CN115133675A - Inspection robot system - Google Patents
Inspection robot system Download PDFInfo
- Publication number
- CN115133675A CN115133675A CN202210614945.7A CN202210614945A CN115133675A CN 115133675 A CN115133675 A CN 115133675A CN 202210614945 A CN202210614945 A CN 202210614945A CN 115133675 A CN115133675 A CN 115133675A
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- CN
- China
- Prior art keywords
- inspection robot
- base station
- robot body
- positioning
- positioning piece
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/005—Mechanical details of housing or structure aiming to accommodate the power transfer means, e.g. mechanical integration of coils, antennas or transducers into emitting or receiving devices
Abstract
The invention relates to an inspection robot system, in which a base station is provided with a wireless charging transmitting module, an inspection robot body is provided with a wireless charging receiving module which can be electrically connected with the wireless charging transmitting module and is arranged at the other side opposite to the base station, the inspection robot body can transversely move relative to the base station so as to ensure that the inspection robot body and the base station are staggered or at least partially overlapped, and a first positioning piece and a second positioning piece in a positioning assembly are respectively arranged so that the first positioning piece and the second positioning piece are magnetically attracted together when the inspection robot body moves to be partially overlapped with the base station, thus the wireless charging transmitting module on the base station and the wireless charging receiving module on the inspection robot body can be accurately positioned together without a special centering device, thereby meeting the requirement of the distance between the transmitting end and the receiving end of the wireless charging module, the charging can be automatically carried out without manual intervention.
Description
Technical Field
The invention relates to the field of highway maintenance equipment, in particular to inspection equipment, and particularly relates to an inspection robot system.
Background
The highway is an important capital construction project, the construction of the highway can greatly reduce the passing time between two target places, so that the passing of common people is more convenient, the economy along the line can be greatly driven, the third industry is promoted to be rapidly prosperous, and the 'gold opportunity' for the development of the tourism industry is brought, thereby greatly improving the city grade, and increasing the popularity and the external openness. With the gradual popularization of the expressway, the inspection work of the expressway is more and more important. The traditional highway maintenance mode is manual inspection, which not only wastes time and labor, but also is easy to cause errors.
For this reason, inspection robots capable of performing inspection work instead of manual work have been developed. The median of highway has the median of separating two direction lanes usually, and the robot that patrols and examines now is usually from taking the power supply to can remove along the guardrail in the median, with the help of self integrated multiple sensor, visual system, sound collection system etc. can in time master the condition on road surface, can compromise the accident information acquisition of highway section even, very practicality. However, the existing inspection robot usually adopts a storage battery as a power source of a motor, and after the traditional inspection robot is used for a period of time, a power supply is required to charge the storage battery, and the process still needs manual intervention, so that the traditional inspection robot cannot be popularized;
for this part patrol and examine the robot through addding modules such as solar panel, expects to break away from the reliance of fixed line position, for example chinese utility model patent that patent number is CN201920866132.0 just discloses "a highway emergency driveway patrols and examines robot", should patrol and examine the robot, and the top of shell one is provided with mounting groove one and mounting groove two, fixedly connected with solar panel on the inside wall of mounting groove one, though reduced the number of times of inserting the electricity and charging to a certain extent, but the defect is obvious:
1. the charging efficiency of the solar panel is low, and the limited charging time hardly meets the charging requirement of the storage battery;
2. under the severe working conditions of the expressway, the solar panel can accumulate a large amount of dust to influence the collection of sunlight;
3. solar charging still need patrol and examine the robot and remove to fixed charging position, needs higher alignment accuracy, and very easy in the charging process brings great external wind-force interference because of the quick passing through of vehicle to lead to patrolling and examining the preset charging position of robot skew.
Disclosure of Invention
The first technical problem to be solved by the invention is to provide an inspection robot system capable of automatically completing charging and accurately positioning a wireless charging position in view of the current situation of the prior art.
The second technical problem to be solved by the invention is to provide an inspection robot system capable of correcting the posture of an inspection robot body while positioning, aiming at the current situation of the prior art.
The technical scheme adopted by the invention for solving the first technical problem is as follows: an inspection robot system comprising:
the base station is provided with a wireless charging transmitting module;
the inspection robot body is provided with a wireless charging receiving module which can be electrically connected with the wireless charging transmitting module and is arranged on the other side opposite to the base station, and the inspection robot body can transversely move relative to the base station so as to enable the inspection robot body and the base station to be staggered or at least partially overlapped;
the positioning assembly comprises a first positioning piece and a second positioning piece, wherein the first positioning piece is arranged on the base station, the second positioning piece is arranged on the inspection robot body, one of the first positioning piece and the second positioning piece is a magnetic piece, the other one of the first positioning piece and the second positioning piece is a magnetic piece or a magnetic conduction piece, the inspection robot body moves to the state of at least partially overlapping with the base station, and the first positioning piece and the second positioning piece are attracted in a magnetic mode so that the wireless charging receiving module and the wireless charging transmitting module are opposite to each other and electrically connected.
In order to ensure the strength and the positioning speed of the magnetic attraction, preferably, the first positioning part and the second positioning part are both magnetic parts, and the magnetic poles adjacent to each other are opposite magnetic poles.
The two positioning members may be directly provided on the respective surfaces, but may be difficult to be brought close due to the intervention of other components, and thus, in order to ensure that the two positioning members can be brought close enough to interact, it is preferable that the upper portion of the base station has a laterally extending connection plate, an extending direction of which crosses a moving direction of the inspection robot body, and the first positioning member is provided on the connection plate.
Specifically, the connecting plate is arranged at the top of the base station, the free end of the connecting plate is provided with a side plate which is bent downwards, the first positioning piece is arranged on the inner side of the side plate adjacent to the base station, and an interval is reserved between the first positioning piece and the side wall of the base station to form an action interval.
Preferably, the top of patrolling and examining the robot body has the connecting seat of vertical extension, the second setting element is located on this positioning seat, and is patrolling and examining the robot body and remove to the state of overlapping with the basic station under, connecting seat and second setting element all are located the effect interval.
In order to further solve the second technical problem, the invention adopts the following technical scheme: the first positioning piece is provided with a first action surface at the inner side adjacent to the action area, the second positioning piece is correspondingly provided with a second action surface, and the first action surface and the second action surface are mutually parallel in the magnetic attraction state of the first positioning piece and the second positioning piece. The design of two action faces like this, because first setting element is fixed on the basic station, its position and angle are relatively fixed, when patrolling and examining the robot body and sliding to basic station department, two setting elements realize the magnetism actuation in the twinkling of an eye, rely on the interact of first action face and second action face, first setting element just can the reaction on the second setting element, thereby realize the correction to patrolling and examining the robot body gesture, make it resume to predetermined operation angle, avoid some components because the abnormal wear that the angle deflection caused. Of course, in order to further ensure the positioning effect, the two positioning elements are preferably circular magnets, so that the positioning effect is more desirable.
In order to facilitate the relative sliding of the two positioning elements, it is preferred that the first positioning element has guide surfaces engaging the first active surface both upstream and downstream of the first active surface, in the sliding direction of the second positioning element.
In order to avoid the deviation of the inspection robot body, preferably, the top of the base station is further provided with a reinforcing plate, the cross section of the reinforcing plate is L-shaped, and two right-angle sides of the L-shaped are respectively connected to the outer sides of the connecting plate and the side plate. The reinforcing plate is designed to reinforce the connecting plate and the side plates, and after the second positioning piece and the first positioning piece on the inspection robot body are attracted in a magnetic mode after the robot body is inclined, the whole inspection robot body can be vertically restored by means of magnetic attraction acting force and moving inertia.
Specifically, the thickness of the reinforcing plate at the connecting plate gradually increases from the fixed end to the free end of the connecting plate.
Preferably, the number of the reinforcing plates is at least two, and the reinforcing plates are arranged at intervals along the moving direction of the inspection robot body.
Compared with the prior art, the invention has the advantages that: in this inspection robot system, in through locating component, through at the basic station with inspect and install first setting element and second setting element on the robot body respectively, make and inspect the robot body and remove to when overlapping with basic station part, first setting element and second setting element magnetic attraction are in the same place, need not special centering device like this, just can make wireless transmitting module that charges on the basic station and the accurate location of the wireless receiving module that charges on the robot body of patrolling and examining together, thereby satisfy the distance requirement of wireless module transmitting terminal that charges and receiving terminal, need not artificial intervention and just can charge automatically.
Drawings
Fig. 1 is a schematic diagram of the overall structure of an inspection robot system in the embodiment of the invention;
fig. 2 is a schematic diagram of the overall structure of the inspection robot body;
FIG. 3 is a general schematic diagram of a base station;
FIG. 4 is an overall view from another angle of FIG. 3;
fig. 5 is a schematic view (side view) of the overall structure of the inspection robot system in the embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying examples.
As shown in fig. 1 to 5, which are a preferred embodiment of the present invention, in the present embodiment, the inspection robot system includes a base station 1, an inspection robot body 2, and a positioning assembly 3. Taking a highway as an example of a specific use scene, the middle of a highway lane is provided with a separation strip, a guard rail for separating different lanes is arranged at the separation strip, the base station 1 is usually arranged at the separation strip, and the inspection robot body 2 is self-powered, is usually arranged at the other side opposite to the base station 1, and can move along the guard rail and perform inspection work (i.e. the inspection robot body 2 can move transversely relative to the base station 1).
The same place as that of the conventional inspection robot in the embodiment is that centralized charging processing needs to be performed at the base station 1, and the difference is that the inspection robot system in the embodiment adopts a wireless charging mode. Wherein, be provided with wireless transmitting module 10 that charges on basic station 1, and be provided with the wireless receiving module 20 that charges that can be connected with wireless transmitting module 10 electricity on patrolling and examining robot body 2. Because during wireless charging, the distance of transmitting terminal and receiving terminal and position all can be great influence charge efficiency even success rate, consequently, when patrolling and examining robot body 2 electric quantity can not satisfy next time and patrol and examine, predetermine the procedure and will order about it automatically and remove to basic station 1 department, patrol and examine robot body 2 removal promptly and can form two kinds of position states with basic station 1, dislocation or at least local overlap, it is equivalent to when patrolling and examining misplace with basic station 1, then at least local overlap (preferably side by side) during charging.
In this embodiment, the positioning component 3 can effectively avoid the situation that the wireless charging transmitting terminal and the wireless charging receiving terminal are not in place to cause charging failure, the positioning component 3 includes a first positioning element 31 disposed on the base station 1 and a second positioning element 32 disposed on the inspection robot body 2, one of the first positioning element 31 and the second positioning element 32 is a magnetic element, and the other one is a magnetic element or a magnetic conductive element, when the inspection robot body 2 moves to a state of being at least partially overlapped with the base station 1, the first positioning element 31 and the second positioning element 32 are magnetically attracted, so that the wireless charging receiving module 20 is directly connected to the wireless charging transmitting module 10. In order to ensure the magnetic strength and the positioning speed, the first positioning member 31 and the second positioning member 32 are both magnetic members, and the magnetic poles adjacent to each other are opposite magnetic poles.
There are various connection structures for realizing magnetic attraction between the two positioning members, in this embodiment, the upper portion of the base station 1 has a laterally extending connection plate 33, the extending direction of the connection plate 33 intersects with the moving direction of the inspection robot body 2, and the first positioning member 31 is disposed on the connection plate 33. Specifically, the connecting plate 33 is disposed on the top of the base station 1, and the free end thereof has a side plate 34 bent downward, and the first positioning member 31 is disposed on the inner side of the side plate 34 adjacent to the base station 1 and spaced from the side wall of the base station 1 to form the operating section 30. In order to realize the cooperation with first locating piece 31, the top of robot 2 is patrolled and examined to the aforesaid has vertical extension's connecting seat 35, and second locating piece 32 locates on this positioning seat, and is patrolling and examining robot 2 and remove to under the state that overlaps with basic station 1, and connecting seat 35 and second locating piece 32 all are located between the effect interval 30.
Except the accurate positioning of the transmitting end and the receiving end of the wireless charging module, the magnetic attraction of the two positioning parts can also effectively correct the running posture of the inspection robot body. The first positioning member 31 has a first operation surface 3a on the inner side adjacent to the operation section 30, the second positioning member 32 has a second operation surface 3b, and the first operation surface 3a and the second operation surface 3b are parallel to each other in a state where the first positioning member 31 and the second positioning member 32 are magnetically attracted. In order to ensure smooth sliding, the first positioning member 31 has guide surfaces 3c that engage with the first acting surface 3a both upstream and downstream of the first acting surface 3a in the sliding direction of the second positioning member 32. Of course, since the inspection robot has a certain weight after being loaded, it is likely to be deflected up and down after a certain period of operation, so that the first positioning member 31 is located on the moving path of the second positioning member 32. Therefore, the other part of the posture correction is to adjust the inclination of the robot body, so that the end of the second positioning element 32 is rotated by the vertical inclination angle after being collided with the first positioning element 31 by the magnetic attraction force and the inertia of the robot body, and the robot body smoothly slides into the action zone 30, so that the two positioning elements are returned to the parallel state again. Certainly, in view of that the magnetic member itself is generally fragile, the first positioning member 31 and the second positioning member 32 are not necessarily in direct contact, and in order to clarify the structural characteristics of the magnetic attraction, a brief description form is adopted in the application to facilitate understanding, but in an actual production process, a flexible sleeve and the like are sleeved outside the magnetic member for protection, or other forms of intervals may be adopted.
In order to ensure the strength of the guide part, a reinforcing plate 36 is also arranged on the top of the base station 1, the cross section of the reinforcing plate 36 is L-shaped, and two right-angled edges of the L-shape are respectively connected to the outer sides of the connecting plate 33 and the side plate 34. Specifically, the thickness of the reinforcing plate 36 at the connecting plate 33 gradually increases from the fixed end to the free end of the connecting plate 33. The number of the reinforcing plates 36 in this embodiment is at least two, and the reinforcing plates 36 are arranged at intervals along the moving direction of the inspection robot body 2.
Also, directional terms, such as "front," "rear," "upper," "lower," "left," "right," "side," "top," "bottom," and the like, may be used in the description and claims to describe various example structural portions and elements of the invention, but are used herein for convenience of description only and are determined based on the example orientations shown in the figures. Because the disclosed embodiments of the present invention may be oriented in different directions, the directional terms are used for descriptive purposes and are not to be construed as limiting, e.g., "upper" and "lower" are not necessarily limited to directions opposite to or coincident with the direction of gravity.
Claims (10)
1. An inspection robot system comprising:
a base station (1) having a wireless charging transmission module (10);
the inspection robot body (2) is provided with a wireless charging receiving module (20) which can be electrically connected with the wireless charging transmitting module (10) and is arranged on the other side opposite to the base station (1), and the inspection robot body (2) can transversely move relative to the base station (1) so that the inspection robot body (2) and the base station (1) are staggered or at least partially overlapped;
it is characterized by also comprising:
locating component (3), including locating first setting element (31) on basic station (1) and locating second setting element (32) on patrolling and examining robot body (2), one of them is the magnetic part in first setting element (31) and second setting element (32), and another is magnetic part or magnetic conduction spare patrol and examine robot body (2) and remove to under the state of overlapping with basic station (1) part at least, first setting element (31) and second setting element (32) magnetism actuation to make wireless receiving module (20) and wireless transmitting module (10) that charges just to and the electricity is connected.
2. The inspection robot system according to claim 1, wherein: the first positioning piece (31) and the second positioning piece (32) are both magnetic pieces, and the magnetic poles adjacent to each other are opposite magnetic poles.
3. The inspection robot system according to claim 2, wherein: the upper portion of basic station (1) has laterally extended connecting plate (33), the extending direction of connecting plate (33) is crossed with the moving direction of patrolling and examining robot body (2), first locating piece (31) are located on connecting plate (33).
4. The inspection robot system according to claim 3, wherein: the connecting plate (33) is arranged at the top of the base station (1), the free end of the connecting plate is provided with a side plate (34) which is bent downwards, the first positioning piece (31) is arranged on the inner side of the side plate (34) adjacent to the base station (1), and an interval forming action interval (30) is reserved between the first positioning piece and the side wall of the base station (1).
5. The inspection robot system according to claim 4, wherein: the top of patrolling and examining robot body (2) has vertical extension's connecting seat (35), second setting element (32) are located on this positioning seat, and are patrolling and examining robot body (2) and remove to under the state of overlapping with basic station (1), connecting seat (35) and second setting element (32) all are located between the effect interval (30).
6. The inspection robot system according to claim 5, wherein: the first positioning piece (31) is provided with a first action surface (3a) on the inner side adjacent to the action area (30), the second positioning piece (32) is correspondingly provided with a second action surface (3b), and the first action surface (3a) and the second action surface (3b) are mutually parallel under the magnetic attraction state of the first positioning piece (31) and the second positioning piece (32).
7. The inspection robot system according to claim 6, wherein: the first positioning member (31) has guide surfaces (3c) that engage with the first action surface (3a) both upstream and downstream of the first action surface (3a) in the sliding direction of the second positioning member (32).
8. The inspection robot system according to claim 7, wherein: the top of the base station (1) is also provided with a reinforcing plate (36), the cross section of the reinforcing plate (36) is L-shaped, and two right-angle sides of the L-shaped cross section are respectively connected to the outer sides of the connecting plate (33) and the side plate (34).
9. The inspection robot system according to claim 8, wherein: the thickness of the reinforcing plate (36) at the connecting plate (33) gradually increases from the fixed end to the free end of the connecting plate (33).
10. The inspection robot system according to claim 9, wherein: the number of the reinforcing plates (36) is at least two, and the reinforcing plates (36) are arranged at intervals along the moving direction of the inspection robot body (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210614945.7A CN115133675A (en) | 2022-05-31 | 2022-05-31 | Inspection robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210614945.7A CN115133675A (en) | 2022-05-31 | 2022-05-31 | Inspection robot system |
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| Publication Number | Publication Date |
|---|---|
| CN115133675A true CN115133675A (en) | 2022-09-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210614945.7A Pending CN115133675A (en) | 2022-05-31 | 2022-05-31 | Inspection robot system |
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| CN (1) | CN115133675A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116760201A (en) * | 2023-06-19 | 2023-09-15 | 涧光(上海)特种装备有限公司 | Wireless charging device of inspection robot |
-
2022
- 2022-05-31 CN CN202210614945.7A patent/CN115133675A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116760201A (en) * | 2023-06-19 | 2023-09-15 | 涧光(上海)特种装备有限公司 | Wireless charging device of inspection robot |
| CN116760201B (en) * | 2023-06-19 | 2024-02-20 | 涧光(上海)特种装备有限公司 | Wireless charging device of inspection robot |
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