CN110138073B - Solar online autonomous hybrid charging device and method for electric power inspection robot - Google Patents
Solar online autonomous hybrid charging device and method for electric power inspection robot Download PDFInfo
- Publication number
- CN110138073B CN110138073B CN201910602099.5A CN201910602099A CN110138073B CN 110138073 B CN110138073 B CN 110138073B CN 201910602099 A CN201910602099 A CN 201910602099A CN 110138073 B CN110138073 B CN 110138073B
- Authority
- CN
- China
- Prior art keywords
- power supply
- supply interface
- inspection robot
- charging
- interface module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 129
- 238000000034 method Methods 0.000 title claims description 14
- 238000006243 chemical reaction Methods 0.000 claims abstract description 26
- 238000004891 communication Methods 0.000 claims abstract description 11
- 210000001503 joint Anatomy 0.000 claims description 19
- 238000006073 displacement reaction Methods 0.000 claims description 18
- 238000013459 approach Methods 0.000 claims description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 230000003750 conditioning effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 5
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000010248 power generation Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000009413 insulation Methods 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000009469 supplementation 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
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/80—Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
-
- 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
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
-
- 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
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
- Y02E10/56—Power conversion systems, e.g. maximum power point trackers
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The solar energy online autonomous hybrid charging device for the power inspection robot comprises a tower and a solar energy power supply system, wherein the solar energy power supply system comprises a storage battery, a controller, a solar sailboard, a wired power supply interface module, a voltage sensor, a current sensor, a photosensitive sensor, an infrared encoder and a photoelectric switch, the controller comprises a DC/DC voltage conversion module A for converting solar photovoltaic voltage into storage battery charging voltage, a DC/DC voltage conversion module B for converting storage battery output voltage into charging voltage for the robot, a communication module, a positioning module and a core control module based on a DSP; the tower frame is provided with a controller and a storage battery, the solar sailboard is fixed on the mounting bracket, and the output end of the DC/DC voltage conversion module B is connected with a DC wired power supply interface module and a DC wireless power supply interface module; the invention charges the robot in a wired or wireless mode, thereby improving the working efficiency of the inspection robot.
Description
Technical Field
The invention relates to the field of power inspection robots, in particular to a solar online autonomous hybrid charging device and method for a power inspection robot.
Background
As is known, an electric inspection robot uses a rechargeable battery to provide energy, inspection is performed along an electric power line, and when the battery energy is reduced to a certain extent, the robot needs to supplement the energy. The traditional inspection equipment mostly adopts an offline charging method, needs to be charged after the robot is offline, and lacks the design of autonomous charging, so that the workload of manual assistance is greatly increased, and the working efficiency and the intelligent level of the inspection robot are affected.
Disclosure of Invention
In order to overcome the defects in the background technology, the invention discloses a solar energy online autonomous hybrid charging device and a method for an electric power inspection robot.
In order to achieve the aim of the invention, the invention adopts the following technical scheme:
the solar energy online autonomous hybrid charging device for the power inspection robot comprises a tower and a solar energy power supply system, wherein the solar energy power supply system comprises a storage battery, a controller, a solar sailboard, a direct current wired power supply interface module, a direct current wireless power supply interface module, a voltage sensor, a current sensor, a photosensitive sensor, an infrared encoder and a photoelectric switch, the controller comprises a DC/DC voltage conversion module A for converting solar photovoltaic voltage into storage battery charging voltage, a DC/DC voltage conversion module B for converting storage battery output voltage into charging voltage for the robot, a communication module, a positioning module and a core control module based on a DSP; the electric power generation device comprises a tower body, a motor, a gear box, a solar sailboard, a solar energy sailboard, a direct-current wired power supply interface module, a direct-current wireless power supply interface module, a voltage sensor, a current sensor, a photosensitive sensor, an infrared encoder, a photoelectric switch and a motor, wherein the tower body of the tower is respectively provided with the controller and the storage battery which are installed through a box body, the angle steel of the tower is provided with the motor, the motor is driven by a driver and is connected with the input end of the gear box, the output end of the gear box is fixedly connected with the mounting bracket, the solar sailboard is fixed on the mounting bracket, the controller is respectively connected with the solar sailboard, the direct-current wired power supply interface module, the direct-current wireless power supply interface module, the voltage sensor, the current sensor, the photosensitive sensor, the infrared encoder, the photoelectric switch and the motor, the DC/DC voltage conversion module B is connected with the direct-current wired power supply interface module and the direct-current wireless power supply interface module, the direct-current wired power supply interface module and the direct-current wireless power supply interface module are respectively installed on the power supply interface panel at intervals, the power supply interface panel is fixed on the upper portion of the displacement platform through a connecting plate, and the linear motor.
The solar online autonomous hybrid charging device for the power inspection robot is characterized in that a supporting frame is arranged between a gear box and a tower, one end of the supporting frame is fixed at the lower part of the gear box, the other end of the supporting frame is fixedly connected with the tower, a gear shaft of one gear in the gear box is connected with an output shaft of a motor through a coupling, a gear shaft of the other gear is fixedly connected with a mounting bracket through the coupling, and the two gears are mutually meshed.
The solar energy on-line autonomous hybrid charging device for the electric power inspection robot is characterized in that the connecting plate is L-shaped, and the power supply interface panel is arranged on the lateral surface of the outer end of the connecting plate.
The solar online autonomous hybrid charging device for the power inspection robot is characterized in that the power supply interface panel is a hybrid charging panel, a direct-current wired power supply interface module is arranged on the upper portion of the power supply interface panel, a direct-current wireless power supply interface module is arranged on the lower portion of the power supply interface panel, a threaded hole is formed in the side face of the power supply interface panel, and the power supply interface panel is fixedly connected with an outer end side arm of a connecting plate through a bolt.
The solar energy on-line autonomous hybrid charging device for the power inspection robot is characterized in that a conical power supply terminal is arranged outside the middle part of a DC wired power supply interface module, a spring is arranged in the DC wired power supply interface module, a positive electrode insulating layer A and a negative electrode insulating layer A are arranged at the rear part of the conical power supply terminal, a conical electrode negative electrode B is arranged at the front end of the conical power supply terminal, a conical electrode positive electrode B is arranged on the conical surface of the conical power supply terminal, a power supply cable, a ground wire A and the rear end of the power supply cable respectively penetrate through the DC wired power supply interface module and a connecting plate in sequence and are respectively grounded and powered by a power supply, a magnetic sheet A is arranged at the rear part of the conical power supply terminal, two photoelectric switches and two infrared encoders are respectively arranged at the two sides of the upper part and the lower part outside the DC wired power supply interface module, the charging end interface panel correspondingly connected with the direct current wired power supply interface module is arranged on the robot and comprises a shell, an inwards concave conical surface charging terminal is arranged in the middle of the inner surface of the shell, the conical surface charging terminal and the conical surface power supply terminal are arranged to be conical surfaces and are mutually matched, a magnetic sheet B is arranged at the rear part of the conical surface charging terminal and is magnetically attracted with the magnetic sheet A, two light emitting diodes and two infrared coding receivers A corresponding to two photoelectric switches and two infrared encoders are respectively arranged at the upper part and the lower part of the inner surface of the shell, a conical electrode anode A, a conical electrode anode insulating layer B and a conical electrode cathode A are sequentially arranged on the inner surface of the conical surface charging terminal from front to back, a cable and a ground wire B are respectively connected to the anode insulating layer B, the outer ends of the cable and the ground wire B penetrate through the shell, the cable is connected with a battery, the ground wire B is grounded.
The solar energy on-line autonomous hybrid charging device for the power inspection robot is characterized in that a power supply interface coil is arranged in the middle of a direct current wireless power supply interface module panel, infrared coding transmitters are arranged at four corners of the direct current wireless power supply interface module panel, receiving end interface coils correspondingly connected with the power supply interface coil are arranged on a receiving panel of the inspection robot, infrared coding receivers B for receiving signals of the infrared coding transmitters are respectively arranged at four corners of the receiving panel of the receiving end interface coil, and integrated circuit controllers are arranged in the panels of the direct current wireless power supply interface module panel and the receiving end interface coil.
The solar energy on-line autonomous hybrid charging device for the electric power inspection robot is characterized in that the controller is respectively connected with the infrared coding emitter, the photoelectric switch and the infrared coder through signals.
The solar energy online autonomous hybrid charging method for the electric power inspection robot specifically comprises the following steps:
(1) The method comprises the steps that a motor is started, power is transmitted through a gear box so as to adjust the light receiving angle of a solar sailboard, light energy is converted into electric energy, a DC/DC voltage conversion module A converts photovoltaic voltage into charging voltage of a storage battery, the storage battery is managed by a core control module based on a DSP, the storage battery stores the converted electric energy, when the inspection robot is in butt joint charging, voltage conversion is carried out through a DC/DC voltage conversion module B, output voltage of the storage battery is converted into proper charging voltage and current of the inspection robot, and a wired power supply interface module on a power supply interface panel is used for preparing to charge the inspection robot;
(2) An infrared encoder arranged on a power supply interface panel detects the relative position of the inspection robot, before the inspection robot approaches the power supply interface panel and is not in butt joint with a power supply interface of the power supply interface panel, an integrated circuit controller in a direct current wireless power supply interface module generates alternating signals, a receiving end interface coil is used for conditioning electric signals and then charging a battery of the inspection robot, an infrared encoding transmitter is used for detecting the relative position of the inspection robot and a wireless power supply end, and when the inspection robot enters a certain distance range, whether the inspection robot needs to be charged or not is judged according to a communication state, and a wireless charging function is started by the power supply end interface coil;
(3) The infrared encoder transmitters on two sides of the power supply interface panel send out different encoding signals, the infrared encoding receivers B on two sides of the inspection robot charging end receiving panel respectively receive the different encoding signals sent by the infrared encoder transmitters, the left and right reference positions of the direct current wired power supply interface of the power supply interface panel are determined, and the inspection robot approaches to the direct current wired power supply interface;
(4) Connecting a step, namely starting a linear motor to drive a displacement table to generate displacement, extending a power supply interface panel to the inspection robot, adsorbing the attraction effect of a magnetic sheet A at the end of the power supply interface panel and a magnetic sheet B on a charging end shell of the inspection robot, ejecting a conical surface power supply terminal, butting the conical surface charging terminal with the conical surface power supply terminal, and realizing wired power supply connection between a direct-current wired power supply interface and the inspection robot, wherein a charging mode is switched to a wired charging mode;
(5) After the butt joint is successful, the light emitting diode on the charging end shell of the inspection robot emits light, the photoelectric switch on the power supply interface panel stops the movement of the linear motor after receiving the light signal, the inspection robot turns off the light emitting signal of the light emitting diode after the charging is finished, the linear motor is started to retreat, the conical power supply terminal is pulled back through the spring, the power supply interface panel retreats, the linear motor stops moving, and the direct-current wired power supply interface is restored to a standby state to wait for the next power supply operation.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
1. according to the solar energy online autonomous hybrid charging device and method for the power inspection robot, the DC/DC voltage conversion module A is utilized to convert the photovoltaic voltage into the charging voltage of the storage battery, and the core controller charges the storage battery to store energy; the storage battery stores the electric energy after the conversion, when the robot is charged in a butt joint mode, the DC/DC voltage conversion module B is used for converting the output voltage of the storage battery into the proper charging voltage and current of the inspection robot, the wired and wireless power supply interfaces are utilized for carrying out hybrid charging on the inspection robot, the manual workload is effectively reduced, and the working efficiency and the intelligent level of the inspection robot are increased.
2. According to the solar power generation device, the controller and the storage battery are fixed on the tower through the box body, the solar sailboard is fixed on the mounting bracket in the south direction, the motor for controlling the light receiving angle of the solar sailboard is mounted and fixed on the angle steel of the tower, the controller drives the mounting bracket provided with the solar sailboard to rotate by utilizing the gear box according to signals of the photosensitive sensor, force transmission can be carried out through the gear box, the rotating speed of the motor can be controlled, and the light receiving angle of the solar sailboard is regulated by utilizing the motor so as to track the incident angles of the sun in different seasons, and the utilization rate of solar power generation is improved.
3. According to the invention, the linear motor is adopted to drive the displacement table to linearly move, so that the distance between the power supply interface panel and the inspection robot is convenient to adjust, the inspection robot moves to the vicinity of the power supply interface panel when needing to be charged, the controller can measure the distance between the inspection robot and the power supply device according to the infrared sensor, the displacement table is controlled to generate displacement, the position expansion and transformation of the power supply interface panel is realized, the inspection robot is powered by a wired or wireless power supply mode, and the working efficiency of the inspection robot is effectively improved.
4. The invention adopts the hybrid charging panel, combines the wired and wireless charging methods, can switch the charging modes according to the working state of the inspection robot, and improves the charging efficiency and the energy utilization rate. When the inspection robot approaches to the power supply interface panel within a certain distance range, before the inspection robot is in butt joint with the direct current wired power supply interface module, the direct current wireless power supply interface module can carry out wireless charging on the inspection robot, and electric quantity supplementation is carried out on the inspection robot, so that the condition that the automatic charging cannot be driven to be completed due to the fact that the electric quantity of the robot is consumed caused by unpredictable factors is avoided. After the direct-current wired power supply interface module is in butt joint with the charging interface port of the inspection robot, the charging system is switched into a wired charging mode, and charging efficiency and energy utilization rate are improved. When the wired charging interface of the inspection robot is abnormal in operation, the wireless power supply state can be switched to, and energy is continuously provided for the inspection robot.
Drawings
FIG. 1 is a schematic diagram of a solar power system of the present invention;
FIG. 2 is a schematic illustration of the connection of the solar array of the present invention;
FIG. 3 is a schematic diagram of a connection structure between a power interface panel and a displacement table according to the present invention;
FIG. 4 is a schematic diagram of the structure of the power interface panel of the present invention;
FIG. 5 is a schematic diagram of a DC cable power interface module according to the present invention;
FIG. 6 is a schematic diagram of a DC wireless power interface module according to the present invention;
in the figure: 1. a tower; 2. a storage battery; 3. a controller; 4. a motor; 5. a gear box; 6. a mounting bracket; 7. a solar sailboard; 8. a photosensitive sensor; 9. a connecting plate; 10. a linear motor; 11. a displacement table; 12. a mounting frame; 13. a power interface panel; 14. a direct current wired power supply interface module; 15. an infrared encoding emitter; 16. a direct current wireless power supply interface module; 17. an optoelectronic switch; 18. a conical power supply terminal; 19. a spring; 20. a ground wire A; 21. a power supply cable; 22. a magnetic force sheet A; 23. a positive and negative electrode insulating layer A; 24. an infrared encoder; 25. an infrared code receiver A; 26. a magnetic force sheet B; 27. a cable; 28. a battery; 29. a ground wire B; 30. a conical surface charging terminal; 31. a positive and negative electrode insulating layer B; 32. a housing; 33. a light emitting diode; 34. the receiving end is connected with the interface coil; 35. the power supply end is connected with the coil; 36. a conical electrode negative electrode B; 37. a conical electrode positive electrode B; 38. a conical electrode negative electrode A; 39. a conical electrode positive electrode A; 40. a receiving panel; 41. an infrared code receiver B.
Detailed Description
The invention will be explained in more detail by the following examples, the purpose of which is to protect all technical improvements within the scope of the invention.
The solar energy online autonomous hybrid charging device for the power inspection robot, which is described with reference to fig. 1-6, comprises a tower 1 and a solar energy power supply system, wherein the solar energy power supply system comprises a storage battery 2, a controller 3, a solar sailboard 7, a direct current wired power supply interface module 14, a direct current wireless power supply interface module 16, a voltage sensor, a current sensor, a photosensitive sensor 8, an infrared encoder 24 and a photoelectric switch 17, wherein the controller 3 comprises a DC/DC voltage conversion module A for converting solar photovoltaic voltage into storage battery charging voltage, a DC/DC voltage conversion module B for converting storage battery output voltage into charging voltage for the robot, a communication module, a positioning module and a core control module based on a DSP; the tower body of the tower 1 is respectively provided with a controller 3 and a storage battery 2 which are arranged through a box body, a motor 4 is arranged on angle steel of the tower 1, the motor 4 is driven by a driver and is connected with the input end of a gear box 5, the output end of the gear box 5 is fixedly connected with a mounting bracket 6, a solar sailboard 7 is fixed on the mounting bracket 6, the controller 3 is respectively connected with the solar sailboard 7, a direct current wired power supply interface module 14, a direct current wireless power supply interface module 16, a voltage sensor, a current sensor, a photosensitive sensor 8, an infrared encoder, a photoelectric switch 17 and the motor 4 through circuits, the output end of a DC/DC voltage conversion module B is connected with the direct current wired power supply interface module 14 and the direct current wireless power supply interface module 16, the direct current wired power supply interface module 14 and the direct current wireless power supply interface module 16 are respectively arranged on a power supply interface panel 13 at intervals, the power supply interface panel 13 is fixed on the upper part of a displacement table 11 through a connecting plate 9, the displacement table 11 is arranged on a linear motor 10, and the linear motor 10 is fixed on the upper part of the tower 1 through a mounting frame 12.
The solar energy on-line autonomous hybrid charging device for the power inspection robot is characterized in that a supporting frame is arranged between a gear box 5 and a tower 1, one end of the supporting frame is fixed at the lower part of the gear box 5, the other end of the supporting frame is fixedly connected with the tower 1, a gear shaft of one gear in the gear box 5 is connected with an output shaft of a motor 4 through a coupling, a gear shaft of the other gear is fixedly connected with a mounting bracket 6 through the coupling, and the two gears are mutually meshed.
The solar energy on-line autonomous hybrid charging device for the electric power inspection robot is characterized in that the connecting plate 9 is L-shaped, and the power supply interface panel 13 is arranged on the lateral surface of the outer end of the connecting plate 9.
The solar online autonomous hybrid charging device for the power inspection robot is characterized in that the power supply interface panel 13 is a hybrid charging panel, a direct-current wired power supply interface module 14 is arranged on the upper portion of the power supply interface panel 13, a direct-current wireless power supply interface module 16 is arranged on the lower portion of the power supply interface panel 13, a threaded hole is formed in the side face of the power supply interface panel 13, and the power supply interface panel is fixedly connected with the outer end side arm of the connecting plate 9 through a bolt.
The solar energy online autonomous hybrid charging device for the power inspection robot is characterized in that a conical power supply terminal 18 is arranged outside the middle part of a DC wired power supply interface module 14, a spring 19 is arranged in the DC wired power supply interface module 14, a positive electrode insulation layer A23 and a negative electrode insulation layer A23 are arranged at the rear part of the conical power supply terminal 18, a conical electrode negative electrode B36 is arranged at the front end of the conical power supply terminal 18, a conical electrode positive electrode B37 is arranged on the conical surface of the conical power supply terminal 18, a power supply cable 21 and a ground wire A20 are respectively connected to the positive electrode insulation layer A23, the rear ends of the ground wire A20 and the power supply cable 21 sequentially pass through the DC wired power supply interface module 14 and a connecting plate 9 and are respectively grounded and powered by a power supply, a magnetic sheet A22 is arranged at the rear part of the conical power supply terminal 18, two photoelectric switches 17 and two infrared encoders 24 are respectively arranged at the two sides of the upper part and the lower part outside the DC wired power supply interface module 14, the charging end interface panel correspondingly connected with the direct current wired power supply interface module 14 is arranged on the robot and comprises a shell 32, an inwards concave conical charging terminal 30 is arranged in the middle of the inner surface of the shell 32, the conical charging terminal 30 and the conical power supply terminal 18 are arranged to be conical surfaces and are mutually matched, a magnetic plate B26 is arranged at the rear part of the conical charging terminal 30, the magnetic plate B26 and the magnetic plate A22 are magnetically attracted, two light emitting diodes 33 corresponding to the two photoelectric switches 17 and the two infrared encoders 24 and two infrared encoding receivers A25 are respectively arranged at the two sides of the upper part and the lower part of the inner surface of the shell 32, a conical electrode anode A39, a positive and negative insulating layer B31 and a conical electrode cathode A38 are sequentially arranged on the inner surface of the conical charging terminal 30 from front to back, a cable 27 and a ground wire B29 are respectively connected on the positive and negative insulating layer B31, the outer ends of the cable 27 and the ground wire B29 pass through the housing 32, the cable 27 is connected with the battery 28, and the ground wire B29 is grounded.
The solar energy on-line autonomous hybrid charging device for the power inspection robot is characterized in that a power supply end interface coil 35 is arranged in the middle of a panel of a direct current wireless power supply interface module 16, infrared code transmitters 15 are arranged at four corners of the panel of the direct current wireless power supply interface module 16, a receiving end interface coil 34 correspondingly connected with the power supply end interface coil 35 is arranged on a receiving panel 40 of the inspection robot, infrared code receivers B41 for receiving signals of the infrared code transmitters 15 are respectively arranged at four corners of the receiving panel 40 of the receiving end interface coil 34, and integrated circuit controllers are arranged in the panels of the panel of the direct current wireless power supply interface module 16 and the panel of the receiving end interface coil 34.
The controller 3 is respectively connected with the infrared coding emitter 15, the photoelectric switch 17 and the infrared coder 24 through signals.
The solar energy online autonomous hybrid charging method for the electric power inspection robot specifically comprises the following steps:
(1) Starting a motor 4, transmitting power through a gear box 5 so as to adjust the light receiving angle of a solar sailboard 7, converting light energy into electric energy, converting photovoltaic voltage into charging voltage of a storage battery 2 by a DC/DC voltage conversion module A, managing the storage battery 2 by a core control module based on a DSP, storing the converted electric energy by the storage battery 2, converting voltage by a DC/DC voltage conversion module B when the inspection robot is in butt joint charging, converting output voltage of the storage battery 2 into proper charging voltage and current of the inspection robot, and supplying power to a wired power supply interface module on an interface panel 13 for preparing to charge the inspection robot;
(2) The infrared encoder 24 arranged on the power supply interface panel 13 detects the relative position of the inspection robot, before the inspection robot approaches the power supply interface panel 13 and is not in butt joint with the power supply interface of the power supply interface panel 13, the integrated circuit controller in the direct current wireless power supply interface module 16 generates alternating signals, the receiving end interface coil 34 conditions the electric signals and then charges the battery of the inspection robot, the infrared encoder transmitter 15 detects the relative position of the inspection robot and the wireless power supply end, when the inspection robot enters a certain distance range, whether the inspection robot needs to be charged is judged according to the communication state, and the wireless charging function is started by the power supply end interface coil 35;
(3) The infrared encoder transmitters 15 on two sides of the power supply interface panel 13 send out different coding signals, the infrared encoder receivers B41 on two sides of the inspection robot charging end receiving panel 40 respectively receive the different coding signals sent by the infrared encoder transmitters 15, the left reference position and the right reference position of the direct current wired power supply interface of the power supply interface panel 13 are determined, and the inspection robot approaches to the direct current wired power supply interface;
(4) Starting a linear motor 10 to drive a displacement table 11 to displace, extending a power supply interface panel 13 to the inspection robot, absorbing the attraction of a magnetic sheet A22 at the end of the power supply interface panel 13 and a magnetic sheet B26 on a charging end shell 33 of the inspection robot, ejecting an adsorption cone power supply terminal 18, butting a cone charging terminal 30 with the cone power supply terminal 18, and realizing wired power supply connection between a direct-current wired power supply interface and the inspection robot, wherein a charging mode is switched to a wired charging mode;
(5) After the butt joint is successful, the light emitting diode 33 on the charging end shell 32 of the inspection robot emits light, the photoelectric switch 17 on the power supply interface panel 13 stops the movement of the linear motor 10 after receiving the light signal, the inspection robot turns off the light emitting signal of the light emitting diode 33 after the charging is finished, the linear motor 10 is started to retreat, the conical power supply terminal 18 is pulled back through the spring 19, the power supply interface panel 13 retreats, the linear motor 10 stops moving, and the direct current wired power supply interface is restored to a standby state to wait for the next power supply operation.
When the solar online autonomous hybrid charging device and method for the electric power inspection robot are used, the driver drives the motor 4 to drive the gear box 5 so as to drive the solar sailboard 7 to rotate, the light receiving angle of the solar sailboard 7 is regulated through the motor 4, the incidence angles of the sun in different seasons are tracked through the photosensitive sensors 8 on the solar sailboard 7, the utilization rate of solar power generation is improved to the greatest extent, the electric energy is converted through light energy, the converted electric energy is stored by the storage battery 2, the controller 3 is a core control module based on the DSP, therefore, the electric energy stored by the storage battery 2 is managed, the electric energy is converted by the DC/DC voltage conversion module B, suitable charging voltage and current are provided for the inspection robot, hybrid charging is carried out on the inspection robot through the direct current wireless power supply interface module 16 and the direct current wire power supply interface module 14 on the power supply interface panel 13, the relative position detection of the inspection robot and the BD is realized through the infrared sensors and the switch 17, the relative position detection of the inspection interface panel 13 and the BD is realized through the voltage and current sensors, the GPS/current information of the power supply interface module and the Beidou communication and the power supply interface module 6, the communication and monitoring device of the inspection robot are realized by the remote communication and the power supply center of the inspection robot is realized. The controller has necessary overload protection function, ensures that misoperation in any condition can not cause damage to the robot, and can also adopt a remote control method to shut down or restart the power supply device with problems. The linear motor 10 is adopted to drive the displacement table 11 to enable the power supply interface panel 13 to stretch back and forth, so that the distance between the power supply interface panel 13 and the inspection robot is convenient to adjust, the stretch-and-draw transformation of the position of the power supply interface panel 13 is realized, and power is supplied to the robot.
The power supply interface panel 13 adopts a hybrid power supply panel, namely, the direct current wireless power supply interface module 16 and the direct current wired power supply interface module 14 are respectively arranged on the hybrid power supply panel, when the inspection robot approaches to the power supply interface panel 13 within a certain distance range, before the inspection robot is in butt joint with the direct current wired power supply interface module 14, the direct current wireless power supply interface module 16 can carry out wireless charging on the inspection robot, and the situation that the inspection robot is charged independently due to the fact that the electric quantity of the robot is exhausted and cannot be driven is avoided. After the direct-current wired power supply interface module 14 is in butt joint with a charging interface port of the inspection robot, the inspection robot charging system detects impedance change by using a voltage and current sensor, judges whether the charging interface is in full butt joint and is in good contact, and once the wired interface is in good butt joint, the charging system is switched into a wired charging mode by controlling the action of a relay, so that the charging efficiency and the energy utilization rate are improved; the charging system monitors the contact condition of the charging interface through impedance detection, and simultaneously monitors charging parameters by matching with voltage and current sensors in the robot, once the charging abnormality of the online interface occurs, the inspection robot can be switched to a wireless power supply state, and energy is continuously provided for the inspection robot; the inspection robot is provided with a corresponding charging end interface and a wireless charging receiving panel 40, a conical surface charging terminal 30 of the charging end interface of the inspection robot is arranged to be a conical surface, so that the inspection robot is convenient to correspond to a conical surface power supply terminal 18 of a direct current wired power supply interface module 14, docking and separation can be conveniently and smoothly completed, two infrared encoders 24 on the direct current wired power supply interface module 14 emit different coding signals, (such as 111 codes emitted by the left infrared encoder 24 and 101 codes emitted by the right infrared encoder 24), the inspection robot represents a left and right position reference of the direct current wired power supply interface module 14, an infrared encoding receiver A25 is designed on a shell 32 of the charging end of the inspection robot, and after receiving the coding signals emitted by the infrared encoder 24, the position of the direct current wired power supply interface module 14 is determined according to the encoding state, and the moving speed is controlled to be close to the power supply interface; when the left end and the right end are aligned, the linear motor 10 drives the displacement table 11 to generate displacement, the power supply interface panel 13 extends out, when the power supply interface panel 13 approaches to the inspection robot to a certain distance, the magnetic force sheet A22 at the end of the direct current wired power supply interface module 14 and the magnetic force sheet B26 on the charging end shell 32 of the inspection robot are utilized to absorb the ejection of the conical power supply terminal 18, the conical power supply terminal 30 is in butt joint with the conical power supply terminal 18, after the butt joint is successful, the robot sends a charging butt joint success signal, the LED 33 on the charging end shell 32 of the robot is driven to emit light, and the movement of the linear motor 10 is stopped after the photoelectric switch 17 on the direct current wired power supply interface module 14 receives the optical signal; after the charging is finished, the robot turns off the light signal of the light emitting diode 33, the direct current wired power supply interface module 14 starts the linear motor 10 to retreat, the conical power supply terminal 18 on the direct current wired power supply interface module 14 is pulled back by the spring 19, when the direct current wired power supply interface module 14 retreats to a certain distance, the linear motor 10 stops moving, and the direct current wired power supply interface module 14 returns to a standby state to wait for the next power supply operation.
The direct current wireless power supply interface module 16 is designed by adopting an electromagnetic induction principle, an integrated circuit controller is arranged in a panel of the direct current wireless power supply interface module 16, the integrated circuit controller generates alternating signals, a built-in power supply end interface coil 35 is excited, the power supply end interface coil 34 of the inspection robot generates induced potentials under the excitation of electromagnetic waves of the power supply end interface coil 35, the power supply end interface coil 34 conditions electric signals and then charges a battery of the inspection robot, the infrared code transmitter 15 detects the relative position of the inspection robot and a wireless power supply end, and when the inspection robot enters a certain distance range, whether the inspection robot needs to be charged or not can be judged according to a communication state, and a wireless charging function can be started by the power supply end interface coil 35; the two infrared code transmitters 15 on the left side and the two infrared code transmitters 15 on the right side on the direct current wireless power supply interface module 16 transmit different code signals, (for example, the two infrared code transmitters 15 on the left side transmit 111 codes, the two infrared code transmitters 15 on the right side transmit 101 codes), the two infrared code receivers B41 on the left side and the two infrared code receivers B41 on the right side on the inspection robot charging end receiving panel 40 respectively receive 111 code signals and 101 code signals, and the position of the direct current wireless power supply interface module 16 is determined according to the code state.
The invention is not described in detail in the prior art.
The embodiments selected herein for the purposes of disclosing the present invention are presently considered to be suitable, however, it is to be understood that the present invention is intended to include all such variations and modifications as fall within the spirit and scope of the present invention.
Claims (6)
1. The utility model provides an online independently mixed charging device of solar energy for electric power inspection robot, includes pylon and solar power supply system, characterized by: the solar power supply system comprises a storage battery, a controller, a solar sailboard, a direct-current wired power supply interface module, a direct-current wireless power supply interface module, a voltage sensor, a current sensor, a photosensitive sensor, an infrared encoder and a photoelectric switch, wherein the controller comprises a DC/DC voltage conversion module A, a DC/DC voltage conversion module B, a communication module, a positioning module and a core control module based on a DSP, wherein the DC/DC voltage conversion module A is respectively used for converting solar photovoltaic voltage into storage battery charging voltage, and the DC/DC voltage conversion module B is used for converting storage battery output voltage into robot charging voltage; the device comprises a tower body, a motor, a power supply interface panel, a solar sailboard, a direct-current wired power supply interface module, a direct-current wireless power supply interface module, a voltage sensor, a current sensor, a photosensitive sensor, an infrared encoder, a photoelectric switch and a motor, wherein the tower body is respectively provided with the controller and the storage battery which are arranged through a box body, the motor is arranged on angle steel of the tower body, the motor is driven by a driver and is connected with the input end of the gear box, the output end of the gear box is fixedly connected with the mounting bracket, the solar sailboard is fixed on the mounting bracket, the controller is respectively connected with the solar sailboard, the direct-current wired power supply interface module, the voltage sensor, the current sensor, the photosensitive sensor, the infrared encoder, the photoelectric switch and the motor through circuits, the direct-current wired power supply interface module and the direct-current wireless power supply interface module are connected to the output end of the DC/DC voltage conversion module B, the direct-current wired power supply interface module and the direct-current wireless power supply interface module are respectively arranged on a power supply interface panel at intervals, the power supply interface panel is fixed on the upper part of the displacement platform through a connecting plate, the displacement platform is arranged on the linear motor, and the linear motor is fixed on the upper part of the tower through a mounting frame;
the external face of the middle part of the DC wired power supply interface module is provided with a conical power supply terminal, the DC wired power supply interface module is internally provided with a spring, the rear part of the conical power supply terminal is provided with a positive electrode insulating layer A, the front end of the conical power supply terminal is provided with a conical electrode negative electrode B, the conical surface of the conical power supply terminal is provided with a conical electrode positive electrode B, the positive electrode insulating layer A is respectively connected with a power supply cable and a ground wire A, the rear ends of the ground wire A and the power supply cables sequentially pass through the DC wired power supply interface module and a connecting plate respectively and are grounded and powered by a power supply, the rear part of the conical power supply terminal is provided with a magnetic force sheet A, two sides of the upper part and the lower part of the external face of the DC wired power supply interface module are respectively provided with two photoelectric switches and two infrared encoders, a charging end interface panel correspondingly connected with the DC wired power supply interface module is arranged on a patrol robot, the power supply device comprises a shell, wherein an inwards concave conical surface charging terminal is arranged in the middle of the inner surface of the shell, the conical surface charging terminal and a conical surface power supply terminal are arranged in a conical surface shape and are mutually matched, a magnetic sheet B is arranged at the rear part of the conical surface charging terminal, the magnetic sheet B and the magnetic sheet A are magnetically attracted, two light emitting diodes and two infrared coding receivers A corresponding to two photoelectric switches and two infrared encoders are respectively arranged at the upper side and the lower side of the inner surface of the shell, a conical electrode anode A, a conical electrode anode insulating layer B and a conical electrode cathode A are sequentially arranged on the inner surface of the conical surface charging terminal from front to back, a cable and a ground wire B are respectively connected to the anode insulating layer B, the outer ends of the cable and the ground wire B penetrate through the shell, the cable is connected with a battery, and the ground wire B is grounded;
the middle part of direct current wireless power supply interface module is equipped with power supply interface coil, all is equipped with infrared code transmitter in the four corners of direct current wireless power supply interface module, and the receiving terminal interface coil that corresponds to be connected with power supply interface coil sets up on inspection robot's receiving panel, and the four corners of receiving terminal interface coil's receiving panel is equipped with infrared code receiver B that receives infrared code transmitter signal respectively, all is equipped with integrated circuit controller in direct current wireless power supply interface module and receiving terminal interface coil's panel.
2. The solar energy online autonomous hybrid charging device for an electric power inspection robot according to claim 1, characterized in that: a supporting frame is arranged between the gear box and the tower, one end of the supporting frame is fixed at the lower part of the gear box, the other end of the supporting frame is fixedly connected with the tower, a gear shaft of one gear in the gear box is connected with an output shaft of the motor through a coupler, a gear shaft of the other gear is fixedly connected with a mounting bracket through the coupler, and the two gears are mutually meshed.
3. The solar energy online autonomous hybrid charging device for an electric power inspection robot according to claim 1, characterized in that: the connecting plate is L-shaped, and the power supply interface panel is arranged on the lateral surface of the outer end of the connecting plate.
4. The solar energy online autonomous hybrid charging device for an electric power inspection robot according to claim 1, characterized in that: the power supply interface panel is a hybrid charging panel, a direct current wired power supply interface module is arranged on the upper portion of the power supply interface panel, a direct current wireless power supply interface module is arranged on the lower portion of the power supply interface panel, a threaded hole is formed in the side face of the power supply interface panel, and the power supply interface panel is fixedly connected with an outer end side arm of the connecting plate through a bolt.
5. The solar energy online autonomous hybrid charging device for an electric power inspection robot according to claim 1, characterized in that: the controller is respectively connected with the infrared coding transmitter, the photoelectric switch and the infrared coder through signals.
6. The method of the solar energy online autonomous hybrid charging device for the power inspection robot according to any one of claims 1 to 5, specifically comprising the following steps:
(1) The method comprises the steps that a motor is started, power is transmitted through a gear box so as to adjust the light receiving angle of a solar sailboard, light energy is converted into electric energy, a DC/DC voltage conversion module A converts photovoltaic voltage into charging voltage of a storage battery, the storage battery is managed by a core control module based on a DSP, the storage battery stores the converted electric energy, when the inspection robot is in butt joint charging, voltage conversion is carried out through a DC/DC voltage conversion module B, output voltage of the storage battery is converted into proper charging voltage and current of the inspection robot, and a wired power supply interface module on a power supply interface panel is used for preparing to charge the inspection robot;
(2) An infrared encoder arranged on a power supply interface panel detects the relative position of the inspection robot, before the inspection robot approaches the power supply interface panel and is not in butt joint with a power supply interface of the power supply interface panel, an integrated circuit controller in a direct current wireless power supply interface module generates alternating signals, a receiving end interface coil is used for conditioning electric signals and then charging a battery of the inspection robot, an infrared encoding transmitter is used for detecting the relative position of the inspection robot and a wireless power supply end, and when the inspection robot enters a certain distance range, whether the inspection robot needs to be charged or not is judged according to a communication state, and a wireless charging function is started by the power supply end interface coil;
(3) The infrared encoder transmitters on two sides of the power supply interface panel send out different encoding signals, the infrared encoding receivers B on two sides of the inspection robot charging end receiving panel respectively receive the different encoding signals sent by the infrared encoder transmitters, the left and right reference positions of the direct current wired power supply interface of the power supply interface panel are determined, and the inspection robot approaches to the direct current wired power supply interface;
(4) Connecting a step, namely starting a linear motor to drive a displacement table to generate displacement, extending a power supply interface panel to the inspection robot, adsorbing the attraction effect of a magnetic sheet A at the end of the power supply interface panel and a magnetic sheet B on a charging end shell of the inspection robot, ejecting a conical surface power supply terminal, butting the conical surface charging terminal with the conical surface power supply terminal, and realizing wired power supply connection between a direct-current wired power supply interface and the inspection robot, wherein a charging mode is switched to a wired charging mode;
(5) After the butt joint is successful, the light emitting diode on the charging end shell of the inspection robot emits light, the photoelectric switch on the power supply interface panel stops the movement of the linear motor after receiving the light signal, the inspection robot turns off the light emitting signal of the light emitting diode after the charging is finished, the linear motor is started to retreat, the conical power supply terminal is pulled back through the spring, the power supply interface panel retreats, the linear motor stops moving, and the direct-current wired power supply interface is restored to a standby state to wait for the next power supply operation.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018107345330 | 2018-07-06 | ||
| CN201810734533.0A CN108565956A (en) | 2018-07-06 | 2018-07-06 | Electric inspection process robot solar energy autonomous mixed charged device and method online |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110138073A CN110138073A (en) | 2019-08-16 |
| CN110138073B true CN110138073B (en) | 2024-03-26 |
Family
ID=63555647
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810734533.0A Pending CN108565956A (en) | 2018-07-06 | 2018-07-06 | Electric inspection process robot solar energy autonomous mixed charged device and method online |
| CN201910602099.5A Active CN110138073B (en) | 2018-07-06 | 2019-07-05 | Solar online autonomous hybrid charging device and method for electric power inspection robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810734533.0A Pending CN108565956A (en) | 2018-07-06 | 2018-07-06 | Electric inspection process robot solar energy autonomous mixed charged device and method online |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN108565956A (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111030205A (en) * | 2018-10-10 | 2020-04-17 | Oppo广东移动通信有限公司 | Charging control method, charging control device, storage medium and electronic equipment |
| CN110148993A (en) * | 2018-11-12 | 2019-08-20 | 浙江大学山东工业技术研究院 | A kind of outdoor moving robot charging system and charging method |
| CN110165748B (en) * | 2019-06-17 | 2024-05-07 | 国网福建省电力有限公司泉州供电公司 | On-line charging station of inspection robot |
| CN110224469A (en) * | 2019-07-01 | 2019-09-10 | 北京海益同展信息科技有限公司 | The control method and device and charging system of charging system |
| CN111769619B (en) * | 2020-07-20 | 2024-02-23 | 河南科技大学 | Wireless charging system for epidemic prevention inspection robot |
| CN113788144A (en) * | 2021-09-28 | 2021-12-14 | 浙江科比特科技有限公司 | Accurate positioning device for electric power inspection unmanned aerial vehicle |
| CN117879132B (en) * | 2024-03-12 | 2024-05-14 | 南通科美自动化科技有限公司 | Energy storage and power supply system for inspection robot |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101399674A (en) * | 2008-10-10 | 2009-04-01 | 江苏大学 | Aggregation node system having GPRS module power supplied by solar energy |
| CN103593992A (en) * | 2013-11-27 | 2014-02-19 | 时延昭 | Solar traffic police robot |
| CN103699068A (en) * | 2013-12-06 | 2014-04-02 | 上海卫星工程研究所 | Wireless communication node system for monitoring vibration of solar array of satellite |
| CN104079054A (en) * | 2014-07-01 | 2014-10-01 | 武汉大学 | Energy recovery system and method for high-tension transmission line patrol robot |
| CN104898668A (en) * | 2015-04-30 | 2015-09-09 | 中国空间技术研究院 | On-orbit fault detection and maintenance method based on inspection robot |
| CN105048540A (en) * | 2015-07-08 | 2015-11-11 | 江苏大学 | Charging device of greenhouse automatic inspection platform |
| 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 |
| WO2018053982A1 (en) * | 2016-09-21 | 2018-03-29 | 苏州瑞得恩光能科技有限公司 | Wireless charging system and wireless charging method for solar panel cleaning robot |
| CN110138072A (en) * | 2018-07-06 | 2019-08-16 | 洛阳视距智能科技有限公司 | A kind of online charging unit of electric inspection process robot solar energy and method |
| CN209963823U (en) * | 2018-07-06 | 2020-01-17 | 洛阳视距智能科技有限公司 | Solar online charging device for power inspection robot |
| CN210577921U (en) * | 2018-07-06 | 2020-05-19 | 洛阳视距智能科技有限公司 | Solar energy online autonomous hybrid charging device for power inspection robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120086284A1 (en) * | 2008-09-27 | 2012-04-12 | Capanella Andrew J | Wireless transmission of solar generated power |
| US8618766B2 (en) * | 2010-09-27 | 2013-12-31 | Deere & Company | Robot power source charging station |
-
2018
- 2018-07-06 CN CN201810734533.0A patent/CN108565956A/en active Pending
-
2019
- 2019-07-05 CN CN201910602099.5A patent/CN110138073B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101399674A (en) * | 2008-10-10 | 2009-04-01 | 江苏大学 | Aggregation node system having GPRS module power supplied by solar energy |
| CN103593992A (en) * | 2013-11-27 | 2014-02-19 | 时延昭 | Solar traffic police robot |
| CN103699068A (en) * | 2013-12-06 | 2014-04-02 | 上海卫星工程研究所 | Wireless communication node system for monitoring vibration of solar array of satellite |
| CN104079054A (en) * | 2014-07-01 | 2014-10-01 | 武汉大学 | Energy recovery system and method for high-tension transmission line patrol robot |
| CN104898668A (en) * | 2015-04-30 | 2015-09-09 | 中国空间技术研究院 | On-orbit fault detection and maintenance method based on inspection robot |
| CN105048540A (en) * | 2015-07-08 | 2015-11-11 | 江苏大学 | Charging device of greenhouse automatic inspection platform |
| WO2018053982A1 (en) * | 2016-09-21 | 2018-03-29 | 苏州瑞得恩光能科技有限公司 | Wireless charging system and wireless charging method for solar panel cleaning robot |
| 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 |
| CN110138072A (en) * | 2018-07-06 | 2019-08-16 | 洛阳视距智能科技有限公司 | A kind of online charging unit of electric inspection process robot solar energy and method |
| CN209963823U (en) * | 2018-07-06 | 2020-01-17 | 洛阳视距智能科技有限公司 | Solar online charging device for power inspection robot |
| CN210577921U (en) * | 2018-07-06 | 2020-05-19 | 洛阳视距智能科技有限公司 | Solar energy online autonomous hybrid charging device for power inspection robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108565956A (en) | 2018-09-21 |
| CN110138073A (en) | 2019-08-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110138073B (en) | Solar online autonomous hybrid charging device and method for electric power inspection robot | |
| CN110138072B (en) | Solar online charging device and method for power inspection robot | |
| CN107402574B (en) | Autonomous charging system and method for robot | |
| CN103683521A (en) | Laser positioning intelligent connection electric vehicle wireless charger and transceiver system | |
| CN103326447B (en) | Electric motor car wireless charging system | |
| CN108039780B (en) | Laser energy supply system for transformer substation | |
| CN210577921U (en) | Solar energy online autonomous hybrid charging device for power inspection robot | |
| CN105071485A (en) | Split type energy supply system of cable inspection robot and supply method thereof | |
| CN108973746A (en) | A kind of unmanned plane wireless charging system and its charge control method | |
| CN112165180B (en) | Wireless charging system and control method | |
| CN209963823U (en) | Solar online charging device for power inspection robot | |
| CN102983454B (en) | Artificial intelligence charging system | |
| CN210669643U (en) | Control system of wireless charger | |
| CN111600399A (en) | Dynamic wireless charging system and method for transformer substation inspection robot | |
| CN111865209A (en) | Novel photovoltaic clean robot system of refuting | |
| CN217435546U (en) | Marine wireless charging system | |
| CN112769202B (en) | Dual-power wireless charging system and charging method for wave energy profile buoy | |
| CN109435749A (en) | Charging equipment and power supply system | |
| CN210957843U (en) | Charging system of power transmission line inspection robot | |
| CN113108107A (en) | Control device of gas ball valve | |
| CN206004356U (en) | A kind of waterproof humanoid robot wireless charging device | |
| CN107707007B (en) | Wind energy storage type wireless charging system and method for overhead transmission line robot | |
| CN220254155U (en) | Swimming pool cleaning machine with wireless function of charging | |
| CN216959390U (en) | Control circuit based on charging robot | |
| CN215524373U (en) | Vehicle-mounted electromagnetic pulse interference system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |