Power line inspection robot control method in windy environment

A technology for inspection robots and power lines, applied in non-electric variable control, vehicle position/route/height control, position/direction control, etc., can solve problems such as small size, reduce the possibility of danger, and improve safety Effect

Active Publication Date: 2015-10-14
YUNNAN POWER GRID CO LTD ELECTRIC POWER RES INST
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Problems solved by technology

The thermal anemometer is small in size and fast in response, but its disadvantage is that the two sides of the general ther

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  • Power line inspection robot control method in windy environment
  • Power line inspection robot control method in windy environment

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Embodiment Construction

[0015] The present invention will be further described below in conjunction with accompanying drawing.

[0016] See figure 1 , figure 2 , a control method for a power line inspection robot in a strong wind environment. The present invention measures the real-time wind speed vector by installing a wind speed sensor on the inspection robot, and feeds back the measured data to the inspection robot control system; the inspection robot's The control system will pass the wind speed measured by the wind speed sensor back to the control system through the built-in algorithm and subtract it from the current walking speed vector to find the exact value of the wind speed in the current natural environment, and send this value back through the digital transmission station. Ground station, provided to the operator.

[0017] In the present invention, the user sets multiple thresholds of wind speed through the ground station, and sets the response action of the line patrol robot when the ...

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Abstract

The invention discloses a power line inspection robot control method in a windy environment. A wind velocity sensor is arranged on an inspection robot. Real-time wind velocity vector is measured, and measured data are fed back to an inspection robot control system. The inspection robot control system uses a built-in algorithm, and the wind velocity measured by the wind velocity sensor is sent back to the control system and is subtracted by current walking velocity vector to acquire the exact value of the wind velocity in the current natural environment. The value is sent back to a ground station through a digital radio and is provided for an operator. According to the invention, the risk possibility of the inspection robot in the windy environment can be effectively reduced, and the safety of the inspection robot is improved.

Description

technical field [0001] The invention belongs to the technical field of control of power cable inspection devices, in particular to the field of control methods of power cable inspection robots, and can be widely used in various line inspection robots. Background technique [0002] Wind speed is an important environmental influence during the walking of the line inspection robot. When the wind speed is high, it will not only increase the energy consumption of the line inspection robot, but sometimes even cause the failure of the walking device, increasing the risk. [0003] At present, there are two main types of line inspection robots on the market: walking line inspection robots and drones. Most of the anemometers on the market are only suitable for faster fixed-wing UAVs. The fixed wing generally installs a Pitot tube anemometer in front of it. The principle of this type of anemometer is to measure the speed and pressure value of the wind speed through the Pitot tube-dif...

Claims

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Application Information

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IPC IPC(8): G01P5/24G05D1/00
Inventor 刘世钊刘荣海郑欣吴章勤张轩
Owner YUNNAN POWER GRID CO LTD ELECTRIC POWER RES INST
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