Wireless charging control system and method for intelligent inspection robot

Abstract

The invention provides a wireless charging control system and method for an intelligent inspection robot. The method comprises the following steps: extracting a target wireless charging station from all wireless charging stations through the maximum driving load of the intelligent inspection robot and the spatial position of each wireless charging station; a horizontal alignment line and a vertical alignment line of the intelligent inspection robot are obtained through fitting of track points of the intelligent inspection robot on the edge of the charging area of the target wireless charging station and target spot positions of the charging area; determining the position correction in the horizontal direction and the vertical direction based on the power receiving ratio of each moving trace point when the intelligent inspection robot moves on the horizontal alignment line and the vertical alignment line and the offset tolerance of the intelligent inspection robot; and correcting the initial center alignment point based on all the position correction values to obtain a confidence charging point location. The point location with the best charging efficiency can be positioned under the influence of error accumulation of the intelligent inspection robot.

Description

Technical Field

[0001] The present application relates to the field of wireless charging technology, and more specifically, to a wireless charging control system and method for an intelligent inspection robot. Background Art

[0002] As an emerging means of energy transmission, wireless charging is gradually becoming a key support for the continuous operation of smart devices. Wireless charging uses electromagnetic induction, magnetic resonance and other methods to power devices without physical contact. In order to improve charging efficiency, detecting the mobile position of the device becomes the key. Through precise mobile position detection technology, the system can identify the direction and distance of the device in real time, ensure the best energy transmission path and adjust the magnetic field distribution in the charging area, thereby improving charging stability and efficiency to minimize energy loss.

[0003] In the existing wireless charging field, wireless charging uses the electromagnetic induction effect between two coils to transfer energy from the charging base station to the receiving device, that is, the transmitting coil in the charging base station generates an alternating magnetic field. When the coil of the receiving device enters this magnetic field area, the coil will induce current, thereby realizing power transmission; however, in the wireless charging of the intelligent patrol robot in the substation, due to the complex environmental characteristics of the substation, the intelligent patrol robot needs to move in a larger range, and the transmission distance of traditional wireless charging is limited, which leads to error accumulation in the motion control of the intelligent patrol robot, resulting in the intelligent patrol robot being unable to accurately locate the point with the best charging efficiency when approaching the target charging station, thereby reducing the charging effectiveness of the intelligent patrol robot. Therefore, how to locate the point with the best charging efficiency under the influence of error accumulation of the intelligent patrol robot, thereby improving the charging effectiveness of the intelligent patrol robot has become a difficult problem faced by the industry. Summary of the invention

[0004] The present application provides a wireless charging control system and method for an intelligent inspection robot, which can locate the point with the best charging efficiency under the influence of error accumulation of the intelligent inspection robot, thereby improving the charging effectiveness of the intelligent inspection robot.

[0005] In a first aspect, the present application provides a wireless charging control method for an intelligent inspection robot, comprising the following steps: A plurality of wireless charging sites are set up in the operation area of ​​the intelligent inspection robot. When the power of the intelligent inspection robot is lower than a preset threshold, a target wireless charging site is extracted from all the wireless charging sites based on the maximum driving load of the intelligent inspection robot and the spatial position of each wireless charging site. When the intelligent inspection robot drives to the charging area of ​​the target wireless charging station, the horizontal alignment line and the vertical alignment line of the intelligent inspection robot during mobile charging are obtained by fitting the trajectory points of the intelligent inspection robot on the edge of the charging area and the target position of the charging area; Determine the power receiving ratio of each moving trace point when the intelligent inspection robot moves on the horizontal alignment line and the vertical alignment line, and determine the position correction amount of the intelligent inspection robot in the horizontal direction and the position correction amount in the vertical direction based on all the power receiving ratios and the deviation tolerance of the intelligent inspection robot when it is mobile charging; The initial center alignment point between the intelligent inspection robot and the target wireless charging station is corrected by the position correction amount in the horizontal direction and the position correction amount in the vertical direction to obtain a trusted charging point position when the intelligent inspection robot performs mobile charging; The intelligent inspection robot is moved to the trusted charging point for charging.

[0006] In some embodiments, extracting a target wireless charging site from all wireless charging sites based on the maximum driving load of the intelligent inspection robot and the spatial position of each wireless charging site specifically includes: Obtaining environmental impact parameters of the intelligent inspection robot and spatial locations of each wireless charging station; Determining the maximum travel load of the intelligent inspection robot based on the deadweight of the intelligent inspection robot and the environmental impact parameters; For each wireless charging site, a relative spatial distance is determined by the spatial position of the wireless charging site and the spatial position of the intelligent inspection robot, and the driving energy consumption corresponding to the wireless charging site is determined according to the relative spatial distance and the maximum driving load, thereby obtaining the driving energy consumption corresponding to each wireless charging site; The minimum driving energy consumption is extracted from all driving energy consumptions, and the wireless charging site corresponding to the minimum driving energy consumption is used as the target wireless charging site.

[0007] In some embodiments, the horizontal alignment line and the vertical alignment line of the intelligent inspection robot during mobile charging obtained by fitting the trajectory points of the intelligent inspection robot on the edge of the charging area and the target position of the charging area specifically include: Obtaining the trajectory points of the intelligent inspection robot when it reaches the edge of the charging area of ​​the target wireless charging station and the target position of the charging area; Draw a straight line through the trajectory point and the target point and intersect the first edge intersection of the charging area; Using the line between the track point and the first edge intersection point as a horizontal alignment line for the intelligent inspection robot to perform mobile charging; A straight line perpendicular to the horizontal alignment line is drawn through the target position and intersects the second edge intersection and the third edge intersection of the charging area, and a line connecting the second edge intersection and the third edge intersection is used as a vertical alignment line for the intelligent inspection robot during mobile charging.

[0008] In some embodiments, determining the power receiving ratio of each moving trace point when the intelligent inspection robot moves on the horizontal alignment line and the vertical alignment line specifically includes: When the intelligent inspection robot moves on the horizontal alignment line and the vertical alignment line, determining the receiving power of the intelligent inspection robot and the transmitting power of the target wireless charging station at each moving trace point; For each moving trace point, the power receiving ratio of the moving trace point is determined by the corresponding receiving power and transmitting power, and then the power receiving ratio of each moving trace point when the intelligent inspection robot moves on the horizontal alignment line and the vertical alignment line is obtained.

[0009] In some embodiments, the initial center alignment point between the intelligent inspection robot and the target wireless charging station is corrected by the position correction amount in the horizontal direction and the position correction amount in the vertical direction, and the trusted charging point position of the intelligent inspection robot during mobile charging is obtained, specifically including: Obtaining an initial center alignment point between the intelligent inspection robot and a target wireless charging station; Extracting horizontal alignment coordinate values ​​and vertical alignment coordinate values ​​from the initial center alignment point; Correcting the horizontal alignment coordinate value according to the position correction amount in the horizontal direction to obtain a corrected horizontal alignment coordinate value; Correcting the vertical alignment coordinate value according to the position correction amount in the vertical direction to obtain a corrected vertical alignment coordinate value; The corrected horizontal alignment coordinate value and the corrected vertical alignment coordinate value are combined to obtain the confident charging point position of the intelligent inspection robot during mobile charging.

[0010] In some embodiments, a wireless receiving coil is disposed at the bottom of the intelligent inspection robot.

[0011] In some embodiments, the wireless charging station is a fixed charging station.

[0012] In a second aspect, the present application provides a wireless charging control system for an intelligent inspection robot, comprising: A monitoring module is used to set up multiple wireless charging sites in the operation area of ​​the intelligent inspection robot, and when the power of the intelligent inspection robot is lower than a preset threshold, a target wireless charging site is extracted from all the wireless charging sites based on the maximum driving load of the intelligent inspection robot and the spatial position of each wireless charging site; A processing module, for fitting the track points of the intelligent inspection robot on the edge of the charging area and the target position of the charging area to obtain the horizontal alignment line and the vertical alignment line of the intelligent inspection robot when the intelligent inspection robot is mobile charging when the intelligent inspection robot drives to the charging area of ​​the target wireless charging station; The processing module is further used to determine the power receiving ratio of each moving trace point when the intelligent inspection robot moves on the horizontal alignment line and the vertical alignment line, and determine the position correction amount of the intelligent inspection robot in the horizontal direction and the position correction amount in the vertical direction based on all the power receiving ratios and the deviation tolerance of the intelligent inspection robot when it is mobile charging; The processing module is further used to correct the initial center alignment point between the intelligent inspection robot and the target wireless charging site by using the position correction amount in the horizontal direction and the position correction amount in the vertical direction to obtain a trusted charging point position when the intelligent inspection robot performs mobile charging; An execution module is used to move the intelligent inspection robot to the trusted charging point for charging.

[0013] In a third aspect, the present application provides a computer device, comprising a memory and a processor, wherein the memory stores codes, and the processor is configured to obtain the codes and execute the above-mentioned intelligent inspection robot wireless charging control method.

[0014] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned intelligent inspection robot wireless charging control method is implemented.

[0015] The technical solution provided by the embodiments disclosed in this application has the following beneficial effects: In the intelligent patrol robot wireless charging control system and method provided by the present application, firstly, a plurality of wireless charging stations are set in the operation area of ​​the intelligent patrol robot. When the power of the intelligent patrol robot is lower than a preset threshold, a target wireless charging station is extracted from all the wireless charging stations based on the maximum driving load of the intelligent patrol robot and the spatial position of each wireless charging station. Secondly, when the intelligent patrol robot drives to the charging area of ​​the target wireless charging station, the horizontal alignment line and the vertical alignment line of the intelligent patrol robot during mobile charging are obtained by fitting the trajectory points of the intelligent patrol robot on the edge of the charging area and the target position of the charging area. Further, it is confirmed that Determine the power reception ratio of each moving trace point when the intelligent inspection robot moves on the horizontal alignment line and the vertical alignment line, and determine the position correction amount of the intelligent inspection robot in the horizontal direction and the position correction amount in the vertical direction based on all the power reception ratios and the deviation tolerance of the intelligent inspection robot when performing mobile charging; then, correct the initial center alignment point between the intelligent inspection robot and the target wireless charging station by the position correction amount in the horizontal direction and the position correction amount in the vertical direction, and obtain the confident charging point position of the intelligent inspection robot when performing mobile charging; finally, move the intelligent inspection robot to the confident charging point position for charging.

[0016] It can be seen that the present application can locate the point with the best charging efficiency under the influence of error accumulation of the intelligent patrol robot, thereby improving the charging effectiveness of the intelligent patrol robot; first, when the power of the intelligent patrol robot is lower than the preset threshold, the target wireless charging site is extracted from all wireless charging sites based on the maximum driving load of the intelligent patrol robot and the spatial position of each wireless charging site, so as to plan a reasonable charging path for the intelligent patrol robot, ensure that it has sufficient energy supply, and avoid stopping working due to power exhaustion caused by complex environmental characteristics; secondly, when the intelligent patrol robot drives to the charging area of ​​the target wireless charging site, the horizontal alignment line and vertical alignment line of the intelligent patrol robot during mobile charging are fitted by the trajectory points of the intelligent patrol robot on the edge of the charging area and the target position of the charging area, so as to ensure that the intelligent patrol robot can accurately identify and dock with the target wireless charging site to achieve precise Automatic charging, thereby avoiding the alignment deviation caused by error accumulation when the intelligent patrol robot is moving in a larger range; then, based on all power receiving ratios and the offset tolerance of the intelligent patrol robot during mobile charging, the horizontal position correction amount and the vertical position correction amount of the intelligent patrol robot are determined, and then the initial alignment center point is corrected by the horizontal position correction amount and the vertical position correction amount to further approach the optimal charging point; finally, the initial center alignment point is corrected by the horizontal position correction amount and the vertical position correction amount to obtain the confident charging point when the intelligent patrol robot is mobile charging, and the intelligent patrol robot is moved to the confident charging point for charging. In summary, the technical solution provided by the present application can locate the point with the best charging efficiency under the influence of error accumulation of the intelligent patrol robot, thereby improving the charging effectiveness of the intelligent patrol robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is an exemplary flow chart of a wireless charging control method for an intelligent inspection robot according to some embodiments of the present application; Figure 2 is a schematic diagram of the wireless charging principle according to some embodiments of the present application; Figure 3 is an exemplary flow chart of determining horizontal alignment lines and vertical alignment lines according to some embodiments of the present application; Figure 4 is a schematic diagram of the structure of a wireless charging control system for an intelligent inspection robot according to some embodiments of the present application; Figure 5 It is a structural schematic diagram of a computer device for implementing a wireless charging control method for an intelligent inspection robot according to some embodiments of the present application. DETAILED DESCRIPTION

[0018] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0019] refer to Figure 1 , which is an exemplary flow chart of a wireless charging control method for an intelligent inspection robot according to some embodiments of the present application. The wireless charging control method 100 for an intelligent inspection robot mainly includes the following steps: In step 101, multiple wireless charging sites are set in the operating area of ​​the intelligent patrol robot. When the power of the intelligent patrol robot is lower than a preset threshold, a target wireless charging site is extracted from all the wireless charging sites based on the maximum driving load of the intelligent patrol robot and the spatial position of each wireless charging site.

[0020] It should be noted that the intelligent inspection robot in this application is an intelligent robot used for patrolling substations, and the intelligent inspection robot has a wireless charging function. A wireless receiving coil is provided at the bottom of the intelligent inspection robot. The intelligent inspection robot can be charged wirelessly, that is, the wireless charging is completed through the receiving coil of the intelligent inspection robot and the transmitting coil of the target wireless charging station. Figure 2 , This figure is a schematic diagram of the wireless charging principle. The charging principle is that the transmitting coil carries alternating current (AC) to generate a magnetic field. When the receiving coil is close to the transmitting coil, current is induced in the receiving coil, thereby completing wireless charging.

[0021] In specific implementation, multiple wireless charging stations are set up in the operating area of ​​the intelligent inspection robot, that is, the wireless charging stations are reasonably arranged according to the working range and charging capacity of the intelligent inspection robot to ensure that each station can cover the area that the intelligent inspection robot may reach. Specifically, the layout of the optimal wireless charging stations can be planned through simulation algorithms (such as Voronoi diagrams, area segmentation, etc.) to avoid dead corners and overlapping areas. The wireless charging stations are provided with wireless transmitting coils.

[0022] It should be noted that the wireless charging station in the present application refers to a fixed facility within the working area of ​​the intelligent inspection robot that charges the intelligent inspection robot through radio electromagnetic waves. Unlike traditional wired charging stations, wireless charging stations do not require physical connection cables. The charging process is achieved through the resonance or induction principles of the electromagnetic field. The wireless charging station is a fixed charging station.

[0023] In specific implementation, the power level of the intelligent inspection robot is monitored in real time, that is, the power level of the intelligent inspection robot is monitored in real time through the battery management system in the intelligent inspection robot. When the power level of the intelligent inspection robot is lower than a preset threshold, it indicates that the intelligent inspection robot needs to be replenished to prevent the intelligent inspection robot from being unable to perform the inspection task after a power outage. Otherwise, it indicates that the intelligent inspection robot does not need to be replenished and can perform the inspection task.

[0024] In some embodiments, based on the maximum driving load of the intelligent inspection robot and the spatial position of each wireless charging station, the target wireless charging station can be extracted from all wireless charging stations by the following steps, namely: Obtaining environmental impact parameters of the intelligent inspection robot and spatial locations of each wireless charging station; Determining the maximum travel load of the intelligent inspection robot based on the deadweight of the intelligent inspection robot and the environmental impact parameters; For each wireless charging site, a relative spatial distance is determined by the spatial position of the wireless charging site and the spatial position of the intelligent inspection robot, and the driving energy consumption corresponding to the wireless charging site is determined according to the relative spatial distance and the maximum driving load, thereby obtaining the driving energy consumption corresponding to each wireless charging site; The minimum driving energy consumption is extracted from all driving energy consumptions, and the wireless charging site corresponding to the minimum driving energy consumption is used as the target wireless charging site.

[0025] In specific implementation, the environment in which the intelligent robot is located can be analyzed through basic dynamic analysis (such as friction calculation function and traction calculation function) to obtain the environmental impact parameters of the intelligent inspection robot (such as friction and traction), and the environmental impact parameters represent the parameters that affect the driving load of the intelligent inspection robot; in addition, GPS is used to locate the spatial position of each wireless charging station, and the spatial position represents the position coordinates of the wireless charging station in the current environment.

[0026] In specific implementation, the maximum traveling load of the intelligent inspection robot is determined based on the self-weight of the intelligent inspection robot and the environmental impact parameters, that is: the self-weight of the intelligent inspection robot is obtained, and the self-weight of the intelligent inspection robot and the environmental impact parameters are input into a preset neural network model as input parameters, and the preset neural network model outputs the maximum traveling load of the intelligent inspection robot; it should be noted that the preset neural network model in this embodiment is a deep neural network (DNN), that is, the implementation principle of the deep neural network is: the input layer inputs the self-weight of the intelligent inspection robot and the environmental impact parameters; the hidden layer performs nonlinear conversion of the input parameters and learns through multiple neurons; the output layer obtains the maximum traveling load.

[0027] It should be noted that the maximum driving load in this application refers to the maximum additional load that the current intelligent inspection robot can carry to stably drive and complete the task, that is, the maximum weight that the robot can carry.

[0028] In specific implementation, the spatial position of the wireless charging station and the spatial position of the intelligent inspection robot can be calculated using the Euclidean distance to obtain the relative spatial distance. In addition, in other embodiments, other calculation methods can be used to calculate the relative spatial distance, which is not limited here. It should be noted that the relative spatial distance in this embodiment represents the distance from the intelligent inspection robot to the wireless charging station.

[0029] In specific implementation, the driving energy consumption corresponding to the wireless charging station is determined according to the relative spatial distance and the maximum driving load, that is: the relative spatial distance and the maximum driving load are input as input parameters into a preset driving energy consumption model, and the driving energy consumption model outputs the driving energy consumption corresponding to the wireless charging station. The preset driving energy consumption model is: driving energy consumption = (ground friction coefficient × gravity acceleration × maximum driving load × relative spatial distance) × (1 / system energy conversion efficiency), wherein the ground friction coefficient, gravity acceleration, and system energy conversion efficiency can be obtained through the inspection monitoring database of the intelligent inspection robot, which will not be repeated here.

[0030] In specific implementation, the driving energy consumption corresponding to each wireless charging station can be determined by "determining the driving energy consumption corresponding to the wireless charging station according to the relative spatial distance and the maximum driving load", which will not be repeated here.

[0031] It should be noted that the driving energy consumption in this application refers to the energy consumed by the intelligent patrol robot during the driving process. These energy consumptions will eventually be provided by the battery of the intelligent patrol robot. The driving energy consumption not only affects the robot's movement time and range, but also determines the battery life. Therefore, by determining the driving energy consumption of each wireless charging station, the target wireless charging station of the current intelligent patrol robot can be effectively identified, thereby improving the task execution capability of the intelligent patrol robot.

[0032] It should also be noted that the target wireless charging site in the present application represents the target site for wireless charging of the intelligent patrol robot. By determining the target wireless charging site, a reasonable charging path can be planned for the intelligent patrol robot to ensure that it has sufficient energy supply and avoid stopping working due to power depletion caused by complex environmental characteristics.

[0033] In step 102, when the intelligent inspection robot drives to the charging area of ​​the target wireless charging station, the horizontal alignment line and the vertical alignment line of the intelligent inspection robot during mobile charging are obtained by fitting the trajectory points of the intelligent inspection robot on the edge of the charging area and the target position of the charging area.

[0034] It should be noted that the transmitting coil of the wireless charging station in the present application takes a circle as an example. In addition, in other embodiments, the transmitting coil of the wireless charging station can also be a square. The charging area of ​​the target wireless charging station in the present application can be specifically determined by the equation of the circle, that is, the center point and radius of the transmitting coil of the target wireless charging station are located, and the charging area of ​​the target wireless charging station is fitted by the equation of the circle. The charging area of ​​the target wireless charging station in the present application represents the coverage range of the target wireless charging station for charging.

[0035] In some embodiments, reference Figure 3 As shown, this figure is an exemplary flow chart for determining the horizontal alignment line and the vertical alignment line according to some embodiments of the present application. In this embodiment, the horizontal alignment line and the vertical alignment line of the intelligent inspection robot when performing mobile charging are obtained by fitting the trajectory points of the intelligent inspection robot on the edge of the charging area and the target position of the charging area. The following steps can be used to implement it: First, in step 1021, the trajectory points of the intelligent inspection robot when it drives to the edge of the charging area of ​​the target wireless charging station and the target position of the charging area are obtained; Next, in step 1022, a straight line is drawn through the trajectory point and the target point to intersect the first edge intersection of the charging area; Then, in step 1023, the line between the track point and the first edge intersection point is used as a horizontal alignment line for the intelligent inspection robot when performing mobile charging; Finally, in step 1024, a straight line perpendicular to the horizontal alignment line is drawn through the target position to intersect the second edge intersection and the third edge intersection of the charging area, and the line connecting the second edge intersection and the third edge intersection is used as the vertical alignment line for the intelligent inspection robot during mobile charging.

[0036] In specific implementation, when the intelligent patrol robot drives to the charging area of ​​the target wireless charging station, the trajectory points of the intelligent patrol robot when it drives to the edge of the charging area of ​​the target wireless charging station and the target position of the charging area are obtained through GPS. In addition, in other embodiments, other positioning sensors can also be used to obtain the trajectory points of the intelligent patrol robot when it drives to the edge of the charging area of ​​the target wireless charging station and the target position of the charging area. This is not limited here. It should be noted that the trajectory point in the present application represents the position point where the intelligent patrol robot first moves to the edge of the charging area. In this embodiment, the target position of the charging area represents the center point of the charging area.

[0037] It should be noted that, in this embodiment, the first edge intersection point represents the first point where a straight line intersects the edge of the charging area; in this embodiment, the second edge intersection point represents the second point where a straight line intersects the edge of the charging area; and the third edge intersection point represents the third point where a straight line intersects the edge of the charging area.

[0038] It should also be noted that the horizontal alignment line in the present application represents a reference line in the horizontal direction when the intelligent inspection robot is aligned with the target wireless charging site, and the vertical alignment line in the present application represents a reference line in the vertical direction when the intelligent inspection robot is aligned with the target wireless charging site. By determining the horizontal alignment line and the vertical alignment line, it is ensured that the intelligent inspection robot can accurately identify and dock with the target wireless charging site to achieve accurate automatic charging, thereby avoiding the alignment deviation caused by the accumulation of errors when the intelligent inspection robot is active in a larger range; in addition, it should be noted that in the present application, a two-dimensional coordinate is established with the charging area of ​​the target wireless charging site, that is: the left edge and the lower edge of the charging area are used as tangents respectively, and the intersection of the two tangents is the origin of the two-dimensional coordinate, the tangent of the lower edge is the horizontal direction (as the x-axis), and the tangent of the left edge is the vertical direction (as the y-axis), the units of the horizontal and vertical directions are centimeters, and the horizontal alignment line (parallel to the x-axis) and the vertical alignment line (parallel to the y-axis) determined in the present application are in the two-dimensional coordinate.

[0039] In step 103, the power reception ratio of each moving trace point of the intelligent inspection robot when it moves on the horizontal alignment line and the vertical alignment line is determined, and the position correction amount of the intelligent inspection robot in the horizontal direction and the position correction amount in the vertical direction are determined based on all the power reception ratios and the offset tolerance of the intelligent inspection robot during mobile charging.

[0040] In some embodiments, the power receiving ratio of each moving trace point when the intelligent inspection robot moves on the horizontal alignment line and the vertical alignment line is determined, that is: When the intelligent inspection robot moves on the horizontal alignment line and the vertical alignment line, determining the receiving power of the intelligent inspection robot and the transmitting power of the target wireless charging station at each moving trace point; For each moving trace point, the power receiving ratio of the moving trace point is determined by the corresponding receiving power and transmitting power, and then the power receiving ratio of each moving trace point when the intelligent inspection robot moves on the horizontal alignment line and the vertical alignment line is obtained.

[0041] In specific implementation, the receiving power of the intelligent inspection robot at each moving trace point and the transmitting power of the target wireless charging station are determined. The receiving power of the receiving coil can be obtained by collecting the current and voltage of the receiving coil through a current sensor and a voltage sensor, and calculating the collected voltage and current through a power function to obtain the receiving power of the receiving coil; the transmitting power of the transmitting coil can be obtained by collecting the current and voltage of the transmitting coil through a current sensor and a voltage sensor, and calculating the collected voltage and current through a power function to obtain the transmitting power of the transmitting coil, which will not be repeated here.

[0042] It should be noted that the received power in this embodiment represents the electric energy power received by the receiving coil of the intelligent inspection robot. This power is a measure of the electric energy emitted by the transmitting coil of the target wireless charging station in the wireless charging system, which is captured by the receiving coil of the intelligent inspection robot and converted into usable power after wireless transmission; the transmitting power in this embodiment represents the electric energy power emitted by the transmitting coil in the target wireless charging station. This power is the energy provided by the transmitting coil in the target wireless charging station in the wireless charging system, which is used to transmit the power to the receiving coil of the intelligent inspection robot wirelessly.

[0043] In specific implementation, the power receiving ratio of the moving trace point is determined by the corresponding receiving power and transmitting power, that is, the ratio of the receiving power to the transmitting power is calculated, and the ratio calculation result is used as the power receiving ratio of the moving trace point.

[0044] It should be noted that the power receiving ratio in the present application is a measure of the transmission efficiency of the intelligent inspection robot in wireless charging, that is, the degree of energy loss in the process from the transmitting end to the receiving end. That is, the larger the power receiving ratio, the higher the transmission efficiency of the intelligent inspection robot in wireless charging, and the smaller the energy loss in the process from the transmitting end to the receiving end. The smaller the power receiving ratio, the lower the transmission efficiency of the intelligent inspection robot in wireless charging, and the greater the energy loss in the process from the transmitting end to the receiving end. By determining the power receiving ratio, the changing trend of the power receiving ratio in different directions can be effectively analyzed to determine whether there is an alignment error in the horizontal or vertical direction, and then measures can be taken to compensate, thereby improving the charging efficiency of the intelligent inspection robot.

[0045] In some embodiments, based on all power receiving ratios and the deviation tolerance of the intelligent inspection robot during mobile charging, the position correction amount in the horizontal direction and the position correction amount in the vertical direction of the intelligent inspection robot are determined by the following steps, namely: Determining the deviation tolerance of the intelligent inspection robot during mobile charging; Classifying all the power receiving ratios to obtain a set of horizontal power receiving ratios corresponding to the horizontal alignment lines and a set of vertical power receiving ratios corresponding to the vertical alignment lines; Extracting a horizontal moving trace point corresponding to a maximum power receiving ratio from the horizontal power receiving ratio set; Extracting a vertical moving trace point corresponding to a maximum power receiving ratio from the vertical power receiving ratio set; Determine the position correction amount of the intelligent inspection robot in the horizontal direction by using the deviation tolerance, the horizontal coordinate value of the horizontal moving trace point and the horizontal coordinate value of the vertical moving trace point; The position correction amount of the intelligent inspection robot in the vertical direction is determined by the offset tolerance, the vertical coordinate value of the horizontal movement trace point and the vertical coordinate value of the vertical movement trace point.

[0046] In the specific implementation, all power reception ratios are classified, that is: all power reception ratios are divided into a category on the horizontal alignment line and a category on the vertical alignment line. No further details are given here. In this embodiment, the horizontal power reception ratio set represents the combination of power acceptance ratios on each moving trace point when the intelligent inspection robot moves on the horizontal alignment. In this embodiment, the vertical power reception ratio set represents the combination of power acceptance ratios on each moving trace point when the intelligent inspection robot moves on the vertical alignment.

[0047] It should also be noted that, in this embodiment, the horizontal moving trace point represents the moving trace point corresponding to the maximum power acceptance ratio on the horizontal alignment line; and the vertical moving trace point represents the moving trace point corresponding to the maximum power acceptance ratio on the vertical alignment line.

[0048] In some embodiments, the following steps may be used to determine the deviation tolerance of the intelligent inspection robot during mobile charging, namely: Obtaining an expected power receiving ratio of the intelligent inspection robot and a power receiving ratio interval of the intelligent inspection robot when performing mobile charging; Performing an offset analysis on each power receiving ratio in the power receiving ratio interval corresponding to the expected power receiving ratio to obtain all power receiving ratio deviations; The deviation tolerance of the intelligent inspection robot during mobile charging is determined by all power receiving ratio deviations.

[0049] In specific implementation, the expected power reception ratio of the intelligent inspection robot can be obtained through the parameter nameplate of the intelligent inspection robot. The expected power reception ratio is a preset ideal power reception ratio in the wireless charging of the intelligent inspection robot. The wireless charging process of the intelligent inspection robot can be modeled using electromagnetic simulation software (such as Ansys Maxwell). The parameters of the transmitting coil and the receiving coil (such as shape, size, number of turns, etc.) and the relative position changes between them are set in the software to simulate the movement of the robot in the charging area to obtain the power reception ratio range of the intelligent inspection robot during mobile charging. In this embodiment, the power reception ratio range represents the range of the power reception ratio of the intelligent inspection robot during mobile charging.

[0050] In specific implementation, each power reception ratio in the power reception ratio interval is offset from the expected power reception ratio to obtain all power reception ratio deviations, that is, each power reception ratio in the power reception ratio interval is respectively subjected to absolute difference calculation with the expected power reception ratio, and the absolute difference calculation result is used as the power reception ratio deviation, thereby obtaining all power reception ratio deviations, wherein the power reception ratios in the power reception ratio interval are sampled at a preset sampling interval, for example, if the power reception ratio interval is [20%, 70%], then they are sampled at a preset sampling interval of 10%. In this embodiment, the power reception ratio deviation represents the degree to which the power reception ratio deviates from the expected power reception ratio.

[0051] In the specific implementation, the deviation tolerance of the intelligent inspection robot during mobile charging is determined by all power receiving ratio deviations, that is: all power receiving ratio deviations are averaged, and the average calculation result is used as the deviation tolerance of the intelligent inspection robot during mobile charging. In addition, in other embodiments, other calculation methods can be used to calculate the deviation tolerance of the intelligent inspection robot during mobile charging, and the type is not limited.

[0052] It should be noted that the offset tolerance in the present application refers to the ability of the intelligent inspection robot to maintain effective charging when the transmitting coil and the receiving coil are relatively offset during wireless charging. In the actual working environment, the intelligent inspection robot will inevitably encounter some tiny vibrations or position interference. If the offset tolerance is high, even if there is a certain degree of position offset between the transmitting coil and the receiving coil, the charging efficiency will not be greatly affected. Therefore, by determining the offset tolerance, it can be effectively ensured that the intelligent inspection robot can stably obtain sufficient power and maintain a normal working state.

[0053] In specific implementation, the position correction amount of the intelligent inspection robot in the horizontal direction is determined by the offset tolerance, the horizontal coordinate value of the horizontal moving trace point, and the horizontal coordinate value of the vertical moving trace point, that is: the absolute difference between the horizontal coordinate value of the horizontal moving trace point and the horizontal coordinate value of the vertical moving trace point is calculated, the absolute difference calculation result is multiplied by the offset tolerance, and the result of the product calculation is used as the position correction amount of the intelligent inspection robot in the horizontal direction. In addition, in other embodiments, other calculation methods can be used to calculate the position correction amount of the intelligent inspection robot in the horizontal direction, which is not limited here.

[0054] It should be noted that the position correction amount in the horizontal direction in the present application represents the amount by which the intelligent inspection robot needs to adjust its position in the horizontal direction. The intelligent inspection robot has an optimal charging position during wireless charging. At this position, the coupling efficiency between the transmitting coil and the receiving coil is the highest, and the power receiving ratio is the largest. This optimal charging position has an ideal coordinate point in both the horizontal and vertical directions. Due to the interference of external environmental factors, the intelligent inspection robot has alignment errors in the horizontal direction, resulting in the final alignment charging efficiency being low. Therefore, by performing horizontal coordinate analysis on the moving trace points corresponding to the maximum power receiving ratio on the horizontal alignment line and the moving trace points corresponding to the maximum power receiving ratio on the vertical alignment line and combining the offset tolerance of the intelligent inspection robot when it moves to determine the position correction amount of the intelligent inspection robot in the horizontal direction, the alignment errors of the intelligent inspection robot caused by interference from external environmental factors can be effectively eliminated.

[0055] In specific implementation, the position correction amount of the intelligent inspection robot in the vertical direction is determined by the offset tolerance, the vertical coordinate value of the horizontal moving trace and the vertical coordinate value of the vertical moving trace, that is: the absolute difference between the vertical coordinate value of the horizontal moving trace and the vertical coordinate value of the vertical moving trace is calculated, the absolute difference calculation result is multiplied by the offset tolerance, and the result of the product calculation is used as the position correction amount of the intelligent inspection robot in the vertical direction. In addition, in other embodiments, other calculation methods can be used to calculate the position correction amount of the intelligent inspection robot in the vertical direction, which is not limited here.

[0056] It should be noted that the position correction amount in the vertical direction in the present application represents the amount by which the intelligent inspection robot needs to adjust its position in the vertical direction. The intelligent inspection robot has an optimal charging position during wireless charging. At this position, the coupling efficiency between the transmitting coil and the receiving coil is the highest, and the power receiving ratio is the largest. This optimal charging position has an ideal coordinate point in both the horizontal and vertical directions. Due to the interference of external environmental factors, the intelligent inspection robot has an alignment error in the vertical direction, resulting in the final alignment charging efficiency being low. Therefore, by performing vertical coordinate analysis on the moving trace points corresponding to the maximum power receiving ratio on the horizontal alignment line and the moving trace points corresponding to the maximum power receiving ratio on the vertical alignment line, and combining the offset tolerance of the intelligent inspection robot during movement to determine the position correction amount of the intelligent inspection robot in the vertical direction, the alignment error of the intelligent inspection robot caused by the interference of external environmental factors can be effectively eliminated.

[0057] In step 104, the initial center alignment point between the intelligent inspection robot and the target wireless charging station is corrected by the position correction amount in the horizontal direction and the position correction amount in the vertical direction to obtain the trusted charging point position of the intelligent inspection robot during mobile charging.

[0058] In some embodiments, the initial center alignment point between the intelligent inspection robot and the target wireless charging station is corrected by the position correction amount in the horizontal direction and the position correction amount in the vertical direction, and the trusted charging point position of the intelligent inspection robot during mobile charging can be obtained by the following steps, namely: Obtaining an initial center alignment point between the intelligent inspection robot and a target wireless charging station; Extracting horizontal alignment coordinate values ​​and vertical alignment coordinate values ​​from the initial center alignment point; Correcting the horizontal alignment coordinate value according to the position correction amount in the horizontal direction to obtain a corrected horizontal alignment coordinate value; Correcting the vertical alignment coordinate value according to the position correction amount in the vertical direction to obtain a corrected vertical alignment coordinate value; The corrected horizontal alignment coordinate value and the corrected vertical alignment coordinate value are combined to obtain the confident charging point position of the intelligent inspection robot during mobile charging.

[0059] In specific implementation, the initial center alignment point between the intelligent patrol robot and the target wireless charging site is obtained through GPS. In this application, the center point of the transmitting coil of the target wireless charging site is used as the initial center alignment point between the intelligent patrol robot and the target wireless charging site. In this embodiment, the initial center alignment point represents the position point where the geometric center of the receiving coil of the intelligent patrol robot and the geometric center of the transmitting coil of the target wireless charging site initially overlap in space. The initial center alignment point includes a horizontal alignment coordinate value and a vertical alignment coordinate value. The horizontal alignment coordinate value is the coordinate value of the initial center alignment point in the horizontal direction, and the vertical alignment coordinate value is the coordinate value of the initial center alignment point in the vertical direction. However, due to the influence of external environmental factors and the accumulation of errors of the intelligent patrol robot during the movement process, the initial center alignment point between the intelligent patrol robot and the target wireless charging site obtained has an alignment error and cannot be aligned to the optimal charging position. Therefore, the initial center alignment point needs to be corrected to obtain the optimal alignment point.

[0060] The horizontal alignment coordinate value is corrected by the position correction amount in the horizontal direction to obtain a corrected horizontal alignment coordinate value, that is: the position correction amount in the horizontal direction and the horizontal alignment coordinate value are summed to obtain a corrected horizontal alignment coordinate value. In addition, in other embodiments, other correction methods can also be used to correct the horizontal alignment coordinate value, which is not limited here.

[0061] The vertical alignment coordinate value is corrected by the position correction amount in the vertical direction to obtain a corrected vertical alignment coordinate value, that is, the position correction amount in the vertical direction and the vertical alignment coordinate value are summed to obtain a corrected vertical alignment coordinate value. In addition, in other embodiments, other correction methods can also be used to correct the vertical alignment coordinate value, which is not limited here.

[0062] It should be noted that the trusted charging point in the present application represents the final trusted charging point of the intelligent patrol robot. During the wireless charging of the intelligent patrol robot, when the receiving coil is completely aligned with the transmitting coil, the charging point is most likely to be stabilized within the range of the trusted charging point. At this time, the charging efficiency is the highest. Therefore, by determining the trusted charging point, the intelligent patrol robot can be guided to charge more accurately and reduce the problem of low charging efficiency caused by inaccurate positioning.

[0063] In step 105, the intelligent inspection robot is moved to the trusted charging point for charging.

[0064] In a specific implementation, the intelligent inspection robot is moved to the trusted charging point for charging, that is, the intelligent inspection robot is moved to the trusted charging point, and the target position of the transmitting coil in the intelligent inspection robot is vertically aligned with the trusted charging point for wireless charging.

[0065] In addition, in another aspect of the present application, in some embodiments, the present application provides a wireless charging control system for an intelligent inspection robot, referring to Figure 4 , which is a structural schematic diagram of a wireless charging control system for an intelligent inspection robot according to some embodiments of the present application. The wireless charging control system 200 for an intelligent inspection robot includes: a monitoring module 201, a processing module 202 and an execution module 203, which are described as follows: Monitoring module 201, in the present application, the monitoring module 201 is mainly used to set up multiple wireless charging sites in the operating area of ​​the intelligent inspection robot. When the power of the intelligent inspection robot is lower than a preset threshold, a target wireless charging site is extracted from all the wireless charging sites based on the maximum driving load of the intelligent inspection robot and the spatial position of each wireless charging site; Processing module 202, in the present application, the processing module 202 is mainly used for fitting the trajectory points of the intelligent inspection robot on the edge of the charging area and the target position of the charging area when the intelligent inspection robot drives to the charging area of ​​the target wireless charging station to obtain the horizontal alignment line and the vertical alignment line of the intelligent inspection robot when performing mobile charging; The processing module 202 is further used to determine the power receiving ratio of each moving trace point when the intelligent inspection robot moves on the horizontal alignment line and the vertical alignment line, and determine the position correction amount of the intelligent inspection robot in the horizontal direction and the position correction amount in the vertical direction based on all the power receiving ratios and the deviation tolerance of the intelligent inspection robot when it is mobile charging; In addition, the processing module 202 is also used to correct the initial center alignment point between the intelligent inspection robot and the target wireless charging station by using the position correction amount in the horizontal direction and the position correction amount in the vertical direction to obtain a trusted charging point position when the intelligent inspection robot performs mobile charging; Execution module 203, in the present application, the execution module 203 is mainly used to move the intelligent inspection robot to the trusted charging point for charging.

[0066] In addition, the present application also provides a computer device, which includes a memory and a processor, the memory stores a code, and the processor is configured to obtain the code and execute the above-mentioned intelligent inspection robot wireless charging control method.

[0067] In some embodiments, reference Figure 5 , which is a schematic diagram of the structure of a computer device for implementing a wireless charging control method for an intelligent inspection robot according to some embodiments of the present application. The wireless charging control method for an intelligent inspection robot in the above embodiment can be Figure 5 The computer device 300 shown in the figure is implemented, and the computer device 300 includes at least one processor 301, a communication bus 302, a memory 303 and at least one communication interface 304.

[0068] The processor 301 can be a general-purpose central processing unit (CPU), or an application-specific integrated circuit (ASIC) or one or more for controlling the execution of the wireless charging control method of the intelligent inspection robot in the present application.

[0069] The communication bus 302 may be used to transmit information between the above-mentioned components.

[0070] The memory 303 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, an optical disc storage (including a compressed optical disc, a laser disc, an optical disc, a digital versatile disc, a Blu-ray disc, etc.), a magnetic disk or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of an instruction or data structure and can be accessed by a computer, but is not limited thereto. The memory 303 may exist independently and be connected to the processor 301 via the communication bus 302. The memory 303 may also be integrated with the processor 301.

[0071] Among them, the memory 303 is used to store the program code for executing the solution of the present application, and the execution is controlled by the processor 301. The processor 301 is used to execute the program code stored in the memory 303. The program code may include one or more software modules. The determination of the wireless charging control method of the intelligent inspection robot in the above embodiment can be implemented by the processor 301 and one or more software modules in the program code in the memory 303.

[0072] The communication interface 304 uses any transceiver or other device for communicating with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), etc.

[0073] In a specific implementation, as an embodiment, a computer device may include multiple processors, each of which may be a single-CPU processor or a multi-CPU processor. The processor here may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0074] The above-mentioned computer device may be a general-purpose computer device or a special-purpose computer device. In a specific implementation, the computer device may be a desktop computer, a portable computer, a network server, a personal digital assistant (PDA), a mobile phone, a tablet computer, a wireless terminal device, a communication device or an embedded device. The embodiment of the present application does not limit the type of computer device.

[0075] In addition, the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned intelligent inspection robot wireless charging control method is implemented.

[0076] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0077] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A wireless charging control method for an intelligent inspection robot, characterized in that: The steps include: A plurality of wireless charging sites are set up in the operation area of ​​the intelligent inspection robot. When the power of the intelligent inspection robot is lower than a preset threshold, a target wireless charging site is extracted from all the wireless charging sites based on the maximum driving load of the intelligent inspection robot and the spatial position of each wireless charging site. When the intelligent inspection robot drives to the charging area of ​​the target wireless charging station, the horizontal alignment line and the vertical alignment line of the intelligent inspection robot during mobile charging are obtained by fitting the trajectory points of the intelligent inspection robot on the edge of the charging area and the target position of the charging area; Determine the power receiving ratio of each moving trace point when the intelligent inspection robot moves on the horizontal alignment line and the vertical alignment line, and determine the position correction amount of the intelligent inspection robot in the horizontal direction and the position correction amount in the vertical direction based on all the power receiving ratios and the deviation tolerance of the intelligent inspection robot when it is mobile charging; The initial center alignment point between the intelligent inspection robot and the target wireless charging station is corrected by the position correction amount in the horizontal direction and the position correction amount in the vertical direction to obtain a trusted charging point position when the intelligent inspection robot performs mobile charging; The intelligent inspection robot is moved to the trusted charging point for charging.

2. The method according to claim 1, characterized in that The target wireless charging site is extracted from all wireless charging sites based on the maximum driving load of the intelligent inspection robot and the spatial position of each wireless charging site, specifically including: Obtaining environmental impact parameters of the intelligent inspection robot and spatial locations of each wireless charging station; Determining the maximum travel load of the intelligent inspection robot based on the deadweight of the intelligent inspection robot and the environmental impact parameters; For each wireless charging site, a relative spatial distance is determined by the spatial position of the wireless charging site and the spatial position of the intelligent inspection robot, and the driving energy consumption corresponding to the wireless charging site is determined according to the relative spatial distance and the maximum driving load, thereby obtaining the driving energy consumption corresponding to each wireless charging site; The minimum driving energy consumption is extracted from all driving energy consumptions, and the wireless charging site corresponding to the minimum driving energy consumption is used as the target wireless charging site.

3. The method according to claim 1, characterized in that The horizontal alignment line and the vertical alignment line obtained by fitting the trajectory points of the intelligent inspection robot on the edge of the charging area and the target position of the charging area when the intelligent inspection robot performs mobile charging specifically include: Obtaining the trajectory points of the intelligent inspection robot when it reaches the edge of the charging area of ​​the target wireless charging station and the target position of the charging area; Draw a straight line through the trajectory point and the target point and intersect the first edge intersection of the charging area; Using the line between the track point and the first edge intersection point as a horizontal alignment line for the intelligent inspection robot to perform mobile charging; A straight line perpendicular to the horizontal alignment line is drawn through the target position and intersects the second edge intersection and the third edge intersection of the charging area, and a line connecting the second edge intersection and the third edge intersection is used as a vertical alignment line for the intelligent inspection robot during mobile charging.

4. The method according to claim 1, characterized in that Determining the power receiving ratio of each moving trace point when the intelligent inspection robot moves on the horizontal alignment line and the vertical alignment line specifically includes: When the intelligent inspection robot moves on the horizontal alignment line and the vertical alignment line, determining the receiving power of the intelligent inspection robot and the transmitting power of the target wireless charging station at each moving trace point; For each moving trace point, the power receiving ratio of the moving trace point is determined by the corresponding receiving power and transmitting power, and then the power receiving ratio of each moving trace point when the intelligent inspection robot moves on the horizontal alignment line and the vertical alignment line is obtained.

5. The method according to claim 1, characterized in that The initial center alignment point between the intelligent inspection robot and the target wireless charging station is corrected by the position correction amount in the horizontal direction and the position correction amount in the vertical direction to obtain the trusted charging point position when the intelligent inspection robot performs mobile charging. Specifically, the method includes: Obtaining an initial center alignment point between the intelligent inspection robot and a target wireless charging station; Extracting a horizontal alignment coordinate value and a vertical alignment coordinate value from the initial center alignment point; Correcting the horizontal alignment coordinate value according to the position correction amount in the horizontal direction to obtain a corrected horizontal alignment coordinate value; Correcting the vertical alignment coordinate value according to the position correction amount in the vertical direction to obtain a corrected vertical alignment coordinate value; The corrected horizontal alignment coordinate value and the corrected vertical alignment coordinate value are combined to obtain the confident charging point position of the intelligent inspection robot during mobile charging.

6. The method according to claim 1, characterized in that A wireless receiving coil is arranged at the bottom of the intelligent inspection robot.

7. The method according to claim 1, characterized in that The wireless charging site is a fixed charging site.

8. A wireless charging control system for an intelligent inspection robot, characterized in that: include: A monitoring module is used to set up multiple wireless charging sites in the operation area of ​​the intelligent inspection robot, and when the power of the intelligent inspection robot is lower than a preset threshold, a target wireless charging site is extracted from all the wireless charging sites based on the maximum driving load of the intelligent inspection robot and the spatial position of each wireless charging site; A processing module, for fitting the track points of the intelligent inspection robot on the edge of the charging area and the target position of the charging area to obtain the horizontal alignment line and the vertical alignment line of the intelligent inspection robot when the intelligent inspection robot is mobile charging when the intelligent inspection robot drives to the charging area of ​​the target wireless charging station; The processing module is further used to determine the power receiving ratio of each moving trace point when the intelligent inspection robot moves on the horizontal alignment line and the vertical alignment line, and determine the position correction amount of the intelligent inspection robot in the horizontal direction and the position correction amount in the vertical direction based on all the power receiving ratios and the deviation tolerance of the intelligent inspection robot when it is mobile charging; The processing module is further used to correct the initial center alignment point between the intelligent inspection robot and the target wireless charging station by using the position correction amount in the horizontal direction and the position correction amount in the vertical direction to obtain a trusted charging point position when the intelligent inspection robot performs mobile charging; An execution module is used to move the intelligent inspection robot to the trusted charging point for charging.

9. A computer device, characterized in that: The computer device includes a memory and a processor, the memory stores a code, and the processor is configured to obtain the code and execute the wireless charging control method for the intelligent inspection robot according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by the processor, the wireless charging control method of the intelligent inspection robot as described in any one of claims 1 to 7 is implemented.

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