CN111103883A - Charging method of inspection robot - Google Patents
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- CN111103883A CN111103883A CN201911406488.7A CN201911406488A CN111103883A CN 111103883 A CN111103883 A CN 111103883A CN 201911406488 A CN201911406488 A CN 201911406488A CN 111103883 A CN111103883 A CN 111103883A
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- 238000007689 inspection Methods 0.000 title claims abstract description 191
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000007405 data analysis Methods 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 5
- 230000002035 prolonged effect Effects 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
Abstract
The invention discloses a charging method of an inspection robot, wherein the inspection robot runs along a preset path at intervals and performs scanning operation through a laser scanner of the inspection robot; the inspection robot detects the residual electric quantity value of the battery of the inspection robot in real time and judges whether the residual electric quantity value of the battery of the inspection robot is lower than a preset electric quantity value or not; if the charging points are judged to be within the preset distance range, the inspection robot stops running, positions the pause position of the inspection robot, and scans all the charging points within the preset distance range; the inspection robot selects the charging point with the shortest distance from the pause position, and judges whether the electric quantity value used by the inspection robot for driving to the charging point with the shortest distance is smaller than the residual electric quantity value. By implementing the charging method of the inspection robot, the inspection robot can be charged when the electric quantity is really used up, and the service life is prolonged.
Description
Technical Field
The invention relates to the technical field of inspection robots of transformer substations, in particular to a charging method of an inspection robot.
Background
In the prior art, a transformer substation is widely applied to urban network construction and transformation of a power system. In order to transmit the electric energy generated by the power plant to a remote place, the voltage must be increased to become high voltage, and then the voltage is decreased as required near the user, and the voltage increasing and decreasing work is completed by a transformer substation. In an electric power system, substations are concentrated in a power generation area, and in order to enable the substations to work for a long time, workers need to perform routing inspection at irregular time. With the development of the technology, in order to reduce safety accidents, inspection robots are used on the market to replace workers to inspect the transformer substation, namely, the laser scanners of the inspection robots scan the transformer substation to detect the states of the equipment of the transformer substation.
Under the general condition, as long as the residual electric quantity value of the battery of patrolling and examining the robot is less than preset electric quantity value, all need unified to remove and go to the charge spot and charge, however, in traditional mode, some charge spots are too close for there is more electric quantity still when patrolling and examining the robot and reacing the charge spot, make the electric quantity not really use up just to charge, lead to laser scanner's scanning activity duration too short, greatly reduced user's experience.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a charging method of the inspection robot, so that the inspection robot can be charged when the electric quantity of the inspection robot is really used up, and the service life is prolonged.
In order to solve the above technical problem, an embodiment of the present invention provides a method for charging an inspection robot, including the following steps: the inspection robot runs along a preset path at intervals, and scanning operation is carried out through a laser scanner of the inspection robot; the inspection robot detects the residual electric quantity value of the battery of the inspection robot in real time and judges whether the residual electric quantity value of the battery of the inspection robot is lower than a preset electric quantity value or not; if the charging points are judged to be within the preset distance range, the inspection robot stops running, positions the pause position of the inspection robot, and scans all the charging points within the preset distance range; the inspection robot selects a charging point with the shortest distance from the pause position, and judges whether the electric quantity value used by the inspection robot when the inspection robot runs to the charging point with the shortest distance is smaller than the residual electric quantity value; if the electric quantity used for judging that the inspection robot runs to the charging point with the shortest distance is equal to or slightly smaller than the residual electric quantity value, the inspection robot moves forwards to the charging point with the shortest distance and performs charging operation, wherein: when the inspection robot judges that the electric quantity used by the inspection robot to travel to the charging point with the shortest distance is equal to or slightly less than the residual electric quantity value, suspending the scanning operation of a laser scanner of the inspection robot and simultaneously suspending the data analysis operation of a controller of the inspection robot; when the inspection robot determines that the battery is fully charged, the inspection robot pauses the charging operation and moves to a pause position to control the laser scanner to continue to execute the scanning operation.
Wherein, the step of judging whether the electric quantity value used by the inspection robot for driving to the charging point closest to the distance is less than the residual electric quantity value comprises the following steps: the inspection robot judges whether the electric quantity value used by the inspection robot when the inspection robot runs to the charging point closest to the distance is less than half of the residual electric quantity value.
Wherein, should patrol and examine the robot and be provided with stand-by power supply, this method still includes: if the electric quantity value used by the inspection robot to travel to the charging point with the shortest distance is larger than the residual electric quantity value, the scanning operation of the laser scanner of the inspection robot and the data analysis operation of the controller of the inspection robot are suspended, the standby power supply is started, the inspection robot moves forwards to the charging point with the shortest distance, and an alarm is generated and alarm information is uploaded.
Wherein the step of uploading alarm information comprises: and sending the serial number of the inspection robot generating the alarm, the route on which the inspection robot runs and the real-time position of the inspection robot to a server.
The method for charging the inspection robot has the following beneficial effects: the inspection robot runs along a preset path at intervals, and scanning operation is carried out through a laser scanner of the inspection robot; the inspection robot detects the residual electric quantity value of the battery of the inspection robot in real time and judges whether the residual electric quantity value of the battery of the inspection robot is lower than a preset electric quantity value or not; if the charging points are judged to be within the preset distance range, the inspection robot stops running, positions the pause position of the inspection robot, and scans all the charging points within the preset distance range; the inspection robot selects a charging point with the shortest distance from the pause position, and judges whether the electric quantity value used by the inspection robot when the inspection robot runs to the charging point with the shortest distance is smaller than the residual electric quantity value; if the power consumption is judged to be the same as the power consumption of the inspection robot, the inspection robot controls the laser scanner of the inspection robot to perform scanning operation, and when the power consumption used when the inspection robot travels to the charging point with the shortest distance is judged to be equal to or slightly less than the residual power value, the inspection robot moves forwards to the charging point with the shortest distance and performs charging operation, so that the power consumption of the inspection robot can be charged again when the inspection robot is used up, and the service life is prolonged.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a method for charging an inspection robot according to an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 shows a first embodiment of a charging method for an inspection robot according to the present invention.
The charging method of the inspection robot in the embodiment comprises the following steps:
step S101: the inspection robot travels along a preset path interval time period and performs scanning operation through a laser scanner of the inspection robot. It can be understood that the scanning operation performed by the laser scanner of the inspection robot is mainly used for scanning the working condition of the equipment of the substation to judge whether a fault or not occurs. It should be noted that the inspection robot travels a distance along a predetermined path, and stops to scan the laser scanner of the inspection robot for a period of time.
Step S102: the inspection robot detects the residual electric quantity value of the battery of the inspection robot in real time and judges whether the residual electric quantity value of the battery of the inspection robot is lower than a preset electric quantity value or not.
Step S103: if the charging points are judged to be within the preset distance range, the inspection robot stops running, positions the pause position of the inspection robot, and scans all the charging points within the preset distance range of the inspection robot. That is, when it is determined that the remaining electric quantity value of the battery of the inspection robot is lower than the preset electric quantity value, the inspection robot does not travel any more. It can be understood that each charging point has a fixed longitude and latitude, and the inspection robot stores the longitude and latitude of all the charging points, so that when the longitude and latitude of the current inspection robot are determined, all the charging points in the preset distance range of the inspection robot can be searched.
Step S104: the inspection robot selects the charging point with the shortest distance from the pause position, and judges whether the electric quantity value used by the inspection robot for driving to the charging point with the shortest distance is smaller than the residual electric quantity value. It can be understood that the charging point with the shortest distance from the pause position is selected, so that the driving time and the electric quantity can be effectively saved, and the electricity can be charged quickly. It should be noted that the remaining electric quantity value only plays a role of alarm, and is not incapable of driving the inspection robot to continue working. In the embodiment, the electric quantity value used by the inspection robot to travel to the charging point with the shortest distance is calculated, then the electric quantity value used by the inspection robot to travel to the charging point with the shortest distance is compared with the residual electric quantity value, and if the electric quantity value used by the inspection robot to travel to the charging point with the shortest distance is smaller than the residual electric quantity value, the inspection robot has enough electric quantity to travel to the charging point and also has redundant electric quantity.
Step S105: if the charging point is judged to be the shortest charging point, the inspection robot controls a laser scanner of the inspection robot to perform scanning operation, and when the electric quantity used by the inspection robot when the inspection robot travels to the charging point with the shortest distance is judged to be equal to or slightly less than the residual electric quantity value, the inspection robot moves forwards to the charging point with the shortest distance and performs charging operation.
In step S105, if it is determined that the electric quantity value used by the inspection robot to travel to the charging point with the shortest distance is smaller than the remaining electric quantity value, it indicates that the inspection robot has not only enough electric quantity to travel to the charging point, but also excess electric quantity, so that the inspection robot controls the laser scanner of the inspection robot to perform scanning operation, so as to consume excess electric quantity, so that the electric quantity can be used up to be charged, and the laser scanner can have enough time to perform scanning operation. It can be understood that the electric quantity used by the inspection robot for driving to the charging point with the shortest distance is determined to be equal to or slightly less than the residual electric quantity value, so that the electric quantity used by the inspection robot for driving to the charging point with the shortest distance is just used up, and the electric quantity can be effectively distributed and applied.
In this embodiment, the step of determining whether the electric quantity value used by the inspection robot to travel to the charging point closest to the distance is smaller than the remaining electric quantity value includes: the inspection robot judges whether the electric quantity value used by the inspection robot when the inspection robot runs to the charging point closest to the distance is less than half of the residual electric quantity value. That is, when it is determined that the amount of electricity used by the inspection robot to travel to the charging point where the distance is shortest is equal to or slightly less than half of the remaining amount of electricity, the inspection robot moves forward to the charging point where the distance is shortest and performs a charging operation. It should be noted that when it is determined that the electric quantity used by the inspection robot to travel to the charging point with the shortest distance is equal to or slightly less than half of the remaining electric quantity value, the inspection robot moves forward to the charging point with the shortest distance, so that a little electric quantity is reserved as electric quantity loss mainly because the inspection robot has electric quantity loss.
Further, the charging method of the inspection robot further comprises the following steps: when the inspection robot judges that the electric quantity used by the inspection robot to travel to the charging point with the shortest distance is equal to or slightly less than the residual electric quantity value, the scanning operation of a laser scanner of the inspection robot is paused, and meanwhile, the data analysis operation of a controller of the inspection robot is paused, so that enough electric quantity can still be ensured to enable the inspection robot to travel to the charging point under the condition of electric quantity loss.
Further, the charging method of the inspection robot further comprises the following steps: when the inspection robot determines that the battery is fully charged, the inspection robot pauses the charging operation and moves to a pause position to control the laser scanner to continue to execute the scanning operation. That is to say, when this inspection robot confirms that the battery is full of charge, inspection robot returns the pause point position according to former way and continues to carry out the operation of patrolling and examining, need not manual operation, and it is intelligent strong.
In the present embodiment, the inspection robot is provided with a backup power supply. Further, the charging method of the inspection robot further comprises the following steps: if the electric quantity value used by the inspection robot to travel to the charging point with the shortest distance is larger than the residual electric quantity value, the scanning operation of the laser scanner of the inspection robot and the data analysis operation of the controller of the inspection robot are suspended, the standby power supply is started, the inspection robot moves forwards to the charging point with the shortest distance, and an alarm is generated and alarm information is uploaded.
Preferably, the step of uploading the alarm information comprises: the serial number of the inspection robot, the route line on which the inspection robot runs and the real-time position of the inspection robot which generates an alarm are sent to the server, so that the staff can know which inspection robot is insufficient in electric quantity from the server, and the route on which the inspection robot goes to a charging point can be known.
In conclusion, the invention can ensure that the residual electric quantity is almost used up when the inspection robot reaches the charging point, so that the electric quantity can be really used up and then charged, and the laser scanner can have enough time to perform scanning operation.
The method for charging the inspection robot has the following beneficial effects: the inspection robot runs along a preset path at intervals, and scanning operation is carried out through a laser scanner of the inspection robot; the inspection robot detects the residual electric quantity value of the battery of the inspection robot in real time and judges whether the residual electric quantity value of the battery of the inspection robot is lower than a preset electric quantity value or not; if the charging points are judged to be within the preset distance range, the inspection robot stops running, positions the pause position of the inspection robot, and scans all the charging points within the preset distance range; the inspection robot selects a charging point with the shortest distance from the pause position, and judges whether the electric quantity value used by the inspection robot when the inspection robot runs to the charging point with the shortest distance is smaller than the residual electric quantity value; if the power consumption is judged to be the same as the power consumption of the inspection robot, the inspection robot controls the laser scanner of the inspection robot to perform scanning operation, and when the power consumption used when the inspection robot travels to the charging point with the shortest distance is judged to be equal to or slightly less than the residual power value, the inspection robot moves forwards to the charging point with the shortest distance and performs charging operation, so that the power consumption of the inspection robot can be charged again when the inspection robot is used up, and the service life is prolonged.
Claims (4)
1. A charging method of an inspection robot is characterized by comprising the following steps:
the inspection robot runs along a preset path at intervals, and scanning operation is carried out through a laser scanner of the inspection robot;
the inspection robot detects the residual electric quantity value of the battery of the inspection robot in real time and judges whether the residual electric quantity value of the battery of the inspection robot is lower than a preset electric quantity value or not;
if the charging points are judged to be within the preset distance range, the inspection robot stops running, positions the pause position of the inspection robot, and scans all the charging points within the preset distance range;
the inspection robot selects a charging point with the shortest distance from the pause position, and judges whether the electric quantity value used by the inspection robot when the inspection robot runs to the charging point with the shortest distance is smaller than the residual electric quantity value;
if the electric quantity used for judging that the inspection robot runs to the charging point with the shortest distance is equal to or slightly smaller than the residual electric quantity value, the inspection robot moves forwards to the charging point with the shortest distance and performs charging operation, wherein:
when the inspection robot judges that the electric quantity used by the inspection robot to travel to the charging point with the shortest distance is equal to or slightly less than the residual electric quantity value, suspending the scanning operation of a laser scanner of the inspection robot and simultaneously suspending the data analysis operation of a controller of the inspection robot; when the inspection robot determines that the battery is fully charged, the inspection robot pauses the charging operation and moves to a pause position to control the laser scanner to continue to execute the scanning operation.
2. The inspection robot charging method according to claim 1, wherein the step of determining whether the amount of electricity used by the inspection robot to travel to the nearest charging point on the route is less than the remaining amount of electricity includes:
the inspection robot judges whether the electric quantity value used by the inspection robot when the inspection robot runs to the charging point closest to the distance is less than half of the residual electric quantity value.
3. The inspection robot charging method according to claim 2, wherein the inspection robot is provided with a backup power supply, the method further comprising:
if the electric quantity value used by the inspection robot to travel to the charging point with the shortest distance is larger than the residual electric quantity value, the scanning operation of the laser scanner of the inspection robot and the data analysis operation of the controller of the inspection robot are suspended, the standby power supply is started, the inspection robot moves forwards to the charging point with the shortest distance, and an alarm is generated and alarm information is uploaded.
4. The inspection robot charging method according to claim 3, wherein the uploading alarm information includes:
and sending the serial number of the inspection robot generating the alarm, the route on which the inspection robot runs and the real-time position of the inspection robot to a server.
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| CN201911406488.7A CN111103883A (en) | 2019-12-31 | 2019-12-31 | Charging method of inspection robot |
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Cited By (4)
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| CN112882755A (en) * | 2021-01-12 | 2021-06-01 | 深圳市工匠社科技有限公司 | Intelligent hardware safe starting method, system, storage medium and intelligent hardware |
| CN113581701A (en) * | 2021-07-06 | 2021-11-02 | 浙江世仓智能仓储设备有限公司 | Rescue system and method for abnormal power failure of shuttle vehicle |
| CN114374239A (en) * | 2021-11-30 | 2022-04-19 | 杭州申昊科技股份有限公司 | Charging method of explosion-proof inspection robot |
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Application publication date: 20200505 |