CN114123399A - Charging control system for track robot - Google Patents
Charging control system for track robot Download PDFInfo
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- CN114123399A CN114123399A CN202111375272.6A CN202111375272A CN114123399A CN 114123399 A CN114123399 A CN 114123399A CN 202111375272 A CN202111375272 A CN 202111375272A CN 114123399 A CN114123399 A CN 114123399A
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- track
- electric quantity
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- charging
- charging control
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- 238000001514 detection method Methods 0.000 claims abstract description 17
- 238000007689 inspection Methods 0.000 claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims description 8
- 238000013459 approach Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 238000011895 specific detection Methods 0.000 description 1
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Classifications
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- 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
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
-
- 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
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
- H02J7/00034—Charger exchanging data with an electronic device, i.e. telephone, whose internal battery is under charge
-
- 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
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
-
- 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
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
- H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The present disclosure relates to a charging control system for a track robot, the system comprising: the electric quantity detection unit is configured to detect a residual electric quantity value of the storage battery and send a low-electric-quantity warning signal when the residual electric quantity value is lower than a threshold value; a position detection unit configured to detect in-orbit position information of the orbital robot based on the low power warning signal; a charging control unit configured to determine whether the remaining power value is sufficient to drive the track robot to move to the on-track charging pile based on the on-track position information, if so, to keep the power output; otherwise, the camera is turned off to supply power. The charging control system for the track robot can detect the residual electric quantity of the storage battery in real time or periodically according to the electric quantity detection unit, and ensure that enough electric quantity is returned to the home for charging. The whole process does not need manual intervention, the inspection efficiency can be greatly improved, and the manual intervention is further reduced.
Description
Technical Field
The invention relates to the field of rail robots, in particular to a charging control system of a rail robot.
Background
Among the applications of the current orbital robots, a quite wide range of applications are various inspection robots. For example, aiming at various environments in a power plant or a coal mine, the inspection robot can greatly reduce the labor input of inspection work. At present common robot of patrolling and examining, be in including patrolling and examining the track and carry the running gear on the track is patrolled and examined, and often need set up camera and smoke transducer etc. on the running gear and patrol and examine the daily inspection of circuit. Most of the track robots are still powered by a battery. Simultaneously, in order to solve the continuation of the journey problem, in some applications, it needs to set up on the track and fills electric pile at the track to patrol and examine, when needs charge, and control track robot returns and fills electric pile and charge. However, in the current technical solution, this operation often requires manual instruction transmission, and the efficiency is low.
Disclosure of Invention
In view of the above problems of the prior art, it is an object of the present invention to provide a charging control system for a track robot, which can realize automatic return charging management of the track robot.
In order to achieve the above object, an aspect of the present invention provides a system for controlling charging of a track robot having a battery mounted thereon, the battery having a charging interface for mating with an on-track charging post, the track robot further including a camera, the system comprising:
the electric quantity detection unit is configured to detect a residual electric quantity value of the storage battery and send a low-electric-quantity warning signal when the residual electric quantity value is lower than a threshold value;
a position detection unit configured to detect in-orbit position information of the orbital robot based on the low power warning signal;
a charging control unit configured to determine whether the remaining power value is sufficient to drive the track robot to move to the on-track charging pile based on the on-track position information, if so, to keep the power output; otherwise, the camera is turned off to supply power.
Preferably, the system further comprises a speed detection unit configured to acquire a current speed of the track robot, and the charging control unit evaluates current power consumption of the traveling mechanism based on the current speed, and reduces the rotation speed of the servo motor of the traveling mechanism to reduce the power consumption if the current power consumption is greater than a preset value.
Preferably, the servo motor is a variable frequency motor, and the servo motor is electrically connected with a motor driving module; the charging control unit is also configured to increase/decrease the working frequency of the servo motor through the motor driving module.
Preferably, the charging interface is a magnetic type charging interface.
Preferably, the system further comprises a proximity sensor, the proximity sensor is configured to send out a proximity signal when the charging interface approaches the on-orbit charging pile, and the charging control unit is further configured to control the servo motor according to the proximity signal and according to a preset rule.
Preferably, the preset rule is to turn off the power supply of the servo motor.
Preferably, the preset rule is to reduce the operating frequency of the servo motor.
Preferably, the preset rule is to reduce the operating voltage of the servo motor.
Preferably, the electric quantity detection unit is further configured to periodically detect a remaining electric quantity value of the storage battery, and determine whether the remaining electric quantity value periodically rises, and if so, the charging control unit keeps the power supply of the servo motor off.
Preferably, the electric quantity detection unit is further configured to detect whether the remaining electric quantity value of the storage battery reaches a rated capacity, and if so, the charging control unit controls the servo motor to rotate reversely and perform the inspection work again according to a predetermined inspection route.
The charging control system for the track robot provided by the invention can detect the residual electric quantity of the storage battery in real time or periodically according to the electric quantity detection unit, further carry out the evaluation of the residual electric quantity by the charging control unit, and optionally close the camera and/or control the output of the servo motor if the residual electric quantity can not support the return journey of the track robot for charging, thereby ensuring that the sufficient electric quantity is returned journey for charging. The whole process does not need manual intervention, the inspection efficiency can be greatly improved, and the manual intervention is further reduced.
Drawings
Fig. 1 is a block diagram showing the configuration of a track robot charging control system according to the present invention.
Fig. 2 is a flowchart of a method of implementing the track robot charging control system of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Various aspects and features of the present invention are described herein with reference to the drawings.
These and other characteristics of the invention will become apparent from the following description of a preferred form of embodiment, given as a non-limiting example, with reference to the accompanying drawings.
It should also be understood that, although the invention has been described with reference to some specific examples, a person of skill in the art shall certainly be able to achieve many other equivalent forms of the invention, having the characteristics as set forth in the claims and hence all coming within the field of protection defined thereby.
The above and other aspects, features and advantages of the present invention will become more apparent in view of the following detailed description when taken in conjunction with the accompanying drawings.
As shown in fig. 1, a charging control system for a railway robot according to an embodiment of the present invention is used for charging and managing a railway robot mounted with a battery 100, wherein the battery 100 is provided with a charging interface 400 matched with an on-track charging pile 200, and the charging interface 400 is preferably a magnetic-type charging interface. The track robot further includes a camera 500, and the system includes:
a charge detection unit 2 configured to detect a remaining charge value of the storage battery 100 and transmit a low charge warning signal when the remaining charge value is lower than a threshold value; during specific detection, the voltage of the battery is gradually reduced along with the loss of the electric quantity of the battery, so that a relatively simple and effective corresponding relation, namely the voltage corresponding capacity, can be obtained. The corresponding relationship of 4.20V-100%, 3.85V-75%, 3.75V-50%, 3.60V-25%, and 3.40V-5% can be listed by taking a lithium battery with a charge limit voltage of 4.2V as an example, by dividing the time by 4 parts according to a discharge curve of the battery in normal use (for example, 100mA discharge). Further, an algorithm can be used for mean value filtering, the battery voltage in a period of time is averaged, if the average battery voltage in the period of time is reduced indeed, the estimated electric quantity is reduced indeed, otherwise, the electric quantity is considered to be unchanged.
Further, in the system of the present invention, a position detection unit 3 is further included, which is configured to detect the on-track position information of the track robot based on the low-battery warning signal; specifically, this position detecting element can realize based on photoelectric sensor, and the equidistance sets up a plurality of inspection holes on the track, and photoelectric sensor can sense the light intensity change when the inspection hole, because the position of inspection hole sets up and has the interval of predetermineeing for the equidistance, consequently, according to the signal of photoelectric sensor's feedback, can confirm the accurate position on the track of track robot.
Further, in the present invention, a charging control unit 1 is further included, which is configured to determine whether the remaining electric quantity value is sufficient to drive the orbital robot to move to the orbital charging pile 200 based on the on-orbit position information, and if so, to maintain the electric quantity output; otherwise, the camera is turned off to supply power. Because the on-orbit charging piles 200 are usually required to be arranged at two ends of the orbit, the on-orbit robot can be judged to be closer to the on-orbit charging pile through the on-orbit position information, and at the moment, whether the residual electric quantity value is enough to drive the on-orbit robot to move to the on-orbit charging pile 200 is evaluated through the on-orbit charging pile at a closer distance. It can be seen that in the invention, no manual intervention is required, and under ideal conditions, when the residual electric quantity value reaches the threshold value, the electric quantity value is still enough to support the return flight of the rail robot. However, since the threshold value is not set too high, otherwise, frequent return may occur, and therefore it cannot be guaranteed that the residual electric quantity value is enough to reach the on-orbit charging pile 200 at some positions, so that it may be considered to temporarily turn off the working device, such as the camera 500, to save power.
In other modifications, the system further comprises a speed detection unit 4 configured to obtain a current speed of the track robot, and the charging control unit 1 evaluates a current power consumption of the traveling mechanism 300 based on the current speed, and reduces a rotation speed of a servo motor of the traveling mechanism 300 to reduce the power consumption if the current power consumption is greater than a preset value. This process and closing the power supply of camera 500 can be alone or in real time simultaneously, and this relies on the real-time detection of electric quantity detecting element to the battery residual electric quantity value, and when closing camera 500 still not enough support the return journey of track robot, then can further consider to reduce servo motor rotational speed.
In addition, in the present invention, as shown in fig. 1, the servo motor is preferably an inverter motor 301, and the servo motor 301 is electrically connected to a motor driving module 5; the charging control unit 1 is further configured to increase/decrease the operating frequency of the servo motor through the motor driving module 5. Compared with the direct regulation of the rotating speed, the energy-saving effect can be better realized by regulating the working frequency.
When the track robot returns to the on-track charging pile 200 for charging, in order to ensure that no hard collision occurs, the system further comprises a proximity sensor 6, the proximity sensor 6 is configured to send a proximity signal when the charging interface 400 approaches the on-track charging pile 200, and the charging control unit 1 is further configured to control the servo motor according to the proximity signal and according to a preset rule. Specifically, the preset rule is to turn off the power supply of the servo motor. Or the preset rule is to reduce the working frequency of the servo motor. Or the preset rule is to reduce the working voltage of the servo motor.
In other embodiments, the power detecting unit 2 is further configured to periodically detect a remaining power value of the storage battery 100, and determine whether the remaining power value periodically rises, if so, the charging control unit keeps the power supply of the servo motor turned off. The purpose of this link is to determine whether charging is being performed, and if it is determined that charging is in progress, the motor can be kept off to avoid consumption and safety concerns. Preferably, the electric power detecting unit 2 may be further configured to detect whether the remaining electric power value of the storage battery 100 reaches a rated capacity, and if so, the charging control unit controls the servo motor to rotate reversely and perform the inspection operation again according to a predetermined inspection route.
FIG. 2 illustrates a flow chart of a method of the system of the present invention when executed, as shown in FIG. 2, the method comprising:
s1, detecting the residual electric quantity value of the storage battery, and sending a low electric quantity warning signal when the residual electric quantity value is lower than a threshold value;
s2, detecting the on-track position information of the track robot based on the low-power warning signal;
s3, judging whether the residual electric quantity value is enough to drive the track robot to move to the on-track charging pile or not based on the on-track position information, if so, keeping the electric quantity output; otherwise, the camera is turned off to supply power.
Further, the method comprises the steps of obtaining the current speed of the track robot, evaluating the current power consumption of the walking mechanism according to the speed, and reducing the rotating speed of a servo motor of the walking mechanism to reduce the power consumption if the current power consumption is larger than a preset value. Or when the servo motor is a variable frequency motor, the working frequency of the servo motor is increased/decreased through a motor driving module electrically connected with the servo motor.
The above embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and the scope of the present invention is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present invention, and such modifications and equivalents should also be considered as falling within the scope of the present invention.
Claims (10)
1. Track robot charging control system for carry out the management of charging to the track robot that carries there is the battery, the battery is provided with and fills the interface that charges that electric pile matches at the track, track robot is still including the camera, and this system includes:
the electric quantity detection unit is configured to detect a residual electric quantity value of the storage battery and send a low-electric-quantity warning signal when the residual electric quantity value is lower than a threshold value;
a position detection unit configured to detect in-orbit position information of the orbital robot based on the low power warning signal;
a charging control unit configured to determine whether the remaining power value is sufficient to drive the track robot to move to the on-track charging pile based on the on-track position information, if so, to keep the power output; otherwise, the camera is turned off to supply power.
2. The system according to claim 1, further comprising a speed detection unit configured to acquire a current speed of the track robot, the charging control unit evaluating a current power consumption of the traveling mechanism based on the current speed, and if the current power consumption is greater than a preset value, reducing a rotation speed of a servo motor of the traveling mechanism to reduce the power consumption.
3. The system of claim 1, wherein the servo motor is a variable frequency motor, and the servo motor is electrically connected with a motor driving module; the charging control unit is also configured to increase/decrease the working frequency of the servo motor through the motor driving module.
4. The system of claim 1, the charging interface is a magnetic-type charging interface.
5. The system of claim 1, further comprising a proximity sensor configured to emit a proximity signal when the charging interface approaches the on-track charging pile, the charging control unit further configured to control the servo motor according to the proximity signal according to a preset rule.
6. The system of claim 5, wherein the predetermined rule is to turn off power to the servo motor.
7. The system of claim 5, wherein the predetermined rule is to reduce the operating frequency of the servo motor.
8. The system of claim 5, wherein the predetermined rule is to reduce the operating voltage of the servo motor.
9. The system of claim 1, wherein the charge detection unit is further configured to periodically detect a remaining charge value of the battery, and determine whether the remaining charge value periodically rises, if so, the charging control unit keeps the power supply of the servo motor off.
10. The system of claim 1, wherein the electric quantity detection unit is further configured to detect whether the residual electric quantity value of the storage battery reaches a rated capacity, and if so, the charging control unit controls the servo motor to rotate reversely and perform the inspection work again according to a preset inspection route.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111375272.6A CN114123399B (en) | 2021-11-17 | 2021-11-17 | Track robot charge control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111375272.6A CN114123399B (en) | 2021-11-17 | 2021-11-17 | Track robot charge control system |
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| CN114123399A true CN114123399A (en) | 2022-03-01 |
| CN114123399B CN114123399B (en) | 2024-07-19 |
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Cited By (1)
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| CN114821852A (en) * | 2022-06-07 | 2022-07-29 | 国网安徽省电力有限公司宣城供电公司 | Power grid defect depth identification inspection robot control system based on characteristic pyramid |
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| CN114123399B (en) | 2024-07-19 |
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