CN113067386A - Wireless charging system and method for explosion-proof inspection robot - Google Patents
Wireless charging system and method for explosion-proof inspection robot Download PDFInfo
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- CN113067386A CN113067386A CN202110372108.3A CN202110372108A CN113067386A CN 113067386 A CN113067386 A CN 113067386A CN 202110372108 A CN202110372108 A CN 202110372108A CN 113067386 A CN113067386 A CN 113067386A
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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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- H—ELECTRICITY
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Abstract
The invention discloses an explosion-proof type inspection robot wireless charging system which comprises an inspection robot and a charging pile, wherein the inspection robot is provided with an industrial personal computer, a laser radar, a rearview camera, an ultrasonic sensor, a depth camera, an encoder and a wireless charging receiving end, and the laser radar, the rearview camera, the ultrasonic sensor, the depth camera and the encoder are all in communication connection with the industrial personal computer. Ultrasonic sensor is provided with two and respectively symmetric distribution under wireless receiving terminal that charges, and two ultrasonic sensor's interval is less than fills electric pile width. Be equipped with wireless transmitting terminal and the mechanical claw of charging on filling electric pile and detain, mechanical claw detains and rotates to be connected in wireless transmitting terminal week side of charging. The invention also discloses a wireless charging method of the explosion-proof inspection robot, which is characterized in that through the data information fusion of various sensors, the wireless charging method depends on precision cascade triggering and mutual verification to form closed flow loop and hierarchical feedback, and the accuracy of charging alignment is ensured.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an explosion-proof type inspection robot wireless charging system and method.
Background
With the development of science and technology, petrochemical enterprises are rapidly developed, meanwhile, hidden dangers and accidents caused by petrochemical devices are also generated continuously, and how to avoid the accidents caused by the hidden dangers and the accidents are a big problem facing the current situation. At present, inspection of a petrochemical plant area is mostly performed through manual inspection, and obviously, the method cannot guarantee the timeliness of inspection. Moreover, due to the particularity of petroleum and chemical enterprises, the environment of the plant area also has certain chemical odor, which seriously affects the health of workers in the plant area. Or some existing enterprises can use the robot to patrol in the factory, but most of the enterprises adopt a manual remote control or magnetic navigation mode, infrastructure needs to be transformed in the factory, the patrol efficiency of the robot is low, and obvious economic benefits cannot be brought to the factory. Because the production environment is special, the ordinary inspection robot can not meet the protection requirement due to the sensor and the driving device carried by the ordinary inspection robot, and the special robot is increasingly applied to large-scale oil exploitation and metallurgy smelting enterprises and some special occasions.
A user of the explosion-proof inspection robot can issue an inspection task to the robot through the management platform, and when the explosion-proof inspection robot receives the inspection task, the explosion-proof inspection robot can autonomously navigate to a target area by using the laser radar according to the task issued by the management platform to inspect so as to complete the inspection task. Obviously, by the method, the harm caused by the fact that people enter the target area to patrol can be avoided, meanwhile, the timeliness of patrol can be guaranteed, and the explosion-proof robot can directly check patrol information on the management platform without manually comparing data, so that the patrol efficiency is greatly improved, and meanwhile, the economic benefit of a factory is also improved.
The explosion-proof robot is one of special robots and plays an important role in the work of high-risk places. The explosion-proof robot adopts the vehicle-mounted storage battery pack to provide running energy for the explosion-proof robot, but each part of the explosion-proof robot is wrapped by the explosion-proof material, so that the self weight is large, the moving speed is reduced, the power consumption of the storage battery pack is high, and the storage battery pack needs to be supplemented with electric energy at regular time. When the explosion-proof robot needs to be charged in an inflammable and explosive environment, the charging process needs to meet the national II C explosion-proof requirement. At present, explosion-proof robots generally adopt a non-explosion-proof manual charging mode in a safety area, so that the intelligence degree of the explosion-proof robots is limited.
The wireless charging technology can solve the problems of poor flexibility and convenience, easy abrasion of a conductor contact part, easy generation of sparks, potential safety hazards possibly caused by exposed power supply lines and the like in wired power supply. Among the numerous wireless energy transmission solutions, the electromagnetic resonance solution is considered to be the most potential and practical. The electromagnetic resonance wireless charging technology is based on the principle of electromagnetic induction and is divided into an energy transmitting end and a receiving end, and the transmitting end and the receiving end do not need to be physically connected. The transmitting end converts commercial power into high-frequency alternating current by using the electric energy conversion device, the high-frequency alternating current generates a variable magnetic field, and energy is transmitted out through media such as air; the receiving end is arranged in the magnetic field of the transmitting end, and can induce current according to the electromagnetic induction principle and then convert the current into electric energy required by the terminal equipment through the electric energy conversion device. In popular terms, the transmitting end is converted from electricity to magnetism, the receiving end is converted from magnetism to electricity, and wireless energy transmission is achieved through conversion of electricity, magnetism and electricity. The transmitting terminal comprises a transmitting host and a transmitting disc; the receiving end comprises a receiving host and a receiving disc. The receiving host is arranged in the robot and is connected with a power supply and a master control, and the transmitting host is connected with commercial power. When charging is needed, the robot reaches the charging position, and charging is achieved after the transmitting host computer and the receiving host computer establish communication. The device adopts a balance coil metal detection technology to automatically detect foreign matters, a charging distance induction detection and load change self-adjusting technology, is suitable for non-contact charging of a mobile robot, can realize the full automation of the battery charging process, and is convenient to use and simple to maintain. The method has the advantages of high efficiency, safety, controllability, no radiation and the like, so that the method is widely applied to multiple fields. However, most of the existing wireless charging devices are used for charging mobile terminals such as mobile phones and tablets, and the charging power is low and the efficiency is low; the wireless charging device applied to the field of the explosion-proof robot is few.
At present, the inspection robot mostly adopts the connection type mode of charging, is patrolling and examining task place installation promptly and filling electric pile, and when the robot need replenish electric power, automatic traveling to filling electric pile position, the charging connector of robot body with fill electric pile power supply plug butt joint, realize the electricity and connect and implement to charge. In order to prevent the problem of inaccurate butt joint of the robot during charging, the butt joint area of two pole conductors of the power supply connection of a charging pile can be made into a larger area, so that the redundancy fault tolerance of the butt joint error is realized. For example, patent document CN201110216728.4 proposes "inspection system and inspection method for intelligent robot in transformer substation", and patent document CN201510128951.1 proposes "charging system and charging method for inspection robot".
The transmitting end and the receiving end of the wireless charging mode need to be aligned in high precision, gaps between the two ends need to be within a certain distance range, if a wireless charging mobile phone needs to be adsorbed on the surface of a charger, or a wireless charging base of some electronic products is of a clamping groove type, the wireless charging base and the wireless charging base are both used for preventing the transmitting end and the receiving end of the charger from being staggered, and if the wireless charging base and the receiving end are not aligned, the charging efficiency is greatly reduced.
In summary, the prior art has the following disadvantages:
1. the inspection robot adopts a wired charging mode, and is not suitable for petroleum exploitation or industries with special explosion prevention requirements.
2. In the prior art, in the wireless charging alignment process, errors are larger than the alignment requirements of charging piles only by means of laser radar navigation or visual navigation and the like, namely the existing method is insufficient and lacks a verification link.
3. Some charging methods need to be additionally attached with light emitting plates, RFID patches, guide rails, two-dimensional codes and other methods in order to improve accuracy, so that requirements on construction are met, and the robot is abraded or damaged. The robot works in an unmanned environment for a long time, and once an accessory is additionally arranged outside a certain part to cause a problem, the robot cannot work and needs manual intervention.
Because the work load of patrolling and examining the robot is big, need often charge, the wireless charging technology of present robot is difficult to guarantee at the robot walking in-process that robot and wireless charging pile align completely, often need just can accomplish with the help of artifical supplementary.
Disclosure of Invention
The invention aims to provide an explosion-proof inspection robot wireless charging system and method.
In order to achieve the purpose, the invention adopts the following technical scheme:
an explosion-proof wireless charging system for an inspection robot comprises the inspection robot and a charging pile, wherein the inspection robot is provided with an industrial personal computer, a laser radar, a rearview camera, an ultrasonic sensor, a depth camera, an encoder and a wireless charging receiving end, the encoder is arranged on a rotating shaft of a driving wheel motor of the inspection robot, and the laser radar, the rearview camera, the ultrasonic sensor, the depth camera and the encoder are all in communication connection with the industrial personal computer; the two ultrasonic sensors are symmetrically distributed right below the wireless charging receiving end respectively, and the distance between the two ultrasonic sensors is smaller than the width of the charging pile; fill and be provided with wireless transmitting terminal and the mechanical claw knot of charging on the electric pile, the mechanical claw knot rotationally sets up in wireless transmitting terminal week side of charging, through rotating the closure in order to fix wireless receiving terminal that charges.
Further setting the following steps: the central points of the wireless charging transmitting end and the wireless charging receiving end are located at the same height, the depth camera is arranged right above the wireless charging receiving end, and the central axis of the depth camera coincides with the central axis of the wireless charging receiving end.
Further setting the following steps: and a bomb pressing sensor is arranged between the wireless charging transmitting end and the charging pile, and the bomb pressing sensor is in communication connection with the industrial personal computer.
Further setting the following steps: the length of the bomb pressing sensor is set to be 20 mm.
Further setting the following steps: the inspection robot is provided with locking grooves matched with the mechanical claw buckles on the peripheral sides of the wireless charging receiving ends.
Further setting the following steps: the laser radar is a multi-line laser radar scanner.
The invention also provides a wireless charging method of the explosion-proof inspection robot, which comprises the following steps:
s1, setting a patrol task point before the position of the charging pile, and defining the position 50cm before the charging pile as a charging posture adjustment starting position.
And S2, when the residual electric quantity of the robot is insufficient or a charging command is received, performing real-time positioning and path planning in the same navigation mode as the polling task, and driving to a charging posture adjustment start position.
And S3, adjusting the posture of the robot through the laser radar and the encoder, and enabling the wireless charging receiving end to be over against the charging pile.
S4, starting the depth camera, and correcting two errors through the depth camera in the process of advancing from the charging initial position to the charging pile: the robot charging system comprises a robot, a wireless charging receiving end, a charging pile, a wireless charging transmitting end, a wireless charging receiving end and a wireless charging transmitting end, wherein the robot is provided with a horizontal displacement error of the center of the wireless charging receiving end and the wireless charging transmitting center on the charging pile, and an included angle error of two planes of the wireless charging receiving end and the wireless charging transmitting end.
And S5, when the two error values in the step 4 are eliminated or the error values are reduced to be within a threshold range, namely the error is not enough amplified within the distance from the current position of the robot to the charging pile to influence the charging docking accuracy, locking the steering of the driving wheels of the robot, and keeping the robot to run in a straight line.
And S6, when the distance between the robot and the charging pile is smaller than the optimal visual distance of the depth camera, switching to an ultrasonic sensor from the depth camera to measure the distance between the robot and the charging pile.
And S7, when the robot runs to the charging range of the charging pile, the robot stops moving, the mechanical claw buckle is triggered, the wireless charging transmitting end and the wireless charging receiving end are locked and fixed, the robot stops moving, and the charging function is started.
Further is provided withComprises the following steps: the step of correcting the horizontal displacement error between the center of the wireless charging receiving terminal and the center of the wireless charging transmitting terminal in S4 is specifically: the depth camera collects the image of the wireless charging transmitting terminal, identifies the outline of the transmitting terminal, calibrates the abscissa position of the center of the wireless charging transmitting terminal in the image, and calculates the difference between the coordinate and the abscissa of the center of the image, namely the horizontal displacement error PixofsAnd then converting the translation distance into a translation distance of the robot for transverse adjustment through a perspective principle:
Pixofs＝Cdev-Cimg
wherein, Pixofs(pixel offset) is expressed as an offset distance in pixels; cdev(center of device) is expressed as the coordinate of the center of the minimum circumscribed rectangle of the charging pile emission area calibrated by the target detection algorithm in the image; cimg(center of image) is expressed as the center position coordinates of the acquired wireless charging transmitting terminal image.
Further setting the following steps: the step of correcting the error of the included angle between the two planes of the wireless charging receiving end and the wireless charging transmitting end in the step S4 is specifically: can obtain the projected distance information of wireless transmitting terminal plane in the image through the degree of depth camera, if there is the contained angle wireless receiving terminal plane and the wireless transmitting terminal plane that charges, then the distance of two vertical edges on the wireless transmitting terminal plane that charges in the image is different, and the length ratio through distance difference and horizontal border projection then is the tangent value of two plane contained angles:
Offsetθ＝actan(Δd/L)
the Offset theta is an included angle between a wireless charging transmitting end plane and a wireless charging receiving end plane, the delta d is a distance difference between two vertical boundaries of the wireless charging transmitting end plane and the robot, and the L is a projection length of a horizontal boundary of the wireless charging transmitting end plane in a camera image.
Further setting the following steps: s6 further includes: if the distance between the robot and the charging pile is smaller than the minimum value of the optimal charging distance, the pressing and bouncing sensor is triggered to remind the robot that the robot crosses the minimum charging distance and needs to run reversely.
In conclusion, the beneficial technical effects of the invention are as follows:
(1) the robot wireless charging system is triggered by accuracy cascade through data information fusion of various sensors, mutual verification is achieved, a flow closed loop is formed, level feedback is achieved, and accuracy is guaranteed. The distance and the precision of the optimal ranging range of the 3D laser radar navigation, the depth vision, the ultrasonic sensor and other equipment are different, and the advantages of each sensor are fully exerted. Wherein adopt laser radar to charge the initial position and navigate, adopt degree of depth vision and macro camera to carry out target identification to filling electric pile, the coordinate skew is revised, adopts ultrasonic sensor to charge the interval of receiving terminal and transmitting terminal at the close range control wireless, under the accurate prerequisite of counterpointing, fills electric pile transmitting terminal and launches claw type buckle device, locks the charger receiving terminal of robot, ensures the accurate butt joint of wireless charging.
(2) The wireless charging method improves the accuracy of wireless charging and docking of the explosion-proof inspection robot, avoids excessive manual intervention, and improves unmanned intelligent inspection in high-risk environments. The method has strong environmental adaptability, the effect realized by the method cannot be obviously influenced by the change of the operation place, and the method can be applied to various industries such as petrifaction, mining, smelting and the like. After the implementation of the invention, the robot can execute the all-weather multi-scene equipment inspection task for 24 hours, and the safe operation of the equipment is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic view of the overall structure of an explosion-proof inspection robot wireless charging system in embodiment 1;
fig. 2 is a side view of a charging pile in example 1;
fig. 3 is a flowchart of the operation of the wireless charging method of the explosion-proof inspection robot in embodiment 2;
fig. 4 is a schematic view of calculating horizontal displacement errors of the center of the wireless charging transmitting terminal and the center of the wireless charging receiving terminal in embodiment 2;
fig. 5 is a model diagram of calculation of an angle error between the wireless charging transmitting terminal and the wireless charging receiving terminal in embodiment 2.
Reference numerals:
1. laser radar 2, rearview camera 3, ultrasonic sensor
4. Depth camera 5, fill electric pile 6, wireless receiving terminal that charges
7. Mechanical claw buckle 8, wireless charging transmitting terminal 9 and locking groove
10. Pressing and bouncing sensor
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The technical terms referred to in the present document are first briefly described below:
laser radar: the laser radar used by the inspection robot is also called as a laser scanner, and is distance measuring and positioning equipment commonly used by the existing unmanned automobile and AGV platform. Laser radar's transmitter launches a bundle of laser, and after laser beam met the object, through diffuse reflection, returned to laser receiver, radar module multiplies the velocity of light according to the time interval of sending and received signal, divides by 2 again, can calculate the distance of transmitter and object. Laser radars are classified into two dimensional types, 2D and 3D.
An encoder: encoders are commonly used for driving wheels of robots, and can convert angular displacement and linear displacement into periodic electric signals for recording the angle change and distance increment of robot driving.
A depth camera: also called a "3D camera", generally has an infrared laser transmitter and an infrared sensor for transmitting and receiving infrared laser, and feeds back distance information of a photographing target object in an imaging device. The depth camera is also provided with an RGB color sensor for capturing a visible color image of the same field of view as the depth sensor.
An ultrasonic sensor: are sensors that convert an ultrasonic signal into another energy signal, typically an electrical signal. For photoelectric ranging's sensor, tiny barrier can be walked around to ultrasonic sensor, does not receive the influence of object surface colour and can measure transparent object, is applicable to greasy dirt environment, and closely measuring accuracy is high.
Example 1
Referring to fig. 1, the explosion-proof type inspection robot wireless charging system disclosed by the invention comprises an inspection robot and a charging pile 5, wherein an industrial personal computer, a laser radar 1, a rearview camera 2, an ultrasonic sensor 3, a depth camera 4, an encoder and a wireless charging receiving end 6 are arranged on the inspection robot. The encoder is arranged on a rotating shaft of a motor of a driving wheel of the inspection robot, collects information such as the number of turns of the driving wheel and the steering angle, calculates the traveling distance through the diameter of the driving wheel, and can calculate the path from a starting point to the current robot and the position in a map according to the information. Laser radar 1, back vision camera 2, ultrasonic sensor 3, depth camera 4, encoder all with industrial computer communication connection to with the information transmission of collecting to the industrial computer, through the motion of industrial computer control robot. The rearview camera 2, the ultrasonic sensor 3, the depth camera 4 and the wireless charging receiving end 6 are arranged on the same side of the inspection robot. The laser radar 1 used by the inspection robot is a multi-line laser radar scanner.
The central points of the wireless charging transmitting end 8 and the wireless charging receiving end 6 are located at the same height, namely the central point of the wireless charging receiving end 6 and the central point of the wireless charging transmitting end 8 are located at the same horizontal plane, the depth camera 4 is arranged right above the wireless charging receiving end 6, the central axis of the depth camera 4 coincides with the central axis of the wireless charging receiving end 6, and the depth camera 4 is internally provided with a visible light image acquisition camera and a distance sensor. The distance sensor in the depth camera 4 can accurately compare the distance between the edge points of the two ends of the transmitting end of the charging pile 5 on the same horizontal line, and if the distance between the two points and the camera is consistent, the receiving end and the transmitting end are considered to be parallel; the central calibration position of the wireless charging transmitting terminal 8 is preset in a visible light image formed in the depth camera 4, and if the central point of the wireless charging transmitting terminal 8 acquired in real time is matched with the central calibration position, the horizontal displacement error between the wireless charging receiving terminal 6 and the wireless charging transmitting terminal 8 is eliminated.
Referring to fig. 2, be equipped with on the wireless emitter that charges 8 and fill between the electric pile 5 and press and play inductor 10, press the length of playing inductor 10 to be 20mm, press and play inductor 10 and industrial computer communication connection. When the distance between the robot and the charging pile 5 is smaller than the minimum value of the optimal charging distance, the pressing and bouncing sensor is triggered to remind the robot that the robot crosses the minimum charging distance and needs to run reversely.
Fill and be provided with wireless emitter 8 and the mechanical claw of charging on the electric pile 5 and detain 7, mechanical claw detains 7 and rotates to be connected in wireless emitter 8 week side of charging, and the robot that patrols and examines is provided with the locking recess 9 with mechanical claw detains 7 looks adaptation in the week side of wireless receipt end 6 that charges. The rotation through mechanical claw detains 7 is closed in order to fix wireless receiving terminal 6 that charges, prevents that the wireless receiving terminal 6 that charges from rocking and influence the charging effect among the charging process.
The working principle and the beneficial effects of the wireless charging system are as follows:
in order to make the accurate wireless charging that carries on of explosion-proof robot, according to patrolling and examining the robot and filling the distance between the electric pile 5 and required positioning accuracy, whole butt joint process mainly divide into 3 stages of traveling and 1 verification stage, is respectively:
stage 1: after the inspection robot receives the charging command, a navigation mode the same as that of the inspection task is adopted, namely, map positioning and path planning are carried out through the laser radar 1 and the encoder, the inspection robot runs to a position 50cm in front of the charging pile 5, the posture is adjusted, the wireless charging receiving end 6 of the robot is enabled to be over against the wireless charging transmitting end 8 of the charging pile 5, and the positioning accuracy range of the inspection robot in the inspection task mode is +/-10 mm.
Stage 2: a distance of 50cm is within the optimal range of the depth camera 4. While the laser radar 1 is used for positioning at this stage, feedback information of the depth camera 4 is added as a reference for correcting position errors. The position error of the wireless charging receiving end 6 of the robot and the wireless charging transmitting end 8 of the charging pile 5 mainly comprises two aspects, wherein the position error is horizontal displacement between the two aspects, namely the central points of the wireless charging receiving end 6 and the wireless charging transmitting end 8 are not on the same axis, and the wireless charging receiving end 6 has left or right deviation relative to the wireless charging transmitting end 8; and secondly, an included angle between the wireless charging receiving end 6 and the wireless charging transmitting end 8 deviates, namely, an included angle rather than a parallel relation exists between the two planes. Visual positioning information is introduced at this stage, the main purpose being to eliminate both errors. The central calibration position of the wireless charging transmitting terminal 8 is preset in a visible light image formed in the depth camera 4, and if the central point of the wireless charging transmitting terminal 8 acquired in real time is matched with the central calibration position, the horizontal displacement error between the wireless charging receiving terminal 6 and the wireless charging transmitting terminal 8 is eliminated. The distance sensor in the depth camera 4 can accurately compare the distance between the edge points of the two ends of the wireless charging receiving end 6 and the wireless charging receiving end 6 on the same horizontal plane, and if the distance between the edge points of the two ends is consistent, the wireless charging receiving end 6 and the wireless charging transmitting end 8 are considered to be parallel, namely the included angle error between the two ends is eliminated. In the process that the inspection robot drives to the charging pile 5, horizontal displacement errors are eliminated firstly, and included angle errors are eliminated secondly. The depth camera 4 optimally recognizes 200mm of the distance, with a measurement error of ± 20 mm.
And (3) stage: in the phase 2, when the values of the two errors are within the wireless charging docking allowable range, the positioning of the ultrasonic sensor 3 is automatically switched to even if the robot does not drive to the position where the depth camera 4 is 200mm away from the charging pile. Meanwhile, the driving wheels are turned and locked, so that the linear motion of the robot is kept, and a new error is prevented from being generated by the vibration generated by the running of the robot. The wireless charging receiving end 6 is located on the side vertical face of the charging pile and is parallel to the plane of the wireless charging transmitting end 8. When the distance between the inspection robot and the charging pile is smaller than 200mm, the distance measurement error of ultrasonic waves is +/-1 mm, the optimal charging distance range of the wireless charging transmitting terminal 8 and the wireless charging receiving terminal 6 is 20-40 mm, the error redundancy is far greater than the positioning precision, and the robot charging accuracy under the unmanned environment is guaranteed. If the distance between the robot and the charging pile is smaller than the minimum value of the optimal charging distance, the pressing and bouncing sensor is triggered to remind the robot that the robot crosses the minimum charging distance and needs to run reversely, and therefore the safety of the robot in the charging process is guaranteed in an unattended environment.
And (4) stage: the inspection robot accurately drives to the butt joint position of the wireless charging transmitting terminal 8, in order to obtain a determined coordinate, fusion of positioning information of a plurality of sensors (including a laser radar, a depth camera and an ultrasonic sensor) is needed once, and whether the robot is accurate in place is verified. And (3) performing sensor positioning calibration in advance at the optimal charging parking position, setting a limit threshold, and comparing the real-time positioning coordinate of the sensor with the calibrated limit threshold after the robot performs the charging docking positioning operation to determine whether the docking is successful. If the real-time positioning coordinate of the sensor exceeds a pre-calibrated limit threshold, the docking is considered to be failed, the charging operation is not carried out, and the step 1 is returned to execute the charging docking positioning operation step by step again; if the real-time positioning coordinate of the sensor is within the pre-calibrated limit threshold value and the charging butt joint error is an ideal value, the robot stops moving the coordinate, the mechanical claw 7 is triggered, the wireless charging transmitting end 8 and the wireless charging receiving end 6 are locked and fixed, the robot stops moving, and the charging function is started.
Example 2
Referring to fig. 2, the invention discloses an explosion-proof type inspection robot wireless charging method, which comprises the following steps:
s1, setting a patrol task point before the position of the charging pile 5, and defining the position 50cm before the charging pile 5 as a charging posture adjustment starting position.
And S2, when the residual electric quantity of the robot is insufficient or a charging command is received, performing real-time positioning and path planning in the same navigation mode as the polling task, and driving to a charging posture adjustment start position.
S3, the robot posture is adjusted through the laser radar 1 and the encoder, and the wireless charging receiving end 6 is enabled to be over against the charging pile 5.
S4, starting the depth camera 4, and correcting two errors through the depth camera 4 in the process of advancing from the charging initial position to the charging pile 5: the robot goes up the horizontal displacement error at wireless charging receiving terminal 6 center and the wireless transmission center that charges on filling electric pile 5 to and the wireless receiving terminal that charges 6 and the wireless transmission end 8 contained angle error of two planes.
And S5, when the two error values in the step 4 are eliminated or the error values are reduced to be within a threshold range, namely the error is not enough amplified within the distance from the current position of the robot to the charging pile 5 to influence the charging docking accuracy, locking the steering of the driving wheels of the robot, and keeping the robot to run in a straight line.
And S6, when the distance between the robot and the charging pile 5 is smaller than the optimal visual distance of the depth camera 4, switching the depth camera 4 to the ultrasonic sensor 3 to measure the distance between the robot and the charging pile 5.
S7, when the robot runs to the charging range of the charging pile 5, the robot stops moving, the mechanical claw buckle 7 is triggered, the wireless charging transmitting end 8 and the wireless charging receiving end 6 are locked and fixed, the robot stops moving, and the charging function is started.
Referring to fig. 3, the step of correcting the horizontal displacement error between the center of the wireless charging receiving terminal 6 and the center of the wireless charging transmitting terminal 8 in S4 specifically includes: the depth camera 4 collects the image of the wireless charging transmitting terminal 8, identifies the outline of the transmitting terminal, calibrates the abscissa position of the center of the wireless charging transmitting terminal 8 in the image, and calculates the difference between the coordinate and the abscissa of the center of the image, namely the horizontal displacement error PixofsAnd then converting the translation distance into a translation distance of the robot for transverse adjustment through a perspective principle:
Pixofs＝Cdev-Cimg
wherein, Pixofs(pixel offset) is expressed as an offset distance in pixels, Cdev(center of device) is expressed as the coordinate of the center of the minimum circumscribed rectangle of the emission area of the charging pile 5 calibrated by the target detection algorithm in the image; cimg(center of image) is expressed as the center position coordinates of the acquired image of the wireless charging transmitting terminal 8.
With reference to fig. 4, the step of correcting the error between the included angles of the two planes of the wireless charging receiving terminal 6 and the wireless charging transmitting terminal 8 in S4 specifically includes: can obtain the projected distance information of wireless transmitting terminal 8 planes in the image through degree of depth camera 4, if there is the contained angle in the wireless receiving terminal 6 planes that charge and the wireless transmitting terminal 8 planes that charge, then the distance of two vertical edges on the wireless pet drowned single transmitting terminal plane in the image is different, and the length ratio through distance difference and horizontal boundary projection then is the tangent value of two plane contained angles:
Offsetθ＝actan(Δd/L)
the Offset theta is an included angle between the plane of the wireless charging transmitting terminal 8 and the plane of the wireless charging receiving terminal 6, the delta d is a distance difference between two vertical boundaries of the plane of the wireless charging transmitting terminal 8 and the robot, and the L is a projection length of a horizontal boundary of the plane of the wireless charging transmitting terminal 8 in a camera image.
S6 further includes: if the distance between the robot and the charging pile 5 is smaller than the minimum value of the optimal charging distance, the pressing and bouncing sensor is triggered to remind that the robot crosses the minimum charging distance and needs to run reversely.
The wireless charging method improves the accuracy of wireless charging and docking of the explosion-proof inspection robot, avoids excessive manual intervention, and improves unmanned intelligent inspection in high-risk environments. The method has strong environmental adaptability, the effect realized by the method cannot be obviously influenced by the change of the operation place, and the method can be applied to various industries such as petrifaction, mining, smelting and the like. After the implementation of the invention, the robot can execute the all-weather multi-scene equipment inspection task for 24 hours, and the safe operation of the equipment is ensured.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides a wireless charging system of robot is patrolled and examined to explosion-proof type, includes patrols and examines the robot and fills electric pile (5), its characterized in that: the inspection robot is provided with an industrial personal computer, a laser radar (1), a rear-view camera (2), an ultrasonic sensor (3), a depth camera (4), an encoder and a wireless charging receiving end (6), wherein the encoder is arranged on a motor rotating shaft of a driving wheel of the inspection robot, and the laser radar (1), the rear-view camera (2), the ultrasonic sensor (3), the depth camera (4) and the encoder are all in communication connection with the industrial personal computer;
the two ultrasonic sensors (3) are symmetrically distributed right below the wireless charging receiving end (6), and the distance between the two ultrasonic sensors (3) is smaller than the width of the charging pile (5);
fill and be provided with wireless transmitting terminal (8) and mechanical claw on electric pile (5) and detain (7), mechanical claw detains (7) and rotationally sets up in wireless transmitting terminal (8) week side that charges, through rotating the closure with fixed wireless receiving terminal (6) that charges.
2. The wireless charging system of robot is patrolled and examined to explosion-proof type according to claim 1, its characterized in that: the central point of wireless transmitting terminal (8) and the wireless receiving terminal that charges (6) is located same height, degree of depth camera (4) set up directly over wireless receiving terminal that charges (6), the axis of degree of depth camera (4) and the coincidence of the axis of wireless receiving terminal that charges (6).
3. The wireless charging system of robot is patrolled and examined to explosion-proof type according to claim 1, its characterized in that: and a bomb pressing sensor (10) is arranged between the wireless charging transmitting end and the charging pile, and the bomb pressing sensor is in communication connection with the industrial personal computer.
4. The wireless charging system of robot is patrolled and examined to explosion-proof type according to claim 3, its characterized in that: the length of the bullet pressing sensor (10) is set to be 20 mm.
5. The wireless charging system of robot is patrolled and examined to explosion-proof type according to claim 1, its characterized in that: the inspection robot is provided with locking grooves (9) matched with the mechanical claw buckles (7) on the peripheral sides of the wireless charging receiving ends (6).
6. The wireless charging system of robot is patrolled and examined to explosion-proof type according to claim 1, its characterized in that: the laser radar (1) is a multi-line laser radar scanner.
7. The utility model provides a wireless charging method of explosion-proof type inspection robot which characterized in that: the method comprises the following steps:
s1, setting a patrol task point before the position of the charging pile (5), and defining the position 50cm before the charging pile (5) as a charging posture adjustment starting position.
And S2, when the residual electric quantity of the robot is insufficient or a charging command is received, performing real-time positioning and path planning in the same navigation mode as the polling task, and driving to a charging posture adjustment start position.
S3, the robot posture is adjusted through the laser radar (1) and the encoder, and the wireless charging receiving end (6) is opposite to the charging pile (5).
S4, starting the depth camera (4), and correcting two errors through the depth camera (4) in the process of advancing from the charging initial position to the charging pile (5): the robot is gone up wireless receiving terminal (6) center of charging and is filled the horizontal displacement error at wireless transmission center that charges on electric pile (5) to and the wireless receiving terminal that charges (6) and the wireless contained angle error of two planes of transmission end (8) that charge.
And S5, when the two error values in the step 4 are eliminated or the error values are reduced to be within a threshold range, namely the error is not enough to be amplified within the distance from the current position of the robot to the charging pile (5) to influence the charging docking accuracy, the steering of the driving wheels of the robot is locked, and the robot keeps running in a straight line.
And S6, when the distance between the robot and the charging pile (5) is smaller than the optimal visual distance of the depth camera (4), switching the depth camera (4) to the ultrasonic sensor (3) to measure the distance between the robot and the charging pile (5).
S7, when the robot runs to the charging range of the charging pile (5), the robot stops moving, the mechanical claw buckle (7) is triggered, the wireless charging transmitting end (8) and the wireless charging receiving end (6) are locked and fixed, the robot stops moving, and the charging function is started.
8. The wireless charging method for the explosion-proof inspection robot according to claim 7, characterized in that: modified nothing in S4The execution steps of the horizontal displacement error between the center of the linear charging receiving end (6) and the center of the wireless charging transmitting end (8) are as follows: the depth camera (4) collects the image of the wireless charging transmitting terminal (8), identifies the outline of the transmitting terminal, calibrates the horizontal coordinate position of the center of the wireless charging transmitting terminal (8) in the image, and calculates the difference between the coordinate and the horizontal coordinate of the center of the image, namely the horizontal displacement error PixofsAnd then converting the translation distance into a translation distance of the robot for transverse adjustment through a perspective principle:
Pixofs＝Cdev-Cimg
wherein, Pixofs(pixel offset) is expressed as an offset distance in pixels; cdev(center of device) is expressed as the coordinate of the minimum circumscribed rectangle center of the emission area of the charging pile (5) calibrated by the target detection algorithm in the image; cimg(center of image) is expressed as the center position coordinates of the acquired wireless charging transmitting terminal (8) image.
9. The wireless charging method for the explosion-proof inspection robot according to claim 7, characterized in that: the execution step of correcting the error of the included angle between the two planes of the wireless charging receiving terminal (6) and the wireless charging transmitting terminal (8) in the step S4 specifically comprises the following steps: can obtain the projected distance information of wireless transmitting terminal (8) plane in the image of charging through degree of depth camera (4), if there is the contained angle wireless receiving terminal (6) plane and the wireless transmitting terminal (8) plane of charging, then the distance of two vertical edges on wireless transmitting terminal (8) plane of charging is different in the image, and the length ratio through distance difference and horizontal boundary projection then is the tangent value of two plane contained angles:
Offsetθ＝actan(Δd/L)
the Offset theta is an included angle between a plane of the wireless charging transmitting terminal (8) and a plane of the wireless charging receiving terminal (6), the delta d is a distance difference between two vertical boundaries of the plane of the wireless charging transmitting terminal (8) and the robot, and the L is a projection length of a horizontal boundary of the plane of the wireless charging transmitting terminal (8) in a camera image.
10. The wireless charging method for the explosion-proof inspection robot according to claim 7, characterized in that: s6 further includes: if the distance between the robot and the charging pile (5) is smaller than the minimum value of the optimal charging distance, the pressing and bouncing sensor is triggered to remind that the robot crosses the minimum charging distance and needs to run reversely.
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