CN110011396B - Power transmission line inspection robot and charging method thereof - Google Patents
Power transmission line inspection robot and charging method thereof Download PDFInfo
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- CN110011396B CN110011396B CN201910315811.3A CN201910315811A CN110011396B CN 110011396 B CN110011396 B CN 110011396B CN 201910315811 A CN201910315811 A CN 201910315811A CN 110011396 B CN110011396 B CN 110011396B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Selective Calling Equipment (AREA)
Abstract
The invention discloses a power transmission line inspection robot and a charging method thereof, wherein a solar panel and a charging interface matched with an external charging station are arranged on the robot, and a storage battery is electrically connected with the solar panel through a solar charging management module and is electrically connected with the charging interface through a direct current charging management module; the solar charger further comprises a charging coordination management module, and the direct current charging management module and the solar charging management module are in bidirectional communication connection with the charging coordination management module respectively. The charging method comprises the following steps: if the charging interface is detected to be connected to an external charging station and the charging is normal, starting the solar sailboard to charge the storage battery in a coordinated manner; otherwise, the storage battery is charged only through the solar sailboard. The solar energy sailboard charging system can realize the coordinated charging of the solar energy sailboard and the external charging station, and obviously reduce the outage time of the robot in the external charging station; and the solar sailboard can be used for charging alone, so that the endurance time of the robot is prolonged, and the power supply reliability is ensured.
Description
Technical Field
The invention relates to a power transmission line inspection robot and a charging method thereof, and belongs to the technical field of power transmission lines.
Background
At present, the power transmission line inspection robot mainly depends on an external charging station built on a power transmission line tower to carry out online charging, the charging time is long, and the shutdown time of the robot is also long.
Solar energy and wind power generation are often used as energy sources for the external charging stations, and since these energy sources are unstable, storage batteries are used to store energy sources at the charging stations. The life of the battery is reduced under long-time operation. And because the external charging station is located outdoors and is influenced by moisture, corrosion and the like for a long time, the equipment of the charging station or the interface of the charging station fails. Due to the reasons, the robot stops at the charging station to be charged, certain risks exist, the robot cannot obtain required energy from the charging station, at the moment, the robot does not have enough energy to travel to the next available charging station, the robot is finally stopped and needs manual treatment, and the reliability of autonomous charging and cruising of the power transmission line inspection robot is greatly limited.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides a power transmission line inspection robot and a charging method thereof, and solves the technical problems of single robot charging and power supply mode and low reliability in the prior art.
In order to solve the technical problem, the invention provides a power transmission line inspection robot, which comprises a storage battery for supplying power to the robot; the robot is provided with a solar panel and a charging interface matched with an external charging station, and the storage battery is electrically connected with the solar panel through a solar charging management module and is electrically connected with the charging interface through a direct current charging management module;
the robot further comprises a charging coordination management module, and the direct current charging management module and the solar charging management module are in bidirectional communication connection with the charging coordination management module respectively.
Further, the robot further includes: the walking arm with connect the walking wheel that can walk on transmission line ground wire on the walking arm.
Furthermore, the two groups of solar sailboards are arranged and are respectively arranged on two sides of the walking arm.
Furthermore, the solar sailboard is obliquely arranged, and the included angle between the solar sailboard and the horizontal direction is 30-45 degrees.
Furthermore, the charging coordination management module is in communication connection with the robot control system, when the external charging station connected with the charging interface is abnormal in charging, the charging coordination management module uploads the abnormal charging information of the external charging station to the robot control system, and the robot control system acquires information of other available external charging stations.
The invention also provides a charging method of the power transmission line inspection robot, which can be realized by adopting the robot, and the charging method comprises the following steps:
if the charging interface is detected to be connected to an external charging station and the charging is normal, starting the solar sailboard to charge the storage battery in a coordinated manner; otherwise, the storage battery is charged only through the solar panel.
Further, the charging method further includes:
and under the working state of the robot, the storage battery is charged in real time through the solar sailboard.
Furthermore, the charging coordination management module judges whether the charging interface is connected to an external charging station or not by monitoring the input voltage of the direct current charging management module in real time.
Furthermore, when the solar panel is used for coordinately charging the storage battery, the charging coordination management module controls the charging current of the solar panel through the solar charging management module, so that the total charging current of an external charging station and the solar panel is not greater than the maximum charging current of the storage battery.
Compared with the prior art, the invention has the following beneficial effects: the solar sailboard and the external charging station can be cooperatively charged, and the outage time of the robot at the external charging station is obviously reduced; the robot can be charged in real time through the solar sailboard in the running process, so that the consumption speed of the robot on electric energy in running is reduced, the endurance time of the robot is prolonged, and the power supply reliability is ensured; when an external charging station fails or the external charging station interface 7 fails, charging by the solar sailboards can ensure that the robot has sufficient electrical energy to operate to the next available external charging station.
Drawings
Fig. 1 is a schematic structural diagram of a power transmission line inspection robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of the power transmission line inspection robot in another direction according to the embodiment of the invention;
fig. 3 is a schematic block circuit diagram of the power transmission line inspection robot according to the embodiment of the present invention;
in the figure: 1. a solar array; 2. a robot body; 3. walking arms; 5. lapping the arms; 6. an external charging interface; 7. an external charging station interface; 8. a suspension clamp; 9. a traveling wheel; 10. and (5) a ground wire of the power transmission line.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1 to 3, the power transmission line inspection robot provided by the embodiment of the invention includes a robot body 2, a traveling arm 3 connected to the robot body 2, and a traveling wheel 9 connected to the traveling arm 3, wherein the robot body 2 is suspended on a power transmission line ground wire 10 through the traveling wheel 9, and can run along the power transmission line under the driving of the traveling wheel 9. The robot body 2 is further provided with solar sailboards 1, specifically, the solar sailboards 1 are provided with two groups, and in order to keep the robot body 2 balanced left and right, two groups of the solar sailboards 1 are respectively provided with one group on two sides of the walking arm 3. The two solar sailboards 1 are obliquely arranged, and as shown in fig. 1, the included angle between the two solar sailboards and the horizontal direction is 30-45 degrees. Robot body 2 still is connected with the interface 6 that charges through overlap joint arm 5, and the interface 6 that charges can with 7 looks adaptations of external charging station interface to supply power for robot body 2 through external charging station. A plurality of external charging stations are provided, and external charging station interfaces 7 are respectively fixed to suspension clamps 8.
The robot body 2 is internally provided with a storage battery and a charging coordination management module, the charging interface 6 charges the storage battery through the direct-current charging management module, and the solar sailboard 1 charges the storage battery through the solar charging management module. The charging coordination management module is in bidirectional communication connection with the direct-current charging management module and the solar charging management module respectively, and coordination charging of an external charging station and the solar sailboard 1 is achieved. Meanwhile, the charging coordination management module is also in communication connection with the robot control system, when the external charging station connected with the charging interface 6 is abnormal in charging, the charging coordination management module sends the abnormal charging information of the external charging station to the robot control system, and other available external charging station information is obtained through the robot control system.
The power transmission line inspection robot provided by the embodiment of the invention is provided with the charging interface 6 and the solar sailboards 1, can realize the coordination charging of external charging and the solar sailboards 1, reduces the outage time of the robot in an external charging station, and improves the charging and power supply reliability of the robot; the power transmission line inspection robot provided by the embodiment of the invention can be charged in real time through the solar sailboards 1 in the running process, so that the endurance time of the robot is prolonged.
The embodiment of the invention also provides a charging method of the power transmission line inspection robot, which can be realized by adopting the power transmission line inspection robot, and the specific charging method comprises the following steps:
and the direct current charging management module and the solar charging management module are monitored and controlled simultaneously through the charging coordination management module.
The solar charging management module is turned on by default, the direct-current charging management module is turned off, and the solar sailboard 1 carried by the solar charging management module is used for charging in real time, so that the energy consumption of the storage battery during the operation of the robot is reduced, and the endurance time of the storage battery is greatly prolonged.
The charging coordination management module monitors the input voltage of the direct current charging management module in real time, judges whether the charging interface 6 is connected to an external charging station or not, and considers that the charging interface 6 is connected to the external charging station when the input voltage is greater than 20V, at the moment, the solar charging management module is closed, the direct current charging management module is opened, and the external charging station is tried to be used for charging.
The charging coordination management module monitors the working state of the direct current charging management module, if the charging is normal, the solar charging management module is started to carry out coordination charging, and the solar charging management module is controlled to limit the charging current of the solar charging management module, so that the total charging current of the external charging station and the solar panel 1 is not larger than the maximum charging current of the storage battery, the time for charging the robot can be shortened by the coordination charging of the external charging station and the solar panel 1, and the outage time of the robot in the external charging station is shortened.
During charging, the charging coordination management module monitors the working state of the direct current charging management module in real time, if the charging is abnormal, the direct current charging management module is closed, the solar charging management module is started, the solar sailboards 1 carried by the charging coordination management module are recovered to be used for charging again, the abnormal state of the external charging station is sent to the robot control system, and the robot control system is required to search other available external charging stations.
When the solar sailboard 1 charges the storage battery to reach the set electric quantity, the robot can move to a new external charging station.
According to the charging method of the power transmission line inspection robot, the small solar sailboards 1 carried by the robot are combined with charging of an external charging station, multiple charging modes are coordinated and managed, the purposes of prolonging the endurance time of a storage battery of the robot and reducing the charging outage time of the robot in the external charging station are achieved, when the external charging station fails, the robot can be charged through the solar sailboards 1, the reliability of energy supply of the robot is improved, and the continuity of energy supply of the robot is ensured.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (8)
1. A power transmission line inspection robot is characterized by comprising a storage battery for supplying power to the robot; the robot is provided with a solar panel and a charging interface matched with an external charging station, and the storage battery is electrically connected with the solar panel through a solar charging management module and is electrically connected with the charging interface through a direct current charging management module;
the robot also comprises a charging coordination management module, and the direct current charging management module and the solar charging management module are respectively in bidirectional communication connection with the charging coordination management module;
the charging coordination management module is in communication connection with the robot control system, and when the external charging station connected with the charging interface is abnormal in charging, the charging coordination management module uploads the abnormal charging information of the external charging station to the robot control system and acquires other available external charging station information through the robot control system.
2. The power transmission line inspection robot according to claim 1, further comprising: the walking arm and the walking wheel which is connected to the walking arm and can walk on the ground wire of the power transmission line.
3. The power transmission line inspection robot according to claim 2, wherein two groups of solar sailboards are arranged and are respectively arranged on two sides of the walking arm.
4. The power transmission line inspection robot according to claim 3, wherein the solar sailboards are arranged in an inclined mode, and an included angle between the solar sailboards and the horizontal direction is 30-45 degrees.
5. A charging method of a power transmission line inspection robot is characterized in that the charging method can be realized by adopting the robot of any one of claims 1 to 4, and comprises the following steps:
if the charging interface is detected to be connected to an external charging station and the charging is normal, starting the solar sailboards to charge the storage battery in a coordinated manner; otherwise, the storage battery is charged only through the solar sailboard.
6. The charging method for the power transmission line inspection robot according to claim 5, further comprising:
and under the working state of the robot, the storage battery is charged in real time through the solar sailboard.
7. The charging method for the power transmission line inspection robot according to claim 5, wherein the charging coordination management module judges whether the charging interface is connected to an external charging station by monitoring the input voltage of the direct current charging management module in real time.
8. The charging method for the power transmission line inspection robot according to claim 5, wherein when the solar panel is used for coordinately charging the storage battery, the charging coordination management module controls the charging current of the solar panel through the solar charging management module, so that the total charging current of an external charging station and the solar panel is not greater than the maximum charging current of the storage battery.
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| CN201910315811.3A CN110011396B (en) | 2019-04-19 | 2019-04-19 | Power transmission line inspection robot and charging method thereof |
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| CN201910315811.3A CN110011396B (en) | 2019-04-19 | 2019-04-19 | Power transmission line inspection robot and charging method thereof |
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| CN110011396B true CN110011396B (en) | 2022-07-08 |
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| CN110676753B (en) * | 2019-10-14 | 2020-06-23 | 宁夏百川电力股份有限公司 | Intelligent inspection robot for power transmission line |
| CN114362286B (en) * | 2021-12-06 | 2024-04-26 | 国电南瑞科技股份有限公司 | Overhead transmission line inspection robot tower charging system and method |
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