技术领域Technical field
本发明属于变电站巡检机器人技术领域，具体涉及一种巡检机器人无线充电方法、系统、终端及存储介质。The invention belongs to the technical field of substation inspection robots, and specifically relates to a wireless charging method, system, terminal and storage medium for an inspection robot.
背景技术Background technique
随着智能控制技术、传感器技术以及能源等各个领域方面的发展，越来越多的自主运行机器人被应用于各个工业和家用场景。其中，巡检机器人是实现电力系统巡检作业自动化的重要执行单元，巡检机器人的移动属性决定其适合采用无缆化的电池供电。但因装置体积限制，现有的机器人搭载的电池容量有限，不能保证巡检机器人顺利完成一整套自主巡检，因此如何进行电能补充是亟需解决的问题。With the development of intelligent control technology, sensor technology, energy and other fields, more and more autonomous robots are being used in various industrial and household scenarios. Among them, the inspection robot is an important execution unit for realizing the automation of power system inspection operations. The mobile properties of the inspection robot determine that it is suitable to be powered by cableless batteries. However, due to device volume limitations, existing robots have limited battery capacity, which cannot guarantee that the inspection robot can successfully complete a complete set of autonomous inspections. Therefore, how to replenish electric energy is an issue that needs to be solved urgently.
现有的巡检机器人的自动充电技术大多是采用接触式充电方式，这种实体接触的充电方式势必需要精准的定位对接方案，但存在以下问题：首先，机器人从当前位置移动到充电座需要导航行为，过程复杂且需要设计相应的对接充电装置。并且，由于结构设计等方面原因，机器人和充电设备对接完之后，还要考虑收回对接充电装置；再者，频繁对接也容易对系统的可靠性带来影响，比如多次插拔对接操作会引起机械磨损，导致接触松动，不能有效传输电能；如果对接处出现金属异物或液体，将会导致接触不良或者电连接失败或者电路短路。可见，现有的巡检机器人的自主充电方案要同时满足高导航精度、高速定位、高可靠性对接是十分困难的，且成本上是高昂的。Most of the existing automatic charging technologies for inspection robots use contact charging. This physical contact charging method inevitably requires a precise positioning and docking solution, but there are the following problems: First, the robot needs navigation to move from its current position to the charging base. Behavior, the process is complex and requires the design of corresponding docking charging devices. Moreover, due to structural design and other reasons, after the robot and charging equipment are docked, the docking and charging device must be taken back. Furthermore, frequent docking can easily affect the reliability of the system. For example, multiple plug-in and pull-out operations can cause Mechanical wear causes loose contact and inability to effectively transmit electrical energy; if metal foreign matter or liquid appears at the docking point, it will lead to poor contact or electrical connection failure or circuit short circuit. It can be seen that it is very difficult and costly for existing autonomous charging solutions for inspection robots to simultaneously meet high navigation accuracy, high-speed positioning, and high-reliability docking.
发明内容Contents of the invention
针对现有技术中存在巡检机器人大都采用接触式充电方式，其由于多次插拔对接操作会引起机械磨损，导致接触松动，不能有效传输电能的不足，本发明提供一种巡检机器人无线充电方法、系统、终端及存储介质，以解决上述技术问题。In view of the shortcomings in the existing technology that most inspection robots adopt contact charging methods, which may cause mechanical wear due to multiple plugging and unplugging operations, resulting in loose contacts and inability to effectively transmit electric energy. The present invention provides a wireless charging method for inspection robots. Methods, systems, terminals and storage media are provided to solve the above technical problems.
第一方面，本发明提供一种巡检机器人无线充电方法，巡检机器人中预存有多个巡视点，且为多个巡视点之间设定巡检路线，并存储；包括：In a first aspect, the present invention provides a wireless charging method for an inspection robot. Multiple inspection points are pre-stored in the inspection robot, and inspection routes are set and stored between the multiple inspection points; including:
通过设置在巡检机器人上的定位模块获取所述巡检机器人的位置信息；Obtain the location information of the inspection robot through the positioning module provided on the inspection robot;
获取巡检机器人的剩余电量，并结合位置信息判断巡检机器人是否需要充电；Obtain the remaining power of the inspection robot and determine whether the inspection robot needs to be charged based on the location information;
若巡检机器人需要充电，则根据巡检机器人的位置信息确定出目标无线充电桩；If the inspection robot needs to be charged, the target wireless charging pile is determined based on the location information of the inspection robot;
控制巡检机器人根据目标无线充电桩对应的预存行驶路线前往目标充电桩；Control the inspection robot to go to the target charging pile according to the pre-stored driving route corresponding to the target wireless charging pile;
当设置在目标无线充电桩上的压力感应模块感应到压力时，判断巡检机器人与目标无线充电桩是否匹配；When the pressure sensing module set on the target wireless charging pile senses pressure, it is judged whether the inspection robot matches the target wireless charging pile;
若匹配，则开启目标无线充电桩上的电能发射模块和巡检机器人上的电能接收模块为巡检机器人进行充电。If they match, the power transmitting module on the target wireless charging pile and the power receiving module on the inspection robot are turned on to charge the inspection robot.
本技术方案的进一步改进还有，获取巡检机器人的剩余电量，并结合位置信息判断巡检机器人是否需要充电包括：A further improvement of this technical solution is to obtain the remaining power of the inspection robot and determine whether the inspection robot needs to be charged based on the location information, including:
根据巡检机器人的当前位置信息计算出巡检机器人到达下一个巡视点的所需耗电量；Calculate the power consumption required for the inspection robot to reach the next inspection point based on the current location information of the inspection robot;
判断巡检机器人的剩余电量是否大于巡检机器人到达下一个巡视点的所需耗电量；Determine whether the remaining power of the inspection robot is greater than the power consumption required by the inspection robot to reach the next inspection point;
若是，则判定巡检机器人无需充电，并控制巡检机器人继续前进；If so, it is determined that the inspection robot does not need to be charged, and the inspection robot is controlled to continue moving forward;
若否，则判定巡检机器人需要充电。If not, it is determined that the inspection robot needs to be charged.
本技术方案的进一步改进还有，根据巡检机器人的当前位置信息计算出巡检机器人到达下一个巡视点的所需耗电量包括：A further improvement of this technical solution is to calculate the power consumption required for the inspection robot to reach the next inspection point based on the current position information of the inspection robot, including:
统计相邻两个巡视点之间的路况信息，并进行存储；其中，路况信息包括相邻两个巡视点之间的实际路线总长、转弯数量和对应的弯道半径，以及高于平均路面的路段占比；The traffic information between two adjacent patrol points is counted and stored; the traffic information includes the actual total length of the route between two adjacent patrol points, the number of turns and the corresponding curve radius, as well as the road surface that is higher than the average road surface. Road section proportion;
根据巡检机器人的当前位置信息调取巡检机器人当前位置距离下一个视点之间的路况信息；According to the current position information of the inspection robot, the road condition information between the current position of the inspection robot and the next viewpoint is retrieved;
根据调取到的路况信息计算出巡检机器人到达下一个巡视点的所需耗电量。Based on the retrieved traffic information, the power consumption required for the inspection robot to reach the next inspection point is calculated.
本技术方案的进一步改进还有，根据巡检机器人的位置信息确定出目标无线充电桩包括：A further improvement of this technical solution is to determine the target wireless charging pile based on the location information of the inspection robot, including:
巡检机器人的巡检路径上设置有多个无线充电桩，多个无线充电桩按照巡检路线的长度方向依次排列，并将每个无线充电桩的位置信息进行预存；Multiple wireless charging piles are provided on the inspection path of the inspection robot. The multiple wireless charging piles are arranged in sequence according to the length of the inspection route, and the location information of each wireless charging pile is pre-stored;
根据巡检机器人的位置信息从多个无线充电桩中挑选出距离巡检机器人最近的无线充电桩；Select the wireless charging pile closest to the inspection robot from multiple wireless charging piles based on the location information of the inspection robot;
将挑选出的无线充电桩设置为目标充电桩。Set the selected wireless charging pile as the target charging pile.
本技术方案的进一步改进还有，当设置在目标无线充电桩上的压力感应模块感应到压力时，判断巡检机器人与目标无线充电桩是否匹配包括：A further improvement of this technical solution is that when the pressure sensing module installed on the target wireless charging pile senses pressure, determining whether the inspection robot matches the target wireless charging pile includes:
巡检机器人在前往目标无线充电桩的行驶过程中将位置信息进行实时上报；The inspection robot reports location information in real time while driving to the target wireless charging pile;
当巡检机器人到达目标无线充电桩附近时，控制设置在无线充电桩上的压力感应模块进行压力检测；When the inspection robot arrives near the target wireless charging pile, it controls the pressure sensing module set on the wireless charging pile to perform pressure detection;
当检测到目标无线充电桩上所承受的压力达到预设压力值时，控制巡检机器人上的第一蓝牙模块和目标无线充电桩上的第二蓝牙模块进行匹配；When it is detected that the pressure on the target wireless charging pile reaches the preset pressure value, control the first Bluetooth module on the inspection robot and the second Bluetooth module on the target wireless charging pile to match;
若第一蓝牙模块和第二蓝牙模块连接成功，则判定巡检机器人与目标无线充电桩匹配。If the first Bluetooth module and the second Bluetooth module are successfully connected, it is determined that the inspection robot matches the target wireless charging pile.
本技术方案的进一步改进还有，开启目标无线充电桩上的电能发射模块和巡检机器人上的电能接收模块为巡检机器人进行充电包括：A further improvement of this technical solution is to turn on the power transmitting module on the target wireless charging pile and the power receiving module on the inspection robot to charge the inspection robot, including:
在确认巡检机器人与目标无线充电桩匹配后，触发目标无线充电桩上设置的充电检测模块对充电信息进行检测；After confirming that the inspection robot matches the target wireless charging pile, the charging detection module set on the target wireless charging pile is triggered to detect the charging information;
判断包含电压、电流的充电信息是否均在对应的预设范围内；Determine whether the charging information including voltage and current are within the corresponding preset range;
若是，则开启目标无线充电桩上的电能发射模块和巡检机器人上的电能接收模块为巡检机器人进行充电；同时，开启设置在巡检机器人上电量检测模块，对设置在巡检机器人上的储能电池进行电量检测；If so, the power transmitting module on the target wireless charging pile and the power receiving module on the inspection robot are turned on to charge the inspection robot; at the same time, the power detection module set on the inspection robot is turned on, and the power detection module set on the inspection robot is turned on. The energy storage battery performs battery testing;
判断储能电池上的电量是否大于等于预设电量；Determine whether the power on the energy storage battery is greater than or equal to the preset power;
若是，则结束充电。If so, end charging.
第二方面，本发明提供一种巡检机器人无线充电系统，包括巡检机器人和多个无线充电桩；In a second aspect, the present invention provides a wireless charging system for an inspection robot, including an inspection robot and multiple wireless charging piles;
巡检机器人上设置有电能接收模块和第一匹配模块，无线充电桩上设置有电能发射模块和第二匹配模块，电能发射模块和电能接收模块耦合连接，第一匹配模块和第二匹配模块无线连接；The inspection robot is provided with a power receiving module and a first matching module. The wireless charging pile is provided with a power transmitting module and a second matching module. The power transmitting module and the power receiving module are coupled and connected. The first matching module and the second matching module are wirelessly connected. connect;
巡检机器人还包括车体、控制模块、储能电池、电量检测模块、定位模块和存储模块；控制模块、储能电池、电量检测模块、定位模块和存储模块均设置在车体上；储能电池的输入端连接到电能接收模块的输出端，储能电池的输出端连接到车体上设置的驱动机构的输入端；电量检测模块的输入端连接到储能电池，电量检测模块的输出端连接到控制模块；定位模块的输出端连接到控制模块，存储模块连接到控制模块；电能接收模块还连接到控制终端的输出端；The inspection robot also includes a car body, a control module, an energy storage battery, a power detection module, a positioning module and a storage module; the control module, energy storage battery, power detection module, positioning module and storage module are all set on the car body; energy storage The input end of the battery is connected to the output end of the electric energy receiving module, and the output end of the energy storage battery is connected to the input end of the driving mechanism provided on the vehicle body; the input end of the power detection module is connected to the energy storage battery, and the output end of the power detection module Connected to the control module; the output end of the positioning module is connected to the control module, and the storage module is connected to the control module; the power receiving module is also connected to the output end of the control terminal;
无线充电桩还包括压力感应模块，压力感应模块与控制模块无线连接，且电能发射模块与控制模块的输出端无线连接。The wireless charging pile also includes a pressure sensing module, the pressure sensing module is wirelessly connected to the control module, and the power transmitting module is wirelessly connected to the output end of the control module.
本技术方案的进一步改进还有，无线充电桩还包括电源模块，电源模块的输入端连接到220伏外部电源，电源模块的输出端连接到电能发射模块的输入端。A further improvement of this technical solution is that the wireless charging pile also includes a power module, the input end of the power module is connected to the 220-volt external power supply, and the output end of the power module is connected to the input end of the power transmitting module.
第三方面，提供一种终端，包括：In the third aspect, a terminal is provided, including:
处理器、存储器，其中，processor, memory, where,
该存储器用于存储计算机程序，This memory is used to store computer programs,
该处理器用于从存储器中调用并运行该计算机程序，使得终端执行上述的终端的方法。The processor is used to call and run the computer program from the memory, so that the terminal executes the above terminal method.
第四方面，提供了一种计算机存储介质，所述计算机可读存储介质中存储有指令，当其在计算机上运行时，使得计算机执行上述各方面所述的方法。In a fourth aspect, a computer storage medium is provided. The computer-readable storage medium stores instructions, which when run on a computer, cause the computer to perform the methods described in the above aspects.
本发明的有益效果在于，本发明能够在巡检机器人进行巡检时，实时获取其位置信息并结合剩余电量判断巡检机器人是否需要充电；当判定出巡检机器人需要充电时，自动寻找目标无线充电桩进行充电，实现了巡检机器人在无人干预情况下，能够以一种安全可靠、快速高效的方式实现自动充电。另外，本发明中的无线充电桩能够在给巡检机器人提供电能的同时避免现有技术中接触充电的对接复杂以及对接中产生的隐患问题。The beneficial effect of the present invention is that the present invention can obtain the location information of the inspection robot in real time when it is performing inspection and determine whether the inspection robot needs to be charged based on the remaining power; when it is determined that the inspection robot needs to be charged, it can automatically search for the target wireless Charging at the charging pile enables the inspection robot to automatically charge in a safe, reliable, fast and efficient manner without human intervention. In addition, the wireless charging pile in the present invention can provide electric energy to the inspection robot while avoiding the complicated docking of contact charging in the prior art and the hidden dangers caused by the docking.
此外，本发明设计原理可靠，结构简单，具有非常广泛的应用前景。In addition, the design principle of the invention is reliable, the structure is simple, and it has very broad application prospects.
附图说明Description of the drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，对于本领域普通技术人员而言，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those of ordinary skill in the art, It is said that other drawings can also be obtained based on these drawings without exerting creative work.
图1是本发明一个实施例的方法的示意性流程图。Figure 1 is a schematic flow chart of a method according to an embodiment of the present invention.
图2是本发明一个实施例的系统的示意性框图。Figure 2 is a schematic block diagram of a system according to an embodiment of the present invention.
图3为本发明实施例提供的一种终端的结构示意图。Figure 3 is a schematic structural diagram of a terminal provided by an embodiment of the present invention.
210为巡检机器人，211为电能接收模块，212为第一匹配模块，213为车体，214为控制模块，215为储能电池，216为电量检测模块，217为定位模块，218为存储模块，220为多个无线充电桩，221为电能发射模块，222为第二匹配模块，223为压力感应模块，224为电源模块。210 is an inspection robot, 211 is an electric energy receiving module, 212 is a first matching module, 213 is a vehicle body, 214 is a control module, 215 is an energy storage battery, 216 is a power detection module, 217 is a positioning module, and 218 is a storage module. , 220 is a plurality of wireless charging piles, 221 is a power transmitting module, 222 is a second matching module, 223 is a pressure sensing module, and 224 is a power module.
具体实施方式Detailed ways
为了使本技术领域的人员更好地理解本发明中的技术方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described The embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts should fall within the scope of protection of the present invention.
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which the invention belongs. The terminology used herein in the description of the invention is for the purpose of describing specific embodiments only and is not intended to limit the invention.
图1是本发明一个实施例的方法的示意性流程图。其中，图1执行主体可以为一种巡检机器人无线充电系统。根据不同的需求，该流程图中步骤的顺序可以改变，某些可以省略。其中，该巡检机器人中预存有多个巡视点，且为多个巡视点之间设定巡检路线，并存储。Figure 1 is a schematic flow chart of a method according to an embodiment of the present invention. Among them, the execution subject in Figure 1 can be a wireless charging system for an inspection robot. Depending on different needs, the order of steps in this flowchart can be changed, and some can be omitted. Among them, the inspection robot has multiple inspection points pre-stored, and inspection routes are set and stored between the multiple inspection points.
如图1所示，该方法包括：As shown in Figure 1, the method includes:
步骤110，通过设置在巡检机器人上的定位模块获取所述巡检机器人的位置信息；Step 110: Obtain the location information of the inspection robot through the positioning module provided on the inspection robot;
步骤120，获取巡检机器人的剩余电量，并结合位置信息判断巡检机器人是否需要充电；若是，则转到步骤130；Step 120: Obtain the remaining power of the inspection robot and determine whether the inspection robot needs to be charged based on the location information; if so, go to step 130;
步骤130，根据巡检机器人的位置信息确定出目标无线充电桩；Step 130: Determine the target wireless charging pile based on the location information of the inspection robot;
步骤140，控制巡检机器人根据目标无线充电桩对应的预存行驶路线前往目标充电桩；Step 140, control the inspection robot to go to the target charging pile according to the pre-stored driving route corresponding to the target wireless charging pile;
步骤150，当设置在目标无线充电桩上的压力感应模块感应到压力时，判断巡检机器人与目标无线充电桩是否匹配；若是，则转到步骤160；Step 150: When the pressure sensing module installed on the target wireless charging pile senses pressure, it is determined whether the inspection robot matches the target wireless charging pile; if so, go to step 160;
步骤160，开启目标无线充电桩上的电能发射模块和巡检机器人上的电能接收模块为巡检机器人进行充电。Step 160: Turn on the power transmitting module on the target wireless charging pile and the power receiving module on the inspection robot to charge the inspection robot.
为了便于对本发明的理解，下面以本发明巡检机器人无线充电方法的原理，结合实施例中对巡检机器人进行无线充电的过程，对本发明提供的巡检机器人无线充电方法做进一步的描述。In order to facilitate understanding of the present invention, the wireless charging method for the inspection robot provided by the present invention will be further described below based on the principle of the wireless charging method for the inspection robot of the present invention and the process of wireless charging of the inspection robot in the embodiment.
具体的，所述巡检机器人无线充电方法包括：Specifically, the wireless charging method of the inspection robot includes:
S1、获取巡检机器人的剩余电量，并结合位置信息判断巡检机器人是否需要充电。S1. Obtain the remaining power of the inspection robot and determine whether the inspection robot needs to be charged based on the location information.
为了判断巡检机器人是否需要充电，需要结合巡检机器人的剩余电量和位置信息进行判断，其中，巡检机器人的实时位置信息需要根据设置在巡检机器人上的定位模块进行获取，巡检机器人的剩余电量需要通过设置在巡检机器人上电量检测模块进行，具体的判断方法包括：In order to determine whether the inspection robot needs to be charged, it needs to be judged based on the remaining power and position information of the inspection robot. Among them, the real-time position information of the inspection robot needs to be obtained based on the positioning module set on the inspection robot. The remaining power needs to be determined by setting the power detection module on the inspection robot. The specific judgment methods include:
步骤S101，根据巡检机器人的当前位置信息计算出巡检机器人到达下一个巡视点的所需耗电量；Step S101: Calculate the power consumption required for the inspection robot to reach the next inspection point based on the current location information of the inspection robot;
步骤S102，判断巡检机器人的剩余电量是否大于巡检机器人到达下一个巡视点的所需耗电量；若是，则转到步骤S103；若否，则转到步骤104；Step S102, determine whether the remaining power of the inspection robot is greater than the power consumption required for the inspection robot to reach the next inspection point; if so, go to step S103; if not, go to step 104;
步骤S103，判定巡检机器人无需充电，并控制巡检机器人继续前进；Step S103, determine that the inspection robot does not need to be charged, and control the inspection robot to continue moving forward;
步骤S104，判定巡检机器人需要充电。Step S104: It is determined that the inspection robot needs to be charged.
其中，在进行一个巡检点巡检完成后，为了确保巡检机器人能够安全到达下一个巡检点，需要计算巡检机器人到达下一个巡视点的所需耗电量，具体包括：Among them, after the inspection of one inspection point is completed, in order to ensure that the inspection robot can safely reach the next inspection point, it is necessary to calculate the power consumption required by the inspection robot to reach the next inspection point, including:
步骤S1021，统计相邻两个巡视点之间的路况信息，并进行存储；其中，路况信息包括相邻两个巡视点之间的实际路线总长、转弯数量和对应的弯道半径，以及高于平均路面的路段占比；Step S1021, count the traffic information between two adjacent patrol points and store it; where the traffic information includes the actual total length of the route between two adjacent patrol points, the number of turns and the corresponding curve radius, as well as the The proportion of average road sections;
步骤S1022，根据巡检机器人的当前位置信息调取巡检机器人当前位置距离下一个视点之间的路况信息；Step S1022, retrieve the road condition information between the current position of the inspection robot and the next viewpoint according to the current position information of the inspection robot;
步骤S1023，根据调取到的路况信息计算出巡检机器人到达下一个巡视点的所需耗电量。Step S1023: Calculate the power consumption required for the inspection robot to reach the next inspection point based on the retrieved road condition information.
S2、在确定巡检机器人需要进行充电后，为了节约电能，以及保证巡检机器人能够百分百充上电，则需要根据巡检机器人的位置信息确定出目标无线充电桩，具体包括：S2. After it is determined that the inspection robot needs to be charged, in order to save power and ensure that the inspection robot can be 100% charged, the target wireless charging pile needs to be determined based on the location information of the inspection robot, including:
步骤S201，巡检机器人的巡检路径上设置有多个无线充电桩，多个无线充电桩按照巡检路线的长度方向依次排列，并将每个无线充电桩的位置信息进行预存；Step S201, multiple wireless charging piles are provided on the inspection path of the inspection robot. The multiple wireless charging piles are arranged in sequence according to the length direction of the inspection route, and the location information of each wireless charging pile is pre-stored;
步骤S202，根据巡检机器人的位置信息从多个无线充电桩中挑选出距离巡检机器人最近的无线充电桩；Step S202: Select the wireless charging pile closest to the inspection robot from multiple wireless charging piles based on the location information of the inspection robot;
步骤S203，将挑选出的无线充电桩设置为目标充电桩。Step S203: Set the selected wireless charging pile as the target charging pile.
S3、为了确保巡检机器人能够进行稳定、精确充电，需要对巡检机器人进行确认检测，当设置在目标无线充电桩上的压力感应模块感应到压力时，表示巡检机器人已经移动到目标无线充电桩上，之后进行巡检机器人与目标无线充电桩是否匹配判断，具体包括：S3. In order to ensure that the inspection robot can charge stably and accurately, the inspection robot needs to be confirmed and tested. When the pressure sensing module set on the target wireless charging pile senses pressure, it means that the inspection robot has moved to the target wireless charging station. on the pile, and then judge whether the inspection robot matches the target wireless charging pile, including:
步骤S301，巡检机器人在前往目标无线充电桩的行驶过程中将位置信息进行实时上报；Step S301, the inspection robot reports the location information in real time while driving to the target wireless charging pile;
步骤S302，当巡检机器人到达目标无线充电桩附近时，控制设置在无线充电桩上的压力感应模块进行压力检测；Step S302, when the inspection robot arrives near the target wireless charging pile, it controls the pressure sensing module installed on the wireless charging pile to perform pressure detection;
步骤S303，当检测到目标无线充电桩上所承受的压力达到预设压力值时，控制巡检机器人上的第一蓝牙模块和目标无线充电桩上的第二蓝牙模块进行匹配；Step S303, when it is detected that the pressure on the target wireless charging pile reaches a preset pressure value, control the first Bluetooth module on the inspection robot and the second Bluetooth module on the target wireless charging pile to match;
步骤S304，若第一蓝牙模块和第二蓝牙模块连接成功，则判定巡检机器人与目标无线充电桩匹配。Step S304: If the first Bluetooth module and the second Bluetooth module are successfully connected, it is determined that the inspection robot matches the target wireless charging pile.
S4、在匹配完成后，立即开启目标无线充电桩上的电能发射模块和巡检机器人上的电能接收模块为巡检机器人进行充电，具体包括S4. After the matching is completed, immediately turn on the power transmitting module on the target wireless charging pile and the power receiving module on the inspection robot to charge the inspection robot, including
步骤401，在确认巡检机器人与目标无线充电桩匹配后，触发目标无线充电桩上设置的充电检测模块对充电信息进行检测；Step 401: After confirming that the inspection robot matches the target wireless charging pile, trigger the charging detection module set on the target wireless charging pile to detect the charging information;
步骤402，判断包含电压、电流的充电信息是否均在对应的预设范围内；若是，则转到步骤403；Step 402: Determine whether the charging information including voltage and current are within the corresponding preset range; if so, go to step 403;
步骤403，开启目标无线充电桩上的电能发射模块和巡检机器人上的电能接收模块为巡检机器人进行充电；同时，开启设置在巡检机器人上电量检测模块，对设置在巡检机器人上的储能电池进行电量检测；Step 403: Turn on the power transmitting module on the target wireless charging pile and the power receiving module on the inspection robot to charge the inspection robot; at the same time, turn on the power detection module set on the inspection robot to charge the power on the inspection robot. The energy storage battery performs battery testing;
步骤404，判断储能电池上的电量是否大于等于预设电量；若是，则结束充电。Step 404: Determine whether the power on the energy storage battery is greater than or equal to the preset power; if so, end charging.
本发明能够在巡检机器人进行巡检时，实时获取其位置信息并结合剩余电量判断巡检机器人是否需要充电；当判定出巡检机器人需要充电时，自动寻找目标无线充电桩进行充电，实现了巡检机器人在无人干预情况下，能够以一种安全可靠、快速高效的方式实现自动充电。The invention can obtain the location information of the inspection robot in real time when it is performing inspection and determine whether the inspection robot needs to be charged based on the remaining power; when it is determined that the inspection robot needs to be charged, it automatically finds the target wireless charging pile for charging, realizing The inspection robot can automatically charge in a safe, reliable, fast and efficient manner without human intervention.
本发明提供一种巡检机器人无线充电系统，作为巡检机器人无线充电方法的一个执行设备，具体包括巡检机器人和多个无线充电桩；其中，巡检机器人上设置有电能接收模块和第一匹配模块，无线充电桩上设置有电能发射模块和第二匹配模块，电能发射模块和电能接收模块耦合连接，第一匹配模块和第二匹配模块无线连接，与巡检机器人接触式的充电方式相比，非接触式充电系统不存在频繁对接、脱离致使机械磨损，导致接触松动，不能有效传输电能的问题。The invention provides a wireless charging system for an inspection robot. As an execution device for the wireless charging method of the inspection robot, it specifically includes an inspection robot and a plurality of wireless charging piles; wherein, the inspection robot is provided with an electric energy receiving module and a first Matching module, the wireless charging pile is provided with a power transmitting module and a second matching module. The power transmitting module and the power receiving module are coupled and connected. The first matching module and the second matching module are wirelessly connected, which is consistent with the contact charging method of the inspection robot. Compared with the non-contact charging system, there is no problem of mechanical wear caused by frequent docking and disengagement, resulting in loose contact and inability to effectively transmit electrical energy.
另外，巡检机器人还包括车体、控制模块、储能电池、电量检测模块、定位模块和存储模块；控制模块、储能电池、电量检测模块、定位模块和存储模块均设置在车体上；储能电池的输入端连接到电能接收模块的输出端，储能电池的输出端连接到车体上设置的驱动机构的输入端；电量检测模块的输入端连接到储能电池，电量检测模块的输出端连接到控制模块；定位模块的输出端连接到控制模块，存储模块连接到控制模块；电能接收模块还连接到控制终端的输出端。且电能发射模块中设置有发射线圈，电能接收模块中设置有接收线圈，而巡检路径上设置有多个无线充电桩，多个无线充电桩按照巡检路线的长度方向依次排列，巡检机器人能够通过合理控制，实现不同发射线圈的轮流导通，减小发射线圈的内阻损耗以提高系统效率，同时避免现有长导轨式充电带来的电磁辐射问题。In addition, the inspection robot also includes a vehicle body, a control module, an energy storage battery, a power detection module, a positioning module and a storage module; the control module, energy storage battery, power detection module, positioning module and storage module are all set on the vehicle body; The input end of the energy storage battery is connected to the output end of the power receiving module, and the output end of the energy storage battery is connected to the input end of the driving mechanism provided on the vehicle body; the input end of the power detection module is connected to the energy storage battery, and the power detection module The output end is connected to the control module; the output end of the positioning module is connected to the control module, and the storage module is connected to the control module; the power receiving module is also connected to the output end of the control terminal. The power transmitting module is provided with a transmitting coil, the power receiving module is provided with a receiving coil, and multiple wireless charging piles are provided on the inspection path. The multiple wireless charging piles are arranged in sequence according to the length of the inspection route. The inspection robot Through reasonable control, different transmitting coils can be turned on in turn, reducing the internal resistance loss of the transmitting coil to improve system efficiency, while avoiding electromagnetic radiation problems caused by existing long rail charging.
此外，无线充电桩还包括压力感应模块，压力感应模块与控制模块无线连接，且电能发射模块与控制模块的输出端无线连接，为了精准确认巡检机器人已到达目标无线充电桩。In addition, the wireless charging pile also includes a pressure sensing module. The pressure sensing module is wirelessly connected to the control module, and the power transmitting module is wirelessly connected to the output end of the control module. In order to accurately confirm that the inspection robot has reached the target wireless charging pile.
最后，无线充电桩还包括电源模块，电源模块的输入端连接到220伏外部电源，电源模块的输出端连接到电能发射模块的输入端。电源模块依次通过第一整流滤波单元、直流调压单元、高频逆变单元和第一补偿电路连接到电能发射线圈，电能发射线圈和电能接收线圈耦合连接，电能接收线圈依次通过补偿第二补偿电路和第二整流滤波单元连接到储能电池，实现巡检机器人不间断工作，从而提升巡检效率。Finally, the wireless charging pile also includes a power module, the input end of the power module is connected to the 220-volt external power supply, and the output end of the power module is connected to the input end of the power transmitting module. The power module is connected to the electric energy transmitting coil through the first rectifier and filter unit, the DC voltage regulating unit, the high frequency inverter unit and the first compensation circuit in turn. The electric energy transmitting coil and the electric energy receiving coil are coupled and connected. The electric energy receiving coil is sequentially compensated through the second compensation circuit. The circuit and the second rectifier and filter unit are connected to the energy storage battery to enable the inspection robot to work uninterrupted, thereby improving inspection efficiency.
图3为本发明实施例提供的一种终端300的结构示意图，该终端300可以用于执行本发明实施例提供的巡检机器人无线充电方法。FIG. 3 is a schematic structural diagram of a terminal 300 provided by an embodiment of the present invention. The terminal 300 can be used to perform the wireless charging method for an inspection robot provided by an embodiment of the present invention.
其中，该终端300可以包括：处理器310、存储器320及通信模块330。这些组件通过一条或多条总线进行通信，本领域技术人员可以理解，图中示出的服务器的结构并不构成对本发明的限定，它既可以是总线形结构，也可以是星型结构，还可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。The terminal 300 may include: a processor 310, a memory 320 and a communication module 330. These components communicate through one or more buses. Those skilled in the art can understand that the structure of the server shown in the figure does not constitute a limitation of the present invention. It can be a bus structure, a star structure, or More or fewer components may be included than shown, or certain components may be combined, or may be arranged differently.
其中，该存储器320可以用于存储处理器310的执行指令，存储器320可以由任何类型的易失性或非易失性存储终端或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁存储器，快闪存储器，磁盘或光盘。当存储器320中的执行指令由处理器310执行时，使得终端300能够执行以下上述方法实施例中的部分或全部步骤。Among them, the memory 320 can be used to store execution instructions of the processor 310. The memory 320 can be implemented by any type of volatile or non-volatile storage terminals or their combination, such as static random access memory (SRAM), electronic Erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk . When the execution instructions in the memory 320 are executed by the processor 310, the terminal 300 is enabled to perform some or all of the steps in the following method embodiments.
处理器310为存储终端的控制中心，利用各种接口和线路连接整个电子终端的各个部分，通过运行或执行存储在存储器320内的软件程序和/或模块，以及调用存储在存储器内的数据，以执行电子终端的各种功能和/或处理数据。所述处理器可以由集成电路(Integrated Circuit，简称IC)组成，例如可以由单颗封装的IC所组成，也可以由连接多颗相同功能或不同功能的封装IC而组成。举例来说，处理器310可以仅包括中央处理器(Central Processing Unit，简称CPU)。在本发明实施方式中，CPU可以是单运算核心，也可以包括多运算核心。The processor 310 is the control center of the storage terminal, using various interfaces and lines to connect various parts of the entire electronic terminal, by running or executing software programs and/or modules stored in the memory 320, and calling data stored in the memory, To perform various functions of the electronic terminal and/or process data. The processor may be composed of an integrated circuit (IC for short), for example, it may be composed of a single packaged IC, or it may be composed of multiple packaged ICs connected with the same function or different functions. For example, the processor 310 may only include a central processing unit (Central Processing Unit, CPU for short). In the embodiment of the present invention, the CPU may be a single computing core or may include multiple computing cores.
通信模块330，用于建立通信信道，从而使所述存储终端可以与其它终端进行通信。接收其他终端发送的用户数据或者向其他终端发送用户数据。The communication module 330 is used to establish a communication channel so that the storage terminal can communicate with other terminals. Receive user data sent by other terminals or send user data to other terminals.
本发明还提供一种计算机存储介质，其中，该计算机存储介质可存储有程序，该程序执行时可包括本发明提供的各实施例中的部分或全部步骤。所述的存储介质可为磁碟、光盘、只读存储记忆体(英文：read-only memory，简称：ROM)或随机存储记忆体(英文：random access memory，简称：RAM)等。The present invention also provides a computer storage medium, wherein the computer storage medium can store a program, and when executed, the program can include some or all of the steps in the embodiments provided by the present invention. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.
本领域的技术人员可以清楚地了解到本发明实施例中的技术可借助软件加必需的通用硬件平台的方式来实现。基于这样的理解，本发明实施例中的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中如U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质，包括若干指令用以使得一台计算机终端(可以是个人计算机，服务器，或者第二终端、网络终端等)执行本发明各个实施例所述方法的全部或部分步骤。Those skilled in the art can clearly understand that the technology in the embodiments of the present invention can be implemented by means of software plus the necessary general hardware platform. Based on this understanding, the technical solutions in the embodiments of the present invention can be embodied in the form of software products in essence or in part that contribute to the existing technology. The computer software products are stored in a storage medium such as a USB flash drive or mobile phone. Hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code, including a number of instructions to make a computer terminal (It can be a personal computer, a server, or a second terminal, a network terminal, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention.
本说明书中各个实施例之间相同相似的部分互相参见即可。尤其，对于终端实施例而言，由于其基本相似于方法实施例，所以描述的比较简单，相关之处参见方法实施例中的说明即可。The same and similar parts among the various embodiments in this specification can be referred to each other. In particular, for the terminal embodiment, since it is basically similar to the method embodiment, the description is relatively simple. For relevant details, please refer to the description in the method embodiment.
在本发明所提供的几个实施例中，应该理解到，所揭露的系统和方法，可以通过其它的方式实现。例如，以上所描述的系统实施例仅仅是示意性的，例如，所述模块的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个模块或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，系统或模块的间接耦合或通信连接，可以是电性，机械或其它的形式。In the several embodiments provided by the present invention, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are only illustrative. For example, the division of modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules or components may be combined or can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, indirect coupling or communication connection of the system or module, which may be in electrical, mechanical or other forms.
所述作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块显示的部件可以是或者也可以不是物理模块，即可以位于一个地方，或者也可以分布到多个网络模块上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place, or they may be distributed to multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
另外，在本发明各个实施例中的各功能模块可以集成在一个处理模块中，也可以是各个模块单独物理存在，也可以两个或两个以上模块集成在一个模块中。In addition, each functional module in various embodiments of the present invention can be integrated into one processing module, or each module can exist physically alone, or two or more modules can be integrated into one module.
尽管通过参考附图并结合优选实施例的方式对本发明进行了详细描述，但本发明并不限于此。在不脱离本发明的精神和实质的前提下，本领域普通技术人员可以对本发明的实施例进行各种等效的修改或替换，而这些修改或替换都应在本发明的涵盖范围内/任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应所述以权利要求的保护范围为准。Although the present invention has been described in detail with reference to the accompanying drawings in conjunction with preferred embodiments, the present invention is not limited thereto. Without departing from the spirit and essence of the invention, those of ordinary skill in the art can make various equivalent modifications or substitutions to the embodiments of the invention, and these modifications or substitutions should be within the scope of the invention/any Those skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention, and they should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311238599.8ACN117477697A (en) | 2023-09-23 | 2023-09-23 | Wireless charging method, system, terminal and storage medium for inspection robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311238599.8ACN117477697A (en) | 2023-09-23 | 2023-09-23 | Wireless charging method, system, terminal and storage medium for inspection robot |
| Publication Number | Publication Date |
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| CN117477697Atrue CN117477697A (en) | 2024-01-30 |
| Application Number | Title | Priority Date | Filing Date |
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| CN202311238599.8AWithdrawnCN117477697A (en) | 2023-09-23 | 2023-09-23 | Wireless charging method, system, terminal and storage medium for inspection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117879132A (en)* | 2024-03-12 | 2024-04-12 | 南通科美自动化科技有限公司 | An energy storage power supply system for inspection robots |
| CN119582380A (en)* | 2024-02-28 | 2025-03-07 | 江苏财经职业技术学院 | An adaptive charging control method and system for inspection robots |
| CN119834484A (en)* | 2025-03-17 | 2025-04-15 | 国网浙江省电力有限公司仙居县供电公司 | Wireless charging control system and method for intelligent inspection robot |
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN119582380A (en)* | 2024-02-28 | 2025-03-07 | 江苏财经职业技术学院 | An adaptive charging control method and system for inspection robots |
| CN117879132A (en)* | 2024-03-12 | 2024-04-12 | 南通科美自动化科技有限公司 | An energy storage power supply system for inspection robots |
| CN117879132B (en)* | 2024-03-12 | 2024-05-14 | 南通科美自动化科技有限公司 | An energy storage power supply system for inspection robots |
| CN119834484A (en)* | 2025-03-17 | 2025-04-15 | 国网浙江省电力有限公司仙居县供电公司 | Wireless charging control system and method for intelligent inspection robot |
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