Wireless charging method and system for inspection robot

Abstract

The invention discloses a wireless charging method and system for an inspection robot, and relates to the technical field of industrial automation and robots, and the method comprises the steps: obtaining the current position and battery power of the inspection robot; sending a charging request to a cloud according to the battery power, so that the cloud feeds back a target charging pile identifier and a target charging pile position based on the charging request; determining a driving strategy based on the current position and the position of the target charging pile; and sending a docking signal to a wireless charger according to the driving strategy and the target charging pile identifier, so that the wireless charger wirelessly charges the inspection robot according to the docking signal. Through the methods of environment monitoring, accurate positioning and docking and the like, the utilization rate of the charging pile is improved, and the charging safety of the inspection robot in a high-risk scene is guaranteed.

Description

Technical Field

[0001] This application relates to the technical field of industrial automation and robotics, and particularly to a wireless charging method and system for inspection robots. Background Art

[0002] In the field of industrial automation and robotics, inspection robots are increasingly widely used in high-risk scenarios such as power stations and chemical plants. Their safe and efficient operation is of great significance for ensuring production safety. As an emerging technology, wireless charging piles have gradually replaced traditional pole-piece docking charging piles and become a key support means for the energy supply of inspection robots. Wireless charging powers the inspection robot without physical contact through electromagnetic induction, magnetic resonance, etc., effectively improving the working efficiency and operation stability of the inspection robot.

[0003] However, the existing wireless charging pile technology for inspection robots still has many deficiencies, which are specifically manifested in the following aspects: Single function: Traditional wireless charging piles only provide the function of energy supply, and fail to fully utilize the potential of charging piles as environmental monitoring nodes, resulting in low utilization efficiency of charging piles; Low equipment utilization rate: Usually, one charging pile only supports the charging work of one inspection robot, and cannot meet the needs of multiple robots charging simultaneously or quickly switching for charging, restricting the efficient use of equipment; Data island: The charging behavior and environmental monitoring data are independent of each other, lacking effective spatio-temporal alignment analysis means, and it is difficult to realize the comprehensive evaluation of the operation status of inspection robots and environmental conditions; Deployment redundancy: It is necessary to deploy charging piles and environmental sensors separately, which not only increases the cost but also improves the maintenance complexity of the system, and is not conducive to large-scale popularization and application.

[0004] Therefore, how to achieve wireless charging of inspection robots in complex and dangerous environments while ensuring the charging safety of inspection robots is an urgent problem to be solved at present. Summary of the Invention

[0005] The main purpose of this application is to provide a wireless charging method and system for inspection robots, aiming to solve the technical problem of how to achieve wireless charging of inspection robots in complex and dangerous environments while ensuring the charging safety of inspection robots.

[0006] To achieve the above object, this application proposes a wireless charging method for inspection robots. The wireless charging method for inspection robots is applied to the inspection robot side, and the method includes: Obtain the current position and battery power of the inspection robot; Send a charging request to the cloud based on the battery power, so that the cloud feeds back the target charging pile identifier and the target charging pile position based on the charging request; Determine a driving strategy based on the current position and the target charging pile position; Send a docking signal to the wireless charger according to the driving strategy and the target charging pile identifier, so that the wireless charger wirelessly charges the inspection robot according to the docking signal.

[0007] In one embodiment, the step of sending a docking signal to the wireless charger according to the driving strategy and the target charging pile identifier includes: Obtain the control parameters of the inspection robot according to the driving strategy, where the control parameters include a moving direction and a moving distance; Obtain an encryption verification code according to the target charging pile identifier, and send the encryption verification code to the cloud, so that the cloud performs identity authentication according to the encryption verification code and feedbacks a charging identifier; Send a docking signal to the wireless charger according to the control parameters and the charging identifier.

[0008] In one embodiment, the step of obtaining the control parameters of the inspection robot according to the driving strategy includes: When the driving strategy is the first driving strategy, receive the radio frequency identification positioning signal of the wireless charger according to the first preset frequency band, and calculate the moving direction and the first displacement distance according to the signal strength of the radio frequency identification positioning signal; When the driving strategy is the second driving strategy, receive the radio frequency identification positioning signal of the wireless charger according to the second preset frequency band, and calculate the second displacement distance according to the phase difference of the radio frequency identification positioning signal.

[0009] In one embodiment, the step of sending a docking signal to the wireless charger according to the control parameters and the charging identifier includes: When the charging identifier is an allowable charging identifier, control the inspection robot to move to the first preset range of the wireless charger according to the moving direction and the first displacement distance; When moving to within the first preset range, control the inspection robot to move to the coil position of the wireless charger according to the second displacement distance, and send a docking signal to the wireless charger.

[0010] In one embodiment, the step of determining the driving strategy based on the current position and the target charging pile position includes: Obtain a relative distance according to the current position and the target charging pile position; When the relative distance is greater than a preset relative distance threshold, enable the first driving strategy; When the relative distance is less than or equal to the preset relative distance threshold, enable the second driving strategy.

[0011] In addition, to achieve the above object, the present application further provides a wireless charging method for an inspection robot. The wireless charging method for the inspection robot is applied to a wireless charger, and the method includes: Receiving a docking signal sent from the inspection robot side; Obtaining a docking deviation distance according to the docking signal; When the docking deviation distance is less than a preset docking deviation threshold, performing wireless charging on the inspection robot.

[0012] In an embodiment, after the step of performing wireless charging on the inspection robot when the docking deviation distance is less than a preset docking deviation threshold, the method further includes: Collecting environmental monitoring data according to a first preset frequency; Obtaining a humidity change rate and a temperature change rate according to the environmental monitoring data; When the humidity change rate is greater than a preset humidity change threshold or the temperature change rate is greater than a preset temperature change threshold, switching the first preset frequency to a second preset frequency, and collecting the environmental monitoring data according to the second preset frequency; Synchronously packaging the environmental monitoring data and the charging status parameters to obtain charging status data, and uploading the charging status data to the cloud according to a preset transmission strategy, so that the cloud performs fault warning according to the charging status data.

[0013] In an embodiment, the step of uploading the charging status data to the cloud according to a preset transmission strategy includes: Splitting the charging status data to obtain normal charging status data and abnormal charging status data; Uploading the normal charging status data to the cloud according to the bandwidth mode in the preset transmission strategy; Uploading the abnormal charging status data to the cloud according to the priority mode in the preset transmission strategy.

[0014] In addition, to achieve the above object, the present application further provides a wireless charging method for an inspection robot. The wireless charging method for the inspection robot is applied to the cloud, and the method includes: Receiving a charging request and an encrypted verification code sent from the inspection robot side; Matching the current position in the charging request with a preset charging pile deployment map to obtain a target charging pile number, a target charging pile position, and a target charging pile identifier; Invoking a preset key according to the target charging pile number to verify the encrypted verification code to obtain a charging identifier; Send the target charging pile location, the target charging pile identifier, and the charging identifier to the inspection robot terminal, so that the inspection robot terminal controls the inspection robot to perform wireless charging according to the target charging pile location, the target charging pile identifier, and the charging identifier.

[0015] In addition, to achieve the above object, the present application also proposes an inspection robot wireless charging system, which includes: an inspection robot terminal, a wireless charger, and a cloud. The inspection robot wireless charging method applied to the inspection robot terminal as described above is executed on the inspection robot terminal, the inspection robot wireless charging method applied to the wireless charger as described above is executed on the wireless charger, and the inspection robot wireless charging method applied to the cloud as described above is executed on the cloud.

[0016] The present application provides an inspection robot wireless charging method. The method of the present application includes: obtaining the current position and battery power of the inspection robot; sending a charging request to the cloud according to the battery power, so that the cloud feeds back a target charging pile identifier and a target charging pile location based on the charging request; determining a driving strategy based on the current position and the target charging pile location; sending a docking signal to the wireless charger according to the driving strategy and the target charging pile identifier, so that the wireless charger performs wireless charging on the inspection robot according to the docking signal. In summary, it can be seen that the present application solves the problem of how to achieve wireless charging of inspection robots in complex and dangerous environments while ensuring the charging safety of inspection robots through methods such as environmental monitoring and precise positioning and docking, improving the utilization rate of charging piles and ensuring the charging safety of inspection robots in high-risk scenarios. Description of the Drawings

[0017] The drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present application and used together with the specification to explain the principles of the present application.

[0018] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0019] Figure 1 It is a flowchart provided for the first embodiment of the inspection robot wireless charging method of the present application; Figure 2 It is a flowchart provided for the second embodiment of the inspection robot wireless charging method of the present application; Figure 3This is a schematic diagram of the working process of a wireless charger in an embodiment of the wireless charging method for the inspection robot of the present application; Figure 4 This is a schematic flow chart provided by the third embodiment of the wireless charging method for the inspection robot of the present application; Figure 5 This is a schematic diagram of the system architecture of the wireless charging method for the inspection robot of the present application.

[0020] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. Detailed Embodiments

[0021] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0022] In order to better understand the technical solutions of the present application, the following will be described in detail with reference to the accompanying drawings of the specification and specific embodiments.

[0023] The main solution of the embodiment of the present application is: obtaining the current position and battery power of the inspection robot; sending a charging request to the cloud based on the battery power, so that the cloud feeds back a target charging pile identifier and a target charging pile position based on the charging request; determining a driving strategy based on the current position and the target charging pile position; sending a docking signal to the wireless charger according to the driving strategy and the target charging pile identifier, so that the wireless charger wirelessly charges the inspection robot according to the docking signal.

[0024] In the field of industrial automation and robotics, inspection robots are increasingly widely used in high-risk scenarios such as power stations and chemical plants, and their safe and efficient operation is of great significance for ensuring production safety. As an emerging technology, wireless charging piles have gradually replaced traditional pole-piece docking charging piles and become a key support means for the energy supply of inspection robots. Wireless charging powers the inspection robot without physical contact through electromagnetic induction, magnetic resonance, etc., effectively improving the working efficiency and operation stability of the inspection robot.

[0025] However, the existing wireless charging technologies for inspection robots still have many deficiencies, which are specifically manifested in the following aspects: Single function: Traditional wireless charging piles only provide energy replenishment functions and fail to fully utilize the potential of charging piles as environmental monitoring nodes, resulting in low utilization efficiency of charging piles; Low equipment utilization rate: One charging pile usually only supports the charging of one inspection robot and cannot meet the needs of multiple robots charging simultaneously or quickly switching to charge, restricting the efficient utilization of equipment; Data island: Charging behavior and environmental monitoring data are independent of each other, lacking effective spatio-temporal alignment analysis means, and it is difficult to comprehensively evaluate the operating status of inspection robots and environmental conditions; Deployment redundancy: It is necessary to separately deploy charging piles and environmental sensors, which not only increases costs but also improves the maintenance complexity of the system, making it unfavorable for large-scale popularization and application. Therefore, how to achieve wireless charging of inspection robots in complex and dangerous environments while ensuring the charging safety of inspection robots is an urgent problem to be solved currently.

[0026] Through methods such as environmental monitoring and precise positioning and docking, this application improves the utilization rate of charging piles and ensures the charging safety of inspection robots in high-risk scenarios.

[0027] It should be noted that the execution subject of this embodiment can be a wireless charging system for inspection robots, or a computing service device with data processing, network communication, and program running functions, or an electronic device capable of implementing the above-mentioned wireless charging function of inspection robots, etc. This embodiment does not specifically limit this. The following takes the wireless charging system for inspection robots as an example to illustrate this embodiment and the following embodiments.

[0028] Based on this, the embodiment of this application provides a method for wireless charging of inspection robots, referring to Figure 1 , Figure 1 is the flowchart of the first embodiment of the method for wireless charging of inspection robots in this application.

[0029] In this embodiment, the method for wireless charging of inspection robots is applied to the inspection robot side, and the method for wireless charging of inspection robots includes steps S10~S40: Step S10: Obtain the current position and battery power of the inspection robot.

[0030] It should be noted that in this step, the inspection robot obtains its current position through a built-in receiving positioning module (such as GPS or radio frequency identification reader / writer), and the current position refers to the specific coordinate position of the inspection robot in space. At the same time, the battery management module monitors the battery power status in real time. It can be understood that the function of this step is to determine whether the robot needs to be charged and which charging pile to go to for charging.

[0031] Step S20: Send a charging request to the cloud based on the battery power, so that the cloud can feedback the target charging pile identifier and the target charging pile location based on the charging request.

[0032] It should be noted that after the inspection robot determines that charging is required according to the battery power, it will send a charging request to the cloud through its communication unit (such as LoRa / 5G module). After receiving the request, the cloud will select the nearest and available charging pile according to the current position of the robot and the distribution of the charging piles, and feedback the identifier and location information of the charging pile to the robot. For example: Suppose in a chemical plant scenario, the inspection robot sends a charging request to the cloud. The cloud will select the nearest charging pile such as "Charging Pile No. 1 in Area A" as the target charging pile according to the coordinates of the current position of the robot, and feedback the target charging pile identifier (such as "CHG001") and the target charging pile location (such as coordinates or geographical location) of the charging pile to the robot.

[0033] In addition, it should be noted that the charging request refers to an instruction sent by the inspection robot to the cloud, which includes its current position and battery power information and requests for charging. The target charging pile identifier refers to the radio frequency identification code used to uniquely identify the target charging pile, which is selected by the cloud according to the distribution of the charging piles and feedback to the robot. The target charging pile location refers to the specific coordinates or geographical location of the target charging pile in space, which is provided by the cloud to the robot so that the robot can go to charge.

[0034] Step S30: Determine a driving strategy based on the current position and the target charging pile location.

[0035] It should be noted that in this step, after the inspection robot receives the location information of the target charging pile, it will determine the driving strategy to be taken according to its current position and the position of the target charging pile, and then plan an optimal driving path. For example, during driving, the robot will first use the global path planning algorithm for long-distance driving, and when approaching the target charging pile, switch to the local obstacle avoidance algorithm for short-distance driving.

[0036] In a feasible implementation manner, the step S30 specifically includes: Step S301: Obtain a relative distance according to the current position and the target charging pile location.

[0037] It should be noted that in this step, the inspection robot obtains its current position through its built-in positioning module and receives the position of the target charging pile fed back by the cloud. The inspection robot will use the built-in path planning algorithm or distance calculation module to calculate the relative distance between the two based on these two position information. The relative distance refers to the straight-line spatial distance between the current position of the inspection robot and the position of the target charging pile. It can be understood that the function of this step is to determine the spatial distance between the robot and the target charging pile, providing a basis for selecting an appropriate driving strategy in the subsequent steps.

[0038] Step S302: When the relative distance is greater than the preset relative distance threshold, enable the first driving strategy.

[0039] It should be noted that when the relative distance calculated by the inspection robot is greater than the preset relative distance threshold (such as 1 meter), the inspection robot will enable the first driving strategy, that is, the long-distance driving strategy. Under this strategy, the robot mainly uses the UHF frequency band for rough positioning, plans an optimal long-distance driving path through the global path planning algorithm, and drives towards the target charging pile along this path.

[0040] Step S303: When the relative distance is less than or equal to the preset relative distance threshold, enable the second driving strategy.

[0041] It should be noted that when the relative distance calculated by the inspection robot is less than or equal to the preset relative distance threshold (such as 1 meter), the inspection robot will enable the second driving strategy, that is, the short-distance driving strategy. Under this strategy, the robot mainly uses the LF frequency band for precise positioning, and fine-tunes the driving path through the local obstacle avoidance algorithm and phase difference calculation to ensure that the robot can accurately and safely dock with the target charging pile.

[0042] Step S40: Send a docking signal to the wireless charger according to the driving strategy and the target charging pile identifier, so that the wireless charger wirelessly charges the inspection robot according to the docking signal.

[0043] It should be noted that in this step, the inspection robot travels to the target charging pile according to the planned driving strategy. When approaching the charging pile, it docks through its built-in receiving module, such as a dual-frequency RFID (Radio Frequency Identification) reader and the positioning module in the charging pile. At this time, the robot will send the encrypted verification code obtained according to the target charging pile identifier to the cloud to verify the identity of the robot. After successful verification, a docking signal will be sent to the wireless charger to activate the charging process through magnetic field coupling. Additionally, it should be noted that the docking signal refers to the signal sent by the inspection robot to the wireless charger when approaching the target charging pile, which is used to trigger the charging process.

[0044] In a feasible implementation manner, step S40 specifically includes: Step S401: Obtain the control parameters of the inspection robot according to the driving strategy, where the control parameters include the moving direction and the moving distance.

[0045] It should be noted that the control parameters refer to the specific action instructions that the inspection robot needs to follow when executing the driving strategy. Specifically, in this step, the inspection robot will calculate the specific control parameters according to the driving strategy (long-distance driving strategy or short-distance driving strategy) determined in step S30 through the built-in path planning algorithm and motion control module. These control parameters include the moving direction (such as forward, backward, left turn, right turn) and the moving distance (such as an exact distance in meters or centimeters).

[0046] Step S402: Obtain the encrypted verification code according to the target charging pile identifier, and send the encrypted verification code to the cloud, so that the cloud performs identity authentication according to the encrypted verification code and feedbacks the charging identifier.

[0047] It should be noted that the encrypted verification code refers to an encrypted string generated by the inspection robot according to the unique identifier of the target charging pile through a specific encryption algorithm, which is used for identity authentication and secure communication. The charging identifier refers to an identifier feedback by the cloud server to the robot after verifying the robot's identity and charging permission, which is used to indicate whether the robot is allowed to perform wireless charging. Specifically, in this step, when the inspection robot approaches the target charging pile, it will send the target charging pile identifier to the target charging pile, and the target charging pile will generate an encrypted verification code using this identifier. This verification code is obtained by encrypting the identifier through a preset encryption algorithm (such as AES, RSA, etc.). The inspection robot sends the encrypted verification code to the cloud server. After receiving the verification code, the cloud server will decrypt it using the pre-stored key and compare it with the records in the database to verify the identity and charging permission of the inspection robot. After the verification is passed, the cloud server feedbacks a charging identifier (that is, the permission identifier for whether charging is allowed) to the inspection robot.

[0048] Step S403: Send a docking signal to the wireless charger according to the control parameters and the charging identifier.

[0049] It should be noted that in this step, after receiving the charging identifier feedback from the cloud server, the inspection robot first checks whether the identifier indicates permission to charge (such as "ALLOW"). If charging is allowed, the inspection robot adjusts its position and attitude according to the control parameters (moving direction and moving distance), and gradually approaches the target charging pile. When the inspection robot reaches the charging range of the charging pile, it sends a docking signal to the wireless charger (i.e., the target charging pile). The docking signal contains the robot's charging request and expected charging parameters, etc.

[0050] In a feasible implementation manner, step S401 specifically includes: Step A10: When the driving strategy is the first driving strategy, receive the radio frequency identification (RFID) positioning signal of the wireless charger according to the first preset frequency band, and calculate the moving direction and the first displacement distance according to the signal strength of the RFID positioning signal.

[0051] It should be noted that the first displacement distance refers to the approximate distance between the inspection robot and the charging pile estimated according to the RFID positioning signal received in the UHF (Ultra High Frequency) frequency band under the first driving strategy (long-distance driving strategy). The first preset frequency band refers to the UHF frequency band (860 - 960 MHz), which is used for long-distance detection and rough positioning.

[0052] In addition, it should be noted that when the inspection robot determines that the driving strategy adopted is the first driving strategy (i.e., the long-distance driving strategy), the robot enables the UHF frequency band (860 - 960 MHz) in its built-in dual-frequency RFID reader / writer to receive the RFID positioning signal of the wireless charger. The UHF frequency band is suitable for long-distance detection and can cover a large range. The robot receives the radio frequency signals from the charging pile through a multi-antenna array, and calculates the orientation of the charging pile relative to the robot according to the signal strength difference received by each antenna, so as to determine the moving direction. At the same time, according to the attenuation of the signal strength, the robot can also estimate the approximate distance between itself and the charging pile, that is, the first displacement distance. It can be understood that the function of this step is to enable the inspection robot to quickly and accurately locate the approximate position of the charging pile at a long distance and plan a preliminary path to approach the charging pile.

[0053] Step A20: When the driving strategy is the second driving strategy, receive the radio frequency identification (RFID) positioning signal of the wireless charger according to the second preset frequency band, and calculate the second displacement distance according to the phase difference of the RFID positioning signal.

[0054] It should be noted that the second displacement distance refers to the displacement distance between the inspection robot and the charging pile accurately calculated based on the radio frequency identification positioning signal received in the LF (Low Frequency) band under the second driving strategy (close-range driving strategy). The second preset frequency band refers to the LF band (125 kHz), which is used for near-field precise alignment and accurate calculation of the horizontal offset.

[0055] Additionally, it should be noted that when the inspection robot determines that the driving strategy adopted is the second driving strategy (i.e., the close-range driving strategy), the robot switches to the LF band (125 kHz) in its built-in dual-frequency RFID reader / writer to receive the radio frequency identification positioning signal of the wireless charger. The LF band is suitable for near-field precise alignment and can provide higher positioning accuracy. The robot accurately calculates the horizontal offset, that is, the second displacement distance, by measuring the phase difference of the received radio frequency signal. It can be understood that the function of this step is to enable the inspection robot to accurately adjust its position and attitude at close range, ensure accurate alignment with the charging coil of the charging pile, and thus achieve efficient wireless charging.

[0056] In a feasible implementation manner, step S403 specifically includes: Step B10: When the charging identifier is an allowed charging identifier, control the inspection robot to move to the first preset range of the wireless charger according to the moving direction and the first displacement distance.

[0057] It should be noted that when the inspection robot receives the charging identifier feedback from the cloud server and the identifier is an allowed charging identifier (such as "ALLOW"), the inspection robot will start its motion control module according to the moving direction and the first displacement distance calculated in the previous steps, and move towards the wireless charger along a predetermined path and speed. The first preset range refers to a relatively broad area (such as near a 1 m range from the wireless charger), and the size of this range depends on the low-frequency signal coverage range of the wireless charger and the positioning accuracy requirements of the inspection robot. Within this area, the inspection robot can receive the radio frequency identification positioning signal of the LF band of the wireless charger, so as to perform more accurate positioning.

[0058] Step B20: When moving to within the first preset range, control the inspection robot to move to the coil position of the wireless charger according to the second displacement distance, and send a docking signal to the wireless charger.

[0059] It should be noted that when the inspection robot moves within the first preset range (such as within 1 m of the wireless charger), it will switch to the LF band. By utilizing the high-precision positioning ability of this band and based on the second displacement distance (i.e., the horizontal offset) calculated in the previous steps, its position and attitude are further adjusted. The inspection robot precisely calculates the relative position with the charging coil of the wireless charger through its built-in multi-antenna array and signal processing algorithm, and controls its wheels for fine-tuning until it is accurately aligned with the charging coil. After the alignment is completed, the inspection robot sends a docking signal to the wireless charger, which contains the charging request of the robot and the expected charging parameters, etc. After receiving the docking signal, the wireless charger performs a charging alignment judgment and starts wireless charging for the robot after confirming that there is no error.

[0060] This embodiment provides a method for wireless charging of an inspection robot. The method of this embodiment includes: obtaining the current position and battery power of the inspection robot; sending a charging request to the cloud based on the battery power so that the cloud feedbacks a target charging pile identifier and a target charging pile position based on the charging request; determining a driving strategy based on the current position and the target charging pile position; sending a docking signal to the wireless charger according to the driving strategy and the target charging pile identifier so that the wireless charger performs wireless charging on the inspection robot according to the docking signal. In summary, this embodiment solves the problem of how to achieve wireless charging of the inspection robot in a complex and dangerous environment while ensuring the charging safety of the inspection robot through methods such as environmental monitoring and precise positioning and docking, improving the utilization rate of the charging pile and ensuring the charging safety of the inspection robot in high-risk scenarios.

[0061] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar content as that in the above-mentioned first embodiment can be referred to the above introduction and will not be repeated hereinafter.

[0062] On this basis, the embodiment of the present application provides a method for wireless charging of an inspection robot. The method for wireless charging of the inspection robot is applied to a wireless charger. Please refer to Figure 2 , Figure 2 which is a schematic flowchart of the second embodiment of the method for wireless charging of the inspection robot of the present application.

[0063] In this embodiment, the method for wireless charging of the inspection robot includes steps S10' to S30': Step S10': Receive the docking signal sent from the inspection robot side.

[0064] It should be noted that in this step, the communication module built into the wireless charger continuously monitors a specific frequency band (such as LoRa or 5G frequency band) to receive the docking signal sent from the inspection robot side. The docking signal is a signal containing charging requests, authentication information, and expected charging parameters, etc., sent by the inspection robot to the wireless charger when it completes the preliminary positioning and is ready for precise docking. After receiving the docking signal, the wireless charger will perform a preliminary analysis to confirm the validity and integrity of the signal.

[0065] Step S20': Obtain the docking deviation distance according to the docking signal.

[0066] It should be noted that after receiving the docking signal, the wireless charger will further analyze the location information contained in the signal (such as the positioning information sent through RFID tags), and combine its own built-in positioning module (such as RFID tags) to calculate the docking deviation distance from the inspection robot. The docking deviation distance refers to the actual distance deviation between the current position of the inspection robot and the center position of the charging coil of the wireless charger. For example: After receiving the docking signal of the inspection robot, by analyzing the RFID tag information in the signal, the wireless charger knows that the inspection robot is currently located about 1 meter in its northeast direction, but the specific horizontal offset is unknown. The wireless charger uses its built-in positioning module and signal processing algorithm to calculate that the horizontal offset distance between the inspection robot and the center position of the charging coil is 20 cm to the left (that is, the robot needs to fine-tune 20 cm to the right to align with the charging coil).

[0067] Step S30': When the docking deviation distance is less than the preset docking deviation threshold, perform wireless charging on the inspection robot.

[0068] It should be noted that in this step, after the wireless charger calculates the docking deviation distance, it will compare this distance with the preset docking deviation threshold. The preset docking deviation threshold is a safe distance range set according to the technical characteristics and actual application scenarios of the wireless charger, such as 30 cm. When the docking deviation distance is less than the preset docking deviation threshold, the wireless charger believes that the inspection robot has been accurately aligned to the charging coil position and can start wireless charging. At this time, the wireless charger will activate its wireless charging module to provide electrical energy for the inspection robot through electromagnetic induction or magnetic resonance, etc.

[0069] In a feasible implementation manner, after the step S30', it further includes: Step S40': Collect environmental monitoring data according to the first preset frequency.

[0070] It should be noted that the first preset frequency refers to the initial frequency of environmental monitoring data collection, which is set to 0.5 Hz in this embodiment, that is, data is collected every 2 seconds. Specifically, as Figure 3 shown, in this step, after the inspection robot is successfully docked with the wireless charger and starts wireless charging, the environmental monitoring module built in the wireless charger starts to collect environmental monitoring data at the first preset frequency (such as 0.5 Hz). The environmental monitoring data includes, but is not limited to, temperature, humidity, etc. It can be understood that by regularly collecting these data, potential safety hazards can be discovered in time to ensure the safe progress of the wireless charging process.

[0071] Step S50': Obtain the humidity change rate and the temperature change rate according to the environmental monitoring data.

[0072] It should be noted that in this step, after the wireless charger collects the environmental monitoring data, it will further calculate the humidity change rate and the temperature change rate. These change rates are obtained by comparing the difference between the currently collected data and the previously collected data, and are used to evaluate the dynamic changes of the environmental conditions. It can be understood that the calculation of the humidity change rate and the temperature change rate helps to timely discover abnormal fluctuations in the environmental conditions, so as to take corresponding measures. For example: Assume that the environmental temperature collected by the wireless charger at a certain moment is 25 °C and the humidity is 60%; and the data collected two seconds later is temperature 26 °C and humidity 62%. By calculation, the temperature change rate can be obtained as 0.5 °C / s (or 30 °C / min), and the humidity change rate as 1% / s (or 60% / min).

[0073] Step S60': When the humidity change rate is greater than the preset humidity change threshold or the temperature change rate is greater than the preset temperature change threshold, switch the first preset frequency to the second preset frequency, and collect the environmental monitoring data according to the second preset frequency.

[0074] It should be noted that when the wireless charger detects that the humidity change rate is greater than the preset humidity change threshold or the temperature change rate is greater than the preset temperature change threshold, it will consider that the current environmental conditions may be abnormal. Therefore, it will switch the collection frequency of the environmental monitoring data from the first preset frequency (0.5 Hz) to the second preset frequency (5 Hz). It can be understood that by increasing the collection frequency, the dynamic changes of the environmental conditions can be captured more timely, providing more accurate data support for subsequent early warning and processing.

[0075] Step S70': Synchronize and package the environmental monitoring data and the charging status parameters to obtain the charging status data, and upload the charging status data to the cloud according to the preset transmission strategy, so that the cloud performs fault early warning according to the charging status data.

[0076] It should be noted that asFigure 3 As shown, in this step, while the wireless charger collects environmental monitoring data, it also monitors the charging status parameters (such as voltage, current, etc.) in real time. These data will be synchronously packaged into charging status data and uploaded to the cloud according to a preset transmission strategy (such as uploading at fixed time intervals, every 1 hour or 2 hours, etc.). After receiving these data, the cloud server will analyze and process them to detect whether there are potential faults or safety hazards. Once an abnormal situation is detected, the cloud server will immediately send out a warning signal to notify relevant personnel for timely handling.

[0077] In a feasible implementation manner, the step of uploading the charging status data to the cloud according to a preset transmission strategy includes: Step C10: Split the charging status data to obtain normal charging status data and abnormal charging status data.

[0078] It should be noted that normal charging status data refers to data where all monitored environmental parameters and charging parameters are within the safe range during the charging process, while abnormal charging status data refers to data where any monitored environmental parameter or charging parameter exceeds the preset safe range during the charging process.

[0079] Specifically, before uploading the charging status data to the cloud, it is first necessary to split these data. The basis for splitting is whether the status reflected by the data is normal. Normal charging status data refers to data where environmental monitoring data (such as temperature, humidity, etc.) and charging status parameters (such as voltage, current, etc.) are all within the preset safe range during the charging process and no warning mechanism is triggered. Abnormal charging status data refers to data that exceeds the preset safe range and may cause faults or safety hazards. For example, assume that during a charging process, the environmental temperature change rate remains within 5°C / min, the humidity change rate remains within 10% / min, and the charging voltage and current are both stable within the normal range. Then these data will be classified as normal charging status data. On the contrary, if the environmental temperature change rate suddenly rises to 10°C / min, or the charging current shows abnormal fluctuations, then these data will be classified as abnormal charging status data.

[0080] Step C20: Upload the normal charging status data to the cloud according to the bandwidth mode in the preset transmission strategy.

[0081] It should be noted that as Figure 3As shown, for the normal charging status data, it is uploaded using the bandwidth mode in the preset transmission strategy. In this embodiment, the bandwidth mode refers to the way of allocating transmission resources according to the priority of data transmission and the available bandwidth. For normal data, since it does not contain urgent or important information, a lower bandwidth can be used for transmission to save network resources. For example, assume that the preset transmission strategy stipulates that the normal charging status data is uploaded once an hour and the low-bandwidth mode is used for transmission. Then, at the end of each hour, the system will pack all the normal charging status data collected during the current hour and upload it to the cloud through the low-bandwidth channel. Additionally, it should be noted that the charging status data is also appended with the charging pile number, the inspection robot number, the coordinates of the charging pile, and the timestamp.

[0082] Step C30: Upload the abnormal charging status data to the cloud according to the priority mode in the preset transmission strategy.

[0083] It should be noted that as Figure 3 shown, for the abnormal charging status data, since it contains important fault or safety hazard information, it needs to be uploaded using the priority mode in the preset transmission strategy. The priority mode means that these data will be transmitted prior to normal data to ensure that the cloud can receive these key information in a timely manner and process them. For example, assume that during a charging process, the system detects a sudden increase in the ambient temperature, triggering the generation of abnormal charging status data. At this time, the system will immediately upload this part of the abnormal data to the cloud through the high-priority channel without waiting for the normal data upload cycle of the next hour.

[0084] In this embodiment, by receiving the docking signal of the inspection robot, calculating the docking deviation, and controlling wireless charging, combined with multi-frequency environmental monitoring data collection and dynamic adjustment strategy, the collaborative work of charging and environmental monitoring is achieved, solving the problems of single function and data island of traditional charging piles, improving the use efficiency of charging piles, the accuracy of data synchronization, and the timeliness of fault warning, and ensuring the safe and efficient operation of the inspection robot in high-risk scenarios.

[0085] Based on the first embodiment and the second embodiment of the present application, in the third embodiment of the present application, the same or similar content as that in the above-mentioned first embodiment and the second embodiment can be referred to the above introduction and will not be elaborated hereinafter.

[0086] On this basis, the embodiment of the present application provides a method for wireless charging of an inspection robot. The method for wireless charging of the inspection robot is applied to the cloud. Please refer to Figure 4 , Figure 4 which is the flow schematic diagram of the third embodiment of the method for wireless charging of the inspection robot of the present application.

[0087] In this embodiment, the wireless charging method for the inspection robot includes steps S10'' to S40'': Step S10'': Receive the charging request and the encrypted verification code sent from the inspection robot side.

[0088] It should be noted that the cloud will first receive the charging request from the inspection robot side. This request contains the current power status, location information of the inspection robot, and an encrypted verification code. The encrypted verification code is used to ensure the legality and security of the charging request and prevent illegal charging behavior.

[0089] Step S20'': Match the current location in the charging request with the preset charging pile deployment map to obtain the target charging pile number, the target charging pile location, and the target charging pile identifier.

[0090] It should be noted that in this step, the cloud will match the received current location information of the inspection robot with the preset charging pile deployment map to determine the nearest and available target charging pile to the inspection robot. The matching result includes the number, specific location, and identifier (RFID ID) of the target charging pile.

[0091] Step S30'': Retrieve the preset key according to the target charging pile number and verify the encrypted verification code to obtain the charging identifier.

[0092] It should be noted that the cloud will retrieve the corresponding key from the preset key library according to the target charging pile number, decrypt and verify the encrypted verification code sent by the inspection robot. After successful verification, a charging identifier is generated for subsequent identity verification and authorization during the charging process. For example: After receiving the target charging pile number, the cloud will find the corresponding key from the key library and decrypt the encrypted verification code. If the decryption is successful and the verification code is valid, a unique charging identifier is generated and bound to the association information of the inspection robot and the charging pile.

[0093] Step S40'': Send the target charging pile location, the target charging pile identifier, and the charging identifier to the inspection robot side, so that the inspection robot side controls the inspection robot to perform wireless charging according to the target charging pile location, the target charging pile identifier, and the charging identifier.

[0094] It should be noted that in this step, the cloud will send the matched target charging pile location, identifier (RFID ID), and charging identifier to the inspection robot side. The inspection robot side will plan a path to the target charging pile according to this information and use the charging identifier for identity verification and authorization, so as to control the inspection robot to perform wireless charging.

[0095] In this embodiment, the cloud receives the charging request of the inspection robot and verifies the encrypted verification code, matches the nearest charging pile in combination with the charging pile deployment map, generates a charging identifier and sends it to the robot side, realizing the process of the inspection robot autonomously searching for and docking with a wireless charger for wireless charging, solving the problems of manual intervention and low efficiency in traditional charging methods, and improving the automation efficiency and safety of charging.

[0096] In addition, as Figure 5 shown, the present application also provides an inspection robot wireless charging system, and the inspection robot wireless charging system includes: a wireless charger, an inspection robot side, and a cloud, and the inspection robot side performs data interaction with the wireless charger and the cloud respectively. The inspection robot wireless charging system provided by the present application adopts the inspection robot wireless charging method in the above embodiment, and can solve the technical problem of how to realize wireless charging of the inspection robot in a complex and dangerous environment while ensuring the charging safety of the inspection robot. Compared with the prior art, the beneficial effects of the inspection robot wireless charging system provided by the present application are the same as those of the inspection robot wireless charging method provided by the above embodiment, and other technical features in the inspection robot wireless charging system are the same as the features disclosed in the method of the previous embodiment, and will not be elaborated here.

[0097] In addition, the present application also provides a computer program product, including a computer program, and when the computer program is executed by a processor, it realizes the steps of the inspection robot wireless charging method as described above.

[0098] The computer program product provided by the present application can solve the technical problem of how to realize wireless charging of the inspection robot in a complex and dangerous environment while ensuring the charging safety of the inspection robot. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as those of the inspection robot wireless charging method provided by the above embodiment, and will not be elaborated here.

[0099] It should be understood that each part disclosed in the present application can be implemented by hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in a suitable manner in any one or more embodiments or examples.

[0100] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present application, and all should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0101] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a part of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as combinations of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0102] The modules described in the embodiments of the present application can be implemented in software or in hardware. Among them, the name of the module does not constitute a limitation to the unit itself in some cases.

[0103] The above are only some embodiments of the present application, and do not limit the patent scope of the present application. All equivalent structural transformations made under the technical concept of the present application by using the content of the specification and drawings of the present application, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present application.

Claims

1. A wireless charging method for an inspection robot, characterized in that The wireless charging method for the inspection robot is applied to the inspection robot side, and the method includes: Obtain the current position and battery power of the inspection robot; Send a charging request to the cloud based on the battery power, so that the cloud feeds back a target charging pile identifier and a target charging pile location based on the charging request; Determine a driving strategy based on the current position and the target charging pile location; Send a docking signal to the wireless charger according to the driving strategy and the target charging pile identifier, so that the wireless charger wirelessly charges the inspection robot according to the docking signal.

2. The method according to claim 1, wherein The step of sending a docking signal to the wireless charger according to the driving strategy and the target charging pile identifier includes: Obtain the control parameters of the inspection robot according to the driving strategy, where the control parameters include a moving direction and a moving distance; Obtain an encryption verification code according to the target charging pile identifier, and send the encryption verification code to the cloud, so that the cloud performs identity authentication according to the encryption verification code and feeds back a charging identifier; Send a docking signal to the wireless charger according to the control parameters and the charging identifier.

3. The method according to claim 2, characterized in that, The step of obtaining the control parameters of the inspection robot according to the driving strategy includes: When the driving strategy is the first driving strategy, receive the radio frequency identification positioning signal of the wireless charger according to a first preset frequency band, and calculate the moving direction and a first displacement distance according to the signal strength of the radio frequency identification positioning signal; When the driving strategy is the second driving strategy, receive the radio frequency identification positioning signal of the wireless charger according to a second preset frequency band, and calculate a second displacement distance according to the phase difference of the radio frequency identification positioning signal.

4. The method according to claim 2, characterized in that, The step of sending a docking signal to the wireless charger according to the control parameters and the charging identifier includes: When the charging identifier is an allowed charging identifier, control the inspection robot to move to a first preset range of the wireless charger according to the moving direction and the first displacement distance; When moving to within the first preset range, control the inspection robot to move to the coil position of the wireless charger according to the second displacement distance, and send a docking signal to the wireless charger.

5. The method according to claim 1, wherein The step of determining a driving strategy based on the current position and the target charging pile location includes: Obtain a relative distance according to the current position and the target charging pile location; When the relative distance is greater than a preset relative distance threshold, enable the first driving strategy; When the relative distance is less than or equal to the preset relative distance threshold, enable the second driving strategy.

6. A wireless charging method for an inspection robot, characterized in that, The wireless charging method for the inspection robot is applied to the wireless charger, and the method includes: Receive a docking signal sent by the inspection robot side; Obtain a docking deviation distance according to the docking signal; When the docking deviation distance is less than a preset docking deviation threshold, wirelessly charge the inspection robot.

7. The method according to claim 6, wherein After the step of wirelessly charging the inspection robot when the docking deviation distance is less than a preset docking deviation threshold, it further includes: Collect environmental monitoring data according to a first preset frequency; Obtain a humidity change rate and a temperature change rate according to the environmental monitoring data; When the humidity change rate is greater than a preset humidity change threshold or the temperature change rate is greater than a preset temperature change threshold, switch the first preset frequency to the second preset frequency, and collect the environmental monitoring data according to the second preset frequency; Synchronize and package the environmental monitoring data and the charging status parameters to obtain charging status data, and upload the charging status data to the cloud according to a preset transmission strategy, so that the cloud performs fault warning according to the charging status data.

8. The method according to claim 7, wherein The step of uploading the charging status data to the cloud according to a preset transmission strategy includes: Split the charging status data to obtain normal charging status data and abnormal charging status data; Upload the normal charging status data to the cloud according to the bandwidth mode in the preset transmission strategy; Upload the abnormal charging status data to the cloud according to the priority mode in the preset transmission strategy.

9. A wireless charging method for a patrol robot, characterized in that, The wireless charging method for the inspection robot is applied to the cloud, and the method includes: Receive a charging request and an encrypted verification code sent from the inspection robot side; Match the current position in the charging request with a preset charging pile deployment map to obtain a target charging pile number, a target charging pile position, and a target charging pile identifier; Retrieve a preset key according to the target charging pile number and verify the encrypted verification code to obtain a charging identifier; Send the target charging pile position, the target charging pile identifier, and the charging identifier to the inspection robot side, so that the inspection robot side controls the inspection robot to perform wireless charging according to the target charging pile position, the target charging pile identifier, and the charging identifier.

10. A wireless charging system for a patrol robot, characterized in that, The wireless charging system for the inspection robot includes: an inspection robot side, a wireless charger, and a cloud. The wireless charging method for the inspection robot as described in any one of claims 1 to 5 above is executed on the inspection robot side, and the wireless charging method for the inspection robot as described in any one of claims 6 to 8 above is executed on the wireless charger, and the wireless charging method for the inspection robot as described in claim 9 above is executed on the cloud.

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