CN115276158A - Charging system, charging method, charging device and storage medium for inspection robot - Google Patents
Charging system, charging method, charging device and storage medium for inspection robot Download PDFInfo
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- CN115276158A CN115276158A CN202210840613.0A CN202210840613A CN115276158A CN 115276158 A CN115276158 A CN 115276158A CN 202210840613 A CN202210840613 A CN 202210840613A CN 115276158 A CN115276158 A CN 115276158A
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- 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
- H02J7/007—Regulation of charging or discharging current or voltage
- H02J7/0071—Regulation of charging or discharging current or voltage with a programmable schedule
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- 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
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- 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
- H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
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- 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
- H02J7/007—Regulation of charging or discharging current or voltage
- H02J7/007188—Regulation of charging or discharging current or voltage the charge cycle being controlled or terminated in response to non-electric parameters
- H02J7/007192—Regulation of charging or discharging current or voltage the charge cycle being controlled or terminated in response to non-electric parameters in response to temperature
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Abstract
The invention relates to a charging system of an inspection robot, which is applied to an inspection robot control system, wherein a remote control end is used for generating a temperature-energy consumption curve of the inspection robot according to the ambient temperature and energy consumption; when the inspection robot inspects the work on the preset inspection path and moves to any one charging station, the remote control end is used for acquiring the time required by the inspection robot to move to the next charging station of the inspection path, acquiring the temperature within the time range and acquiring the required electric quantity according to the temperature-energy consumption curve; and if the current residual electric quantity of the inspection robot is lower than the required electric quantity, controlling the inspection robot to charge at the current charging station. This application can obtain the current required electric quantity of robot arrival charging station of patrolling and examining according to the relation curve of ambient temperature and energy consumption to judge whether need charge and ensure the normal work of patrolling and examining the robot, so that the charging of patrolling and examining the robot is more intelligent.
Description
Technical Field
The invention relates to the technical field of inspection robots of transformer substations, in particular to a charging system, a charging method, a charging device and a storage medium of an inspection robot.
Background
In the prior art, a transformer substation is widely applied to urban network construction and transformation of a power system. In order to transmit the electric energy generated by the power plant to a remote place, the voltage must be increased to become high voltage, and then the voltage is decreased as required near the user, and the voltage increasing and decreasing work is completed by a transformer substation. In an electric power system, substations are concentrated in a power generation area, and in order to enable the substations to work for a long time, workers need to perform routing inspection at irregular time. With the development of technology, in order to reduce safety accidents, inspection robots are used on the market to replace workers to inspect the transformer substation.
Generally, as long as the residual electric quantity value of the battery of the inspection robot is lower than the preset electric quantity value, the inspection robot needs to move uniformly to a charging point for charging, however, the existing charging method of the inspection robot is not intelligent enough, the battery of the inspection robot is greatly consumed, and the cost is invisibly increased.
Disclosure of Invention
Accordingly, the invention provides a charging system, a charging method, a charging device and a storage medium of an inspection robot. This application can obtain the current required electric quantity of robot arrival charging station of patrolling and examining according to the relation curve of ambient temperature and energy consumption to judge whether need charge and ensure the normal work of patrolling and examining the robot, so that the charging of patrolling and examining the robot is more intelligent.
According to a first aspect of some embodiments of the present application, a charging system of a patrol robot is provided, applied to a patrol robot control system, the patrol robot control system includes a patrol robot, a plurality of charging stations and a remote control terminal, the charging system includes:
the wireless transmission unit is respectively connected with the temperature sensor and the central processing unit, the temperature sensor is used for acquiring the ambient temperature, and the central processing unit is used for acquiring the energy consumption of the inspection robot and transmitting the ambient temperature and the energy consumption to the remote control end through the wireless transmission unit;
the remote control end is used for generating a temperature-energy consumption curve of the inspection robot according to the environment temperature and the energy consumption;
when the inspection robot inspects the work on a preset inspection path and moves to any one of the charging stations, the remote control end is used for acquiring the time required by the inspection robot to move to the next charging station of the inspection path, acquiring the temperature within the time range and acquiring the required electric quantity according to the temperature-energy consumption curve;
and if the current residual electric quantity of the inspection robot is lower than the required electric quantity, controlling the inspection robot to charge at the current charging station.
Further, the remote control end is also used for when ambient temperature is lower than a preset threshold value, if the current residual capacity of the inspection robot is lower than the required capacity plus a preset low-capacity protection threshold value, controlling the inspection robot to charge at the current charging station.
Furthermore, the charging system further comprises a humidity sensor arranged on the inspection robot, the humidity sensor is connected with the central processing unit and the wireless transmission unit, the humidity sensor is used for acquiring the ambient humidity, and the central processing unit is further used for sending the ambient humidity to the remote control end through the wireless transmission unit;
the remote control end is still used for when ambient humidity is higher than the predetermined humidity threshold value, control patrol and examine the robot and stop charging, and ambient humidity is less than when predetermineeing the humidity threshold value, control patrol and examine the robot and charge once more.
Further, the remote control end is also used for acquiring a 24-hour temperature curve;
if the temperature difference in 24 hours is greater than the preset temperature difference and the temperature at night is lower than the preset temperature, controlling the inspection robot to charge when the temperature is higher than the average temperature in 24 hours.
According to a second aspect of the embodiment of the application, the application provides a charging method of an inspection robot, which is applied to a charging system of the inspection robot and a control system of the inspection robot, wherein the charging system comprises a temperature sensor, a central processing unit and a wireless transmission unit which are arranged on the inspection robot; the inspection robot control system comprises an inspection robot, a plurality of charging stations and a remote control end, and the method is executed by the remote control end and comprises the following steps:
receiving the environment temperature and the energy consumption sent by the wireless transmission unit, wherein the environment temperature is obtained through the temperature sensor, and the energy consumption is obtained through the central processing unit;
generating a temperature-energy consumption curve of the inspection robot according to the environment temperature and the energy consumption;
when the inspection robot inspects the work on a preset inspection path and moves to any one of the charging stations, acquiring the time required by the inspection robot to move to the next charging station of the inspection path, acquiring the temperature within the time range, and acquiring the required electric quantity according to the temperature-energy consumption curve;
and if the current residual electric quantity of the inspection robot is lower than the required electric quantity, controlling the inspection robot to charge at the current charging station.
Further, when the ambient temperature is lower than a preset threshold value, if the current residual electric quantity of the inspection robot is lower than the required electric quantity plus a preset low-electric-quantity protection threshold value, the inspection robot is controlled to be charged at the current charging station.
Further, the charging system further comprises a humidity sensor arranged on the inspection robot, the humidity sensor is connected with the central processing unit and the wireless transmission unit, and the method further comprises the following steps:
receiving the environment humidity sent by the wireless transmission unit, wherein the environment humidity is obtained through the environment humidity sensor;
the remote control end is in when ambient humidity is higher than the preset humidity threshold value, control patrol and examine the robot and stop charging, and ambient humidity is less than when presetting the humidity threshold value, control patrol and examine the robot and charge once more.
Further, a 24-hour temperature curve is obtained;
if the temperature difference in 24 hours is greater than the preset temperature difference, and the temperature at night is lower than the preset temperature, the inspection robot is controlled to charge when the temperature is higher than the average temperature in 24 hours.
According to the third face of some embodiments of the present application, the present application provides a charging device of a patrol robot, including:
the data acquisition module is used for receiving the ambient temperature and the energy consumption sent by the wireless transmission unit, the ambient temperature is obtained through the temperature sensor, and the energy consumption is obtained through the central processing unit;
the curve generation module is used for generating a temperature-energy consumption curve of the inspection robot according to the environment temperature and the energy consumption;
the required electric quantity obtaining module is used for obtaining the time required by the inspection robot to move to the next charging station of the inspection path when the inspection robot inspects the work on the preset inspection path and moves to any one of the charging stations, obtaining the temperature within the time range and obtaining the required electric quantity according to the temperature-energy consumption curve;
and the charging module is used for controlling the inspection robot to charge at the current charging station if the current residual electric quantity of the inspection robot is lower than the required electric quantity.
According to a fourth aspect of embodiments of the present application, there is also provided a computer-readable storage medium storing a computer program which, when executed by a processor, performs the steps of the method according to the second aspect.
According to the charging equipment and the charging method of the inspection robot, the temperature sensor is arranged on the inspection robot, the required electric quantity of the inspection robot is determined to move to the next charging station according to the acquired environment temperature and the acquired energy consumption curve, and the residual electric quantity and the required electric quantity of the current inspection robot are compared, so that whether the current charging station needs to be charged or not is determined. Secondly, the basic electric quantity of the inspection robot is ensured by setting a low electric quantity protection threshold value; simultaneously, still through set up humidity transducer on patrolling and examining the robot to under the too high condition of humidity, stop charging, avoided patrolling and examining the robot and charged when humidity is too big and cause unnecessary loss to the battery. Finally, the method and the device can also determine whether the current temperature is suitable for charging according to the temperature change curve, so that the low charging efficiency of the battery in the low-temperature state is avoided. To sum up, this application can combine the change of the temperature in the environment and humidity, and the robot charges is patrolled and examined in the dynamic adjustment, can effectively improve the life of this battery of patrolling and examining the robot to charging efficiency has been improved.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Drawings
Fig. 1 is a schematic structural diagram of a patrol robot control system in an embodiment of the present application;
fig. 2 is a schematic structural diagram of a charging system of an inspection robot in an embodiment of the present application;
fig. 3 is a schematic flow chart of a charging method of an inspection robot in an embodiment of the present application;
fig. 4 is a schematic structural diagram of a charging device of an inspection robot in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
It should be understood that the embodiments described are only some embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without any creative effort belong to the protection scope of the embodiments in the present application.
The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments of the present application. As used in the examples of this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the application, as detailed in the appended claims. In the description of the present application, it is to be understood that the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not necessarily used to describe a particular order or sequence, nor are they to be construed as indicating or implying relative importance. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
Further, in the description of the present application, "a plurality" means two or more unless otherwise specified. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
The problem that the existing charging method of the inspection robot related to the background art is not intelligent enough is solved.
The application provides a charging system of robot patrols and examines is applied to and patrols and examines robot control system, as shown in fig. 1, it includes robot, a plurality of charging station and remote control end to patrol and examine robot control system. The remote control end is connected with the inspection robot and the plurality of charging stations in a wireless communication mode respectively.
Charging system including set up in temperature sensor, central processing unit and the wireless transmission unit on patrolling and examining the robot, the wireless transmission unit respectively with temperature sensor with central processing unit connects, temperature sensor is used for acquireing ambient temperature, central processing unit is used for acquireing patrolling and examining the energy consumption of robot, and will ambient temperature with the energy consumption passes through the wireless transmission unit send to the remote control end.
And the remote control end is used for generating a temperature-energy consumption curve of the inspection robot according to the environment temperature and the energy consumption.
When the inspection robot inspects the work on a preset inspection path and moves to any one of the charging stations, the remote control end is used for acquiring the time required by the inspection robot to move to the next charging station of the inspection path, acquiring the temperature within the time range and acquiring the required electric quantity according to the temperature-energy consumption curve.
And if the current residual electric quantity of the inspection robot is lower than the required electric quantity, controlling the inspection robot to charge at the current charging station.
The preset routing inspection path indicates the fixed routing inspection path of the routing inspection robot, and the plurality of charging stations are distributed on the preset routing inspection path. The energy consumption is used for indicating the power consumption of the inspection robot in unit time. The temperature-energy consumption curve is obtained by fitting the obtained temperature and energy consumption. Therefore, according to the curve graph, when different temperatures are determined, the inspection robot moves to the next charging station to consume electricity. Therefore, according to the environment temperature of the current inspection robot, the required electric quantity of the inspection robot is predicted, the remaining electric quantity of the current inspection robot is judged to be insufficient to support the inspection robot to reach the next charging station, and the current charging station is charged.
The charging system of this application uses the control system in patrolling and examining the robot for control system can obtain the environmental factor according to charging system, and calculates and obtain the influence of environmental factor to the electric quantity, thereby whether the prediction judgement need charge for patrolling and examining the robot, makes the charging of patrolling and examining the robot more intelligent and more convenient.
In a preferred embodiment, the remote control terminal is further configured to, when the ambient temperature is lower than a preset threshold, control the inspection robot to charge at a current charging station if the current remaining power of the inspection robot is lower than the required power plus a preset low-power protection threshold.
The preset threshold value indicates a temperature interval in which the battery capacity drops rapidly, typically, ten degrees below zero and below. The low power protection threshold indicates the lowest power to maintain the operation of the inspection robot, and may be specifically set to 20% of the maximum battery capacity. When the inspection robot is at a low temperature and the required electric quantity is less than the residual electric quantity, in order to ensure that the residual electric quantity can maintain the normal operation of the inspection robot, the residual electric quantity is required to be ensured to be at least greater than the sum of the required electric quantity and a low-electric-quantity protection threshold value. Therefore, if the remaining capacity is less than the sum of the remaining capacity and the remaining capacity, the charging is required to be performed at the current charging station in order to ensure normal operation.
In a preferred embodiment, charging system still including set up in patrol and examine the last humidity transducer of robot, humidity transducer is used for acquireing ambient humidity, humidity transducer with central processing unit with wireless transmission unit connects, central processing unit still be used for with ambient humidity passes through wireless transmission unit sends to the remote control end.
The remote control end is still used for when ambient humidity is higher than the predetermined humidity threshold value, control patrol and examine the robot and stop charging, and ambient humidity is less than when predetermineeing the humidity threshold value, control patrol and examine the robot and charge once more.
The preset humidity threshold may be set based on a local humidity average. If in the area that rainy season is frequent, the precipitation is great, then humidity is great, is unfavorable for patrolling and examining the robot and charging. When the environmental humidity is lower than the preset humidity threshold value, the precipitation amount can be determined to be reduced, and the inspection robot can be safely charged at the moment.
In a preferred embodiment, the remote control terminal is further used for acquiring a 24-hour temperature curve. If the temperature difference in 24 hours is greater than the preset temperature difference, and the temperature at night is lower than the preset temperature, the inspection robot is controlled to charge when the temperature is higher than the average temperature in 24 hours.
The charging efficiency of the battery varies with the change of the ambient temperature, and when the ambient temperature is too low, the charging time with poor power storage capacity of the battery is prolonged, so that the charging efficiency is reduced. At this time, the charging not only causes power loss, but also causes battery loss and reduces charging efficiency. Therefore, when the inspection robot needs to be charged but the ambient temperature is too low, the inspection robot can wait for the ambient temperature to be suitable and then charge, and the charging efficiency is ensured, so that unnecessary loss is reduced.
As shown in fig. 3, based on the charging system and the control system of the present application, the present application further provides a charging method for an inspection robot, which is applied to a charging system and a control system of an inspection robot for an inspection robot, wherein the charging system includes a temperature sensor, a central processing unit and a wireless transmission unit, which are arranged on the inspection robot; the inspection robot control system comprises an inspection robot, a plurality of charging stations and a remote control end, and the method is executed by the remote control end and comprises the following steps:
step S1: receiving the ambient temperature and the energy consumption sent by the wireless transmission unit, wherein the ambient temperature is obtained through the temperature sensor, and the energy consumption is obtained through the central processing unit;
step S2: generating a temperature-energy consumption curve of the inspection robot according to the environment temperature and the energy consumption;
and step S3: when the inspection robot inspects the work on a preset inspection path and moves to any one of the charging stations, acquiring the time required by the inspection robot to move to the next charging station of the inspection path, acquiring the temperature within the time range, and acquiring the required electric quantity according to the temperature-energy consumption curve;
and step S4: and if the current residual electric quantity of the inspection robot is lower than the required electric quantity, controlling the inspection robot to charge at the current charging station.
In a preferred embodiment, the method further comprises:
and when the current residual electric quantity of the inspection robot is lower than the electric quantity protection threshold value, controlling the inspection robot to charge at the current charging station, wherein the electric quantity protection threshold value is 20% of the maximum electric quantity.
In a preferred embodiment, the charging system further includes a humidity sensor disposed on the inspection robot, the humidity sensor is connected to the central processing unit and the wireless transmission unit, and the method further includes:
receiving the environment humidity sent by the wireless transmission unit, wherein the environment humidity is obtained through the environment humidity sensor;
the remote control end is in when ambient humidity is higher than the preset humidity threshold value, control patrol and examine the robot and stop charging, and ambient humidity is less than when presetting the humidity threshold value, control patrol and examine the robot and charge once more.
In a preferred embodiment, the method further comprises:
a 24 hour temperature profile was obtained.
If the temperature difference in 24 hours is greater than the preset temperature difference, and the temperature at night is lower than the preset temperature, the inspection robot is controlled to charge when the temperature is higher than the average temperature in 24 hours.
As shown in fig. 4, corresponding to the above-mentioned method for charging the inspection robot, the present application further provides a charging device 40 for an inspection robot, including:
and the data acquisition module 41 is configured to receive the ambient temperature and the energy consumption sent by the wireless transmission unit, where the ambient temperature is obtained by the temperature sensor, and the energy consumption is obtained by the central processing unit.
And the curve generating module 42 is configured to generate a temperature-energy consumption curve of the inspection robot according to the environment temperature and the energy consumption.
And the required electric quantity obtaining module 43 is used for obtaining the time required by the inspection robot to move to the next charging station of the inspection path, obtaining the temperature within the time range and obtaining the required electric quantity according to the temperature-energy consumption curve when the inspection robot inspects the work on the preset inspection path and moves to any one of the charging stations.
And the charging module 44 is used for controlling the inspection robot to charge at the current charging station if the current residual electric quantity of the inspection robot is lower than the required electric quantity.
In an optional example, the charging device further comprises:
and the electric quantity protection module is used for the remote control end to be used as the environment temperature is lower than a preset threshold value, if the current residual electric quantity of the inspection robot is lower than the required electric quantity and the preset low-electric-quantity protection threshold value, the inspection robot is controlled to charge at the current charging station.
In an optional example, the charging system further includes a humidity sensor provided on the inspection robot, and the charging device further includes:
and the humidity acquisition device is used for receiving the environment humidity sent by the wireless transmission unit, and the environment humidity is obtained by the environment humidity sensor.
The humidity charging device is used for controlling the remote control end to be in when the environment humidity is higher than a preset humidity threshold value, the inspection robot stops charging, the environment humidity is lower than when the humidity threshold value is preset, and the inspection robot is controlled to charge again.
In an optional example, the charging device 40 further includes:
and the temperature acquisition device is used for acquiring a 24-hour temperature curve.
And the low-temperature protection device is used for controlling the inspection robot to charge when the temperature is higher than the average temperature in 24 hours if the temperature difference in 24 hours is larger than the preset temperature difference and the temperature at night is lower than the preset temperature.
Corresponding to the above-mentioned charging method of the inspection robot, the present application also provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the method according to any one of the above.
The present disclosure may take the form of a computer program product embodied on one or more storage media including, but not limited to, disk storage, CD-ROM, optical storage, and the like, having program code embodied therein. Computer-usable storage media include permanent and non-permanent, removable and non-removable media, and may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of the storage medium of the computer include, but are not limited to: phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technologies, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic tape storage or other magnetic storage devices, or any other non-transmission medium, may be used to store information that may be accessed by a computing device.
According to the charging equipment and the charging method of the inspection robot, the temperature sensor is arranged on the inspection robot, the required electric quantity of the inspection robot is determined to move to the next charging station according to the acquired environment temperature and the acquired energy consumption curve, and the residual electric quantity and the required electric quantity of the current inspection robot are compared, so that whether the current charging station needs to be charged or not is determined. Secondly, the basic electric quantity of the inspection robot is ensured by setting a low electric quantity protection threshold value; simultaneously, still through set up humidity transducer on patrolling and examining the robot to under the too high condition of humidity, stop charging, avoided patrolling and examining the robot and charged when humidity is too big and cause unnecessary loss to the battery. Finally, the method and the device can also determine whether the current temperature is suitable for charging according to the temperature change curve, so that the low charging efficiency of the battery in the low-temperature state is avoided. To sum up, this application can combine the change of the temperature in the environment and humidity, and the robot charges is patrolled and examined in the dynamic adjustment, can effectively improve the life of this battery of patrolling and examining the robot to charging efficiency has been improved.
It is to be understood that the embodiments of the present application are not limited to the precise arrangements which have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the embodiments of the present application is limited only by the following claims. The above-mentioned embodiments only express a few embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, variations and modifications can be made without departing from the concept of the embodiments of the present application, and these embodiments are within the scope of the present application.
Claims (10)
1. The utility model provides a charging system who patrols and examines robot, is applied to and patrols and examines robot control system, it includes robot, a plurality of charging station and remote control end to patrol and examine robot control system, its characterized in that, charging system includes:
the wireless transmission unit is respectively connected with the temperature sensor and the central processing unit, the temperature sensor is used for acquiring the ambient temperature, and the central processing unit is used for acquiring the energy consumption of the inspection robot and transmitting the ambient temperature and the energy consumption to the remote control end through the wireless transmission unit;
the remote control end is used for generating a temperature-energy consumption curve of the inspection robot according to the environment temperature and the energy consumption;
when the inspection robot inspects the work on a preset inspection path and moves to any one of the charging stations, the remote control end is used for acquiring the time required by the inspection robot to move to the next charging station of the inspection path, acquiring the temperature within the time range and acquiring the required electric quantity according to the temperature-energy consumption curve;
and if the current residual electric quantity of the inspection robot is lower than the required electric quantity, controlling the inspection robot to charge at the current charging station.
2. The charging system for the inspection robot according to claim 1, wherein:
the remote control end is also used for working as when ambient temperature is less than the preset threshold value, if patrol and examine the current residual capacity of robot and be less than required electric quantity plus preset low-power protection threshold value, control patrol and examine the robot and charge at current charging station.
3. The charging system for the inspection robots, according to claim 1, further comprising a humidity sensor disposed on the inspection robot, wherein the humidity sensor is connected to the central processing unit and the wireless transmission unit, the humidity sensor is configured to acquire ambient humidity, and the central processing unit is further configured to transmit the ambient humidity to the remote control end through the wireless transmission unit;
the remote control end is still used for when ambient humidity is higher than preset humidity threshold value, control patrol and examine the robot and stop charging, and ambient humidity is less than when presetting the humidity threshold value, control patrol and examine the robot and charge once more.
4. The charging system for the inspection robot according to claim 1, wherein:
the remote control end is also used for acquiring a 24-hour temperature curve;
if the temperature difference in 24 hours is greater than the preset temperature difference, and the temperature at night is lower than the preset temperature, the inspection robot is controlled to charge when the temperature is higher than the average temperature in 24 hours.
5. A charging method of an inspection robot is applied to a charging system and a control system of the inspection robot, wherein the charging system comprises a temperature sensor, a central processing unit and a wireless transmission unit which are arranged on the inspection robot; the inspection robot control system comprises an inspection robot, a plurality of charging stations and a remote control end, and is characterized in that the method is executed by the remote control end and comprises the following steps:
receiving the ambient temperature and the energy consumption sent by the wireless transmission unit, wherein the ambient temperature is obtained through the temperature sensor, and the energy consumption is obtained through the central processing unit;
generating a temperature-energy consumption curve of the inspection robot according to the environment temperature and the energy consumption;
when the inspection robot inspects the work on a preset inspection path and moves to any one of the charging stations, acquiring the time required by the inspection robot to move to the next charging station of the inspection path, acquiring the temperature within the time range, and acquiring the required electric quantity according to the temperature-energy consumption curve;
and if the current residual electric quantity of the inspection robot is lower than the required electric quantity, controlling the inspection robot to charge at the current charging station.
6. The method for charging an inspection robot according to claim 5, further including:
when the environment temperature is lower than a preset threshold value, if the current residual electric quantity of the inspection robot is lower than the required electric quantity plus a preset low-electric-quantity protection threshold value, the inspection robot is controlled to charge at a current charging station.
7. The inspection robot charging method according to claim 5, wherein the charging system further includes a humidity sensor disposed on the inspection robot, the humidity sensor being connected to the central processing unit and the wireless transmission unit, the method further including:
receiving the environment humidity sent by the wireless transmission unit, wherein the environment humidity is obtained through the environment humidity sensor;
the remote control end is in when ambient humidity is higher than the predetermined humidity threshold value, control patrol and examine the robot and stop charging, and ambient humidity is less than when predetermineeing the humidity threshold value, control patrol and examine the robot and charge once more.
8. The method for charging an inspection robot according to claim 5, further comprising:
acquiring a 24-hour temperature curve;
if the temperature difference in 24 hours is greater than the preset temperature difference, and the temperature at night is lower than the preset temperature, the inspection robot is controlled to charge when the temperature is higher than the average temperature in 24 hours.
9. The utility model provides a charging device who patrols and examines robot which characterized in that includes:
the data acquisition module is used for receiving the ambient temperature and the energy consumption sent by the wireless transmission unit, the ambient temperature is obtained through the temperature sensor, and the energy consumption is obtained through the central processing unit;
the curve generation module is used for generating a temperature-energy consumption curve of the inspection robot according to the environment temperature and the energy consumption;
the required electric quantity acquisition module is used for acquiring the time required by the inspection robot to move to the next charging station of the inspection path when the inspection robot inspects the work on the preset inspection path and moves to any one of the charging stations, acquiring the temperature within the time range and acquiring the required electric quantity according to the temperature-energy consumption curve;
and the charging module is used for controlling the inspection robot to charge at the current charging station if the current residual electric quantity of the inspection robot is lower than the required electric quantity.
10. A computer-readable storage medium storing a computer program, characterized in that:
the computer program when executed by a processor implementing the steps of the method according to any one of claims 5 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117080800A (en) * | 2023-10-16 | 2023-11-17 | 西安博深安全科技股份有限公司 | Hanging rail type inspection robot charging device and adjusting method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117080800A (en) * | 2023-10-16 | 2023-11-17 | 西安博深安全科技股份有限公司 | Hanging rail type inspection robot charging device and adjusting method thereof |
| CN117080800B (en) * | 2023-10-16 | 2024-01-05 | 西安博深安全科技股份有限公司 | Hanging rail type inspection robot charging device and adjusting method thereof |
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