Autonomous charging method for inspection robot dog of ultrahigh-voltage transformer substation

Abstract

The invention relates to the field of dustbins, in particular to an autonomous charging method of an ultrahigh-voltage transformer substation inspection robot dog, which comprises the following steps of: arranging a plurality of charging devices in an ultrahigh-voltage transformer substation at intervals; acquiring a predetermined inspection route of the inspection robot dog; acquiring the real-time residual electric quantity Q0 and the real-time position of the inspection robot dog; according to the real-time position and the preset inspection route of the inspection robot dog, planning the path and the journey of the inspection robot dog moving to each charging device, according to the current average power consumption of the inspection robot dog, calculating the electric quantity required by the inspection robot dog moving to each charging device, and selecting a minimum value Q1, when a.Q1lt; q01t; Q01t; and b.Q1, the inspection robot dog moves to the charging equipment corresponding to the Q1 for charging. The invention provides the autonomous charging method for the inspection robot dog of the ultra-high-voltage transformer substation aiming at the actual inspection requirement of the ultra-high-voltage transformer substation, and the inspection work of the inspection robot dog in the ultra-high-voltage transformer substation is ensured.

Description

Technical Field

[0001] The present invention relates to the field of trash bins. More specifically, the present invention relates to an autonomous charging method for an ultra-high voltage substation inspection robot dog. Background Art

[0002] In the daily maintenance of ultra-high voltage substations, periodic inspections are required at various locations in the ultra-high voltage substations. Compared with the traditional manual inspections by operation and maintenance personnel, robot dog inspections can replace most of the inspection work and reduce the equipment inspection work of operation and maintenance personnel. Inspection robot dogs can significantly improve inspection efficiency, reduce labor costs, and play an important role in preventing equipment failures and ensuring stable operation of the power grid.

[0003] At present, when inspection robot dogs are used in ultra-high voltage substations, fixed charging stations are usually set up at designated locations. However, in actual use, since the ultra-high voltage substation needs to inspect a large area, if equipped with a battery of sufficient capacity, the battery will be too large in size and weight, which will in turn increase the size and weight of the inspection robot dog: the excessive volume is not conducive to the walking and detection operations of the inspection robot dog; the excessive weight will also cause the inspection robot dog to be too heavy, resulting in excessive power consumption, which will have an adverse effect on the robot dog's battery life. Taking the above factors into consideration, the current inspection robot dog has limited battery life. It is difficult to meet the inspection of the ultra-high voltage substation after a single full charge. There is a risk of shutdown and paralysis due to insufficient power halfway. It is necessary to develop a special autonomous charging method for the inspection robot dog based on the actual inspection needs of the ultra-high voltage substation to ensure the inspection work of the inspection robot dog in the ultra-high voltage substation. Summary of the invention

[0004] The purpose of the present invention is to provide an autonomous charging method for an ultra-high voltage substation inspection robot dog in response to the actual inspection needs of the ultra-high voltage substation, so as to ensure the inspection work of the inspection robot dog in the ultra-high voltage substation.

[0005] In order to achieve these purposes and other advantages according to the present invention, an autonomous charging method for an ultra-high voltage substation inspection robot dog is provided, comprising the following steps:

[0006] Multiple charging devices are installed at intervals in the UHV substation;

[0007] Get the scheduled inspection route of the inspection robot dog;

[0008] Get the real-time remaining power Q0 and real-time location of the patrol robot dog;

[0009] According to the real-time position of the inspection robot dog and the predetermined inspection route, plan the paths and distances for the inspection robot dog to move to each charging device. Calculate the power required for the inspection robot dog to move to each charging device based on its current average power consumption, and select the minimum value Q1 from them. When a·Q1 < Q0 < b·Q1, the inspection robot dog moves to the charging device corresponding to Q1 for charging;

[0010] where a and b are constants, and 1 < a < b.

[0011] Furthermore, in the autonomous charging method of the inspection robot dog for ultra-high voltage substations, when calculating the power required for the inspection robot dog to move to each charging device, it also includes:

[0012] Obtain the distance for the inspection robot dog to continue moving to the next charging device according to the predetermined inspection route, and calculate the power Q2 required for the next charging device in the moving direction of the predetermined inspection route of the inspection robot dog;

[0013] When Q1 = Q2, if a·Q2 < Q0 < b·Q2, the inspection robot dog continues to move according to the predetermined inspection route until it moves to the next charging device in the moving direction of the predetermined inspection route for charging;

[0014] When Q1 < Q2, if a·Q2 < Q0 < b·Q2, the inspection robot dog continues to move according to the predetermined inspection route until it moves to the next charging device in the moving direction of the predetermined inspection route for charging; if a·Q1 < Q0 < a·Q2, the inspection robot dog moves to the currently nearest charging device for charging.

[0015] Furthermore, in the autonomous charging method of the inspection robot dog for ultra-high voltage substations, it also includes:

[0016] Select one of the charging devices as the starting point charging device;

[0017] According to the real-time position of the inspection robot dog and the predetermined inspection route, plan the path for the inspection robot dog to return to the starting point charging device after completing the predetermined inspection, obtain the distance for the inspection robot dog to return to the starting point charging device after completing the predetermined inspection, and calculate the power Q3 required for the inspection robot dog to return to the starting point charging device after completing the predetermined inspection:

[0018] If Q0 > a·Q3, the inspection robot dog continues to move according to the predetermined inspection route and returns to the starting point charging device for charging after completing the predetermined inspection.

[0019] Furthermore, in the autonomous charging method of the inspection robot dog for ultra-high voltage substations, it also includes:

[0020] After the inspection robot dog enters the charging device for charging, according to the real-time position of the inspection robot dog and the scheduled inspection route, the inspection robot dog is planned to complete the inspection from the current position according to the scheduled inspection route and return to the charging device at the starting point. The amount of power Q4 required for the inspection robot dog to return to the charging device at the starting point after completing the scheduled inspection is calculated;

[0021] When the real-time remaining power Q0 of the patrol robot dog during the charging process reaches a·Q4, the patrol robot dog stops charging and starts to continue patrolling, and returns to the starting point charging device after completing the patrol.

[0022] Furthermore, in the autonomous charging method for the ultra-high voltage substation inspection robot dog, a charging device located in the middle of multiple charging devices is selected as the starting point charging device.

[0023] Furthermore, the autonomous charging method of the ultra-high voltage substation inspection robot dog further includes:

[0024] A patrol route database is established in advance, and the patrol route database includes multiple patrol routes. When obtaining the scheduled patrol route of the patrol robot dog, the required patrol route is selected from the patrol route database.

[0025] Furthermore, in the autonomous charging method of the ultra-high voltage substation inspection robot dog, the current average power consumption of the inspection robot dog is calculated as follows:

[0026] Get the initial power of the patrol robot dog when it starts;

[0027] Get the movement distance of the patrol robot dog from the time it was started to the time it moved to the current position;

[0028] Get the current power of the patrol robot dog;

[0029] The current average power consumption of the inspection robot dog is calculated and determined based on the initial power of the inspection robot dog when it is started, the current power of the inspection robot dog, and the moving distance from the start of the inspection robot dog to the current position.

[0030] The present invention also provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned autonomous charging method when executing the computer program.

[0031] The present invention also provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program for executing the above-mentioned autonomous charging method.

[0032] The present invention also provides an ultra-high voltage substation inspection robot dog, which adopts the above-mentioned autonomous charging method.

[0033] The beneficial effects of the present invention are:

[0034] In the autonomous charging method of the present invention, a plurality of charging devices are arranged at intervals in the ultra-high voltage substation. Based on the predetermined inspection route of the inspection robot dog, the real-time remaining power of the inspection robot dog is monitored in real time, and the power required for the inspection robot dog to reach the nearest charging device is calculated. When the real-time remaining power of the inspection robot dog is as low as the power required to reach the nearest charging device, the inspection robot dog goes to the nearest charging device for charging, thereby avoiding the inspection robot dog being shut down due to insufficient power during the inspection process, thereby ensuring the inspection work of the inspection robot dog in the ultra-high voltage substation.

[0035] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a flow chart of an autonomous charging method described in one embodiment of the present invention;

[0037] Figure 2 Flow chart of an autonomous charging method according to another embodiment of the present invention. DETAILED DESCRIPTION

[0038] The present invention is further described in detail below in conjunction with embodiments so that those skilled in the art can implement the invention with reference to the description.

[0039] It should be noted that the experimental methods described in the following embodiments are conventional methods unless otherwise specified, and the reagents and materials are commercially available unless otherwise specified; in the description of the present invention, the terms "lateral", "longitudinal", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0040] like Figure 1 As shown, an embodiment of the present invention provides an autonomous charging method for an ultra-high voltage substation inspection robot dog, comprising the following steps:

[0041] Multiple charging devices are installed at intervals in the UHV substation;

[0042] Get the scheduled inspection route of the inspection robot dog;

[0043] Get the real-time remaining power Q0 and real-time location of the patrol robot dog;

[0044] According to the real-time position of the patrol robot dog and the predetermined patrol route, plan the paths and distances for the patrol robot dog to move to each charging device. Calculate the power required for the patrol robot dog to move to each charging device based on the current average power consumption of the patrol robot dog, and select the minimum value Q1 from them. When a·Q1 < Q0 < b·Q1, the patrol robot dog moves to the charging device corresponding to Q1 for charging;

[0045] Where a and b are constants, and 1 < a < b.

[0046] In this embodiment, the patrol route of the patrol robot dog is preset in advance. When the patrol robot dog is on patrol, it walks according to the predetermined patrol route. Based on the real-time position of the patrol robot dog and the positions of each charging device, calculate and plan the paths and distances for the patrol robot dog to move to each charging device in real time. Multiply the current average power consumption of the patrol robot dog by the distance to calculate the power required for the patrol robot dog to move to each charging device, and select the minimum value Q1 from them. To ensure that the patrol robot dog will not shut down and become paralyzed due to insufficient power halfway during the patrol process, at least it is necessary to ensure that the real-time remaining power Q0 of the patrol robot dog is greater than Q1. Therefore, in this embodiment, two constants a and b greater than 1 are set, and a power range from a·Q1 to b·Q1 is set. The values of a and b can be set according to actual needs. When Q0 falls within the above range, the patrol robot dog moves to the charging device corresponding to Q1 for charging. The lower limit of a·Q1 is set in the power range, so that there is at least a margin of (a - 1)·Q1 between Q0 and Q1, thus ensuring that the situation of Q0 < Q1 will not occur. This part of the margin can also be used to ensure the power consumption of the detection equipment on the patrol robot dog. At the same time, the upper limit of b·Q1 is set in the power range to prevent the patrol robot dog from entering the charging device too frequently for charging.

[0047] Preferably, as another embodiment of the present invention, as Figure 2 shown, when calculating the power required for the patrol robot dog to move to each charging device, it further includes:

[0048] Obtain the distance for the patrol robot dog to continue moving to the next charging device along the predetermined patrol route, and calculate the power Q2 required for the next charging device in the moving direction of the patrol robot dog along the predetermined patrol route;

[0049] When Q1 = Q2, if a·Q2 < Q0 < b·Q2, the patrol robot dog continues to move along the predetermined patrol route until it moves to the next charging device in the moving direction of the predetermined patrol route for charging;

[0050] When Q1 < Q2, if a·Q2 < Q0 < b·Q2, the inspection robot dog continues to move along the predetermined inspection route until it moves to the next charging device in the moving direction of the predetermined inspection route for charging; if a·Q1 < Q0 < a·Q2, the inspection robot dog moves to the nearest charging device for charging.

[0051] In this embodiment, since the inspection robot dog moves along the predetermined inspection route, when the inspection robot moves towards the charging device corresponding to Q1, it may be moving away from the moving direction planned by the inspection route. After the inspection robot finishes charging, it needs to walk an extra distance, wasting time. Therefore, in this embodiment, the distance for the inspection robot dog to continue moving along the predetermined inspection route to the next charging device is obtained, and the power Q2 required for the inspection robot dog to continue moving along the predetermined inspection route to the next charging device is calculated. When the charging device corresponding to Q2 is the same as the charging device corresponding to Q1, Q1 = Q2; when the inspection robot dog just moves to the same distance between the charging device corresponding to Q2 and the charging device corresponding to Q1, Q1 = Q2. Therefore, when Q1 = Q2, if a·Q2 < Q0 < b·Q2, the inspection robot dog continues to move along the predetermined inspection route until it moves to the next charging device in the moving direction of the predetermined inspection route for charging. When Q1 < Q2, if a·Q2 < Q0 < b·Q2, it means that the remaining power of the inspection robot dog is sufficient to support it to continue moving along the predetermined inspection route to the next charging device in the moving direction. If a·Q1 < Q0 < a·Q2, it means that the remaining power of the inspection robot dog is not enough to support it to move to the nearest charging device at present. Therefore, at this time, the inspection robot dog moves to the nearest charging device at present for charging.

[0052] Furthermore, in the autonomous charging method of the inspection robot dog for an extra-high voltage substation, it further includes:

[0053] Select one of the charging devices as the starting point charging device;

[0054] According to the real-time position of the inspection robot dog and the predetermined inspection route, plan the path for the inspection robot dog to return to the starting point charging device after completing the predetermined inspection, obtain the distance for the inspection robot dog to return to the starting point charging device after completing the predetermined inspection, and calculate the power Q3 required for the inspection robot dog to return to the starting point charging device after completing the predetermined inspection:

[0055] If Q0 > a·Q3, the inspection robot dog continues to move along the predetermined inspection route and returns to the starting point charging device for charging after completing the predetermined inspection.

[0056] In this embodiment, in order to facilitate the management and maintenance of the patrol robot dog, the patrol robot dog starts from the same position each time it patrols and returns to the same position after completion. One of the multiple charging devices is selected as the starting charging device. According to the real-time position of the patrol robot dog, the path for the patrol robot dog to return to the starting charging device after completing the scheduled inspection is planned and updated, thereby obtaining the planned distance for the patrol robot dog to return to the starting charging device after completing the scheduled inspection. The amount of electricity Q3 required for the patrol robot dog to return to the starting charging device after completing the scheduled inspection is calculated. When Q0>a·Q3, the patrol robot dog continues to move along the scheduled inspection route, returns to the starting charging device for charging after completing the scheduled inspection, and does not continue to enter other charging devices for charging during the journey.

[0057] Furthermore, the autonomous charging method of the ultra-high voltage substation inspection robot dog further includes:

[0058] After the inspection robot dog enters the charging device for charging, according to the real-time position of the inspection robot dog and the scheduled inspection route, the inspection robot dog is planned to complete the inspection from the current position according to the scheduled inspection route and return to the charging device at the starting point. The amount of power Q4 required for the inspection robot dog to return to the charging device at the starting point after completing the scheduled inspection is calculated;

[0059] When the real-time remaining power Q0 of the patrol robot dog during the charging process reaches a·Q4, the patrol robot dog stops charging and starts to continue patrolling, and returns to the starting point charging device after completing the patrol.

[0060] In this embodiment, if the inspection robot is charged in the charging device and then starts to continue cleaning after it is fully charged, it generally takes a long time. If the inspection robot dog has a time limit for inspection, it will affect the inspection time limit. Therefore, in this embodiment, during the charging process of the inspection robot dog, it is not required to be fully charged. It is only necessary to ensure that after charging is completed, the remaining power of the inspection robot dog can reach a·Q4, so that after the inspection robot dog continues to start inspection, the remaining power can ensure that it can return to the starting charging device after completing the scheduled inspection.

[0061] Furthermore, in the autonomous charging method for the ultra-high voltage substation inspection robot dog, a charging device located in the middle of multiple charging devices is selected as the starting point charging device.

[0062] In this embodiment, a charging device located in the middle of the multiple charging devices is selected as the starting point charging device, so that the distance between the starting point charging device and any other charging device is not too far.

[0063] Furthermore, the autonomous charging method of the ultra-high voltage substation inspection robot dog further includes:

[0064] A patrol route database is established in advance, and the patrol route database includes multiple patrol routes. When obtaining the scheduled patrol route of the patrol robot dog, the required patrol route is selected from the patrol route database.

[0065] In this embodiment, a patrol route database is pre-established, and multiple patrol routes are pre-set according to different patrol types. When obtaining the scheduled patrol route of the patrol robot dog, the required patrol route is selected from the patrol route database, reducing the time required for patrol route determination and planning.

[0066] Furthermore, in the autonomous charging method of the ultra-high voltage substation inspection robot dog, the current average power consumption of the inspection robot dog is calculated as follows:

[0067] Get the initial power of the patrol robot dog when it starts;

[0068] Get the movement distance of the patrol robot dog from the time it was started to the time it moved to the current position;

[0069] Get the current power of the patrol robot dog;

[0070] The current average power consumption of the inspection robot dog is calculated and determined based on the initial power of the inspection robot dog when it is started, the current power of the inspection robot dog, and the moving distance from the start of the inspection robot dog to the current position.

[0071] In this embodiment, the initial power consumption when the patrol robot dog is started minus the current power consumption is the current power consumption of the patrol robot dog. The power consumption is then divided by the distance the patrol robot dog has moved from being started to its current position to obtain the power consumption per unit distance the patrol robot dog is currently moving, that is, its current average power consumption, eliminating the influence of factors such as temperature on the power consumption of the patrol robot dog.

[0072] The present invention also provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned autonomous charging method when executing the computer program.

[0073] The present invention also provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program for executing the above-mentioned autonomous charging method.

[0074] The present invention also provides an ultra-high voltage substation inspection robot dog, which adopts the above-mentioned autonomous charging method.

[0075] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the embodiments shown and described herein.

Claims

1. An autonomous charging method for an ultra-high voltage substation inspection robot dog, characterized in that: It includes the following steps: Set multiple charging devices at intervals within an extra-high voltage substation; Obtain the predetermined inspection route of the inspection robot dog; Obtain the real-time remaining power Q0 and real-time position of the inspection robot dog; According to the real-time position of the inspection robot dog and the predetermined inspection route, plan the paths and distances for the inspection robot dog to move to each charging device. Calculate the power required for the inspection robot dog to move to each charging device based on the current average power consumption of the inspection robot dog, and select the minimum value Q1 from them. When a·Q1 < Q0 < b·Q1, the inspection robot dog moves to the charging device corresponding to Q1 for charging; Wherein, a and b are constants, and 1 < a < b.

2. The autonomous charging method of the ultra-high voltage substation inspection robot dog according to claim 1, characterized in that: When calculating the power required for the inspection robot dog to move to each charging device, it also includes: Obtain the distance for the inspection robot dog to continue moving to the next charging device along the predetermined inspection route, and calculate the power Q2 required for the next charging device in the moving direction of the inspection robot dog along the predetermined inspection route; When Q1 = Q2, if a·Q2 < Q0 < b·Q2, the inspection robot dog continues to move along the predetermined inspection route until it moves to the next charging device in the moving direction of the predetermined inspection route for charging; When Q1 < Q2, if a·Q2 < Q0 < b·Q2, the inspection robot dog continues to move along the predetermined inspection route until it moves to the next charging device in the moving direction of the predetermined inspection route for charging; if a·Q1 < Q0 < a·Q2, the inspection robot dog moves to the nearest charging device at the current distance for charging.

3. The autonomous charging method of the ultra-high voltage substation inspection robot dog according to claim 1, characterized in that: It also includes: Select one of the charging devices as the starting-point charging device; According to the real-time position of the inspection robot dog and the predetermined inspection route, plan the path for the inspection robot dog to return to the starting-point charging device after completing the predetermined inspection, obtain the distance for the inspection robot dog to return to the starting-point charging device after completing the predetermined inspection, and calculate the power Q3 required for the inspection robot dog to return to the starting-point charging device after completing the predetermined inspection: If Q0 > a·Q3, the inspection robot dog continues to move along the predetermined inspection route and returns to the starting-point charging device for charging after completing the predetermined inspection.

4. The autonomous charging method of the ultra-high voltage substation inspection robot dog according to claim 3, characterized in that: It also includes: After the inspection robot dog enters the charging device for charging, according to the real-time position of the inspection robot dog and the predetermined inspection route, plan the path and distance for the inspection robot dog to complete the inspection from the current position along the predetermined inspection route and return to the starting-point charging device, and calculate the power Q4 required for the inspection robot dog to return to the starting-point charging device after completing the predetermined inspection; When the real-time remaining power Q0 of the inspection robot dog during the charging process reaches a·Q4, the inspection robot dog stops charging and starts to continue the inspection, and returns to the starting-point charging device after completing the inspection.

5. The autonomous charging method of the ultra-high voltage substation inspection robot dog according to claim 3, characterized in that: Select the charging device located in the middle of the multiple charging devices as the starting-point charging device.

6. The autonomous charging method of the ultra-high voltage substation inspection robot dog according to claim 1, characterized in that: It also includes: Pre-establish an inspection route database, which includes multiple inspection routes. When obtaining the predetermined inspection route of the inspection robot dog, select the required inspection route from the inspection route database.

7. The autonomous charging method of the ultra-high voltage substation inspection robot dog according to claim 1, characterized in that: The calculation method of the current average power consumption of the inspection robot dog is as follows: Obtain the initial power when the inspection robot dog starts; Obtain the moving distance of the inspection robot dog from the start to the current position; Obtain the current power of the inspection robot dog; The current average power consumption of the inspection robot dog is calculated and determined based on the initial power of the inspection robot dog when it is started, the current power of the inspection robot dog, and the moving distance from the start of the inspection robot dog to the current position.

8. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the autonomous charging method according to any one of claims 1 to 7 is implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program for executing the autonomous charging method described in any one of 1 to 7.

10. An ultra-high voltage substation inspection robot dog, characterized in that: An autonomous charging method as described in any one of claims 1 to 7 is adopted.

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