WO2017004944A1 - 一种温室自动巡检平台的充电装置 - Google Patents

一种温室自动巡检平台的充电装置 Download PDF

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Publication number
WO2017004944A1
WO2017004944A1 PCT/CN2015/097792 CN2015097792W WO2017004944A1 WO 2017004944 A1 WO2017004944 A1 WO 2017004944A1 CN 2015097792 W CN2015097792 W CN 2015097792W WO 2017004944 A1 WO2017004944 A1 WO 2017004944A1
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WIPO (PCT)
Prior art keywords
charging
module
platform
mobile monitoring
monitoring platform
Prior art date
Application number
PCT/CN2015/097792
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English (en)
French (fr)
Inventor
张晓东
毛罕平
左志宇
李立
孙俊
倪纪恒
张红涛
苏晨
周亚波
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江苏大学
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Application filed by 江苏大学 filed Critical 江苏大学
Priority to US15/742,790 priority Critical patent/US10752120B2/en
Publication of WO2017004944A1 publication Critical patent/WO2017004944A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B60L53/18—Cables specially adapted for charging electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
    • G01R31/3644—Constructional arrangements
    • G01R31/3648—Constructional arrangements comprising digital calculation means, e.g. for performing an algorithm
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2210/00—Converter types
    • B60L2210/30—AC to DC converters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • 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
    • 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
    • Y02T10/72—Electric energy management in electromobility
    • 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
    • Y02T90/12—Electric charging stations
    • 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

Definitions

  • the invention belongs to the field of facility agricultural machinery and relates to a technology for automatically charging a greenhouse mobile monitoring platform.
  • the greenhouse information collection and monitoring system based on the mobile monitoring platform is usually powered by a rechargeable battery such as a lithium battery.
  • a rechargeable battery such as a lithium battery.
  • charging operations need to be performed periodically.
  • the traditional manual timing charging is time-consuming and laborious, which not only increases labor intensity, but also tends to appear.
  • the phenomenon of undercharge or overcharge not only affects the service life of the battery, but also reduces the reliability of the work of the equipment.
  • the increase in labor costs also reduces the economic benefits of the greenhouse.
  • the invention patent application of the application No. 201010576969.5 discloses a robot intelligent charging device and an automatic charging method thereof, including a power connection module, a mobile module, a battery monitoring module, an external image capturing module, a storage module and a main control module.
  • the main control module controls the external image capturing module to collect an image of the surrounding environment of the robot, searches for an image matching the external power socket reference image in the collected image, and determines whether there is an external power socket; If yes, calculate the position of the power connection module relative to the external power socket, and control the mobile module to drive the robot to move to the external power socket, so that the power connection module is aligned with the external power socket and connected to each other.
  • the device and method can search for an external power socket to complete the electric energy supplement when the battery is low; the device and method rely on visual search to locate the power socket, and the visual search for the distance traveled by the power socket is unknown, thereby reducing the working efficiency of the robot.
  • the charging device Since the charging device is installed on the robot, not only the load of the robot is increased, but also the unnecessary power load is increased, and the system underpower is further aggravated; when the system searches for the charging socket, the relative position between the robot power connection module and the socket is The movement accuracy of the robot is relatively high. Since the external power socket is generally 220V AC, and it is always in the power-on state, when the power connection module and the socket are docked and adjusted, certain friction and collision will occur, so there is a certain safety hazard. .
  • the invention patent application No. 200810131384.5 discloses an "automatic charging type autonomous mobile robot" a device and an automatic charging method thereof, the device receiving an infrared signal when the remaining amount of the battery is insufficient or a charging command is input; and the microcomputer detects the position of the charging stand according to the signal received from the infrared signal receiving device, and controls the mobile walking; The electric energy is obtained by making contact with the connecting terminal.
  • the charging stand designed separately from the robot effectively reduces the load of the mobile robot and improves the endurance of the robot, but the charging stand device requires the mobile robot to move to the charging without error.
  • the height of the movement of the robot when approaching the charging stand is high, and the device and method for finding the charging stand are complicated, resulting in a significant increase in the cost of the device.
  • the existing intelligent mobile platform automatic charging device due to the limitations of its device and method, is difficult to meet the greenhouse crop growth and environmental monitoring mobile platform for long-time unmanned intervention time automatic cruise, during the cruise interval, Autonomously returning to the charging area quickly and in need of timely charging;
  • the existing device has high requirements for the movement position accuracy of the mobile platform, and the mobile platform must stop at a fixed charging point to complete the charging, so when the mobile platform appears relative to the charging device
  • adjusting the mobile platform control device and making the relative displacement between the charging port and the charging device plug on the mobile platform close to zero not only face a large technical difficulty, but also a large increase in the platform cost, and cannot meet the facility.
  • the object of the present invention is to provide a charging device for an automatic greenhouse inspection platform to realize automatic docking with a charging port of a greenhouse mobile monitoring platform, complete a charging task, and improve the working efficiency of the mobile platform.
  • a charging device for an automatic greenhouse inspection platform comprising: a power monitoring module, an information transmission module, a sensor module, a ground pressure sensor module, a charging module, an information receiving module, an information collecting module, a control module, and an AC/DC converting module And power control module;
  • the power monitoring module, the information transmission module and the sensor module are installed on the mobile monitoring platform; the ground pressure sensor module is fixed in the pit, and the flat plate is mounted thereon, the flat plate is on the same horizontal plane as the ground plane; the charging module is fixed on the ground, The information receiving module, the information collecting module, the control module, the AC/DC converting module and the power control module are respectively installed above the charging module.
  • the power monitoring module on the mobile monitoring platform (25) includes a 12V lithium battery (29) and a industrial computer (30), and the industrial computer (30) is used to monitor the power of the lithium battery.
  • the information transmission module is a wireless transmission module (32), and the wireless transmission module (32) and the industrial computer (30) are connected through a data line for transmitting information.
  • the sensor module includes an ultrasonic sensor A (28) on the left side of the mobile monitoring platform (25) and an ultrasonic sensor B (31) on the rear side, and a laser ranging sensor located at a central position of the lithium battery charging port (27).
  • the ultrasonic sensor A (28) on the left side and the ultrasonic sensor B (31) on the rear side are respectively used to measure the distance from the wall on the left side and the rear side of the mobile monitoring platform (25), the laser distance measuring sensor (26) It is used to measure the height of the center of the charging port (27) of the lithium battery from the ground.
  • the ground pressure sensor module includes a pressure sensor B (18) and a flat plate (19).
  • the pressure sensor B (18) and the flat plate (19) are connected by a connecting device, and the flat plate (19) is placed above the pressure sensor B (18).
  • the intelligent charging device of a facility movement monitoring platform according to claim 2, wherein the charging module comprises a casing (1), a horizontal moving mechanism, a vertical moving mechanism and a lateral telescopic mechanism; 1) installed on the ground; the housing (1) is internally installed with a moving mechanism, and the electrical module is mounted thereon;
  • the horizontal moving mechanism comprises a slider A (2), a screw A (3), a polished rod A (4), and a motor A (5); the inner side of the slider A (2) is an internally threaded hole, and one side is a light hole; the screw A (3) and the internally threaded hole are connected by a screw;
  • the polished rod A (4) is sleeved in the optical hole, and the screw A (3), the polished rod A (4) and the motor A (5) are mounted on the gantry slider B (6); the motor A (5) drives The screw rod performs a rotary motion and is converted into a horizontal movement of the slider A (2);
  • the vertical movement mechanism includes a gantry slider B (6), a screw B (7), a polished rod B (8), and a motor B (9);
  • the gantry slider B (6) has a side of the internal threaded hole and is light. Hole, the screw B (7) is threadedly connected with the internal thread hole, the polished rod B (8) is sleeved in the optical hole, and the screw B (7), the polished rod B (8) and the motor B (9) are installed On the outer casing (1), the screw B (7) drives the gantry slider B (6) to move in the vertical direction under the driving of the motor B (9);
  • the lateral telescopic mechanism comprises a base (10), a motor C (11), a screw C (12), a polished rod C (13), a slider C (14), a limiting block (15), a charging plug (16), and Pressure sensor A (17).
  • the base (10) is connected to the horizontally moving slider A (2) by bolts, the motor C (11) is mounted inside the base (10); one end of the screw C (12) is mounted on the base (10) ), connected to the motor C (11), the other end is mounted on the limiting block (15); one end of the two polished rods C (13) is mounted on the base (10), and one end is mounted on the limiting block (15)
  • the inside of the slider C (14) is a hollow circular tube, which is mounted on the screw C (12) and the polished rod C (13), and moves laterally between the base (10) and the limiting block (15);
  • the charging plug (16) is mounted on the top end of the slider C (14); the pressure sensor A (17) is mounted on the top end of the charging plug (16).
  • the information receiving module (20) is a wireless receiving device, and the wireless receiving device is configured to receive information transmitted by the mobile monitoring platform (25), control expansion and retraction of the intelligent charging device (33), and the wireless receiving device and control
  • the module (22) is connected, and the received information is transmitted to the control module (22);
  • the information collection module (21) is a signal acquisition card for collecting signals of the sensor; the control module (22)
  • the utility model comprises a motion control card for controlling the movement of the horizontal, vertical and transverse motors, and the driving module is used for driving the operation of the motor to complete the charging port of the charging plug (16) and the lithium battery (27) ) docking.
  • the AC/DC conversion module (23) is a power converter for converting 220V AC power into 12V DC power to provide charging for the lithium battery.
  • the working process of the invention is:
  • the mobile monitoring platform 25 is activated, and the mobile monitoring platform starts inspection according to the set motion trajectory 35 to perform facility crop growth and environmental information detection; the power monitoring module on the mobile monitoring platform 25 monitors the power of the 12V lithium battery 29 in real time to determine whether the power is Below the preset value, when the power is lower than the set value of 20%, the industrial computer 30 terminates the inspection task, exits the soil trough from the current position, and quickly returns to the charging area 34 according to the planned shortest path; when the mobile monitoring platform 25 returns to charging In the area 34, the pressure sensor B18 in the ground pressure sensor module triggers a signal to energize the smart charging device 33, and the device on the smart charging device starts to operate; at this time, the left ultrasonic sensor 28 and the rear ultrasonic sensor 31 on the monitoring platform 25 are moved.
  • the laser ranging sensor 26 respectively transmits the distance of the current charging area 34 from the wall along the X-axis direction, the distance from the wall along the Y-axis direction, and the distance parameter from the ground along the Z-axis direction to the industrial computer 30; the industrial computer 30 receives the data according to the receiving
  • the position parameter to be converted is converted to the position coordinate of the center of the charging port 27, and the position coordinate is passed through the wireless transmission module 32.
  • the wireless receiving module 20 transmits the received position coordinates to the control module 22, and the control module 22 calculates the charging plug 16 according to the initial position of the charging plug 16 and the position coordinates of the charging port 27.
  • the mobile monitoring platform 25 performs charging; during the charging process, if the next cycle inspection task of the mobile monitoring platform is started, the power monitoring module detects whether the power of the lithium battery 29 satisfies the requirement of re-inspection, and when the power is lower than the pre-charge
  • 60% of the power is set, the inspection task is canceled and the charging is continued; when the power exceeds 60% of the preset power (there is a patrol task at this time) or is full, the industrial computer 30 located on the mobile monitoring platform 25 transmits a signal to
  • the intelligent charging device 33 retracts the charging plug 16 of the charging device, and the mobile monitoring platform 25 starts the next cycle automatic inspection task or the like. Inspection; after the mobile platform 25 monitoring the scanning task is completed, the mobile platforms 25 to monitor soil exit slot from the current scan end position, the shortest path planning charging
  • the notification of the invention adopts programmable control, so that the intelligent mobile monitoring platform quickly returns to the charging area according to the shortest path in the interval of insufficient power or the end of the inspection task and the cruise period, and completes the mobile monitoring platform.
  • the electric energy supplement reduces the labor intensity of the personnel, reduces the labor cost, improves the automation degree of the platform, thereby effectively improving the working efficiency of the mobile detection platform and ensuring the continuous cruising operation of the facility monitoring platform.
  • the invention notifies that the smart charging device and the mobile platform adopt a separate design, so that the facility mobile monitoring platform can effectively reduce the load and optimize the structural design of the mobile platform, thereby prolonging the endurance of the mobile platform.
  • the invention notifies that when the mobile platform returns to the charging area, the mobile platform is kept stationary, and the relative displacement between the port plug position and the charging platform charging port position is zero by controlling the charging device, so that the smart charging device According to the position coordinate of the mobile monitoring platform parked in the charging area, the corresponding displacement is automatically moved to dock with the charging port on the mobile monitoring platform, and the mobile platform docked in the charging area can be docked to complete charging, which is better adaptive.
  • the displacement control between the charging device port plug and the mobile platform charging port is relatively easy to implement. Compared with the prior art, the port docking accuracy can be ensured, and the device cost is greatly reduced.
  • the present invention notifies that after the ground pressure sensor module is triggered, the smart charging device is powered only when charging is performed, and the power consumption process is safer than the prior art.
  • Figure 1 is a schematic view showing the structure of the apparatus of the present invention
  • Figure 2 is a schematic and cross-sectional view of the transverse telescopic mechanism of the device of the present invention
  • Figure 3 is a schematic view of the ground pressure sensor of the device of the present invention
  • Figure 4 is a three-dimensional coordinate diagram of the apparatus of the present invention.
  • Figure 5 is a flow chart of the operation of the apparatus of the present invention
  • FIG. 6 is a schematic structural view of a mobile monitoring platform of the present invention
  • Figure 7 is a motion trajectory diagram of the mobile monitoring platform of the present invention
  • a smart charging method for a greenhouse automatic inspection platform includes the following steps:
  • Step 1 the mobile monitoring platform 25 performs the inspection task.
  • the industrial computer 30 terminates the currently performed inspection task and controls the mobile monitoring platform 25 to automatically return to the charging area 34;
  • Step 2 When the mobile monitoring platform 25 completes the inspection task, when the power of the lithium battery is less than 30% before the next inspection task, the mobile monitoring platform 25 returns to the charging area 34 to complete the supplement of the electric energy; the facility mobile monitoring platform 25 After the charging area 34 is regulated, it will stop on the ground pressure sensor module, and the pressure sensor B18 triggers a signal to the power control module 24 to make the smart charging device energized; (the pressure sensor is similar to the function of the switch, where the mobile platform returns to the charging area) When the switch is turned on, the charging device is powered, but the mobile platform has not been charged yet.)
  • Step 3 After the mobile monitoring platform is docked in the charging area 34 (in order to simplify the structure of the charging device, the existing sensor device on the mobile platform is used to detect the position of the 12V lithium battery charging port of the mobile platform parked in the charging area, that is, the charging process
  • the charging device and the mobile platform are jointly completed, the charging device is responsible for charging, the mobile platform is responsible for guiding the work, and the charging device is instructed to run to the mobile platform 12V lithium battery charging port.
  • the charging plug 16 port center of the smart charging device 33 is used.
  • the initial position setting coordinate axis, the ultrasonic sensor A28 on the left side of the mobile monitoring platform and the ultrasonic sensor B31 on the rear side and the laser ranging sensor 26 in the center of the lithium battery charging port 27 respectively measure the left side of the mobile monitoring platform 25 (X-axis direction).
  • Step 4 setting the distance of the left (X-axis direction) ultrasonic sensor A28 on the mobile monitoring platform 25 to the charging port 27 to be the X car , and moving the monitoring sensor 25 behind the (Y-axis direction) ultrasonic sensor B31 to the center of the charging port 27
  • the distance is Y car ;
  • Step 5 the industrial computer 30 converts the central position coordinate of the charging port 27 according to the received data, and the central position coordinate of the charging port 27 is (X1+X car , Y1+Y car , Z1), and the position coordinates are passed on the mobile monitoring platform.
  • the wireless transmission mode 32 block is transmitted to the wireless receiving module 20 of the intelligent charging device 33;
  • the initial position of the charging plug 33 of the 16 ports of the central step six, intelligent charging apparatus are: from the wall plug port center along the X axis to the X-charge, from the wall plug port center along the Y-axis to the Y charging plug port along the center Z Z-axis distance to the ground charge, the initial position coordinate of the center of the plug port (X charge, Y charge, the charge Z);
  • Step 7 The smart charging device 33 calculates the relative displacement of the charging device to be moved according to the position coordinates of the charging port 27 on the received mobile monitoring platform and the initial position of the charging plug 16 port, and drives the charging plug 16 along the X-axis, the Y-axis and the Z-axis.
  • the corresponding displacement of the movement (X1+X car- X charge , Y1+Y car -Y charge , Z1-Z charge ) is docked with the charging port 27 on the mobile monitoring platform 25 to complete the charging task;
  • Step 8 The battery is not fully charged during the charging process.
  • the mobile platform In front of the mobile platform, when the power is insufficient or the inspection task ends, the mobile platform returns to the charging area, and the charging device and the charging port on the mobile platform calculate the docking process. The following is when moving. When the platform has a patrol task or the battery is full, the plug of the charging device port and the charging port on the mobile platform are separated. The mobile platform and the charging device work together, and the mobile platform controls the charging device to have a patrol task. If the battery is fully charged, it is separated from the charging device, and the charging device is still responsible for charging. The next inspection task of the mobile monitoring platform has been started. When the battery is less than 60%, the system cannot be cancelled because it cannot complete a single inspection and automatically returns.
  • the patrol task continues to charge; when the power is not full, when the power exceeds 60%, the IPC 30 of the mobile monitoring platform transmits a signal to the smart charging device 33 through the wireless transmission module 32, so that the smart charging device 33 retracts the charging arm, and the mobile monitoring platform 25 Start the inspection task; when the battery is full, the mobile monitoring platform 25 transmits a signal to The charging device 33 can make intelligent charging means 33 retracted, the mobile monitoring platform 25 waits for the start of the scan task;
  • Intelligent charging device for facility mobile monitoring platform, comprising power monitoring module, information transmission module, sensor module, ground pressure sensor module, charging module, information receiving module, information collecting module, control module, AC/DC conversion module and power control module
  • the power monitoring module, the information transmission module and the sensor module are installed on the mobile monitoring platform; the ground pressure sensor module is fixed in the pit, and the flat plate is mounted thereon, the flat plate is on the same level as the ground plane; the charging module is fixed on the ground.
  • the information receiving module, the information collecting module, the control module, the AC/DC converting module and the power control module are installed above the charging module.
  • the power monitoring module on the mobile monitoring platform 25 includes a 12V lithium battery 29 and an industrial computer 30, and the industrial computer 30 is used to monitor the power of the lithium battery.
  • the mobile monitoring platform information transmission module is a wireless transmission module 32, and the wireless transmission module 32 and the industrial computer 30 are connected through a data line for transmitting information.
  • the sensor module includes an ultrasonic sensor A28 on the left side of the mobile monitoring platform 25 and an ultrasonic sensor B31 on the rear side, and a laser ranging sensor 26 located at a central position of the lithium battery charging port 27, the left side.
  • the ultrasonic sensor A28 and the rear ultrasonic sensor B31 are respectively used to measure the distance from the wall to the left and the rear of the mobile monitoring platform 25, and the laser ranging sensor 26 is used to measure the height of the center of the charging port 27 of the lithium battery from the ground.
  • the ground pressure sensor module includes a pressure sensor B18 and a flat plate 19.
  • the pressure sensor B18 and the flat plate 19 are connected by a connecting device, and the flat plate 19 is placed on the pressure sensor B18 to set the pressure sensing.
  • the B18 sets the pressure sensor B18 to zero.
  • the charging module comprises a casing 1, a horizontal moving mechanism, a vertical moving mechanism and a lateral telescopic mechanism; the casing 1 is mounted on the ground, and a moving mechanism is mounted inside the casing 1, and an electrical module is mounted thereon;
  • the mechanism includes a slider A2, a screw A3, a polished rod A4, and a motor A5; the inner side of the slider A2 is an internal threaded hole and is a light hole; the screw A3 and the internally threaded hole are screwed; the polished rod A4 Nested in the light hole, the screw A3, the polished rod A4 and the motor A5 are mounted on the gantry slider B6, and the polished rod and the lead rod are arranged in parallel in order to fix the moving direction of the slider, so that the slider does not rotate with the screw;
  • the motor A5 drives the screw rod to perform a rotary motion, and is converted into a horizontal movement of the slider A2;
  • the vertical movement mechanism includes a gantry slider B6, a screw rod B7,
  • the lateral telescopic mechanism includes a base 10, a motor C11, a lead screw C12, a polished rod C13, a slider C14, a limit block 15, a charging plug 16, and a pressure sensor A17.
  • the base 10 is connected to the horizontally moving slider A2 by bolts, and the motor C11 is mounted inside the base 10; one end of the screw C12 is mounted on the base 10, connected to the motor C11, and the other end is mounted on the limiting block 15 One end of the two polished rods C13 is mounted on the base 10, one end is mounted on the limiting block 15; the inside of the sliding block C14 is a hollow circular tube, which is mounted on the screw C12 and the polished rod 13 at the base 10 and The limit block 15 is laterally moved; the charging plug 16 is mounted on the top end of the slider C14; the pressure sensor A17 is mounted on the top end of the charging plug 16, and the pressure sensor A17 is used to detect the plug port pressure when the pressure sensor A17 detects When there is pressure, the signal is triggered, and the control module 22 controls the motor C11 to stop according to the received signal, and prevents the smart charging device 33 and the mobile monitoring platform 25 from being damaged when the charging plug 16 is excessively inserted into the charging port 27 of the lithium battery.
  • the information receiving module 20 is a wireless receiving device, and the wireless receiving device is configured to receive information transmitted by the mobile monitoring platform 25, and control expansion and retraction of the smart charging device 33.
  • the wireless receiving device and control The module 22 is connected to transmit the received information to the control module 22.
  • the information collection module 21 is a signal acquisition card for collecting signals of the sensor.
  • control module 22 includes a motion control card for controlling movement of horizontal, vertical and lateral motors, and a drive module for driving the motor to complete the charging plug.
  • the docking of the lithium battery charging port 27 is 16.
  • the AC/DC conversion module 23 is a power converter, and the power converter is used to convert 220V.
  • the AC power is converted to 12V DC, which is used to charge the lithium battery.
  • the power control module 24 is configured to control power-on and power-off of the power line, so that the smart charging device 33 is in a power-on state when charging the mobile monitoring platform 24, and is normally in a power-off state.
  • a charging device for a greenhouse automatic inspection platform the working process is as follows:
  • the mobile monitoring platform 25 is activated, and the mobile monitoring platform starts inspection according to the set motion trajectory 35, and performs facility crop growth and environmental information detection; and the power monitoring module on the mobile monitoring platform 25 monitors the 12V lithium battery in real time.
  • the electric quantity determines whether the electric quantity is lower than the preset value.
  • the industrial computer 30 terminates the inspection task, exits the earth tank from the current position, and quickly returns to the charging area 34 according to the planned shortest path;
  • the pressure sensor B18 in the ground pressure sensor module triggers a signal to energize the smart charging device 33, and the device on the smart charging device starts to operate; at this time, the left ultrasonic sensor 28 on the mobile monitoring platform 25 is moved.
  • the rear ultrasonic sensor 31 and the laser ranging sensor 26 respectively transmit the distance of the current charging area 34 from the wall in the X-axis direction, the distance from the wall in the Y-axis direction, and the distance parameter from the ground in the Z-axis direction to the industrial computer 30, respectively.
  • the industrial computer 30 converts to the position coordinate of the center of the charging port 27 according to the received position parameter, and transmits the position coordinate by wireless
  • the transmission module 32 wirelessly transmits to the intelligent charging device 33, and the wireless receiving module 20 of the intelligent charging device transmits the received position coordinates to the control module 22, and the control module 22 calculates according to the initial position of the charging plug 16 and the position coordinates of the charging port 27.
  • the power monitoring module detects whether the lithium battery 29 is in compliance with the requirements of the re-inspection.
  • the inspection task is canceled and charging continues; when the power exceeds 60% of the preset power (there is a patrol task at this time) or is full, the industrial computer located on the mobile monitoring platform 25 30 transmits a signal to the smart charging device 33, so that the charging plug 16 of the charging device is retracted, and the mobile monitoring platform 25 starts the next cycle automatic inspection.
  • the mobile monitoring platform 25 exits the earth tank from the current inspection end position, and quickly returns to the charging area 34 according to the planned shortest path, and performs power to the mobile monitoring platform 25. supplement.

Abstract

一种温室自动巡检平台的充电装置，包括移动监测平台（25）上的电源监测模块、信息传输模块、传感器模块和智能充电装置（33）的地面压力传感器模块、充电模块、信息接收模块（20）、信息采集模块（21）、控制模块（22）、交直流转换模块（23）和电源控制模块（24）。该装置能够在移动平台巡航检测间隙及电量低于阈值时，进行自主回航充电，提高移动监测平台的工作效率和自动化程度，减低人工管理成本，同时使得充电对接过程和设施用电的可靠性和安全性大幅提高。

Description

一种温室自动巡检平台的充电装置 技术领域
本发明属于设施农业机械领域，涉及一种给温室移动监测平台自动充电的技术。
背景技术
目前，随着温室向产业化、智能化的方向发展，为了实现对作物生长和环境信息的定时自动巡航监测，越来越多的检测装置搭载在移动监测平台上，以实现准确和高效的信息获取。基于移动监测平台温室信息采集监测系统通常采用锂电池等可充电电池供电，为了保障系统的正常巡航监测工作，需要定时进行充电作业，传统的人工定时充电费时费力，不仅增加劳动强度，且容易出现欠充或过充的现象，不仅影响电池的使用寿命，降低设备工作的可靠性，同时，劳动力成本的增加，也使温室经济效益有所下降。因此，如何在电量不足或是两次巡检任务的间歇，为移动监测平台进行及时可靠的充电，保障自动巡检任务的连续、可靠、顺利的实施，为温室环境调控提供及时的反馈信息，成为温室自动巡检平台的一个需要解决的关键问题。
在现有的有线接触式充电领域中，移动平台对充电座的定位一般通过视觉或激光测距传感器来探测。申请号201010576969.5的发明专利申请，公开了机器人智能充电装置及其自动充电方法，包括电源连接模块、移动模块、电池监控模块、外部影像采集模块、存储模块和主控模块。其中，主控模块在接收到充电请求信号后，控制外部影像采集模块采集机器人周围环境的图像，在采集的图像中搜索与外部电源插座参考图像相匹配的图像，判断是否存在外部电源插座；如存在，则计算该电源连接模块相对于外部电源插座的位置，控制移动模块驱动机器人向外部电源插座移动，使电源连接模块与外部电源插座对准并相互连接。该装置和方法能在电池电量不足时搜索外部电源插座完成电能补充；这种装置和方法要靠视觉搜索来定位电源插座，视觉搜索电源插座所走过的路程未知，，降低了机器人的工作效率，由于充电装置安装在机器人上，不仅增加了机器人的负重，也增加了不必要的电能负荷，导致系统欠电进一步加剧；当系统搜索充电插座时，机器人电源连接模块和插座之间的相对位置，对机器人的移动精度要求较高，由于外部电源插座一般是220V的交流电，且一直处于通电状态，在电源连接模块和插座对接调整时，会产生一定的摩擦和碰撞，因而存在一定的安全隐患。
申请号200810131384.5的发明专利申请，公开了一种“自动充电式自律移动机器人 装置及其自动充电方法”，该装置在电池的余量不足或输入了充电命令时，接收红外线信号；微计算机根据从红外线信号接收装置接收的信号，检测出充电座的位置，控制移动行走；通过与连接端子进行接触而获得电能。这种和机器人分离的充电座设计有效的减轻了移动机器人的负载，提高了机器人的续航能力，但是这种充电座装置要求移动机器人无误差地移动到充电座，对机器人的接近充电座时的运动精度要就高，寻找充电座的装置和方法复杂，导致装置的成本大幅上升。
综上所述，现有的智能移动平台自动充电装置由于其装置和方法的局限性，难以满足温室作物生长及环境监测移动平台进行长时间无人干预定时自动巡航时，在巡航间隔时间，需自主快速返回充电区域，适时充电的需求；现有装置由于对移动平台的运动位置精度要求较高，且移动平台必须停在固定的充电点才能完成充电，因而当移动平台相对于充电装置出现位置偏差时，调整移动平台控制装置，并使移动平台上的充电端口和充电装置插头之间的相对位移接近于零不仅面临较大的技术困难，也是平台成本有较大的上升，且不能满足设施环境对安全防护和用电安全的要求。
发明内容
本发明的目的在于提供一种温室自动巡检平台的充电装置，以实现与温室移动监测平台充电端口的自动对接，完成充电任务，提高移动平台的工作效率。
为了解决以上技术问题，本发明的采用的具体技术方案如下：
一种温室自动巡检平台的充电装置，其特征在于包括：电源监测模块、信息传输模块、传感器模块、地面压力传感器模块、充电模块、信息接收模块、信息采集模块、控制模块、交直流转换模块和电源控制模块；
所述电源监测模块、信息传输模块和传感器模块安装在移动监测平台上；地面压力传感器模块固定在地坑内，上面装有平板，平板与地平面在同一水平面上；充电模块固定在地面，所述信息接收模块、信息采集模块、控制模块、交直流转换模块和电源控制模块分别安装在所述充电模块上方。
所述移动监测平台(25)上的电源监测模块包括12V锂电池(29)和工控机(30)，所述工控机(30)用于监测锂电池的电量。
所述信息传输模块为无线传输模块(32)，无线传输模块(32)与工控机(30)通过数据线连接，用于传输信息。
所述的传感器模块包括位于移动监测平台(25)上左侧的超声波传感器A(28)和后方的超声波传感器B(31)以及位于锂电池充电端口(27)中心位置的激光测距传感 器(26)，所述左侧的超声波传感器A(28)和后方的超声波传感器B(31)分别用于测量移动监测平台(25)左侧和后方离墙壁的距离，所述激光测距传感器(26)用于测量锂电池的充电端口(27)中心距地面的高度。
所述的地面压力传感器模块包括压力传感器B(18)和平板(19)，压力传感器B(18)和平板(19)通过连接装置连接，平板(19)放置在压力传感器B(18)上面。7.根据权利要求2所述的一种设施移动监测平台的智能充电装置，其特征在于：所述充电模块包括外壳(1)、水平移动机构、垂直移动机构和横向伸缩机构；所述外壳(1)安装在地面；外壳(1)内部安装移动机构，上面安装电器模块；
所述水平移动机构包括滑块A(2)、丝杆A(3)、光杆A(4)、和电机A(5)；所述滑块A(2)内部一边为内螺纹孔，一边为光孔；所述丝杆A(3)与内螺纹孔，通过螺纹连接；
所述光杆A(4)套在光孔内，丝杆A(3)、光杆A(4)和电机A(5)安装在龙门滑块B(6)上；所述电机A(5)带动丝杆做旋转运动，转换为滑块A(2)的水平移动；
所述垂直移动机构包括龙门滑块B(6)、丝杆B(7)、光杆B(8)和电机B(9)；所述龙门滑块B(6)一边为内螺纹孔一边为光孔，所述丝杆B(7)与内螺纹孔通过螺纹连接，所述光杆B(8)套在光孔内，丝杆B(7)、光杆B(8)和电机B(9)安装在外壳(1)上，丝杆B(7)在电机B(9)的带动下驱动龙门滑块B(6)沿垂直方向运动；
所述横向伸缩机构包括底座(10)、电机C(11)、丝杆C(12)、光杆C(13)、滑块C(14)、限位块(15)、充电插头(16)和压力传感器A(17)。所述底座(10)通过螺栓与沿水平运动的滑块A(2)连接，所述电机C(11)安装在底座(10)内部；所述丝杆C(12)一端安装在底座(10)，与电机C(11)连接，另一端安装在限位块(15)上；所述两根光杆C(13)的一端安装在底座(10)上，一端安装在限位块(15)上；所述滑块C(14)内部为空心圆管，安装在丝杆C(12)和光杆C(13)上，在底座(10)和限位块(15)之间横向移动；所述充电插头(16)安装在滑块C(14)顶端；所述压力传感器A(17)安装在充电插头(16)的顶端。
所述信息接收模块(20)为无线接收装置，所述无线接收装置用于接收移动监测平台(25)传输的信息，控制智能充电装置(33)的展开和收回，所述无线接收装置与控制模块(22)连接，将接收到的信息传输给控制模块(22)；
所述信息采集模块(21)为信号采集卡，用于采集传感器的信号；所述控制模块(22) 包括运动控制卡和驱动模块，所述运动控制卡用于控制水平、垂直和横向电机的运动，所述驱动模块用于驱动电机的运转，完成充电插头(16)与锂电池的充电端口(27)的对接。
所述交直流转换模块(23)为电源转换器用于将220V的交流电转化为12V的直流电，提供给锂电池充电。
本发明的工作过程为：
启动移动监测平台25，移动监测平台按设定的运动轨迹35开始巡检，进行设施作物生长和环境信息探测；移动监测平台25上的电源监测模块实时监测12V锂电池29的电量，判断电量是否低于预设值，当电量低于设定值20％时，工控机30终止巡检任务，从当前位置退出土槽，按规划的最短路径快速返回充电区域34；当移动监测平台25返回充电区域34时，地面压力传感器模块中的压力传感器B18触发信号，使智能充电装置通电33，智能充电装置上的设备开始运转；此时移动监测平台25上的左超声波传感器28、后超声波传感器31和激光测距传感器26，分别将当前充电区域34沿X轴方向离墙壁的距离、沿Y轴方向离墙壁的距离和沿Z轴方向离地面的距离参数传输给工控机30；工控机30根据接收到的位置参数转换为充电端口27中心的位置坐标，并将位置坐标通过无线传输模块32无线传输给智能充电装置33，智能充电装置的无线接收模块20将接收到的位置坐标传输给控制模块22，控制模块22根据充电插头16的初始位置和充电端口27的位置坐标，计算出充电插头16要移动的位移偏移量；当充电插头16和充电端口27对接时，充电插头16上的压力传感器A17在接触到充电端口27内部时，控制充电插头16停止移动，同时充电插头16通电，对移动监测平台25进行充电；在充电的过程中，如移动监测平台的下一周期巡检任务启动，此时电源监测模块检测锂电池29的电量是否满足再次巡检的要求，当电量低于预设电量的60％时，取消巡检任务，继续进行充电；当电量超过预设电量60％(此时有巡检任务)或已充满，则位于移动监测平台25上的工控机30传送信号给智能充电装置33，使充电装置的充电插头16收回，移动监测平台25开始下一周期自动巡检任务或是等待巡检；当移动监测平台25完成巡检任务后，移动监测平台25从当前巡检结束位置退出土槽，按规划的最短路径快速返回充电区域34，对移动监测平台25进行电能补充。
本发明的有益效果：
(1)本发明通知采用可编程控制，使得智能移动监测平台在电量不足或是巡检任务结束以及巡航周期的间歇时段，按照最短路径，快速返回充电区域，完成移动监测平台 的电能补充，减轻人员的劳动强度，降低了人力成本，提高了平台的自动化程度，从而有效提高移动检测平台的工作效率，保障了设施监测平台的连续巡航作业。
(2)本发明通知采用智能充电装置和移动平台采用分离式设计，使得设施移动监测平台可以有效的减轻负载和优化移动平台的结构设计，从而延长移动平台的续航能力。
(3)本发明通知采用当移动平台返回充电区域时，保持移动平台固定不动，通过控制充电装置，使其端口插头位置和移动平台充电端口位置之间的相对位移为零，使得智能充电装置可以根据移动监测平台停在充电区域的位置坐标自动移动相应的位移与移动监测平台上的充电端口对接，对停靠在充电区域范围内的移动平台都可以与其对接完成充电，具有较好的自适应性，且充电装置端口插头和移动平台充电端口之间的位移控制比较容易实现，与现有技术相比，即能保证端口的对接精度，同时装置成本大幅下降。
(4)本发明通知采用在触发地面压力传感器模块后，智能充电装置只有在进行充电时，才处于通电状态，与现有技术相比，用电过程更加安全。
附图说明
为了更清楚的说明本发明实例和技术方法，下面对本发明实例和技术方法所需使用的附图作简单的介绍。
图1是本发明装置的结构示意图
图2是本发明装置的横向伸缩机构示意图和剖面图
图3是本发明装置的地面压力传感器示意图
图4是本发明装置的三维坐标图
图5是本发明装置的工作流程图
图6是本发明移动监测平台的结构示意图
图7是本发明移动监测平台的运动轨迹图
图中：1、外壳 2、滑块A 3、丝杆A 4、光杆A 5、电机A 6、龙门滑块B 7、丝杆B 8、光杆B 9、电机B 10、底座 11、电机C 12、丝杆C 13、光杆C 14、滑块C 15、限位块 16、充电插头 17、压力传感器A 18压力传感器B 19、平板 20、信息接收模块 21、信息采模块 22、控制模块 23、交直流转换模块 24、电源控制模块 25、移动监测平台 26、激光测距传感器 27、充电端口 28、超声波传感器A 29、12V锂电池 30、工控机 31、超声波传感器B 32、无线传输模块 33、智能充电装置 34、充电区域 35、运动轨迹。
具体实施方式
下面结合附图和具体实施例，对本发明进行的技术方案做进一步详细说明。
如图5所示，一种温室自动巡检平台的智能充电方法包括如下步骤：
步骤一，移动监测平台25执行巡检任务，电源监测模块检测到12V锂电池29的电量不足20％时，工控机30终止当前执行的巡检任务并控制移动监测平台25自动返回充电区域34；
步骤二，当移动监测平台25完成巡检任务，在执行下一次巡检任务之前，锂电池的电量不足30％时，移动监测平台25返回充电区域34，完成电能的补充；设施移动监测平台25调控充电区域34后，会停在地面压力传感器模块上，压力传感器B18触发信号给电源控制模块24，使智能充电装置处于通电状态；(压力传感器类似于开关的功能，这里当移动平台返回充电区域时，相当于开关打开，充电装置通电，但还没有开始对移动平台充电。)
步骤三，移动监测平台停靠充电区域34后(为了简化充电装置的结构，利用移动平台上已有的传感器装置检测停在充电区域的移动平台12V锂电池充电端口的位置，也就是说这个充电过程由充电装置和移动平台共同完成，充电装置负责充电，移动平台负责指导工作，指导充电装置运行到移动平台12V锂电池充电端口)如图4所示，以智能充电装置33的充电插头16端口中心的初始位置设置坐标轴，移动监测平台左侧的超声波传感器A28和后方的超声波传感器B31以及锂电池充电端口27中心的激光测距传感器26分别测量此时移动监测平台25左侧(X轴方向)和墙壁之间的距离X1、后方(Y轴方向)和墙壁之间的距离Y1、锂电池充电端口中心离地面的距离Z1；
步骤四，设置移动监测平台25上左侧的(X轴方向)超声波传感器A28到充电端口27的距离为X车，移动监测平台25后方的(Y轴方向)超声波传感器B31到充电端口27中心的距离为Y车；
步骤五，工控机30根据接收到的数据转化为充电端口27中心位置坐标，充电端口27中心位置坐标为(X1+X车，Y1+Y车，Z1)，并将位置坐标通过移动监测平台上的无线传输模32块传输给智能充电装置33的无线接收模块20；
步骤六，智能充电装置33的充电插头16端口中心的初始位置分别为：插头端口中心沿X轴到墙壁的距离X充，插头端口中心沿Y轴到墙壁的距离Y充，插头端口中心沿Z轴到地面的距离Z充，插头端口中心的初始位置坐标(X充，Y充，Z充)；
步骤七，智能充电装置33根据接收到的移动监测平台上充电端口27位置坐标和充 电插头16端口初始位置计算出充电装置需要移动的相对位移，驱动充电插头16沿X轴、Y轴和Z轴移动的相应的位移(X1+X车－X充，Y1+Y车－Y充，Z1－Z充)，与移动监测平台25上的充电端口27对接，完成充电任务；
步骤八，充电过程中电量未充满，(前面是移动平台在电量不足或是巡检任务结束时，移动平台返回充电区域，充电装置与移动平台上的充电端口位置计算对接过程，下面是当移动平台有巡检任务或是电量充满的情况下，充电装置端口的插头和移动平台上的充电端口分离的两种情况，移动平台和充电装置是共同工作，移动平台控制充电装置在有巡检任务或是电量充满的情况下与充电装置分离，充电装置还是负责充电)移动监测平台的下一次巡检任务已经启动，当电量不足60％时，由于无法完成单次巡检并自动返回，系统取消巡检任务，继续充电；电量未充满，电量超过60％时，移动监测平台的工控机30通过无线传输模块32传输信号给智能充电装置33，使智能充电装置33收回充电臂，移动监测平台25开始巡检任务；当电量充满时，移动监测平台25传输信号给智能充电装置33，使智能充电装置33收回，移动监测平台25等待巡检任务的开始；
一种设施移动监测平台的智能充电装置，包括电源监测模块、信息传输模块、传感器模块、地面压力传感器模块、充电模块、信息接收模块、信息采集模块、控制模块、交直流转换模块和电源控制模块，其中电源监测模块、信息传输模块和传感器模块安装在移动监测平台上；地面压力传感器模块固定在地坑内，上面装有平板，平板与地平面在同一水平面上；充电模块固定在地面上，所述信息接收模块、信息采集模块、控制模块、交直流转换模块和电源控制模块安装在所述充电模块上方。
如图6所示，所述移动监测平台25上的电源监测模块包括12V锂电池29和工控机30，所述工控机30用于监测锂电池的电量。
如图6所示，所述移动监测平台信息传输模块为无线传输模块32，无线传输模块32与工控机30通过数据线连接，用于传输信息。
如图6所示，所述传感器模块包括位于移动监测平台25上左侧的超声波传感器A28和后方的超声波传感器B31以及位于锂电池充电端口27中心位置上的激光测距传感器26，所述左侧的超声波传感器A28和后方的超声波传感器B31分别用于测量移动监测平台25左侧和后方离墙壁的距离，所述激光测距传感器26用于测量锂电池的充电端口27中心距地面的高度。
如图3所示，所述地面压力传感器模块包括压力传感器B18和平板19，压力传感器B18和平板19通过连接装置连接，平板19放置在压力传感器B18上面，设置压力传感 器B18，使压力传感器B18置零，当移动监测平台25返回充电区域34时，移动监测平台25停在平板19上，压力传感器18触发信号给电源控制模块24，使智能充电装置通电。
如图1所示，所述充电模块包括外壳1、水平移动机构、垂直移动机构和横向伸缩机构；所述外壳1安装在地面，外壳1内部安装移动机构，上面安装电器模块；所述水平移动机构包括滑块A2、丝杆A3、光杆A4、和电机A5；所述滑块A2内部一边为内螺纹孔一边为光孔；所述丝杆A3与内螺纹孔通过螺纹连接；所述光杆A4套在光孔内，丝杆A3、光杆A4和电机A5安装在龙门滑块B6上，光杆和丝杆平行排列是为了固定滑块的运动方向，使滑块不随着丝杆做旋转运动；所述电机A5带动丝杆做旋转运动，转换为滑块A2的水平移动；垂直移动机构包括龙门滑块B6、丝杆B7、光杆B8和电机B9；所述龙门滑块B6一边为内螺纹孔一边为光孔，所述丝杆B7与内螺纹孔通过螺纹连接，所述光杆B8套在光孔内，丝杆B7、光杆B8和电机B9安装在外壳1上，丝杆B7在电机B9的带动下驱动龙门滑块B6沿垂直方向运动。如图2所示，横向伸缩机构包括底座10、电机C11、丝杆C12、光杆C13、滑块C14、限位块15、充电插头16和压力传感器A17。所述底座10通过螺栓与沿水平运动的滑块A2连接，所述电机C11安装在底座10内部；所述丝杆C12一端安装在底座10，与电机C11连接，另一端安装在限位块15上；所述两根光杆C13的一端安装在底座10上，一端安装在限位块15上；所述滑块C14内部为空心圆管，安装在丝杆C12和光杆13上，在底座10和限位块15之间横向移动；所述充电插头16安装在滑块C14顶端；所述压力传感器A17安装在充电插头16的顶端，压力传感器A17用于检测插头端口压力，当压力传感器A17检测到有压力时会触发信号，控制模块22根据接收到的信号控制电机C11停止运转，防止充电插头16过多插入锂电池的充电端口27时损坏智能充电装置33和移动监测平台25。
如图1所示，所述信息接收模块20为无线接收装置，所述无线接收装置用于接收移动监测平台25传输的信息，控制智能充电装置33的展开和收回，所述无线接收装置与控制模块22连接，将接收到的信息传输给控制模块22。
如图1所示，所述信息采集模块21为信号采集卡，用于采集传感器的信号。
如图1所示，所述控制模块22包括运动控制卡和驱动模块，所述运动控制卡用于控制水平、垂直和横向电机的运动，所述驱动模块用于驱动电机的运转，完成充电插头16的与锂电池充电端口27的对接。
如图1所示，所述交直流转换模块23为电源转换器，所述电源转换器用于将220V 的交流电转化为12V的直流电，提供给锂电池充电。
如图1所示，所述电源控制模块24用于控制电源线的通电与断电，使智能充电装置33在为移动监测平台24充电时处于通电状态，平时处于断电状态。
一种温室自动巡检平台的充电装置，其工作过程如下：
如图7所示，启动移动监测平台25，移动监测平台按设定的运动轨迹35开始巡检，进行设施作物生长和环境信息探测；移动监测平台25上的电源监测模块实时监测12V锂电池29的电量，判断电量是否低于预设值，当电量低于设定值20％时，工控机30终止巡检任务，从当前位置退出土槽，按规划的最短路径快速返回充电区域34；当移动监测平台25返回充电区域34时，地面压力传感器模块中的压力传感器B18触发信号，使智能充电装置通电33，智能充电装置上的设备开始运转；此时移动监测平台25上的左超声波传感器28、后超声波传感器31和激光测距传感器26，分别将当前充电区域34沿X轴方向离墙壁的距离、沿Y轴方向离墙壁的距离和沿Z轴方向离地面的距离参数传输给工控机30；工控机30根据接收到的位置参数转换为充电端口27中心的位置坐标，并将位置坐标通过无线传输模块32无线传输给智能充电装置33，智能充电装置的无线接收模块20将接收到的位置坐标传输给控制模块22，控制模块22根据充电插头16的初始位置和充电端口27的位置坐标，计算出充电插头16要移动的位移偏移量；当充电插头16和充电端口27对接时，充电插头16上的压力传感器A17在接触到充电端口27内部时，控制充电插头16停止移动，同时充电插头16通电，对移动监测平台25进行充电；在充电的过程中，如移动监测平台的下一周期巡检任务启动，此时电源监测模块检测锂电池29的电量是否满足再次巡检的要求，当电量低于预设电量的60％时，取消巡检任务，继续进行充电；当电量超过预设电量60％(此时有巡检任务)或已充满，则位于移动监测平台25上的工控机30传送信号给智能充电装置33，使充电装置的充电插头16收回，移动监测平台25开始下一周期自动巡检任务或是等待巡检；当移动监测平台25完成巡检任务后，移动监测平台25从当前巡检结束位置退出土槽，按规划的最短路径快速返回充电区域34，对移动监测平台25进行电能补充。
以上只是示例性说明及帮助进一步理解本发明，但实施例具体细节仅是为了说明本发明，并不代表本发明构思下全部技术实施例，因此不应理解为对本发明总的技术实施例限定，一些在技术人员看来，不偏离发明构思的非实质性改动，例如以具有相同或相似技术效果的技术特征简单改变或替换，均属本发明保护范围。

Claims (10)

  1. 一种温室自动巡检平台的充电装置，其特征在于，包括：电源监测模块、信息传输模块、传感器模块、地面压力传感器模块、充电模块、信息接收模块、信息采集模块、控制模块、交直流转换模块和电源控制模块；
    所述电源监测模块、信息传输模块和传感器模块安装在移动监测平台上；地面压力传感器模块固定在地坑内，上面装有平板，平板与地平面在同一水平面上；充电模块固定在地面，所述信息接收模块、信息采集模块、控制模块、交直流转换模块和电源控制模块分别安装在所述充电模块上方。
  2. 根据权利要求1所述的一种温室自动巡检平台的充电装置，其特征在于，所述移动监测平台(25)上的电源监测模块包括12V锂电池(29)和工控机(30)，所述工控机(30)用于监测锂电池的电量。
  3. 根据权利要求1所述的一种温室自动巡检平台的充电装置，其特征在于，所述信息传输模块为无线传输模块(32)，无线传输模块(32)与工控机(30)通过数据线连接，用于传输信息。
  4. 根据权利要求1所述的一种温室自动巡检平台的充电装置，其特征在于，所述的传感器模块包括位于移动监测平台(25)上左侧的超声波传感器A(28)和后方的超声波传感器B(31)以及位于锂电池充电端口(27)中心位置的激光测距传感器(26)，所述左侧的超声波传感器A(28)和后方的超声波传感器B(31)分别用于测量移动监测平台(25)左侧和后方离墙壁的距离，所述激光测距传感器(26)用于测量锂电池的充电端口(27)中心距地面的高度。
  5. 根据权利要求1所述的一种温室自动巡检平台的充电装置，其特征在于，所述的地面压力传感器模块包括压力传感器B(18)和平板(19)，压力传感器B(18)和平板(19)通过连接装置连接，平板(19)放置在压力传感器B(18)上面；所述充电模块包括外壳(1)、水平移动机构、垂直移动机构和横向伸缩机构；所述外壳(1)安装在地面；外壳(1)内部安装移动机构，上面安装电器模块；
    所述水平移动机构包括滑块A(2)、丝杆A(3)、光杆A(4)、和电机A(5)；所述滑块A(2)内部一边为内螺纹孔，一边为光孔；所述丝杆A(3)与内螺纹孔，通过螺纹连接；
    所述光杆A(4)套在光孔内，丝杆A(3)、光杆A(4)和电机A(5)安装在龙门滑块B(6)上；所述电机A(5)带动丝杆做旋转运动，转换为滑块A(2)的水平移 动；
    所述垂直移动机构包括龙门滑块B(6)、丝杆B(7)、光杆B(8)和电机B(9)；所述龙门滑块B(6)一边为内螺纹孔一边为光孔，所述丝杆B(7)与内螺纹孔通过螺纹连接，所述光杆B(8)套在光孔内，丝杆B(7)、光杆B(8)和电机B(9)安装在外壳(1)上，丝杆B(7)在电机B(9)的带动下驱动龙门滑块B(6)沿垂直方向运动；
    所述横向伸缩机构包括底座(10)、电机C(11)、丝杆C(12)、光杆C(13)、滑块C(14)、限位块(15)、充电插头(16)和压力传感器A(17)；所述底座(10)通过螺栓与沿水平运动的滑块A(2)连接，所述电机C(11)安装在底座(10)内部；所述丝杆C(12)一端安装在底座(10)，与电机C(11)连接，另一端安装在限位块(15)上；所述两根光杆C(13)的一端安装在底座(10)上，一端安装在限位块(15)上；所述滑块C(14)内部为空心圆管，安装在丝杆C(12)和光杆C(13)上，在底座(10)和限位块(15)之间横向移动；所述充电插头(16)安装在滑块C(14)顶端；所述压力传感器A(17)安装在充电插头(16)的顶端。
  6. 根据权利要求1所述的一种温室自动巡检平台的充电装置，其特征在于，所述信息接收模块(20)为无线接收装置，所述无线接收装置用于接收移动监测平台(25)传输的信息，控制智能充电装置(33)的展开和收回，所述无线接收装置与控制模块(22)连接，将接收到的信息传输给控制模块(22)；
    所述信息采集模块(21)为信号采集卡，用于采集传感器的信号；所述控制模块(22)包括运动控制卡和驱动模块，所述运动控制卡用于控制水平、垂直和横向电机的运动，所述驱动模块用于驱动电机的运转，完成充电插头(16)与锂电池的充电端口(27)的对接。
  7. 根据权利要求1所述的一种温室自动巡检平台的充电装置，其特征在于，所述交直流转换模块(23)为电源转换器用于将220V的交流电转化为12V的直流电，提供给锂电池充电。
  8. 一种温室自动巡检平台的充电方法，其特征在于，包括如下步骤：
    步骤一，移动监测平台(25)执行巡检任务，电源监测模块检测到12V锂电池(29)的电量不足20％时，工控机(30)终止当前执行的巡检任务，并控制移动监测平台(25)自动返回充电区域(34)；
    步骤二，当移动监测平台(25)完成巡检任务，在执行下一次巡检任务之前，锂电池的电量不足30％时，移动监测平台(25)返回充电区域(34)，完成电能的补充；当移动监测平台(25)返回充电区域(34)时，移动监测平台(25)停在地面压力传感器模块 上，压力传感器B(18)触发信号给电源控制模块(24)，使智能充电装置处于通电状态；
    步骤三，移动监测平台停在充电区域(34)后，左侧的超声波传感器A(28)和后方的超声波传感器B(31)以及锂电池充电端口(27)中心的激光测距传感器(26)分别测量此时移动监测平台(25)左侧(X轴方向)和墙壁之间的距离X1、后方(Y轴方向)和墙壁之间的距离Y1、以及锂电池充电端口中心离地面的距离Z1；
    步骤四，设置移动监测平台(25)上左侧的X轴方向上的超声波传感器A(28)到充电端口(27)的距离为X车，移动监测平台(25)后方的Y轴方向上的超声波传感器B(31)到充电端口(27)中心的距离为Y车；
    步骤五，工控机(30)根据接收到的数据转化为充电端口(27)中心位置坐标，充电端口(27)中心位置坐标为(X1+X车，Y1+Y车，Z1)，并将位置坐标通过移动监测平台上的无线传输模(32)块传输给智能充电装置(33)的无线接收模块(20)；
    步骤六，智能充电装置(33)的充电插头(16)端口中心的初始位置分别为：插头端口中心沿X轴到墙壁的距离X充，插头端口中心沿Y轴到墙壁的距离Y充，插头端口中心沿Z轴到地面的距离Z充，插头端口中心的初始位置坐标(X充，Y充，Z充)；
    步骤七，智能充电装置(33)根据接收到的移动监测平台上充电端口(27)位置坐标和充电插头(16)端口初始位置计算出充电装置需要移动的相对位移，驱动充电插头(16)沿X轴、Y轴和Z轴移动的相应的位移(X1+X车－X充，Y1+Y车－Y充，Z1－Z充)，与移动监测平台(25)上的充电端口(27)对接，完成充电任务。
  9. 根据权利要求8所述的一种温室自动巡检平台的充电方法，其特征在于，当平台充电过程中电量未充满，移动监测平台的下一次巡检任务已经启动，当电量不足60％时，由于无法完成单次巡检并自动返回，系统取消巡检任务，继续充电。
  10. 根据权利要求8所述的一种温室自动巡检平台的充电方法，其特征在于，当平台充电过程中电量未充满，且电量超过60％时，移动监测平台的工控机(30)通过无线传输模块(32)传输信号给智能充电装置(33)，使智能充电装置(33)收回充电臂，移动监测平台(25)开始巡检任务；当电量充满时，移动监测平台(25)传输信号给智能充电装置(33)，使智能充电装置(33)收回，移动监测平台(25)等待巡检任务的开始。
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