CN114374241B - Automatic charging method for intelligent inspection robot and wireless charging house - Google Patents
Automatic charging method for intelligent inspection robot and wireless charging house Download PDFInfo
- Publication number
- CN114374241B CN114374241B CN202111547550.1A CN202111547550A CN114374241B CN 114374241 B CN114374241 B CN 114374241B CN 202111547550 A CN202111547550 A CN 202111547550A CN 114374241 B CN114374241 B CN 114374241B
- Authority
- CN
- China
- Prior art keywords
- inspection robot
- path
- wireless charging
- road
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 152
- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000005672 electromagnetic field Effects 0.000 claims abstract description 5
- 238000011156 evaluation Methods 0.000 claims description 19
- 230000008878 coupling Effects 0.000 claims description 13
- 238000010168 coupling process Methods 0.000 claims description 13
- 238000005859 coupling reaction Methods 0.000 claims description 13
- 230000001939 inductive effect Effects 0.000 claims description 10
- 239000004020 conductor Substances 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 4
- 238000001931 thermography Methods 0.000 claims description 3
- 238000003032 molecular docking Methods 0.000 description 16
- 230000006870 function Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 7
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 238000004590 computer program Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
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
- H02J7/00032—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
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/44—Methods for charging or discharging
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
- H02J50/12—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling of the resonant type
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/70—Circuit arrangements or systems for wireless supply or distribution of electric power involving the reduction of electric, magnetic or electromagnetic leakage fields
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
-
- 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]
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
Abstract
The invention relates to an automatic charging method and a wireless charging house for an intelligent inspection robot, wherein the method comprises the following steps: firstly, acquiring position information of a patrol robot in real time through a plurality of electronic tags; secondly, judging whether the inspection robot needs to be charged or not; then, if the inspection robot needs to be charged, planning a path to a preset wireless charging house according to the position information; furthermore, the inspection robot is controlled to travel according to a planned path until reaching a preset range of the wireless charging room, and the relative pose relation between the inspection robot and the wireless charging room entrance is obtained through at least two sensing devices arranged at different positions on the inspection robot; and finally, controlling the inspection robot to enter the wireless charging room according to the relative pose relation, so that the inspection robot converts energy of an electromagnetic field filled in the wireless charging room into electric energy and stores the electric energy. The invention can realize the automatic charging of the robot safely, reliably, quickly and efficiently under the condition of no human intervention.
Description
Technical Field
The invention relates to the technical field of automatic charging control, in particular to an automatic charging method and a wireless charging house for an intelligent inspection robot.
Background
With the development of various fields such as intelligent control technology, sensor technology and energy, more and more autonomous robots are applied to various industrial and household scenes. The inspection robot is an important execution unit for realizing automation of inspection operation of the power system, and the movement attribute of the inspection robot determines that the inspection robot is suitable for being powered by a cable-free battery. However, due to the limited volume of the device, the battery capacity carried by the existing robot is limited, and the inspection robot cannot be ensured to finish a whole set of autonomous inspection smoothly, so how to supplement electric energy is a problem to be solved urgently.
The existing automatic charging technology of the inspection robot mostly adopts a contact type charging mode, and the charging mode of the physical contact is required to be an accurate positioning and docking scheme, but has the following problems: firstly, the movement of the robot from the current position to the charging stand requires navigation behavior, the process is complex and a corresponding docking charging device needs to be designed. In addition, due to structural design and other reasons, the robot and the charging equipment need to be considered to retract to dock the charging device after docking; moreover, frequent docking is easy to affect the reliability of the system, for example, multiple plugging and unplugging operations can cause mechanical abrasion, so that contact looseness is caused, and electric energy cannot be effectively transmitted; if foreign metal or liquid is present at the interface, this may result in poor contact or electrical connection failure or short circuit. It can be seen that the existing autonomous charging scheme of the inspection robot is very difficult and costly to meet the requirements of high navigation accuracy, high-speed positioning and high-reliability docking.
Disclosure of Invention
First, the technical problem to be solved
In view of the above-mentioned shortcomings and disadvantages of the prior art, the invention provides an automatic charging method and a wireless charging house for an intelligent inspection robot, which solve the technical problems of complex charging control flow, poor docking effect and high cost of the existing inspection robot.
(II) technical scheme
In order to achieve the above purpose, the main technical scheme adopted by the invention comprises the following steps:
in one aspect, an embodiment of the present invention provides an automatic charging method for an intelligent inspection robot, including:
acquiring position information of the inspection robot in real time through a plurality of electronic tags which are buried in different positions in advance;
judging whether the inspection robot needs to be charged or not based on the position information and the residual electric quantity of the inspection robot;
if the inspection robot needs to be charged, planning a path to a preset wireless charging room according to the position information;
controlling the inspection robot to travel according to a planned path until reaching a preset range of the wireless charging room, and acquiring a relative pose relation between the inspection robot and an inlet of the wireless charging room through at least two sensing devices arranged at different positions on the inspection robot;
controlling the inspection robot to enter a wireless charging room according to the relative pose relation;
wherein, inspection robot is equipped with the receiving coil that is used for receiving the electric energy.
Optionally, the electronic tag includes: the RFID tags and/or the two-dimensional codes are/is in one-to-one correspondence with the geographic positions, namely, each RFID tag and each two-dimensional code are one positioning point, and all positioning points are collected to be a working map.
Optionally, based on the position information and the remaining power of the inspection robot, determining whether the inspection robot needs to be charged includes:
obtaining a plurality of feasible paths of the inspection robot and a preset wireless charging house on a working map according to the position information of the inspection robot and the working map;
determining an optimal reference path by comparing the total length of the paths of the feasible paths, the road section duty ratio higher than the average road surface, and the number and radius of turns;
judging whether the residual electric quantity of the inspection robot exceeds a preset allowance of the electric quantity of the inspection robot when the inspection robot reaches the wireless charging house according to the optimal path and the historical travelling power consumption data acquired from the database;
if the preset margin is exceeded, judging that the inspection robot does not need to be charged at the moment;
if the preset margin is not exceeded, judging that the inspection robot needs to be charged;
wherein the road section duty ratio higher than the average road surface comprises an uplink road and a downlink road; the historical running electricity consumption data comprise average road surfaces, upward roads, downward roads and average electricity consumption per unit time of turning running; the total length of the path is the sum of all road sections formed by sequentially connecting a starting point, a middle road point and an ending point according to the navigation sequence; the road section refers to a path between two adjacent road points; the average power consumption per unit time refers to an average value of walking of the inspection robot on an average road surface, an uplink road, a downlink road and a turning road.
Optionally, determining the optimal path by comparing the total path length, the road segment duty ratio higher than the average road surface, and the number and radius of turns of each feasible path includes:
the length of the straight channel, the horizontal length and the dip angle of the uplink channel, the horizontal length and the dip angle of the downlink channel and the number and the length of turns are subjected to the following standardized treatment in sequence;
wherein x is ij The j index of the ith path, y ij The j-th standardized index of the i-th path, 1 … … -th index corresponds to the length of the straight channel, the horizontal length of the uplink channel, the inclination angle of the uplink channel, the horizontal length of the downlink channel, the inclination angle of the downlink channel, the number of turns and the radius of turns respectively;
each feasibility path is evaluated based on an objective function, and an optimal reference path is determined: the objective function is:
optionally, if the inspection robot needs to be charged, planning a path to a preset wireless charging room according to the position information includes:
selecting the nearest electronic tag as a first path node;
searching for a next path node through a path evaluation function based on the first path node and the running speed of the inspection robot of the node;
continuously searching the next path node until the next path node enters a preset range of the wireless charging house, and connecting the path nodes in series to obtain a planned path;
comparing the planned path with the optimal reference path;
if the evaluation of the planned path obtained through the objective function is not lower than the evaluation of the optimal reference path, selecting the planned path;
if the evaluation of the planned path obtained through the objective function is lower than the evaluation of the optimal reference path, selecting the optimal reference path;
wherein the path evaluation function is: f (n) =g (n) +h (n);
then there are:
wherein f (n) represents the estimated distance from the first path node S to the target node E, g (n) represents the actual distance from the first path node S to the n node, and h (n) is an estimated function of the optimal path from the n node to the target node E; setting three continuous locating points n between the first path nodes S and n nodes k-1 ,n i ,n i+1 Inspection corresponding to each otherThe speed of the robot passing by is v k-1 ,v i ,v i+1 ；t 1 ,t 2 ,t 3 V respectively correspond to the inspection robots 0 Travel at constant speed through three positioning points n k-1 ,n i ,n i+1 The speed of the inspection robot reaches a locating point n i The time speed is v 0 Down to 0 and when reaching the setpoint n i+1 When it is raised to v 0 The initial speed of the inspection robot reaches the locating point n at 0 i The time speed becomes v 0 At the arrival at the location point n i+1 The speed becomes 0 again.
Optionally, the wireless charging house includes: a housing, an external signal generator disposed outside the housing, and an internal transmitting resonator disposed inside the housing;
the housing comprises a top, a bottom and a plurality of side walls, and the top, the bottom and the plurality of side walls at least partially comprise a conductive material;
the external signal generator includes: a signal generator for generating a fundamental wave signal, a power amplifier for amplifying the fundamental wave signal, and an exciting coil for transmitting the amplified fundamental wave signal to an internal transmitting resonator through inductive coupling;
the internal transmitting resonator generating a current on the side wall by inductive coupling;
when the current directions on adjacent side walls are opposite, and the adjacent side walls are used as current return paths of each other, a three-dimensional magneto-quasi-static field for supplying electric energy is formed in the wireless charging room.
Optionally, after controlling the inspection robot to enter the wireless charging room according to the relative pose relationship, the method further comprises:
and controlling the direction of the receiving coil to be orthogonal to the electromagnetic field which is filled in the wireless charging room, so that the inspection robot obtains the maximum charging efficiency.
Alternatively, the maximum charging efficiency satisfies the following formula:
wherein q 1 ,q 2 The quality factors of the internal transmitting resonator and the receiving coil, k and omega respectively 0 Coupling coefficients and resonance angular frequencies of the internal transmit resonator and the receive coil, respectively.
Optionally, the sensing device includes: ultrasonic sensors, laser sensors, infrared thermal imaging sensors, and camera sensors.
On the other hand, the embodiment of the invention also provides a wireless charging room for the intelligent inspection robot, which comprises: a housing, an external signal generator disposed outside the housing, and an internal transmitting resonator disposed inside the housing;
the housing comprises a top, a bottom and a plurality of side walls, and the top, the bottom and the plurality of side walls at least partially comprise a conductive material;
the external signal generator includes: a signal generator for generating a fundamental wave signal, a power amplifier for amplifying the fundamental wave signal, and an exciting coil for transmitting the amplified fundamental wave signal to an internal transmitting resonator through inductive coupling;
the internal transmitting resonator generating a current on the side wall by inductive coupling;
when the current directions on adjacent side walls are opposite, and the adjacent side walls are used as current return paths of each other, a three-dimensional magneto-quasi-static field for supplying electric energy is formed in the wireless charging room.
(III) beneficial effects
The beneficial effects of the invention are as follows: aiming at the complex docking process of the wired docking charging scheme of the existing inspection robot, the invention provides an autonomous wireless charging method of the inspection robot based on a wireless charging house, and the inspection robot acquires position information in real time and integrates residual electric quantity to judge whether the inspection robot needs to be charged or not when the inspection robot performs inspection. When the inspection robot needs to be charged, a path to the wireless charging house is automatically planned. The wireless charging house is different from the existing wireless charging mode, provides electric energy for the inspection robot in a certain space range, and avoids the complex docking of contact charging and hidden danger in docking in the prior art. The invention realizes that the inspection robot can realize automatic charging in a safe, reliable, rapid and efficient way under the condition of no human intervention.
Drawings
Fig. 1 is a schematic diagram of an automatic charging method for an intelligent inspection robot according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a patrol route of a patrol robot and a positional relationship between an electronic tag and a wireless charging room according to an automatic charging method of an intelligent patrol robot according to an embodiment of the present invention;
fig. 3 is a specific flowchart of step S2 of an inspection robot used in the automatic charging method of the intelligent inspection robot according to the embodiment of the present invention;
fig. 4 is a specific flowchart of step S22 of an inspection robot used in the automatic charging method of the intelligent inspection robot according to the embodiment of the present invention;
fig. 5 is a specific flowchart of step S3 of an inspection robot used in the automatic charging method of the intelligent inspection robot according to an embodiment of the present invention;
fig. 6 is a schematic diagram illustrating a wireless charging house of an inspection robot for an automatic charging method of an intelligent inspection robot according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a current flow of a wireless charging room of an inspection robot for an automatic charging method of an intelligent inspection robot according to an embodiment of the present invention.
[ reference numerals description ]
10: inspection robot;
20: an electronic tag;
30: a wireless charging house;
41: a signal generator; 42: a power amplifier; 43: an exciting coil; 44: a housing; 45: an internal transmitting resonator; 46: and a receiving coil.
Detailed Description
The invention will be better explained for understanding by referring to the following detailed description of the embodiments in conjunction with the accompanying drawings.
As shown in fig. 1, an automatic charging method for an intelligent inspection robot according to an embodiment of the present invention includes: firstly, when the inspection robot 10 travels according to a preset inspection route, position information of the inspection robot 10 is obtained in real time through a plurality of electronic tags 20 embedded in different positions in advance; secondly, judging whether the inspection robot 10 needs to be charged or not based on the position information and the remaining power of the inspection robot 10; then, if the inspection robot 10 needs to be charged, planning a path to a preset wireless charging house 30 according to the position information; furthermore, the inspection robot 10 is controlled to travel according to a planned path until reaching a preset range of the wireless charging house 30, and a relative pose relation with an inlet of the wireless charging house 30 is obtained through at least two sensing devices arranged at different positions on the inspection robot 10; finally, the inspection robot 10 is controlled to enter the wireless charging house 30 according to the relative pose relationship, so that the inspection robot 10 converts the energy of the electromagnetic field filled in the wireless charging house 30 into electric energy to be stored.
Aiming at the complex docking process of the wired docking charging scheme of the conventional inspection robot 10, the invention provides an autonomous wireless charging method of the inspection robot 10 based on a wireless charging house 30, which is used for acquiring position information in real time and integrating residual electric quantity to judge whether the inspection robot 10 needs to be charged or not when the inspection robot 10 performs inspection. When the inspection robot 10 needs to be charged, a path to the wireless charging house 30 is automatically planned. In addition, the wireless charging house 30 is different from the existing wireless charging mode, provides electric energy for the inspection robot 10 in a certain space range, and avoids the complex docking and hidden troubles in docking in the prior art of contact charging. The invention realizes that the inspection robot 10 can realize automatic charging in a safe, reliable, rapid and efficient way under the condition of no human intervention.
In order to better understand the above technical solution, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Specifically, the invention provides an automatic charging method for an intelligent inspection robot, which comprises the following steps:
s1, acquiring position information of the inspection robot 10 in real time through a plurality of electronic tags 20 embedded in different positions in advance.
Wherein, electronic tag 20 includes: RFID tags and/or two-dimensional codes. As shown in fig. 2, the identification information of each RFID tag and two-dimensional code corresponds to a geographic location one by one, that is, each RFID tag and two-dimensional code are one locating point, and all locating points are collected as a working map.
S2, judging whether the inspection robot 10 needs to be charged or not based on the position information and the residual electric quantity of the inspection robot 10.
As shown in fig. 3, step S2 includes:
s21, obtaining a plurality of feasible paths of the inspection robot 10 and the preset wireless charging house 30 on the working map according to the position information of the inspection robot 10 and the working map. The obtaining process of the plurality of feasible paths comprises the following steps:
s211, finding out adjacent nodes of each node, and recording the number of the adjacent nodes.
S212, starting from the starting point of the inspection robot 10, selecting an edge associated with the starting point, and starting from another node of the edge, repeating the process until reaching the target node.
S211, repeating the step S212 for a plurality of times until all feasible paths from the starting node to the target node are found.
S22, determining the optimal reference path by comparing the total length of the paths of the feasible paths, the road section duty ratio higher than the average road surface and the number and the radius of turns.
S23, judging whether the residual electric quantity of the inspection robot 10 exceeds the preset residual electric quantity of the inspection robot 10 reaching the wireless charging room 30 according to the optimal path and the historical traveling power consumption data acquired from the database.
If the predetermined margin is exceeded, it is determined that the inspection robot 10 does not need to be charged at this time.
And S25b, if the predetermined allowance is not exceeded, judging that the inspection robot 10 needs to be charged.
Wherein the road section duty ratio higher than the average road surface comprises an uplink road and a downlink road; the historical travel power consumption data comprises average road surface, upward road, downward road and average power consumption per unit time of turning travel; the total length of the path is the sum of all road sections formed by sequentially connecting a starting point, a middle road point and an ending point according to the navigation sequence; the road section refers to a path between two adjacent road points; the average power consumption per unit time is an average value of the travel of the inspection robot 10 on an average road surface, an up-road, a down-road, and a curve.
In the step of determining whether the inspection robot 10 needs to be charged, the present invention obtains a plurality of feasible paths through a simple process, and considers the road surface conditions (parallel road, up road, down road and turning) of each feasible path to obtain an optimal reference path, so as to avoid walking away or walking over more road sections higher than the average road surface, and further estimate whether the optimal reference path can be completed by combining the residual electric quantity.
As shown in fig. 4, step S22 includes:
s221, sequentially carrying out the following standardized treatment on the length of the straight channel, the horizontal length and the inclination angle of the uplink channel, the horizontal length and the inclination angle of the downlink channel and the number and the length of turns;
wherein x is ij The j index of the ith path, y ij The j-th standardized index of the i-th path, 1 … … -th index corresponds to the length of the straight channel, the horizontal length of the uplink channel, the inclination angle of the uplink channel, the horizontal length of the downlink channel, the inclination angle of the downlink channel, the number of turns and the radius of turns respectively;
s222, evaluating each feasibility path based on an objective function, and determining an optimal reference path: the objective function is:
the above evaluation of each index is evaluated by the total length of the path, the inclination angle of the uplink and downlink paths, the number of turns and half price, and after normalization and standardization treatment, the smaller each index is, the better the path is.
And S3, if the inspection robot 10 needs to be charged, planning a path to a preset wireless charging house 30 according to the position information.
As shown in fig. 5, step S3 includes:
s31, selecting the nearest electronic tag 20 as a first path node.
S32, searching for the next path node through a path evaluation function based on the first path node and the running speed of the inspection robot 10 of the node.
And S33, continuously searching for the next path node until the next path node enters the preset range of the wireless charging house 30, and connecting the path nodes in series to obtain a planned path.
S34, comparing the planned path with the optimal reference path.
And S35a, if the evaluation of the planned path obtained through the objective function is not lower than the evaluation of the optimal reference path, selecting the planned path.
And S35b, if the evaluation of the planned path obtained through the objective function is lower than the evaluation of the optimal reference path, selecting the optimal reference path.
Wherein the path evaluation function is: f (n) =g (n) +h (n); since the inspection robot 10 does not travel at a constant speed during the inspection process and the return charge, acceleration and deceleration operations in various cases need to be considered.
Then there are:
where f (n) represents the estimated distance from the first path node S to the target node E, g (n) represents the actual distance from the first path node S to the n node, and h (n) is the estimated function of the best path from the n node to the target node E; setting three continuous locating points n between the first path nodes S and n nodes k-1 ,n i ,n i+1 The speed of the inspection robot 10 passing by is v k-1 ,v i ,v i+1 ；t 1 ,t 2 ,t 3 Respectively correspond to the inspection robot 10 in v 0 Travel at constant speed through three positioning points n k-1 ,n i ,n i+1 The speed of the inspection robot 10 reaches the setpoint n i The time speed is v 0 Down to 0 and when reaching the setpoint n i+1 When it is raised to v 0 The initial speed of the inspection robot 10 reaches the setpoint n at 0 i The time speed becomes v 0 At the arrival at the location point n i+1 The speed becomes 0 again.
And S4, controlling the inspection robot 10 to travel according to a planned path until reaching a preset range of the wireless charging room 30, and acquiring the relative pose relation with the entrance of the wireless charging room 30 through at least two sensing devices arranged at different positions on the inspection robot 10. The sensing device includes: ultrasonic sensors, laser sensors, infrared thermal imaging sensors, and camera sensors.
Multiple pieces of information can be obtained through various sensors, a comprehensive pose relation between the inspection robot 10 and the entrance of the wireless charging house 30 is obtained through multi-information fusion, the pose of the inspection robot 10 is adjusted within an effective target range, and warehousing is effectively and accurately completed.
S5, controlling the inspection robot 10 to enter the wireless charging room 30 according to the relative pose relation. Therein, a magnetic field for supplying electric power exists in the wireless charging house 30.
After step S5, the method further includes:
the orientation of the receiving coil 46 is controlled to be orthogonal to the electromagnetic field that is flooded in the wireless charging room 30 to maximize the charging efficiency of the inspection robot 10.
Further, the maximum efficiency satisfies the following formula:
wherein q 1 ,q 2 The quality factors k, ω of the internal transmit resonator 45 and the receive coil 46, respectively 0 The coupling coefficient and resonance angular frequency of the internal transmitting resonator 45 and the receiving coil 46, respectively.
In addition, the present invention also provides a wireless charging house for an intelligent patrol robot, as shown in fig. 6 and 7, the wireless charging house 30 includes: a housing 44, an external signal generator 41 provided outside the housing 44, and an internal transmitting resonator 45 provided inside the housing 44; the housing 44 includes a top, a bottom, and a plurality of sidewalls, and the top, bottom, and plurality of sidewalls at least partially comprise a conductive material; the external signal generator 41 includes: a signal generator 41 for generating a fundamental wave signal, a power amplifier 42 for amplifying the fundamental wave signal, and an exciting coil 43 for transmitting the amplified fundamental wave signal to an internal transmitting resonator 45 by inductive coupling; the internal transmitting resonator 45 generates a current on the side wall by inductive coupling; when the current directions on adjacent side walls are opposite and the adjacent side walls act as current return paths to each other, a three-dimensional magneto-quasi-static field for providing electrical energy is formed within the wireless charging room 30.
In summary, the invention discloses an automatic charging method and a wireless charging house 30 for an intelligent inspection robot, which are specifically implemented as follows: when the inspection robot 10 inspects, position information is acquired in real time, and whether charging is needed or not is judged according to the road surface condition according to the overall path total length, so that the electric quantity of the inspection robot 10 is in a good state at all times; then, if the inspection robot 10 needs to be charged, a running path is planned by means of a reasonable and accurate flow; the invention also adopts a wireless charging house 30 without a charging docking device and a docking process, and provides electric energy for the inspection robot 10 in a certain area through the wireless charging house 30.
Based on the above description, the invention has the characteristics of autonomous movement to find a charging place and non-contact wireless charging, no human intervention is needed, and the robot can quickly find the wireless charging room 30 in a short time and realize autonomous wireless charging, thereby greatly improving the intelligent degree of the conventional inspection robot 10.
In addition, the user can start the robot charging program through the instruction control mode, and in the idle stage of no charging, the power supply is connected without providing energy for the whole system, so that unnecessary electric energy is saved.
Since the system/device described in the foregoing embodiments of the present invention is a system/device used for implementing the method of the foregoing embodiments of the present invention, those skilled in the art will be able to understand the specific structure and modification of the system/device based on the method of the foregoing embodiments of the present invention, and thus will not be described in detail herein. All systems/devices used in the methods of the above embodiments of the present invention are within the scope of the present invention.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the terms first, second, third, etc. are for convenience of description only and do not denote any order. These terms may be understood as part of the component name.
Furthermore, it should be noted that in the description of the present specification, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with the embodiment or example being included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art upon learning the basic inventive concepts. Therefore, the appended claims should be construed to include preferred embodiments and all such variations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, the present invention should also include such modifications and variations provided that they come within the scope of the following claims and their equivalents.
Claims (9)
1. An automatic charging method for an intelligent inspection robot, comprising the steps of:
acquiring position information of the inspection robot in real time through a plurality of electronic tags which are buried in different positions in advance;
judging whether the inspection robot needs to be charged or not based on the position information and the residual electric quantity of the inspection robot;
if the inspection robot needs to be charged, planning a path to a preset wireless charging room according to the position information;
controlling the inspection robot to travel according to a planned path until reaching a preset range of the wireless charging room, and acquiring a relative pose relation between the inspection robot and an inlet of the wireless charging room through at least two sensing devices arranged at different positions on the inspection robot;
controlling the inspection robot to enter a wireless charging room according to the relative pose relation;
based on the position information and the remaining power of the inspection robot, determining whether the inspection robot needs to be charged includes:
obtaining a plurality of feasible paths of the inspection robot and a preset wireless charging house on a working map according to the position information of the inspection robot and the working map;
determining an optimal reference path by comparing the total length of the paths of the feasible paths, the road section duty ratio higher than the average road surface, and the number and radius of turns;
judging whether the residual electric quantity of the inspection robot exceeds a preset allowance of the electric quantity of the inspection robot when the inspection robot reaches a wireless charging house according to the optimal reference path and the historical travelling power consumption data acquired from the database;
if the preset margin is exceeded, judging that the inspection robot does not need to be charged at the moment;
if the preset margin is not exceeded, judging that the inspection robot needs to be charged;
wherein the road section higher than the average road surface comprises an uplink road and a downlink road; the historical running electricity consumption data comprise average road surfaces, upward roads, downward roads and average electricity consumption per unit time of turning running; the total length of the path is the sum of all road sections formed by sequentially connecting a starting point, a middle road point and an ending point according to the navigation sequence; the road section refers to a path between two adjacent road points; the average power consumption per unit time is an average value of walking of the inspection robot on an average road surface, an uplink road, a downlink road and a turning road; the inspection robot is provided with a receiving coil for receiving electric energy.
2. The automatic charging method for an intelligent patrol robot according to claim 1, wherein said electronic tag comprises: the RFID tags and/or the two-dimensional codes are/is in one-to-one correspondence with the geographic positions, namely, each RFID tag and each two-dimensional code are one positioning point, and all positioning points are collected to be a working map.
3. An automatic charging method for an intelligent patrol robot according to claim 2, wherein determining the optimal reference path by comparing the total length of the paths of each feasible path, the road section duty ratio higher than the average road surface, and the number and radius of turns comprises:
the length of the straight channel, the horizontal length and the dip angle of the uplink channel, the horizontal length and the dip angle of the downlink channel and the number and the length of turns are subjected to the following standardized treatment in sequence;
wherein x is ij The j index of the ith path, y ij The j-th standardized index of the i-th path, 1 … … -th index corresponds to the length of the straight channel, the horizontal length of the uplink channel, the inclination angle of the uplink channel, the horizontal length of the downlink channel, the inclination angle of the downlink channel, the number of turns and the radius of turns respectively;
each feasibility path is evaluated based on an objective function, and an optimal reference path is determined: the objective function is:
4. the method for automatically charging an intelligent patrol robot according to claim 3, wherein if the patrol robot needs to be charged, planning a path to a preset wireless charging house according to the position information comprises:
selecting the nearest electronic tag as a first path node;
searching for a next path node through a path evaluation function based on the first path node and the running speed of the inspection robot of the node;
continuously searching the next path node until the next path node enters a preset range of the wireless charging house, and connecting the path nodes in series to obtain a planned path;
comparing the planned path with the optimal reference path;
if the evaluation of the planned path obtained through the objective function is not lower than the evaluation of the optimal reference path, selecting the planned path;
if the evaluation of the planned path obtained through the objective function is lower than the evaluation of the optimal reference path, selecting the optimal reference path;
wherein the path evaluation function is: f (n) =g (n) +h (n);
then there are:
wherein f (n) represents the estimated distance from the first path node S to the target node E, g (n) represents the actual distance from the first path node S to the n node, and h (n) is an estimated function of the optimal path from the n node to the target node E; setting three continuous locating points n between the first path nodes S and n nodes k-1 ,n k ,n k+1 The passing speeds of the inspection robots respectively corresponding to the inspection robots are v k-1 ,v k ,v k+1 ；t 1 ,t 2 ,t 3 The time spent for the following three travel modes respectively: inspection robot v 0 Travel at constant speed through three positioning points n k-1 ,n k ,n k+1 The speed of the inspection robot reaches a locating point n k The time speed is v 0 Down to 0 and when reaching the setpoint n k+1 When it is raised to v 0 The initial speed of the inspection robot reaches the locating point n at 0 k The time speed becomes v 0 At the arrival at the location point n k+1 The speed becomes 0 again.
5. The automatic charging method for an intelligent patrol robot according to claim 1, wherein said wireless charging house comprises: a housing, an external signal generator disposed outside the housing, and an internal transmitting resonator disposed inside the housing;
the housing comprises a top, a bottom and a plurality of side walls, and the top, the bottom and the plurality of side walls at least partially comprise a conductive material;
the external signal generator includes: a signal generator for generating a fundamental wave signal, a power amplifier for amplifying the fundamental wave signal, and an exciting coil for transmitting the amplified fundamental wave signal to an internal transmitting resonator through inductive coupling;
the internal transmitting resonator generating a current on the side wall by inductive coupling;
when the current directions on adjacent side walls are opposite, and the adjacent side walls are used as current return paths of each other, a three-dimensional magneto-quasi-static field for supplying electric energy is formed in the wireless charging room.
6. The method of claim 5, wherein after controlling the inspection robot to enter the wireless charging room according to the relative pose relationship, further comprising:
and controlling the direction of the receiving coil to be orthogonal to the electromagnetic field which is filled in the wireless charging room, so that the inspection robot obtains the maximum charging efficiency.
7. The automatic charging method for an intelligent patrol robot according to claim 6, wherein the maximum charging efficiency satisfies the following formula:
wherein q 1 ,q 2 The quality factors of the internal transmitting resonator and the receiving coil, k and omega respectively 0 Respectively the internal transmitting resonator and the junctionThe coupling coefficient and the resonant angular frequency of the receiving coil.
8. An automatic charging method for an intelligent patrol robot according to any one of claims 1-7, wherein said sensing means comprises: ultrasonic sensors, laser sensors, infrared thermal imaging sensors, and camera sensors.
9. A wireless room that charges for intelligent inspection robot, its characterized in that, wireless room that charges includes: a housing, an external signal generator disposed outside the housing, and an internal transmitting resonator disposed inside the housing;
the housing comprises a top, a bottom and a plurality of side walls, and the top, the bottom and the plurality of side walls at least partially comprise a conductive material;
the external signal generator includes: a signal generator for generating a fundamental wave signal, a power amplifier for amplifying the fundamental wave signal, and an exciting coil for transmitting the amplified fundamental wave signal to an internal transmitting resonator through inductive coupling;
the internal transmitting resonator generating a current on the side wall by inductive coupling;
when the current directions on adjacent side walls are opposite, and the adjacent side walls are used as current return paths of each other, a three-dimensional magneto-quasi-static field for supplying electric energy is formed in the wireless charging room.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111547550.1A CN114374241B (en) | 2021-12-16 | 2021-12-16 | Automatic charging method for intelligent inspection robot and wireless charging house |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111547550.1A CN114374241B (en) | 2021-12-16 | 2021-12-16 | Automatic charging method for intelligent inspection robot and wireless charging house |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114374241A CN114374241A (en) | 2022-04-19 |
| CN114374241B true CN114374241B (en) | 2023-12-26 |
Family
ID=81140730
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111547550.1A Active CN114374241B (en) | 2021-12-16 | 2021-12-16 | Automatic charging method for intelligent inspection robot and wireless charging house |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114374241B (en) |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101933237A (en) * | 2008-02-01 | 2010-12-29 | Nxp股份有限公司 | Power supply control in a wireless receiver |
| CN106020188A (en) * | 2016-05-17 | 2016-10-12 | 杭州申昊科技股份有限公司 | Substation patrol robot autonomous charging method based on laser navigation |
| CN107379994A (en) * | 2017-08-01 | 2017-11-24 | 安徽福的信息技术服务有限公司 | A kind of automatic guided vehicle power supply management method |
| CN107787542A (en) * | 2015-06-23 | 2018-03-09 | 高通股份有限公司 | For the guiding in electric vehicle radio induction charging system and system, the method and apparatus of alignment |
| CN107896008A (en) * | 2017-09-27 | 2018-04-10 | 安徽硕威智能科技有限公司 | Robot self-service system for charging and method |
| CN109217414A (en) * | 2018-09-04 | 2019-01-15 | 南京理工大学 | A kind of automatic charge device and charging method for Intelligent Mobile Robot |
| CN109599945A (en) * | 2018-11-30 | 2019-04-09 | 武汉大学 | A kind of autonomous crusing robot cruising inspection system of wisdom power plant and method |
| CN111082542A (en) * | 2019-12-26 | 2020-04-28 | 重庆大学 | Magnetic coupling resonance coil design method applying Simpson integration method |
| CN111404280A (en) * | 2020-04-13 | 2020-07-10 | 合肥瞬瞬科技有限公司 | Wireless charging system and method for multi-task inspection robot |
| CN111486848A (en) * | 2020-05-25 | 2020-08-04 | 上海杰销自动化科技有限公司 | AGV visual navigation method, system, computer equipment and storage medium |
| CN111609851A (en) * | 2020-05-28 | 2020-09-01 | 北京理工大学 | Mobile blind guiding robot system and blind guiding method |
| CN111639505A (en) * | 2020-05-29 | 2020-09-08 | 广东电网有限责任公司电力科学研究院 | Hybrid positioning navigation system and method for indoor inspection robot |
| CN112213979A (en) * | 2020-10-14 | 2021-01-12 | 西南石油大学 | Intelligent robot inspection system and method for station |
| CN112611386A (en) * | 2018-12-13 | 2021-04-06 | 杭州申昊科技股份有限公司 | Transformer substation intelligent inspection method based on optimal route planning |
| EP3872520A2 (en) * | 2020-02-25 | 2021-09-01 | Origin Wireless, Inc. | Device and method for vehicle related wireless monitoring based on multipath channel information |
| CN113359808A (en) * | 2021-07-21 | 2021-09-07 | 国网浙江省电力有限公司双创中心 | Multi-stage path planning method for power inspection of unmanned aerial vehicle and related device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9722447B2 (en) * | 2012-03-21 | 2017-08-01 | Mojo Mobility, Inc. | System and method for charging or powering devices, such as robots, electric vehicles, or other mobile devices or equipment |
-
2021
- 2021-12-16 CN CN202111547550.1A patent/CN114374241B/en active Active
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101933237A (en) * | 2008-02-01 | 2010-12-29 | Nxp股份有限公司 | Power supply control in a wireless receiver |
| CN107787542A (en) * | 2015-06-23 | 2018-03-09 | 高通股份有限公司 | For the guiding in electric vehicle radio induction charging system and system, the method and apparatus of alignment |
| CN106020188A (en) * | 2016-05-17 | 2016-10-12 | 杭州申昊科技股份有限公司 | Substation patrol robot autonomous charging method based on laser navigation |
| CN107379994A (en) * | 2017-08-01 | 2017-11-24 | 安徽福的信息技术服务有限公司 | A kind of automatic guided vehicle power supply management method |
| CN107896008A (en) * | 2017-09-27 | 2018-04-10 | 安徽硕威智能科技有限公司 | Robot self-service system for charging and method |
| CN109217414A (en) * | 2018-09-04 | 2019-01-15 | 南京理工大学 | A kind of automatic charge device and charging method for Intelligent Mobile Robot |
| CN109599945A (en) * | 2018-11-30 | 2019-04-09 | 武汉大学 | A kind of autonomous crusing robot cruising inspection system of wisdom power plant and method |
| CN112611386A (en) * | 2018-12-13 | 2021-04-06 | 杭州申昊科技股份有限公司 | Transformer substation intelligent inspection method based on optimal route planning |
| CN111082542A (en) * | 2019-12-26 | 2020-04-28 | 重庆大学 | Magnetic coupling resonance coil design method applying Simpson integration method |
| EP3872520A2 (en) * | 2020-02-25 | 2021-09-01 | Origin Wireless, Inc. | Device and method for vehicle related wireless monitoring based on multipath channel information |
| CN111404280A (en) * | 2020-04-13 | 2020-07-10 | 合肥瞬瞬科技有限公司 | Wireless charging system and method for multi-task inspection robot |
| CN111486848A (en) * | 2020-05-25 | 2020-08-04 | 上海杰销自动化科技有限公司 | AGV visual navigation method, system, computer equipment and storage medium |
| CN111609851A (en) * | 2020-05-28 | 2020-09-01 | 北京理工大学 | Mobile blind guiding robot system and blind guiding method |
| CN111639505A (en) * | 2020-05-29 | 2020-09-08 | 广东电网有限责任公司电力科学研究院 | Hybrid positioning navigation system and method for indoor inspection robot |
| CN112213979A (en) * | 2020-10-14 | 2021-01-12 | 西南石油大学 | Intelligent robot inspection system and method for station |
| CN113359808A (en) * | 2021-07-21 | 2021-09-07 | 国网浙江省电力有限公司双创中心 | Multi-stage path planning method for power inspection of unmanned aerial vehicle and related device |
Non-Patent Citations (1)
| Title |
|---|
| 基于RFID的变电站巡检机器人无线充电系统的研究与设计;孟祥忠;王保磊;;工业仪表与自动化装置(第06期);122-125 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114374241A (en) | 2022-04-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106980320B (en) | Robot charging method and device | |
| CN105045268B (en) | A kind of AGV laser tape hybrid navigation system | |
| US11312257B2 (en) | Robot with vehicle charging | |
| KR100988736B1 (en) | Home network system and method for moving the shortest path of autonomous mobile robot | |
| US11927457B2 (en) | System and method for real time control of an autonomous device | |
| US20110144850A1 (en) | Moving apparatus, moving method of moving apparatus, and movement control program of moving apparatus | |
| KR101430103B1 (en) | Golf ball pick up robot | |
| CN112230664A (en) | Automatic recharging method and system | |
| CN107014971A (en) | Underwater hiding-machine with efficient charging and remote data transmission function uses buoy base station | |
| CN111609848A (en) | Intelligent optimization method and system for multi-robot cooperation mapping | |
| Guidi et al. | Dynamic wireless charging of autonomous vehicles: Small-scale demonstration of inductive power transfer as an enabling technology for self-sufficient energy supply | |
| CN114374241B (en) | Automatic charging method for intelligent inspection robot and wireless charging house | |
| KR100581086B1 (en) | Method and apparatus for mobile robot localization using led of rfid tag | |
| Wang et al. | SLAM method based on independent particle filters for landmark mapping and localization for mobile robot based on HF-band RFID system | |
| CN114448114A (en) | Intelligent wireless power supply system based on mobile robot | |
| Detweiler et al. | Unmanned aerial vehicle-based wireless charging of sensor networks | |
| Olson | Selecting landmarks for localization in natural terrain | |
| CN114371713A (en) | Path planning method of foot type robot, electronic device and storage medium | |
| Jung et al. | Inductive or magnetic recharging for small UAVs | |
| CN106066148B (en) | Wireless power electric vehicle positioning device and localization method based on three-winding | |
| CN106204516B (en) | Automatic charging method and device for robot | |
| Raveendran et al. | Development of task-oriented ROS-based Autonomous UGV with 3D Object Detection | |
| KR100590210B1 (en) | Method for mobile robot localization and navigation using RFID, and System for thereof | |
| Lv et al. | A deep safe reinforcement learning approach for mapless navigation | |
| Tsukiyama | RFID based navigation system for indoor mobile robots |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |