Inspection robot power supply system

Abstract

The present application relates to the technical field of inspection robot, and discloses a kind of inspection robot power supply system, comprising: inspection robot;Motor is set to the inspection robot, suitable for driving the inspection robot moves along inspection track;Four quadrant frequency converter is connected with the motor, suitable for monitoring the output current of the motor, to obtain the running state of the inspection robot;Battery is electrically connected with the motor.The present application is monitored by setting four quadrant frequency converter in communication with the motor output current of motor, to obtain the running state of the inspection robot, when monitoring the inspection robot is in downhill state, by four quadrant frequency converter control motor in second quadrant or fourth quadrant operation, so that four quadrant frequency converter can meet the power generation state of motor, so that motor utilizes potential energy and stores to battery, realizes the timely supplement of electric energy in battery by high potential energy.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, and more specifically to a power supply system for an inspection robot. Background Technology

[0002] In related technologies, inspection robots are powered by batteries and patrol along power lines. When the battery energy drops to a certain level, the robot needs to be recharged. Traditional inspection robots mostly use offline charging methods, requiring them to be offline for charging via multiple distributed charging stations deployed along the inspection path. Due to the limited capacity of their own batteries, inspection robots need to be frequently offline for charging, with charging cycles often ranging from three to five hours. During charging, inspection work cannot be performed, resulting in low inspection efficiency. Summary of the Invention

[0003] In view of this, the present invention provides a power supply system for inspection robots to solve the problem that current inspection robots are limited by the capacity of their own batteries, requiring frequent offline recharging, which leads to low inspection efficiency.

[0004] This invention provides a power supply system for an inspection robot, comprising: an inspection robot; a motor disposed on the inspection robot and adapted to drive the inspection robot to move along an inspection track; a four-quadrant frequency converter communicatively connected to the motor and adapted to monitor the output current of the motor to obtain the operating status of the inspection robot; and a battery electrically connected to the motor. When the inspection robot is in a downhill state, the four-quadrant frequency converter controls the motor to operate in the second or fourth quadrant, and the battery supplies power to the motor to brake the inspection robot. The motor generates electricity using potential energy and stores the generated energy in the battery. When the inspection robot is not in a downhill state, the four-quadrant frequency converter controls the motor to operate in the first or third quadrant, and the battery supplies power to the motor to drive the inspection robot.

[0005] Beneficial Effects: This invention provides a power supply system for an inspection robot. By setting up a four-quadrant frequency converter that communicates with the motor to monitor the output current of the motor in real time, the operating status of the inspection robot can be obtained. When the inspection robot is detected to be going downhill, the four-quadrant frequency converter controls the motor to operate in the second or fourth quadrant, so that the four-quadrant frequency converter can meet the motor's power generation requirements. This allows the motor to generate electricity using potential energy and store the generated energy in the battery. Thus, when the inspection robot is going downhill, the four-quadrant frequency converter monitors the operating status and enables the motor to generate electricity using potential energy and store it in the battery. This realizes the timely replenishment of the battery's electrical energy through high potential energy, eliminating the dependence of the inspection robot on external power sources during inspection. This solves the problem that the current inspection robots are limited by the capacity of their own batteries and need to be frequently offline for recharging, resulting in low inspection efficiency.

[0006] In one optional implementation, the inspection track is set along a first direction, and the inspection robot is adapted to run along the first direction; when the inspection robot runs along the first direction and is in a downhill state, the four-quadrant frequency converter controls the motor to run in the fourth quadrant, the motor rotates forward and outputs negative torque, so that the motor can generate electricity using potential energy; when the inspection robot runs along the first direction and is not in a downhill state, the four-quadrant frequency converter controls the motor to run in the first quadrant, the motor rotates forward and outputs positive torque, so as to drive the inspection robot.

[0007] Beneficial effects: The first direction is a travel direction of the inspection robot defined on the inspection track. In this embodiment, the first direction is defined as the outward direction of the inspection robot. When the inspection robot is running in the outward direction of the first direction and is in a downhill state, the four-quadrant frequency converter controls the motor to run in the fourth quadrant. That is, in the schematic diagram of the rectangular coordinate system, the motor rotates forward to drive the inspection robot to run in the outward direction and outputs negative torque. That is, the direction of the motor and the output torque are opposite. At this time, the battery supplies power to the motor to brake the inspection robot and enables the four-quadrant frequency converter to meet the motor's power generation state, thereby enabling the motor to generate electricity using potential energy. When the inspection robot is running in the outward direction of the first direction and is not in a downhill state, the four-quadrant frequency converter controls the motor to run in the first quadrant. That is, in the schematic diagram of the rectangular coordinate system, the motor rotates forward to drive the inspection robot to run in the outward direction and outputs positive torque. That is, the direction of the motor and the output torque are in the same direction. At this time, the battery supplies power to the motor to drive the inspection robot.

[0008] In one optional implementation, the inspection track is arranged along a second direction, which is opposite to the first direction. The inspection robot is adapted to run along the second direction. When the inspection robot runs along the second direction and is in a downhill state, the four-quadrant frequency converter controls the motor to run in the second quadrant. The motor reverses and outputs positive torque so that the motor can generate electricity using potential energy. When the inspection robot runs along the second direction and is not in a downhill state, the four-quadrant frequency converter controls the motor to run in the third quadrant. The motor reverses and outputs negative torque to drive the inspection robot.

[0009] Beneficial effects: The second direction is a travel direction of the inspection robot defined on the inspection track. In this embodiment, the second direction is defined as the return direction of the inspection robot, which is opposite to the first direction, which is the return direction. When the inspection robot is running in the return direction along the second direction and is in a downhill state, the four-quadrant frequency converter controls the motor to run in the second quadrant. That is, in the schematic diagram of the rectangular coordinate system, the motor reverses to drive the inspection robot to run in the return direction and outputs positive torque. That is, the direction of the motor and the output torque are opposite. At this time, the battery supplies power to the motor to brake the inspection robot and enables the four-quadrant frequency converter to meet the motor's power generation state, thereby enabling the motor to generate electricity using potential energy. When the inspection robot is running in the return direction along the second direction and is not in a downhill state, the four-quadrant frequency converter controls the motor to run in the third quadrant. That is, in the schematic diagram of the rectangular coordinate system, the motor reverses to drive the inspection robot to run in the return direction and outputs negative torque. That is, the direction of the motor and the output torque are in the same direction. At this time, the battery supplies power to the motor to drive the inspection robot.

[0010] In one alternative implementation, the inspection robot power supply system further includes a first inverter electrically connected between the motor and the battery, adapted to convert the generated energy of the motor into direct current for storage in the battery.

[0011] Beneficial effects: By setting up a first inverter, the power generated by the motor is converted into DC power and stored in the battery for direct use and to ensure the healthy working condition of the battery.

[0012] In one alternative implementation, the inspection robot power supply system further includes a photovoltaic module electrically connected to the motor, the photovoltaic module being adapted to generate electricity using solar energy and store the generated energy in the battery.

[0013] Beneficial effects: By using photovoltaic modules to generate electricity from solar energy and storing the generated energy in batteries, the energy in the batteries can be replenished in a timely manner by solar energy, providing a second power supply option for the inspection robot's power supply system. This further solves the problem that the inspection robot is currently limited by the capacity of its own batteries and needs to be frequently offline for recharging, resulting in low inspection efficiency.

[0014] In one alternative implementation, the inspection robot power supply system further includes a second inverter electrically connected between the photovoltaic module and the battery, adapted to convert the power generated by the photovoltaic module into direct current for storage in the battery.

[0015] Beneficial effects: By setting up a second inverter, the power generated by the photovoltaic modules is converted into DC power and stored in the battery for direct use and to ensure the healthy operation of the battery.

[0016] In one alternative implementation, the power supply system for the inspection robot further includes a controller, which is communicatively connected to both the electric motor and the photovoltaic module, and is adapted to switch between a power generation state utilizing potential energy and a power generation state utilizing solar energy.

[0017] Beneficial Effects: By setting up controllers that communicate separately with the motor and photovoltaic modules, the robot can switch between generating power using potential energy and generating power using solar energy. When the inspection robot is conducting inspections outdoors in sufficient sunlight, the photovoltaic modules, the second inverter, and the controller convert solar energy into electrical energy, which is directly stored in the battery or used to power the robot's load. Excess electrical energy is also stored in the battery. When the inspection robot is going downhill, the motor controlled by the four-quadrant frequency converter, the first inverter, and the controller convert high-potential energy into electrical energy, which is directly stored in the battery or used to power the robot's load. Excess electrical energy is also stored in the battery. When the inspection robot is going uphill or traveling horizontally, the battery outputs electrical energy to power the robot's load. This allows for the rational selection of power supply methods, enabling timely replenishment of battery energy through high-potential energy or solar energy, reducing the robot's dependence on external power sources during inspections, and ensuring efficient load operation.

[0018] In one optional embodiment, the inspection robot is further provided with an electrical load; when the motor generates electricity using potential energy, the generated electricity is suitable for supplying the electrical load via a third inverter; when the photovoltaic module generates electricity using solar energy, the generated electricity is suitable for supplying the electrical load via a fourth inverter.

[0019] Beneficial effects: The electrical loads are operated directly by the power generated by the electric motor or the photovoltaic modules, which reduces the power supply burden on the storage battery and improves the power supply efficiency of the inspection robot's power supply system.

[0020] In one alternative implementation, the electrical load includes control equipment, communication equipment, and detection equipment.

[0021] Beneficial effects: Control equipment includes controllers, frequency converters, indicator lights, etc.; communication equipment includes wireless communication modules, switches, etc.; detection equipment includes cameras, thermal imagers, noise detectors, combustible gas detectors, etc., to facilitate inspection robots to perform inspection operations.

[0022] In one alternative embodiment, the inspection robot includes a set of running wheels that are driven to the electric motor and are adapted to move along the inspection track.

[0023] Beneficial effect: The operation of the wheel set ensures the stable operation of the inspection robot on the inspection track. Attached Figure Description

[0024] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 A schematic diagram of a power supply system for an inspection robot provided by the present invention; Figure 2 A rectangular coordinate system quadrant state diagram of the four-quadrant frequency converter provided by the present invention when applied to an inspection robot; Figure 3 This is a schematic diagram of the inspection robot provided by the present invention.

[0026] Explanation of reference numerals in the attached figures: 1. Electric motor; 2. Four-quadrant frequency converter; 3. Battery; 4. First inverter; 5. Photovoltaic module; 6. Second inverter; 7. Controller; 8. Electrical load; 9. Third inverter; 10. Fourth inverter; 100. Inspection robot; 101. Running wheel assembly; 1011. Guide wheel; 1012. Clamping wheel. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] The following is combined Figures 1-3 The following describes embodiments of the present invention.

[0029] According to embodiments of the present invention, in one aspect, a power supply system for an inspection robot is provided, such as... Figure 1 , Figure 2 As shown, it includes: inspection robot 100, motor 1, four-quadrant frequency converter 2, storage battery 3, etc.

[0030] The electric motor 1 is installed on the inspection robot 100 and is suitable for driving the inspection robot 100 to move along the inspection track; the four-quadrant frequency converter 2 is communicatively connected to the electric motor 1 and is suitable for monitoring the output current of the electric motor 1 to obtain the operating status of the inspection robot 100; the battery 3 is electrically connected to the electric motor 1; when the inspection robot 100 is in a downhill state, the four-quadrant frequency converter 2 controls the electric motor 1 to run in the second or fourth quadrant, and the battery 3 supplies power to the electric motor 1 to brake the inspection robot 100. The electric motor 1 uses potential energy to generate electricity and stores the generated energy in the battery 3; when the inspection robot 100 is not in a downhill state, the four-quadrant frequency converter 2 controls the electric motor 1 to run in the first or third quadrant, and the battery 3 supplies power to the electric motor 1 to drive the inspection robot 100.

[0031] Specifically, such as Figure 1 As shown, the four-quadrant frequency converter 2 is communicatively connected to the motor 1 and can monitor the output current of the motor 1 in real time. When the output current of the motor 1 is greater than the preset value, it is determined that the inspection robot 100 is in a downhill state, and at this time the motor 1 can generate electricity using potential energy; when the output current of the motor 1 is less than the preset value, it is determined that the inspection robot 100 is not in a downhill state, and at this time the battery 3 supplies power to the motor 1 to drive the inspection robot 100.

[0032] Furthermore, such as Figure 1 , Figure 2As shown, when the inspection robot 100 is in a downhill state, the four-quadrant frequency converter 2 controls the motor 1 to run in the second or fourth quadrant. That is, in the schematic diagram of the rectangular coordinate system, the direction of rotation and the output torque of the motor 1 are opposite. At this time, the battery 3 supplies power to the motor 1 to brake the inspection robot 100, and enables the four-quadrant frequency converter 2 to meet the power generation state of the motor 1, so that the motor 1 can generate electricity using potential energy. When the inspection robot 100 is not in a downhill state, the four-quadrant frequency converter 2 controls the motor 1 to run in the first or third quadrant. That is, in the schematic diagram of the rectangular coordinate system, the direction of rotation and the output torque of the motor 1 are in the same direction. At this time, the battery 3 supplies power to the motor 1 to drive the inspection robot 100.

[0033] Furthermore, such as Figure 2 As shown, a rectangular coordinate system is formed with the speed of motor 1 as the horizontal axis and the torque of motor 1 as the vertical axis. This system is used to describe the four operating states of motor 1, namely the four quadrant states of the motor.

[0034] In the first quadrant, the motor is in forward motion, meaning that the motor 1 is rotating in the forward direction. Energy is transferred from the four-quadrant frequency converter 2 to the motor 1. The speed and torque of the motor 1 are both positive, and the motor 1 is in the motoring state.

[0035] In the second quadrant, regenerative braking occurs when motor 1 reverses or decelerates, transferring energy from motor 1 to the fourth-quadrant inverter 2. The speed is negative, the torque is positive, and motor 1 is in a generator state.

[0036] In the third quadrant, reverse motoring occurs, meaning motor 1 operates in reverse. Energy flows from the fourth quadrant inverter 2 to motor 1, and both the speed and torque of motor 1 are negative, indicating that motor 1 is in a motoring state.

[0037] In the fourth quadrant, reverse feedback generation and braking occurs when motor 1 rotates forward for feedback or deceleration braking. Energy is transferred from motor 1 to the fourth quadrant frequency converter 2. The speed is positive and the torque is negative, and motor 1 is in a generating state.

[0038] Furthermore, in this embodiment, the inspection robot 100 not being in a downhill state can mean that the inspection robot 100 is running uphill along the inspection track or running horizontally.

[0039] This embodiment provides a power supply system for an inspection robot. By setting up a four-quadrant frequency converter 2 that is communicatively connected to the motor 1 to monitor the output current of the motor 1 in real time, the operating status of the inspection robot 100 can be obtained. When the inspection robot 100 is detected to be in a downhill state, the four-quadrant frequency converter 2 controls the motor 1 to operate in the second or fourth quadrant, so that the four-quadrant frequency converter 2 can meet the power generation state of the motor 1, thereby enabling the motor 1 to generate electricity using potential energy and store the generated energy in the battery 3. Thus, when the inspection robot 100 is downhill, the four-quadrant frequency converter 2 monitors the operating status and enables the motor 1 to generate electricity using potential energy and store it in the battery 3. This realizes the timely replenishment of electrical energy in the battery 3 through high potential energy, eliminating the dependence of the inspection robot 100 on external power during the inspection process. This solves the problem that the current inspection robots are limited by the capacity of their own batteries and need to be frequently offline for recharging, resulting in low inspection efficiency.

[0040] Furthermore, such as Figure 1 As shown, in this embodiment, the four-quadrant frequency converter 2 also monitors the operating status of the inspection robot 100 and converts the motor 1 to a power generation state. The high potential energy of the inspection robot 100 during operation is generated by the motor 1 in the power generation state, thereby controlling the feedback of electrical energy to the battery 3 for storage or the electrical load 8 for direct use.

[0041] In one embodiment, such as Figure 1 , Figure 2 As shown, the inspection track is set along the first direction, and the inspection robot 100 is adapted to run along the first direction. When the inspection robot 100 runs along the first direction and is in a downhill state, the four-quadrant frequency converter 2 controls the motor 1 to run in the fourth quadrant. The motor 1 rotates forward and outputs negative torque so that the motor 1 can generate electricity using potential energy. When the inspection robot 100 runs along the first direction and is not in a downhill state, the four-quadrant frequency converter 2 controls the motor 1 to run in the first quadrant. The motor 1 rotates forward and outputs positive torque to drive the inspection robot 100.

[0042] Specifically, such as Figure 1 , Figure 2As shown, the first direction is a travel direction of the inspection robot 100 defined on the inspection track. In this embodiment, the first direction is defined as the outbound direction of the inspection robot 100. When the inspection robot 100 is running in the outward direction along the first direction and is in a downhill state, the four-quadrant frequency converter 2 controls the motor 1 to run in the fourth quadrant. That is, in the schematic diagram of the rectangular coordinate system, the motor 1 rotates forward to drive the inspection robot 100 to run in the outward direction and outputs negative torque. That is, the direction of rotation of the motor 1 and the output torque are opposite. At this time, the battery 3 supplies power to the motor 1 to brake the inspection robot 100 and enables the four-quadrant frequency converter 2 to meet the power generation state of the motor 1, so that the motor 1 can generate electricity using potential energy. When the inspection robot 100 is running in the outward direction along the first direction and is not in a downhill state, the four-quadrant frequency converter 2 controls the motor 1 to run in the first quadrant. That is, in the schematic diagram of the rectangular coordinate system, the motor 1 rotates forward to drive the inspection robot 100 to run in the outward direction and outputs positive torque. That is, the direction of rotation of the motor 1 and the output torque are in the same direction. At this time, the battery 3 supplies power to the motor 1 to drive the inspection robot 100.

[0043] In one embodiment, such as Figure 1 , Figure 2 As shown, the inspection track is set along the second direction, which is opposite to the first direction. The inspection robot 100 is adapted to run along the second direction. When the inspection robot 100 runs along the second direction and is in a downhill state, the four-quadrant frequency converter 2 controls the motor 1 to run in the second quadrant. The motor 1 reverses and outputs positive torque so that the motor 1 can generate electricity using potential energy. When the inspection robot 100 runs along the second direction and is not in a downhill state, the four-quadrant frequency converter 2 controls the motor 1 to run in the third quadrant. The motor 1 reverses and outputs negative torque to drive the inspection robot 100.

[0044] Specifically, such as Figure 1 , Figure 2As shown, the second direction is a travel direction of the inspection robot 100 defined on the inspection track. In this embodiment, the second direction is defined as the return direction of the inspection robot 100, which is opposite to the first direction as the return direction. When the inspection robot 100 is running in the return direction along the second direction and is in a downhill state, the four-quadrant frequency converter 2 controls the motor 1 to run in the second quadrant. That is, in the schematic diagram of the rectangular coordinate system, the motor 1 reverses to drive the inspection robot 100 to run in the return direction and outputs positive torque. That is, the direction of rotation of the motor 1 and the output torque are opposite. At this time, the battery 3 supplies power to the motor 1 to brake the inspection robot 100 and enables the four-quadrant frequency converter 2 to meet the power generation state of the motor 1, so that the motor 1 can generate electricity using potential energy. When the inspection robot 100 is running in the return direction along the second direction and is not in a downhill state, the four-quadrant frequency converter 2 controls the motor 1 to run in the third quadrant. That is, in the schematic diagram of the rectangular coordinate system, the motor 1 reverses to drive the inspection robot 100 to run in the return direction and outputs negative torque. That is, the direction of rotation of the motor 1 and the output torque are in the same direction. At this time, the battery 3 supplies power to the motor 1 to drive the inspection robot 100.

[0045] In one embodiment, such as Figure 1 As shown, the power supply system of the inspection robot also includes a first inverter 4, which is electrically connected between the motor 1 and the battery 3, and is adapted to convert the generated energy of the motor 1 into DC power for storage in the battery 3.

[0046] Specifically, such as Figure 1 As shown, by setting the first inverter 4, the generated energy of the motor 1 is converted into DC power and stored in the battery 3 for direct use and to ensure the healthy working state of the battery 3.

[0047] Furthermore, the first inverter 4 is a DC / DC inverter.

[0048] In one embodiment, such as Figure 1 As shown, the power supply system of the inspection robot also includes a photovoltaic module 5, which is electrically connected to the motor 1. The photovoltaic module 5 is suitable for generating electricity using solar energy and storing the generated energy in the battery 3.

[0049] Specifically, such as Figure 1 As shown, the photovoltaic module 5 generates electricity using solar energy and stores the generated energy in the battery 3, realizing timely replenishment of the electrical energy in the battery 3 through solar energy. This provides a second power supply option for the inspection robot's power supply system, thereby further solving the problem that the inspection robot is currently limited by the capacity of its own battery and needs to be frequently offline for recharging, resulting in low inspection efficiency.

[0050] In one embodiment, such as Figure 1 As shown, the power supply system for the inspection robot also includes a second inverter 6, which is electrically connected between the photovoltaic module 5 and the battery 3, and is adapted to convert the power generated by the photovoltaic module 5 into direct current for storage in the battery 3.

[0051] Specifically, such as Figure 1 As shown, by setting a second inverter 6, the power generated by the photovoltaic module 5 is converted into DC power and stored in the battery 3 for direct use and to ensure the healthy working condition of the battery 3.

[0052] Furthermore, the second inverter 6 is a DC / DC inverter.

[0053] In one embodiment, such as Figure 1 As shown, the power supply system of the inspection robot also includes a controller 7, which is communicatively connected to the motor 1 and the photovoltaic module 5. The controller 7 is adapted to switch between power generation using potential energy and power generation using solar energy.

[0054] Specifically, such as Figure 1 As shown, by setting up a controller 7 that is communicatively connected to the motor 1 and the photovoltaic module 5 respectively, the power generation state utilizing potential energy and the power generation state utilizing solar energy can be switched. When the inspection robot 100 is conducting inspections outdoors in sufficient sunlight, the photovoltaic module 5, the second inverter 6 and the controller 7 convert solar energy into electrical energy, which is directly stored in the battery 3 or used to power the load of the inspection robot 100, and excess electrical energy is stored in the battery 3. When the inspection robot 100 is in a downhill state, the motor 1, the first inverter 4 and the controller 7 controlled by the four-quadrant frequency converter 2 convert high-level potential energy into electrical energy, which is directly stored in the battery 3 or used to power the load of the inspection robot 100, and excess electrical energy is stored in the battery 3. When the inspection robot 100 is in an uphill state or a horizontal state, the battery 3 outputs electrical energy to power the load of the inspection robot 100. This allows for the rational selection of power supply methods, enabling timely replenishment of the electrical energy in battery 3 through high potential energy or solar energy, thus eliminating the dependence of the inspection robot 100 on external power sources during inspections, while also ensuring reasonable operation of the load.

[0055] In one embodiment, such as Figure 1 As shown, the inspection robot 100 is also equipped with an electrical load 8; when the motor 1 generates electricity using potential energy, the generated electricity is suitable for supplying power to the electrical load 8 via the third inverter 9; when the photovoltaic module 5 generates electricity using solar energy, the generated electricity is suitable for supplying power to the electrical load 8 via the fourth inverter 10.

[0056] Specifically, the electrical load 8 operates directly using the power generated by the motor 1 or the photovoltaic module 5, which reduces the power supply burden on the battery 3 and improves the power supply efficiency of the inspection robot's power supply system.

[0057] Furthermore, by setting a third inverter 9, the generated power of the motor 1 is converted into DC power to supply the electrical load 8 for direct use.

[0058] Furthermore, by setting a fourth inverter 10, the power generated by the photovoltaic module 5 is converted into DC power to supply the electrical load 8 for direct use.

[0059] In one embodiment, the electrical load 8 includes control equipment, communication equipment, and detection equipment.

[0060] Specifically, the control equipment includes controllers, frequency converters, indicator lights, etc., the communication equipment includes wireless communication modules, switches, etc., and the detection equipment includes cameras, thermal imagers, noise detectors, combustible gas detectors, etc., so as to facilitate the inspection robot 100 to perform inspection operations.

[0061] In one embodiment, such as Figure 3 As shown, the inspection robot 100 includes a running wheel set 101 that is connected to the electric motor 1 for transmission. The running wheel set 101 is adapted to move along the inspection track.

[0062] Specifically, such as Figure 3 As shown, the inspection robot 100 is kept running stably on the inspection track by running the wheel set 101.

[0063] Furthermore, such as Figure 3 As shown, the running wheel set 101 includes a guide wheel 1011 and a clamping wheel 1012. The guide wheel 1011 is used to guide the inspection robot 100 forward, and the clamping wheel 1012 is used to clamp the inspection track to prevent the inspection robot 100 from derailing.

[0064] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A power supply system for an inspection robot, characterized in that, include: Inspection robot (100); An electric motor (1) is provided on the inspection robot (100) and is adapted to drive the inspection robot (100) to move along the inspection track; The four-quadrant frequency converter (2) is communicatively connected to the motor (1) and is adapted to monitor the output current of the motor (1) in order to obtain the operating status of the inspection robot (100); The storage battery (3) is electrically connected to the motor (1); When the inspection robot (100) is in a downhill state, the four-quadrant frequency converter (2) controls the motor (1) to run in the second or fourth quadrant. The battery (3) supplies power to the motor (1) to brake the inspection robot (100). The motor (1) generates electricity using potential energy and stores the generated energy in the battery (3). When the inspection robot (100) is not in a downhill state, the four-quadrant frequency converter (2) controls the motor (1) to run in the first quadrant or the third quadrant, and the battery (3) supplies power to the motor (1) to drive the inspection robot (100). The inspection track is set along a first direction, and the inspection robot (100) is adapted to run along the first direction; When the inspection robot (100) runs along the first direction and the inspection robot (100) is in a downhill state, the four-quadrant frequency converter (2) controls the motor (1) to run in the fourth quadrant. The motor (1) rotates in the forward direction and outputs negative torque so that the motor (1) can generate electricity using potential energy. When the inspection robot (100) runs along the first direction and is not in a downhill state, the four-quadrant frequency converter (2) controls the motor (1) to run in the first quadrant. The motor (1) rotates forward and outputs positive torque to drive the inspection robot (100). The inspection track is set along a second direction, which is opposite to the first direction, and the inspection robot (100) is adapted to run along the second direction; When the inspection robot (100) runs along the second direction and the inspection robot (100) is in a downhill state, the four-quadrant frequency converter (2) controls the motor (1) to run in the second quadrant. The motor (1) reverses and outputs positive torque so that the motor (1) can generate electricity using potential energy. When the inspection robot (100) is running in the second direction and is not in a downhill state, the motor (1) is controlled by the four-quadrant frequency converter (2) to run in the third quadrant. The motor (1) reverses and outputs negative torque to drive the inspection robot (100).

2. The power supply system for the inspection robot according to claim 1, characterized in that, It also includes a first inverter (4), which is electrically connected between the motor (1) and the battery (3) and is adapted to convert the generated power of the motor (1) into DC power for storage in the battery (3).

3. The power supply system for the inspection robot according to claim 1 or 2, characterized in that, It also includes a photovoltaic module (5), which is electrically connected to the motor (1). The photovoltaic module (5) is adapted to generate electricity using solar energy and store the generated energy in the battery (3).

4. The power supply system for the inspection robot according to claim 3, characterized in that, It also includes a second inverter (6), which is electrically connected between the photovoltaic module (5) and the battery (3) and is adapted to convert the power generated by the photovoltaic module (5) into direct current for storage in the battery (3).

5. The power supply system for the inspection robot according to claim 4, characterized in that, It also includes a controller (7), which is communicatively connected to the motor (1) and the photovoltaic module (5) respectively. The controller (7) is adapted to switch between power generation using potential energy and power generation using solar energy.

6. The power supply system for the inspection robot according to claim 5, characterized in that, The inspection robot (100) is also equipped with an electrical load (8). When the electric motor (1) generates electricity using potential energy, the generated electricity is suitable for supplying power to the electrical load (8) via the third inverter (9); When the photovoltaic module (5) generates electricity using solar energy, the generated electricity is suitable for supplying power to the electrical load (8) via the fourth inverter (10).

7. The power supply system for the inspection robot according to claim 6, characterized in that, The electrical load (8) includes control equipment, communication equipment and detection equipment.

8. The power supply system for the inspection robot according to any one of claims 1, 2, 4-7, characterized in that, The inspection robot (100) includes a set of running wheels (101) that is connected to the electric motor (1) for transmission. The set of running wheels (101) is adapted to move along the inspection track.

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