Research On Automatic Charging Technology Of Substation Inspection Robot

In recent years,with the continuous development of science and technology,service robots have been greatly developed.For example,home sweeping robots have been widely used in popular homes,and smart dining car robots have also been applied in many enterprises.Substation inspection robots are also in substations.It has been widely used.Therefore,service robots have a very broad market value.The overall deployment of the “Proposal on Deepening the Management Reform of the Central Financial Science and Technology Plan(Special Funds,Funds,etc.)issued by the State Council,in accordance with the relevant requirements of the national key R&D plan organization and management,now has 7 key special projects such as “Intelligent Robots” 2018 Project The application guide is published.In 2016,the National Development and Reform Commission pointed out in its document "Robot Industry Development Plan(2016-2020)" that the current domestic robot manufacturing industry must achieve "two breakthroughs" and "three upgrades" in terms of development scale and strategic advancement.It stipulates that in 2020,the mass production breakthrough of 200,000 self-manufacturing robots will be realized,and the total annual revenue of 200 million will be broken.These will greatly promote the development of the domestic robot industry.The development of intelligent service robots so far,the main core technologies include robotic autonomous navigation and positioning,environment-aware recognition,machine vision,human-computer interaction,battery management technology and autonomous charging technology.This paper is based on the key research and development project of Sichuan Province,"Development and Application of Substation Intelligent Patrol Robot",which is undertaken by the team.It mainly studies the automatic charging,autonomous docking and voltage and current monitoring of the Substation Robot.At the same time,because of the high electromagnetic field radiation,the robot works in the harsh open-air substation environment,which poses a challenge to the safety and stability of the charging pile.The main research of this thesis is as follows:(1)The overall scheme design and mechanism design of automatic charging technology,a new automatic charging scheme for robots is proposed,and a charging docking mechanism with high spatial error tolerance is designed.(2)The automatic docking technology of the robot and the charging pile is studied,and the success rate of the automatic docking of the joint is over 95% in the range of the movement error of ±5cm.(3)The design of the charging current voltage monitoring module is designed to realize the real-time monitoring of the charging current and the charging voltage during the charging process of the robot,and to determine the charging environment and the charging status of the robot by processing and analyzing the data.Finally,through experimental verification and actual use,the research on automatic charging of this paper solves the need for self-charging of substation inspection robots.