CN111525317A - Track type intelligent inspection robot charging device and charging method thereof - Google Patents
Track type intelligent inspection robot charging device and charging method thereof Download PDFInfo
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- CN111525317A CN111525317A CN202010346590.9A CN202010346590A CN111525317A CN 111525317 A CN111525317 A CN 111525317A CN 202010346590 A CN202010346590 A CN 202010346590A CN 111525317 A CN111525317 A CN 111525317A
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/02—Contact members
- H01R13/15—Pins, blades or sockets having separate spring member for producing or increasing contact pressure
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/46—Bases; Cases
- H01R13/502—Bases; Cases composed of different pieces
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
- H01R13/6205—Two-part coupling devices held in engagement by a magnet
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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
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
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Abstract
The invention discloses a track type intelligent inspection robot charging device and a charging method thereof, wherein the track type intelligent inspection robot charging device comprises the following steps: a patrol robot; the charging butt joint device is fixedly arranged on the track and comprises an adsorption device and charging devices symmetrically arranged on two sides of the adsorption device; the charging device comprises a charging electrode, a detection device and a buffer device arranged between the charging electrode and the detection device, and the charging electrode can stretch and retract through the buffer device; the charging station control box is fixedly installed on the track, the inspection robot is in wireless communication connection with the charging station control box, and the charging butt joint device is connected with the charging station control box. The invention has the function of limiting and keeping the electric magnet; the robot and the charging station are prevented from generating relative displacement to influence charging; the structure is compact, the volume is small, and the installation and the deployment in narrow environment are easy; the charging butt joint has a buffering function, and the good contact between the robot and a charging electrode is ensured; possess and prevent electric spark function, the security is high, greatly increased charging device's life.
Description
Technical Field
The invention relates to the technical field of intelligent inspection robot charging, in particular to a rail-mounted intelligent inspection robot charging device and a charging method thereof.
Background
The urban underground cable tunnel is one of the marks of urban construction modernization, science and technology ization and intensification, is also a symbol of fully utilizing urban underground space, and is the development trend of urban pipeline construction integration and piping corridor. After becoming a high-speed road network and a high-speed railway, the urban cable tunnel formally becomes a new step for the Chinese economic growth.
The following safety problems need to be solved in the operation and maintenance of the cable tunnel: the running state of the cable, water accumulation prevention, foreign matter invasion prevention, water leakage prevention, drainage, air exhaust, fire control and other problems, so that the condition, the temperature, the humidity, the fire condition and the toxic gas of the cable inside the cable tunnel need to be monitored in real time. The existing solution is mainly to monitor the relevant parameters in a manual inspection mode.
When the manual inspection method is adopted, the following defects exist:
firstly, cable tunnel slope steep road long step is narrow, and it is very big to patrol and examine the physical demands of getting off to the people at every turn, very easily patrols and examines the in-process and take place to tumble because of fatigue, dangerous accidents such as collision, including not having the cell-phone signal in the hole, in case take place danger and can't contact with the external world at once almost immediately.
Secondly, the cable tunnel environment is claustrophobic, and people only want to pass through quickly during routing inspection, so that the cable tunnel is difficult to concentrate on careful routing inspection, and the situations of missing inspection and wrong inspection are easy to happen.
Moreover, the manual inspection data recording mode is backward, the subjectivity is strong, the inspection quality is greatly influenced by personnel with different working experiences and skill levels, so that the data cannot be correctly analyzed, the pre-inspection prevention effect cannot be realized, and a accident can be caused once problems occur.
Finally, the manual inspection frequency is low, the timeliness of the acquired data is poor, the inspection plan can be influenced if external severe environment factors are met, and the inspection and maintenance of the cable tunnel are not facilitated.
With the emphasis of national macro strategy, the research of robots in China has entered the unprecedented period. Automatic charging is critical to the continuous operation of the robot. Therefore, it is an important direction of recent research to realize robot charging by automatic charging, and in the prior art, the automatic charging methods for robots are various, and have basically satisfied the automatic charging function, but still have some disadvantages, such as: the volume is large, the arrangement is not easy, and particularly in a narrow space; electric sparks are easy to generate in the charging process; who can the relative position removal of robot and charging station delivery, influence the charging effect.
Disclosure of Invention
One object of an embodiment of the present invention is to: in order to solve the above problems, the present invention provides a track type intelligent inspection robot charging device and a charging method thereof, which can maintain the relative position of an inspection robot and the charging device through an adsorption device, wherein the charging device is provided with a buffer device, and the whole device has an electric spark prevention function.
Another object of an embodiment of the present invention is to: the whole device has compact structure and small volume, and is easy to install and deploy in narrow environment.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a robot charging device is patrolled and examined to rail mounted intelligence, includes:
a patrol robot;
the charging butt joint device is fixedly arranged on the track and comprises an adsorption device and charging devices symmetrically arranged on two sides of the adsorption device, and the external of the charging devices is subjected to insulation treatment;
the charging device comprises a charging electrode, a detection device and a buffer device arranged between the charging electrode and the detection device, and the charging electrode can stretch and retract through the buffer device;
the charging station control box is fixedly installed on the track, the inspection robot is in wireless communication connection with the charging station control box, and the charging butt joint device is connected with the charging station control box.
In a preferred embodiment of the track type intelligent inspection robot charging device, the buffer device is sleeved on the charging electrode, and the charging electrode is in contact with the detection device when the inspection robot presses the charging electrode.
In a preferable scheme of the track type intelligent inspection robot charging device, the adsorption device comprises an electric magnet.
In a preferred embodiment of the track-type intelligent inspection robot charging device, the charging docking device further comprises a mounting bracket, the mounting bracket is fixedly connected with the charging device and the adsorption device, and the mounting bracket is connected to the track.
In a preferred embodiment of the charging device for the rail-type intelligent inspection robot, the mounting bracket includes a mounting plate, first connecting plates connected to two sides of the mounting plate and inclined outward, and a second connecting plate disposed in the middle of the mounting plate.
In a preferred embodiment of the charging device for the track-type intelligent inspection robot, a first fixing device is arranged at the bottom end of the first connecting plate, and the first fixing device is sleeved on the charging electrode.
In a preferred embodiment of the track-type intelligent inspection robot charging device, a second fixing device is arranged at the bottom end of the second connecting plate, and the second fixing device is sleeved on the adsorption device.
In a preferred scheme of the track type intelligent inspection robot charging device, the charging device is provided with an outlet interface, and the outlet interface penetrates through one side of the insulating outer sleeve, so that a power line and a signal line of the charging device can penetrate through the outlet interface to be connected with the charging station control box.
In a preferred scheme of the track type intelligent inspection robot charging device, both sides of a charging station control box are provided with control box wire inlets.
In a preferred scheme of the track type intelligent inspection robot charging device, the charging station control box has two modes of automatic charging and manual charging, and when the inspection robot cannot complete automatic charging, the inspection robot can be charged in a manual charging mode.
A charging method for charging an inspection robot by using the charging device comprises the following steps:
a) and charging preparation: when the charging station control box receives a charging request of the inspection robot, the charging station control box prepares to enter a charging state, and the inspection robot moves to the charging device;
b) and detecting the condition of the charger: when the inspection robot reaches a charging stop point, the charging station control box starts a charging mechanism to read information of the charger, if the charger is detected to be abnormal, protection and alarm are carried out, and if the charger is normal, power supply is switched to the charger;
c) and detecting the charging process: reading the power supply condition of the inspection robot in the charging process, and if the power supply electric quantity of the inspection robot is sufficient, not charging; if the power supply electric quantity of the inspection robot is insufficient, starting a charger to charge, reading the state in the charging process, and if abnormity is found, cutting off the power supply to protect and give an alarm;
d) and a parking charging state: if the inspection robot stops on the charging device and receives the inspection task, reading the power state of the inspection robot, and if the power voltage of the inspection robot is lower than the voltage required by the inspection, neglecting the inspection task and continuously charging the inspection robot by the charger; and if the power supply voltage of the inspection robot is higher than the voltage required by inspection, switching to the power supply of the inspection robot for power supply, and withdrawing the charging mechanism.
Compared with the prior art, the invention has the beneficial effects that: 1. the electric magnet limiting and maintaining function is achieved; the robot and the charging station are prevented from generating relative displacement to influence charging; 2. the structure is compact, the volume is small, and the installation and the deployment in narrow environment are easy; 3. the charging butt joint has a buffering function, and the good contact between the robot and a charging electrode is ensured; 4. possess and prevent the electric spark function, the security is high, greatly increased charging device's life, its robot and charging device adopt wireless mode to communicate, realize intelligent charging control, prevent that the electric spark from producing.
Drawings
The invention is explained in more detail below with reference to the figures and examples.
Fig. 1 is a schematic structural diagram of a charging device of a track-type intelligent inspection robot charging device according to an embodiment of the invention.
Fig. 2 is a front view of a charging device of the rail-mounted intelligent inspection robot charging device according to the embodiment of the invention.
Fig. 3 is a side view of a charging device of the track-type intelligent inspection robot charging device according to the embodiment of the invention.
Fig. 4 is a cross-sectional view of a charging device of the track-type intelligent inspection robot charging device according to the embodiment of the invention.
Fig. 5 is a front view of the track-type intelligent inspection robot charging device according to the embodiment of the invention.
Fig. 6 is a top view of the charging device of the rail-mounted intelligent inspection robot according to the embodiment of the invention.
Fig. 7 is a control schematic diagram of a charging station control box of the track type intelligent inspection robot charging device according to the embodiment of the invention.
In the figure:
100. a charging electrode; 101. a buffer device; 102. an adsorption device; 103. a detection device; 104. an insulating outer sleeve; 105. mounting a bracket; 106. a cover plate; 107. a charging station control box; 108. a patrol robot; 109. a track; 110. an outgoing line interface; 111. and a wire inlet of the control box.
Detailed Description
In order to make the technical problems solved, technical solutions adopted, and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention are described in further detail below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
As shown in fig. 1 to 7, the present embodiment provides a track type intelligent inspection robot charging device, including:
an inspection robot 108;
the charging docking device is fixedly arranged on the track 109 and comprises an adsorption device 102 and charging devices symmetrically arranged on two sides of the adsorption device 102, and the external of the charging devices is subjected to insulation treatment;
the charging device comprises a charging electrode 100, a detection device 103 and a buffer device 101 arranged between the charging electrode 100 and the detection device 103, wherein the charging electrode 100 can extend and contract through the buffer device 101;
and the charging station control box 107 is fixedly arranged on the track 109, the inspection robot 108 is in wireless communication connection with the charging station control box 107, and the charging docking device is connected with the charging station control box 107.
The working principle of the charging station control box 107 of the present invention is as follows: the charging station control box 107 internally comprises a microcontroller, a wireless communication module and a wired communication interface, after the inspection robot 108 reaches a specified position, the inspection robot 108 and the charging station control box 107 wirelessly communicate, the charging station control box 107 inspects whether a signal exists in the detection device 103, if the signal exists, the power supply in the charging station control box 107 is controlled to be switched on, if the signal does not exist, the inspection robot 108 sends a signal for continuous movement with the inspection robot 108, the inspection robot 108 continuously and slowly moves towards the direction close to the charging device until the charging station control box 107 detects the signal, when the inspection robot 108 is full of electricity, the inspection robot 108 sends a signal to the charging station control box 107, the charging station control box 107 switches off the charging power supply, and the inspection robot 108 enters an idle mode, waiting for other tasks.
Preferably, the interfacing apparatus that charges locates patrol and examine robot 108 with between the charging station control box 107, charging electrode 100 adsorption equipment 102 all locates and is close to patrol and examine one side of robot 108, its convenience the interfacing apparatus that charges with patrol and examine robot 108 cooperation and connect, work as patrol and examine robot 108 and be close to when the interfacing apparatus that charges, charging station control box 107 is steerable adsorption equipment 102 is right patrol and examine robot 108's absorption, and pass through buffer 101 is right charging electrode 100 cushions, and passes through adsorption equipment 102 makes patrol and examine robot 108 not with the interfacing apparatus that charges takes place relative displacement.
In a preferred embodiment of the charging device for the rail-mounted intelligent inspection robot of the present invention, the buffering device 101 is sleeved on the charging electrode 100, and when the inspection robot 108 presses the charging electrode 100, the charging electrode 100 is in contact with the detecting device 103.
Specifically, the detection device 103 includes a detection sensor, when the inspection robot 108 contacts with one end of the charging electrode 100, the charging electrode 100 is pressed to move into the charging device, the buffer device 101 buffers the charging electrode 100, the other end of the charging electrode 100 contacts with the detection device 103, the detection device 103 senses pressure and transmits a signal to the charging station control box 107, and the charging station control box 107 selectively turns on the power supply according to whether the power supply of the inspection robot 108 is sufficient.
Further, the adsorption device 102 includes an electromagnet. The electromagnet can keep the inspection robot 108 and the charging electrode 100 from moving relatively.
In the present invention, the charging docking device further includes a mounting bracket 105, the mounting bracket 105 is fixedly connected to both the charging device and the adsorption device 102, and the mounting bracket 105 is connected to the rail 109.
Specifically, the mounting bracket 105 is trapezoidal, the first connecting plate and the second connecting plate are connected with a fixing plate therebetween, and the first connecting plate, the second connecting plate and the mounting plate are integrally formed.
In a preferred embodiment of the charging device for the rail-type intelligent inspection robot according to the present invention, the mounting bracket 105 includes a mounting plate, first connecting plates connected to both sides of the mounting plate and inclined outward, and a second connecting plate disposed in a middle of the mounting plate.
It should be noted that, the first connecting plate is arranged to incline outwards, so as to ensure that a gap exists between the charging electrode 100 and the adsorption device 102, two charging electrodes 100 are provided, one of the two charging electrodes 100 is used as a charging anode, the other one is used as a charging cathode, and the inspection robot 108 is correspondingly provided with a docking electrode connected with the charging electrode 100.
Specifically, a first fixing device is disposed at the bottom end of the first connecting plate, and the first fixing device is sleeved on the charging electrode 100.
For first fixing device with the better fixed mounting of first connecting plate, first fixing device includes that circular arc joint portion and symmetry are located the vertical board at circular arc joint portion both ends, circular arc joint portion cover is established on charging electrode 100, be provided with the opening in the circular arc joint portion, vertical board is located the opening part, just circular arc joint portion with vertical board integrated into one piece, two vertical board correspondence set up in the both sides of first connecting plate.
It should be noted that a cover plate 106 is sleeved on one side of the charging electrode 100, which is connected with the butt electrode on the inspection robot 108, and the cover plate 106 is fixedly connected with the insulating outer sleeve 104 through a bolt; insulating overcoat 104 is inside to be equipped with and to hold the chamber, charging electrode 100 detection device 103's part is located in the insulating overcoat 104, buffer 101 is located hold the intracavity, just buffer 101 one end with charging electrode 100 butt, buffer 101 the other end with hold intracavity wall butt, work as when charging electrode 100 stretches out and draws back, buffer 101 can be right charging electrode 100 cushions, guarantees patrol and examine robot 108 with charging electrode 100 contacts well.
Specifically, patrol and examine robot 108 with it is wireless communication connection to patrol and examine robot 108, realize intelligent charging control, prevent the production of electric spark, the security performance is high, greatly increased charging device's life.
In a preferred embodiment of the charging device for the track-type intelligent inspection robot of the invention, a second fixing device is arranged at the bottom end of the second connecting plate, and the second fixing device is sleeved on the adsorption device 102.
In a preferred embodiment of the track-type intelligent inspection robot charging device of the present invention, the charging device is provided with an outlet interface 110, and the outlet interface 110 penetrates through one side of the insulating casing 104, such that a power line and a signal line of the charging device can pass through the outlet interface 110 to be connected to the charging station control box 107.
In a preferred embodiment of the charging device for the track-type intelligent inspection robot of the present invention, both sides of the charging station control box 107 are provided with control box wire inlets 111.
Specifically, after passing through the outlet interface 110, the power line and the signal line of the charging device enter the charging station control box 107 through the control box inlet 111, and are connected to corresponding devices in the charging station control box 107.
In addition, the charging station control box 107 has two modes of automatic charging and manual charging, and when the inspection robot 108 cannot complete automatic charging, the inspection robot 108 can be charged in a manual charging mode.
A charging method for charging an inspection robot by using the charging device comprises the following steps:
a) and charging preparation: when the charging station control box 107 receives a charging request of the inspection robot 108, the charging station control box 107 prepares to enter a charging state, and the inspection robot 108 moves towards the charging device;
when the charging station control box 107 detects the inspection robot 108, the charging station control box 107 reads the voltage condition of the charging power supply, if the voltage of the charging power supply is low, the charging station control box enters low-voltage protection and controls the inspection robot 108 to stop moving, and if the voltage of the charging power supply is normal, the next step is carried out;
b) and detecting the condition of the charger: when the inspection robot 108 reaches a charging stop point, the charging station control box 107 starts a charging mechanism to read information of the charger, if the charger is detected to be abnormal, protection and alarm are carried out, and if the charger is normal, power supply is switched to the charger;
c) and detecting the charging process: reading the power supply condition of the inspection robot 108 in the charging process, and if the power supply electric quantity of the inspection robot 108 is sufficient, not charging; if the power supply capacity of the inspection robot 108 is insufficient, starting a charger to charge, reading the state of the charging process, and if abnormity is found, cutting off the power supply to protect and give an alarm;
d) and a parking charging state: if the inspection robot 108 stops at the charging device and receives the inspection task, reading the power state of the inspection robot 108, and if the power voltage of the inspection robot 108 is lower than the voltage required by the inspection, neglecting the inspection task and continuously charging the inspection robot 108 by the charger; if the power supply voltage of the inspection robot 108 is higher than the voltage required for inspection, the inspection robot 108 is switched to the power supply, and the charging mechanism is withdrawn.
In the description herein, it is to be understood that the terms "upper," "lower," "left," "right," and the like are used in an orientation or positional relationship merely for convenience in description and simplicity of operation, and do not indicate or imply that the referenced device or element must have a particular orientation, configuration, and operation in a particular orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive purposes and are not intended to have any special meaning.
In the description herein, references to the description of "an embodiment," "an example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be appropriately combined to form other embodiments as will be appreciated by those skilled in the art.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (11)
1. The utility model provides a robot charging device is patrolled and examined to rail mounted intelligence which characterized in that includes:
an inspection robot (108);
the charging butt joint device is fixedly arranged on a track (109), and comprises an adsorption device (102) and charging devices symmetrically arranged on two sides of the adsorption device (102), and the charging devices are subjected to external insulation treatment;
the charging device comprises a charging electrode (100), a detection device (103) and a buffer device (101) arranged between the charging electrode (100) and the detection device (103), wherein the charging electrode (100) can stretch and contract through the buffer device (101);
the inspection robot comprises a charging station control box (107) fixedly mounted on the track (109), the inspection robot (108) is in wireless communication connection with the charging station control box (107), and the charging docking device is connected with the charging station control box (107).
2. The charging device for the track-type intelligent inspection robot according to claim 1, wherein the buffering device (101) is sleeved on the charging electrode (100), and when the inspection robot (108) presses the charging electrode (100), the charging electrode (100) is in contact with the detection device (103).
3. The charging device for a track-based intelligent inspection robot according to claim 2, wherein the adsorption device (102) includes an electromagnet.
4. The charging device for the rail-mounted intelligent inspection robot according to claim 3, wherein the charging docking device further comprises a mounting bracket (105), the mounting bracket (105) is fixedly connected with the charging device and the adsorption device (102), and the mounting bracket (105) is connected to the rail (109).
5. The charging device for the track-type intelligent inspection robot according to claim 4, wherein the mounting bracket (105) comprises a mounting plate, first connecting plates connected to two sides of the mounting plate and inclined outwards, and second connecting plates arranged in the middle of the mounting plate.
6. The charging device for the track-type intelligent inspection robot according to claim 5, wherein a first fixing device is arranged at the bottom end of the first connecting plate, and the first fixing device is sleeved on the charging electrode (100).
7. The charging device for the track-type intelligent inspection robot according to claim 5, wherein a second fixing device is arranged at the bottom end of the second connecting plate, and the second fixing device is sleeved on the adsorption device (102).
8. The track type intelligent inspection robot charging device according to claim 7, wherein an outlet interface (110) is arranged on the charging device, and the outlet interface (110) penetrates through one side of the insulating casing (104), so that a power line and a signal line of the charging device can penetrate through the outlet interface (110) to be connected with the charging station control box (107).
9. The charging device for the track-type intelligent inspection robot according to claim 8, wherein both sides of the charging station control box (107) are provided with control box wire inlets (111).
10. The charging device for the rail-mounted intelligent inspection robot according to claim 9, wherein the charging station control box (107) has two modes of automatic charging and manual charging, and when the inspection robot (108) cannot complete automatic charging, the inspection robot (108) can be charged in a manual charging mode.
11. A charging method for charging an inspection robot using the charging device according to any one of claims 1 to 10, the method comprising the steps of:
a) and charging preparation: when a charging station control box (107) receives a charging request of an inspection robot (108), the charging station control box (107) prepares to enter a charging state, and the inspection robot (108) moves to the charging device;
b) and detecting the condition of the charger: when the inspection robot (108) reaches a charging stop point, a charging station control box (107) starts a charging mechanism to read information of a charger, if the charger is detected to be abnormal, protection and alarm are carried out, and if the charger is normal, power supply is switched to the charger;
c) and detecting the charging process: reading the power supply condition of the inspection robot (108) in the charging process, and if the power supply electric quantity of the inspection robot (108) is sufficient, not charging; if the power supply electric quantity of the inspection robot (108) is insufficient, starting a charger for charging, reading the state of the charging process, and if abnormity is found, cutting off the power supply for protection and alarming;
d) and a parking charging state: if the inspection robot (108) stops at the charging device and receives the inspection task, reading the power state of the inspection robot (108), and if the power voltage of the inspection robot (108) is lower than the voltage required by the inspection, neglecting the inspection task and continuing to charge the inspection robot (108) by the charger; and if the power supply voltage of the inspection robot (108) is higher than the voltage required by inspection, switching to the power supply of the inspection robot (108) for power supply, and withdrawing the charging mechanism.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112054579A (en) * | 2020-09-11 | 2020-12-08 | 广东科凯达智能机器人有限公司 | Contact charging structure and inspection robot device |
| CN112904844A (en) * | 2021-01-14 | 2021-06-04 | 广东核电合营有限公司 | Intelligent inspection method and system for nuclear power station |
| CN114336988A (en) * | 2021-12-23 | 2022-04-12 | 河南牧原智能科技有限公司 | Charging system, charging method and product for charging inspection device |
| CN114498167A (en) * | 2021-12-20 | 2022-05-13 | 江苏三恒科技股份有限公司 | Hanging rail type inspection robot charging device and charging method |
| CN117507873A (en) * | 2023-10-19 | 2024-02-06 | 中科开创（广州）智能科技发展有限公司 | A rail-mounted intelligent mobile shared charging and discharging system |
| CN119189758A (en) * | 2024-11-06 | 2024-12-27 | 宁波乐轶智能技术有限公司 | An intelligent track change control system for aerial mobile charging equipment |
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| CN112054579A (en) * | 2020-09-11 | 2020-12-08 | 广东科凯达智能机器人有限公司 | Contact charging structure and inspection robot device |
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| CN117507873A (en) * | 2023-10-19 | 2024-02-06 | 中科开创（广州）智能科技发展有限公司 | A rail-mounted intelligent mobile shared charging and discharging system |
| CN119189758A (en) * | 2024-11-06 | 2024-12-27 | 宁波乐轶智能技术有限公司 | An intelligent track change control system for aerial mobile charging equipment |
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