A wireless charging device and control method in a substation

Abstract

The application discloses a wireless charging device and a control method in a transformer substation, wherein the device comprises a control center, a set of parallel guide rails placed on the ground, and coarse positioning information measuring modules and precise positioning charging docking modules arranged in the length direction of the parallel guide rails in sequence. The coarse positioning information measuring modules and the precise positioning charging docking modules are electrically connected with the control center; the coarse positioning information measuring modules are used for acquiring the length-width information of the robot and assisting the robot in adjusting the pose; the precise positioning charging docking module comprises a displacement sensor, a wireless charging transmitting coil and a first distance measuring sensor for emitting beams, is used for guiding the robot to enter the parallel guide rails and assisting the robot in the X and Y axis positioning in the plan view, and completes the wireless charging docking. The length-width information of different sizes and different types of robots is calculated, and finally the robot accurately completes the docking charging, greatly meeting the charging demand of various types of robots.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of wireless charging, in particular to a wireless charging device and control method in a transformer substation. BACKGROUND

[0002] The transformer substation is an indispensable part of the power system. With the development of science and technology, various intelligent robots in the transformer substation replace manual work to efficiently manage and maintain the transformer substation. The robots usually need to be charged by manual docking operation, and different types of robots have different charging methods, which often causes waste of time and manpower and affects the operation efficiency of the transformer substation. The robots in the transformer substation have basic functions such as vision, path planning, trajectory tracking, and obstacle avoidance. The pose information of the robot can be obtained by reusing the camera, sensor, and other devices of the robot, and a universal wireless charging system can be developed to meet the energy maintenance needs of various types of robots and ensure the efficient operation of the transformer substation. SUMMARY

[0003] The present application provides a wireless charging device and control method in a transformer substation, which meets the charging needs of various types of robots and ensures the efficient operation of the transformer substation.

[0004] In a first aspect, the present application provides a wireless charging device in a transformer substation, comprising: a control center, a set of parallel guide rails placed on the ground, and a coarse positioning information measurement module and a precise positioning charging docking module arranged in the length direction of the parallel guide rails; the coarse positioning information measurement module and the precise positioning charging docking module are electrically connected to the control center.

[0005] The coarse positioning information measurement module is used to obtain the length and width information of the robot and assist the robot in adjusting the pose.

[0006] The precise positioning charging docking module comprises a displacement sensor, a wireless charging transmitting coil, and a first ranging sensor for transmission; the displacement sensor and the wireless charging transmitting coil are embedded in the ground along the central axis of the parallel guide rails; the wireless charging transmitting coil is arranged on the side of the displacement sensor away from the coarse positioning information measurement module; the first ranging sensor for transmission is symmetrically arranged on the two guide rails of the parallel guide rails.

[0007] The control center is used for information interaction with the robot and issuing control instructions.

[0008] Preferably, it further comprises a visual identifier, which is arranged at the end of the parallel guide rail away from the coarse positioning information measurement module and above the central axis of the parallel guide rail.

[0009] Further, the coarse positioning information measurement module comprises a first infrared sensor arranged in a pair of shots on the parallel guide rail, and a pressure sensor array embedded in the ground between the parallel guide rails.

[0010] Further, the coarse positioning information measurement module further comprises a second distance measuring sensor arranged in a pair of shots on the parallel guide rail, and a second infrared sensor arranged in a pair of shots; wherein the second distance measuring sensor arranged in a pair of shots and the second infrared sensor arranged in a pair of shots are located between the displacement sensor and the pressure sensor array.

[0011] Further, the first distance measuring sensor arranged in a pair of shots comprises at least two groups of laser sensors arranged in a pair of shots, and each group of laser sensors arranged in a pair of shots is symmetrically arranged on both sides of the wireless charging transmitting coil.

[0012] In a second aspect, the present application provides a control method for wireless charging in a substation, comprising:

[0013] When it is detected that the robot enters the coarse positioning information measurement interval, the control center obtains the length and width information of the robot through the coarse positioning information measurement module, and adjusts the pose of the robot to make the robot keep advancing along the central axis of the parallel guide rail until it enters the precise positioning charging docking interval;

[0014] When it is detected that the robot enters the precise positioning charging docking interval, the control center sends a deceleration instruction to the robot to make the robot decelerate at a preset acceleration when the front end of the robot passes through the displacement sensor, so that the wireless charging receiving coil box at the center position of the robot chassis reaches above the wireless charging transmitting coil; the first distance measuring sensor arranged in a pair of shots is used to measure the distance between the two tracks of the parallel guide rail and the two sides of the robot, and the pose of the robot is adjusted to make the distance on both sides equal, thereby completing the precise positioning wireless charging docking of the wireless charging transmitting coil and the wireless charging receiving coil box.

[0015] When it is detected that the precise positioning charging docking is completed, the control center issues a power-on instruction to perform wireless charging for the robot.

[0016] Preferably, before entering the coarse positioning information measurement interval, the robot further comprises: the robot uses its own camera to recognize the visual marker, and guides the robot to adjust the direction of advancement by judging the relative positional relationship between the visual marker and the center of the picture in the captured picture.

[0017] Further, the process of obtaining the length and width information of the robot by the coarse positioning information measurement module is specifically as follows:

[0018] When the robot passes through the first infrared sensor arranged in a pair of shots at a preset speed, the length of the robot is calculated and obtained by using the preset speed and the time of passing through the first infrared sensor arranged in a pair of shots.

[0019] The robot calculates the offset angle of the robot by using the number and time of the pressure sensors corresponding to the left and right wheels of the robot through the pressure sensor array, and further calculates the width of the robot, and adjusts the pose of the robot by using the offset angle.

[0020] Preferably, the method further comprises checking the length and width information of the robot, and the specific process is as follows:

[0021] When the robot passes through the second ranging sensor and the second infrared sensor in the preset speed, the pose of the robot is adjusted so that the robot is located on the central axis parallel to the parallel guide rail.

[0022] The distance from the parallel guide rail to the two sides of the robot measured by the second ranging sensor is obtained, and the width of the robot is calculated.

[0023] The time when the front end of the robot cuts off the infrared signal emitted by the second infrared sensor and the time when the infrared signal is recovered are recorded, and the length of the robot is calculated.

[0024] The obtained length and width information of the robot is checked with the pre-obtained length and width information.

[0025] Further, the specific process of the wireless charging receiving coil box at the center position of the robot chassis reaching above the wireless charging transmitting coil is as follows:

[0026] The position of the robot chassis center is calculated according to the length and width information of the robot obtained by the coarse positioning information measurement module.

[0027] The distance between the wireless charging transmitting coil and the robot chassis center is obtained by using the position of the displacement sensor.

[0028] In combination with the current driving speed of the robot, the acceleration of the robot during deceleration to reach above the wireless charging transmitting coil is obtained.

[0029] The control center sends the obtained acceleration as an instruction to the robot to decelerate, so that the wireless charging receiving coil box at the center position of the robot chassis reaches above the wireless charging transmitting coil.

[0030] Advantages

[0031] The application provides a wireless charging device and a control method in a transformer substation, which can provide wireless charging functions for different types of robots. A control center can obtain the length and width information of a robot that needs to be maintained in energy through a coarse positioning information module, and adjust the pose of the robot to make the robot travel along the central axis parallel to the parallel guide rail, and then make the robot enter the fine positioning and charging docking interval; when the robot triggers the displacement sensor in the fine positioning and charging module, the control center calculates the acceleration of the robot when it slows down according to the travel speed of the robot and the distance from the center position of the robot chassis to the wireless charging transmitting coil, and the control center sends the acceleration as an instruction to the robot to slow down, so that the wireless charging receiving coil box at the center position of the robot chassis reaches above the wireless charging transmitting coil. In addition, the fine positioning and charging module adjusts the pose of the robot in the travel process by using the first ranging sensor, so that the robot is finally positioned on the X and Y axis of the preset wireless charging transmitting coil, and the wireless charging docking is completed. The length and width information of different sizes and different types of robots can be calculated, and the robot can finally accurately complete the docking and charging, greatly meeting the charging needs of various types of robots and ensuring the efficient operation of the transformer substation. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only constitute some embodiments of the application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0033] Figure 1 is a schematic diagram of the wireless charging device in the transformer substation provided by the embodiment of the application;

[0034] Figure 2 is a configuration schematic diagram of the wireless charging device and the robot in the transformer substation provided by the embodiment of the application;

[0035] Figure 3 is a schematic diagram of the coarse positioning information measurement interval provided by the embodiment of the application;

[0036] Figure 4 is a schematic diagram of the fine positioning and charging docking interval provided by the embodiment of the application;

[0037] Figure 5 is a front view of the visual identifier provided by the embodiment of the application;

[0038] Figure 6 is a flowchart of the control method of the wireless charging in the transformer substation provided by the embodiment of the application;

[0039] Figure 7is a picture schematic diagram provided by the embodiment of the present application when the robot does not recognize the visual marker;

[0040] Figure 8 is a picture schematic diagram provided by the embodiment of the present application when the height of the visual marker is higher than the camera of the robot; wherein, Figure 8 (a) is a schematic diagram in which the complete visual marker appears in the upper left position of the picture; Figure 8 (b) is a schematic diagram in which the right part of the marker appears in the upper left position of the picture; Figure 8 (c) is a schematic diagram in which the complete visual marker appears in the upper right position of the picture; Figure 8 (d) is a schematic diagram in which the left half of the marker appears in the upper right position of the picture; Figure 8 (e) is a schematic diagram in which the marker is in the middle position of the upper layer of the picture; Figure 8 (f) is a schematic diagram in which the camera can only recognize the lower half of the marker located in the center of the picture;

[0041] Figure 9 is a picture schematic diagram provided by the embodiment of the present application when the height of the visual marker is consistent with the camera of the robot; wherein, Figure 9 (a) is a schematic diagram in which the complete marker appears in the middle left position of the picture; Figure 9 (b) is a schematic diagram in which the right part of the marker appears in the middle left position of the picture; Figure 9 (c) is a schematic diagram in which the complete marker appears in the middle right position of the picture; Figure 9 (d) is a schematic diagram in which the left part of the marker appears in the middle right position of the picture; Figure 9 (e) is a schematic diagram in which the marker is in the center of the picture; Figure 9 (f) is a schematic diagram of the shooting of the robot close to the marker;

[0042] Figure 10 is a picture schematic diagram provided by the embodiment of the present application when the height of the visual marker is lower than the camera of the robot; wherein, Figure 10 (a) is a schematic diagram in which the complete marker appears in the bottom left position of the picture; Figure 10 (b) is a schematic diagram in which the right part of the marker appears in the bottom left position of the picture; Figure 10 (c) is a schematic diagram in which the complete marker appears in the bottom right position of the picture; Figure 10 (d) is a schematic diagram in which the left part of the marker appears in the bottom right position of the picture; Figure 10 (e) is a schematic diagram in which the marker is in the middle position of the bottom layer of the picture; Figure 10 (f) is a schematic diagram in which the robot can only shoot the upper half of the marker located in the middle of the bottom layer of the picture;

[0043] Figure 11 Schematic diagram of a coarse positioning information measurement module according to an embodiment of the present invention obtaining the length information of a robot; wherein, Figure 11 (a) is a schematic diagram of the robot when the front end just passes the first infrared sensor at time t0; Figure 11 (b) is a schematic diagram of the robot completely passing the first infrared sensor at time t1;

[0044] Figure 12 1 is a schematic diagram of a first embodiment of the present invention in which the coarse positioning information measurement module obtains width information of the robot;

[0045] Figure 13 : is a schematic diagram of a second situation in which the coarse positioning information measurement module according to an embodiment of the present invention obtains the width information of the robot; wherein, Figure 13 (a) Schematic diagram of the robot's left wheel contacting the pressure sensor before the right wheel; Figure 13 (b) is the mathematical model diagram of the robot's leftward deviation angle;

[0046] Figure 14 2 is a schematic diagram of a third situation in which the coarse positioning information measurement module according to an embodiment of the present invention obtains width information of a robot; Figure 14 (a) Schematic diagram of the robot's right wheel contacting the pressure sensor before the left wheel; Figure 14 (b) is the mathematical model diagram of the robot's rightward deviation angle;

[0047] Figure 15 2. It is a schematic diagram of a coarse positioning information measurement module provided in an embodiment of the present invention reviewing the width information of a robot;

[0048] Figure 16 Schematic diagram of a coarse positioning information measurement module reviewing the length information of a robot provided by an embodiment of the present invention; wherein, Figure 16 (a) is t a Schematic diagram of the moment when the front end of the robot just passes the first infrared sensor; Figure 16 (b) is t b Schematic diagram of the moment the robot completely passes the second infrared sensor;

[0049] Figure 17 Schematic diagram of X-axis axial positioning of the precise positioning charging docking interval provided by an embodiment of the present invention;

[0050] Figure 18 Schematic diagram of Y-axis axial positioning of the precise positioning charging docking interval provided by an embodiment of the present invention; wherein, Figure 18 (a) Schematic diagram of the robot needing to adjust to the left; Figure 18 (b) is a schematic diagram showing that the robot needs to be adjusted to the right; Figure 18(c) is the schematic diagram of the robot located on the axis of the parallel guide rail without adjustment;

[0051] In the figure: 101-camera; 102-wireless charging receiving coil box; 201-parallel guide rail; 202-first infrared sensor; 203-pressure sensor array; 204-second ranging module; 205-second infrared sensor; 206-displacement sensor; 207-first ranging sensor; 208-wireless charging transmitting coil; 209-control center; 210-visual marker. DETAILED DESCRIPTION

[0052] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described in detail below. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0053] It should be noted that in the description of the present application, the terms "first", "second", "third" and the like are only for the purpose of description, and cannot be understood as indicating or implying relative importance or order.

[0054] Considering that the models of various robots in the substation are different, but they are all four-wheel trolley type, although the sizes are different, but the shapes are similar, therefore, the following embodiments take the inspection robot as an example, and in the specific implementation, the wireless charging device and control method provided by the present application are applicable to robots of different types and different specifications.

[0055] Embodiment 1

[0056] As Figures 1-4 , the embodiment provides a wireless charging device in a substation, which comprises a control center 209, a set of parallel guide rails 201 placed on the ground, and a coarse positioning information measuring module and a fine positioning charging docking module arranged in the length direction of the parallel guide rail in sequence, wherein the coarse positioning information measuring module and the fine positioning charging docking module are electrically connected with the control center 209;

[0057] The control center 209 is used for information interaction with the robot and issuing control instructions. In the specific implementation, the position of the control center 209 can be set according to the actual demand, and in the embodiment, the control center 209 is arranged at one end of the parallel guide rail away from the coarse positioning information measuring module.

[0058] The coarse positioning information measurement module is used to obtain the length and width information of the robot, and assist the robot in adjusting the pose; the coarse positioning information measurement module comprises a first infrared sensor 202 arranged on the parallel guide rail and a pressure sensor array 203 embedded in the ground between the parallel guide rails.

[0059] The first infrared sensor 202 detects when the robot enters the parallel guide rail 201, and the infrared signal is cut off. According to the preset fixed speed v0 of the robot and the duration of the cut-off of the infrared signal, the length of the robot is calculated. In this embodiment, the first infrared sensor 202 is arranged at the end of the parallel guide rail 201, and the positions of the first infrared sensor 202 and the pressure sensor array 203 can be adjusted according to actual needs in specific implementation.

[0060] The pressure sensor array 203 generates two pressure signals when the robot passes through, and the width of the robot is calculated according to the number of the pressure sensors generating the signals. In addition, the control center 209 calculates the deflection angle of the robot according to the time interval between the two pressure signals, thereby assisting the robot in adjusting the pose. In specific implementation, the number and size of the pressure sensors in the pressure sensor array can be adjusted according to actual needs. In this embodiment, there are 40 pressure sensors numbered from top to bottom in the plan view, and the distance between two adjacent pressure sensors is fixed at 0.5 cm. The size of a single pressure sensor is 1 cm*1 cm.

[0061] The fine positioning and charging docking module comprises a displacement sensor 206, a wireless charging transmitting coil 208, and a first ranging sensor 207. The displacement sensor 206 and the wireless charging transmitting coil 208 are both embedded in the ground along the central axis of the parallel guide rail. The wireless charging transmitting coil 208 is arranged on the side of the displacement sensor 206 away from the coarse positioning information measurement module. The first ranging sensor 207 is symmetrically arranged on the two rails of the parallel guide rail.

[0062] The displacement sensor 206 generates a displacement signal when the robot passes through the displacement sensor 206, and the control center 209 issues a speed reduction instruction to the robot.

[0063] The first ranging sensor 207 is used to measure the distance from the two rails of the parallel guide rail to the boundary of the robot. The first ranging sensor 207 comprises at least two groups of laser sensors, and each group of laser sensors is symmetrically arranged on the two sides of the wireless charging transmitting coil. When the poses of the robot are adjusted and the two laser ranging signals are consistent, it indicates that the robot has completed positioning in the Y-axis direction in the plan view. In specific implementation, the number and type of the first ranging sensor 207 can be selected according to actual needs, for example, the accuracy of the laser sensor is greater than that of the ultrasonic sensor.

[0064] Preferably, a visual marker 210 is further included for the robot to identify the advancing direction by using its own camera 101, and the visual marker 210 is arranged at the end of the parallel guide rail away from the coarse positioning information measuring module and above the central axis of the parallel guide rail 201. In this embodiment, the visual marker 210 is arranged at the central position of the control center 209, as shown in Figure 5 , which is the front view of the visual marker 210. In actual implementation, the visual marker 210 can be arranged according to actual requirements. The visual marker 210 is identified by the camera 101 of the inspection robot, and the robot is visually navigated according to the relative position relationship of the visual marker 210 in the captured image and the center of the image to guide the robot into the parallel guide rail 201.

[0065] In actual implementation, the robot can complete charging docking with the wireless charging device through the wireless charging receiving coil box 102 added to the center of the chassis to realize energy maintenance. In this embodiment, the wireless charging receiving coil box 102 is fixed on the chassis of the robot body through bolt and nut connection.

[0066] Embodiment 2

[0067] The difference between the embodiment 2 and the embodiment 1 is that the coarse positioning information measuring module in the embodiment 2 further includes:

[0068] As shown in Figures 1-4 , the second distance measuring sensor 204 and the second infrared sensor 205 arranged on the parallel guide rail are arranged in a reflection mode; wherein the second distance measuring sensor 204 and the second infrared sensor 205 are located between the displacement sensor 206 and the pressure sensor array 203.

[0069] The second distance measuring sensor 204 is used to detect the distance between the parallel guide rail 201 and the two sides of the robot, and obtain the width of the robot for review. In this embodiment, the second distance measuring sensor 204 is an ultrasonic sensor, which transmits the measured edge distance information to the control center 209 in real time when the robot passes by, adjusts the pose of the robot, so that the distance between the two guide rails of the parallel guide rail and the two sides of the robot is equal, and the robot keeps advancing along the center line of the wireless charging system.

[0070] The second infrared sensor 205 is used to measure the length of the robot again for review.

[0071] Embodiment 3

[0072] As shown in Figures 5-18As shown, the embodiment provides a control method for wireless charging in a transformer substation, comprising:

[0073] When it is detected that the robot enters the coarse positioning information measurement interval, the control center obtains the length and width information of the robot through the coarse positioning information measurement module, and adjusts the robot driving track to make the robot keep advancing along the central axis of the parallel guide rail until it drives into the fine positioning charging docking interval;

[0074] When it is detected that the robot enters the fine positioning charging docking interval, the control center sends a speed reduction instruction to the robot to make the robot reduce speed at a preset acceleration when the front end of the robot passes through the displacement sensor, so that the wireless charging receiving coil box at the center of the robot chassis reaches above the wireless charging transmitting coil; the first ranging sensor of the pair of sensors measures the distance between the two tracks of the parallel guide rail and the two sides of the robot, and adjusts the pose of the robot to make the distance on both sides equal, to complete the fine positioning and wireless charging docking of the wireless charging transmitting coil and the wireless charging receiving coil box.

[0075] When it is detected that the fine positioning and charging docking is completed, the control center issues a power-on instruction to perform wireless charging for the robot.

[0076] Preferably, before entering the coarse positioning information measurement interval, the robot further comprises: the robot uses its own camera to recognize the visual marker, and guides the robot to adjust the direction of advancement by judging the relative positional relationship of the visual marker in the shooting picture and the center of the picture.

[0077] Further, the process of obtaining the length and width information of the robot by the coarse positioning information measurement module is specifically:

[0078] When the robot passes through the first infrared sensor of the pair of sensors at a preset speed, the length of the robot is calculated and obtained by using the preset speed and the time of passing through the first infrared sensor of the pair of sensors;

[0079] The offset angle of the robot is calculated by using the number and time of the pressure sensors corresponding to the left and right wheels that are touched when the robot passes through the pressure sensor array, and the width of the robot is further calculated, and the driving track of the robot is further adjusted by using the offset angle.

[0080] Further, the specific process that the wireless charging receiving coil box at the center of the robot chassis reaches above the wireless charging transmitting coil is:

[0081] The position of the center of the robot chassis is calculated according to the length and width information of the robot obtained by the coarse positioning information measurement module;

[0082] The distance between the wireless charging transmitting coil and the center of the robot chassis is obtained by using the position of the displacement sensor;

[0083] In combination with the current driving speed of the robot, the acceleration of the robot during deceleration to reach above the wireless charging transmitting coil is obtained;

[0084] The control center issues the obtained acceleration as an instruction to the robot for deceleration, so that the wireless charging receiving coil box at the center position of the robot chassis reaches above the wireless charging transmitting coil.

[0085] The specific implementation process is as follows:

[0086] S1: The robot uses its own camera to recognize the visual marker to enter the parallel guide rail

[0087] The robot recognizes the visual marker located on the control center through the camera, and adjusts the forward direction of the robot through the relative position relationship between the visual marker and the center position in the shooting picture, such as Figure 2 When the robot drives towards the parallel guide rail, whether the camera is directly facing the visual marker (with a permissible deviation), the picture taken by the camera should be as Figure 5 whole or part of the marker. And in the substation scene, according to the different heights of the robot camera position, and the relative height of the camera and the visual marker is also different, it is divided into the following several cases:

[0088] (1) Unable to recognize the visual marker

[0089] As shown in Figure 7 When the camera cannot recognize the visual marker, it indicates that the direction of the robot is wrong. At this time, the robot is turned left by 180°, and if the marker is recognized, the robot pose is adjusted accordingly; if the marker still cannot be recognized, the robot is turned left by 180° again, and the robot pose is adjusted accordingly after recognizing the marker.

[0090] (2) The height of the visual marker is higher than the camera

[0091] When the height of the visual marker is higher than the camera, the visual marker in the shooting picture appears in the upper part of the picture:

[0092] If as shown in Figure 8 (a), the complete visual marker appears in the upper left part of the picture, it indicates that the robot is at a position far away from the control center, and is deviated to the right relative to the visual marker, so the robot should be adjusted to deviate left and advance;

[0093] If as shown in Figure 8 (b), the right part of the marker appears in the upper left part of the picture, it indicates that the robot is at a position far away from the control center, and is deviated to the right relative to the visual marker, so the robot should be adjusted to deviate left and advance, and the deviation angle is larger than that of Figure 8 (a).

[0094] If as shown in Figure 8 (c), the complete visual marker appears in the upper layer of the picture on the right, it indicates that the robot is at a distance from the control center, and the relative visual marker is on the left, so the robot should be adjusted to turn right to advance;

[0095] If as shown in Figure 8 (d), the left half of the marker appears in the upper layer of the picture on the right, it indicates that the robot is at a distance from the control center, and the relative visual marker is on the left, so the robot should be adjusted to turn right to advance, and the turning angle is greater than that of Figure 8 (c);

[0096] If as shown in Figure 8 (e), the marker is in the middle of the upper layer of the picture, it indicates that the robot is on the central axis relative to the marker, and only needs to continue to advance along the straight line, which is the best state expected when entering the wireless charging system.

[0097] If as shown in Figure 8 (f), the camera can only identify the lower half of the marker located in the center of the picture, which is a common situation for the robot to enter the parallel guide rail, and continue to advance along the straight line.

[0098] (3) The height of the visual marker is consistent with the robot camera

[0099] When the height of the visual marker is consistent with the robot camera, the marker should appear in the middle layer of the picture:

[0100] If as shown in Figure 9 (a), the complete marker appears in the middle layer of the picture on the left, it indicates that the robot is on the right relative to the wireless charging system, and should adjust the forward direction to the left;

[0101] If as shown in Figure 9 (b), the right part of the marker appears in the middle layer of the picture on the left, it indicates that the robot is on the right relative to the wireless charging system, and should adjust the forward direction of the robot to the left, and the turning angle should be greater than that of Figure 9 (a);

[0102] If as shown in Figure 9 (c), the complete marker appears in the middle layer of the picture on the right, it indicates that the robot is on the left relative to the wireless charging system, and should adjust the forward direction to the right;

[0103] If as shown in Figure 9 (d), the left part of the marker appears in the middle layer of the picture on the right, it indicates that the robot is on the left relative to the wireless charging system, and should adjust the forward direction to the right, and the turning angle should be greater thanFigure 9 (c) the deflection angle;

[0104] If as shown in Figure 9 (e) the marker is in the center of the picture, it means that the robot is moving along the center line towards the wireless charging system, which is the best state expected to occur when entering the wireless charging system;

[0105] If as shown in Figure 9 (f) the marker is larger than Figure 9 (e), it means that the robot is moving along the center line and is getting closer to the marker.

[0106] (4) The visual marker is lower than the robot camera

[0107] When the visual marker is lower than the robot camera, the marker should appear in the bottom part of the picture:

[0108] If as shown in Figure 10 (a) the complete marker appears in the bottom left of the picture, it means that the robot is currently positioned to the right of the parallel guide, and the forward direction should be adjusted to the left;

[0109] If as shown in Figure 10 (b) the right part of the marker appears in the bottom left of the picture, it means that the robot is currently positioned to the right of the parallel guide, and the forward direction should be adjusted to the left, and the deflection angle should be greater than Figure 10 (a) the deflection angle;

[0110] If as shown in Figure 10 (c) the complete marker appears in the bottom right of the picture, it means that the robot is currently positioned to the left of the parallel guide, and the forward direction should be adjusted to the right;

[0111] If as shown in Figure 10 (d) the left part of the marker appears in the bottom right of the picture, it means that the robot is currently positioned to the left of the parallel guide, and the forward direction should be adjusted to the right, and the deflection angle should be greater than Figure 10 (c) the deflection angle;

[0112] If as shown in Figure 10 (e) the marker is in the middle of the bottom of the picture, it means that the robot is on the center axis of the parallel guide relative to the marker, and only needs to move straight ahead, which is the best state expected to occur when entering the wireless charging system.

[0113] As shown in Figure 10 (f), only the upper half of the marker located in the middle of the bottom of the picture can be recognized, which is a more likely situation during the robot's entry into the charging station charging area.

[0114] S2: Coarse Positioning Information Measurement Interval Positioning Adjustment

[0115] In this embodiment, the length and width information of the robot and the distance from the boundary of the robot to the boundary of the parallel guide rail are measured by the first infrared sensor and the pressure sensor array in a transmissive configuration. Through real-time information interaction, the robot is made to travel on the center line of the wireless charging system. Then, through fine positioning interval positioning adjustment, the wireless charging transmitting coil and the wireless charging receiving coil are positioned in the X and Y axes on the top view.

[0116] (1) Measuring the length information of the robot

[0117] As shown in Figure 10 , before the robot enters the parallel guide rail, the forward direction has been roughly determined near the center axis of the parallel guide rail through the visual marker and the robot camera. The control center issues an instruction to the robot to make the robot advance at a preset constant speed v0. When the front end of the robot just passes through the first infrared sensor in a transmissive configuration, the infrared signal is interrupted to generate an electrical signal, and the time is recorded as t0 at this time, as shown in Figure 11 (a); when the robot completely passes through the first infrared sensor in a transmissive configuration, the infrared signal resumes and the electrical signal disappears, and the time is recorded as t1 at this time, as shown in Figure 11 (b); thus, the length of the robot is calculated as x1 = v0 * (t1 - t0);

[0118] Among them, x1 is the length of the robot; v0 is the preset constant speed when the robot passes through the first infrared sensor in a transmissive configuration; t1 is the time when the robot completely passes through the first infrared sensor in a transmissive configuration; t0 is the time when the front end of the robot just passes through the first infrared sensor in a transmissive configuration.

[0119] (2) Measuring the width information of the robot

[0120] The pressure sensor array consists of 40 pressure sensors with a length and width of 1 cm each and a spacing of 0.5 cm, numbered a0, a1... a 39 from right to left. When the wheels of the robot touch the pressure sensor array, two pressure signal values will be generated by the left and right wheels. Record the number of the pressure sensor contacted by the right wheel as a n (0 < n < 19), and the trigger time is t n ; record the number of the pressure sensor contacted by the left wheel as a m (20 < m < 39), and the trigger time is t m .

[0121] If t n = t m at this time, as shown in Figure 11 , the forward direction of the robot is along the center axis of the parallel guide rail towards the marker. Thus, the width of the robot is calculated as y1 = (am -a n )*1+(a m -a n -1)*0.5.

[0122] If t n >t m When, such as Figure 12 As shown in (a), the left wheel contacts the pressure sensor before the right wheel, indicating that the robot's forward direction is not adjusted to the optimal state. This information is fed back to the control center, and the robot is adjusted to the left offset angle α, and then the width of the robot is calculated as y1. The specific calculation abstracts the actual problem into a mathematical model as follows Figure 13 (b) is shown in the following expression:

[0123]

[0124] y1=[(a m -a n )*1+(a m -a n -1)*0.5]*cosα

[0125] When t m >t n When, such as Figure 13 As shown in (a), the right wheel contacts the pressure sensor before the left wheel. This indicates that the robot's forward direction is not adjusted to the optimal state. This information is fed back to the control center, and the robot is adjusted to the right offset angle β, and then the width of the robot is calculated as y1. The specific calculation abstracts the actual problem into a mathematical model as follows Figure 14 (b) is shown in the following expression:

[0126]

[0127] y1=[(a m -a n )*1+(a m -a n -1)*0.5]*cosβ

[0128] S3: Coarse and fine positioning, charging and docking interval positioning adjustment

[0129] After the robot adjusts the measurement interval through the coarse positioning information, the length x and width y of the robot are obtained, and then the center position of the robot chassis is obtained as like Figure 14 As shown in the figure, when the front end of the robot passes the displacement sensor, the control center sends a deceleration command to the robot. The distance between the displacement sensor and the center of the wireless charging transmitting coil is x0, so the deceleration displacement of the robot is Wireless charging receiving coil of robot ground center position time t s After deceleration, stop above the wireless charging transmitting coil, so the speed v t = 0.

[0130] By And v t = 0, we get Where a s is the acceleration of the robot when decelerating.

[0131] By We know, That is, when the front end of the robot passes through the displacement sensor, the control center issues an instruction to make the robot decelerate at an acceleration a s In t s seconds, stop and reach above the wireless charging transmitting coil, which can ensure the alignment of the wireless charging in the X-axis direction.

[0132] Two sets of laser sensors are used to detect the docking accuracy of the robot, and two sets of laser sensors measure the distance L1 and L2 from the left and right guide rail boundaries of the measuring parallel guide rail to the robot boundary.

[0133] If L1 > L2, it means that the robot needs to adjust to the left, and adjust to L1 = L2, as shown in Figure 17 (a);

[0134] If L1 < L2, it means that the robot needs to adjust to the right, and adjust to L1 = L2, as shown in Figure 18 (b);

[0135] If L1 = L2, as shown in Figure 18 (c), no adjustment is needed, and at this time y station = 2L1 + y, which can ensure the alignment of the wireless charging in the Y-axis direction.

[0136] When the wireless charging transmitting coil and the wireless charging receiving coil are aligned in the X-axis and Y-axis directions, different sizes and types of robots in the substation can be wirelessly charged.

[0137] S4: Robot docking charging.

[0138] S5: Robot completes energy maintenance.

[0139] Example 4

[0140] The difference between the example 4 and the example 3 is that the example 3 further includes: rechecking the length and width information of the robot, and the specific process is:

[0141] When the robot passes the second ranging sensor and the second infrared sensor, the robot is adjusted to be on the central axis parallel to the parallel guide rail; in this example, the second ranging sensor is an ultrasonic sensor, and the type of the second ranging sensor can be selected according to actual needs in specific implementation.

[0142] The distance from the parallel guide rail to the two sides of the robot measured by the ultrasonic sensor is obtained, and the width of the robot is calculated.

[0143] The time when the front end of the robot cuts off the infrared signal of the second infrared sensor and the time when the infrared signal is restored are recorded, and the length of the robot is calculated.

[0144] The obtained length and width information of the robot is reviewed with the pre-obtained length and width information.

[0145] In specific implementation, the review process is as follows:

[0146] After the robot passes the pressure sensor array, the robot pose is adjusted, and then the ultrasonic sensor and the second infrared sensor are passed.

[0147] The ultrasonic sensor measures the distance from the left and right guide rail boundaries of the parallel guide rail to the side of the robot as L a , L b , and the ultrasonic sensor has a certain range advantage, so the values of L a , L b can be dynamically adjusted in real time, as shown in Figure 18 .

[0148] When L a >L b , the robot is deflected to the right so that L a =L b .

[0149] When L b >L a , the robot is deflected to the left so that L a =L b .

[0150] When L a =L b , the width y of the final robot is calculated as y=y station -2L a , where y station is the distance between the parallel guide rails measured by the ultrasonic sensor.

[0151] When the front end of the robot cuts off the infrared signal emitted by the second infrared sensor, the time t aAs shown in Figure 15 (a); time t is recorded when the trailing end of the robot passes the second infrared sensor of the pair, and the truncated infrared signal is restored b As shown in Figure 16 Figure 16 (b); the final length of the robot x = (t b -t a )v0 is calculated.

[0152] It can be understood that the same or similar parts in the above embodiments can be mutually referenced, and the contents not described in detail in some embodiments can be referred to the same or similar contents in other embodiments.

[0153] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application, and the ordinary skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A control method of wireless charging in a substation, characterized by, The method comprises the following steps: When the robot enters the rough positioning information measurement section, the control center obtains the length and width information of the robot through the rough positioning information measurement module, and adjusts the pose of the robot to make the robot keep advancing along the central axis of the parallel guide rail until it enters the precise positioning and charging docking section; When the robot enters the precise positioning and charging docking section, the control center sends a deceleration instruction to the robot to make the robot decelerate at a preset acceleration when the front end of the robot passes through the displacement sensor, so that the wireless charging receiving coil box at the center position of the robot chassis reaches above the wireless charging transmitting coil; the distances from the two tracks of the parallel guide rail to the two sides of the robot are measured through the first ranging sensor, and the pose of the robot is adjusted to make the distances on both sides equal, so as to complete the precise positioning and charging docking of the wireless charging transmitting coil and the wireless charging receiving coil box; When it is detected that the precise positioning and charging docking is completed, the control center issues a power-on instruction to charge the robot wirelessly; The process of obtaining the length and width information of the robot by the rough positioning information measurement module is specifically as follows: When the robot passes through the first infrared sensor at a preset speed, the length of the robot is calculated by using the preset speed and the time of passing through the first infrared sensor; The offset angle of the robot is calculated by using the numbers and times of the pressure sensors corresponding to the left and right wheels that are in contact when the robot passes through the pressure sensor array, and the width of the robot is further calculated, and the pose of the robot is adjusted by using the offset angle; The process of rechecking the length and width information of the robot is specifically as follows: When the robot passes through the second ranging sensor and the second infrared sensor at a preset speed, the pose of the robot is adjusted to make the robot located on the central axis parallel to the parallel guide rail; The distances from the parallel guide rail to the two sides of the robot measured by the second ranging sensor are obtained, and the width of the robot is calculated; The time of cutting off the infrared signal emitted by the second infrared sensor and the time of recovering the infrared signal are recorded, and then the length of the robot is calculated; The obtained length and width information of the robot are rechecked with the previously obtained length and width information. 2.The control method of wireless charging in a substation according to claim 1, wherein, Before the robot enters the rough positioning information measurement section, the robot further comprises the following steps of recognizing the visual marker by using the camera of the robot, and guiding the robot to adjust the advancing direction by judging the relative position relationship between the visual marker and the center of the picture in the picture. 3.The control method of wireless charging in a substation according to claim 1, wherein, The specific process of making the wireless charging receiving coil box at the center position of the robot chassis reach above the wireless charging transmitting coil is as follows: The position of the center of the robot chassis is calculated according to the length and width information of the robot obtained by the rough positioning information measurement module; The distance between the wireless charging transmitting coil and the center of the robot chassis is obtained by using the position of the displacement sensor; The acceleration of the robot during the deceleration process to reach above the wireless charging transmitting coil is obtained in combination with the current speed of the robot; The control center issues the obtained acceleration as an instruction to the robot to decelerate, so that the wireless charging receiving coil box at the center position of the robot chassis reaches above the wireless charging transmitting coil.

4. A wireless charging device in a substation, said device employing the method of any one of claims 1-3, characterized in that, The method comprises the following steps: The control center, a set of parallel guide rails placed on the ground, and a coarse positioning information measuring module and a fine positioning charging docking module arranged in sequence in the length direction of the parallel guide rails, the coarse positioning information measuring module and the fine positioning charging docking module are electrically connected with the control center; The coarse positioning information measuring module is used for acquiring the length and width information of the robot, and assisting the robot in adjusting the pose; The fine positioning charging docking module includes a displacement sensor, a wireless charging transmitting coil, and a first ranging sensor in transmission; The displacement sensor and the wireless charging transmitting coil are embedded in the ground along the central axis of the parallel guide rails; 5. The substation -in-a-box wireless charging apparatus of claim 4, wherein, The wireless charging transmitting coil is arranged on the side of the displacement sensor away from the coarse positioning information measuring module; 6. The substation -in-a-box wireless charging apparatus of claim 4, wherein, The first ranging sensor in transmission is symmetrically arranged on the two guide rails of the parallel guide rails; 7. The substation -in-a-box wireless charging apparatus of claim 6, wherein, The control center is used for information interaction with the robot and issuing control instructions.

8. The substation -in-a-box wireless charging apparatus of claim 4, wherein, It also includes a visual marker, which is arranged at the end of the parallel guide rail away from the coarse positioning information measuring module and above the central axis of the parallel guide rail. The coarse positioning information measuring module includes a first infrared sensor in transmission arranged on the parallel guide rail and a pressure sensor array embedded in the ground between the parallel guide rails. The coarse positioning information measuring module further includes a second ranging sensor in transmission and a second infrared sensor in transmission arranged on the parallel guide rail; The second ranging sensor in transmission and the second infrared sensor in transmission are located between the displacement sensor and the pressure sensor array. The first ranging sensor in transmission includes at least two groups of laser sensors in transmission, and each group of laser sensors in transmission is symmetrically arranged on the two sides of the wireless charging transmitting coil.

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