CN210224983U - A fill electric pile for patrolling and examining robot accurate positioning and charge - Google Patents
A fill electric pile for patrolling and examining robot accurate positioning and charge Download PDFInfo
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- CN210224983U CN210224983U CN201920767412.6U CN201920767412U CN210224983U CN 210224983 U CN210224983 U CN 210224983U CN 201920767412 U CN201920767412 U CN 201920767412U CN 210224983 U CN210224983 U CN 210224983U
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- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 description 11
- 230000033001 locomotion Effects 0.000 description 9
- 230000008569 process Effects 0.000 description 7
- 230000009471 action Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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Abstract
The utility model discloses a fill electric pile for patrolling and examining accurate positioning of robot charges, including setting up in the electric pile guide rail that fills of filling electric pile body bottom, guide rail one end guide robot gets into, the other end with fill electric pile body and be connected, it carries out optical transmission's photoelectric sensor sending device and photoelectric sensor receiving arrangement relatively to be provided with the direction on the both sides of electric pile guide rail and the electric pile body respectively, it is connected through automatically controlled portable base to fill electric pile guide rail and fill between the electric pile body, it removes along with removing the base to fill the electric pile body, it still is provided with integrated image processing's controller on the electric pile body to fill, it is provided with camera device on the contact of charging of electric pile body, integrated image processing's controller and portable base, camera. The utility model discloses can match the contact completely with the contact that charges when letting the robot automobile body charge, the work of independently charging is more stable, uses convenience safe more.
Description
Technical Field
The utility model belongs to the technical field of electric power industry fills electric pile, concretely relates to a fill electric pile for patrolling and examining robot accurate positioning charges.
Background
The power industry is directly related to the stable operation of the society and the production and life of people, and the reliability of power supply is guaranteed to be very important, so that the premise of power supply reliability is that regular inspection is carried out on power system equipment. At present, in the power industry, a power inspection robot is often adopted for inspection besides a manual inspection mode. The inspection robot supplies energy through the battery, and the inspection robot needs to enter a charging system for charging when the electric quantity is too low.
The charging system of the power inspection robot adopted at present has the following problems in actual use: firstly, due to positioning errors generated when the robot runs, the robot cannot effectively contact with a charging pile after entering a charging system, so that charging cannot be performed; secondly, the robot often collides with the charging pile in the charging system because of the existence of positioning error, causing the damage of robot and charging pile. The electric pile that fills that uses at present gets into appointed place of charging for the robot when the electric quantity is lower, charges through automobile body charging contact and fills electric pile and contact and charge. However, the currently adopted scheme is lack of calibration for the pose of the robot body, and meanwhile collision is easy to occur due to the positioning error of the robot.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a: the charging pile solves the problems that when the existing electric power inspection robot is charged and used for charging the charging pile, due to the lack of calibration on the pose of the body of the robot and the easy existence of positioning errors of the robot, a charging contact of the robot cannot be well combined with a charging point when the robot is charged, the robot fails to charge and the charging device and the robot are damaged due to collision, and provides the charging pile for accurately positioning and charging the transformer substation inspection robot.
The utility model adopts the technical scheme as follows:
the utility model provides a fill electric pile that is used for transformer substation to patrol and examine robot accurate positioning and charges, includes and fills the electric pile body, still includes: set up in filling the electric pile guide rail of electric pile body bottom, fill electric pile guide rail one end guide robot and get into, the other end with fill this body coupling of electric pile, it carries out optical transmission's photoelectric sensor transmitting device and photoelectric sensor receiving device relatively to fill the electric pile guide rail and fill on the both sides of electric pile body coupling one end respectively, it is connected through automatically controlled portable base to fill between the electric pile guide rail and the electric pile body, it removes along with moving the base to fill the electric pile body, still be provided with integrated image processing's controller on filling the electric pile body, it is provided with camera device on the contact of charging of electric pile body, integrated image processing's controller and portable base, camera device and photoelectric sensor.
Further, fill electric pile guide rail and be U-shaped opening shape and opening width in robot automobile body, there is the radian in open-ended both sides, and the opening width of guide rail along the robot entering direction is by wide to narrow.
Further, the controller of integrated image processing controls the image pickup device to work according to the input signal of the photoelectric sensor receiving device, and the control circuit adopts: the photoelectric sensor receiving device receives infrared signals and outputs the infrared signals through the amplifying and decoding circuit, the output end of the amplifying and decoding circuit is connected with the NOT gate to carry out phase inversion on the output signals, and the output end of the NOT gate is connected to the signal input end of the controller integrating image processing.
Further, the controller for integrated image processing employs a CompactRIO controller.
To sum up, owing to adopted above-mentioned technical scheme, the beneficial effects of the utility model are that:
1. the utility model discloses in, guide the robot that will wait to charge to photoelectric sensor detection position and the contact the place ahead that charges of filling the electric pile body through filling the electric pile guide rail, when the robot shelters from photoelectric sensor transmission signal, the camera device on the control charging contact begins work, discernment robot automobile body position, the position according to camera device discernment removes the removal of base, it removes along with removing the base to fill the electric pile body, can match the contact completely with the contact that charges when making the robot automobile body charge, effectively solved and patrolled and examined robot charging process in the inaccurate and unable problem of charging and with filling the electric pile and bumping, make the autonomous work when patrolling and examining the robot and charging more stable, do not need personnel's help operation, it is more convenient to use.
2. The utility model discloses in, fill its width of electric pile guide rail opening slightly wide and the robot automobile body, consequently the robot can correct the automobile body position appearance well under the guide of guide rail, prevent that the automobile body is crooked, and is special, and there is the radian in the both sides of the electric pile guide rail of U-shaped opening form, and the guide rail is by wide to narrow along the opening width that the robot got into the direction for the robot is guided the process that gets into more smoothly, does not have the problem that the robot can't back a car and put in storage.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic structural view of the movable base of the present invention;
fig. 3 is a schematic circuit diagram of the output control signal of the receiving device of the photoelectric sensor of the present invention;
the labels in the figure are: the method comprises the following steps of 1-charging pile guide rail, 2-photoelectric sensor sending device, 3-charging contact, 4-camera device, 5-controller, 6-photoelectric sensor receiving device and 7-movable base.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention, i.e., the described embodiments are merely some, but not all, embodiments of the invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiment of the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.
It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The features and properties of the present invention are described in further detail below with reference to examples.
Example 1
The utility model discloses the preferred embodiment provides a be used for transformer substation to patrol and examine electric pile that fills of robot accurate positioning, including filling the electric pile body, still include: set up in filling electric pile guide rail 1 who fills electric pile body bottom, fill electric pile guide rail 1 one end guide robot and get into, the other end with fill this body coupling of electric pile, it carries out optical transmission's photoelectric sensor transmitting device 2 and photoelectric sensor receiving arrangement 6 to fill electric pile guide rail 1 and fill on the both sides of this body coupling one end of electric pile respectively, it is connected through automatically controlled portable base 7 to fill between electric pile guide rail and the electric pile body, it moves along with portable base 7 to fill the electric pile body, still be provided with integrated image processing's controller 5 on filling the electric pile body, it is provided with camera device 4 on the contact 3 that charges of electric pile body, integrated image processing's controller 5 and portable base 7, camera device 4 and photoelectric sensor receiving arrangement.
The working principle is as follows: when the electric quantity of the robot is too low, a charging program is started to be executed, and the robot drives to a charging system. When the robot is close to the charging pile in a reversing state, the charging pile guide rail is a U-shaped opening, and the width of the charging pile guide rail is slightly wider than that of a robot body, so that the robot corrects the posture of the body under the guide of the guide rail, and the body is prevented from being inclined. When the robot drives into the tail end of the charging pile guide rail, the robot body shields the photoelectric sensor, the controller controls the camera at the top of the charging pile to start working, the position of the vehicle body is identified through the camera, the charging pile is integrally adjusted, and the work is finished until the charging contact and the vehicle body are contacted to start charging. And after the robot finishes charging, the robot drives away from the charging pile, the photoelectric sensor obtains the transmission signal again, the camera device finishes working, and the charging pile can be controlled by the controller to recover the initial position and also can stop at the current position.
The image recognition program performs calculation through the controller 5 integrating image processing, the controller can adopt a CompactRIO controller, machine Vision and image processing tasks are supported, and the source is open to support all third-party cameras conforming to the GigE Vision and USB3Vision standards (the camera 4 can adopt the third-party cameras conforming to the GigE Vision and USB3Vision standards). By integrating image acquisition into the CompactRIO controller, these images can directly interact with other processes in the application, such as I/O and motion control, to effectively incorporate image processing into the control loop. The CompactRIO controller, which locally supports NI and third party motors and drives, can be directly connected to the motion hardware (i.e. the electrically controlled moveable base 7) and uses built-in motion IP to emulate and configure axis settings, adjust motors and enable custom control without the need to use a separate motion controller. The image processing that the position of the robot body collected by the camera device 4 is identified relative to the position of the charging contact of the charging pile body can be realized by adopting image processing software on a compact RIO controller, the charging pile is integrally adjusted, the image processing software adopts the existing image comparison and alignment algorithm, a standard image shot by a camera when the charging contact is perfectly contacted with the charging contact of the robot is firstly stored, a real-time picture shot by the camera device in front of the charging contact is compared and matched with the standard image so as to be aligned to obtain position information, according to the position information, the compact RIO controller outputs a motion control signal to control the motor of the electrically controlled movable base to work, and the movable base moves left and right and back to ensure that the positions of the charging contact and the position of the charging contact of the robot are completely matched.
Further, the controller 5 integrating image processing controls the operation of the image capturing device 4 according to the input signal from the photosensor receiving device 6, and the control circuit of the image capturing device 4 is as follows as shown in fig. 3: the control circuit adopts: the photoelectric sensor receiving device 6 receives the infrared signal and outputs the infrared signal through the amplifying and decoding circuit, the output end of the amplifying and decoding circuit is connected with the NOT gate to carry out phase inversion on the output signal, and the output end of the NOT gate is connected to the signal input end of the controller 5 integrating image processing.
Further, the image processing-integrated controller 5 outputs a signal to a control board of a driving motor of the movable base 7 according to the image data processing result of the image pickup device 4, thereby controlling the movement of the movable base 7.
The electrically controlled movable base 7 is schematically shown in fig. 2. Movable rollers are arranged at the bottom of the movable base 7, and the movable rollers move back and forth on guide rails arranged on the charging pile guide rails to complete the back and forth movement of the charging pile body. Still be provided with guide rail and guide arm on the portable base, let the base of placing the electric pile body of filling pass through guide arm and guide rail and connect and remove about on portable base. The movement of the base for placing the charging pile body and the movement of the whole movable base 7 are controlled by a motor, for example, a motor rotation control roller rotates, and the base for placing the charging pile body is controlled by the motor rotation to move left and right.
The utility model discloses in, guide the robot that will wait to charge to photoelectric sensor detection position and the contact the place ahead that charges of filling the electric pile body through filling the electric pile guide rail, when the robot shelters from photoelectric sensor transmission signal, the camera device on the control charging contact begins work, discernment robot automobile body position, the position according to camera device discernment removes the removal of base, it removes along with removing the base to fill the electric pile body, can match the contact completely with the contact that charges when making the robot automobile body charge, effectively solved and patrolled and examined robot charging process in the inaccurate and unable problem of charging and with filling the electric pile and bumping, make the autonomous work when patrolling and examining the robot and charging more stable, do not need personnel's help operation, it is more convenient to use.
Example 2
The utility model discloses preferred embodiment is on the basis of embodiment one, fill electric pile guide rail 1 be the U-shaped opening form, its opening is greater than robot body width (the opening slightly is greater than robot body width, can be a little wide a few centimetres), there is the radian in the opening both sides, and the guide rail is by wide to narrow along the opening width that the robot got into the direction.
The width of the opening of the charging pile guide rail is slightly wider than that of the robot body, so that the robot can well correct the posture of the body under the guide of the guide rail and prevent the body from being inclined.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (4)
1. The utility model provides a fill electric pile for patrolling and examining robot accurate positioning charges, includes and fills the electric pile body, its characterized in that: further comprising: set up in filling electric pile guide rail (1) of filling electric pile body bottom, it gets into to fill electric pile guide rail (1) one end guide robot, the other end with fill electric pile body coupling, it carries out photoelectric sensor transmitting device (2) and photoelectric sensor receiving arrangement (6) that optical transmission is carried out relatively to fill electric pile guide rail (1) and fill on the both sides of electric pile body coupling one end respectively, it is connected through automatically controlled portable base (7) to fill between electric pile guide rail and the electric pile body, it moves along with portable base (7) to fill the electric pile body, it still is provided with integrated image processing's controller (5) on the electric pile body to fill, it is provided with camera device (4) on charging contact (3) of electric pile body to fill, integrated image processing's controller (5) and portable base (7), camera device (4) and.
2. The charging pile for the accurate positioning charging of the inspection robot according to the claim 1, characterized in that: fill electric pile guide rail (1) and be U-shaped opening form and opening width in robot automobile body, there is the radian in open-ended both sides, and the opening width of guide rail along the robot entering direction is by wide to narrow.
3. The charging pile for the accurate positioning charging of the inspection robot according to the claim 1, characterized in that: the controller (5) integrating the image processing controls the image pickup device (4) to work according to the input signal of the photoelectric sensor receiving device (6), and the control circuit adopts the following steps: the photoelectric sensor receiving device (6) receives infrared signals and outputs the infrared signals through the amplifying and decoding circuit, the output end of the amplifying and decoding circuit is connected with the NOT gate to carry out phase inversion on the output signals, and the output end of the NOT gate is connected to the signal input end of the controller (5) integrating image processing.
4. The charging pile for the accurate positioning charging of the inspection robot according to the claim 1, characterized in that: the controller (5) for integrated image processing adopts a CompactRIO controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920767412.6U CN210224983U (en) | 2019-05-24 | 2019-05-24 | A fill electric pile for patrolling and examining robot accurate positioning and charge |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920767412.6U CN210224983U (en) | 2019-05-24 | 2019-05-24 | A fill electric pile for patrolling and examining robot accurate positioning and charge |
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| CN210224983U true CN210224983U (en) | 2020-03-31 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112092666A (en) * | 2020-09-16 | 2020-12-18 | 中建材创新科技研究院有限公司 | Automatic charging system and charging method of laser navigation forklift |
| CN112249105A (en) * | 2020-09-09 | 2021-01-22 | 齐亚博 | Artificial intelligence robot accomodates protection device |
| CN114362332A (en) * | 2022-03-18 | 2022-04-15 | 北京蒙帕信创科技有限公司 | Electrode plate telescopic machine room inspection robot charging pile and charging method |
-
2019
- 2019-05-24 CN CN201920767412.6U patent/CN210224983U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112249105A (en) * | 2020-09-09 | 2021-01-22 | 齐亚博 | Artificial intelligence robot accomodates protection device |
| CN112092666A (en) * | 2020-09-16 | 2020-12-18 | 中建材创新科技研究院有限公司 | Automatic charging system and charging method of laser navigation forklift |
| CN114362332A (en) * | 2022-03-18 | 2022-04-15 | 北京蒙帕信创科技有限公司 | Electrode plate telescopic machine room inspection robot charging pile and charging method |
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