CN113890132A - Charging station and charging method for cable trench inspection robot of transformer substation - Google Patents
Charging station and charging method for cable trench inspection robot of transformer substation Download PDFInfo
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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
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/02—Contact members
- H01R13/22—Contacts for co-operating by abutting
- H01R13/24—Contacts for co-operating by abutting resilient; resiliently-mounted
- H01R13/2407—Contacts for co-operating by abutting resilient; resiliently-mounted characterized by the resilient means
- H01R13/2414—Contacts for co-operating by abutting resilient; resiliently-mounted characterized by the resilient means conductive elastomers
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/66—Structural association with built-in electrical component
- H01R13/665—Structural association with built-in electrical component with built-in electronic circuit
- H01R13/6683—Structural association with built-in electrical component with built-in electronic circuit with built-in sensor
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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
- H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
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Abstract
The invention discloses a substation cable trench inspection robot charging station and a charging method, and relates to the field of cable trench inspection devices. The invention has the advantages that: the structure of the cable trench of the transformer substation is not influenced, the problem that the ground inspection robot of the cable trench is automatically charged is solved, and the inspection robot can realize automatic inspection without manual intervention completely.
Description
Technical Field
The invention relates to the field of cable trench inspection devices, in particular to a charging station and a charging method of a transformer substation cable trench inspection robot.
Background
For a long time, detection in a cable trench of a transformer substation mainly depends on manual inspection or temperature sensing cables and optical fibers, but the acquired information quantity is single, hidden dangers are not timely found, and the fault positioning precision is low. With the continuous development of new technologies and smart grid construction, the intelligent robot is applied to the detection of the cable trench, various state parameters of the cable in the trench can be timely acquired and fed back by means of infrared temperature measurement and the like, and a more efficient new method is provided for monitoring and troubleshooting of hidden cable hazards. Cable intensive laying in the cable pit, the space is narrow, sets up the fire prevention shutoff at every fixed distance, and traditional slide rail formula intelligence patrols and examines robot can not satisfy this type of site work requirement. Therefore, the cable trench ground inspection robot with the deformation function is provided for solving the problems, can be used for carrying various sensors, passes through the fireproof plugging in the trench and avoids the obstacle and the curve, periodically inspects the cable trench, and meets other various working requirements on the site.
The ground inspection robot carries out routine inspection work in the ditch according to the route planning by oneself, and its power relies on self battery to provide, and its removal attribute decides to be fit for using no cable to charge. Because the cable trench of the transformer substation is covered by the cover plate, if the inspection robot is taken out and charged manually and then put back to be very troublesome, the complete autonomous operation of the inspection robot can be damaged, and how to ensure that the inspection robot can realize automatic charging safely, reliably, quickly and efficiently under the condition of no manual intervention is an important problem for realizing the long-term on duty and complete autonomy of the inspection robot. The structure of the cable trench of the transformer substation is complex, a plurality of channels are mutually independent, the cost for building the fixed charging station is high, and the structure of the cable trench can be influenced.
Patent document with publication number CN110829611A discloses a robot power supply unit is patrolled and examined in tunnel based on induction electricity-taking technique, including induction electricity-taking ring and power supply guide rail, induction electricity-taking ring sets up on the robot is patrolled and examined in the tunnel, the power supply guide rail is laid in the tunnel, the tunnel is patrolled and examined the robot and is passed through the pulley and remove along the power supply guide rail, when the tunnel is patrolled and examined the robot and need be charged, accessible induction electricity-taking ring is followed the power supply guide rail and is responded to the electricity-taking, the device fixed connection is in cable tunnel, can influence cable tunnel's structure, and can only patrol and examine the robot to traditional slide rail formula intelligence and charge, can't patrol and examine the robot to the cable pit ground of other forms and charge.
Disclosure of Invention
The invention aims to provide a substation cable trench inspection robot charging station and a charging method, which do not affect the structure of a substation cable trench and can automatically charge a cable trench inspection robot.
The invention solves the technical problems through the following technical means: the charging station for the cable trench inspection robot of the transformer substation comprises a charging station shell, a power supply system, a charging module and an infrared signal guide module, wherein the power supply system, the charging module and the infrared signal guide module are all installed inside the charging station shell, the charging module and the infrared signal guide module are respectively connected with the power supply system, and the infrared signal guide module can guide the inspection robot to be in butt joint with the charging module. All functional modules of the charging station are concentrated in a charging station shell, so that the structure of a cable trench of the transformer substation is not influenced; the modular design is adopted, and the functional areas are mutually independent and mutually connected; when the electric quantity of the inspection robot reaches the electric quantity threshold value required by driving to the charging station, or when the accumulated water of the cable trench is detected to reach the safety threshold value, the inspection robot is actively close to the charging station according to the planned path and emits infrared signals, the infrared signal guide module receives the signals emitted by the inspection robot and then emits the infrared signals through the infrared signal emitter to guide the inspection robot to be in butt joint with the charging module, and the charging module charges the inspection robot.
According to the optimized technical scheme, the charging station shell comprises a box body and a movable door, an inspection robot inlet is formed in one side of the box body, the movable door is hinged to the box body through a rotating mechanism, and the movable door can seal the inspection robot inlet. The portable box body structure is convenient to move, and application scenes can be switched at any time.
As the optimized technical scheme, the transformer substation cable trench inspection robot charging station further comprises a handle, and the handle is fixedly connected to the top of the outer side of the charging station shell. The constructor can carry the clothes conveniently.
As an optimized technical scheme, the movable door can rotate towards the lower part of the box body; the charging station enclosure also includes a support frame capable of supporting the charging station enclosure above ground. The support frame can enable the charging station shell to be higher than the ground of the cable trench by a certain distance, so that accumulated water in the cable trench is prevented from entering the charging station shell; the movable door is pulled downwards and turned over to be in contact with the ground, and a stable slope is formed by matching the height of the supporting frame, so that the inspection robot can drive into the charging station shell through the slope to be charged and avoid flooding.
As the optimized technical scheme, the support frame comprises four telescopic rods, each telescopic rod can stretch out and draw back along the vertical direction, and the four telescopic rods are respectively and fixedly connected to four corners of the outer side of the charging station shell. The telescopic link can extend to appointed height as required, conveniently adjusts.
As the optimized technical scheme, the rotating mechanism comprises two hinge telescopic rods, the two hinge telescopic rods are respectively located on two sides of an inlet of the inspection robot, one end of each hinge telescopic rod is hinged with the box body, the other end of each hinge telescopic rod is hinged with the movable door, and the length of each hinge telescopic rod can be stretched.
As an optimized technical scheme, the power supply system comprises an incoming cable, a power frequency voltage reduction module and a rectification module, wherein the power frequency voltage reduction module is connected with an alternating current power supply through the incoming cable, the rectification module is connected with the power frequency voltage reduction module, and the charging module and the infrared signal guiding module are respectively connected with the rectification module. 220V alternating current of the alternating current power supply is changed into low-voltage direct current through the power frequency voltage reduction module and the rectification module, and the charging module can be driven to charge the inspection robot and drive the infrared guide module.
As an optimized technical scheme, the charging module comprises a charging pile, a driving mechanism, a first charging contact reed, a second charging contact reed, a first pressure sensor and a second pressure sensor; the charging pile is rotationally connected with the charging station shell; the driving mechanism can drive the charging pile to rotate around a vertical central shaft; a first charging contact reed and a second charging contact reed are installed on the charging pile, a first pressure sensor is installed on the first charging contact reed, and a second pressure sensor is installed on the second charging contact reed; the transformer substation cable trench inspection robot charging station further comprises an information processing module, the information processing module is connected with the power supply system, and the driving mechanism, the first pressure sensor and the second pressure sensor are respectively connected with the information processing module. Fill electric pile can be according to first pressure sensor and second pressure sensor's pressure signal autogiration, guarantee to let electrode and first contact reed and the second contact reed that charges fully contact under the bad condition of robot gesture of patrolling and examining, accomplish smoothly and charge.
As an optimized technical scheme, the driving mechanism comprises a servo motor, a first gear and a second gear, the servo motor is fixedly connected to the charging pile, the first gear is fixedly connected to an output shaft of the servo motor, the second gear is fixedly connected to the charging station shell, and the first gear is meshed with the second gear.
The charging method of the transformer substation cable trench inspection robot adopts the transformer substation cable trench inspection robot charging station, and comprises the following steps:
step A, when the electric quantity of the inspection robot reaches an electric quantity threshold value required by driving to the transformer substation cable trench inspection robot charging station, or when the accumulated water of the cable trench is detected to reach a safety threshold value, the inspection robot actively approaches the transformer substation cable trench inspection robot charging station according to a planned path and transmits an infrared signal;
b, after receiving the signal transmitted by the inspection robot, the infrared signal guide module transmits an infrared signal through an infrared signal transmitter to guide the inspection robot to be in butt joint with the charging module;
and step C, after the inspection robot is in butt joint with the charging module, the charging module rotates to adjust the angle, after the adjustment is completed, the charging module charges the inspection robot, and after the charging is completed, the inspection robot leaves the cable trench of the transformer substation to inspect the charging station of the robot.
The invention has the advantages that:
1. all functional modules of the charging station are concentrated in a charging station shell, so that the structure of a cable trench of the transformer substation is not influenced; the modular design is adopted, and the functional areas are mutually independent and mutually connected; the inspection robot is guided to be in butt joint with the charging module through the infrared signals, the problem that the inspection robot automatically charges on the ground of a cable trench is solved, the inspection robot can automatically inspect without manual intervention completely, and the workload of operation and maintenance workers is reduced.
2. The portable box body structure is convenient to move, and application scenes can be switched at any time.
3. Inside can preventing that cable pit ponding from getting into the charging station shell, the robot that patrols and examines can get into the charging station and avoid when cable pit ponding.
4. The 220V alternating current can be converted into the low-voltage direct current for the lithium battery of the inspection robot.
5. Fill electric pile can be according to first pressure sensor and second pressure sensor's pressure signal autogiration, guarantee to let electrode and first contact reed and the second contact reed that charges fully contact under the bad condition of robot gesture of patrolling and examining, accomplish smoothly and charge.
Drawings
Fig. 1 is a schematic diagram of a support frame of a substation cable trench inspection robot charging station in a retracted state according to an embodiment of the invention.
Fig. 2 is a schematic diagram of a support frame of a substation cable trench inspection robot charging station in an extended state according to an embodiment of the invention.
Fig. 3 is an axis view of a charging pile according to an embodiment of the present invention.
Fig. 4 is a schematic view of an internal structure of the charging pile according to the embodiment of the invention.
Fig. 5 is a schematic plan view of a state that the inspection robot drives to the charging pile in the process of the charging method of the transformer substation cable trench inspection robot according to the embodiment of the invention.
Fig. 6 is a schematic plan view of a situation that an electrode of the robot is in full contact with both the first charging contact reed and the second charging contact reed in the charging method of the substation cable trench inspection robot according to the embodiment of the present invention.
Fig. 7 is a schematic plan view of the inspection robot in a state of deviating from the central axis of the charging pile and only contacting the first charging contact reed in the charging method of the substation cable trench inspection robot according to the embodiment of the invention.
Fig. 8 is a schematic plan view illustrating a state of adjustment of a charging pile in a charging method of the transformer substation cable trench inspection robot according to the embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. 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.
As shown in fig. 1 and 2, the charging station of the cable trench inspection robot in the transformer substation comprises a charging station shell 1, a rotating device 2, a handle 3, a support frame 4, a power system 5, a charging module 6, an infrared signal guide module 7 and an information processing module 8
The charging station shell 1 is made of flame-retardant materials, the charging station shell 1 comprises a box body 11 and a movable door 12, an inspection robot inlet is formed in one side of the box body 11, the movable door 12 is hinged to the box body 11 through a rotating mechanism 2, and the movable door 12 can seal the inspection robot inlet and can rotate towards the lower portion of the box body 11 to achieve 0-180-degree up-and-down overturning.
Handle 3 fixed connection makes things convenient for constructor to carry at the outside top of charging station shell 1 to carry.
The support frame 4 can support the charging station shell 1 above the ground, the support frame 4 comprises four telescopic rods made of rectangular sleeves, each telescopic rod can stretch in the vertical direction, and the four telescopic rods are fixedly connected to four corners of the outer side of the charging station shell 1 respectively; when the charging station is idle, all the telescopic rods are retracted in the sleeve, when the charging station is required to be used, all the telescopic rods are extracted from the sleeve, and the height is adjusted according to the field requirement, so that the charging station shell 1 is higher than the ground, and the accumulated water in a cable trench is prevented from entering the charging station shell 1; the movable door 12 can be in a closed state when being idle, and is pulled down and turned over to be in contact with the ground when in use, and a stable slope is formed by matching the height of the support frame 4, so that the inspection robot can drive into the charging station shell 1 through the slope to be charged and avoid flooding.
The power supply system 5, the charging module 6, the infrared signal guiding module 7 and the information processing module 8 are all arranged inside the charging station shell 1; the power supply system 5 comprises an incoming cable 51, a power frequency voltage reduction module 52 and a rectification module 53, wherein the power frequency voltage reduction module 52 is connected with a 220V alternating current power supply through the incoming cable 51 penetrating out of the charging station shell 1, and the rectification module 53 is connected with the power frequency voltage reduction module 52; the charging module 6 is connected with the power supply system 5; the infrared signal guiding module 7 is fixedly connected to the charging module 6 and can guide the inspection robot to be in butt joint with the charging module 6, and the infrared signal guiding module 7 is connected with the power supply system 5 through a voltage reduction circuit; the information processing module 8 is connected with the power supply system 5 through a voltage reduction circuit; the charging module 6 is connected with the information processing module 8; the 220V alternating current is changed into low-voltage direct current through the power frequency voltage reduction module 52 and the rectification module 53, and the charging module 6 can be driven to charge the inspection robot and drive the infrared guide module 7 and the information processing module 8.
As shown in fig. 3 and 4, the charging module 6 includes a charging pile 61, a driving mechanism 62, a first charging contact spring 63, a second charging contact spring 64, a first pressure sensor 65, and a second pressure sensor 66; the charging pile 61 is rotatably connected with the charging station shell 1; the driving mechanism 62 can drive the charging pile 61 to rotate around a vertical central shaft, the driving mechanism 62 comprises a servo motor 621, a first gear 622 and a second gear 623, the servo motor 621 is fixedly connected to the charging pile 61, the first gear 622 is fixedly connected to an output shaft of the servo motor 621, the second gear 623 is fixedly connected to the charging station shell 1, and the first gear 622 is meshed with the second gear; a first charging contact reed 63 and a second charging contact reed 64 are mounted on the charging pile 61, a first pressure sensor 65 is mounted on the first charging contact reed 63, and a second pressure sensor 66 is mounted on the second charging contact reed 64; the driving mechanism 62, the first pressure sensor 65, and the second pressure sensor 66 are connected to the information processing module 8, respectively.
The charging method of the transformer substation cable trench inspection robot adopts the transformer substation cable trench inspection robot charging station, and comprises the following steps:
step A, when the electric quantity of the inspection robot 9 reaches an electric quantity threshold value required by driving to the transformer substation cable trench inspection robot charging station, or when the accumulated water of the cable trench is detected to reach a safety threshold value, the inspection robot 9 actively approaches the transformer substation cable trench inspection robot charging station according to a planned path and transmits an infrared signal;
step B, after receiving the infrared signal transmitted by the inspection robot 9, the infrared signal guiding module 7 transmits an infrared signal through the infrared signal transmitter to guide the inspection robot 9 to be in butt joint with the charging module 6;
step C, after the inspection robot 9 is in butt joint with the charging module 6, the charging module 6 rotates to adjust the angle, after the adjustment is completed, the charging module 6 charges the inspection robot 9, and after the charging is finished, the inspection robot 9 leaves the cable trench of the transformer substation and inspects the charging station of the robot, and the method specifically comprises the following steps:
step a, as shown in fig. 5, when the battery is not charged, the angle of the charging pile 61 is at an initial position, and the inspection robot 9 drives to the charging pile 61;
step b, when the inspection robot 9 is in contact with the first charging contact reed 63 and/or the second charging contact reed 64, the first pressure sensor 65 and the second pressure sensor 66 start to work and feed back pressure information to the information processing module 8;
step c, as shown in fig. 6, if the pressure information N1 of the first pressure sensor 65 is equal to the pressure information N2 of the second pressure sensor 66, it indicates that the electrode of the inspection robot 9 is in full contact with both the first charging contact reed 63 and the second charging contact reed 64, and the first charging contact reed 63 and the second charging contact reed 64 are uniformly stressed, then step f is performed;
step d, as shown in FIG. 7, if the pressure information N of the first pressure sensor 65 is obtained1Pressure information N less than second pressure sensor 662E.g. N1When the attitude deviation of the inspection robot 9 from the central axis of the charging pile 61 is 0, only the first charging contact reed 63 is contacted, the information processing module 8 controls the driving mechanism 62 to drive the charging pile 61 to rotate to one side where the second charging contact reed 64 is located, the first pressure sensor 65 and the second pressure sensor 66 continuously feed back pressure information to the information processing module 8 in the rotating process of the charging pile 61, the information processing module 8 controls the driving mechanism 62 to drive the charging pile 61 to continuously adjust the angle, as shown in fig. 8, until N is reached1＝N2And the adjustment is completed, at this moment, the first charging contact reed 63 and the second charging contact reedStep 64, if the force is uniformly applied, entering a step f;
step e, if the pressure information N of the first pressure sensor 65 is detected1Greater than pressure information N of second pressure sensor 662E.g. N2When the attitude deviation of the inspection robot 9 deviates from the central axis of the charging pile 61, only the second charging contact reed 64 is contacted, the information processing module 8 controls the driving mechanism 62 to drive the charging pile 61 to rotate to one side where the first charging contact reed 63 is located, the first pressure sensor 65 and the second pressure sensor 66 continuously feed back pressure information to the information processing module 8 in the rotating process of the charging pile 61, the information processing module 8 controls the driving mechanism 62 to drive the charging pile 61 to continuously adjust the angle until N is reached1＝N2Entering step f;
step f, the information processing module 8 controls the driving mechanism 62 to stop, and simultaneously triggers a charging command to enable the charging pile 61 to start charging the inspection robot 9;
step g, after the charging is finished, the inspection robot 9 leaves the charging pile 61, the pressure of the first charging contact reed 63 and the second charging contact reed 64 is released, and the information processing module 8 controls the driving mechanism 62 to drive the charging pile 61 to return to the initial position.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides a robot charging station is patrolled and examined to transformer substation's cable pit which characterized in that: including charging station shell, electrical power generating system, the module of charging, infrared signal guide module are all installed the inside of charging station shell, the module of charging, infrared signal guide module are connected respectively electrical power generating system, infrared signal guide module can guide patrol and examine the robot with the module butt joint of charging.
2. The substation cable trench inspection robot charging station of claim 1, wherein: the charging station shell comprises a box body and a movable door, wherein an inspection robot inlet is formed in one side of the box body, the movable door is hinged to the box body through a rotating mechanism, and the movable door can seal the inspection robot inlet.
3. The substation cable trench inspection robot charging station of claim 2, wherein: the movable door can rotate towards the lower part of the box body; the charging station enclosure also includes a support frame capable of supporting the charging station enclosure above ground.
4. The substation cable trench inspection robot charging station of claim 3, wherein: the support frame includes four telescopic links, and each telescopic link homoenergetic is followed vertical direction and is stretched out and drawn back, and four telescopic links are fixed connection respectively in the outside four corners department of charging station shell.
5. The substation cable trench inspection robot charging station of claim 2, wherein: the slewing mechanism includes two hinge telescopic links, and two hinge telescopic links are located respectively patrol and examine the both sides of robot entry, every hinge telescopic link one end with the box is articulated, the other end with the dodge gate is articulated, and the length of each hinge telescopic link can stretch out and draw back.
6. The substation cable trench inspection robot charging station of claim 1, wherein: the charging station of the transformer substation cable trench inspection robot further comprises a handle, and the handle is fixedly connected to the top of the outer side of the shell of the charging station.
7. The substation cable trench inspection robot charging station of claim 1, wherein: the power supply system comprises an incoming line cable, a power frequency voltage reduction module and a rectification module, wherein the power frequency voltage reduction module is connected with an alternating current power supply through the incoming line cable, the rectification module is connected with the power frequency voltage reduction module, and the charging module and the infrared signal guiding module are respectively connected with the rectification module.
8. The substation cable trench inspection robot charging station of claim 1, wherein: the charging module comprises a charging pile, a driving mechanism, a first charging contact reed, a second charging contact reed, a first pressure sensor and a second pressure sensor; the charging pile is rotationally connected with the charging station shell; the driving mechanism can drive the charging pile to rotate around a vertical central shaft; a first charging contact reed and a second charging contact reed are installed on the charging pile, a first pressure sensor is installed on the first charging contact reed, and a second pressure sensor is installed on the second charging contact reed; the transformer substation cable trench inspection robot charging station further comprises an information processing module, the information processing module is connected with the power supply system, and the driving mechanism, the first pressure sensor and the second pressure sensor are respectively connected with the information processing module.
9. The substation cable trench inspection robot charging station of claim 8, wherein: the driving mechanism comprises a servo motor, a first gear and a second gear, the servo motor is fixedly connected to the charging pile, the first gear is fixedly connected to an output shaft of the servo motor, the second gear is fixedly connected to the charging station shell, and the first gear is meshed with the second gear.
10. A charging method of a transformer substation cable trench inspection robot adopts the transformer substation cable trench inspection robot charging station according to any one of claims 1 to 9, and is characterized by comprising the following steps:
step A, when the electric quantity of the inspection robot reaches an electric quantity threshold value required by driving to the transformer substation cable trench inspection robot charging station, or when the accumulated water of the cable trench is detected to reach a safety threshold value, the inspection robot actively approaches the transformer substation cable trench inspection robot charging station according to a planned path and transmits an infrared signal;
b, after receiving the signal transmitted by the inspection robot, the infrared signal guide module transmits an infrared signal through an infrared signal transmitter to guide the inspection robot to be in butt joint with the charging module;
and step C, after the inspection robot is in butt joint with the charging module, the charging module rotates to adjust the angle, after the adjustment is completed, the charging module charges the inspection robot, and after the charging is completed, the inspection robot leaves the cable trench of the transformer substation to inspect the charging station of the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111054777.2A CN113890132B (en) | 2021-09-09 | 2021-09-09 | Substation cable trench inspection robot charging station and charging method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111054777.2A CN113890132B (en) | 2021-09-09 | 2021-09-09 | Substation cable trench inspection robot charging station and charging method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113890132A true CN113890132A (en) | 2022-01-04 |
| CN113890132B CN113890132B (en) | 2024-08-27 |
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| CN202111054777.2A Active CN113890132B (en) | 2021-09-09 | 2021-09-09 | Substation cable trench inspection robot charging station and charging method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117878765A (en) * | 2024-03-13 | 2024-04-12 | 南京明曼贝电力科技有限公司 | Substation inspection robot |
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| CN105071512A (en) * | 2015-08-02 | 2015-11-18 | 重庆世纪精信实业（集团）有限公司 | Automatic charging control system and control method of intelligent household robot |
| CN210819637U (en) * | 2019-09-18 | 2020-06-23 | 中国南方电网有限责任公司超高压输电公司广州局 | Transformer substation inspection robot protection system |
| CN111654074A (en) * | 2020-05-13 | 2020-09-11 | 深圳供电局有限公司 | Automatic charging system of intelligent inspection robot of transformer substation |
| CN113270921A (en) * | 2021-05-27 | 2021-08-17 | 山东建筑大学 | Automatic charging system and method for transformer substation inspection robot |
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| CN105071512A (en) * | 2015-08-02 | 2015-11-18 | 重庆世纪精信实业（集团）有限公司 | Automatic charging control system and control method of intelligent household robot |
| CN210819637U (en) * | 2019-09-18 | 2020-06-23 | 中国南方电网有限责任公司超高压输电公司广州局 | Transformer substation inspection robot protection system |
| CN111654074A (en) * | 2020-05-13 | 2020-09-11 | 深圳供电局有限公司 | Automatic charging system of intelligent inspection robot of transformer substation |
| CN113270921A (en) * | 2021-05-27 | 2021-08-17 | 山东建筑大学 | Automatic charging system and method for transformer substation inspection robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117878765A (en) * | 2024-03-13 | 2024-04-12 | 南京明曼贝电力科技有限公司 | Substation inspection robot |
| CN117878765B (en) * | 2024-03-13 | 2024-10-15 | 国网安徽省电力有限公司淮南市潘集区供电公司 | Substation inspection robot |
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| CN113890132B (en) | 2024-08-27 |
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