Disclosure of Invention
The application provides a wireless charging control system and a wireless charging control method for an intelligent inspection robot, which can locate the point with the best charging efficiency under the influence of error accumulation of the intelligent inspection robot, thereby improving the charging effectiveness of the intelligent inspection robot.
In a first aspect, the application provides a wireless charging control method for an intelligent inspection robot, which comprises the following steps:
setting a plurality of wireless charging stations in an operation area of an intelligent inspection robot, and extracting target wireless charging stations from all wireless charging stations based on the maximum running load of the intelligent inspection robot and the spatial positions of the wireless charging stations when the electric quantity of the intelligent inspection robot is lower than a preset threshold value;
When the intelligent patrol robot drives to a charging area of a target wireless charging station, fitting track points of the intelligent patrol robot on the edge of the charging area and target positions of the charging area to obtain a horizontal alignment line and a vertical alignment line when the intelligent patrol robot carries out mobile charging;
Determining power receiving ratios of all moving trace points when the intelligent inspection robot moves on the horizontal alignment line and the vertical alignment line, and determining the position correction amount of the intelligent inspection robot in the horizontal direction and the position correction amount in the vertical direction based on all the power receiving ratios and the offset tolerance when the intelligent inspection robot performs mobile charging;
Correcting an initial center pair position point between the intelligent inspection robot and a target wireless charging station through the position correction quantity in the horizontal direction and the position correction quantity in the vertical direction to obtain a position charging point when the intelligent inspection robot carries out mobile charging;
and moving the intelligent inspection robot to the position charging point for charging.
In some embodiments, extracting the target wireless charging station from all wireless charging stations based on the maximum running load of the intelligent patrol robot and the spatial position of each wireless charging station specifically includes:
Acquiring environmental influence parameters of the intelligent inspection robot and the space position of each wireless charging station;
Determining the maximum running load of the intelligent patrol robot based on the dead weight of the intelligent patrol robot and the environmental impact parameter;
For each wireless charging station, determining a relative spatial distance according to the spatial position of the wireless charging station and the spatial position of the intelligent patrol robot, and determining the running energy consumption corresponding to the wireless charging station according to the relative spatial distance and the maximum running load, thereby obtaining the running energy consumption corresponding to each wireless charging station;
And extracting the minimum driving energy consumption from all the driving energy consumption, and taking the wireless charging station corresponding to the minimum driving energy consumption as a target wireless charging station.
In some embodiments, the fitting of the track points of the intelligent inspection robot on the edge of the charging area and the target point positions of the charging area to obtain the horizontal alignment line and the vertical alignment line when the intelligent inspection robot performs mobile charging specifically includes:
acquiring a track point and a target point position of a charging area when the intelligent inspection robot drives to the edge of the charging area of a target wireless charging station;
Crossing the track point and the target point to form a straight line and intersecting the first edge intersection point of the charging area;
taking a connecting line between the track point and the first edge intersection point as a horizontal alignment line when the intelligent inspection robot carries out mobile charging;
And a straight line passing through the target point position and perpendicular to the horizontal alignment line intersects with a second edge intersection point and a third edge intersection point of the charging area, and a connecting line of the second edge intersection point and the third edge intersection point is used as a vertical alignment line when the intelligent inspection robot carries out mobile charging.
In some embodiments, determining the power reception ratio of each moving trace point when the intelligent patrol robot moves on the horizontal alignment line and the vertical alignment line specifically includes:
When the intelligent inspection robot moves on the horizontal alignment line and the vertical alignment line, determining the receiving power of the intelligent inspection robot and the transmitting power of a target wireless charging station on each moving trace point;
and for each moving trace point, determining the power receiving ratio of the moving trace point according to the corresponding receiving power and transmitting power, and further obtaining the power receiving ratio of each moving trace point when the intelligent inspection robot moves on the horizontal alignment line and the vertical alignment line.
In some embodiments, correcting the initial center pair location between the intelligent patrol robot and the target wireless charging station by the position correction amount in the horizontal direction and the position correction amount in the vertical direction, to obtain a location charging point when the intelligent patrol robot performs mobile charging specifically includes:
acquiring an initial center alignment point between the intelligent inspection robot and a target wireless charging station;
Extracting a horizontal alignment coordinate value and a vertical alignment coordinate value from the initial center alignment point;
Correcting the horizontal alignment coordinate value by the position correction quantity in the horizontal direction to obtain a corrected horizontal alignment coordinate value;
correcting the vertical alignment coordinate value by the position correction quantity in the vertical direction to obtain a corrected vertical alignment coordinate value;
And combining the corrected horizontal alignment coordinate value and the corrected vertical alignment coordinate value to obtain a position charging point when the intelligent inspection robot carries out mobile charging.
In some embodiments, a wireless receiving coil is arranged at the bottom of the intelligent inspection robot.
In some embodiments, the wireless charging station is a fixed charging station.
In a second aspect, the present application provides a wireless charging control system for an intelligent inspection robot, including:
The monitoring module is used for setting a plurality of wireless charging stations in an operation area of the intelligent patrol robot, and when the electric quantity of the intelligent patrol robot is lower than a preset threshold value, extracting target wireless charging stations from all wireless charging stations based on the maximum running load of the intelligent patrol robot and the space positions of the wireless charging stations;
The processing module is used for fitting the track points of the intelligent patrol robot on the edge of the charging area and the target positions of the charging area to obtain a horizontal alignment line and a vertical alignment line when the intelligent patrol robot moves and charges when the intelligent patrol robot drives to the charging area of the target wireless charging station;
The processing module is further used for determining the power receiving ratio of each moving trace point when the intelligent inspection robot moves on the horizontal alignment line and the vertical alignment line, and determining the position correction quantity of the intelligent inspection robot in the horizontal direction and the position correction quantity of the intelligent inspection robot in the vertical direction based on all the power receiving ratios and the offset tolerance when the intelligent inspection robot performs mobile charging;
The processing module is further used for correcting an initial center pair position point between the intelligent inspection robot and a target wireless charging station through the position correction quantity in the horizontal direction and the position correction quantity in the vertical direction to obtain a position charging point when the intelligent inspection robot carries out mobile charging;
And the execution module is used for moving the intelligent inspection robot to the confidence charging point for charging.
In a third aspect, the present application provides a computer device, the computer device including a memory and a processor, the memory storing code, the processor being configured to obtain the code and to perform the above-described intelligent patrol robot wireless charging control method.
In a fourth aspect, the present application provides a computer readable storage medium storing a computer program, which when executed by a processor, implements the above-mentioned intelligent inspection robot wireless charging control method.
The technical scheme provided by the embodiment of the application has the following beneficial effects:
The intelligent patrol robot wireless charging control system and method comprises the steps of firstly setting a plurality of wireless charging stations in an operation area of an intelligent patrol robot, when the electric quantity of the intelligent patrol robot is lower than a preset threshold value, extracting target wireless charging stations from all wireless charging stations based on the maximum running load of the intelligent patrol robot and the spatial positions of the wireless charging stations, secondly, when the intelligent patrol robot moves to a charging area of the target wireless charging stations, fitting a track point of the intelligent patrol robot on the edge of the charging area and a target position of the charging area to obtain a horizontal alignment line and a vertical alignment line when the intelligent patrol robot moves to charge, further determining a power receiving ratio of each moving trace point when the intelligent patrol robot moves on the horizontal alignment line and the vertical alignment line, determining the position of the intelligent patrol robot in the horizontal direction and the correction amount based on all the power receiving ratios and the offset tolerance when the intelligent patrol robot moves to charge, and finally carrying out the correction amount on the position of the intelligent patrol robot in the horizontal direction and the vertical alignment line, and finally carrying out the correction amount on the position of the intelligent patrol robot.
Therefore, the intelligent inspection robot can locate the optimal point of the charging efficiency under the influence of error accumulation of the intelligent inspection robot, so that the charging effectiveness of the intelligent inspection robot is improved, firstly, when the electric quantity of the intelligent inspection robot is lower than a preset threshold value, the target wireless charging stations are extracted from all wireless charging stations based on the maximum running load of the intelligent inspection robot and the spatial positions of all wireless charging stations, a reasonable charging path can be planned for the intelligent inspection robot, enough energy supply is ensured, the intelligent inspection robot is prevented from stopping working due to electric quantity exhaustion caused by complex environmental characteristics, secondly, when the intelligent inspection robot moves to a charging area of a target wireless charging station, the intelligent inspection robot is fitted to a track point on the edge of the charging area and the target position of the charging area, so that the intelligent inspection robot can accurately identify and dock the target wireless charging stations based on the maximum running load of the intelligent inspection robot, the intelligent inspection robot can accurately identify and dock the target wireless charging stations, the intelligent inspection robot is prevented from deviating from the initial position in the accurate direction, the intelligent inspection robot is prevented from deviating from the optimal position in the initial direction, the square error correction is prevented from the initial position of the intelligent inspection robot, and the square error correction is further prevented from being further prevented from deviating from the initial position of the intelligent inspection robot when the intelligent inspection robot is offset in the square direction, the initial center is corrected through the position correction quantity in the horizontal direction and the position correction quantity in the vertical direction to obtain a position charging point when the intelligent inspection robot is moved to charge, and the intelligent inspection robot is moved to the position charging point to charge.
Detailed Description
In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.
Referring to fig. 1, which is an exemplary flowchart of a wireless charging control method of an intelligent patrol robot according to some embodiments of the present application, the wireless charging control method 100 of the intelligent patrol robot mainly includes the following steps:
in step 101, a plurality of wireless charging stations are set in an operation area of an intelligent inspection robot, and when the electric quantity of the intelligent inspection robot is lower than a preset threshold value, a target wireless charging station is extracted from all wireless charging stations based on the maximum running load of the intelligent inspection robot and the spatial positions of the wireless charging stations.
It should be noted that, the intelligent patrol robot in the application is an intelligent robot for patrol of a transformer substation, and the intelligent patrol robot has a wireless charging function, a wireless receiving coil is arranged at the bottom of the intelligent patrol robot, the intelligent patrol robot can complete wireless charging through wireless charging, namely through the receiving coil of the intelligent patrol robot and a transmitting coil of a target wireless charging station, and referring to fig. 2, the charging principle is that the transmitting coil carries Alternating Current (AC) to generate a magnetic field, and when the receiving coil approaches to the transmitting coil, current is induced in the receiving coil, thereby completing wireless charging.
In the specific implementation, a plurality of wireless charging stations are arranged in the operation area of the intelligent inspection robot, namely, the wireless charging stations are reasonably arranged according to the working range and the charging capacity of the intelligent inspection robot, each station can cover the area possibly reached by the intelligent inspection robot, the layout of the optimal wireless charging station can be planned through a simulation algorithm (such as Voronoi diagrams, area segmentation and the like), dead angles and overlapping areas are avoided, and the wireless charging stations are provided with wireless transmitting coils.
It should be noted that, in the present application, the wireless charging station is shown in the working area of the intelligent inspection robot, and is a fixed facility for charging the intelligent inspection robot through wireless electromagnetic waves, unlike the traditional wired charging station, the wireless charging station does not need a physical connection cable, the charging process is realized through the resonance or induction principle of the electromagnetic field, and the wireless charging station is a fixed charging station.
When the intelligent inspection robot is particularly implemented, the electric quantity of the intelligent inspection robot is monitored in real time, namely, the electric quantity of the intelligent inspection robot is monitored in real time through a battery management system in the intelligent inspection robot, when the electric quantity of the intelligent inspection robot is lower than a preset threshold value, the intelligent inspection robot is indicated to need to supplement the electric quantity at the moment, so that the intelligent inspection robot is prevented from being incapable of executing an inspection task after power failure, otherwise, the intelligent inspection robot is indicated to be free from the electric quantity supplement at the moment, and the inspection task can be executed.
In some embodiments, the extracting the target wireless charging station from all wireless charging stations based on the maximum running load of the intelligent patrol robot and the spatial position of each wireless charging station may specifically include the following steps:
Acquiring environmental influence parameters of the intelligent inspection robot and the space position of each wireless charging station;
Determining the maximum running load of the intelligent patrol robot based on the dead weight of the intelligent patrol robot and the environmental impact parameter;
For each wireless charging station, determining a relative spatial distance according to the spatial position of the wireless charging station and the spatial position of the intelligent patrol robot, and determining the running energy consumption corresponding to the wireless charging station according to the relative spatial distance and the maximum running load, thereby obtaining the running energy consumption corresponding to each wireless charging station;
And extracting the minimum driving energy consumption from all the driving energy consumption, and taking the wireless charging station corresponding to the minimum driving energy consumption as a target wireless charging station.
In the specific implementation, the environment where the intelligent robot is located can be analyzed through basic dynamics analysis (such as friction force calculation function and traction force calculation function) to obtain environment influence parameters (such as friction force and traction force) of the intelligent inspection robot, wherein the environment influence parameters represent parameters affecting the running load of the intelligent inspection robot, and in addition, the space position of each wireless charging station is located by adopting GPS, and the space position represents the position coordinates of the wireless charging station in the current environment.
The method comprises the steps of determining the maximum running load of an intelligent patrol robot based on the dead weight of the intelligent patrol robot and the environment influence parameter, namely, acquiring the dead weight of the intelligent patrol robot, inputting the dead weight of the intelligent patrol robot and the environment influence parameter as input parameters into a preset neural network model, and outputting the maximum running load of the intelligent patrol robot through the preset neural network model, wherein the preset neural network model in the embodiment is a Deep Neural Network (DNN), namely, the implementation principle of the deep neural network is that the dead weight of the intelligent patrol robot and the environment influence parameter are input by an input layer, the input parameters are subjected to nonlinear conversion by a hidden layer, learning is carried out through a plurality of neurons, and the maximum running load is obtained by an output layer.
It should be noted that, the maximum driving load in the present application represents the maximum additional load that the current intelligent inspection robot can stably drive and complete the task, that is, the maximum weight that the robot can carry.
In particular, during implementation, the relative spatial distance can be obtained by calculating the spatial position of the wireless charging station and the spatial position of the intelligent inspection robot through the euclidean distance, in addition, in other embodiments, the relative spatial distance can also be obtained by calculating through other calculation methods, which is not limited herein, and it is noted that, in this embodiment, the relative spatial distance represents the distance from the intelligent inspection robot to the wireless charging station.
In specific implementation, the running energy consumption corresponding to the wireless charging station is determined according to the relative space distance and the maximum running load, namely, the relative space distance and the maximum running load are used as input parameters to input a preset running energy consumption model, the running energy consumption corresponding to the wireless charging station is output by the running energy consumption model, and the preset running energy consumption model is that running energy consumption= (ground friction coefficient x gravity acceleration x maximum running load x relative space distance) x (1/system energy conversion efficiency), wherein the ground friction coefficient, gravity acceleration and system energy conversion efficiency can be obtained through a patrol monitoring database of the intelligent patrol robot, and details are omitted.
In specific implementation, the running energy consumption corresponding to each wireless charging station may be determined by a determining manner of "determining the running energy consumption corresponding to the wireless charging station according to the relative spatial distance and the maximum running load", which is not described herein again.
It should be noted that, in the present application, the driving energy consumption represents the energy consumed by the intelligent inspection robot in the driving process, and these energy consumptions are provided by the battery of the intelligent inspection robot, and the driving energy consumption not only affects the movement time and range of the robot, but also determines the endurance capacity of the battery, so that by determining the driving energy consumption of each wireless charging station, the target wireless charging station of the current intelligent inspection robot can be effectively identified, thereby improving the task execution capacity of the intelligent inspection robot.
The application also needs to be explained, the target wireless charging station represents the target station for wireless charging of the intelligent patrol robot, and a reasonable charging path can be planned for the intelligent patrol robot through determining the target wireless charging station, so that enough energy supply is ensured, and the phenomenon that the work is stopped due to electric quantity exhaustion caused by complex environmental characteristics is avoided.
In step 102, when the intelligent inspection robot drives to a charging area of a target wireless charging station, a horizontal alignment line and a vertical alignment line are obtained by fitting track points of the intelligent inspection robot on the edge of the charging area and target positions of the charging area when the intelligent inspection robot performs mobile charging.
It should be noted that, in the present application, the transmitting coil of the wireless charging station is exemplified by a circle, and in other embodiments, the transmitting coil of the wireless charging station may also be square, where the charging area of the target wireless charging station in the present application may be specifically determined by a circular equation, that is, the center point and the radius of the transmitting coil of the target wireless charging station are located, and the charging area of the target wireless charging station is fitted by the circular equation, where the charging area of the target wireless charging station in the present application indicates the coverage area of the target wireless charging station for charging.
In some embodiments, referring to fig. 3, which is an exemplary flowchart for determining a horizontal alignment line and a vertical alignment line according to some embodiments of the present application, in this embodiment, the fitting of the track points of the intelligent inspection robot on the edge of the charging area and the target positions of the charging area to obtain the horizontal alignment line and the vertical alignment line when the intelligent inspection robot performs mobile charging may be implemented by using the following steps:
Firstly, in step 1021, a track point when the intelligent inspection robot drives to the edge of a charging area of a target wireless charging station and a target point position of the charging area are obtained;
Next, in step 1022, a straight line is drawn between the trajectory point and the target point to intersect the first edge intersection of the charging region;
then, in step 1023, a connection line between the track point and the first edge intersection is used as a horizontal alignment line when the intelligent inspection robot performs mobile charging;
Finally, in step 1024, a straight line perpendicular to the horizontal alignment line is intersected with the second edge intersection point and the third edge intersection point of the charging area, and a connection line between the second edge intersection point and the third edge intersection point is used as a vertical alignment line when the intelligent inspection robot performs mobile charging.
When the intelligent patrol robot is driven to the charging area of the target wireless charging station, the track point when the intelligent patrol robot is driven to the edge of the charging area of the target wireless charging station and the target position of the charging area are obtained through the GPS, and in other embodiments, other positioning sensors can be used to obtain the track point when the intelligent inspection robot drives to the edge of the charging area of the target wireless charging station and the target point position of the charging area, which is not limited herein, and it should be noted that the track point in the present application represents the position point when the intelligent inspection robot moves to the edge of the charging area for the first time, and the target point position of the charging area in the present embodiment represents the center point of the charging area.
In this embodiment, the first edge intersection point represents a first point where a straight line intersects the edge of the charging area, the second edge intersection point represents a second point where a straight line intersects the edge of the charging area, and the third edge intersection point represents a third point where a straight line intersects the edge of the charging area.
The application also needs to be explained, when the horizontal alignment line represents a reference line in the horizontal direction during the alignment between the intelligent inspection robot and the target wireless charging station, the vertical alignment line represents a reference line in the vertical direction during the alignment between the intelligent inspection robot and the target wireless charging station, and the intelligent inspection robot can accurately identify and butt-joint the target wireless charging station through the determination of the horizontal alignment line and the vertical alignment line, so as to realize accurate automatic charging, and further avoid alignment deviation caused by error accumulation in the movement of the intelligent inspection robot in a larger range; in addition, the two-dimensional coordinates are established by the charging area of the target wireless charging station, namely, the left edge and the lower edge of the overcharging area are respectively tangent lines, the intersection point of the two tangent lines is located at the two-dimensional coordinate origin, the tangent line of the lower edge is in the horizontal direction (as an x axis), the tangent line of the left edge is in the vertical direction (as a y axis), the units of the horizontal direction and the vertical direction are centimeters, and the horizontal alignment line (parallel to the x axis) and the vertical alignment line (parallel to the y axis) determined by the method are located in the two-dimensional coordinates.
In step 103, the power receiving ratios of each moving trace point when the intelligent inspection robot moves on the horizontal alignment line and the vertical alignment line are determined, and the position correction amount of the intelligent inspection robot in the horizontal direction and the position correction amount in the vertical direction are determined based on all the power receiving ratios and the offset tolerance when the intelligent inspection robot performs mobile charging.
In some embodiments, the power receiving ratio of each moving trace point when the intelligent inspection robot moves on the horizontal alignment line and the vertical alignment line is determined, namely:
When the intelligent inspection robot moves on the horizontal alignment line and the vertical alignment line, determining the receiving power of the intelligent inspection robot and the transmitting power of a target wireless charging station on each moving trace point;
and for each moving trace point, determining the power receiving ratio of the moving trace point according to the corresponding receiving power and transmitting power, and further obtaining the power receiving ratio of each moving trace point when the intelligent inspection robot moves on the horizontal alignment line and the vertical alignment line.
In specific implementation, the receiving power of the intelligent inspection robot and the transmitting power of the target wireless charging station on each moving trace point are determined, the receiving power of the receiving coil can collect the current and the voltage of the receiving coil through the current sensor and the voltage sensor and calculate the collected voltage and current through a power function to obtain the receiving power of the receiving coil, the transmitting power of the transmitting coil can collect the current and the voltage of the transmitting coil through the current sensor and the voltage sensor and calculate the collected voltage and current through the power function to obtain the transmitting power of the transmitting coil, and the details are omitted.
It should be noted that, in this embodiment, the received power represents the power of the electric energy received by the receiving coil of the intelligent patrol robot, where the power is the measure of the available electric power captured and converted by the receiving coil of the intelligent patrol robot after the electric energy transmitted by the transmitting coil of the target wireless charging station in the wireless charging system is wirelessly transmitted, and the transmitted power represents the power of the electric energy transmitted by the transmitting coil of the target wireless charging station in the wireless charging system, and is the power used for being transmitted to the receiving coil of the intelligent patrol robot in a wireless manner.
In specific implementation, the power receiving ratio of the mobile trace point is determined by the corresponding receiving power and transmitting power, namely, the receiving power and the transmitting power are subjected to ratio calculation, and the ratio calculation result is used as the power receiving ratio of the mobile trace point.
The application is characterized in that the power receiving ratio represents the transmission efficiency of the intelligent inspection robot in wireless charging, namely the greater the power receiving ratio is, the higher the transmission efficiency of the intelligent inspection robot in wireless charging is, the lower the power receiving ratio is, the lower the transmission efficiency of the intelligent inspection robot in wireless charging is, the greater the loss degree of the intelligent inspection robot in wireless charging is, the change trend of the power receiving ratio in different directions can be effectively analyzed through the determination of the power receiving ratio, and the alignment error exists in the horizontal direction or the vertical direction is judged, so that measures are taken to compensate, and the charging efficiency of the intelligent inspection robot is improved.
In some embodiments, determining the position correction amount of the intelligent patrol robot in the horizontal direction and the position correction amount in the vertical direction based on all the power receiving ratios and the offset tolerance of the intelligent patrol robot when the intelligent patrol robot performs mobile charging may specifically include the following steps:
Determining the offset tolerance of the intelligent inspection robot during mobile charging;
Classifying all the power receiving ratios to obtain a horizontal power receiving ratio set corresponding to the horizontal alignment line and a vertical power receiving ratio set corresponding to the vertical alignment line;
Extracting a horizontal moving trace point corresponding to the maximum power receiving ratio from the horizontal power receiving ratio set;
Extracting a vertical moving trace point corresponding to the maximum power receiving ratio from the vertical power receiving ratio set;
Determining the position correction quantity of the intelligent inspection robot in the horizontal direction through the offset tolerance, the horizontal coordinate value of the horizontal moving trace point and the horizontal coordinate value of the vertical moving trace point;
and determining the position correction quantity of the intelligent inspection robot in the vertical direction through the offset tolerance, the vertical coordinate value of the horizontal movement trace point and the vertical coordinate value of the vertical movement trace point.
In the embodiment, the horizontal power receiving ratio set represents the combination of the power receiving ratios on each moving trace point when the intelligent patrol robot moves on the horizontal alignment, and the vertical power receiving ratio set represents the combination of the power receiving ratios on each moving trace point when the intelligent patrol robot moves on the vertical alignment.
In this embodiment, the horizontal moving trace point represents the moving trace point corresponding to the maximum power receiving ratio on the horizontal alignment line, and the vertical moving trace point represents the moving trace point corresponding to the maximum power receiving ratio on the vertical alignment line.
In some embodiments, the determining the offset tolerance of the intelligent inspection robot during mobile charging may specifically include the following steps:
Acquiring an expected power receiving ratio of the intelligent patrol robot and a power receiving ratio interval when the intelligent patrol robot performs mobile charging;
Performing offset analysis on each power receiving ratio in the power receiving ratio interval and the expected power receiving ratio to obtain all power receiving ratio deviations;
and determining the offset tolerance of the intelligent inspection robot during mobile charging through all power receiving ratio deviations.
In particular, the expected power receiving ratio of the intelligent inspection robot can be obtained through a parameter nameplate of the intelligent inspection robot, the expected power receiving ratio is an ideal power receiving ratio in wireless charging of the intelligent inspection robot, electromagnetic simulation software (such as Ansys Maxwell) can be utilized to model a wireless charging process of the intelligent inspection robot, parameters (such as shape, size, turns and the like) of a transmitting coil and a receiving coil and relative position change conditions between the transmitting coil and the receiving coil are set in the software, movement of the robot in a charging area is simulated, so that a power receiving ratio interval when the intelligent inspection robot performs mobile charging is obtained, and the power receiving ratio interval in the embodiment represents a range of the power receiving ratio when the intelligent inspection robot performs mobile charging.
In a specific implementation, the offset analysis is performed on each power receiving ratio in the power receiving ratio interval and the expected power receiving ratio to obtain all power receiving ratio deviations, that is, absolute difference calculation is performed on each power receiving ratio in the power receiving ratio interval and the expected power receiving ratio, and the absolute difference calculation result is used as the power receiving ratio deviation to obtain all power receiving ratio deviations, wherein the power receiving ratio in the power receiving ratio interval is obtained by sampling at preset sampling intervals, for example, the power receiving ratio interval is [20%,70% ], and the power receiving ratio deviation is obtained by sampling at the sampling interval which is preset at 10%, and in the embodiment, the power receiving ratio deviation represents the degree of the deviation of the power receiving ratio from the expected power receiving ratio.
In particular, the offset tolerance of the intelligent patrol robot during mobile charging is determined through all power receiving ratio deviations, that is, all power receiving ratio deviations are subjected to mean value calculation, and the mean value calculation result is used as the offset tolerance of the intelligent patrol robot during mobile charging.
It should be noted that, in the present application, the offset tolerance indicates that when the intelligent inspection robot is wirelessly charged, under the condition that the relative position offset occurs between the transmitting coil and the receiving coil, the capability of effective charging can still be maintained, and in the actual working environment, the intelligent inspection robot inevitably encounters some tiny vibration or position interference, and if the offset tolerance is high, even if the transmitting coil and the receiving coil have a certain degree of position offset, the charging efficiency is not greatly affected, so that by determining the offset tolerance, the intelligent inspection robot can be effectively ensured to stably obtain enough electric quantity, and maintain a normal working state.
In the specific implementation, the position correction amount of the intelligent patrol robot in the horizontal direction is determined through the offset tolerance, the horizontal coordinate value of the horizontal moving trace point and the horizontal coordinate value of the vertical moving trace point, namely, the horizontal coordinate value of the horizontal moving trace point and the horizontal coordinate value of the vertical moving trace point are subjected to absolute difference calculation, the absolute difference calculation result is multiplied by the offset tolerance, and the result of the multiplication calculation is used as the position correction amount of the intelligent patrol robot in the horizontal direction.
It should be noted that, the horizontal position correction amount of the present application indicates the amount of the intelligent inspection robot that needs to perform position adjustment in the horizontal direction, where the intelligent inspection robot has an optimal charging position when in wireless charging, where the coupling efficiency between the transmitting coil and the receiving coil is the highest, and the power receiving ratio is the largest, and the optimal charging position has an ideal coordinate point in both the horizontal and vertical directions, and due to the interference of external environmental factors, the intelligent inspection robot has an error of alignment in the horizontal direction, resulting in a final alignment charging efficiency being not high, so that the alignment error of the intelligent inspection robot caused by the interference of external environmental factors can be effectively eliminated by performing coordinate analysis on the horizontal position of the moving trace point corresponding to the maximum power receiving ratio on the horizontal alignment line and the vertical position of the moving trace point corresponding to the maximum power receiving ratio on the vertical alignment line, and determining the horizontal position correction amount of the intelligent inspection robot in combination with the offset tolerance when the intelligent inspection robot moves.
In the specific implementation, the position correction amount of the intelligent patrol robot in the vertical direction is determined through the offset tolerance, the vertical coordinate value of the horizontal moving trace point and the vertical coordinate value of the vertical moving trace point, namely, the vertical coordinate value of the horizontal moving trace point and the vertical coordinate value of the vertical moving trace point are subjected to absolute difference calculation, the absolute difference calculation result and the offset tolerance are subjected to product calculation, and the product calculation result is used as the position correction amount of the intelligent patrol robot in the vertical direction.
It should be noted that, in the present application, the position correction amount in the vertical direction indicates the amount of the intelligent inspection robot that needs to perform position adjustment in the vertical direction, where the intelligent inspection robot has an optimal charging position when in wireless charging, where the coupling efficiency between the transmitting coil and the receiving coil is the highest, and the power receiving ratio is the largest, and the optimal charging position has an ideal coordinate point in the horizontal direction and the vertical direction, and due to the interference of external environmental factors, the intelligent inspection robot has an error in alignment in the vertical direction, resulting in a final alignment charging efficiency being not high, so that the position correction amount of the intelligent inspection robot in the vertical direction can be determined by performing coordinate analysis in the vertical direction on the moving trace point corresponding to the maximum power receiving ratio on the horizontal alignment line and the moving trace point corresponding to the maximum power receiving ratio on the vertical alignment line, and combining with the offset tolerance when the intelligent inspection robot moves, thereby effectively eliminating the alignment error caused by the interference of external environmental factors.
In step 104, the initial center pair position points between the intelligent inspection robot and the target wireless charging station are corrected through the position correction amount in the horizontal direction and the position correction amount in the vertical direction, so that a position charging point when the intelligent inspection robot performs mobile charging is obtained.
In some embodiments, the initial center pair position point between the intelligent inspection robot and the target wireless charging station is corrected by the position correction amount in the horizontal direction and the position correction amount in the vertical direction, so that the position charging point when the intelligent inspection robot performs mobile charging can be obtained by specifically adopting the following steps:
acquiring an initial center alignment point between the intelligent inspection robot and a target wireless charging station;
Extracting a horizontal alignment coordinate value and a vertical alignment coordinate value from the initial center alignment point;
Correcting the horizontal alignment coordinate value by the position correction quantity in the horizontal direction to obtain a corrected horizontal alignment coordinate value;
correcting the vertical alignment coordinate value by the position correction quantity in the vertical direction to obtain a corrected vertical alignment coordinate value;
And combining the corrected horizontal alignment coordinate value and the corrected vertical alignment coordinate value to obtain a position charging point when the intelligent inspection robot carries out mobile charging.
In the embodiment, the initial center alignment point is used as the initial center alignment point between the intelligent inspection robot and the target wireless charging station, the initial center alignment point in the embodiment represents a position point where the geometric center of the receiving coil of the intelligent inspection robot and the geometric center of the transmitting coil of the target wireless charging station are initially overlapped in space, the initial center alignment point comprises a horizontal alignment coordinate value and a vertical alignment coordinate value, the horizontal alignment coordinate value is a coordinate value of the initial center alignment point in the horizontal direction, and the vertical alignment coordinate value is a coordinate value of the initial center alignment point in the vertical direction, however, due to the influence of external environmental factors and the accumulation of errors of the intelligent inspection robot in the moving process, the acquired initial center alignment point between the intelligent inspection robot and the target wireless charging station is an alignment error, and the initial center alignment point cannot be aligned to an optimal charging position, so that the initial center alignment point needs to be corrected to obtain the optimal alignment point.
And correcting the horizontal alignment coordinate value by the position correction amount in the horizontal direction to obtain a corrected horizontal alignment coordinate value, namely summing the position correction amount in the horizontal direction and the horizontal alignment coordinate value to obtain a corrected horizontal alignment coordinate value, wherein in other embodiments, other correction methods can be adopted to correct the horizontal alignment coordinate value, and the method is not limited herein.
And correcting the vertical alignment coordinate value by the position correction amount in the vertical direction to obtain a corrected vertical alignment coordinate value, namely summing the position correction amount in the vertical direction and the vertical alignment coordinate value to obtain a corrected vertical alignment coordinate value, wherein in other embodiments, other correction methods can be adopted to correct the vertical alignment coordinate value, and the method is not limited herein.
In the application, the message charging point location represents the final trusted charging point location of the intelligent inspection robot, and in the wireless charging of the intelligent inspection robot, when the receiving coil and the transmitting coil are completely aligned, the charging point location is most easily stabilized in the range of the message charging point location, and the charging efficiency is highest at the moment.
In step 105, the intelligent patrol robot is moved to the trusted charging point for charging.
And when the intelligent inspection robot is particularly implemented, the intelligent inspection robot is moved to the position charging point for charging, namely, the intelligent inspection robot is moved to the position charging point, and the target point position of a transmitting coil in the intelligent inspection robot is vertically aligned with the position charging point so as to perform wireless charging.
In addition, in some embodiments, the present application provides an intelligent patrol robot wireless charging control system, referring to fig. 4, which is a schematic structural diagram of the intelligent patrol robot wireless charging control system according to some embodiments of the present application, the intelligent patrol robot wireless charging control system 200 includes a monitoring module 201, a processing module 202 and an executing module 203, which are respectively described as follows:
The monitoring module 201 is mainly used for setting a plurality of wireless charging stations in an operation area of the intelligent inspection robot, and when the electric quantity of the intelligent inspection robot is lower than a preset threshold value, a target wireless charging station is extracted from all wireless charging stations based on the maximum running load of the intelligent inspection robot and the spatial position of each wireless charging station;
the processing module 202 is mainly used for obtaining a horizontal alignment line and a vertical alignment line when the intelligent patrol robot moves and charges by fitting track points of the intelligent patrol robot on the edge of a charging area and target positions of the charging area when the intelligent patrol robot drives to the charging area of a target wireless charging station;
The processing module 202 is further configured to determine a power receiving ratio of each moving trace point when the intelligent inspection robot moves on the horizontal alignment line and the vertical alignment line, and determine a position correction amount of the intelligent inspection robot in a horizontal direction and a position correction amount of the intelligent inspection robot in a vertical direction based on all the power receiving ratios and an offset tolerance when the intelligent inspection robot performs mobile charging;
In addition, the processing module 202 is further configured to correct an initial center pair location between the intelligent inspection robot and a target wireless charging station by using the position correction amount in the horizontal direction and the position correction amount in the vertical direction, so as to obtain a confidence charging point when the intelligent inspection robot performs mobile charging;
The execution module 203, in the present application, the execution module 203 is mainly configured to move the intelligent inspection robot to the location charging point for charging.
In addition, the application also provides computer equipment, which comprises a memory and a processor, wherein the memory stores codes, and the processor is configured to acquire the codes and execute the intelligent patrol robot wireless charging control method.
In some embodiments, reference is made to fig. 5, which is a schematic structural diagram of a computer device implementing a wireless charging control method for an intelligent patrol robot according to some embodiments of the application. The wireless charging control method of the intelligent patrol robot in the above embodiment may be implemented by a computer device shown in fig. 5, where the computer device 300 includes at least one processor 301, a communication bus 302, a memory 303, and at least one communication interface 304.
The processor 301 may be a general-purpose central processing unit (central processing unit, CPU), an application-specific integrated circuit (ASIC), or one or more of them for controlling the execution of the wireless charging control method of the intelligent patrol robot according to the present application.
Communication bus 302 may be used to transfer information between the above-described components.
The Memory 303 may be, but is not limited to, a read-only Memory (ROM) or other type of static storage device that can store static information and instructions, a random access Memory (random access Memory, RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only Memory (ELECTRICALLY ERASABLE PROGRAMMABLE READ-only Memory, EEPROM), a compact disc (compact disc read-only Memory) or other optical disk storage, optical disk storage (including compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), magnetic disk or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory 303 may be stand alone and be coupled to the processor 301 via the communication bus 302. Memory 303 may also be integrated with processor 301.
The memory 303 is used for storing program codes for executing the scheme of the present application, and the processor 301 controls the execution. The processor 301 is configured to execute program code stored in the memory 303. One or more software modules may be included in the program code. The determination of the wireless charging control method of the intelligent patrol robot in the above embodiment may be implemented by one or more software modules of the program codes in the processor 301 and the memory 303.
Communication interface 304, uses any transceiver-like device for communicating with other devices or communication networks, such as ethernet, radio access network (radio access network, RAN), wireless local area network (wireless local area networks, WLAN), etc.
In a specific implementation, as an embodiment, a computer device may include a plurality of processors, where each of the processors may be a single-core (single-CPU) processor or may be a multi-core (multi-CPU) processor. A processor herein may refer to one or more devices, circuits, and/or processing cores for processing data (e.g., computer program instructions).
The computer device may be a general purpose computer device or a special purpose computer device. In a specific implementation, the computer device may be a desktop, a laptop, a web server, a personal computer (PDA), a mobile handset, a tablet, a wireless terminal device, a communication device, or an embedded device. Embodiments of the application are not limited to the type of computer device.
In addition, the application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the intelligent inspection robot wireless charging control method when being executed by a processor.
While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.