阅读说明：本技术 一种巡检机器人充电房及巡检机器人 (Patrol and examine robot room of charging and patrol and examine robot ) 是由 王水根 王承端 侯程坤 辛润超 于 2021-08-10 设计创作，主要内容包括：本发明公开了一种巡检机器人充电房,包括左充电桩及右充电桩,所述左充电桩包括左电源基座及左电极探头；所述右充电桩包括右电源基座及右电极探头；所述左电极探头及所述右电极探头为一端连接于对应的充电桩,另一端向所述充电房中部延伸的弹性导电探头；所述左电极探头及所述右电极探头相互靠近的两端的间距不超过巡检机器人的宽度,当所述巡检机器人驶入所述充电房时,所述左电极探头及所述右电极探头分别与对应的充电电极电连接。本发明利用了具有弹性的外延式电极探头,不需要巡检机器人与充电桩之间复杂的定位对准,大大提高了巡检机器人的对准成功率及充电效率。本发明同时还提供了一种具有上述有益效果的巡检机器人。(The invention discloses an inspection robot charging room which comprises a left charging pile and a right charging pile, wherein the left charging pile comprises a left power supply base and a left electrode probe; the right charging pile comprises a right power supply base and a right electrode probe; the left electrode probe and the right electrode probe are elastic conductive probes, one ends of the elastic conductive probes are connected to corresponding charging piles, and the other ends of the elastic conductive probes extend to the middle of the charging room; the distance between two mutually close ends of the left electrode probe and the right electrode probe is not more than the width of the inspection robot, and when the inspection robot drives into the charging room, the left electrode probe and the right electrode probe are respectively and electrically connected with corresponding charging electrodes. The invention utilizes the elastic extension electrode probe, does not need complex positioning alignment between the inspection robot and the charging pile, and greatly improves the alignment success rate and the charging efficiency of the inspection robot. The invention also provides the inspection robot with the beneficial effects.)

1. The inspection robot charging room is characterized by comprising a left charging pile and a right charging pile, wherein the left charging pile comprises a left power supply base and a left electrode probe; the right charging pile comprises a right power supply base and a right electrode probe;

the left electrode probe and the right electrode probe are elastic conductive probes, one ends of the elastic conductive probes are connected to corresponding charging piles, and the other ends of the elastic conductive probes extend to the middle of the charging room;

the distance between two mutually close ends of the left electrode probe and the right electrode probe is not more than the width of the inspection robot, and when the inspection robot drives into the charging room, the left electrode probe and the right electrode probe are respectively and electrically connected with corresponding charging electrodes.

2. The inspection robot charging room of claim 1, wherein a distance between two ends of the left electrode probe and the right electrode probe, which are close to each other, is smaller than a width of the inspection robot.

3. The inspection robot charging room of claim 1, wherein the left electrode probe includes a left conductive probe and a left conductive spring, and the right electrode probe includes a right conductive probe and a right conductive spring;

the left conductive probe is connected to the left power supply base through the left conductive spring, and the right conductive probe is connected to the right power supply base through the right conductive spring.

4. The inspection robot charging room of claim 1, wherein the left electrode probe and the right electrode probe are strip electrode sheets.

5. The inspection robot charging room of claim 1, wherein the surfaces of the left electrode probe and the right electrode probe are provided with insulating protective layers.

6. The inspection robot charging room of claim 1, wherein the left electrode probe and the right electrode probe are located on a same line.

7. The inspection robot charging room of claim 1, wherein the left electrode probe and the right electrode probe extend in a direction perpendicular to a direction of travel of the inspection robot.

8. The inspection robot is characterized in that a charging anode and a charging cathode of the inspection robot are respectively arranged on the left side and the right side of a machine body;

the charging anode and the charging cathode are respectively electrically connected with electrode probes corresponding to the charging room of the inspection robot.

9. The inspection robot according to claim 8, wherein the charging positive electrode and/or the charging negative electrode are rectangular electrodes with a horizontal long axis.

10. The inspection robot according to claim 9, wherein the length of the major axis of the rectangular electrode ranges from 10 centimeters to 30 centimeters; the rectangular electrode has a minor axis length in a range of 1.5 centimeters to 2 centimeters, inclusive.

Technical Field

The invention relates to the field of automatic robots, in particular to an inspection robot charging room and an inspection robot.

Background

With the development of the robot technology and the artificial intelligence technology, the unmanned inspection robot starts to be widely applied, such as data machine room inspection, power distribution room inspection, transformer substation inspection, park inspection and the like. In order to really realize unmanned inspection, an automatic charging device needs to be designed for the robot, and the problem of endurance is solved.

Currently, the automatic charging of indoor and outdoor mobile robots mostly adopts a positioning and aligning algorithm to enable the robots to actively search and align with fixed charging devices to complete the autonomous charging. Typically, the charging device in this manner has two adjacent contact points, and correspondingly, the robot end has two exposed contact points. For the indoor robot, the charging mode is simple and convenient, and large potential safety hazards do not exist. However, in the outdoor robot, it is necessary to consider various weather conditions such as rain and snow. In consideration of safety, water resistance and the like, a small-size charging room is usually configured for the robot charging pile, and the general area of the charging room is very small and basically only enough for accommodating one robot and the charging pile. Therefore, the robot does not have enough movement space in the charging room to realize a complicated positioning alignment process, resulting in slow charging alignment, low efficiency, and high alignment failure rate.

In summary, how to improve the efficiency of the autonomous charging of the outdoor inspection robot and the success rate of the alignment is a problem to be solved urgently by those skilled in the art.

Disclosure of Invention

The invention aims to provide an inspection robot charging room and an inspection robot, and aims to solve the problem that charging alignment of an outdoor automatic inspection robot in the prior art is difficult.

In order to solve the technical problems, the invention provides an inspection robot charging room which comprises a left charging pile and a right charging pile, wherein the left charging pile comprises a left power supply base and a left electrode probe; the right charging pile comprises a right power supply base and a right electrode probe;

the left electrode probe and the right electrode probe are elastic conductive probes, one ends of the elastic conductive probes are connected to corresponding charging piles, and the other ends of the elastic conductive probes extend to the middle of the charging room;

the distance between two mutually close ends of the left electrode probe and the right electrode probe is not more than the width of the inspection robot, and when the inspection robot drives into the charging room, the left electrode probe and the right electrode probe are respectively and electrically connected with corresponding charging electrodes.

Optionally, patrol and examine robot charging room in, the left electrode probe reaches the interval at the both ends that the right electrode probe is close to each other is less than patrol and examine the width of robot.

Optionally, in the inspection robot charging room, the left electrode probe includes a left conductive probe and a left conductive spring, and the right electrode probe includes a right conductive probe and a right conductive spring;

the left conductive probe is connected to the left power supply base through the left conductive spring, and the right conductive probe is connected to the right power supply base through the right conductive spring.

Optionally, in the inspection robot charging room, the left electrode probe and the right electrode probe are strip-shaped electrode plates.

Optionally, in the inspection robot charging room, the left electrode probe and the right electrode probe are provided with insulating protective layers on the surfaces thereof.

Optionally, in the inspection robot charging room, the left electrode probe and the right electrode probe are located on the same line.

Optionally, in the inspection robot charging room, the extending direction of the left electrode probe and the extending direction of the right electrode probe are perpendicular to the traveling direction of the inspection robot.

A polling robot is characterized in that a charging anode and a charging cathode of the polling robot are respectively arranged on the left side and the right side of a machine body;

the charging anode and the charging cathode are respectively electrically connected with electrode probes corresponding to the charging room of the inspection robot.

Optionally, in the inspection robot, the charging positive electrode and/or the charging negative electrode are rectangular electrodes with a horizontal long axis.

Optionally, in the inspection robot, the length of the long axis of the rectangular electrode ranges from 10 cm to 30 cm; the rectangular electrode has a minor axis length in a range of 1.5 centimeters to 2 centimeters, inclusive.

The inspection robot charging room provided by the invention comprises a left charging pile and a right charging pile, wherein the left charging pile comprises a left power supply base and a left electrode probe; the right charging pile comprises a right power supply base and a right electrode probe; the left electrode probe and the right electrode probe are elastic conductive probes, one ends of the elastic conductive probes are connected to corresponding charging piles, and the other ends of the elastic conductive probes extend to the middle of the charging room; the distance between two mutually close ends of the left electrode probe and the right electrode probe is not more than the width of the inspection robot, and when the inspection robot drives into the charging room, the left electrode probe and the right electrode probe are respectively and electrically connected with corresponding charging electrodes.

According to the invention, the elastic extension type electrode probes are utilized, when the inspection robot drives into the charging room, the width of a gap between the two electrode probes does not exceed the width of the inspection robot, so that the left side and the right side of the inspection robot can be in contact with the corresponding electrode probes, and because the left electrode probe and the right electrode probe are both elastic conductive probes, the two electrode probes can be tightly attached to the side surface of the inspection robot and are in contact with the charging electrode positioned on the side surface, so that the electric connection is realized, and the inspection robot is further charged. The invention also provides the inspection robot with the beneficial effects.

Drawings

In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of one embodiment of a charging room of an inspection robot provided by the invention;

fig. 2 is a schematic structural diagram of another specific embodiment of the inspection robot charging room provided by the invention;

fig. 3 is a partial structural schematic diagram of another embodiment of the inspection robot charging room provided by the invention;

fig. 4 is a schematic structural diagram of an inspection robot according to an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The core of the invention is to provide an inspection robot charging room, the structural schematic diagram of one specific implementation mode of the inspection robot charging room is shown in fig. 1, the inspection robot charging room comprises a left charging pile and a right charging pile, and the left charging pile comprises a left power supply base 11 and a left electrode probe 12; the right charging pile comprises a right power supply base 21 and a right electrode probe 22;

the left electrode probe 12 and the right electrode probe 22 are elastic conductive probes, one ends of which are connected to corresponding charging piles, and the other ends of which extend to the middle of the charging house;

the distance between the two mutually close ends of the left electrode probe 12 and the right electrode probe 22 is not more than the width of the inspection robot, and when the inspection robot enters the charging room, the left electrode probe 12 and the right electrode probe 22 are respectively and electrically connected with the corresponding charging electrodes.

The charging electrode in the present invention refers to the charging anode 100 and the charging cathode 200 of the inspection robot, and the electrode probe refers to the left electrode probe 12 and/or the right electrode probe 22, which are the same hereinafter and are not described in detail later.

Preferably, since the left electrode probe 12 and the right electrode probe 22 are required to be electrically connected to the charging electrode, the left electrode probe 12 and the right electrode probe 22 are horizontal probes and have the same height as the charging electrode. Of course, an inclined charging probe can be arranged, and the position of the charging electrode on the inspection robot can be adjusted accordingly.

Preferably, the distance between the two ends of the left electrode probe 12 and the two ends of the right electrode probe 22 which are close to each other is smaller than the width of the inspection robot, so that after the inspection robot is in contact with the electrode probes, the electrode probes can elastically deform to abut against the inspection robot, and the electrical connection between the inspection robot and the electrode probes is more reliable.

Optionally, the left electrode probe 12 and the right electrode probe 22 are located on the same straight line, which is convenient for installation.

In addition, the extending direction of the left electrode probe 12 and the right electrode probe 22 is perpendicular to the advancing direction of the inspection robot, so that the contact angle between the left electrode probe 12 and the right electrode probe 22 is the same as that of the inspection robot, the electrical connection between the left electrode probe and the right electrode probe is more reliable, and the working stability is further improved.

The electrode probe of the present invention is not limited in specific structure as long as it satisfies the characteristics of extension length and elasticity, and may be a conductive probe fixed by a spring, or an elastic metal sheet, or other similar structures.

Furthermore, the electrode probe may be processed, such as surface insulation or oxidation resistant coating.

The robot drives into the charging room when charging, and because the height of the electrode probe is consistent with that of a charging electrode of the vehicle body, the robot can automatically contact with a charging electrode plate of the vehicle body without accurate positioning, so that charging is realized. Because the areas of the electrode plates on the two sides of the vehicle body are large, enough tolerance amount is reserved for aligning the electrode plates of the vehicle body by the electrode probes, and the requirement on the matching precision of the robot and the charging electrode is reduced, so that the robot does not need to move in a complex way to realize accurate positioning, the control on the charging alignment motion of the robot is greatly simplified, and the simplicity and the high efficiency of the whole charging process are ensured.

The inspection robot charging room provided by the invention comprises a left charging pile and a right charging pile, wherein the left charging pile comprises a left power supply base 11 and a left electrode probe 12; the right charging pile comprises a right power supply base 21 and a right electrode probe 22; the left electrode probe 12 and the right electrode probe 22 are elastic conductive probes, one ends of which are connected to corresponding charging piles, and the other ends of which extend to the middle of the charging house; the distance between the two mutually close ends of the left electrode probe 12 and the right electrode probe 22 is not more than the width of the inspection robot, and when the inspection robot enters the charging room, the left electrode probe 12 and the right electrode probe 22 are respectively and electrically connected with the corresponding charging electrodes. According to the invention, the elastic extension type electrode probes are utilized, when the inspection robot drives into the charging room, the width of a gap between the two electrode probes does not exceed the width of the inspection robot, so that the left side and the right side of the inspection robot can be in contact with the corresponding electrode probes, and the left electrode probe 12 and the right electrode probe 22 are both elastic conductive probes, so that the two electrode probes can be tightly attached to the side surface of the inspection robot and are in contact with the charging electrodes positioned on the side surface, the electric connection is realized, and the inspection robot is further charged.

On the basis of the first specific embodiment, the electrode probe structure of the charging room is further improved to obtain a second specific embodiment, the structural schematic diagram of which is shown in fig. 2, and the charging room comprises a left charging pile and a right charging pile, wherein the left charging pile comprises a left power supply base 11 and a left electrode probe 12; the right charging pile comprises a right power supply base 21 and a right electrode probe 22;

the left electrode probe 12 and the right electrode probe 22 are elastic conductive probes, one ends of which are connected to corresponding charging piles, and the other ends of which extend to the middle of the charging house;

the distance between the two adjacent ends of the left electrode probe 12 and the right electrode probe 22 is not more than the width of the inspection robot, and when the inspection robot enters the charging room, the left electrode probe 12 and the right electrode probe 22 are respectively electrically connected with the corresponding charging electrodes;

the left electrode probe 12 comprises a left conductive probe 15 and a left conductive spring 14, and the right electrode probe 22 comprises a right conductive probe 25 and a right conductive spring 24;

the left conductive probe 15 is connected to the left power supply base 11 through the left conductive spring 14, and the right conductive probe 25 is connected to the right power supply base 21 through the right conductive spring 24.

The right power base 11 and the left power base 21 in fig. 2 have different shapes because the right power base 11 is provided with a power converter, and the voltage and current modulated by the power converter are suitable for charging the inspection robot. In addition, the charging positive electrode 100 in fig. 2 contacts with the left conductive probe 14, and the charging negative electrode 200 contacts with the right conductive probe 24, but in actual use, the corresponding relationship between the positive electrode and the negative electrode can be reversed, and the left charging pile and the right charging pile are connected through the charging conducting wire in the figure.

The structure with electrode probe further prescribes a limit to among this embodiment, be about to electrode probe divide into conductive probe and conductive spring two parts, conductive probe is the rigidity probe under general condition, and the elasticity function passes through conductive spring and realizes, compares other structures, and the durability of spring is better, is more difficult to lose elasticity because of fatigue, and life is longer, and the mode of accessible replacement conductive probe, do the adjustment to the interval of two electrode probe and the contact surface of patrolling and examining the robot, has more the general usefulness.

The conductive probe in this embodiment may be a long and thin rod-shaped probe, or a metal cap-shaped probe, which can be adjusted according to actual requirements. Of course, the structure of the electrode probe in the present invention is not limited to the one in the present embodiment, and may be changed according to actual circumstances.

On the basis of the first specific embodiment, the electrode probe is further improved from different directions to obtain a third specific embodiment, a schematic partial structure diagram of the third specific embodiment is shown in fig. 3, and the third specific embodiment comprises a left charging pile and a right charging pile, wherein the left charging pile comprises a left power supply base 11 and a left electrode probe 12; the right charging pile comprises a right power supply base 21 and a right electrode probe 22;

the left electrode probe 12 and the right electrode probe 22 are elastic conductive probes, one ends of which are connected to corresponding charging piles, and the other ends of which extend to the middle of the charging house;

the distance between the two adjacent ends of the left electrode probe 12 and the right electrode probe 22 is not more than the width of the inspection robot, and when the inspection robot enters the charging room, the left electrode probe 12 and the right electrode probe 22 are respectively electrically connected with the corresponding charging electrodes;

the left electrode probe 12 and the right electrode probe 22 are strip-shaped electrode plates;

and insulating protective layers 13 are arranged on the surfaces of the left electrode probe 12 and the right electrode probe 22.

In the second embodiment, an electrode probe with a structure different from that of the second embodiment, namely a strip electrode plate, is selected, and the insulating protective layer 13 is additionally arranged on the surface of the electrode probe, so that safety accidents caused by accidental touch of workers are avoided.

In fig. 3, only the left charging pile is taken as an example, the insulating protection layer 13 does not completely wrap the left electrode probe 12, but exposes the left electrode probe 12 to facilitate electrical connection with a corresponding charging electrode.

The insulating protective layer 13 may further be a dense insulating layer, which insulates the electrode probe from contact with external oxygen, snow, water, etc. to prevent corrosion and further prolong the service life of the device.

Of course, the insulating protection layer 13 can also be applied to the surface of the electrode probe with other structures.

The invention also provides an inspection robot, the structural schematic diagram of which is shown in fig. 4 and called as the fourth specific implementation mode, wherein a charging anode 100 and a charging cathode 200 of the inspection robot are respectively arranged at the left side and the right side of the robot body;

the charging anode 100 and the charging cathode 200 are respectively electrically connected with electrode probes corresponding to the charging room of the inspection robot.

In the prior art, except that the robot is difficult to align due to the fact that the outdoor charging room mentioned in the foregoing is small in space and difficult to adjust, due to the fact that the distance of the charging electrodes on the vehicle body is too close, rain and snow fall near the electrodes during routing inspection, the robot returns to the charging room to be charged, short circuits are caused, and potential safety hazards exist.

This embodiment sets up respectively in the left and right sides of robot fuselage through two charging electrode that will patrol and examine the robot (promptly charging electrode reaches the negative pole 200 that charges), has disconnected the rainwater from the space and has connected the possibility of electricity between them, consequently, even if the robot patrols and examines the back sleet outdoors and remains in the organism, the problem of short circuit can not appear yet, can guarantee whole charging process safety hidden danger well, has avoided the emergence of short circuit accident.

Only one side surface of the inspection robot is shown in fig. 4, so that only the charging positive electrode 100 can be shown, the other side surface is symmetrical to the side surface, and the projection of the charging negative electrode 200 in the direction perpendicular to the paper surface is overlapped with the charging positive electrode 200.

As a preferred embodiment, the charging positive electrode 100 and/or the charging negative electrode 200 is a rectangular electrode with a horizontal long axis. Rectangular electrode's major axis level, then patrol and examine the robot in with the preceding in patrol and examine robot charging room cooperation use the time, can further reduce the demand of patrolling and examining the robot's the alignment nature that charges, patrol and examine the robot and lean on a little forward or lean on the back slightly and can both guarantee that two charging electrode are connected with the electrode probe electricity in charging room.

Still further, the length of the major axis of the rectangular electrode ranges from 10 cm to 30 cm, inclusive, such as any of 10.0 cm, 25.3 cm, or 30.0 cm; the rectangular electrode has a minor axis length in a range of 1.5 centimeters to 2 centimeters, inclusive, such as any of 1.50 centimeters, 1.94 centimeters, or 2.00 centimeters. The above parameter range is the optimized value after a large amount of theoretical calculation and actual inspection, and of course, can be adjusted correspondingly according to the actual situation.

The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

It is to be noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The inspection robot charging room and the inspection robot provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.