CN104079054B - A kind of energy-recuperation system for ultra-high-tension power transmission line inspection robot and method - Google Patents
A kind of energy-recuperation system for ultra-high-tension power transmission line inspection robot and method Download PDFInfo
- Publication number
- CN104079054B CN104079054B CN201410310535.9A CN201410310535A CN104079054B CN 104079054 B CN104079054 B CN 104079054B CN 201410310535 A CN201410310535 A CN 201410310535A CN 104079054 B CN104079054 B CN 104079054B
- Authority
- CN
- China
- Prior art keywords
- inspection robot
- energy
- transmission line
- ultra
- power transmission
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/92—Energy efficient charging or discharging systems for batteries, ultracapacitors, supercapacitors or double-layer capacitors specially adapted for vehicles
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a kind of energy-recuperation system for ultra-high-tension power transmission line inspection robot and method, energy-recuperation system, being arranged on inspection robot internal body, comprising the drive circuit module for driving described ultra-high-tension power transmission line inspection robot to run, for reclaiming the charging circuit of electric energy, unidirectional DC/DC transducer, controller and speed detection unit; The present invention utilizes the design feature of transmission line stretched wire shape, energy when successfully saving inspection robot descending needed for movable motor, and using movable motor as DC generator by energy regenerating in storage battery, save energy and hoisting machine people flying power; The mechanical structure of inspection robot own is without the need to too large variation, and upgrade cost is low, effective; Hardware and the circuit that can avoid the too fast robot caused of inspection robot descending speed itself damage, and maintain the relatively stable of generating voltage, ensure that the controllability that robot patrols and examines and fail safe, decrease the degree of wear of road wheel.
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 is mainly based on artificial line walking, and its line walking efficiency is low, and labour intensity is large, the frequent field work of workman, work under bad environment, and crosses 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 of specialized robot for patrolling and examining ultra-high-tension power transmission line, 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, then needs artificial frequent upper tower to change battery, bring very big inconvenience to automatic running on transmisson line.
The control of inspection robot weight and volume makes its battery capacity unrestrictedly not expand.Therefore, find out under the maximized prerequisite of existing battery capacity fill online can and energy-conservation effective way be the Main Means promoting inspection robot flying power.
Charge online for inspection robot, mainly contain following method: a kind of charging docking 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), describe a kind of in overhead transmission line installation solar recharging base station, solar panel is utilized to power to base station storage batteries, docked with inspection robot by charging device, thus the electric energy of solar energy base station is passed in inspection robot storage battery again, 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 must install solar recharging base station, and the charging interval just can reach ideal effect more than certain hour.
The method of another kind of online electric energy supply: 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 (application number: 201010150342.3) essentially describe and utilize wire alternating electromagnetic field to convert it into by electromagnetic induction principle the method that electric energy powers to power device with this of aerial high-voltage power transmission line.Because wire alternating magnetic field is comparatively strong, the inspection robot along wire line walking can fill energy by this kind of method, and ground wire field signal opposing leads is more weak, so kind method is not suitable for ground wire inspection robot.
Summary of the invention
Power transmission line is erected between transmission tower, and in catenary construction, between shaft tower, circuit two ends are furnished with stockbridge damper, and be accessible section between stockbridge damper, accessible segment length occupies the transmission line length overwhelming majority.Inspection robot is walked by DC motor Driver, according to line construction feature, therefore the principle of reversibility of direct current machine can be utilized to it can be used as DC generator recuperated energy when inspection robot descending.Inspection robot itself has the safety patrol inspection speed of its maximum permission, and in addition, direct current machine, decelerator also has its maximum speed to limit.And direct current machine itself does not reoffer actuating force and braking force during the generating of inspection robot descending.Therefore, speed when generating electricity to inspection robot is also needed to control.
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, being arranged on the inspection robot internal body of described ultra-high-tension power transmission line inspection robot, it is characterized in that: comprising the drive circuit module for driving described ultra-high-tension power transmission line inspection robot to run, 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 described speed control unit are isolated, when energy by described direct current machine flow to described in lithium battery group time, described direct current machine and described drive circuit are isolated; 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 arranged in the speed control unit described in control is to control the electric current of described speed control unit and to be arranged on the energy of the brake resistance R consumption in described speed control unit, 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 of the ultra-high-tension power transmission line inspection robot speed of service described in adjustment.
As preferably, described speed control unit is composed in series by brake resistance R and current control circuit, for the electric current by the speed control unit described in the adjustment of described current control circuit, adjust the energy that described brake resistance R consumes, described controller controls described speed control unit electric current by adjusting described current control circuit PWM ripple duty ratio, described speed control unit is in parallel with described two-way DC/DC transducer, load under brake resistance R consumed energy described in adjustment and the direct current machine generating state described in adjustable, control rate object is reached with this.
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 and relative up and down with the road wheel of inspection robot; Described circumference array magnet steel, is embedded in contact roller side; Described Hall element, is arranged on contact roller support; Described clamping motor is connected with described contact roller support by spring, compress or unclamp for controlling described contact roller support, described obliquity sensor and acceleration transducer, is arranged at inspection robot internal body respectively; 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 powers to described direct current machine, and under Boost state, described direct current machine gives described lithium battery group charging as DC generator by described two-way DC/DC.
As preferably, described commutation circuit, be arranged on described DC motor power line porch, drive circuit module when can switch to normal traveling and charging circuit, the not voltage transition in the same way that the generating of described direct current machine can be produced during generating is that the voltage of equidirectional exports.
As preferably, described circumference array magnet steel side is concordant with described contact roller side.
As preferably, described Hall element detection faces and circumference array magnet steel end face just right, for the field signal of circumference array magnet steel end face being detected, and be translated into level signal and export.
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, then continue to perform following step 2;
If not, then continue to perform 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 inspection robot rotation speed requirements?
If so, the step 1 then directly described in revolution execution;
If not, then continue to perform following step 6;
Step 6: control unit PWM ripple duty ratio of regulating the speed, adjustment brake resistance R consumed power, the step 5 described in revolution performs;
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 patrolling and examining?
If so, then inspection robot stops patrolling and examining, and this flow process terminates;
If not, the step 1 directly described in revolution execution.
As preferably, inspection robot Rotating speed measring described in step 5 to be rotated with described travelling robot walking by described contact roller to make described circumference array magnet steel produce periodic signal in described Hall element detection faces, described controller calculates 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, then reduce described current control circuit PWM ripple duty ratio, brake resistance R described in reduction consumes or cuts off completely electric current and makes described brake resistance R no consumption, makes it accelerate to reduce described direct current machine load; If speed is higher than the optimum speed of setting, then increase described current control circuit PWM ripple duty ratio, brake resistance R described in increase consumes, and makes it slow down to increase described direct current machine load, accelerates to be judged by described acceleration transducer direction with deceleration.
The present invention be mainly used in realizing direct current movable motor when inspection robot descending by energy regenerating in storage battery, during recuperated energy, the work of other modules of inspection robot can't be affected, inspection robot clamping motor, to make a video recording first-class detection module, and control circuit all normally works in power generation process, normally patrolling and examining of inspection robot can not be affected.
Tool of the present invention has the following advantages: the design feature utilizing transmission line stretched wire shape, energy when successfully saving inspection robot descending needed for movable motor, and using movable motor as DC generator by energy regenerating in storage battery, save energy and hoisting machine people flying power; The mechanical structure of inspection robot own is without the need to too large variation, and upgrade cost is low, effective; In inspection robot descending power generation process, robot speed is controlled, thus avoid hardware and the circuit damage of the too fast robot caused of inspection robot descending speed itself, and maintain the relatively stable of generating voltage, ensure that the controllability that robot patrols and examines and fail safe; Decrease owing to retraining in the not quite identical robot architecture of causing of road wheel speed after road wheel release, decrease 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
Understand for the ease of those of ordinary skill in the art and implement 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 is only for instruction and explanation of 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, being arranged on ultra-high-tension power transmission line inspection robot body 8 inner, comprising the drive circuit module for driving inspection robot to run, 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, drive circuit module when can switch to normal traveling and charging circuit, the not voltage transition in the same way that the generating of inspection robot direct current machine can be produced during generating is that the voltage of equidirectional exports; 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 is charged 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, the electric current of inspection robot speed control unit is regulated by current control circuit 13, adjust the energy that brake resistance R consumes, controller carrys out control rate control unit electric current by adjustment current control circuit 13PWM ripple duty ratio, speed control unit is in parallel with two-way DC/DC transducer, adjust the load under brake resistance R consumed energy and adjustable direct current machine generating state, reach control rate object with this; When energy is flowed to direct current machine by lithium battery group, direct current machine and speed control unit are isolated, and when energy flows to lithium battery group by direct current machine, direct current machine and drive circuit are isolated; Lithium battery group is powered to controller by unidirectional DC/DC transducer, controller is for controlling the transmission direction of two-way DC/DC converter energy, the PWM ripple duty ratio of the current control circuit arranged in control rate control unit is with the electric current of control rate control unit and the energy being arranged on the brake resistance R consumption in speed control unit, and control commutation circuit switches to drive circuit or speed control unit according to instruction; Controller is the velocity information that transmits of inbound pacing detecting unit also, as the reference regulating 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 about 1 relative; Circumference array magnet steel 2, is embedded in contact roller 3 side; Hall element 4, is arranged on contact roller support 5; Clamping motor 6 is connected with contact roller support 5 by spring, compress for controlling contact roller support 5 or unclamp, obliquity sensor 12 and acceleration transducer 11, is arranged at inspection robot body 8 respectively inner; Hall element 4, obliquity sensor 12 and acceleration transducer 11 provide electric power by inspection robot; Circumference array magnet steel 2 side is concordant with contact roller 3 side; Hall element 4 detection faces and circumference array magnet steel 2 end face just right, for the field signal of circumference array magnet steel 2 end face being detected, and be translated into level signal export.
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 pulse signal; Can obliquity sensor 12 and acceleration transducer 11 correctly return correlation values; Can the PWM ripple of the current control circuit that arrange in governing speed control unit control electric current and brake resistance R energy consumption; Can two-way DC/DC transducer switch Buck/Boost pattern and working properly, and can commutation circuit 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 patrols and examines, determine to be applicable to generating shelves section, the distance of inspection robot generating walking is set, optimum speed during inspection robot recuperated energy is set, determines the correlated conditions such as the inspection robot inclination angle of last stopping generating.
Step 3: after inspection robot arrives and specifies shelves section, to clear the jumps suspension clamp 10 and stockbridge damper 9 by self crossing barrier setting, arrive the one end of the b shown in Fig. 2, adjustment clamping motor 6 thrust, contact roller 3 can be pasted and rotate with inspection robot motion on the line.
Step 4: inspection robot starts energy regenerating, first commutation circuit is switched to charging circuit by drive circuit module, thus direct current machine release, two-way DC/DC transducer is changed into Boost pattern, lithium battery group starts to receive the energy passed back as DC generator by direct current machine, and starts charging to lithium battery group.Inspection robot starts to accelerate descending under gravity.
Step 5: in inspection robot descending process, speed detection unit constantly detects speed.Contact roller 3 runs with inspection robot and rotates, and the circumference array magnet steel 2 on it is close with the Hall element 4 detection faces cycle.Hall element 4 will give the pulse signal of controller return period.Formula can be used to record the actual linear velocity of contact roller 3 according to this signal:
The range ability of inspection robot descending generating can be recorded according to formula simultaneously:
N in formula
pfor t
1to t
2the umber of pulse that moment records, n
pfor contact roller 3 revolves the umber of pulse turned around, V
p(Δ t) represents the average linear velocity within 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 calculated and given speed, if inspection robot exceedes given optimum speed, then increase current control circuit 13PWM ripple duty ratio, increase through the electric current of 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, then 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 of energy regenerating, comprise, the gradient is not at claimed range; Exceed the distance of inspection robot energy regenerating setting; Inspection robot detects obstacle or touches inspection barrier; Inspection robot speed exceedes the maximum speed of permission; Manual stopping robot energy regenerating etc.Then inspection robot jumps out energy recovery process, returns normal operation.Charging circuit is switched to drive circuit module by commutation circuit.Energy recovery process terminates.
Step 8: stop at any time patrolling and examining, if inspection robot is in energy recovery state, then first commutation circuit is to drive circuit module, is then braked by driver control movable motor.Normally patrol and examine state if be in, then 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; therefore the restriction to scope of patent protection of the present invention can not be thought; those of ordinary skill in the art is under enlightenment of the present invention; do not departing under the ambit that the claims in the present invention protect; can also make and replacing or distortion, all fall within protection scope of the present invention, request protection range 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, the inspection robot body (8) being arranged on described ultra-high-tension power transmission line inspection robot is inner, it is characterized in that: comprise the drive circuit module for driving described ultra-high-tension power transmission line inspection robot to run, 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 described speed control unit are isolated, when energy by described direct current machine flow to described in lithium battery group time, described direct current machine and described drive circuit are isolated;
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 arranged in the speed control unit described in control is to control the electric current of described speed control unit and to be arranged on the energy of the brake resistance R consumption in described speed control unit, 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 of the ultra-high-tension power transmission line inspection robot speed of service described in adjustment.
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 electric current by the speed control unit described in the adjustment of described current control circuit (13), adjust the energy that described brake resistance R consumes, described controller controls described speed control unit electric current by current control circuit (13) the PWM ripple duty ratio described in adjustment, described speed control unit is in parallel with described two-way DC/DC transducer, load under brake resistance R consumed energy described in adjustment and the direct current machine generating state described in adjustable, control rate object is reached with this.
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, comprise 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), is symmetrically arranged on the contact roller support (5) of inspection robot, is adjacent to transmission line (7) and relative up and down with the road wheel (1) of inspection robot; Described circumference array magnet steel (2), is embedded in contact roller (3) side; Described Hall element (4), is arranged on contact roller support (5); Described clamping motor (6) is connected with described contact roller support (5) by spring, compress for controlling described contact roller support (5) or unclamp, described obliquity sensor (12) and acceleration transducer (11), be arranged at inspection robot body (8) inner respectively; 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 3, 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 powers to described direct current machine, and under Boost state, described direct current machine gives described lithium battery group charging as DC generator by described two-way DC/DC transducer.
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, drive circuit module when can switch to normal traveling and charging circuit, the not voltage transition in the same way that the generating of described direct current machine can be produced during generating is that the voltage of equidirectional exports.
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) side is 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 just right, for the field signal of circumference array magnet steel (2) end face being detected, and be translated into level signal output.
9. utilize the energy-recuperation system for ultra-high-tension power transmission line inspection robot described in claim 5 to carry out a method for energy regenerating, it is characterized in that, comprise the following steps:
Step 1: judge whether inspection robot meets charge condition;
If so, then continue to perform following step 2;
If not, then continue to perform 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 inspection robot rotation speed requirements;
If so, the step 1 then directly described in revolution execution;
If not, then continue to perform following step 6;
Step 6: control unit PWM ripple duty ratio of regulating the speed, adjustment brake resistance R consumed power, the step 5 described in revolution performs;
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 patrolling and examining;
If so, then inspection robot stops patrolling and examining, and this flow process terminates;
If not, the step 1 directly described in revolution execution.
10. method according to claim 9, for ultra-high-tension power transmission line inspection robot; It is characterized in that: described in step 5 to judge whether inspection robot meets inspection robot rotation speed requirements be to be rotated with described travelling robot walking by described contact roller (3) to make described circumference array magnet steel (2) produce periodic signal in described Hall element (4) detection faces, described controller calculates described contact roller (3) linear velocity by frequency, then draws described travelling robot walking rotating speed.
11. methods according to claim 9, for ultra-high-tension power transmission line inspection robot; 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, then reduce described current control circuit (13) PWM ripple duty ratio, brake resistance R described in reduction consumes or cuts off completely electric current and makes described brake resistance R no consumption, makes it accelerate to reduce described direct current machine load; If speed is higher than the optimum speed of setting, then increase described current control circuit (13) PWM ripple duty ratio, brake resistance R described in increase consumes, and makes it slow down to increase described direct current machine load, accelerates to be judged by described acceleration transducer (11) direction with deceleration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410310535.9A CN104079054B (en) | 2014-07-01 | 2014-07-01 | A kind of energy-recuperation system for ultra-high-tension power transmission line inspection robot and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410310535.9A CN104079054B (en) | 2014-07-01 | 2014-07-01 | A kind of energy-recuperation system for ultra-high-tension power transmission line inspection robot and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104079054A CN104079054A (en) | 2014-10-01 |
| CN104079054B true CN104079054B (en) | 2016-03-02 |
Family
ID=51600159
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410310535.9A Expired - Fee Related CN104079054B (en) | 2014-07-01 | 2014-07-01 | A kind of energy-recuperation system for ultra-high-tension power transmission line inspection robot and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104079054B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| 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 |
| CN108565956A (en) * | 2018-07-06 | 2018-09-21 | 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 |
| 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 |
| CN114865699B (en) * | 2022-05-25 | 2024-03-22 | 石河子大学 | Multi-motor energy feedback control method for flying inspection robot |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102114635A (en) * | 2009-12-31 | 2011-07-06 | 武汉大学 | Intelligent controller of inspection robot |
| CN102751762A (en) * | 2012-07-12 | 2012-10-24 | 广东电网公司汕头供电局 | Line inspection robot as well as charging method, charging device and parameter collocation method thereof |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05200683A (en) * | 1992-01-27 | 1993-08-10 | Toshiba Corp | Control device for inspection robot |
| KR101277119B1 (en) * | 2013-01-22 | 2013-06-20 | (주) 주암전기통신 | A inspecting robot for power transmission line |
-
2014
- 2014-07-01 CN CN201410310535.9A patent/CN104079054B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102114635A (en) * | 2009-12-31 | 2011-07-06 | 武汉大学 | Intelligent controller of inspection robot |
| CN102751762A (en) * | 2012-07-12 | 2012-10-24 | 广东电网公司汕头供电局 | Line inspection robot as well as charging method, charging device and parameter collocation method thereof |
Non-Patent Citations (1)
| Title |
|---|
| 巡线机器人电源系统研究;祝鲁金等;《移动电源与车辆》;20061231(第1期);第39-42页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104079054A (en) | 2014-10-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104079054B (en) | A kind of energy-recuperation system for ultra-high-tension power transmission line inspection robot and method | |
| US8174231B2 (en) | Mechanical methods for charging a car battery, related systems and infrastructure | |
| CN102009599B (en) | Electric automobile and control system thereof | |
| CN103818264A (en) | Electric car regenerative braking system and energy recovery method thereof | |
| CN103192721B (en) | Braking system and braking method of double-shaft driven electric automobile | |
| CN202029842U (en) | Drive and control system of pure electric vehicle | |
| CN106124221A (en) | Braking simulation experiment method based on electric automobile regenerative braking performance test stand | |
| CN106218439B (en) | A kind of vehicle distributed energy dynamical system and its control method | |
| CN107599870A (en) | New-energy automobile drive system and its driving method | |
| CN103010877A (en) | Energy-saving elevator | |
| US20110297486A1 (en) | Forklift | |
| CN203995741U (en) | A kind of energy-storage type self-generating electric car | |
| WO2023125646A1 (en) | Electric vehicle power supply, electric vehicle, and operation method for electric vehicle power supply | |
| CN201113914Y (en) | Low-voltage ac electric motor drive and control device for electric bicycle | |
| CN202261135U (en) | Permanent magnet synchronous traction motor four-quadrant operation speed regulator for storage battery electric locomotive | |
| CN205748935U (en) | Simulated dual motor driven electric car regenerative braking performance test stand | |
| CN205149552U (en) | Electric automobile energy recuperation control system | |
| CN112412466B (en) | Electric vehicle low-consumption surface mine exploitation method and electric vehicle electric energy feedback system | |
| CN204547821U (en) | A kind of overall process energy dynamics of pure electric vehicle reclaims and increases journey system | |
| CN210821848U (en) | Multi-energy-source crawler-type electric driving platform for unmanned inspection of grasslands | |
| CN107215424A (en) | A kind of automatic energy accumulating moped | |
| CN204567331U (en) | Industrial-mineral electric locomotive electric supply installation | |
| CN106364679A (en) | Unmanned aerial vehicle control system provided with wind energy storage device, energy storage controller and control method | |
| CN208571697U (en) | Charging bow power-off rising bow control device | |
| CN109910848A (en) | Drive formula fork truck service braking system and control method in station |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160302 Termination date: 20200701 |