Energy management method of line patrol robot

Abstract

The invention discloses an energy management method for a line patrol robot, and the line patrol robot employs a battery as an energy source, and the method comprises the following steps: (1) estimating the remaining capacity of the battery in real time through a load voltage method; (2) energy consumption prediction: calculating the total energy consumption of the line patrol robot according to the static energy consumption, the on-line walking energy consumption, the obstacle crossing energy consumption and the patrol energy consumption of the line patrol robot; and (3) predicting and calculating endurance mileage and endurance time according to the residual electric quantity and the energy consumption of the battery. According to the line patrol robot energy management method, the residual electric quantity of the battery is estimated in real time through the load voltage method, the residual electric quantity of the battery can be estimated in real time through the load voltage method, and therefore the endurance mileage and endurance time of the line patrol robot can be calculated in real time. According to the invention, the endurance mileage and endurance time are calculatedby predicting the sum of the energy consumption and combining the residual electric quantity of the battery, the prediction of the total energy consumption accurately predicts and calculates the energy consumption of each action of the line patrol robot, and the endurance data calculation has high accuracy.

Description

technical field [0001] The invention relates to the technical field of line inspection robots, in particular to an energy management method for a line inspection robot. Background technique [0002] The traditional transmission line inspection method is mainly based on manual inspection. The inspection efficiency is low, the labor intensity is high, the workers often work in the field, the working environment is harsh, and the inspection of the transmission line stalls across mountains, dense forests, and large rivers is difficult. bigger. The efficiency of helicopter inspection is higher, but its economic benefit is poor, and it is easy to ignore the slight damage of the transmission line. Line inspection robot is a special robot used to inspect high-voltage transmission lines. It can be used to replace manual inspection. It has high inspection efficiency and good imaging effect. It is an inevitable trend of the combination of robot technology and transmission line inspect...

AI Technical Summary

Problems solved by technology

At present, no accurate technology has been found in the prior art for the remaining capacity of the battery and the estimated energy loss during line inspection.

Images