CN104079054A - Energy recovery system and method for high-tension transmission line patrol robot - Google Patents
Energy recovery system and method for high-tension transmission line patrol robot Download PDFInfo
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- CN104079054A CN104079054A CN201410310535.9A CN201410310535A CN104079054A CN 104079054 A CN104079054 A CN 104079054A CN 201410310535 A CN201410310535 A CN 201410310535A CN 104079054 A CN104079054 A CN 104079054A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention discloses an energy recovery system and method for a high-tension transmission line patrol robot. The energy recovery system is arranged in a line patrol robot body and comprises a driving circuit module used for driving the high-tension transmission line patrol robot to operate, a charging circuit used for recovering electric energy, a one-way DC/DC converter, a controller and a speed detection unit. According to the energy recovery system and method for the high-tension transmission line patrol robot, the structural characteristics of the braced chain shape of a transmission line are utilized, energy needed by a walking motor when the line patrol robot walking down a slope can be successfully saved, the walking motor can be used as a direct-current generator to recover the energy into a storage battery, the energy is saved, and the running time of the robot is prolonged. The mechanical structure of the line patrol robot does not need to be changed greatly, upgrading cost is low, and effects are good. Damage to hardware and circuits of the robot due to the excessively high speed when the line patrol robot walks down the slope can be avoided, the power generation voltage is kept relatively stable, the controllability and safety of line patrol of the robot are ensured, and the abrasion degree of walking wheels is lowered.
Description
Technical field
The invention belongs to energy recovery and utilize technical field, relate to a kind of energy-recuperation system and method, refer more particularly to a kind of energy-recuperation system for ultra-high-tension power transmission line inspection robot and method.
Background technology
Traditional polling transmission line method mainly be take artificial line walking as main, and its line walking efficiency is low, and labour intensity is large, the frequent field work of workman, work under bad environment, and cross over high mountain, thick forest, the transmission line shelves section in great river to patrol and examine difficulty larger.Adopt helicopter routing inspection efficiency higher, but its deficiency in economic performance, and easily ignore the trickle damage of transmission line.Inspection robot is a kind ofly for patrolling and examining the specialized robot of ultra-high-tension power transmission line, to can be used for replacing manual inspection, and it is patrolled and examined, and efficiency is high, and imaging effect is good, is the inexorable trend that Robotics combines with polling transmission line technical development.
The walking of inspection robot, the storage battery that obstacle detouring (by direct current machine and interlock circuit) and detection (by visible image capturing head, infrared thermoviewer etc.) all need robot to carry is powered.Inspection robot flying power is the key technical index of robot, and it directly determines line walking mileage and the operating time of inspection robot.If inspection robot flying power is lower, need artificial frequent upper tower to change battery, to automatic running on transmisson line, bring very big inconvenience.
The control of inspection robot weight and volume can not unrestrictedly expand its battery capacity.Therefore, under the maximized prerequisite of existing battery capacity, find out fill online can and energy-conservation effective way be the Main Means that promotes inspection robot flying power.
For inspection robot, charge online, mainly contain following method: the charging docking of a kind of inspection robot solar recharging base station and separator (application number: 201310083704.5), inspection robot charging method and device and method for parameter configuration, inspection robot (application number: 201210242177.3), described a kind of in overhead transmission line installation solar recharging base station, utilize solar panel to power to base station storage batteries, by charging device, dock with inspection robot, thereby again the electric energy of solar energy base station is passed in inspection robot storage battery, to realize the charging to inspection robot on ground wire.This method can be used for ground wire inspection robot electrical energy supply in line, but solar recharging base station must be installed, and the charging interval just can reach ideal effect more than certain hour.
The method of another kind of online electric energy supply: for the induction electricity getting device on ultra-high-tension power transmission line (application number: 201010134788.7) and: for the induction electricity getting device characteristic parameter matching method of aerial high-voltage power transmission line (application number: 201010150342.3) mainly described utilize wire alternating electromagnetic field by electromagnetic induction principle convert it into electric energy with this method to power device power supply.Because wire alternating magnetic field is stronger, along the inspection robot of wire line walking can with this kind of method fill can, the relative wire of ground wire field signal a little less than, so kind method is not suitable for ground wire inspection robot.
Summary of the invention
Power transmission line is erected between transmission tower, is catenary construction, and between shaft tower, circuit two ends are furnished with stockbridge damper, is accessible section between stockbridge damper, and accessible segment length occupies the transmission line length overwhelming majority.Inspection robot drives walking by direct current machine, according to line construction feature, therefore can utilize the principle of reversibility of direct current machine using it as DC generator recuperated energy when inspection robot descending.Inspection robot itself has its maximum safety patrol inspection speed allowing, in addition, direct current machine, decelerator also has its maximum speed restriction.And inspection robot descending when generating direct current machine itself no longer provides actuating force and braking force.Speed while therefore, also needing inspection robot to generate electricity is controlled.
In order to reach above-mentioned technical purpose, a kind of energy-recuperation system for ultra-high-tension power transmission line inspection robot provided by the invention, the inspection robot internal body that is arranged on described ultra-high-tension power transmission line inspection robot, is characterized in that: comprise for driving the drive circuit module of described ultra-high-tension power transmission line inspection robot operation, for reclaiming the charging circuit of electric energy, unidirectional DC/DC transducer, controller and speed detection unit;
Described drive circuit module is composed in series by lithium battery group, two-way DC/DC transducer, drive circuit, commutation circuit, direct current machine successively; Described charging circuit is composed in series by direct current machine, commutation circuit, speed control unit, two-way DC/DC transducer, lithium battery group successively; When energy is flowed to described direct current machine by described lithium battery group, described direct current machine and the isolation of described speed control unit, when energy flows to described lithium battery group by described direct current machine, described direct current machine and the isolation of described drive circuit; Described lithium battery group is powered to described controller by described unidirectional DC/DC transducer, described controller is for controlling described two-way DC/DC converter energy transmission direction, the PWM ripple duty ratio of the current control circuit arranging in the speed control unit described in controlling is to control the electric current of described speed control unit and to be arranged on the energy that the brake resistance R in described speed control unit consumes, and the commutation circuit described in controlling switches to described drive circuit or described speed control unit according to instruction; Described controller also receives the velocity information that described speed detection unit transmits, as the reference that regulates the described ultra-high-tension power transmission line inspection robot speed of service.
As preferably, described speed control unit is composed in series by brake resistance R and current control circuit, for the current control circuit by described, regulate the electric current of described speed control unit, adjust the energy that described brake resistance R consumes, described controller is recently controlled described speed control unit electric current by adjusting described current control circuit PWM ripple duty, described speed control unit is in parallel with described two-way DC/DC transducer, brake resistance R consumed energy described in adjusting is the load under the direct current machine generating state described in capable of regulating, with this, reach control rate object.
As preferably, described ultra-high-tension power transmission line inspection robot, comprises pair of pinch rollers, circumference array magnet steel, Hall element, clamping motor, obliquity sensor and acceleration transducer; Described pair of pinch rollers, is symmetrically arranged on the contact roller support of inspection robot, is adjacent to transmission line relative up and down with the road wheel of inspection robot; Described circumference array magnet steel, is embedded in contact roller one side; Described Hall element, is arranged on contact roller support; Described clamping motor is connected with described contact roller support, for controlling described contact roller support, is compressed or unclamp by spring, and described obliquity sensor and acceleration transducer, be arranged at respectively inspection robot internal body; Described Hall element, obliquity sensor and acceleration transducer provide electric power by inspection robot.
As preferably, described direct current machine is for there being brushless motor.
As preferably, described two-way DC/DC transducer has two kinds of operating states: Buck state and Boost state; Under Buck state, described lithium battery group is given described direct current machine power supply, and under Boost state, described direct current machine charges to described lithium battery group as DC generator by described two-way DC/DC.
As preferably, described commutation circuit, be arranged on described DC motor power line porch, can switch to drive circuit module and charging circuit while normally travelling, the Voltage-output that the not voltage transition in the same way that described direct current machine generating can be produced during generating is equidirectional.
As preferably, described circumference array magnet steel one side is concordant with described contact roller side.
As preferably, described Hall element detection faces and circumference array magnet steel end face over against, for detection of the field signal to circumference array magnet steel end face, and be translated into level signal output.
A kind of energy reclaiming method for ultra-high-tension power transmission line inspection robot provided by the invention, comprises the following steps:
Step 1: judge that inspection robot meets charge condition?
If so, continue to carry out following step 2;
If not, continue to carry out following step 7;
Step 2: inspection robot charging relevant parameter is set, comprises direct current machine maximum speed, inspection robot inclination angle, inspection robot charging distance;
Step 3: commutation circuit is to charging circuit;
Step 4: two-way DC/DC transducer is adjusted to Boost pattern;
Step 5: judge that inspection robot meets the requirement of inspection robot rotating speed?
If so, directly described step 1 is carried out in revolution;
If not, continue to carry out following step 6;
Step 6: the control unit PWM ripple duty ratio of regulating the speed, adjust brake resistance R consumed power, described step 5 is carried out in revolution;
Step 7: commutation circuit is to drive circuit module;
Step 8: two-way DC/DC transducer is adjusted to Buck mode of operation;
Step 9: judge whether to stop inspection robot and patrol and examine?
If so, inspection robot stops patrolling and examining, and this flow process finishes;
If not, directly described step 1 is carried out in revolution.
As preferably, it is to be rotated and make described circumference array magnet steel produce periodic signal in described Hall element detection faces with described travelling robot walking by described contact roller that inspection robot rotating speed described in step 5 detects, described controller is calculated described contact roller linear velocity by frequency, then draws described travelling robot walking rotating speed.
As preferably, the specific implementation process of step 6 is, if described inspection robot speed is lower than the optimum speed of setting, reduce described current control circuit PWM ripple duty ratio, reduce described brake resistance R consumption or cut off electric current completely to make described brake resistance R no consumption, to reduce described direct current machine load, make its acceleration; If speed is higher than the optimum speed of setting, increase described current control circuit PWM ripple duty ratio, increase described brake resistance R consumption, to increase described direct current machine load, it is slowed down, accelerate to judge by described acceleration transducer direction with deceleration.
The present invention is mainly used in realizing direct current movable motor and when inspection robot descending, energy is recycled in storage battery, during recuperated energy, can't affect the work of other modules of inspection robot, inspection robot clamping motor, the first-class detection module of making a video recording, and control circuit all normally works in power generation process, can not affect normally patrolling and examining of inspection robot.
Tool of the present invention has the following advantages: the design feature of utilizing transmission line stretched wire shape, the required energy of movable motor while successfully having saved inspection robot descending, and using movable motor as DC generator, energy is recycled in storage battery, saves energy and hoisting machine people flying power; The mechanical structure of inspection robot own is without too large change, and upgrade cost is low, effective; In inspection robot descending power generation process, robot speed is controlled, thereby avoided the hardware of the too fast robot causing of inspection robot descending speed itself and circuit to damage, and kept the relatively stable of generating voltage, guaranteed controllability and fail safe that robot patrols and examines; Road wheel has reduced owing to retraining in the not quite identical robot architecture of causing of road wheel speed after discharging, and has also reduced the degree of wear of road wheel.
Accompanying drawing explanation
Fig. 1: be the energy-recuperation system speed detection unit schematic diagram of the embodiment of the present invention;
Fig. 2: be the transmission line structure schematic diagram of the embodiment of the present invention;
Fig. 3: be the energy-recuperation system structural representation of the embodiment of the present invention;
Fig. 4: be the energy-recuperation system speed control unit schematic diagram of the embodiment of the present invention;
Fig. 5: be the energy-recuperation system workflow diagram of the embodiment of the present invention.
Embodiment
For the ease of those of ordinary skills, understand and enforcement the present invention, below in conjunction with drawings and Examples, the present invention is described in further detail, should be appreciated that exemplifying embodiment described herein, only for description and interpretation the present invention, is not intended to limit the present invention.
Ask for an interview Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the technical scheme that system of the present invention adopts is: a kind of energy-recuperation system for ultra-high-tension power transmission line inspection robot, be arranged on ultra-high-tension power transmission line inspection robot body 8 inside, comprise for driving the drive circuit module of inspection robot operation, for reclaiming the charging circuit of electric energy, unidirectional DC/DC transducer, controller and speed detection unit; Drive circuit module is composed in series by lithium battery group, two-way DC/DC transducer, drive circuit, commutation circuit, direct current machine successively; Charging circuit is composed in series by direct current machine, commutation circuit, speed control unit, two-way DC/DC transducer, lithium battery group successively; Direct current machine is for there being brushless motor; Commutation circuit, be arranged on inspection robot DC motor power line porch, can switch to drive circuit module and charging circuit while normally travelling, the Voltage-output that the not voltage transition in the same way that inspection robot direct current machine generating can be produced during generating is equidirectional; The two-way DC/DC transducer of inspection robot has two kinds of operating states: Buck state and Boost state; Under Buck state, inspection robot lithium battery group is powered to direct current machine, and under Boost state, direct current machine charges to inspection robot lithium battery group by two-way DC/DC as DC generator; Speed control unit is composed in series by brake resistance R and current control circuit 13, by current control circuit 13, regulate the electric current of inspection robot speed control unit, adjust the energy that brake resistance R consumes, controller is by adjusting recently control rate control unit electric current of current control circuit 13PWM ripple duty, speed control unit is in parallel with two-way DC/DC transducer, adjusting brake resistance R consumed energy is the load under capable of regulating direct current machine generating state, with this, reaches control rate object; When energy is flowed to direct current machine by lithium battery group, direct current machine and speed control unit isolation, when energy flows to lithium battery group by direct current machine, direct current machine and drive circuit isolation; Lithium battery group is powered to controller by unidirectional DC/DC transducer, controller is used for controlling the transmission direction of two-way DC/DC converter energy, the PWM ripple duty ratio of the current control circuit arranging in control rate control unit is with the electric current of control rate control unit and be arranged on the energy that the brake resistance R in speed control unit consumes, and controls commutation circuit and switch to drive circuit or speed control unit according to instruction; The controller velocity information that also inbound pacing detecting unit transmits, as the reference that regulates the inspection robot speed of service.
The ultra-high-tension power transmission line inspection robot of the present embodiment, comprises pair of pinch rollers 3, circumference array magnet steel 2, Hall element 4, clamping motor 6, obliquity sensor 12 and acceleration transducer 11; Pair of pinch rollers 3, is symmetrically arranged on the contact roller support 5 of inspection robot, be adjacent to transmission line 7 and with road wheel 1 relative up and down; Circumference array magnet steel 2, is embedded in contact roller 3 one sides; Hall element 4, is arranged on contact roller support 5; Clamping motor 6 is connected with contact roller support 5, for controlling contact roller support 5, is compressed or unclamp by spring, and obliquity sensor 12 and acceleration transducer 11, be arranged at respectively inspection robot body 8 inside; Hall element 4, obliquity sensor 12 and acceleration transducer 11 provide electric power by inspection robot; Circumference array magnet steel 2 one sides are concordant with contact roller 3 sides; Hall element 4 detection faces and circumference array magnet steel 2 end faces over against, for detection of to the field signal of circumference array magnet steel 2 end faces, and be translated into level signal output.
Ask for an interview Fig. 5, the technical scheme that method of the present invention adopts is: a kind of energy reclaiming method for ultra-high-tension power transmission line inspection robot, comprises the following steps:
Step 1: can detect all devices normally work, and comprising: whether direct current machine is normal; Rotate contact roller 3, whether Hall element 4 returns to pulse signal; Can obliquity sensor 12 correctly return to correlation values with acceleration transducer 11; Can the PWM ripple of the current control circuit arranging in governing speed control unit control electric current and brake resistance R energy consumption; Can two-way DC/DC transducer switch Buck/Boost pattern working properly, and commutation circuit is switch driving circuit module and charging circuit smoothly.
Step 2: after above-mentioned preparation is finished, inspection robot is hung on transmission line 7 and is patrolled and examined, determine and be applicable to generating shelves section, the distance of inspection robot generating walking is set, optimum speed when inspection robot recuperated energy is set, determines the correlated conditions such as inspection robot inclination angle that finally stop generating.
Step 3: inspection robot arrives specifies after shelves section, by self crossing barrier, set clear the jumps suspension clamp 10 and stockbridge damper 9, arrive the one end of the b shown in Fig. 2, adjust clamping motor 6 thrusts, contact roller 3 can be pasted on the line and with inspection robot motion, rotate.
Step 4: inspection robot starts energy and reclaims, first commutation circuit is switched to charging circuit by drive circuit module, thereby direct current machine discharges, two-way DC/DC transducer is changed into Boost pattern, lithium battery group starts to receive the energy of being passed back as DC generator by direct current machine, and lithium battery group is started to charging.Inspection robot starts to accelerate descending under Action of Gravity Field.
Step 5: in inspection robot descending process, speed detection unit constantly detects speed.Contact roller 3 rotates with inspection robot operation, and the circumference array magnet steel 2 on it approached with the 4 detection faces cycles of Hall element.Hall element 4 will be given the pulse signal of controller return period.Can use formula to record the actual linear velocity of contact roller 3 according to this signal:
Can record according to formula the range ability of inspection robot descending generating simultaneously:
N in formula
pfor t
1to t
2the umber of pulse constantly recording, n
pfor contact roller 3 revolves the umber of pulse turning around, V
p(Δ t) is illustrated in the average linear velocity in the Δ t time period, R
pfor the radius of contact roller 3, N is the overall pulse number after inspection robot generating.
Step 6: compared by the speed calculating and given speed, if inspection robot surpasses given optimum speed, increase current control circuit 13PWM ripple duty ratio, increase the electric current of Negotiation speed control unit, increase the power that brake resistance R consumes, direct current machine is slowed down.If the speed of inspection robot is less than this speed, reduce current control circuit 13PWM ripple duty ratio, reduce the power that brake resistance consumes R, and get back to step 5 and again detect;
Step 7: if inspection robot does not meet the correlated condition that energy reclaims, comprise, the gradient is not at claimed range; Surpass inspection robot energy and reclaimed the distance of setting; Inspection robot detects obstacle or touches inspection barrier; Inspection robot speed surpasses the maximum speed allowing; Manually stop robot energy recovery etc.Inspection robot is jumped out energy removal process, returns to normal operation.Commutation circuit switches to drive circuit module by charging circuit.Energy removal process finishes.
Step 8: stop at any time patrolling and examining, if inspection robot is in energy recovery state, first commutation circuit, to drive circuit module, is then braked by driver control movable motor.If in normally patrolling and examining state, directly brake.
Should be understood that, the part that this specification does not elaborate all belongs to prior art.
Should be understood that; the above-mentioned description for preferred embodiment is comparatively detailed; can not therefore think the restriction to scope of patent protection of the present invention; those of ordinary skill in the art is under enlightenment of the present invention; do not departing from the scope situation that the claims in the present invention protect; can also make and replacing or distortion, within all falling into protection scope of the present invention, the scope of asking for protection of the present invention should be as the criterion with claims.
Claims (11)
1. the energy-recuperation system for ultra-high-tension power transmission line inspection robot, inspection robot body (8) inside that is arranged on described ultra-high-tension power transmission line inspection robot, is characterized in that: comprise for driving the drive circuit module of described ultra-high-tension power transmission line inspection robot operation, for reclaiming the charging circuit of electric energy, unidirectional DC/DC transducer, controller and speed detection unit;
Described drive circuit module is composed in series by lithium battery group, two-way DC/DC transducer, drive circuit, commutation circuit, direct current machine successively;
Described charging circuit is composed in series by direct current machine, commutation circuit, speed control unit, two-way DC/DC transducer, lithium battery group successively;
When energy is flowed to described direct current machine by described lithium battery group, described direct current machine and the isolation of described speed control unit, when energy flows to described lithium battery group by described direct current machine, described direct current machine and the isolation of described drive circuit;
Described lithium battery group is powered to described controller by described unidirectional DC/DC transducer, described controller is for controlling described two-way DC/DC converter energy transmission direction, the PWM ripple duty ratio of the current control circuit arranging in the speed control unit described in controlling is to control the electric current of described speed control unit and to be arranged on the energy that the brake resistance R in described speed control unit consumes, and the commutation circuit described in controlling switches to described drive circuit or described speed control unit according to instruction; Described controller also receives the velocity information that described speed detection unit transmits, as the reference that regulates the described ultra-high-tension power transmission line inspection robot speed of service.
2. the energy-recuperation system for ultra-high-tension power transmission line inspection robot according to claim 1, it is characterized in that: described speed control unit is composed in series by brake resistance R and current control circuit (13), for the current control circuit (13) by described, regulate the electric current of described speed control unit, adjust the energy that described brake resistance R consumes, described controller is recently controlled described speed control unit electric current by adjusting described current control circuit (13) PWM ripple duty, described speed control unit is in parallel with described two-way DC/DC transducer, brake resistance R consumed energy described in adjusting is the load under the direct current machine generating state described in capable of regulating, with this, reach control rate object.
3. the energy-recuperation system for ultra-high-tension power transmission line inspection robot according to claim 1 and 2, it is characterized in that: described ultra-high-tension power transmission line inspection robot, comprises pair of pinch rollers (3), circumference array magnet steel (2), Hall element (4), clamping motor (6), obliquity sensor (12) and acceleration transducer (11); Described pair of pinch rollers (3), the contact roller support (5) that is symmetrically arranged on inspection robot is upper, is adjacent to transmission line (7) relative up and down with the road wheel (1) of inspection robot; Described circumference array magnet steel (2), is embedded in contact roller (3) one sides; Described Hall element (4), is arranged on contact roller support (5); Described clamping motor (6) is connected with described contact roller support (5), for controlling described contact roller support (5), is compressed or unclamp by spring, described obliquity sensor (12) and acceleration transducer (11), be arranged at respectively inspection robot body (8) inside; Described Hall element (4), obliquity sensor (12) and acceleration transducer (11) provide electric power by inspection robot.
4. the energy-recuperation system for ultra-high-tension power transmission line inspection robot according to claim 1 and 2, is characterized in that: described direct current machine is for there being brushless motor.
5. the energy-recuperation system for ultra-high-tension power transmission line inspection robot according to claim 1 and 2, is characterized in that: described two-way DC/DC transducer has two kinds of operating states: Buck state and Boost state; Under Buck state, described lithium battery group is given described direct current machine power supply, and under Boost state, described direct current machine charges to described lithium battery group as DC generator by described two-way DC/DC.
6. the energy-recuperation system for ultra-high-tension power transmission line inspection robot according to claim 1 and 2, it is characterized in that: described commutation circuit, be arranged on described DC motor power line porch, can switch to drive circuit module and charging circuit while normally travelling, the Voltage-output that the not voltage transition in the same way that the generating of described direct current machine can be produced during generating is equidirectional.
7. the energy-recuperation system for ultra-high-tension power transmission line inspection robot according to claim 3, is characterized in that: described circumference array magnet steel (2) one sides are concordant with described contact roller (3) side.
8. the energy-recuperation system for ultra-high-tension power transmission line inspection robot according to claim 3, it is characterized in that: described Hall element (4) detection faces and circumference array magnet steel (2) end face over against, for detection of the field signal to circumference array magnet steel (2) end face, and be translated into level signal output.
9. a method of utilizing the energy-recuperation system for ultra-high-tension power transmission line inspection robot described in claim 5 to carry out energy recovery, is characterized in that, comprises the following steps:
Step 1: judge that inspection robot meets charge condition?
If so, continue to carry out following step 2;
If not, continue to carry out following step 7;
Step 2: inspection robot charging relevant parameter is set, comprises direct current machine maximum speed, inspection robot inclination angle, inspection robot charging distance;
Step 3: commutation circuit is to charging circuit;
Step 4: two-way DC/DC transducer is adjusted to Boost pattern;
Step 5: judge whether inspection robot meets the requirement of inspection robot rotating speed
If so, directly described step 1 is carried out in revolution;
If not, continue to carry out following step 6;
Step 6: the control unit PWM ripple duty ratio of regulating the speed, adjust brake resistance R consumed power, described step 5 is carried out in revolution;
Step 7: commutation circuit is to drive circuit module;
Step 8: two-way DC/DC transducer is adjusted to Buck mode of operation;
Step 9: judge whether to stop inspection robot and patrol and examine?
If so, inspection robot stops patrolling and examining, and this flow process finishes;
If not, directly described step 1 is carried out in revolution.
10. the energy reclaiming method for ultra-high-tension power transmission line inspection robot according to claim 9, it is characterized in that: it is to be rotated and make described circumference array magnet steel (2) produce periodic signal in described Hall element (4) detection faces with described travelling robot walking by described contact roller (3) that the inspection robot rotating speed described in step 5 detects, described controller is calculated described contact roller (3) linear velocity by frequency, then draws described travelling robot walking rotating speed.
11. energy reclaiming methods for ultra-high-tension power transmission line inspection robot according to claim 9, it is characterized in that: the specific implementation process of step 6 is, if described inspection robot speed is lower than the optimum speed of setting, reduce described current control circuit (13) PWM ripple duty ratio, reduce described brake resistance R consumption or cut off electric current completely to make described brake resistance R no consumption, to reduce described direct current machine load, make its acceleration; If speed is higher than the optimum speed of setting, increase described current control circuit (13) PWM ripple duty ratio, increase described brake resistance R consumption, to increase described direct current machine load, it is slowed down, accelerate to judge by described acceleration transducer (11) direction with deceleration.
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| CN104864814A (en) * | 2015-06-18 | 2015-08-26 | 吉林省吉能电力建设监理有限责任公司 | All-digital cable length measuring instrument |
| CN106160620A (en) * | 2016-07-15 | 2016-11-23 | 武汉大学 | A kind of unpowered descending speed control method |
| CN106655003A (en) * | 2017-01-23 | 2017-05-10 | 国家电网公司 | Detection device for power frequency transmission line and device and tracking method |
| CN107425583A (en) * | 2017-09-15 | 2017-12-01 | 国家电网公司 | HV Transmission Line Routing Inspection intelligent robot induction charging device |
| CN107819413A (en) * | 2017-10-24 | 2018-03-20 | 北京镁伽机器人科技有限公司 | With the control parts of motion for stopping function, the deceleration method of shutting down of slowing down |
| CN109286155A (en) * | 2018-11-29 | 2019-01-29 | 广东电网有限责任公司 | Inspection device and its monitoring system |
| CN110138073A (en) * | 2018-07-06 | 2019-08-16 | 洛阳视距智能科技有限公司 | Electric inspection process robot solar energy autonomous mixed charged device and method online |
| CN110988711A (en) * | 2019-12-09 | 2020-04-10 | 广东科凯达智能机器人有限公司 | Energy management method of inspection robot |
| CN114865699A (en) * | 2022-05-25 | 2022-08-05 | 石河子大学 | Multi-motor energy feedback control method for flying inspection robot |
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| CN104864814A (en) * | 2015-06-18 | 2015-08-26 | 吉林省吉能电力建设监理有限责任公司 | All-digital cable length measuring instrument |
| CN106160620A (en) * | 2016-07-15 | 2016-11-23 | 武汉大学 | A kind of unpowered descending speed control method |
| CN106655003A (en) * | 2017-01-23 | 2017-05-10 | 国家电网公司 | Detection device for power frequency transmission line and device and tracking method |
| CN106655003B (en) * | 2017-01-23 | 2024-02-27 | 国家电网公司 | Detection device and tracking method for power frequency transmission line and equipment |
| CN107425583B (en) * | 2017-09-15 | 2023-08-18 | 国家电网公司 | Intelligent induction charging device of high-voltage transmission line inspection robot |
| CN107425583A (en) * | 2017-09-15 | 2017-12-01 | 国家电网公司 | HV Transmission Line Routing Inspection intelligent robot induction charging device |
| CN107819413A (en) * | 2017-10-24 | 2018-03-20 | 北京镁伽机器人科技有限公司 | With the control parts of motion for stopping function, the deceleration method of shutting down of slowing down |
| CN107819413B (en) * | 2017-10-24 | 2019-11-08 | 北京镁伽机器人科技有限公司 | With the control parts of motion for stopping function, deceleration method of shutting down of slowing down |
| CN110138073A (en) * | 2018-07-06 | 2019-08-16 | 洛阳视距智能科技有限公司 | Electric inspection process robot solar energy autonomous mixed charged device and method online |
| CN110138073B (en) * | 2018-07-06 | 2024-03-26 | 洛阳视距智能科技有限公司 | Solar online autonomous hybrid charging device and method for electric power inspection robot |
| CN109286155A (en) * | 2018-11-29 | 2019-01-29 | 广东电网有限责任公司 | Inspection device and its monitoring system |
| CN110988711A (en) * | 2019-12-09 | 2020-04-10 | 广东科凯达智能机器人有限公司 | Energy management method of inspection robot |
| CN114865699A (en) * | 2022-05-25 | 2022-08-05 | 石河子大学 | Multi-motor energy feedback control method for flying inspection robot |
| CN114865699B (en) * | 2022-05-25 | 2024-03-22 | 石河子大学 | Multi-motor energy feedback control method for flying inspection robot |
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