A method for monitoring the power supply of a line patrol robot
A line inspection robot and inspection robot technology, applied in two-dimensional position/channel control, instruments, measuring electricity and other directions, can solve the problem of difficulty in accurately estimating battery life and parking position, evaluating battery life, and low intelligence. and other problems, to achieve the effect of accurate global distance estimation, perfect intelligence, and high power utilization.
Active Publication Date: 2017-07-21
WUZHONG POWER SUPPLY COMPANY STATE GRID NINGXIA ELECTRIC POWER
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AI Technical Summary
Problems solved by technology
Artificial global monitoring relies on human experience to evaluate the battery life and predict the distance that the robot can travel on the current route. Due to the uncertainty of experience and the non-uniqueness of the operating route, it is difficult to accurately estimate the battery life and The docking position can only ensure that the robot stops working in advance with sufficient power
Local static monitoring is to automatically feed back the remaining power of the robot to the ground base station by comparing the battery power with the preset threshold value, and ensure that the robot stops at a safe position by adjusting the threshold value. This method only realizes local power monitoring of the line, and cannot Evaluate the battery life from the perspective of the overall line, and the degree of intelligence is low
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Embodiment 1
[0029] In this example, the intelligent monitoring method for the power supply of the line patrol robot, the steps are as follows:
[0030] Step 1: Initialize the inspection robot, set the online tower number and initial tower of the inspection robot, initialize the GPS, current and voltage sensors, and set the initial position and inspection direction of the robot; the specific operations are as follows:
[0031] Step 2.1, define the trigger sensor. Define the trigger sensor. The update of the robot for battery power is triggered by the current and voltage sensors, and the update of the robot for the docking position is triggered by GPS.
[0032] Step 2.2, initialize the robot. Initialization includes: the structural type of the robot inspection line, the starting tower number corresponding to the installation place on the line, the driving direction of the robot and the definition of the increase or decrease of the tower number.
[0033] Step 2. According to the GIS line ...
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The invention relates to a method for monitoring the power supply of a line patrol robot, which is characterized in that it includes the following steps: Step 1, initialization of the patrol robot, setting the online tower number and initial tower of the patrol robot, initializing the GPS and current and voltage sensors, Set the initial position and inspection direction of the robot; step 2, make a global estimate of the inspection distance of the robot based on the GIS line structure information and inspection requirements, and feed back the results to the ground base station; step 3, monitor the remaining battery power in real time and evaluate its battery life Ability, closed-loop calculation to determine the safe stop point; step 4, walk to the stop point, feed back the stop position information to the ground base station, turn off the power monitoring system, calibrate the robot status, complete the line patrol record, and go offline. The method of the invention is a power supply monitoring method capable of estimating the inspection distance of a robot in a global distance under random lines, and has a high degree of autonomy and relatively accurate estimation of the global distance.
Description
technical field [0001] The invention relates to a method for monitoring the power supply of a line patrol robot. Background technique [0002] The line inspection robot is an integration of many high-tech technologies. The integration of navigation technology and motion control technology enables the robot to walk over obstacles on the transmission line. The combination of fault analysis technology and wireless communication technology realizes the fault detection of the robot on the transmission line. The use of intelligent robots for line inspection is an inevitable trend in the development of robotics and power inspection technology, and it is also a new research field for special robots. Compared with manual line inspection, using robots to inspect lines can improve inspection accuracy and efficiency, and greatly reduce the labor intensity and potential risks of manual inspections; compared to helicopter inspection lines, using robots to inspect lines can accurately obta...
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IPC IPC(8): G05D1/02G01R31/36
Inventor 杨国凤吴功平房建政严宇毛吉贵张红何锐王波肖清明马学荣许鸣昌邓凯徐天山
Owner WUZHONG POWER SUPPLY COMPANY STATE GRID NINGXIA ELECTRIC POWER