CN113037044A - Inspection robot and wireless charging system thereof - Google Patents
Inspection robot and wireless charging system thereof Download PDFInfo
- Publication number
- CN113037044A CN113037044A CN202110262073.8A CN202110262073A CN113037044A CN 113037044 A CN113037044 A CN 113037044A CN 202110262073 A CN202110262073 A CN 202110262073A CN 113037044 A CN113037044 A CN 113037044A
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- inspection robot
- charging
- wireless
- wireless charging
- guide rail
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- 238000007689 inspection Methods 0.000 title claims abstract description 110
- 230000008878 coupling Effects 0.000 claims abstract description 7
- 238000010168 coupling process Methods 0.000 claims abstract description 7
- 238000005859 coupling reaction Methods 0.000 claims abstract description 7
- 238000005452 bending Methods 0.000 abstract description 4
- 239000000428 dust Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K33/00—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system
- H02K33/18—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system with coil systems moving upon intermittent or reversed energisation thereof by interaction with a fixed field system, e.g. permanent magnets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Manipulator (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention provides an inspection robot and a wireless charging system thereof, wherein the inspection robot comprises an inspection robot body, a linear motor, a guide rail and a wireless charging receiving terminal, the wireless charging receiving terminal is arranged in the inspection robot body, the linear motor is arranged on the inspection robot body, and one side of the guide rail, which faces the linear motor, is provided with a permanent magnet; the electromagnetic force that linear electric motor produced can act on the permanent magnet to the drive patrols and examines robot automobile body and remove to target charging stake position department along the guide rail, makes the wireless transmitting terminal that charges on the target charging stake and the wireless receiving terminal coupling that charges. The inspection robot adopts an electromagnetic direct drive mode to drive the inspection robot body to move, and is not influenced by special conditions such as a bending section and a slope section; adopt wireless mode of charging, need not artifical wiring or the supplementary wiring of structure, can improve charge efficiency, can also improve the leakproofness of patrolling and examining the robot, make it dustproof and waterproof better to efficiency is patrolled and examined in the improvement.
Description
Technical Field
The invention belongs to the technical field of inspection robots, and particularly relates to an inspection robot and a wireless charging system thereof.
Background
At present, the charging mode of the inspection robot is mainly two, one is wireless charging, and the other is charging by directly connecting an adapter. However, no matter which charging method is adopted by the existing inspection robot, certain problems exist. The wireless mode of charging requires to patrol and examine robot's positioning accuracy and repeated positioning accuracy all higher, and the positioning accuracy that robot was patrolled and examined to current wheel-type is mostly centimetre level, and positioning accuracy is lower, when using wireless charging, can be because of the location is not accurate and lead to the charging efficiency low to sometimes still need artifical calibration position. And when directly connecing the adapter to charge, need artifical wiring or the supplementary wiring of structure usually, lead to patrolling and examining the leakproofness of robot poor, can not dustproof and waterproof well to the condition of striking sparks can appear when the circular telegram, makes this charging mode have great potential safety hazard.
Disclosure of Invention
The invention aims to at least solve one of the technical problems in the prior art and provides an inspection robot and a wireless charging system thereof.
In one aspect of the invention, the inspection robot comprises an inspection robot body, a linear motor, a guide rail and a wireless charging receiving end, wherein the wireless charging receiving end is arranged in the inspection robot body;
the electromagnetic force that linear electric motor produced can act on the permanent magnet to the drive it moves to target and fills electric pile position department along the guide rail to patrol and examine the robot automobile body, makes wireless transmitting terminal that charges on the target fills electric pile with the wireless receiving terminal coupling that charges.
In some embodiments, the inspection robot further comprises a control unit and an encoder, the encoder is arranged on the linear motor, and the control unit is electrically connected with the encoder and the linear motor respectively;
the encoder is used for acquiring the actual position information of the inspection robot;
the control unit is used for determining the target charging pile from a plurality of charging piles according to the actual position information of the inspection robot when the electric quantity of the inspection robot is lower than a preset threshold value.
In some embodiments, the control unit is specifically configured to select, according to the actual position information of the inspection robot, a charging pile closest to the inspection robot from the plurality of charging piles as the target charging pile.
In some embodiments, the inspection robot further comprises a storage unit, the storage unit is electrically connected with the control unit, and the storage unit stores position information of the plurality of charging piles in advance;
the control unit is specifically used for comparing the position information of the charging piles with the actual position information of the inspection robot respectively to determine the target charging pile.
In some embodiments, the encoder is an incremental encoder.
In some embodiments, the permanent magnet is embedded within the rail.
In some embodiments, the inspection robot further includes a fixing member coupled to the guide rail to fix the guide rail.
In another aspect of the present invention, a wireless charging system for an inspection robot is provided, the wireless charging system includes a plurality of charging piles and the inspection robot described above;
every it all includes the wireless transmitting terminal that charges to fill electric pile, the wireless transmitting terminal that charges selectively with patrol and examine the wireless charging receiving terminal coupling of robot.
In some embodiments, the plurality of charging posts are arranged at intervals along the length direction of the guide rail.
In some embodiments, the wireless charging transmitting terminals of the plurality of charging posts are disposed on the side surface and/or the bottom surface of the guide rail.
According to the inspection robot and the wireless charging system thereof, the inspection robot body is driven to move in an electromagnetic direct-drive mode, so that the inspection robot can move to a target charging pile position when charging is needed, and the inspection robot is not influenced by special conditions such as a bent section and a slope section. In addition, the wireless charging mode is adopted for charging the inspection robot, manual wiring or structural auxiliary wiring is not needed, the charging efficiency can be improved, the sealing performance of the inspection robot can also be improved, the inspection robot can be better prevented from dust and water, and the inspection efficiency is improved.
Drawings
Fig. 1 is a schematic structural diagram of a wireless charging system of an inspection robot according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the present embodiment relates to an inspection robot 100, which includes an inspection robot body 110, a linear motor 120, a guide rail 130, and a wireless charging receiving terminal (not shown). The wireless charging receiving end is arranged in the inspection robot body 110, the linear motor 120 is arranged on the inspection robot body 110, and a permanent magnet (not shown) is arranged on one side of the guide rail 130 facing the linear motor 120. The electromagnetic force generated by the linear motor 120 can act on the permanent magnet to drive the inspection robot body 110 to move to the position of the target charging pile along the guide rail 130, so that the wireless charging transmitting terminal on the target charging pile is coupled with the wireless charging receiving terminal.
Specifically, when the inspection robot 100 of the present embodiment performs inspection, the linear motor 120 is started, the electromagnetic coil is disposed in the linear motor 120, when a symmetrical sinusoidal alternating current is applied to a three-phase winding of the electromagnetic coil, an air-gap magnetic field is generated, and the air-gap magnetic field is distributed in a sinusoidal manner along a linear direction, and is translated along a straight line, which is called a traveling wave magnetic field. The traveling wave magnetic field interacts with the permanent magnetic field generated by the permanent magnet to generate acting force, so that the inspection robot body 110 is driven to move along the guide rail 130. When the inspection robot 100 needs to be charged, the inspection robot body 110 is driven by acting force generated by interaction of a traveling wave magnetic field and a permanent magnetic field and moves to the position of the target charging pile along the guide rail 130, so that the wireless charging transmitting terminal on the target charging pile is coupled with the wireless charging receiving terminal on the inspection robot 100, electromagnetic induction occurs, charging current is generated, the inspection robot 100 starts to be charged, when the electric quantity of the inspection robot 100 reaches a peak value, the charging current is gradually reduced until the wireless charging transmitting terminal is disconnected with the wireless charging receiving terminal, and the inspection robot 100 is charged. In addition, the wireless charging transmitting terminal can be turned on again after the inspection robot 100 leaves, so that the inspection robot can be charged again at any time.
In order to realize different inspection scenes, the inspection robot body 110 may carry some image recognition devices such as a camera and an infrared thermal imager, and may also carry some other inspection devices, and those skilled in the art may select the inspection device according to actual needs. The inspection robot body 110 can be hoisted on the guide rail 130 in a hoisting manner, so that the inspection robot body 110 can be fixed more simply and firmly, and besides, a person skilled in the art can select other installation manners, for example, the inspection robot body 110 can be directly arranged above the guide rail 130, which is not limited in this embodiment.
The inspection robot of this embodiment, permanent magnet interact drive inspection robot automobile body through linear electric motor on with the guide rail moves on the guide rail, also adopts electromagnetism direct drive mode drive inspection robot automobile body to remove to can make inspection robot can move target charging pile position department when needs charge, and not influenced by special circumstances such as bending section, slope section. In addition, the wireless charging mode is adopted for charging the inspection robot, manual wiring or structural auxiliary wiring is not needed, the charging efficiency can be improved, the sealing performance of the inspection robot can also be improved, the inspection robot can be better prevented from dust and water, and the inspection efficiency is improved.
Illustratively, as shown in fig. 1, the inspection robot 100 further includes a control unit (not shown) and an encoder (not shown). The encoder is disposed on the linear motor 120, and the control unit is electrically connected to the encoder and the linear motor 120, respectively. The encoder is used to acquire actual position information of the inspection robot 100. The control unit is used for determining the target charging pile from a plurality of charging piles according to the actual position information of the robot 100 when the electric quantity of the robot 100 is lower than the preset threshold value. The inspection robot of this embodiment through the control unit and encoder, can improve the accuracy of target charging position to repeated positioning accuracy can not receive the influence of special positions such as bending section, slope section, makes the robot of patrolling and examining can in time, accurately go to the target charging position when needs charge and charge.
The control unit may also be configured to control the actual electromagnetic force of the linear motor 120 so that the inspection robot 100 is stabilized at the target charging pile position when the inspection robot 100 reaches the target charging pile position. The robot of patrolling and examining of this embodiment can not break off the electromagnetic force when reacing target charging pile position department, but can keep certain electromagnetic force for it can stabilize in target charging pile position department to patrol and examine the robot, can not remove because of receiving external force, also can stop in special positions such as slope. For example, the control unit may control the linear motor 120 in an FOC control manner, so that the current, the speed, and the angle of the generated magnetic field of the linear motor 120 may be accurately controlled, and the inspection robot 100 may stably stay at the target charging pile position.
Illustratively, the control unit is specifically configured to select, from the plurality of charging piles, a charging pile closest to the inspection robot 100 as the target charging pile according to the actual position information of the inspection robot 100. Through will patrol and examine the nearest electric pile of filling of robot as the target and fill electric pile apart from, can make and patrol and examine the robot and when the electric quantity was less than preset threshold value, reach target charging pile position department as early as possible and charge, prevent because of the electric quantity exhausts and stop work, and then cause the loss.
For example, as shown in fig. 1, the inspection robot 100 further includes a storage unit (not shown), the storage unit is electrically connected to the control unit, and the storage unit stores position information of the plurality of charging piles in advance. The control unit is specifically used for comparing the position information of a plurality of charging piles with the actual position information of the inspection robot 100 respectively to determine the target charging pile. For example, according to the actual positions of a plurality of charging piles, a plurality of position information corresponding to the plurality of charging piles are obtained through measurement, the plurality of position information are stored in the storage unit in advance, when the electric quantity of the inspection robot 100 is lower than a preset threshold value, the control unit can compare the position information of the plurality of charging piles stored in the storage unit with the current actual position information of the inspection robot, and the target charging pile is determined. For example, the positions of the charging piles and the current actual position of the inspection robot 100 may be subtracted to obtain the position closest to the current actual position of the inspection robot 100, so that the charging pile corresponding to the position is used as the target charging pile.
The robot patrols and examines of this embodiment, through the position information with a plurality of electric piles of filling prestore in the memory cell, can be when patrolling and examining the robot and need charge, determine the target and fill electric pile from a plurality of electric piles as early as possible to improve charge efficiency.
Exemplarily, the encoder can adopt an incremental encoder to ensure that the whole running process of the inspection robot has position information, namely, a complete coordinate system, so that high-precision position feedback can be provided in the running process of the inspection robot, the position feedback is not influenced by special positions such as a bending section and a slope section, the positioning precision and the repeated positioning precision of the inspection robot are improved, and the positioning precision can be smaller than 1 millimeter.
It should be noted that the arrangement of the permanent magnet on the guide rail 130 is not limited, and for example, the permanent magnet may be arranged on the surface of the guide rail 130. Also for example, the permanent magnets may be embedded in the guide rails 130, preferably in this manner. Of course, besides, the permanent magnet may also take other arrangements, which is not limited by this embodiment.
Illustratively, as shown in fig. 1, the inspection robot 100 further includes a fixing member 140, and the fixing member 140 is coupled to the guide rail 130 to fix the guide rail 130. The mount 140 may be a rigid structure to further enhance the stability of the rail 130.
As shown in fig. 1, the present embodiment relates to a wireless charging system 200 for an inspection robot, and the wireless charging system 200 includes a plurality of charging piles 210 and the inspection robot 100 described above. Each charging post 210 includes a wireless charging transmitting terminal (not shown) selectively coupled to a wireless charging receiving terminal of the inspection robot 100. That is to say, every fills electric pile 210 and all can be when patrolling and examining robot 100 and arriving, through the coupling of wireless transmitting terminal and the wireless receiving terminal that charges of wireless to the realization charges for patrolling and examining robot 100.
The wireless charging system of this embodiment, a plurality of electric pile of filling selectively with patrol and examine the wireless charging receiving terminal coupling on the robot through wireless transmitting terminal that charges for patrol and examine the robot and can select different electric pile of filling to charge when needs charge. In addition, the wireless charging mode is adopted for charging the inspection robot, manual wiring or structural auxiliary wiring is not needed, the charging efficiency can be improved, the sealing performance of the inspection robot can also be improved, the inspection robot can be better prevented from dust and water, and the inspection efficiency is improved.
The arrangement of the plurality of charging piles 210 on the guide rail 130 is not limited, and for example, the plurality of charging piles 210 may be arranged in parallel along the longitudinal direction of the guide rail 130. For another example, a plurality of charging posts 210 may be spaced along the length of the rail 130, preferably in this manner. Of course, in addition, the plurality of charging piles 210 may also adopt other setting manners, which is not limited in this embodiment.
For example, the wireless charging transmitting terminals of the plurality of charging piles may be disposed at the side and/or bottom of the guide rail 130. That is to say, wireless transmitting terminal that charges can set up in guide rail 130 side, also can set up in guide rail 130 bottom surface, and perhaps, can also set up the wireless transmitting terminal that charges of partly filling electric pile in guide rail 130 side, and the wireless transmitting terminal that charges of partly filling electric pile sets up in guide rail 130 bottom surface, and the technical staff in the art can select according to actual need.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (10)
1. The inspection robot is characterized by comprising an inspection robot body, a linear motor, a guide rail and a wireless charging receiving end, wherein the wireless charging receiving end is arranged in the inspection robot body;
the electromagnetic force that linear electric motor produced can act on the permanent magnet to the drive it moves to target and fills electric pile position department along the guide rail to patrol and examine the robot automobile body, makes wireless transmitting terminal that charges on the target fills electric pile with the wireless receiving terminal coupling that charges.
2. The inspection robot according to claim 1, further comprising a control unit and an encoder, wherein the encoder is disposed on the linear motor, and the control unit is electrically connected to the encoder and the linear motor, respectively;
the encoder is used for acquiring the actual position information of the inspection robot;
the control unit is used for determining the target charging pile from a plurality of charging piles according to the actual position information of the inspection robot when the electric quantity of the inspection robot is lower than a preset threshold value.
3. The inspection robot according to claim 2, wherein the control unit is specifically configured to select a charging pile closest to the inspection robot from the plurality of charging piles as the target charging pile according to actual position information of the inspection robot.
4. The inspection robot according to claim 3, further comprising a storage unit electrically connected to the control unit, wherein the storage unit stores position information of the plurality of charging posts in advance;
the control unit is specifically used for comparing the position information of the charging piles with the actual position information of the inspection robot respectively to determine the target charging pile.
5. The inspection robot according to claim 2, wherein the encoder is an incremental encoder.
6. The inspection robot according to any one of claims 1-5, wherein the permanent magnets are embedded within the rail.
7. The inspection robot according to any one of claims 1 to 5, further comprising a fixture coupled to the rail to secure the rail.
8. A wireless charging system of an inspection robot, characterized by comprising a plurality of charging piles and the inspection robot according to any one of claims 1 to 7;
every it all includes the wireless transmitting terminal that charges to fill electric pile, the wireless transmitting terminal that charges selectively with patrol and examine the wireless charging receiving terminal coupling of robot.
9. The wireless charging system of claim 8, wherein the plurality of charging posts are spaced apart along a length of the rail.
10. The wireless charging system of claim 8, wherein the wireless charging transmitting terminals of the plurality of charging posts are disposed on the side surface and/or the bottom surface of the guide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110262073.8A CN113037044A (en) | 2021-03-10 | 2021-03-10 | Inspection robot and wireless charging system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110262073.8A CN113037044A (en) | 2021-03-10 | 2021-03-10 | Inspection robot and wireless charging system thereof |
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| Publication Number | Publication Date |
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| CN113037044A true CN113037044A (en) | 2021-06-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110262073.8A Pending CN113037044A (en) | 2021-03-10 | 2021-03-10 | Inspection robot and wireless charging system thereof |
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| Country | Link |
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| CN (1) | CN113037044A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114123399A (en) * | 2021-11-17 | 2022-03-01 | 北京华能新锐控制技术有限公司 | Charging control system for track robot |
| CN114132190A (en) * | 2021-11-30 | 2022-03-04 | 河南牧原智能科技有限公司 | System, method and device for charging inspection vehicle |
| CN114123399B (en) * | 2021-11-17 | 2024-07-19 | 北京华能新锐控制技术有限公司 | Track robot charge control system |
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| CN107336242A (en) * | 2017-08-16 | 2017-11-10 | 苏州朗创优机器人科技有限公司 | A kind of unattended crusing robot |
| CN107848437A (en) * | 2015-08-21 | 2018-03-27 | 村田机械株式会社 | Moving body |
| CN110299749A (en) * | 2019-08-07 | 2019-10-01 | 国网江苏省电力有限公司南京供电分公司 | A kind of diversification power supply system for underground pipe gallery robot |
| CN111404280A (en) * | 2020-04-13 | 2020-07-10 | 合肥瞬瞬科技有限公司 | Wireless charging system and method for multi-task inspection robot |
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2021
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1661905A (en) * | 2005-01-20 | 2005-08-31 | 姚飞 | New type electric driving structure in high performance and control method |
| CN107848437A (en) * | 2015-08-21 | 2018-03-27 | 村田机械株式会社 | Moving body |
| CN107336242A (en) * | 2017-08-16 | 2017-11-10 | 苏州朗创优机器人科技有限公司 | A kind of unattended crusing robot |
| CN110299749A (en) * | 2019-08-07 | 2019-10-01 | 国网江苏省电力有限公司南京供电分公司 | A kind of diversification power supply system for underground pipe gallery robot |
| CN111404280A (en) * | 2020-04-13 | 2020-07-10 | 合肥瞬瞬科技有限公司 | Wireless charging system and method for multi-task inspection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114123399A (en) * | 2021-11-17 | 2022-03-01 | 北京华能新锐控制技术有限公司 | Charging control system for track robot |
| CN114123399B (en) * | 2021-11-17 | 2024-07-19 | 北京华能新锐控制技术有限公司 | Track robot charge control system |
| CN114132190A (en) * | 2021-11-30 | 2022-03-04 | 河南牧原智能科技有限公司 | System, method and device for charging inspection vehicle |
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Application publication date: 20210625 |