing unit of the robot can send a charging instruction, the robot can search for a charging rail, the robot runs to a charging position on a track, the robot is provided with a positioning tag to enable the robot to be accurately positioned at the charging position, a receiving disc 4 can receive an in-place signal of the robot 13, a charging control box can send the charging instruction, a transmitting disc 2 is started to carry out magnetic resonance charging on the receiving disc 4, the receiving disc 4 can enter a receiving host 8 to process and then output to a ternary lithium ion battery to store electric energy after receiving the electric energy, when the electric energy is charged to meet requirements, a control unit in the charging control box can obtain information of charging completion through current and voltage thresholds, then a charging stopping instruction is sent to the transmitting disc 2, the system stops charging, and then the robot 13 runs away from the charging position.
In order to make the track patrol and examine robot possess low cost, the advantage of the protection of being convenient for, adopted wireless receiving component, can realize full protection, the protection level can reach IP67, wireless receiving component just so can be applied to the humid environment in the tunnel, has improved environmental suitability.
The charging and energy management scheme has two wireless charging modes for optional matching, and the two wireless charging schemes are wireless charging based on two principles of magnetic resonance and magnetic induction respectively. The two charging modes have the following advantages and disadvantages:
according to the current technical capability and experimental results, the charging mode based on the magnetic resonance principle can realize charging with larger power, has the advantages of long charging distance, low positioning requirement of a transmitting and receiving coil, larger charging power and the like, can realize quick charging with more than 500W, and has the defect of higher manufacturing cost. And the magnetic induction scheme is slightly lower than 200-350 (Max) W of charging power, and has the advantages of relatively slightly lower manufacturing cost, easy integration and mature accessories.
The battery can adopt a ternary material battery, and compared with a lithium ion battery, the battery has advantages and disadvantages in the aspects of charging characteristic, discharging characteristic, cycle characteristic, temperature characteristic, safety characteristic and the like, the ternary material has certain advantages in the aspects of multiplying power quick charging, energy density, power density and low temperature performance, and the lithium iron phosphate has certain advantages in the aspects of cycle performance, safety performance and the like; compared with the traditional battery, the lithium ion capacitor has incomparable advantages in charging speed (more than 200A), cycle life (more than million times), maintenance-free property and safety, has the same obvious defects, low energy density and power density (aiming at project application 48V 75W/h Max.), large volume and high manufacturing cost, and is suitable for short-distance and small-defense area patrol.
In the aspect of a charging energy management mode, the video robot has high requirements on volume and space and a large inspection range, a magnetic resonance wireless charging and ternary material battery mode is adopted, energy is provided by a lithium ion battery (performance index is not less than 48V/20AH) made of ternary materials, capacity meets the requirements, capacity time attenuation is considered, the battery replacement period is not less than 3 years, and meanwhile, the video robot has protection capability and is easy to replace.
Example two
In one or more embodiments, a robotic system is disclosed that includes a robotic track embedded wireless charging device as described in example one.
EXAMPLE III
In one or more embodiments, a robot track embedded wireless charging method is disclosed, comprising:
after receiving the charging instruction, the robot runs to a charging position through the charging track;
the receiving disc receives the in-place signal of the robot, the charging control box sends a charging instruction, and the transmitting disc is started to carry out magnetic resonance charging on the receiving disc;
the receiving disc enters a receiving host for processing after receiving the electric energy;
and receiving the electric energy output by the host computer to the robot battery for storage.
When the electric quantity of the battery is charged to meet the requirement, the control unit in the charging control box can obtain the charging completion information through the current and voltage threshold values, then sends a charging stop instruction to the transmitting disc, and the system stops charging.
The specific implementation of the above process is described in detail in the first embodiment, and is not described again.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (10)
1. A robot track embedded wireless charging device, comprising:
the launching disc is fixed below the charging track and is connected with the charging control box through a charging cable;
the receiving disc is fixed on the robot main frame and is connected with the receiving host machine through a receiving cable;
after receiving the instruction of the charging control box, the transmitting disc can perform magnetic resonance charging on the receiving disc, and the electric energy received by the receiving disc is processed by the receiving host and then output to the storage battery to store the electric energy.
2. The robot track embedded wireless charging device of claim 1, wherein the charging track is a T-shaped track, a launching plate bin is arranged below the charging track, the launching plate is embedded in the launching plate bin, and a charging cable from the launching plate passes through an outlet of the charging track and enters the charging control box.
3. The robot track embedded wireless charging device of claim 2, wherein the launch pad compartment forms an enclosure for the launch pad.
4. The embedded wireless charging device of robot rail as claimed in claim 1, wherein a waterproof plate is fixed on the periphery of the receiving plate, and the waterproof plate is communicated to the outside of the robot through a diversion trench.
5. A robot track embedded wireless charging device as claimed in claim 4, wherein the receiving host and other robot body components are disposed below the waterproof pan.
6. The robotic track embedded wireless charging device of claim 1, wherein the receiving pan is of a waterproof design.
7. The robot track embedded wireless charging device of claim 1, wherein the battery is a ternary material battery.
8. A rail-based robotic system comprising the robot rail embedded wireless charging apparatus of any of claims 1-7.
9. A robot track embedded wireless charging method is characterized by comprising the following steps:
after receiving the charging instruction, the robot runs to a charging position through the charging track;
the receiving disc receives the in-place signal of the robot, the charging control box sends a charging instruction, and the transmitting disc is started to carry out magnetic resonance charging on the receiving disc;
the receiving disc enters a receiving host for processing after receiving the electric energy;
and receiving the electric energy output by the host computer to the robot battery for storage.
10. The robot track embedded wireless charging method of claim 9, wherein when the battery is charged to meet the requirement, the control unit in the charging control box obtains the charging completion information through current and voltage thresholds, and then sends a charging stop command to the transmitting disc, and the system stops charging.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110038878.4A CN112787406B (en) | 2021-01-12 | 2021-01-12 | Robot track embedded wireless charging device and charging method |
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| CN202110038878.4A CN112787406B (en) | 2021-01-12 | 2021-01-12 | Robot track embedded wireless charging device and charging method |
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| CN112787406B (en) | 2022-06-14 |
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