CN105930922A - Continuation mileage prediction method for tour inspection robot of high tension transmission line - Google Patents

Abstract

The invention discloses a continuation mileage prediction method for a tour inspection robot of a high tension transmission line. A lithium battery used by the tour inspection robot is discharged to obtain a residual electric quantity Ci in a load voltage method; the required energy consumption when the tour inspection robot works in the line is estimated, and the total energy consumption Cz of the robot includes static energy consumption c1 of the robot, slope ascending and descending energy consumption c2 when the robot walks on the line, obstacle overcoming energy consumption c3 of the robot and tour inspection energy consumption c4 of the robot; Cz=C1+C2+C3+C4; and the residual electric quantity C1 is divided by the calculated total energy consumption Cz of the robot to obtain the continuation mileage of the robot. Thus, the continuation mileage for the tour inspection robot of the high tension transmission line is predicted, the prediction method is simple, a prediction result is accurate and reliable, and the practicality is very high.

Description

A kind of HV Transmission Line Routing Inspection robot course continuation mileage Forecasting Methodology

Technical field

The present invention relates to a kind of HV Transmission Line Routing Inspection robot key technology, be specifically related to a kind of ultra-high-tension power transmission line Crusing robot course continuation mileage Forecasting Methodology.

Background technology

Traditional HV Transmission Line Routing Inspection method is mainly based on artificial line walking, and its line walking efficiency is low, and labor intensity is big, The frequent field work of workman, work under bad environment, and cross over high mountain, thick forest, great river transmission line of electricity shelves section patrol and examine difficulty Bigger, there is potential safety hazard.Use helicopter routing inspection efficiency higher, but its deficiency in economic performance, and easily ignore power transmission line The trickle damage on road.Crusing robot is a kind of specialized robot for patrolling and examining ultra-high-tension power transmission line, can be used for replacing manually Patrolling and examining, it patrols and examines efficiency height, and imaging effect is good.HV Transmission Line Routing Inspection robot is robotics and polling transmission line And livewire work technology develops the trend combined.

First the working environment of HV Transmission Line Routing Inspection robot, i.e. passageway of overhead high-voltage power line environment are introduced, Including:

Solar recharging base station 1, straight line pole tower head 2, ground wire stockbridge damper 3, c-type suspension clamp 4, high-tension line robot 5, strain insulator gap bridge 6, strain rod tower tower head 7, aerial earth wire 8.Each segment distance can install a solar recharging at shaft tower tower head Base station, crusing robot can be charged in this charging base station, and without rolling off the production line.C-type suspension clamp is by commonly dangling Wire clamp (simply connected suspension clamp or duplex suspension clamp) carries out transformation and forms, and its feature is for can make robot face from it direct Pass.Strain insulator gap bridge is the steel tube track of the applicable robot ambulation set up at strain insulator tower head.

HV Transmission Line Routing Inspection robot basic structure and operation principle thereof:

Robot architecture is by road wheel A 9, movable motor A 10, road wheel B 11, movable motor B 12, hold-down mechanism A 13, hold-down mechanism B 14, compress slide mechanism A 15, compresses slide mechanism B 16, overhead transmission line ground wire 17, slew gear A 18, slew gear B 19, wrong arm slide mechanism A 20, wrong arm slide mechanism B 21, sliding platform 22, mechanical arm A 23, machinery Arm B 24 forms.Robot ambulation wheel A and road wheel B rotates on ground wire and makes it walk forward, when robot needs to pass through barrier The when of hindering thing, first robot can use rolling to pass through mode, ground wire shockproof hammer as to be passed through in robot, need to take one be The action of row, including various states and node transition rule.Crusing robot rolls and passes through the action planning of damper such as Shown in Fig. 4.After ultrasonic sensor array detects damper, deceleration moves on, and touches damper to front-wheel detection baffle plate And after hall signal being detected, begin to take on obstacle detouring action.Typically being near shaft tower due to damper, this section all has one The fixed gradient, in order to ensure robot obstacle detouring reliability and the safety of robot itself, " trailing wheel pushes away rolling front-wheel and drags in employing Rolling " mode obstacle detouring.The obstacle detouring of other barriers is similar to.

The development of inspection robot for high-voltage line equipment has reached practical application stage, crusing robot machinery and control System has been able to meet HV Transmission Line Routing Inspection and operation basic demand.But, crusing robot uses in the course of the work Be lithium battery power supply, how to ensure that crusing robot can have enough electricity to arrive next shaft tower during patrolling and examining, Or reach next stage solar recharging base station, it is a problem being badly in need of research.Additionally, patrol and examine staff to use survey monitor When transmission line of electricity is patrolled and examined by device people, need to grasp in real time cruising time and the course continuation mileage of crusing robot, can root Next step patrol plan is formulated according to the situation of crusing robot flying power.

The prediction of present domestic HV Transmission Line Routing Inspection robot course continuation mileage is all the experience by patrol officer.And Continuation of the journey prediction aspect, the continuation of the journey of electric automobile is mainly predicted according to road environment.Due to high-tension line inspection machine The line corridor structure of people's work is complicated, it is impossible to by the approach application of traditional electric automobile course continuation mileage prediction to inspection machine In the prediction of people's course continuation mileage.

Summary of the invention

The present invention mainly solves the problem existing for prior art；Providing one can be to ultra-high-tension power transmission line machine The method that people's course continuation mileage is predicted.This course continuation mileage Forecasting Methodology compensate for existing ultra-high-tension power transmission line machine man-hour The problem cannot accurately predicted course continuation mileage, has ensured that ultra-high-tension power transmission line robot can when patrolling and examining operation for a long time Carry out mission planning in advance.

In order to solve above-mentioned technical problem, the present invention is mainly addressed by following technical proposals:

A kind of HV Transmission Line Routing Inspection robot course continuation mileage Forecasting Methodology, it is characterised in that comprise the following steps:

(1) estimation of dump energy:

Lithium battery used by crusing robot is carried out discharge test, draws the remaining capacity estimation of load method gained Function is:

C_i=f (u, i)

Wherein C_iFor dump energy, u is load voltage, and i is load current；The voltage u and electric current i of robot self are in work Make engineering can record in real time；

(2) crusing robot works the estimation of required energy consumption on the line

1. robot static state energy consumption

Main line electric current and operation time when recording robot static state, the static energy consumption of crusing robot can be calculated, its Integral formula is:

$c_1=\underset{0}{\overset{t_1}{\∫}}{i}_{1}dt$

Wherein, i₁For robot main line electric current, t₁Running the time for robot static state, t is the time；

2. the energy consumption of climb and fall when robot walks on the line:

Main line electric current when recording climb and fall when robot walks on the line and travel time, can calculate robot The energy consumption walked on the line, its formula is:

$c_2=\underset{t_1}{\overset{t_1+t_2}{\∫}}{i}_{2}dt$

Wherein, i₂Main line electric current during climb and fall when walking on the line for robot, t₂Walk on the line for robot Time climb and fall time travel time；

Performance according to motor and experiment understand, main line electric current when robot walks on the line and robot ambulation speed Spend relevant with the gradient of circuit:

That is:

I=φ (v, θ)

Wherein, v is the linear velocity of robot ambulation wheel, v=2 π n；θ is the angle of circuit, θ=arctan f (x), f (x) For the catenary model formula of aerial high-voltage power transmission line ground wire, therefore when robot travels with a certain specific speed, robot The function that main line electric current is angle, θ；

I.e.

Wherein, i_vRobot main line electric current when being v for the linear velocity of robot ambulation wheel；ψ (θ) is the function of θ, For the function of x, x is robot abscissa in a shelves section；

Summary formula, can obtain:

Wherein, x_iBy the robot abscissa of robot, x when i-th Dang Duan walked₀Row is being started for robot Walk abscissa during position；

3. robot obstacle detouring energy consumption

After robot travels on the line, understand at shaft tower, carry out obstacle detouring, but the obstacle detouring action of different barriers Planning different, therefore electric current is also to change according to the change of action, through verification experimental verification, robot is carrying out individual part Time main line electric current stablize constant, if the electric current of this change is i₃, more Downtime is t₃, then energy consumption c of robot obstacle detouring₃ For:

$c_3=\underset{t_1+t_2}{\overset{t_1+t_2+t_3}{\∫}}{i}_{3}dt=C_{yz}=i_{shb}*t_{shb}+i_{zb}*t_{zb}+i_{sb}*t_{sb}+i_{sob}*t_{sob}+i_{yj}*t_{yj}+i_{sk}*t_{sk}+i_{xz}*t_{xz}$

Wherein, the meaning of each current symbol such as following table:

4. robot patrols and examines energy consumption

Robot static to get off before or after leaping over obstacles and overhead line structures are carried out walkaround inspection, now machine The electric current that people's electric current is mainly lost by the components and parts in cabinet forms, if this electric current is i₄, more Downtime is t₃, then robot exists Energy consumption c of this part₄For:

$c_4=\underset{t_1+t_2+t_3}{\overset{t_1+t_2+t_3+t_4}{\∫}}{i}_{4}dt$

5. the total energy consumption of robot is:

By above derivation it is known that wherein c₁、c₃、c₄Can be according to the number of stockbridge damper on circuit, c-type catenary The type that the type of folder and strain insulator are passed a bridge calculates in advance, therefore the electricity that robot needs on the line can obtain；

(3) continuation of the journey prediction

By above-mentioned calculated robot total energy consumption divided by robot dump energy C_iI.e. can get in robot continuation of the journey Journey.

The medicine have the advantages that can be according to the concrete ultra-high-tension power transmission line of the robot work course continuation mileage to robot Carry out look-ahead, and then planning is made in the work to robot in advance.

Accompanying drawing explanation

Accompanying drawing 1 is HV Transmission Line Routing Inspection robot of the present invention running environment schematic diagram；

Accompanying drawing 2 is HV Transmission Line Routing Inspection robot mechanism principle schematic of the present invention；

Accompanying drawing 3 is the principle flow chart of continuation of the journey Forecasting Methodology of the present invention；

Accompanying drawing 4 is that HV Transmission Line Routing Inspection robot of the present invention rolls the action passing through damper；

Wherein, solar recharging base station 1, straight line pole tower head 2, ground wire stockbridge damper 3, c-type suspension clamp 4, high-tension line Robot 5, strain insulator gap bridge 6, strain rod tower tower head 7, aerial earth wire 8, road wheel A 9, movable motor A 10, road wheel B 11, Movable motor B 12, hold-down mechanism A 13, hold-down mechanism B 14, compress slide mechanism A 15, compresses slide mechanism B 16, built on stilts Line grounding wire 17, slew gear A 18, slew gear B 19, wrong arm slide mechanism A 20, wrong arm slide mechanism B 21, slide flat Platform 22, mechanical arm A 23, mechanical arm B 24.

Detailed description of the invention

Below by embodiment, and combine accompanying drawing, technical scheme is described in further detail.

In figure, solar recharging base station 1, straight line pole tower head 2, ground wire stockbridge damper 3, c-type suspension clamp 4, high-tension line Robot 5, strain insulator gap bridge 6, strain rod tower tower head 7, aerial earth wire 8, road wheel A 9, movable motor A 10, road wheel B 11, Movable motor B 12, hold-down mechanism A 13, hold-down mechanism B 14, compress slide mechanism A 15, compresses slide mechanism B 16, built on stilts Line grounding wire 17, slew gear A 18, slew gear B 19, wrong arm slide mechanism A 20, wrong arm slide mechanism B 21, slide flat Platform 22, mechanical arm A 23, mechanical arm B 24.

1. a HV Transmission Line Routing Inspection robot course continuation mileage Forecasting Methodology, it is characterised in that comprise the following steps:

(1) estimation of dump energy:

Lithium battery used by crusing robot is carried out discharge test, draws the remaining capacity estimation of load method gained Function is:

C_i=f (u, i)

Wherein C_iFor dump energy, u is load voltage, and i is load current；The voltage u and electric current i of robot self are in work Make engineering can record in real time；

(2) crusing robot works the estimation of required energy consumption on the line

1. robot static state energy consumption

Main line electric current and operation time when recording robot static state, the static energy consumption of crusing robot can be calculated, its Integral formula is:

$c_1=\underset{0}{\overset{t_1}{\∫}}{i}_{1}dt$

Wherein, i₁For robot main line electric current, t₁Running the time for robot static state, t is the time；

2. the energy consumption of climb and fall when robot walks on the line:

Main line electric current when recording climb and fall when robot walks on the line and travel time, can calculate robot The energy consumption walked on the line, its formula is:

$c_2=\underset{t_1}{\overset{t_1+t_2}{\∫}}{i}_{2}dt$

Wherein, i₂Main line electric current during climb and fall when walking on the line for robot, t₂Walk on the line for robot Time climb and fall time travel time；

Performance according to motor and experiment understand, main line electric current when robot walks on the line and robot ambulation speed Spend relevant with the gradient of circuit:

That is:

I=φ (v, θ)

Wherein, v is the linear velocity of robot ambulation wheel, v=2 π n；θ is the angle of circuit, θ=arctan f (x), f (x) For the catenary model formula of aerial high-voltage power transmission line ground wire, therefore when robot travels with a certain specific speed, robot The function that main line electric current is angle, θ；

I.e.

Wherein, i_vRobot main line electric current when being v for the linear velocity of robot ambulation wheel；ψ (θ) is the function of θ For the function of x, x is robot abscissa in a shelves section；

Summary formula, can obtain:

Wherein, x_iBy the robot abscissa of robot, x when i-th Dang Duan walked₀Row is being started for robot Walk abscissa during position；

3. robot obstacle detouring energy consumption

After robot travels on the line, understand at shaft tower, carry out obstacle detouring, but the obstacle detouring action of different barriers Planning different, therefore electric current is also to change according to the change of action, through verification experimental verification, robot is carrying out individual part Time main line electric current stablize constant, if the electric current of this change is i₃, more Downtime is t₃, then energy consumption c of robot obstacle detouring₃ For:

$c_3=\underset{t_1+t_2}{\overset{t_1+t_2+t_3}{\∫}}{i}_{3}dt=C_{yz}=i_{shb}*t_{shb}+i_{zb}*t_{zb}+i_{sb}*t_{sb}+i_{sob}*t_{sob}+i_{yj}*t_{yj}+i_{sk}*t_{sk}+i_{xz}*t_{xz}$

Wherein, the meaning of each current symbol such as following table:

4. robot patrols and examines energy consumption

Robot static to get off before or after leaping over obstacles and overhead line structures are carried out walkaround inspection, now machine The electric current that people's electric current is mainly lost by the components and parts in cabinet forms, if this electric current is i₄, more Downtime is t₃, then robot exists Energy consumption c of this part₄For:

$c_4=\underset{t_1+t_2+t_3}{\overset{t_1+t_2+t_3+t_4}{\∫}}{i}_{4}dt$

5. the total energy consumption of robot is:

By above derivation it is known that wherein c₁、c₃、c₄Can be according to the number of stockbridge damper on circuit, c-type catenary The type that the type of folder and strain insulator are passed a bridge calculates in advance, therefore the electricity that robot needs on the line can obtain；

(3) continuation of the journey prediction

By above-mentioned calculated robot total energy consumption divided by robot dump energy C_iI.e. can get in robot continuation of the journey Journey.

Embodiment:

Step A: the lithium battery used by crusing robot is carried out discharge test, draws the residue electricity of load method gained Amount estimation function C_i=f (u, i).

Step B: robot can record the voltage u and electric current i of self in work process in real time, therefore can be derived that residue Electricity C_i。

Step C: all line informations have been input to supervisory control of robot base station number by robot patrol officer before operation According in storehouse.

Step D: robot is according to line information, in conjunction with continuation of the journey Forecasting Methodology, show that dump energy can walk away from From, i.e. course continuation mileage.

Claims (1)

1. a HV Transmission Line Routing Inspection robot course continuation mileage Forecasting Methodology, it is characterised in that comprise the following steps:

(1) estimation of dump energy:

Lithium battery used by crusing robot is carried out discharge test, draws the remaining capacity estimation function of load method gained For:

C_i=f (u, i)

Wherein C_iFor dump energy, u is load voltage, and i is load current；The voltage u and electric current i of robot self is in work work Journey can record in real time；

(2) crusing robot works the estimation of required energy consumption on the line

1. robot static state energy consumption

Main line electric current and operation time when recording robot static state, the static energy consumption of crusing robot, its integration can be calculated Formula is:

$c_1=\underset{0}{\overset{t_1}{\∫}}{i}_{1}dt$

Wherein, i₁For robot main line electric current, t₁Running the time for robot static state, t is the time；

2. the energy consumption of climb and fall when robot walks on the line:

Main line electric current when recording climb and fall when robot walks on the line and travel time, can calculate robot online The energy consumption of walking on road, its formula is:

$c_2=\underset{t_1}{\overset{t_1+t_2}{\∫}}{i}_{2}dt$

Wherein, i₂Main line electric current during climb and fall when walking on the line for robot, t₂On when walking on the line for robot Travel time during descending；

Performance according to motor and experiment understand, main line electric current when robot walks on the line and robot ambulation speed and The gradient of circuit is relevant:

That is:

I=φ (v, θ)

Wherein, v is the linear velocity of robot ambulation wheel, v=2 π n；θ is the angle of circuit, and θ=arctan f (x), f (x) are frame The catenary model formula of outage pressure transmission line ground wire, therefore when robot travels with a certain specific speed, robot is done Road electric current is the function of angle, θ；

I.e.

Wherein, i_vRobot main line electric current when being v for the linear velocity of robot ambulation wheel；ψ (θ) is the function of θ,For x's Function, x is robot abscissa in a shelves section；

Summary formula, can obtain:

Wherein, x_iBy the robot abscissa of robot, x when i-th Dang Duan walked₀Position of walking is being started for robot Abscissa when putting；

3. robot obstacle detouring energy consumption

After robot travels on the line, understand at shaft tower, carry out obstacle detouring, but the obstacle detouring action planning of different barriers Different, therefore electric current is also to change according to the change of action, through verification experimental verification, robot is when carrying out individual part Main line electric current is stablized constant, if the electric current of this change is i₃, more Downtime is t₃, then energy consumption c of robot obstacle detouring₃For:

Wherein, the meaning of each current symbol such as following table:

4. robot patrols and examines energy consumption

Robot wants static before or after leaping over obstacles and gets off overhead line structures carry out walkaround inspection, now robot electricity The electric current that stream is mainly lost by the components and parts in cabinet forms, if this electric current is i₄, more Downtime is t₃, then robot is in this portion Energy consumption c divided₄For:

$c_4=\underset{t_1+t_2+t_3}{\overset{t_1+t_2+t_3+t_4}{\∫}}{i}_{4}dt$

5. the total energy consumption of robot is:

By above derivation it is known that wherein c₁、c₃、c₄Can according to the number of stockbridge damper on circuit, c-type suspension clamp The type that type and strain insulator are passed a bridge calculates in advance, therefore the electricity that robot needs on the line can obtain；

(3) continuation of the journey prediction

By above-mentioned calculated robot total energy consumption divided by robot dump energy C_iI.e. can get robot course continuation mileage: