CN105720657A - Wireless charging device for patrol robot - Google Patents
Wireless charging device for patrol robot Download PDFInfo
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- CN105720657A CN105720657A CN201610241072.4A CN201610241072A CN105720657A CN 105720657 A CN105720657 A CN 105720657A CN 201610241072 A CN201610241072 A CN 201610241072A CN 105720657 A CN105720657 A CN 105720657A
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- 238000004891 communication Methods 0.000 claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000013461 design Methods 0.000 claims description 3
- 230000009977 dual effect Effects 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- 230000007774 longterm Effects 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000007373 indentation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000000979 retarding effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
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- H02J7/025—
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The embodiment of the invention provides a wireless charging device for a patrol robot. An RFID (Radio Frequency Identification Device) card reader is arranged on a front part of a robot vehicle body; a wheel driver, a wireless communication module, a receiving coil and a linear motor are arranged in the robot vehicle body; the receiving coil is arranged on a push rod of the linear motor; a ground charging device comprises a deceleration RFID, a parking RFID and an emitting coil which are arranged longitudinally on the ground; a distance L1 between the RFID card reader and the receiving coil is equal to a distance L2 between the emitting coil and the parking RFID; a robot controller, a battery charging circuit, a charging current detection circuit and a charging battery are also arranged in the robot vehicle body; and the ground charging device further comprises a charging controller, a wireless communication module B and a driving circuit. The wireless charging device has the advantages of simple system structure, accurate positioning, low cost, low failure rate, high working reliability, no need of maintenance, and suitability for long-term automatic unattended operation.
Description
Technical field
The present invention relates to the robotics of industrial technical field, be specifically related to a kind of crusing robot wireless charging device.
Background technology
Along with the development of society, economic prosperity, computer automation technology is increasingly widely applied.In places such as factory, market, museum, tourist attractions, traditional patrol and examine, the work such as explanation by being accomplished manually, robotics is applied in the work of these Daily Round Checks, overcomes manual inspection workload big, patrol and examine reliability not high, patrol and examine the shortcomings such as data record difficulty.In the process of patrolling and examining, robot records high clear video image, ambient sound simultaneously, and can automatically read RFID tag data, it is also possible to automatically carry out voice broadcast or finishing man-machine interaction operation.Robot is according to these data, it is possible to automatically position, phonetic explaining, guide service, or equipment fault is carried out intelligent decision, to equipment fault can and alarm, improve the reliability patrolling and examining work, it is possible to realize patrolling and examining the unmanned of work.But robot relies on the battery carried to power, and the automatic charging problem of robot becomes the major issue that must solve.
Summary of the invention
For solving the problems referred to above, the invention provides a kind of crusing robot wireless charging device, by electromagnetic technique, computer, automatic technology utilization, Robot polling path runs, arrive after specifying region, automatic retarding, parking, by wireless electromagnetic coupled modes, be automatically performed battery charging.This wireless charging device system structure is simple, and cost is low, failure rate is low, and device functional reliability is high, it is not necessary to safeguard, it is adaptable to long-term unmanned work automatically.
For achieving the above object, the technical scheme that the present invention takes is:
A kind of crusing robot wireless charging device, including robot car body and ground charging device, described robot car body front portion is provided with RFID card reader, is provided with wheel driver in described robot car body, wireless communication module A, receiving coil and linear electric motors, receiving coil is arranged on the push rod of linear electric motors, can with the positive and negative rotation of linear electric motors, extended or retracted robot car body, and ground charging device includes deceleration RFID longitudinally disposed on ground, the distance L1 of parking RFID and transmitting coil, RFID card reader and receiving coil, transmitting coil is equal with the distance L2 of parking RFID, is also equipped with robot controller in described robot car body, battery charger, charging current detecting circuit and rechargeable battery, described robot controller and wheel driver, RFID card reader, wireless communication module A, linear electric motors, receiving coil, battery charger, charging current detecting circuit, rechargeable battery is connected, and described ground charging device also includes charge controller, wireless communication module B and drive circuit, described wireless communication module B and drive circuit are connected with charge controller, and described transmitting coil is connected with drive circuit.
Preferably, described robot controller adopts ARM Embedded System Design, cpu chip model is the micro-RK3066 of auspicious core, adopt Cortex-A9 Duo-Core Architecture, most high primary frequency is up to 1.6GHz, four ARMMali400MP4GPU processors are internally integrated it, support OpenGLES1.1/2.0 and OpenVG1.1, support DDRIII, DDRII and LPDDRII, the special 2D processor of built-in high-performance, support the decoding of 1080P multiple format video, support three-dimensional 3DH.264MVC Video coding, embedded 60bit/sECC, support MLCNAND, E-MMC, i-NAND and startup, support double screen and dual camera.
Preferably, described robot controller runs the ROS robot operating system based on (SuSE) Linux OS.
Preferably, the model of described RFID card reader is KL9007T, operating frequency is 902～928MH, standard agreement is ISO18000-6C (EPCClass1GEN2)/ISO18000-6B, power gain < 0.5DB, radio frequency power range 0～30dBm is adjustable, reads distance > 20CM, data-interface RS232.
Preferably, the model of described wireless communication module A and wireless communication module B is RF1100-232, work in the free frequency range of 433MHz, maximum transmission power 10mW, modulation system based on FSK, supporting transparent data transmission and DL/645 stipulations, maximum 256 programmable channel, interface mode is RS232.
Preferably, described deceleration RFID and parking RFID is anti-metal electronic tag, and operating frequency is 860-960MHz, and built-in chip PECGEN2 (AlienHiggs) meets ISO18000-6C, EPC-Gen2 standard, internal memory 96Bits.
Preferably, the wire diameter of described transmitting coil and receiving coil is 1.1mm, and external diameter is 43mm, and internal diameter is 20mm, and single, thickness is 2.3mm, and operating current is 2000mA.
Preferably, the model of described linear electric motors is TG300B-10, and working power is 24VDC, stroke 100MM, load 600N.Being connected to receiving coil on linear electric motors push rod, motor rotates forward and promotes push rod to stretch out, and motor reversal then promotes push rod indentation.
Preferably, described charge controller is based on ARM Embedded Processor, and ARM flush bonding processor is based on CortexTM32 arm processors of-M3 kernel, operating frequency is 72MHz, operating rate 1.25MIPS/MHz, and concrete model is STM32-103VT.
Preferably, the battery capacity of described rechargeable battery is 40AH, and nominal voltage is 24V, and restriction voltage is 29.4V, and applicable power of motor is 250W-800W, and cycle-index is 800-1000 time.
The method have the advantages that
Electromagnetic technique, computer technology, automatic technology are perfectly combined, wireless charging device adopts magnetic coupling techniques, and use linear electric motors to regulate the distance between transmitting coil and receiving coil, it is ensured that and the efficiency of energy transmission, system structure is simple, accurate positioning, cost is low, failure rate is low, and device functional reliability is high, Maintenance free, it is adaptable to long-term unmanned work automatically.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of crusing robot wireless charging device of the embodiment of the present invention.
Fig. 2 is the schematic diagram of L1 and L2 in a kind of crusing robot wireless charging device of the embodiment of the present invention.
Fig. 3 is the system block diagram of a kind of crusing robot wireless charging device of the embodiment of the present invention.
Detailed description of the invention
In order to make objects and advantages of the present invention clearly understand, below in conjunction with embodiment, the present invention is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the present invention, is not intended to limit the present invention.
As shown in Figure 1-2, the embodiment of the present invention provides a kind of crusing robot wireless charging device, and including robot car body and ground charging device, described robot car body front portion is provided with RFID card reader 1, is provided with wheel driver in described robot car body, wireless communication module A, receiving coil 3 and linear electric motors 2, receiving coil 3 is arranged on the push rod of linear electric motors 2, can with the positive and negative rotation of linear electric motors, extended or retracted robot car body, and ground charging device includes deceleration RFID6 longitudinally disposed on ground, parking RFID4 and transmitting coil 5, the distance L1 of RFID card reader 1 and receiving coil 3, transmitting coil 5 is equal with the distance L2 of parking RFID4, is also equipped with robot controller in described robot car body, battery charger, charging current detecting circuit and rechargeable battery, described robot controller and wheel driver, RFID card reader, wireless communication module A, linear electric motors, receiving coil, battery charger, charging current detecting circuit, rechargeable battery is connected, and described ground charging device also includes charge controller, wireless communication module B and drive circuit, described wireless communication module B and drive circuit are connected with charge controller, and described transmitting coil is connected with drive circuit.
Described robot controller adopts ARM Embedded System Design, cpu chip model is the micro-RK3066 of auspicious core, adopt Cortex-A9 Duo-Core Architecture, most high primary frequency is up to 1.6GHz, four ARMMali400MP4GPU processors are internally integrated it, support OpenGLES1.1/2.0 and OpenVG1.1, support DDRIII, DDRII and LPDDRII, the special 2D processor of built-in high-performance, support the decoding of 1080P multiple format video, support three-dimensional 3DH.264MVC Video coding, embedded 60bit/sECC, support MLCNAND, E-MMC, i-NAND and startup, support double screen and dual camera.
Described robot controller runs the ROS robot operating system based on (SuSE) Linux OS.
The model of described RFID card reader is KL9007T, operating frequency is 902～928MH, standard agreement is ISO18000-6C (EPCClass1GEN2)/ISO18000-6B, power gain < 0.5DB, radio frequency power range 0～30dBm is adjustable, read distance > 20CM, data-interface RS232.
The model of described wireless communication module A and wireless communication module B is RF1100-232, works in the free frequency range of 433MHz, maximum transmission power 10mW, modulation system based on FSK, supporting transparent data transmission and DL/645 stipulations, maximum 256 programmable channel, interface mode is RS232.
Described deceleration RFID and parking RFID is anti-metal electronic tag, and operating frequency is 860-960MHz, and built-in chip PECGEN2 (AlienHiggs) meets ISO18000-6C, EPC-Gen2 standard, internal memory 96Bits.
The wire diameter of described transmitting coil and receiving coil is 1.1mm, and external diameter is 43mm, and internal diameter is 20mm, and single, thickness is 2.3mm, and operating current is 2000mA.
The model of described linear electric motors is TG300B-10, and working power is 24VDC, stroke 100MM, load 600N.Being connected to receiving coil on linear electric motors push rod, motor rotates forward and promotes push rod to stretch out, and motor reversal then promotes push rod indentation.
Described charge controller is based on ARM Embedded Processor, and ARM flush bonding processor is based on CortexTM32 arm processors of-M3 kernel, operating frequency is 72MHz, operating rate 1.25MIPS/MHz, and concrete model is STM32-103VT.
Preferably, the battery capacity of described rechargeable battery is 40AH, and nominal voltage is 24V, and restriction voltage is 29.4V, and applicable power of motor is 250W-800W, and cycle-index is 800-1000 time
As shown in Figure 2, originally it is embodied as by under the control of robot controller, Robot polling path runs, after entering charged area, first the RFID card reader of Vehicular body front reads the signal of deceleration RFID, and robot slows down, and advances at a slow speed, when RFID card reader reads parking RFID signal, robot stops.Owing to L1 and L2 is equal, after robot stops, the receiving coil on car body aligns with ground transmitting coil.Charge initiation signal is sent out by wireless communication module A by robot, after charge controller receives signal by wireless communication module B, starts drive circuit, powers to transmitting coil.Meanwhile, robot controller is while detecting charging current, rotate forward while controlling linear electric motors, the receiving coil being attached on linear electric motors push rod is made to extend downwardly from, when robot controls to detect that charging current is ascending, after arriving rated charge stream, stop linear electric motors, now transmitting coil and receiving coil are in optimum position, and charge efficiency is the highest.Working as charging complete, charging stop signal is sent out by wireless communication module A by robot, after charge controller receives signal by wireless communication module B, stops powering to transmitting coil.Meanwhile, robot controller controls linear electric motors reversion, the receiving coil making to be attached on linear electric motors push rod upwards, in indentation robot car body, complete charge process.
The above is only the preferred embodiment of the present invention; it should be pointed out that, for those skilled in the art, under the premise without departing from the principles of the invention; can also making some improvements and modifications, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (10)
1. a crusing robot wireless charging device, including robot car body and ground charging device, it is characterised in that described robot car body front portion is provided with RFID card reader, is provided with wheel driver in described robot car body, wireless communication module, receiving coil and linear electric motors, receiving coil is arranged on the push rod of linear electric motors, can with the positive and negative rotation of linear electric motors, extended or retracted robot car body, and ground charging device includes deceleration RFID longitudinally disposed on ground, the distance L1 of parking RFID and transmitting coil, RFID card reader and receiving coil, transmitting coil is equal with the distance L2 of parking RFID, is also equipped with robot controller in described robot car body, battery charger, charging current detecting circuit and rechargeable battery, described robot controller and wheel driver, RFID card reader, wireless communication module A, linear electric motors, receiving coil, battery charger, charging current detecting circuit, rechargeable battery is connected, and described ground charging device also includes charge controller, wireless communication module B and drive circuit, described wireless communication module B and drive circuit are connected with charge controller, and described transmitting coil is connected with drive circuit.
2. a kind of crusing robot wireless charging device according to claim 1, it is characterized in that, described robot controller adopts ARM Embedded System Design, cpu chip model is the micro-RK3066 of auspicious core, adopt Cortex-A9 Duo-Core Architecture, most high primary frequency reaches 1.6GHz, it is internally integrated four ARMMali400MP4GPU processors, support OpenGLES1.1/2.0 and OpenVG1.1, support DDRIII, DDRII and LPDDRII, the special 2D processor of built-in high-performance, support the decoding of 1080P multiple format video, support three-dimensional 3DH.264MVC Video coding, embedded 60bit/sECC, support MLCNAND, E-MMC, i-NAND and startup, support double screen and dual camera.
3. a kind of crusing robot wireless charging device according to claim 1, it is characterised in that described robot controller runs the ROS robot operating system based on (SuSE) Linux OS.
4. a kind of crusing robot wireless charging device according to claim 1, it is characterized in that, the model of described RFID card reader is KL9007T, operating frequency is 902～928MH, standard agreement is ISO18000-6C (EPCClass1GEN2)/ISO18000-6B, power gain < 0.5DB, and radio frequency power range 0～30dBm is adjustable, read distance > 20CM, data-interface RS232.
5. a kind of crusing robot wireless charging device according to claim 1, it is characterized in that, the model of described wireless communication module A and wireless communication module B is RF1100-232, work in the free frequency range of 433MHz, maximum transmission power 10mW, based on the modulation system of FSK, supports transparent data transmission and DL/645 stipulations, maximum 256 programmable channel, interface mode is RS232.
6. a kind of crusing robot wireless charging device according to claim 1, it is characterised in that described deceleration RFID and parking RFID is anti-metal electronic tag, operating frequency is 860-960MHz, built-in chip PECGEN2, meets IS018000-6C, EPC-Gen2 standard, internal memory 96Bits.
7. a kind of crusing robot wireless charging device according to claim 1, it is characterised in that the wire diameter of described transmitting coil and receiving coil is 1.1mm, and external diameter is 43mm, and internal diameter is 20mm, and single, thickness is 2.3mm, and operating current is 2000mA.
8. a kind of crusing robot wireless charging device according to claim 1, it is characterised in that the model of described linear electric motors is TG300B-10, and working power is 24VDC, stroke 100MM, load 600N.
9. a kind of crusing robot wireless charging device according to claim 1, it is characterised in that described charge controller is based on ARM Embedded Processor, and ARM flush bonding processor is based on CortexTM32 arm processors of-M3 kernel, operating frequency is 72MHz, operating rate 1.25MIPS/MHz, and concrete model is STM32-103VT.
10. a kind of crusing robot wireless charging device according to claim 1, it is characterised in that the battery capacity of described rechargeable battery is 40AH, nominal voltage is 24V, restriction voltage is 29.4V, and applicable power of motor is 250W-800W, and cycle-index is 800-1000 time.
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| CN201610241072.4A CN105720657A (en) | 2016-04-13 | 2016-04-13 | Wireless charging device for patrol robot |
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| CN201610241072.4A CN105720657A (en) | 2016-04-13 | 2016-04-13 | Wireless charging device for patrol robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106329661A (en) * | 2016-10-18 | 2017-01-11 | 国网山东省电力公司电力科学研究院 | Automatic charging system and charging method for overhead transmission line inspection robot |
| CN106356953A (en) * | 2016-10-26 | 2017-01-25 | 黑龙江省电力科学研究院 | Wireless charging device for inspection robot |
| CN106787233A (en) * | 2016-12-22 | 2017-05-31 | 武汉大学 | Cable tunnel inspection robot and charging method with wireless charging device |
| CN107186734A (en) * | 2017-07-28 | 2017-09-22 | 山东科技大学 | It is a kind of to possess the home-services robot for making an inspection tour safety protection function |
| CN107508390A (en) * | 2017-08-22 | 2017-12-22 | 国网江苏省电力公司电力科学研究院 | A kind of crusing robot wireless charging system and method |
| CN109149729A (en) * | 2018-11-02 | 2019-01-04 | 宁德师范学院 | Wireless charging type motor-driven carrier |
| CN110015091A (en) * | 2017-08-01 | 2019-07-16 | 吴志华 | A kind of intelligent sharing stopping for charging system with communication module |
| CN111390865A (en) * | 2020-04-21 | 2020-07-10 | 重庆盘古美天物联网科技有限公司 | Trackway type inspection robot for roadside parking |
| CN112787423A (en) * | 2021-01-26 | 2021-05-11 | 中国电力科学研究院有限公司 | Robot wireless charging position identification system and method based on magnetic field positioning technology |
| CN112865307A (en) * | 2021-01-13 | 2021-05-28 | 华东交通大学 | Auxiliary monitoring system for traction substation |
| CN114336988A (en) * | 2021-12-23 | 2022-04-12 | 河南牧原智能科技有限公司 | Charging system, charging method and product for charging inspection device |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106329661A (en) * | 2016-10-18 | 2017-01-11 | 国网山东省电力公司电力科学研究院 | Automatic charging system and charging method for overhead transmission line inspection robot |
| CN106356953A (en) * | 2016-10-26 | 2017-01-25 | 黑龙江省电力科学研究院 | Wireless charging device for inspection robot |
| CN106356953B (en) * | 2016-10-26 | 2018-11-09 | 黑龙江省电力科学研究院 | A kind of crusing robot wireless charging device |
| CN106787233A (en) * | 2016-12-22 | 2017-05-31 | 武汉大学 | Cable tunnel inspection robot and charging method with wireless charging device |
| CN107186734A (en) * | 2017-07-28 | 2017-09-22 | 山东科技大学 | It is a kind of to possess the home-services robot for making an inspection tour safety protection function |
| CN110015091A (en) * | 2017-08-01 | 2019-07-16 | 吴志华 | A kind of intelligent sharing stopping for charging system with communication module |
| CN107508390A (en) * | 2017-08-22 | 2017-12-22 | 国网江苏省电力公司电力科学研究院 | A kind of crusing robot wireless charging system and method |
| CN109149729A (en) * | 2018-11-02 | 2019-01-04 | 宁德师范学院 | Wireless charging type motor-driven carrier |
| CN111390865A (en) * | 2020-04-21 | 2020-07-10 | 重庆盘古美天物联网科技有限公司 | Trackway type inspection robot for roadside parking |
| CN112865307A (en) * | 2021-01-13 | 2021-05-28 | 华东交通大学 | Auxiliary monitoring system for traction substation |
| US11352035B1 (en) | 2021-01-13 | 2022-06-07 | East China Jiaotong University | Auxiliary monitoring system for traction substation |
| CN112787423A (en) * | 2021-01-26 | 2021-05-11 | 中国电力科学研究院有限公司 | Robot wireless charging position identification system and method based on magnetic field positioning technology |
| CN114336988A (en) * | 2021-12-23 | 2022-04-12 | 河南牧原智能科技有限公司 | Charging system, charging method and product for charging inspection device |
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