CN114374239A - Charging method of explosion-proof inspection robot - Google Patents
Charging method of explosion-proof inspection robot Download PDFInfo
- Publication number
- CN114374239A CN114374239A CN202111447213.5A CN202111447213A CN114374239A CN 114374239 A CN114374239 A CN 114374239A CN 202111447213 A CN202111447213 A CN 202111447213A CN 114374239 A CN114374239 A CN 114374239A
- Authority
- CN
- China
- Prior art keywords
- explosion
- inspection robot
- inspection
- proof
- electric quantity
- 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.)
- Granted
Links
Images
Classifications
-
- 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
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
- H02J7/00034—Charger exchanging data with an electronic device, i.e. telephone, whose internal battery is under charge
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/44—Methods for charging or discharging
-
- 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
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
- H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
-
- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- General Chemical & Material Sciences (AREA)
- Manipulator (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention relates to a charging method of an explosion-proof inspection robot, wherein the explosion-proof inspection robot starts to inspect in an inspection area from a charging pile and records the moving path of the explosion-proof inspection robot, and the charging method comprises the following steps: acquiring real-time battery power of the explosion-proof type inspection robot, initial power of the explosion-proof type inspection robot when the explosion-proof type inspection robot starts to inspect, real-time position of the explosion-proof type inspection robot in an inspection area, an inspection path of the explosion-proof type inspection robot and a shortest path between each inspection place on the inspection path and a charging pile; the explosion-proof type patrols and examines real-time battery power of robot, the explosion-proof type patrols and examines initial power when the robot begins to patrol and examine, the explosion-proof type patrols and examines the real-time position of robot in patrolling and examining the region, the explosion-proof type patrols and examines the route of robot, patrol and examine each on the route and patrol and examine the shortest path between place and the electric pile and the explosion-proof type that acquires in advance and patrol and examine the robot and remove the power consumption of one meter, the explosion-proof type patrols and examines the robot and removes to filling electric pile and charge.
Description
Technical Field
The invention relates to the technical field of robot charging, in particular to a charging method of an explosion-proof inspection robot.
Background
The current battery capacity of the robot is not considered when the existing robot is charged automatically, and the efficiency of the robot working can be highest only when the robot is charged.
Meanwhile, in the practical application of the battery in the robot, under the condition that the battery is fully charged, the battery is fully charged at the beginning, so that the discharge capacity is large, the moving path of the inspection robot is long, and in the later period, the discharge capacity is unstable, so that the moving path of the inspection robot is short, namely, the distance that the inspection robot can move when the battery consumes 80% of the full battery power is different from the distance that the inspection robot can move when the battery consumes 20% of the full battery power, so that in the prior art, even if the battery power of the inspection robot cannot accurately know when to charge, the inspection places of the inspection robot can be the largest, and the working efficiency of the inspection robot is improved.
Disclosure of Invention
Technical problem to be solved
In view of the above disadvantages and shortcomings of the prior art, the present invention provides a charging method for an explosion-proof inspection robot, which solves the technical problem that the efficiency of the operation of the robot can be improved without considering the current battery capacity of the robot and when the robot is charged.
(II) technical scheme
In order to achieve the purpose, the invention adopts the main technical scheme that:
the embodiment of the invention provides a charging method of an explosion-proof inspection robot, the explosion-proof inspection robot starts to inspect in an inspection area from a charging pile and records a moving path of the explosion-proof inspection robot in the inspection process, and the charging method comprises the following steps:
s1, acquiring real-time battery power of the explosion-proof type inspection robot, initial power of the explosion-proof type inspection robot when the explosion-proof type inspection robot starts to inspect, the real-time position of the explosion-proof type inspection robot in an inspection area, an inspection path of the explosion-proof type inspection robot and the shortest path between each inspection place and a charging pile on the inspection path;
the inspection area comprises a plurality of inspection places;
s2, real-time battery power based on the explosion-proof type inspection robot, initial power when the explosion-proof type inspection robot starts to inspect, the real-time position of the explosion-proof type inspection robot in an inspection area, an inspection path of the explosion-proof type inspection robot, the shortest path between each inspection place and a charging pile on the inspection path, and power consumption of the explosion-proof type inspection robot which is acquired in advance and moves by one meter are achieved, and the explosion-proof type inspection robot moves to the charging pile to be charged.
Preferably, the S2 includes:
s21, judging whether the real-time battery power of the explosion-proof inspection robot is smaller than G or not, and acquiring a first judgment result;
wherein G ═ Q × c;
q is the initial electric quantity when the explosion-proof inspection robot starts to inspect;
c is a preset coefficient;
s22, if the first judgment result is that the real-time battery electric quantity of the explosion-proof inspection robot is smaller than or equal to G, based on the real-time position of the explosion-proof inspection robot in the inspection area, the inspection path of the explosion-proof inspection robot, the shortest path between each inspection point and the charging pile on the inspection path and the power consumption of the explosion-proof inspection robot which is acquired in advance and moves by one meter, the explosion-proof inspection robot moves to the charging pile to be charged.
Preferably, the S22 includes:
s221, determining the next routing inspection place of the current position of the explosion-proof routing inspection robot on the routing inspection path of the explosion-proof routing inspection robot based on the real-time position of the explosion-proof routing inspection robot in the routing inspection area and the routing inspection path of the explosion-proof routing inspection robot;
s222, acquiring the distance between the current position of the explosion-proof inspection robot and the next inspection place based on the current position of the explosion-proof inspection robot in the inspection area and the next inspection place which is on the inspection path of the explosion-proof inspection robot and is far away from the current position;
s223, judging whether the battery electric quantity of the explosion-proof type inspection robot is larger than a first electric quantity Q1 or not based on the distance between the current position of the explosion-proof type inspection robot and the next inspection place, the shortest path between the next inspection place and a charging pile and the pre-acquired electric consumption of the explosion-proof type inspection robot moving by one meter, and acquiring a second judgment result;
the first power consumption amount Q1 is: q1 ═ (D0+ S) × Q;
d0 is the distance between the current position and the next inspection place when the explosion-proof inspection robot moves;
s is the shortest path between the next inspection place and the charging pile;
q is the power consumption of the explosion-proof inspection robot moving for one meter, which is obtained in advance;
s224, if the second judgment result is yes, the explosion-proof type inspection robot moves to the next inspection place to perform inspection, and the steps S221 to S223 are repeated until the battery electric quantity of the explosion-proof type inspection robot is smaller than a first electric quantity Q1, and further the explosion-proof type inspection robot returns to the charging pile to be charged according to a second path;
the second path is a path for the explosion-proof type inspection robot to move to the current position from the starting of the charging pile.
Preferably, the S223 includes:
s2231, acquiring a first electric quantity Q1 required by the explosion-proof type inspection robot from the current position to the charging pile through the next inspection place based on the distance between the current position of the explosion-proof type inspection robot and the next inspection place, the shortest path between the next inspection place and the charging pile and the pre-acquired electric quantity consumed by the explosion-proof type inspection robot moving for one meter;
s2232, judging whether the real-time battery electric quantity of the explosion-proof type inspection robot is larger than the first electric quantity Q1, and obtaining a second judgment result.
Preferably, the method further comprises, before S1:
s0, acquiring a plurality of first distances, a plurality of second distances, a plurality of third distances, a plurality of fourth distances and a plurality of fifth distances in a preset time period, and determining specific numerical values of c based on the plurality of first distances, the plurality of second distances, the plurality of third distances, the plurality of fourth distances, the plurality of fifth distances and initial electric quantity when the explosion-proof inspection robot starts inspection;
the first distance is the distance moved by the explosion-proof type inspection robot when the explosion-proof type inspection robot consumes 80% of full battery power from full battery power;
the second distance is the distance moved by the explosion-proof type inspection robot when the explosion-proof type inspection robot consumes 80% of full battery power to 60% of full battery power;
the third distance is the distance moved by the explosion-proof type inspection robot when the explosion-proof type inspection robot consumes 60% of full battery power to 40% of full battery power;
the fourth distance is the distance moved by the explosion-proof type inspection robot when the explosion-proof type inspection robot consumes 20% of the full battery power from 40%;
and the fifth distance is the distance that the explosion-proof inspection robot moves when the explosion-proof inspection robot consumes 20% of full battery power to 0% of the battery power.
Preferably, the first and second liquid crystal materials are,
the predetermined period of time is 180 days.
Preferably, the S0 includes:
s01, acquiring D1 numerical values based on the plurality of first distances respectively;
the D1 value is an average of the plurality of first distances;
obtaining a D2 value based on the plurality of second distances;
the D2 value is an average of the plurality of second distances;
obtaining a D3 value based on the plurality of third distances;
the D3 value is an average of the plurality of third distances;
obtaining a D4 value based on the plurality of fourth distances;
the D4 value is an average of the plurality of fourth distances;
obtaining a D5 value based on the fifth distances;
the D5 value is an average of the plurality of fifth distances;
and S02, determining the specific value of c based on the D1 value, the D2 value, the D3 value, the D4 value and the D5 value and the initial electric quantity when the explosion-proof inspection robot starts to inspect.
Preferably, the S02 specifically includes:
if the initial electric quantity when the explosion-proof type inspection robot starts to inspect is between the full battery electric quantity and 80% of the full battery electric quantity, determining a specific numerical value of c by adopting a formula (1);
the formula (1) is:
c＝(D4+D5+K1)/(K2+D2+D3-K1)；
k1 is D3 x (initial electric quantity of the explosion-proof inspection robot of 1/2 when starting to inspect-40% full battery electric quantity)/Z;
z is 20% of full battery capacity;
k2 is D1 (initial electric quantity-80% full battery electric quantity when the explosion-proof inspection robot starts to inspect)/Z;
if the initial electric quantity of the explosion-proof inspection robot when the inspection is started is between 80% of full battery electric quantity and 60% of full battery electric quantity, determining a specific numerical value of c by adopting a formula (2);
the formula (2) is:
c＝(D5+K3)/(K4+D3+D4-K3)；
k3 is D4 x (1/2 explosion-proof type inspection robot initial electric quantity-20% full battery electric quantity) when starting to inspect/Z;
k4 is D2 (initial electric quantity-60% full battery electric quantity when the explosion-proof inspection robot starts to inspect)/Z;
if the initial electric quantity of the explosion-proof inspection robot when the inspection is started is between 60% of full battery electric quantity and 40% of full battery electric quantity, determining a specific numerical value of c by adopting a formula (3);
the formula (3) is:
c＝(D5+K3)/(K5+D4-K3)；
k5 is D3 (initial electric quantity-40% full battery electric quantity when the explosion-proof inspection robot starts to inspect)/Z;
if the initial electric quantity of the explosion-proof inspection robot when the inspection is started is between 40% of full battery electric quantity and 20% of full battery electric quantity, determining a specific numerical value of c by adopting a formula (4);
equation (4) is:
c＝(D5-K6)/(K7+K6)；
k6 ═ D5 (20% full battery capacity-1/2 explosion-proof type patrolling robot initial capacity at beginning to patrol)/Z;
k7 is D4 (initial electric quantity-20% full battery electric quantity when the explosion-proof inspection robot starts to inspect)/Z;
and if the initial electric quantity when the explosion-proof inspection robot starts to inspect is between 20% of full battery electric quantity and 0 battery electric quantity, the specific numerical value of c is a first preset value.
Preferably, the first and second liquid crystal materials are,
the first preset value is 0.68.
(III) advantageous effects
The invention has the beneficial effects that: according to the charging method of the explosion-proof type inspection robot, the real-time battery power of the explosion-proof type inspection robot, the initial power of the explosion-proof type inspection robot when the explosion-proof type inspection robot starts to inspect, the real-time position of the explosion-proof type inspection robot in an inspection area, an inspection path of the explosion-proof type inspection robot, the shortest path between each inspection place and a charging pile on the inspection path and the power consumption of the explosion-proof type inspection robot which is obtained in advance and moves by one meter are adopted, and the explosion-proof type inspection robot moves to the charging pile for charging, so that the inspection places of the inspection robot are the most, and the working efficiency of the inspection robot is improved.
Drawings
Fig. 1 is a flow chart of a charging method of an explosion-proof inspection robot according to the invention;
fig. 2 is a schematic diagram of distribution of a charging pile, an explosion-proof type inspection robot and a next inspection place in the embodiment of the invention.
[ description of reference ]
1: charging piles;
2: the current position of the explosion-proof inspection robot;
3: the next inspection place at the current position on the inspection path of the explosion-proof inspection robot;
d0: the explosion-proof type inspection robot moves from the current position to the distance from the next inspection place;
s: the shortest path between the next inspection place and the charging pile is obtained.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
In order to better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Referring to fig. 1, the present embodiment provides a charging method for an explosion-proof type inspection robot, which starts to inspect in an inspection area from a charging pile and records a path along which the explosion-proof type inspection robot moves during inspection, the charging method including:
s1, acquiring real-time battery power of the explosion-proof type inspection robot, initial power of the explosion-proof type inspection robot when the explosion-proof type inspection robot starts to inspect, the real-time position of the explosion-proof type inspection robot in an inspection area, an inspection path of the explosion-proof type inspection robot and the shortest path between each inspection place and a charging pile on the inspection path.
The inspection area comprises a plurality of inspection places.
S2, real-time battery power based on the explosion-proof type inspection robot, initial power when the explosion-proof type inspection robot starts to inspect, the real-time position of the explosion-proof type inspection robot in an inspection area, an inspection path of the explosion-proof type inspection robot, the shortest path between each inspection place and a charging pile on the inspection path, and power consumption of the explosion-proof type inspection robot which is acquired in advance and moves by one meter are achieved, and the explosion-proof type inspection robot moves to the charging pile to be charged.
In practical applications of this embodiment, the S2 includes:
s21, judging whether the real-time battery power of the explosion-proof inspection robot is smaller than G or not, and obtaining a first judgment result.
Wherein G ═ Q × c.
Q is the initial electric quantity when the explosion-proof type inspection robot starts to inspect.
c is a preset coefficient.
S22, if the first judgment result is that the real-time battery electric quantity of the explosion-proof inspection robot is smaller than or equal to G, based on the real-time position of the explosion-proof inspection robot in the inspection area, the inspection path of the explosion-proof inspection robot, the shortest path between each inspection point and the charging pile on the inspection path and the power consumption of the explosion-proof inspection robot which is acquired in advance and moves by one meter, the explosion-proof inspection robot moves to the charging pile to be charged.
In practical applications of this embodiment, the S22 includes:
s221, determining the current position of the explosion-proof type inspection robot at the next inspection place on the inspection path of the explosion-proof type inspection robot based on the real-time position of the explosion-proof type inspection robot in the inspection area and the inspection path of the explosion-proof type inspection robot.
S222, acquiring the distance between the current position of the explosion-proof inspection robot and the next inspection place based on the current position of the explosion-proof inspection robot in the inspection area and the next inspection place which is away from the current position of the explosion-proof inspection robot on the inspection path.
S223, based on the distance between the current position of the explosion-proof type inspection robot and the next inspection place, the shortest path between the next inspection place and the charging pile and the power consumption of the explosion-proof type inspection robot which is obtained in advance and moved by one meter, whether the battery power of the explosion-proof type inspection robot is larger than a first power Q1 or not is judged, and a second judgment result is obtained.
The first power consumption amount Q1 is: q1 ═ (D0+ S) × Q.
And D0 is the distance of the explosion-proof inspection robot moving from the current position to the next inspection place.
And S is the shortest path between the next inspection place and the charging pile.
And q is the power consumption of the explosion-proof inspection robot moving by one meter, which is acquired in advance.
And S224, if the second judgment result is yes, the explosion-proof type inspection robot moves to the next inspection place for inspection, and the steps S221 to S223 are repeated until the battery electric quantity of the explosion-proof type inspection robot is smaller than a first electric quantity Q1, and further, the explosion-proof type inspection robot returns to the charging pile for charging according to a second path.
The second path is a path for the explosion-proof type inspection robot to move to the current position from the starting of the charging pile. That is to say that the explosion-proof type patrols and examines the robot and returns to filling electric pile and charge on the way.
For example, referring to fig. 2, assuming that the inspection robot is at the current position 2 and ready to go to the next inspection location 3 for inspection, and at this time, the current battery capacity of the inspection robot is greater than the first battery capacity Q1, it is stated that the current battery capacity of the inspection robot can support inspection robot movements D0 (distance between the current position and the next inspection location for explosion-proof inspection robot movement) and S (shortest path between the next inspection location and the charging pile), and then the inspection robot moves to the next inspection location 3 for inspection.
In practical application of this embodiment, the S223 includes:
s2231, acquiring a first electric quantity Q1 required by the explosion-proof type inspection robot from the current position to the charging pile through the next inspection place based on the distance between the current position of the explosion-proof type inspection robot and the next inspection place, the shortest path between the next inspection place and the charging pile and the pre-acquired electric quantity consumed by the explosion-proof type inspection robot moving by one meter.
S2232, judging whether the real-time battery electric quantity of the explosion-proof type inspection robot is larger than the first electric quantity Q1, and obtaining a second judgment result.
In practical application of this embodiment, before S1, the method further includes:
s0, obtaining a plurality of first distances, a plurality of second distances, a plurality of third distances, a plurality of fourth distances and a plurality of fifth distances in a preset time period, and determining specific numerical values of c based on the plurality of first distances, the plurality of second distances, the plurality of third distances, the plurality of fourth distances, the plurality of fifth distances and initial electric quantity when the explosion-proof inspection robot starts to inspect.
When the first distance is that the explosion-proof type patrols and examines the robot and consumes 80% full battery power by full battery power, the distance that the robot removed is patrolled and examined to the explosion-proof type.
And the second distance is the distance that the explosion-proof inspection robot moves when the explosion-proof inspection robot consumes the electric quantity of the full battery of 60% from the electric quantity of the full battery of 80%.
And the third distance is the distance moved by the explosion-proof type inspection robot when the explosion-proof type inspection robot consumes 40% of full battery electric quantity from 60% of full battery electric quantity.
And the fourth distance is the distance moved by the explosion-proof type inspection robot when the explosion-proof type inspection robot consumes 20% of the battery electric quantity from 40% of the full battery electric quantity.
And the fifth distance is the distance that the explosion-proof inspection robot moves when the explosion-proof inspection robot consumes 20% of full battery power to 0% of the battery power.
In practical application of this embodiment, the predetermined time period is 180 days.
In practical applications of this embodiment, the S0 includes:
and S01, acquiring D1 numerical values respectively based on the plurality of first distances.
The D1 value is an average of the plurality of first distances.
Based on the plurality of second distances, a D2 value is obtained.
The D2 value is an average of the plurality of second distances.
Based on the plurality of third distances, a D3 value is obtained.
The D3 value is an average of the plurality of third distances.
Based on the plurality of fourth distances, a D4 value is obtained.
The D4 value is an average of the plurality of fourth distances.
Based on the plurality of fifth distances, a D5 value is obtained.
The D5 value is an average of the plurality of fifth distances.
And S02, determining the specific value of c based on the D1 value, the D2 value, the D3 value, the D4 value and the D5 value and the initial electric quantity when the explosion-proof inspection robot starts to inspect.
In practical application of this embodiment, the S02 specifically includes:
and if the initial electric quantity when the explosion-proof inspection robot starts to inspect is between the full battery electric quantity and 80% of the full battery electric quantity, determining the specific numerical value of c by adopting a formula (1).
The formula (1) is:
c＝(D4+D5+K1)/(K2+D2+D3-K1)。
k1 is D3 x (initial electric quantity of the explosion-proof inspection robot of 1/2 at the beginning of inspection-40% full battery electric quantity)/Z.
And Z is 20% of full battery capacity.
And K2 is D1 (initial electric quantity-80% of full battery electric quantity when the explosion-proof inspection robot starts to inspect)/Z.
And if the initial electric quantity of the explosion-proof inspection robot when the inspection is started is between 80% of full battery electric quantity and 60% of full battery electric quantity, determining the specific numerical value of c by adopting a formula (2).
The formula (2) is:
c＝(D5+K3)/(K4+D3+D4-K3)。
k3 is D4 x (initial electric quantity of the explosion-proof inspection robot of 1/2 at the beginning of inspection-20% full battery electric quantity)/Z.
And K4 is D2 (initial electric quantity-60% of full battery electric quantity when the explosion-proof inspection robot starts to inspect)/Z.
And if the initial electric quantity of the explosion-proof inspection robot when the inspection is started is between 60% of full battery electric quantity and 40% of full battery electric quantity, determining the specific numerical value of c by adopting a formula (3).
The formula (3) is:
c＝(D5+K3)/(K5+D4-K3)。
and K5 is D3 (initial electric quantity of the explosion-proof inspection robot at the beginning of inspection-40% of full battery electric quantity)/Z.
And if the initial electric quantity of the explosion-proof inspection robot when the inspection is started is between 40% of full battery electric quantity and 20% of full battery electric quantity, determining the specific numerical value of c by adopting a formula (4).
Equation (4) is:
c＝(D5-K6)/(K7+K6)。
and K6 is D5 (20% of full battery power-1/2 initial power of explosion-proof inspection robot when the inspection robot starts to inspect)/Z.
And K7 is D4 (initial electric quantity-20% of full battery electric quantity when the explosion-proof inspection robot starts to inspect)/Z.
And if the initial electric quantity when the explosion-proof inspection robot starts to inspect is between 20% of full battery electric quantity and 0 battery electric quantity, the specific numerical value of c is a first preset value.
In practical application of this embodiment, the first preset value is 0.68.
In the charging method for the explosion-proof inspection robot in the embodiment, the real-time battery power of the explosion-proof inspection robot, the initial power of the explosion-proof inspection robot when the explosion-proof inspection robot starts to inspect, the real-time position of the explosion-proof inspection robot in an inspection area, the inspection path of the explosion-proof inspection robot, the shortest path between each inspection point and a charging pile on the inspection path and the power consumption of the explosion-proof inspection robot obtained in advance for moving by one meter are adopted, the explosion-proof inspection robot moves to the charging pile for charging, so that the inspection points of the inspection robot are the most, and the work efficiency of the inspection robot is improved.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the terms first, second, third and the like are for convenience only and do not denote any order. These words are to be understood as part of the name of the component.
Furthermore, it should be noted that in the description of the present specification, the description of the term "one embodiment", "some embodiments", "examples", "specific examples" or "some examples", etc., means that a specific feature, structure, material or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, the claims should be construed to include preferred embodiments and all changes and modifications that fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention should also include such modifications and variations.
Claims (9)
1. The utility model provides a charging method of explosion-proof type inspection robot, its characterized in that, explosion-proof type inspection robot is started patrolling and examining in patrolling and examining the region by charging pile to record the explosion-proof type inspection robot in patrolling and examining the route that the robot removed, charging method includes:
s1, acquiring real-time battery power of the explosion-proof type inspection robot, initial power of the explosion-proof type inspection robot when the explosion-proof type inspection robot starts to inspect, the real-time position of the explosion-proof type inspection robot in an inspection area, an inspection path of the explosion-proof type inspection robot and the shortest path between each inspection place and a charging pile on the inspection path;
the inspection area comprises a plurality of inspection places;
s2, real-time battery power based on the explosion-proof type inspection robot, initial power when the explosion-proof type inspection robot starts to inspect, the real-time position of the explosion-proof type inspection robot in an inspection area, an inspection path of the explosion-proof type inspection robot, the shortest path between each inspection place and a charging pile on the inspection path, and power consumption of the explosion-proof type inspection robot which is acquired in advance and moves by one meter are controlled, and the explosion-proof type inspection robot is controlled to move to the charging pile to be charged.
2. The method according to claim 1, wherein the S2 includes:
s21, judging whether the real-time battery power of the explosion-proof inspection robot is smaller than G or not, and acquiring a first judgment result;
wherein G ═ Q × c;
q is the initial electric quantity when the explosion-proof inspection robot starts to inspect;
c is a preset coefficient;
s22, if the first judgment result is that the real-time battery electric quantity of the explosion-proof inspection robot is smaller than or equal to G, based on the real-time position of the explosion-proof inspection robot in the inspection area, the inspection path of the explosion-proof inspection robot, the shortest path between each inspection point and the charging pile on the inspection path and the power consumption of the explosion-proof inspection robot which is acquired in advance and moves by one meter, the explosion-proof inspection robot is controlled to move to the charging pile for charging.
3. The method according to claim 2, wherein the S22 includes:
s221, determining the next routing inspection place of the current position of the explosion-proof routing inspection robot on the routing inspection path of the explosion-proof routing inspection robot based on the real-time position of the explosion-proof routing inspection robot in the routing inspection area and the routing inspection path of the explosion-proof routing inspection robot;
s222, acquiring the distance between the current position of the explosion-proof inspection robot and the next inspection place based on the current position of the explosion-proof inspection robot in the inspection area and the next inspection place which is on the inspection path of the explosion-proof inspection robot and is far away from the current position;
s223, judging whether the battery electric quantity of the explosion-proof type inspection robot is larger than a first electric quantity Q1 or not based on the distance between the current position of the explosion-proof type inspection robot and the next inspection place, the shortest path between the next inspection place and a charging pile and the pre-acquired electric consumption of the explosion-proof type inspection robot moving by one meter, and acquiring a second judgment result;
the first power consumption amount Q1 is: q1 ═ (D0+ S) × Q;
d0 is the distance between the current position and the next inspection place when the explosion-proof inspection robot moves;
s is the shortest path between the next inspection place and the charging pile;
q is the power consumption of the explosion-proof inspection robot moving for one meter, which is obtained in advance;
s224, if the second judgment result is yes, controlling the explosion-proof type inspection robot to move to the next inspection place for inspection, and repeating the steps S221-S223 until the battery electric quantity of the explosion-proof type inspection robot is smaller than a first electric quantity Q1, otherwise, controlling the explosion-proof type inspection robot to return to the charging pile for charging according to a second path;
the second path is a path for the explosion-proof type inspection robot to move to the current position from the starting of the charging pile.
4. The method of claim 3, wherein the S223 comprises:
s2231, acquiring a first electric quantity Q1 required by the explosion-proof type inspection robot from the current position to the charging pile through the next inspection place based on the distance between the current position of the explosion-proof type inspection robot and the next inspection place, the shortest path between the next inspection place and the charging pile and the pre-acquired electric quantity consumed by the explosion-proof type inspection robot moving for one meter;
s2232, judging whether the real-time battery electric quantity of the explosion-proof type inspection robot is larger than the first electric quantity Q1, and obtaining a second judgment result.
5. The method of claim 4, further comprising, before S1:
s0, acquiring a plurality of first distances, a plurality of second distances, a plurality of third distances, a plurality of fourth distances and a plurality of fifth distances in a preset time period, and determining specific numerical values of c based on the plurality of first distances, the plurality of second distances, the plurality of third distances, the plurality of fourth distances, the plurality of fifth distances and initial electric quantity when the explosion-proof inspection robot starts inspection;
the first distance is the distance moved by the explosion-proof type inspection robot when the explosion-proof type inspection robot consumes 80% of full battery power from full battery power;
the second distance is the distance moved by the explosion-proof type inspection robot when the explosion-proof type inspection robot consumes 80% of full battery power to 60% of full battery power;
the third distance is the distance moved by the explosion-proof type inspection robot when the explosion-proof type inspection robot consumes 60% of full battery power to 40% of full battery power;
the fourth distance is the distance moved by the explosion-proof type inspection robot when the explosion-proof type inspection robot consumes 20% of the full battery power from 40%;
and the fifth distance is the distance that the explosion-proof inspection robot moves when the explosion-proof inspection robot consumes 20% of full battery power to 0% of the battery power.
6. The method of claim 5,
the predetermined period of time is 180 days.
7. The method according to claim 6, wherein the S0 includes:
s01, acquiring D1 numerical values based on the plurality of first distances respectively;
the D1 value is an average of the plurality of first distances;
obtaining a D2 value based on the plurality of second distances;
the D2 value is an average of the plurality of second distances;
obtaining a D3 value based on the plurality of third distances;
the D3 value is an average of the plurality of third distances;
obtaining a D4 value based on the plurality of fourth distances;
the D4 value is an average of the plurality of fourth distances;
obtaining a D5 value based on the fifth distances;
the D5 value is an average of the plurality of fifth distances;
and S02, determining the specific value of c based on the D1 value, the D2 value, the D3 value, the D4 value and the D5 value and the initial electric quantity when the explosion-proof inspection robot starts to inspect.
8. The method according to claim 7, wherein the S02 specifically includes:
if the initial electric quantity when the explosion-proof type inspection robot starts to inspect is between the full battery electric quantity and 80% of the full battery electric quantity, determining a specific numerical value of c by adopting a formula (1);
the formula (1) is:
c＝(D4+D5+K1)/(K2+D2+D3-K1)；
k1 is D3 x (initial electric quantity of the explosion-proof inspection robot of 1/2 when starting to inspect-40% full battery electric quantity)/Z;
z is 20% of full battery capacity;
k2 is D1 (initial electric quantity-80% full battery electric quantity when the explosion-proof inspection robot starts to inspect)/Z;
if the initial electric quantity of the explosion-proof inspection robot when the inspection is started is between 80% of full battery electric quantity and 60% of full battery electric quantity, determining a specific numerical value of c by adopting a formula (2);
the formula (2) is:
c＝(D5+K3)/(K4+D3+D4-K3)；
k3 is D4 x (1/2 explosion-proof type inspection robot initial electric quantity-20% full battery electric quantity) when starting to inspect/Z;
k4 is D2 (initial electric quantity-60% full battery electric quantity when the explosion-proof inspection robot starts to inspect)/Z;
if the initial electric quantity of the explosion-proof inspection robot when the inspection is started is between 60% of full battery electric quantity and 40% of full battery electric quantity, determining a specific numerical value of c by adopting a formula (3);
the formula (3) is:
c＝(D5+K3)/(K5+D4-K3)；
k5 is D3 (initial electric quantity-40% full battery electric quantity when the explosion-proof inspection robot starts to inspect)/Z;
if the initial electric quantity of the explosion-proof inspection robot when the inspection is started is between 40% of full battery electric quantity and 20% of full battery electric quantity, determining a specific numerical value of c by adopting a formula (4);
equation (4) is:
c＝(D5-K6)/(K7+K6)；
k6 ═ D5 (20% full battery capacity-1/2 explosion-proof type patrolling robot initial capacity at beginning to patrol)/Z;
k7 is D4 (initial electric quantity-20% full battery electric quantity when the explosion-proof inspection robot starts to inspect)/Z;
and if the initial electric quantity when the explosion-proof inspection robot starts to inspect is between 20% of full battery electric quantity and 0 battery electric quantity, the specific numerical value of c is a first preset value.
9. The method of claim 8,
the first preset value is 0.68.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111447213.5A CN114374239B (en) | 2021-11-30 | 2021-11-30 | Charging method of explosion-proof type inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111447213.5A CN114374239B (en) | 2021-11-30 | 2021-11-30 | Charging method of explosion-proof type inspection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114374239A true CN114374239A (en) | 2022-04-19 |
| CN114374239B CN114374239B (en) | 2023-08-04 |
Family
ID=81140105
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111447213.5A Active CN114374239B (en) | 2021-11-30 | 2021-11-30 | Charging method of explosion-proof type inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114374239B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103251355A (en) * | 2012-02-16 | 2013-08-21 | 恩斯迈电子(深圳)有限公司 | Sweeping robot and charging system |
| CN109142971A (en) * | 2018-08-17 | 2019-01-04 | 国网江苏省电力有限公司检修分公司 | The method for inspecting and inspection device of transmission line polling robot |
| US20190196489A1 (en) * | 2017-12-27 | 2019-06-27 | Ubtech Robotics Corp | Robot charging control method, apparatus, and robot thereof |
| CN110543980A (en) * | 2019-08-19 | 2019-12-06 | 上海交通大学 | Storage robot management method and device based on segmented charging planning |
| CN111103883A (en) * | 2019-12-31 | 2020-05-05 | 深圳供电局有限公司 | Charging method of inspection robot |
| CN111224443A (en) * | 2020-02-05 | 2020-06-02 | 广州赛特智能科技有限公司 | Big data based distribution robot charging method and system and processing terminal |
| CN111331609A (en) * | 2020-05-21 | 2020-06-26 | 季华实验室 | Method, device and system for acquiring preferred embodiment of robot |
| CN111355280A (en) * | 2020-03-25 | 2020-06-30 | 中国石化销售股份有限公司华南分公司 | Explosion-proof type inspection robot charging system and charging method thereof |
| CN112454362A (en) * | 2020-11-23 | 2021-03-09 | 马鞍山智森机械科技发展有限公司 | Warehouse transfer robot charging management system |
| CN112611386A (en) * | 2018-12-13 | 2021-04-06 | 杭州申昊科技股份有限公司 | Transformer substation intelligent inspection method based on optimal route planning |
-
2021
- 2021-11-30 CN CN202111447213.5A patent/CN114374239B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103251355A (en) * | 2012-02-16 | 2013-08-21 | 恩斯迈电子(深圳)有限公司 | Sweeping robot and charging system |
| US20190196489A1 (en) * | 2017-12-27 | 2019-06-27 | Ubtech Robotics Corp | Robot charging control method, apparatus, and robot thereof |
| CN109142971A (en) * | 2018-08-17 | 2019-01-04 | 国网江苏省电力有限公司检修分公司 | The method for inspecting and inspection device of transmission line polling robot |
| CN112611386A (en) * | 2018-12-13 | 2021-04-06 | 杭州申昊科技股份有限公司 | Transformer substation intelligent inspection method based on optimal route planning |
| CN110543980A (en) * | 2019-08-19 | 2019-12-06 | 上海交通大学 | Storage robot management method and device based on segmented charging planning |
| CN111103883A (en) * | 2019-12-31 | 2020-05-05 | 深圳供电局有限公司 | Charging method of inspection robot |
| CN111224443A (en) * | 2020-02-05 | 2020-06-02 | 广州赛特智能科技有限公司 | Big data based distribution robot charging method and system and processing terminal |
| CN111355280A (en) * | 2020-03-25 | 2020-06-30 | 中国石化销售股份有限公司华南分公司 | Explosion-proof type inspection robot charging system and charging method thereof |
| CN111331609A (en) * | 2020-05-21 | 2020-06-26 | 季华实验室 | Method, device and system for acquiring preferred embodiment of robot |
| CN112454362A (en) * | 2020-11-23 | 2021-03-09 | 马鞍山智森机械科技发展有限公司 | Warehouse transfer robot charging management system |
Non-Patent Citations (1)
| Title |
|---|
| 叶飞;杨世仁;吴春凤;黄江水;: "变电站巡检机器人电源监测及控制系统研究", 信息技术与信息化, no. 04, pages 82 - 84 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114374239B (en) | 2023-08-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110852482B (en) | Real-time global optimization intelligent control system and method for fuel cell bus | |
| CN110008235A (en) | Power battery health degree evaluation method, apparatus and system | |
| CN110936949B (en) | Energy control method, equipment, storage medium and device based on driving condition | |
| CN103969587B (en) | A kind of hybrid vehicle electrokinetic cell SOC estimation method | |
| CN2836029Y (en) | Online monitoring system for internal resistance and deterioration state of storage battery | |
| CN111497679A (en) | Pure electric vehicle energy consumption monitoring optimization method and system | |
| CN104577242B (en) | A kind of batteries management system and method | |
| CN107612075A (en) | Battery charging method, device, equipment and storage medium | |
| CN110723029B (en) | Method and device for determining charging strategy | |
| CN112711892A (en) | Cloud battery management system and method based on digital twin and block chain technology | |
| Yamaguchi et al. | Combined in situ EC-AFM and CV measurement study on lead electrode for lead–acid batteries | |
| CN106340689A (en) | Battery pack system capacity self-learning method | |
| CN106300545A (en) | A kind of active equalization for liquid metal cell controls device and control method | |
| CN104360280A (en) | Battery surplus capacity calculating method based on AGV | |
| CN110346725A (en) | A kind of construction method, appraisal procedure and the device of battery health degree assessment models | |
| CN103267953A (en) | Estimation method of SOC (State of Charge) of lithium iron phosphate power battery | |
| CN107688155A (en) | A kind of battery remaining power evaluation method being used in battery management system | |
| CN113221246A (en) | Mobile source emission estimation method, system and medium based on transient oil consumption correction | |
| CN105974328A (en) | Method and apparatus for measuring actual capacity of storage battery, and drone | |
| CN114374239A (en) | Charging method of explosion-proof inspection robot | |
| CN114994541A (en) | Lithium ion battery SOH estimation method based on multi-strategy fusion | |
| CN111439128A (en) | Electric vehicle remaining mileage estimation method and device and computer equipment | |
| CN111401611B (en) | Route optimization method for routing inspection point of chemical plant equipment | |
| CN110263976B (en) | Electric vehicle charging path planning method in environment with multiple charging modes | |
| CN117246188A (en) | Estimation method and system for remaining endurance mileage of electric automobile |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |