Active precision docking device for explosion-proof mobile robot charging

Abstract

The application provides an active precision docking device for explosion-proof mobile robot charging, which comprises a charging pile control cabinet, a charging floating joint and a charging joint; wherein the charging pile control cabinet is composed of an emergency stop button, a button indicator light, an explosion-proof gland, a PLC controller, a terminal rail, a charger, a relay, a high-power relay and a wireless transparent transmission module; a visual module connected with the PLC controller is installed on the upper part of the charging joint; the application can realize autonomous charging of the mobile robot in an explosive gas environment, fills the technical blank of automatic charging in the explosive gas environment, and can avoid the harm caused by the operation personnel entering the dangerous area; the visual positioning and the movement of the six-degree-of-freedom floating joint compensate for the low positioning accuracy of the robot, and realize high-precision autonomous docking of the charging joint.

Description

Technical Field

[0001] This application relates to the technical field of autonomous charging equipment for mobile robots in explosive gas environments, specifically to an active and precise docking device for charging explosion-proof mobile robots. Background Technology

[0002] With the development of society and industry, explosion accidents caused by explosive gas leaks occur frequently. Considering that explosive gas environments are not suitable for workers to conduct on-site investigations, some researchers have begun to try to use mobile robots to replace humans in autonomously completing inspection work under explosive gas conditions.

[0003] In recent years, the development of explosion-proof inspection robots in explosive gas environments has been rapid, mainly focusing on wheeled mobile robots. Regarding the issue of battery life and charging for these explosion-proof mobile robots, some companies have adopted a solution of driving into safe areas for charging, while others have designed explosion-proof charging methods for use in hazardous areas, such as:

[0004] Prior Art 1: The applicants, China Coal Technology & Engineering Group Taiyuan Research Institute Co., Ltd. and Shanxi Tiandi Coal Machinery Equipment Co., Ltd., filed a patent application with publication number CN112186836A entitled "An explosion-proof charging device for a large coal mine underground transport vehicle. This device belongs to Class I explosion-proof equipment in coal mines."

[0005] Prior art 2: "A rainproof and explosion-proof charging pile for outdoor use" with publication number CN109249828A, applied for by Jiangsu Hongshengda Electronic Technology Co., Ltd.

[0006] Prior Art 3: The applicant, Shanghai Zhixin Energy Conservation and Environmental Protection Co., Ltd., filed a patent application with publication number CN109600970A entitled "A Positive Pressure Isolation Explosion-proof Charging Pile". The charging pile is designed with ventilation ducts to ensure a stable positive pressure environment is formed inside the device.

[0007] Prior art 4: An explosion-proof charging system for an explosion-proof inspection robot in a coke oven basement, with application number 202122092410.1 filed by Chongzhi Intelligent Technology Co., Ltd.;

[0008] While the aforementioned existing technologies meet the requirements for explosion protection during the charging process, they have significant deficiencies in terms of autonomy and accuracy.

[0009] Currently, there is no active and precise docking device (Class II explosion-proof equipment) for charging explosion-proof mobile robots. When charging mobile robots in explosive gas environments, workers usually enter the dangerous area to carry out the charging operation, which poses a significant safety hazard.

[0010] Based on the above description, there is an urgent need for an active and precise docking device for charging explosion-proof mobile robots, in order to solve the problem of low autonomy and precision in the docking process during the charging of existing explosion-proof mobile robots. Summary of the Invention

[0011] This invention provides an active and precise docking device for charging explosion-proof mobile robots, which solves the problems of low autonomy and precision in the docking process in the prior art.

[0012] An active precision docking device for charging explosion-proof mobile robots comprises three parts: a charging pile control cabinet, a charging floating connector, and a charging connector. The charging pile control cabinet consists of an emergency stop button, indicator lights, an explosion-proof gland, a PLC controller, terminal rails, a charger, relays, a high-power relay, and a wireless transparent transmission module. Explosion-proof glands are connected to both sides of the external side of the charging pile control cabinet. The emergency stop button and indicator lights are located on the outer side of the charging pile control cabinet and are connected to the PLC controller. The PLC controller is located inside the charging pile control cabinet and is also connected to the terminal rails, charger, four relays, high-power relay, and wireless transparent transmission module. All of these components are installed inside the charging pile control cabinet. A vision module is installed on the upper part of the charging connector and is connected to the PLC controller.

[0013] As a preferred embodiment, the outer shell of the charging pile control cabinet, the outer shell of the charging connector, and the explosion-proof joint surface formed by the connection between the charging connector and the floating charging connector are all made of explosion-proof shell.

[0014] As a preferred embodiment, the explosion-proof housing is made of 201 steel or 304 steel.

[0015] As a preferred embodiment, the charging floating connector includes a docking plug connected to a roll rotation device. The lower part of the roll rotation device has a forward / backward moving device, the lower part of the forward / backward moving device has a yaw rotation device, and the lower part of the yaw rotation device has a left / right moving device. The left / right moving device is connected to a vertical moving device, and the vertical moving device is also connected to a pitch rotation device. All the roll rotation device, forward / backward moving device, yaw rotation device, left / right moving device, vertical moving device, and pitch rotation device are connected to the PLC controller.

[0016] As a preferred embodiment, the rolling and rotating device includes a rolling and rotating motor connected to a mounting block. The top of the mounting block is provided with a visual label, and a docking plug is provided on one side of the mounting block. The rolling and rotating motor and the visual label are respectively connected to a PLC controller.

[0017] As a preferred embodiment, the forward and backward moving device includes a forward and backward moving motor, which is connected to a PLC controller. The lower part of the forward and backward moving motor is provided with a mounting plate, the output end of the forward and backward moving motor is connected to a mounting block, and the lower part of the mounting plate is provided with the yaw rotation device.

[0018] As a preferred embodiment, the yaw movement device employs a yaw rotary motor, which is connected to a PLC controller and is located at the lower part of the mounting plate.

[0019] As a preferred embodiment, the left and right moving device includes a flat plate disposed below the yaw rotary motor, the lower part of the flat plate is provided with a flat plate slide groove, the flat plate slide groove cooperates with a flat plate slide rail, the flat plate slide rail is disposed on a fixed plate, and the lower part of the fixed plate is connected to left and right threaded rods, the left and right threaded rods are connected to the output end of the left and right moving motor.

[0020] As a preferred embodiment, the vertical moving device includes a vertical plate connected to a fixed plate, an upper and lower sliding groove on one side of the vertical plate, the upper and lower sliding groove cooperating with an upper and lower sliding rail, the upper and lower sliding rail being mounted on a longitudinal fixed plate, the vertical plate being connected to an upper and lower rotating screw, and an upper and lower moving motor being provided at one end of the upper and lower rotating screw.

[0021] As a preferred embodiment, the pitch rotation device employs a pitch rotation motor, and the vertical plate is rotatably connected to the fixed plate.

[0022] The main working principle of the active precision docking device for charging explosion-proof mobile robots of the present invention is as follows:

[0023] To ensure the accuracy of the charging process, the mobile robot stops 30 to 50 cm in front of the charging pile connector. Its position and posture are limited by the robot's positioning accuracy, allowing for a deviation of up to 20 cm per stop. The charging device uses a vision module to capture images of visual tags, which are QR codes containing position and posture information, such as Apriltag codes. The position accuracy obtained through visual positioning is 2 cm. The charging pile control cabinet controls the movement of the six-degree-of-freedom floating charging connector based on the coordinates and posture information obtained from the visual positioning, achieving charging docking between the charging pile and the robot. After docking, the two connectors form an explosion-proof cavity, and the charging relay switch is activated for both the charging pile and the robot's charging circuit, initiating charging. After charging is complete, the relay switch is disconnected, and the robot moves away from the charging area. This operation avoids live connection.

[0024] The beneficial effects of this invention are reflected in the following aspects:

[0025] 1. The present invention provides an active and precise docking device for charging explosion-proof mobile robots, which can realize autonomous charging of mobile robots in explosive gas environments, filling the technological gap in automatic charging in explosive gas environments.

[0026] 2. The active precision docking device for charging explosion-proof mobile robots of the present invention can prevent the harm caused by operators entering dangerous areas when operating in explosive gas environments.

[0027] 3. The active precision docking device for charging explosion-proof mobile robots of the present invention does not require high robot positioning accuracy. It compensates for the low robot positioning accuracy by using visual positioning and the motion of the six-degree-of-freedom floating connector, thus realizing high-precision autonomous docking of the charging connector. Attached Figure Description

[0028] Figure 1 This is a front view of the active precision docking device for charging explosion-proof mobile robots according to the present invention.

[0029] Figure 2 This is a top view of the active precision docking device for charging explosion-proof mobile robots according to the present invention;

[0030] Figure 3 This is a left view of the active precision docking device for charging explosion-proof mobile robots according to the present invention;

[0031] Figure 4 This is a front sectional view of the charging pile control cabinet of the present invention;

[0032] Figure 5 This is a structural diagram of the charging floating connector of the present invention;

[0033] Figure 6 This is a side view of the charging connector of the present invention;

[0034] 1. Charging pile control cabinet; 2. Floating charging connector; 3. Charging connector; 4. Emergency stop button.

[0035] 5. Button indicator light; 6. Explosion-proof gland; 7. PLC controller; 8. Terminal rail.

[0036] 9. Charger; 10. Relay; 11. High-power relay; 12. Wireless transparent transmission module

[0037] 13. Vision module; 14. Connector; 15. Rolling motor; 16. Mounting block.

[0038] 17. Visual label 18. Front and rear moving motor 19. Mounting plate 20. Front and rear slide rails

[0039] 21. Yaw rotary motor; 22. Flat plate; 23. Flat plate slide rail; 24. Fixing plate.

[0040] 25. Left and right moving motor; 26. Vertical plate; 27. Up and down sliding rails; 28. Longitudinal fixing plate.

[0041] 29. Vertical movement motor; 30. Pitch and rotation motor Detailed Implementation

[0042] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings; it should be noted that the specific embodiments described herein are only for illustration and explanation of the present invention and are not intended to limit the present invention.

[0043] Example 1:

[0044] An active precision docking device for charging explosion-proof mobile robots comprises three parts: a charging pile control cabinet 1, a charging floating connector 2, and a charging connector 3. The charging floating connector 2 is the charging pile end, and the charging connector 3 is the robot end. The charging pile control cabinet 1 consists of an emergency stop button 4, a button indicator light 5, an explosion-proof gland 6, a PLC controller 7, a terminal rail 8, a charger 9, a relay 10, a high-power relay 11, and a wireless transmission module 12. The charging pile control cabinet 1 uses the emergency stop button 4 and the button indicator light 5 to start and stop the device. The PLC controller 7 executes the autonomous charging program of the charging pile, and the charging pile uses the relay 10 to control the switching on and off of the switch. Explosion-proof glands 6 are connected to both sides of the external surface of the charging pile control cabinet 1. The emergency stop button 4 and the button indicator light 5 are located on the outer side of the charging pile control cabinet 1. The button indicator light 5 is connected to the PLC controller 7, which is located inside the charging pile control cabinet 1. The PLC controller 7 is also connected to the terminal rail 8, charger 9, 4-channel relay 10, high-power relay 11, and wireless transparent transmission module 12. The terminal rail 8, charger 9, 4-channel relay 10, high-power relay 11, and wireless transparent transmission module 12 are all installed inside the charging pile control cabinet 1. A vision module 13 is installed on the upper part of the charging connector 3, and the vision module 13 is connected to the PLC controller 7. The wiring connection between the charging pile control cabinet 1 and the charging connector 3 is through an explosion-proof gland 6 and a dedicated composite cable. All exposed electronic components, such as the emergency stop button 4 and the button indicator light 5, are selected electronic devices with explosion-proof certificates. The wireless transmission power of the wireless transparent transmission module is less than the limit of 2W specified in the national explosion-proof standard.

[0045] In this embodiment, the parameters of the outer shell of the charging pile control cabinet 1, the outer shell of the charging connector 3, and the explosion-proof joint surface formed by the docking of the charging connector 3 and the charging floating connector 2 all comply with the relevant provisions of GB3836-2021, forming an explosion-proof shell; preferably, the explosion-proof joint surface is coated with 204-1 anti-rust grease; the above-mentioned explosion-proof shell and explosion-proof joint surface are made of 201 and 304 steel, all fasteners have self-locking devices, and metal parts are treated with anti-rust and anti-corrosion; the surface of the mounting positioning device has no obvious scratches, the coating on the shell surface is firm, the metal parts are free from rust and deformation, and the connectors are tight and not loose.

[0046] Example 2:

[0047] This embodiment defines the charging floating connector, specifically:

[0048] The charging floating connector includes a docking plug 14, which is connected to a roll-rotating device. The lower part of the roll-rotating device has a forward / backward moving device, the lower part of the forward / backward moving device has a yaw rotating device, and the lower part of the yaw rotating device has a left / right moving device. The left / right moving device is connected to a vertical moving device, and the vertical moving device is also connected to a pitch rotating device. All the roll-rotating device, forward / backward moving device, yaw rotating device, left / right moving device, vertical moving device, and pitch rotating device are connected to the PLC controller 7. The coordination of these devices enables the six-degree-of-freedom motor rotation of the charging floating connector at the charging end, achieving precise docking.

[0049] Preferably, the rolling rotation device includes a rolling rotation motor 15, which can be any motor in the prior art and is not limited in specific form. The rolling rotation motor 15 is connected to the mounting block 16. The top of the mounting block 16 is provided with a visual label 17, and one side of the mounting block 16 is provided with a docking plug 14. The rolling rotation motor 15 and the visual label 17 are respectively connected to the PLC controller 7.

[0050] Preferably, the forward and backward moving device includes a forward and backward moving motor 18. The forward and backward moving motor 18 can be a rotary motor as used in the prior art, and the specific model is not limited. The forward and backward moving motor 18 is connected to the PLC controller 7. A mounting plate 19 is provided at the lower part of the forward and backward moving motor 18. The forward and backward moving motor 18 can be connected to the mounting plate by means of brackets, screws, welding, etc. The output end of the forward and backward moving motor 18 is connected to the mounting block 16. Alternatively, the forward and backward moving motor 18 can be connected to a threaded rod, which is connected to the bottom of the moving block 16. A sliding groove is provided at the lower part of the moving block 16, and the sliding groove is connected to the mounting plate. The mounting plate 19 is equipped with front and rear slide rails 20. The lower part of the mounting plate 19 is provided with the yaw rotation device. The front and rear moving motor 18 is started, driving the threaded rod to rotate, thereby causing the mounting block to move back and forth under the cooperation of the front and rear slide rails 20 and the slide groove, realizing the back and forth movement of the docking plug. The yaw moving device adopts a yaw rotation motor 21. The yaw rotation motor 21 is connected to the PLC controller 7. The yaw rotation motor 21 is located at the lower part of the mounting plate 19, and the output end of the yaw rotation motor 21 is connected to the mounting plate 19. When the yaw rotation motor 21 is started, it drives the mounting plate 19 to rotate, thereby driving the docking plug 14 to rotate.

[0051] Preferably, the left and right moving device includes a flat plate 22 disposed below the yaw rotary motor 21. The yaw rotary motor 21 and the flat plate 22 are connected by common connection methods in the prior art, such as brackets, screws, and welding. The lower part of the flat plate 22 is provided with a flat plate slide groove, which cooperates with the flat plate slide rail 23. The flat plate slide rail 23 is disposed on a fixed plate 24. The lower part of the fixed plate 24 is connected to left and right threaded rods, which are connected to the output end of the left and right moving motor 25. The left and right moving motor 25 can be a rotary motor in the prior art, and the specific model is not limited. The left and right moving motor 25 is connected to the PLC controller 7. When the left and right moving motor 25 is started, it drives the left and right threaded rods to rotate. With the cooperation of the flat plate slide groove and the flat plate slide rail 23, the flat plate 22 moves left and right, realizing the left and right movement of the docking plug 14.

[0052] Preferably, the vertical moving device includes a vertical plate 26 connected to a fixed plate 24. One side of the vertical plate 26 is provided with an upper and lower sliding groove, which cooperates with an upper and lower sliding rail 27. The upper and lower sliding rail 27 is installed on a longitudinal fixed plate 28. The vertical plate 26 is connected to an upper and lower rotating screw. One end of the upper and lower rotating screw is provided with an upper and lower moving motor 29. The output end of the upper and lower moving motor 29 is connected to the upper and lower rotating screw. The upper and lower moving motor 29 can be a rotary motor in the prior art, and the specific model is not limited. The upper and lower moving motor 29 is connected to a PLC controller 7. When the upper and lower moving motor 29 is started, it drives the upper and lower rotating screw to rotate, thereby causing the vertical plate 26 to move up and down under the action of the upper and lower sliding rail 27 and the upper and lower sliding groove, that is, to realize the upper and lower movement of the docking plug 14.

[0053] Preferably, the pitch rotation device adopts a pitch rotation motor 30, which can be any existing rotary motor, and the specific model is not limited. The pitch rotation motor 30 is connected to the PLC controller 7. The vertical plate 26 is rotatably connected to the fixed plate 24. When the pitch rotation motor 30 is started, it drives the fixed plate 24 to rotate, which can adjust the angle of the docking plug 14.

[0054] This invention is used in conjunction with an explosion-proof mobile robot. The specific working principle is as follows: When the robot's battery level is below 20%, the robot initiates an autonomous charging program and automatically moves towards the charging area. When it reaches a charging station 30-50cm in front of the floating charging connector (with a robot positioning accuracy of at least 20cm), the robot stops moving and waits for docking and charging. The charging connector communicates with the robot via a wireless transparent transmission module 12, receiving the robot's position and attitude information calculated through visual positioning (visual positioning accuracy 2cm). Based on the calculated position and attitude information, the six-degree-of-freedom motor of the floating charging connector 2 rotates to achieve precise docking, at which point the two charging connectors are docked. It forms an explosion-proof cavity. The charging pile communicates with the robot through the wireless transmission module 12 and sends a start charging message. At the same time, the charging pile connects the high-power relay 11 and the robot connects the charging relay 10 switch to start charging. When the robot's battery level is higher than 90%, the robot communicates with the charging pile through the wireless transmission module 12 and sends a charge end message. The robot disconnects the charging relay 10 switch and the charging pile disconnects the high-power relay 11, and charging stops. The motor of the charging floating connector 2 moves, causing the charging floating connector 2 to detach from the robot's charging connector. The charging pile communicates with the robot through the wireless transmission module 12 and sends a drive-away message, and the robot drives away from the charging area.

[0055] The floating charging connector 2 of this invention can move up and down, left and right, and forward and backward, as well as rotate in three directions, by means of a vertical moving motor 29, a horizontal moving motor 25, a forward and backward moving motor 18, a pitch rotating motor 30, a yaw rotating motor 21, and a roll rotating motor 15. The design of the guide arc surface at the front end of the charging connector 3 reduces the requirements for visual positioning accuracy during docking. The robot relies on visual positioning accuracy of more than 2cm to ensure stable docking at both ends of the charging connector 3.

[0056] The beneficial effects of this invention are reflected in the following aspects:

[0057] 1. The present invention provides an active and precise docking device for charging explosion-proof mobile robots, which can realize autonomous charging of mobile robots in explosive gas environments, filling the technological gap in automatic charging in explosive gas environments.

[0058] 2. The active precision docking device for charging explosion-proof mobile robots of the present invention can prevent the harm caused by operators entering dangerous areas when operating in explosive gas environments.

[0059] 3. The active precision docking device for charging explosion-proof mobile robots of the present invention does not require high robot positioning accuracy. It compensates for the low robot positioning accuracy by using visual positioning and the motion of the six-degree-of-freedom floating connector, thus realizing high-precision autonomous docking of the charging connector.

[0060] Based on the above-described ideal embodiments of the present invention, those skilled in the art can make various changes and modifications without departing from the technical concept of the invention.

[0061] The preferred embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this application, various simple modifications can be made to the technical solution of this application, and these simple modifications all fall within the protection scope of this application.

[0062] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable way without contradiction. In order to avoid unnecessary repetition, the various possible combinations in this application will not be described separately.

[0063] Furthermore, various different implementations of this application can be combined in any way, as long as they do not violate the spirit of this application, and such combinations should also be regarded as the content disclosed in this application.

Claims

1. An active precision docking device for charging explosion-proof mobile robots, characterized in that, The system includes a charging pile control cabinet (1), a charging floating connector (2), and a charging connector (3). The charging pile control cabinet (1) has explosion-proof glands (6) connected to its outer sides. An emergency stop button (4) and a button indicator light (5) are provided on the outer side of the charging pile control cabinet (1). The emergency stop button (4) and button indicator light (5) are connected to a PLC controller (7). The PLC controller (7) is located inside the charging pile control cabinet (1). The PLC controller (7) is also connected to a terminal rail (8), a charger (9), a relay (10), a high-power relay (11), and a wireless transparent transmission module (12). The terminal rail (8), charger (9), relay (10), high-power relay (11), and wireless transparent transmission module (12) are all installed inside the charging pile control cabinet (1). A vision module (13) is installed on the upper part of the charging connector (3), and the vision module (13) is connected to the PLC controller (7). The charging floating connector (2) includes a docking plug (14), which is connected to a roll rotation device. The lower part of the roll rotation device is provided with a forward and backward moving device, the lower part of the forward and backward moving device is provided with a yaw rotation device, the lower part of the yaw rotation device is provided with a left and right moving device, the left and right moving device is connected to a vertical moving device, and the vertical moving device is also connected with a pitch rotation device. The roll rotation device, forward and backward moving device, yaw rotation device, left and right moving device, vertical moving device, and pitch rotation device are all connected to the PLC controller (7). The roll rotation device includes a roll rotation motor (15), which is connected to a mounting block (16). The top of the mounting block (16) is provided with a visual label (17), and one side of the mounting block (16) is provided with a docking plug (14). The roll rotation motor (15) and the visual label (17) are respectively connected to the PLC controller (7).

2. The active precision docking device for charging an explosion-proof mobile robot according to claim 1, characterized in that, The forward and backward moving device includes a forward and backward moving motor (18), which is connected to a PLC controller (7). The lower part of the forward and backward moving motor (18) is provided with a mounting plate (19), the output end of the forward and backward moving motor (18) is connected to a mounting block (16), and the lower part of the mounting plate (19) is provided with the yaw rotation device.

3. The active precision docking device for charging an explosion-proof mobile robot according to claim 2, characterized in that, The yaw rotation device uses a yaw rotation motor (21), which is connected to a PLC controller (7). The yaw rotation motor (21) is located at the lower part of the mounting plate (19).

4. The active precision docking device for charging an explosion-proof mobile robot according to claim 3, characterized in that, The left and right moving device includes a flat plate (22) disposed at the lower part of the yaw rotary motor (21). The lower part of the flat plate (22) is provided with a flat plate slide groove, which cooperates with the flat plate slide rail (23). The flat plate slide rail (23) is disposed on a fixed plate (24). The lower part of the fixed plate (24) is connected with left and right threaded rods, which are connected to the output end of the left and right moving motor (25).

5. The active precision docking device for charging an explosion-proof mobile robot according to claim 4, characterized in that, The vertical moving device includes a vertical plate (26) connected to a fixed plate (24). One side of the vertical plate (26) is provided with an upper and lower sliding groove. The upper and lower sliding groove cooperates with an upper and lower sliding rail (27). The upper and lower sliding rail (27) is installed on a longitudinal fixed plate (28). The vertical plate (26) is connected to an upper and lower rotating screw. One end of the upper and lower rotating screw is provided with an upper and lower moving motor (29).

6. The active precision docking device for charging an explosion-proof mobile robot according to claim 5, characterized in that, The pitch rotation device uses a pitch rotation motor (30), and the vertical plate (26) is rotatably connected to the fixed plate (24).

7. An active precision docking device for charging an explosion-proof mobile robot according to any one of claims 1 to 6, characterized in that, The outer shell of the charging pile control cabinet (1), the outer shell of the charging connector (3), and the explosion-proof joint surface formed by the connection between the charging connector (3) and the charging floating connector (2) are all made of explosion-proof shell.

8. An active precision docking device for charging an explosion-proof mobile robot according to any one of claims 1 to 6, characterized in that, The wireless transmission power of the wireless transparent transmission module (12) is less than 2W.

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