Charging mechanism and method for power transmission line inspection robot

Abstract

The present invention discloses a charging mechanism and method for a power transmission line inspection robot, which relates to the field of charging, including: a patrol robot body capable of patrolling along the ground wire on a transmission line iron tower, the patrol robot body being equipped with a wireless charging receiving end coil, a motor code disk, an infrared detection device and a driving wheel; a charging device, which includes: a boost module, a positioning mechanism baffle, and a wireless charging transmitting end coil; the boost module is electrically connected to the wireless charging transmitting end coil, and is used to boost the input electricity and then transmit it to the wireless charging transmitting end coil, and the wireless charging transmitting end coil can transmit electric energy to the wireless charging receiving end coil in a wireless manner; the motor code disk is arranged on the driving wheel to measure the number of rotations of the driving wheel, and the infrared detection device is electrically connected to the motor code disk. The present application can ensure the accuracy, reliability and charging stability of positioning during the automatic charging process of the power transmission line inspection robot.

Description

Technical Field

[0001] The present invention relates to the field of charging, and in particular to a charging mechanism and method for a power transmission line inspection robot. Background Art

[0002] In the traditional mode, the inspection of the operation status of transmission lines mainly relies on manual inspections, which has low work efficiency, high labor intensity, and cannot achieve 24-hour real-time inspections. In recent years, with the rapid construction of UHV transmission lines in my country and the continuous maturity of robot technology, different types of inspection robots have been widely used in the daily inspection of smart grids. Among them, the transmission line inspection robot can carry different detection equipment to replace manual automatic inspection of transmission lines. This can not only greatly reduce the labor intensity of inspection personnel and reduce inspection costs, but also improve the quality and efficiency of line inspection operations, ensuring the safe and stable operation of transmission lines.

[0003] At present, when power inspection robots operate on transmission lines, lithium batteries are generally used as power sources. When power inspection robots operate on transmission lines, they need to walk on the ground wire and carry various detection equipment, which consumes a lot of electricity. Therefore, after each inspection of a certain distance, the battery is required to be automatically charged or replaced to ensure that the power inspection robot can work stably and continuously for a long time. The traditional method of frequently replacing lithium batteries has greatly reduced the efficiency of line inspection, seriously restricted the rapid development of transmission line inspection robots, and can no longer meet the needs of actual inspection operations for power inspection robots. If charging is used to supplement the power of power inspection robots, there are many problems with the existing charging mechanism, such as easy generation of electric sparks during charging, inaccurate positioning, complex and bulky structure, and insufficient safety factor. Therefore, the problem of online charging of transmission line inspection robots has become increasingly prominent. In order to ensure that the inspection robot can conduct uninterrupted inspections for a long time, the robot's autonomous charging mechanism is one of the key issues that need to be solved urgently. Summary of the invention

[0004] In order to overcome the above-mentioned defects of the prior art, the technical problem to be solved by the embodiments of the present invention is to provide a charging mechanism and method for a power transmission line inspection robot, which can ensure the positioning accuracy, reliability and charging stability of the power transmission line inspection robot during automatic charging.

[0005] The specific technical solution of the embodiment of the present invention is:

[0006] A charging mechanism for a power transmission line inspection robot, the charging mechanism for the power transmission line inspection robot comprising:

[0007] An inspection robot body capable of inspecting along the ground wire on the transmission line tower, wherein the inspection robot body is equipped with a wireless charging receiving end coil, a motor encoder, an infrared detection device and a driving wheel;

[0008] A charging device, the charging device comprising: a boost module, a positioning mechanism baffle, and a wireless charging transmitting end coil;

[0009] The boost module is electrically connected to the wireless charging transmitter coil, and the boost module is used to boost the input electricity and then transmit it to the wireless charging transmitter coil, and the wireless charging transmitter coil can transmit electrical energy to the wireless charging receiver coil in a wireless manner; the motor code disk is arranged on the driving wheel to measure the number of rotations of the driving wheel, and the infrared detection device is electrically connected to the motor code disk. When the inspection robot body moves to the positioning mechanism baffle, the infrared detection device can detect whether the inspection robot body passes through the positioning mechanism baffle. Based on the detection result of the infrared detection device, the motor code disk can calculate the number of rotations of the driving wheel to obtain the length of the positioning mechanism baffle, so that the inspection robot body moves to the preset position of the positioning mechanism baffle, so that the wireless charging receiving end coil and the wireless charging transmitting end coil are aligned and power transmission can be carried out.

[0010] In a preferred embodiment, a voltage detection module is also installed on the inspection robot body. When the voltage detection module detects that the voltage output by the wireless charging transmitting end coil meets a preset threshold, the inspection robot body starts charging.

[0011] In a preferred embodiment, a rechargeable battery for receiving electrical energy from the wireless charging receiving coil is also installed on the inspection robot body. When the voltage detection module detects that the voltage of the rechargeable battery reaches a maximum preset threshold, the inspection robot body stops charging.

[0012] In a preferred embodiment, the charging device further comprises: a shielding mechanism, which comprises a shielding plate arranged above the positioning mechanism baffle and the wireless charging transmitting end coil, and the shielding plate extends in a horizontal downward direction.

[0013] In a preferred embodiment, when the infrared detection device detects that the inspection robot body moves to the positioning mechanism baffle, the motor code disk starts to record the pulse data of the motor. When the infrared detection device cannot detect the positioning mechanism baffle, the motor code disk records the pulse data of the motor again, and calculates the number of rotations of the driving wheel based on the two pulse data, thereby calculating the length of the positioning mechanism baffle.

[0014] In a preferred embodiment, the preset position is the middle of the positioning mechanism baffle, and the movement distance of the inspection robot body is controlled according to the length of the positioning mechanism baffle, so that the inspection robot body moves to the middle of the positioning mechanism baffle.

[0015] In a preferred embodiment, the wireless charging receiving end coil is located at the top of the inspection robot body, and the wireless charging transmitting end coil is located inside the positioning mechanism baffle.

[0016] In a preferred embodiment, when the inspection robot body moves to the preset position of the positioning mechanism baffle, the vertical distance between the wireless charging receiving end coil and the wireless charging transmitting end coil is between 20 mm and 50 mm.

[0017] In a preferred embodiment, the boost module is provided with a charging input socket, which is an aviation socket for connecting to a power source.

[0018] A charging method using any of the charging mechanisms described above for a power transmission line inspection robot, the charging method for a power transmission line inspection robot comprising the following steps:

[0019] When the inspection robot body is about to enter the charging device, the infrared detection device is turned on;

[0020] When the inspection robot body moves to the positioning mechanism baffle, the infrared detection device detects the positioning mechanism baffle, and at this time, the motor encoder records the pulse data of the motor;

[0021] When the inspection robot body moves away from the positioning mechanism baffle, the infrared detection device cannot detect the positioning mechanism baffle, and at this time, the motor encoder records the pulse data of the motor again;

[0022] Calculate the number of revolutions of the driving wheel according to the pulse data recorded twice by the motor encoder, and then obtain the length of the baffle of the positioning mechanism;

[0023] The inspection robot body is controlled to move to a preset position of the positioning mechanism baffle according to the length of the positioning mechanism baffle, so that the wireless charging receiving end coil and the wireless charging transmitting end coil are aligned to enable power transmission.

[0024] In a preferred embodiment, the inspection robot body is also equipped with a voltage detection module and a rechargeable battery for receiving the electric energy of the wireless charging receiving end coil, and the charging method for the power transmission line inspection robot further includes the following steps:

[0025] After the inspection robot body moves to the preset position of the positioning mechanism baffle, when the voltage detection module detects that the voltage output by the wireless charging transmitting end coil meets the preset threshold, the inspection robot body starts charging;

[0026] When the voltage detection module detects that the voltage of the rechargeable battery reaches a maximum preset threshold, the inspection robot body stops charging.

[0027] The technical solution of the present invention has the following significant beneficial effects:

[0028] This application calculates the number of motor rotations through the motor encoder, and then calculates the length of the positioning mechanism baffle, so that the robot can accurately stop at the preset position of the positioning mechanism baffle, so as to ensure that the wireless charging receiving coil of the inspection robot body and the wireless charging transmitting coil of the charging device are aligned and aligned during charging, ensuring the best efficiency during charging. In addition, this application adopts a wireless charging method to solve the problem of easy wear and short service life of contact charging terminals and the problem of electric sparks generated at the moment of contact of charging terminals, simplify the design of the product's automatic charging method, and effectively improve the safety and stability of the charging system.

[0029] With reference to the following description and drawings, specific embodiments of the present invention are disclosed in detail, indicating the manner in which the principles of the present invention can be adopted. It should be understood that the embodiments of the present invention are not limited in scope. Within the spirit and scope of the appended claims, the embodiments of the present invention include many changes, modifications and equivalents. Features described and / or shown for one embodiment can be used in one or more other embodiments in the same or similar manner, combined with features in other embodiments, or replace features in other embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings described herein are only for explanation purposes and are not intended to limit the scope of the present invention in any way. In addition, the shapes and proportional dimensions of the various components in the figures are only schematic, used to help understand the present invention, and are not specifically limited to the shapes and proportional dimensions of the various components of the present invention. Those skilled in the art can select various possible shapes and proportional dimensions to implement the present invention according to the teachings of the present invention.

[0031] Figure 1 It is a schematic diagram of the structure of a charging device in an embodiment of the present invention;

[0032] Figure 2 It is a schematic diagram of the charging process of the charging mechanism of the power transmission line inspection robot in an embodiment of the present invention;

[0033] Figure 3 for Figure 2 The enlarged view of point A in the middle;

[0034] Figure 4 is a schematic diagram of a charging process for a power transmission line inspection robot in an embodiment of the present invention;

[0035] Figure 5 The figure is a flow chart of a charging method for a power transmission line inspection robot in an embodiment of the present invention.

[0036] Reference numerals of the above drawings:

[0037] 10. Boost module; 11. Charging input socket; 12. Shielding mechanism; 13. Wireless charging transmitter coil; 14. Positioning mechanism baffle; 20. Transmission line tower; 21. Ground wire; 22. Wireless charging receiver coil; 23. Voltage detection module; 24. Motor encoder; 25. Infrared detection device; 26. Inspection robot body; 27. Charging device. DETAILED DESCRIPTION

[0038] The details of the present invention can be more clearly understood by combining the accompanying drawings and the description of the specific embodiments of the present invention. However, the specific embodiments of the present invention described herein are only used for the purpose of explaining the present invention and cannot be understood as limiting the present invention in any way. Under the guidance of the present invention, technicians can conceive of any possible variations based on the present invention, which should be regarded as belonging to the scope of the present invention. It should be noted that when an element is referred to as "arranged on" another element, it can be directly on another element or there can also be a central element. When an element is considered to be "connected" to another element, it can be directly connected to another element or there may be a central element at the same time. The terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a mechanical connection or an electrical connection, or it can be the communication between the two elements, it can be directly connected, or it can be indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are only for illustrative purposes and do not represent the only implementation method.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0040] In the prior art, there is an automatic charging mechanism for a substation inspection robot, which includes an electric push rod and a charging device. Although the automatic power supply problem of the substation inspection robot is solved, there are also some problems. For example, the charging system is directly connected to the charging receiving end of the robot using electrical hardware contacts, which is easy to generate electric sparks during contact charging, which is prone to safety hazards; each time charging, the charging contact device will generate contact friction, which may cause poor contact in the long term, so the charging contact device needs to be replaced regularly, so the later maintenance cost is high. At the same time, there is also an automatic charging device and method for a power tunnel inspection robot. The automatic charging device itself includes a brush group, a horizontal moving device, a vertical moving device and a charging slot, which solves the contact problem between the brush and the charging slot during charging. The floating brush can completely adjust its position state under the pressure of the spring to ensure good contact during charging, but the charging device also has some problems. For example, it adopts a pure mechanical structure without a control device, resulting in a complex mechanical structure, inaccurate charging positioning, and cannot ensure good contact of the robot during charging; if a short circuit fault occurs during charging, the system cannot detect it, and it is easy to burn or damage the robot.

[0041] In order to ensure the accuracy, reliability and charging stability of the positioning of the power transmission line inspection robot during the automatic charging process, a charging mechanism for the power transmission line inspection robot is proposed in this application. Figure 1 is a schematic diagram of the structure of a charging device in an embodiment of the present invention, Figure 2 is a schematic diagram of a charging process of a charging mechanism for a power transmission line inspection robot in an embodiment of the present invention, Figure 3 for Figure 2 The enlarged view of A in the middle is as follows: Figure 1 , Figure 2 and Figure 3As shown, the charging mechanism for the power transmission line inspection robot includes: an inspection robot body 26 capable of inspecting along the ground wire 21 on the transmission line tower 20, on which a wireless charging receiving end coil 22, a motor code disk 24, an infrared detection device 25 and a driving wheel are installed; a charging device 27, the charging device 27 includes: a boost module 10, a positioning mechanism baffle 14, and a wireless charging transmitting end coil 13; the boost module 10 is electrically connected to the wireless charging transmitting end coil 13, and the boost module 10 is used to boost the input electricity and then transmit it to the wireless charging transmitting end coil 13, and the wireless charging transmitting end coil 13 can wirelessly charge the wireless charging receiving end coil 22, the motor code disk 24, the infrared detection device 25 and the driving wheel; The end coil 22 transmits electrical energy; the motor code disk 24 is set on the driving wheel to measure the number of rotations of the driving wheel, and the infrared detection device 25 is electrically connected to the motor code disk 24. When the inspection robot body 26 moves to the positioning mechanism baffle 14, the infrared detection device 25 can detect whether the inspection robot body 26 passes through the positioning mechanism baffle 14. Based on the detection result of the infrared detection device 25, the motor code disk 24 can calculate the number of rotations of the driving wheel to obtain the length of the positioning mechanism baffle 14, so that the inspection robot body 26 moves to the preset position of the positioning mechanism baffle 14, so that the wireless charging receiving end coil 22 and the wireless charging transmitting end coil 13 are aligned and power transmission can be carried out.

[0042] When the inspection robot body 26 needs to be charged, it needs to move along the ground wire 21 on the transmission line tower 20 to the charging device 27 installed on the transmission line tower 20 for charging. The infrared detection device 25 detects the inspection robot body 26 entering and leaving the positioning mechanism baffle 14, so that the motor code disk 24 can calculate the number of rotations of the driving wheel based on the detection result of the infrared detection device 25 to obtain the length of the positioning mechanism baffle 14, and then according to the known preset position of the positioning mechanism baffle 14, the inspection robot body 26 moves to the preset position of the positioning mechanism baffle 14, at which the wireless charging receiving end coil 22 and the wireless charging transmitting end coil 13 are aligned and can transmit power. Then the boost module 10 boosts the input electricity and transmits it to the wireless charging transmitting end coil 13, the wireless charging transmitting end coil 13 transmits power to the wireless charging receiving end coil 22 in a wireless manner, and the wireless charging receiving end coil 22 uses the received power to charge the inspection robot body 26.

[0043] The present application calculates the number of motor revolutions through the motor encoder 24, and then calculates the length of the positioning mechanism baffle 14, so that the robot can accurately stop at the preset position of the positioning mechanism baffle 14, so as to ensure that the wireless charging receiving end coil 22 of the inspection robot body 26 and the wireless charging transmitting end coil 13 of the charging device 27 are aligned and aligned during charging, ensuring the best efficiency during charging. In addition, the present application adopts a wireless charging method, which solves the problem of easy wear and short service life of the contact charging terminal and the problem of electric sparks generated at the moment of contact of the charging terminal, simplifies the design of the product's automatic charging method, and effectively improves the safety and stability of the charging system.

[0044] In order to better understand the charging mechanism for the power transmission line inspection robot in this application, it will be further explained and illustrated below. Figure 2 As shown, the charging mechanism for the power transmission line inspection robot includes: an inspection robot body 26 capable of inspecting along the ground wire 21 on the power transmission line tower 20; and a charging device 27 installed on the power transmission line tower 20. The ground wire 21 is installed on the power transmission line tower 20, and the inspection robot body 26 is installed on the ground wire 21, and can move along the ground wire 21, thereby completing the inspection operation of the ground wire 21.

[0045] like Figure 2 and Figure 3As shown, the inspection robot body 26 is equipped with a wireless charging receiving end coil 22, a motor code disk 24, an infrared detection device 25, a driving wheel and a rechargeable battery. The rechargeable battery is used to power the inspection robot body 26 so that the inspection robot body 26 can perform inspection operations. For example, the rechargeable battery can be used to power the driving wheel so that the driving wheel rotates, and under the action of the driving wheel, the inspection robot body 26 walks on the ground line 21. The driving wheel can include a driving wheel and a driven wheel, and the inspection robot body 26 can slide smoothly on the ground line 21 through the coordinated action of the driving wheel and the driven wheel. At the same time, the rechargeable battery is electrically connected to the wireless charging receiving end coil 22, so as to receive the electric energy of the wireless charging receiving end coil 22. The wireless charging receiving end coil 22 is installed at the top of the inspection robot body 26 and faces upward, so that when the inspection robot body 26 moves to the charging device 27, it can quickly face the wireless charging transmitting end coil 13 of the charging device 27. The motor code disk 24 is arranged on the driving wheel to measure the number of rotations of the driving wheel. The motor code disk 24 can be arranged on the driving wheel or on the driven wheel. The infrared detection device 25 is electrically connected to the motor code disk 24. When the inspection robot body 26 just moves to the positioning mechanism baffle 14, the infrared detection device 25 can detect the positioning mechanism baffle 14 entered by the inspection robot body 26. At this time, the motor code disk 24 records the pulse data of the motor. When the inspection robot body 26 moves away from the positioning mechanism baffle 14, the infrared detection device 25 cannot detect the positioning mechanism baffle 14. At this time, the motor code disk 24 records the pulse data of the motor again. The number of rotations of the driving wheel when the inspection robot passes the positioning mechanism baffle 14 is calculated based on the pulse data recorded twice by the motor code disk 24. Since the distance traveled by the inspection robot body 26 when the driving wheel rotates one circle is known, the length of the positioning mechanism baffle 14 is obtained in this way. After the inspection robot body 26 knows the length of the positioning mechanism baffle 14, it can move back a certain distance to reach any preset position of the positioning mechanism baffle 14. The distance of the back movement can be controlled by the number of turns of the driving wheel. The preset position can be the middle position of the positioning mechanism baffle 14. The distance of the inspection robot body 26 movement is controlled according to the length of the positioning mechanism baffle 14, so that the inspection robot body 26 moves to the middle of the positioning mechanism baffle 14. Of course, the preset position can also be other known arbitrary positions, such as a position at a preset length from one end of the positioning mechanism baffle 14 or a position at one third of the length of the positioning mechanism baffle 14 from one end of the positioning mechanism baffle 14, etc. The wireless charging transmitter coil 13 can be set at the preset position of the positioning mechanism baffle 14, so that the wireless charging receiver coil 22 of the inspection robot body 26 can be accurately opposite to the wireless charging transmitter coil 13 of the positioning mechanism baffle 14 to ensure the best efficiency during charging.

[0046] like Figure 1 As shown, the charging device 27 may include: a boost module 10, a positioning mechanism baffle 14, and a wireless charging transmitter coil 13. The boost module 10 is electrically connected to the wireless charging transmitter coil 13. The boost module 10 is used to boost the input electricity and then transmit it to the wireless charging transmitter coil 13. The boost module 10 can be installed inside the box body to avoid the influence of external factors such as rain on the boost module 10. The wireless charging transmitter coil 13 can transmit electric energy to the wireless charging receiver coil 22 in a wireless manner. The wireless charging transmitter coil 13 can be located inside the positioning mechanism baffle 14. When the inspection robot body 26 moves to the preset position of the positioning mechanism baffle 14, the vertical distance between the wireless charging receiver coil 22 and the wireless charging transmitter coil 13 is between 20mm and 50mm. At this vertical distance, the wireless charging receiver coil 22 and the wireless charging transmitter coil 13 can maintain the best power transmission efficiency. The positioning mechanism baffle 14 can be arranged below the boost module 10, and an adjustment mechanism can be arranged between the positioning mechanism baffle 14 and the boost module 10, and the adjustment mechanism is used to adjust the distance between the positioning mechanism baffle 14 and the boost module 10, so that the distance between the wireless charging transmitting end coil 13 in the positioning mechanism baffle 14 and the wireless charging receiving end coil 22 of the inspection robot body 26 can be controlled and adjusted, thereby maintaining the distance between the wireless charging receiving end coil 22 and the wireless charging transmitting end coil 13 at the optimal distance. At the same time, the use of wireless charging solves the problems of easy wear and short service life of the contact charging terminal in conventional charging technology, as well as the problem of electric sparks generated at the moment of contact of the charging terminal. There is no need to accurately align the charging position during wireless charging, thus expanding the range of the charging point and allowing a certain range of position errors, so that the design of the automatic charging method of the product can be simplified, and the safety and stability performance of the charging device 27 can be effectively improved.

[0047] like Figure 1 As shown, the boost module 10 is provided with a charging input socket 11, which is an aviation socket, and is used to connect to a power source, and the power source can be an energy storage battery installed on the transmission line tower 20. The use of the aviation socket can ensure the sealing of the connection between the boost module 10 and the connecting wire to prevent short circuit caused by rain.

[0048] like Figure 2 and Figure 3As shown, a voltage detection module 23 is also installed on the inspection robot body 26. After the inspection robot body 26 moves to the preset position of the positioning mechanism baffle 14, when the voltage detection module 23 detects that the voltage output by the wireless charging transmitting end coil 13 meets the preset threshold, the inspection robot body 26 starts charging. When the voltage detection module 23 detects that the voltage of the rechargeable battery reaches the highest preset threshold, the rechargeable battery is fully charged at this time, and the inspection robot body 26 stops charging.

[0049] In a preferred embodiment, Figure 1 and Figure 2 As shown, the charging device 27 also includes: a shielding mechanism 12, which includes a shielding plate arranged above the positioning mechanism baffle 14 and the wireless charging transmitting end coil 13, and the shielding plate extends horizontally downward. When the inspection robot body 26 moves to the preset position of the positioning mechanism baffle 14, the inspection robot body 26 is located below the shielding mechanism 12, and the shielding mechanism 12 can ensure that the inspection robot body 26 is not easily affected by external factors such as vibration, strong wind, rain, etc. when charging.

[0050] In a preferred embodiment, the power of the electric energy transmitted between the wireless charging receiving coil 22 and the wireless charging transmitting coil 13 can be adjusted. Specifically, the transmission power of the wireless charging transmitting coil 13 can be adjusted in real time according to the power consumption of the wireless charging receiving coil 22 to prevent the wireless charging transmitting coil 13 from transmitting too much energy and burning the wireless charging transmitting coil 13.

[0051] In a preferred embodiment, the inspection robot is also equipped with a positioning system and a battery charging management system. The positioning system is used to obtain the position of the inspection robot, that is, it can obtain the accurate position of the inspection robot through various global positioning systems. The battery charging management system is used to monitor the state of the rechargeable battery. The inspection robot also has an inspection robot control system that is electrically connected to the positioning system and the battery charging management system, which can obtain the position of the inspection robot, the state of the power battery, and the position information of the charging device 27 to determine whether the inspection robot needs to be charged, and then navigate the inspection robot to the charging device 27 for charging. Under the inspection robot control system and the positioning system, the cruise robot can have an autonomous navigation function. The position information of the charging device 27 on the transmission line tower 20 has been pre-stored in the inspection robot control system. Therefore, the cruise robot can accurately calculate when and where the cruise robot needs to be charged based on the state of the rechargeable battery, the position information of the charging device 27, and the position of the inspection robot, so as to ensure that the cruise robot is navigated to the nearest charging device 27 for charging when its own power is sufficient. When charging the rechargeable battery of the inspection robot, the battery charging management system can realize segmented charging according to the battery charging curve, thereby extending the service life of the power battery to a certain extent.

[0052] Figure 4 FIG. 1 is a schematic diagram of a charging process for a power transmission line inspection robot according to an embodiment of the present invention. Figure 4 As shown, when the inspection robot is inspecting along the ground wire 21 on the transmission line tower 20, the battery charging management system monitors the state of the rechargeable battery. When the battery charging management system finds that the rechargeable battery is insufficient, the inspection robot control system can obtain the position of the inspection robot in the positioning system, the state of the power battery, and the position information of the charging device 27 to navigate the inspection robot to the charging device 27 for charging. When the inspection robot arrives at the charging device 27, the inspection robot body 26 and the charging device 27 are positioned so that the wireless charging receiving end coil 22 and the wireless charging transmitting end coil 13 are aligned to enable power transmission. When the positioning is successful, the robot stops moving, and the rechargeable battery in the inspection robot body 26 is charged through the charging device 27. When the voltage detection module 23 detects that the voltage output by the wireless charging transmitting end coil 13 meets the preset threshold, the inspection robot body 26 continues to charge. When the voltage detection module 23 detects that the voltage of the rechargeable battery reaches the highest preset threshold, it means that the rechargeable battery is full, and the inspection robot body 26 stops charging. In order to enable accurate positioning between the inspection robot body 26 and the charging device 27, a charging method for a power transmission line inspection robot is also proposed in the present application. Figure 5 FIG. 1 is a flow chart of a charging method for a power transmission line inspection robot according to an embodiment of the present invention. Figure 5As shown, the charging method for the power transmission line inspection robot may include the following steps: when the inspection robot body 26 is about to enter the charging device 27, the infrared detection device 25 is turned on; when the inspection robot body 26 moves to the positioning mechanism baffle 14, the infrared detection device 25 detects the positioning mechanism baffle 14, at this time, the motor code disk 24 records the pulse data of the motor; when the inspection robot body 26 moves away from the positioning mechanism baffle 14, the infrared detection device 25 cannot detect the positioning mechanism baffle 14, at this time, the motor code disk 24 records the pulse data of the motor again; the number of revolutions of the driving wheel is calculated according to the pulse data recorded twice by the motor code disk 24, and the charging process is performed. The length of the positioning mechanism baffle 14 is obtained; according to the length of the positioning mechanism baffle 14, the inspection robot body 26 is controlled to move to the preset position of the positioning mechanism baffle 14, so that the wireless charging receiving end coil 22 and the wireless charging transmitting end coil 13 are aligned and power transmission can be carried out; after the inspection robot body 26 moves to the preset position of the positioning mechanism baffle 14, when the voltage detection module 23 detects that the voltage output by the wireless charging transmitting end coil 13 meets the preset threshold value, the inspection robot body 26 starts to charge; when the voltage detection module 23 detects that the voltage of the rechargeable battery reaches the highest preset threshold value, the inspection robot body 26 stops charging.

[0053] The charging mechanism and method for the power transmission line inspection robot in this application can improve the positioning accuracy, reliability and charging stability between the inspection robot body 26 and the charging device 27, which will directly affect the operation time, inspection radius and line inspection efficiency of the inspection robot. At the same time, this application overcomes the shortcomings of the existing charging technology, adopts high-power wireless charging technology, and the charging is stable and reliable, avoiding the safety accidents such as electric sparks, fires, and short circuits that are easy to generate during charging in the existing technology. This application meets the demand for real-time online charging of the power inspection robot walking along the ground line 21, and realizes the full, fully autonomous, and long-term automatic operation of the inspection robot along the transmission line. This process does not require human participation, and can achieve autonomous operation and autonomous charging. It is of great significance to reduce labor costs, reduce the work intensity of inspection personnel, and improve the level of intelligent inspection of transmission lines.

[0054] All articles and references disclosed, including patent applications and publications, are incorporated herein by reference for various purposes. The term "consisting essentially of ... " describing a combination should include determined elements, ingredients, parts or steps and other elements, ingredients, parts or steps that do not substantially affect the basic novel features of the combination. The use of the terms "comprising" or "including" to describe the combination of elements, ingredients, parts or steps here also contemplates the implementation method consisting essentially of these elements, ingredients, parts or steps. Here, by using the term "may", it is intended to illustrate that any attribute described that "may" includes is optional. Multiple elements, ingredients, parts or steps can be provided by a single integrated element, ingredient, part or step. Alternatively, a single integrated element, ingredient, part or step can be divided into separate multiple elements, ingredients, parts or steps. The disclosure "one" or "one" used to describe an element, ingredient, part or step is not said to exclude other elements, ingredients, parts or steps.

[0055] Each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the embodiments can be referred to each other. The above embodiments are only for illustrating the technical concept and features of the present invention. The purpose is to enable people familiar with this technology to understand the content of the present invention and implement it accordingly, and it cannot be used to limit the scope of protection of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A charging mechanism for a power transmission line inspection robot, characterized in that: The charging mechanism for the power transmission line inspection robot comprises: A patrol robot body capable of patrolling along the ground wire on a transmission line tower, wherein the patrol robot body is equipped with a wireless charging receiving end coil, a motor code disk, an infrared detection device and a driving wheel, and the patrol robot body is also equipped with a rechargeable battery for receiving the electric energy of the wireless charging receiving end coil, wherein the rechargeable battery is used to power the patrol robot body so that the patrol robot body can perform patrol operations, and when the voltage detection module detects that the voltage of the rechargeable battery reaches the highest preset threshold value, the patrol robot body stops charging; A charging device, the charging device comprising: a boost module, a positioning mechanism baffle, and a wireless charging transmitting end coil; The boost module is electrically connected to the wireless charging transmitter coil, and the boost module is used to boost the input electricity and then transmit it to the wireless charging transmitter coil, and the wireless charging transmitter coil can transmit electric energy to the wireless charging receiver coil in a wireless manner; the motor code disk is arranged on the driving wheel to measure the number of rotations of the driving wheel, and the infrared detection device is electrically connected to the motor code disk. When the inspection robot body moves to the positioning mechanism baffle, the infrared detection device can detect whether the inspection robot body passes through the positioning mechanism baffle. Based on the result of the detection by the infrared detection device, the motor code disk can calculate the number of rotations of the driving wheel to obtain the length of the positioning mechanism baffle, so that the inspection robot body moves to the preset position of the positioning mechanism baffle through the number of rotations of the driving wheel, so that power transmission can be performed between the wireless charging receiver coil and the wireless charging transmitter coil; Among them, when the infrared detection device detects that the inspection robot body moves to the positioning mechanism baffle, the motor code disk starts to record the pulse data of the motor. When the infrared detection device cannot detect the positioning mechanism baffle, the motor code disk records the pulse data of the motor again, and calculates the number of rotations of the driving wheel based on the two pulse data, thereby calculating the length of the positioning mechanism baffle; the preset position is the middle of the positioning mechanism baffle, and the movement distance of the inspection robot body is controlled according to the length of the positioning mechanism baffle, so that the inspection robot body moves to the middle of the positioning mechanism baffle; the wireless charging receiving end coil is located at the top of the inspection robot body, and the wireless charging transmitting end coil is located inside the positioning mechanism baffle.

2. The charging mechanism for a power transmission line inspection robot according to claim 1, characterized in that: The inspection robot body is also equipped with a voltage detection module. When the voltage detection module detects that the voltage output by the wireless charging transmitting end coil meets a preset threshold, the inspection robot body starts charging.

3. The charging mechanism for a power transmission line inspection robot according to claim 1, characterized in that: The charging device further includes: a shielding mechanism, which includes a shielding plate arranged above the positioning mechanism baffle and the wireless charging transmitting end coil, and the shielding plate extends in a horizontal downward direction.

4. The charging mechanism for a power transmission line inspection robot according to claim 1, characterized in that: When the inspection robot body moves to the preset position of the positioning mechanism baffle, the vertical distance between the wireless charging receiving end coil and the wireless charging transmitting end coil is between 20 mm and 50 mm.

5. The charging mechanism for a power transmission line inspection robot according to claim 1, characterized in that: The boost module is provided with a charging input socket, which is an aviation socket and is used to be connected to a power source.

6. A charging method using the charging mechanism for a power transmission line inspection robot as claimed in claim 1, characterized in that: The charging method for the charging mechanism of the power transmission line inspection robot comprises the following steps: When the inspection robot body is about to enter the charging device, the infrared detection device is turned on; When the inspection robot body moves to the positioning mechanism baffle, the infrared detection device detects the positioning mechanism baffle, and at this time, the motor encoder records the pulse data of the motor; When the inspection robot body moves away from the positioning mechanism baffle, the infrared detection device cannot detect the positioning mechanism baffle, and at this time, the motor encoder records the pulse data of the motor again; Calculate the number of revolutions of the driving wheel according to the pulse data recorded twice by the motor encoder, and then obtain the length of the baffle of the positioning mechanism; The inspection robot body is controlled to move to a preset position of the positioning mechanism baffle according to the length of the positioning mechanism baffle, so that the wireless charging receiving end coil and the wireless charging transmitting end coil are aligned to enable power transmission.

7. The charging method for the charging mechanism of the power transmission line inspection robot according to claim 6, characterized in that: The inspection robot body is also equipped with a voltage detection module and a rechargeable battery for receiving the electric energy of the wireless charging receiving end coil. The charging method for the charging mechanism of the power transmission line inspection robot also includes the following steps: After the inspection robot body moves to the preset position of the positioning mechanism baffle, when the voltage detection module detects that the voltage output by the wireless charging transmitting end coil meets the preset threshold, the inspection robot body starts charging; When the voltage detection module detects that the voltage of the rechargeable battery reaches a maximum preset threshold, the inspection robot body stops charging.

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