CN114374239B - Charging method of explosion-proof type inspection robot - Google Patents
Charging method of explosion-proof type inspection robot Download PDFInfo
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- CN114374239B CN114374239B CN202111447213.5A CN202111447213A CN114374239B CN 114374239 B CN114374239 B CN 114374239B CN 202111447213 A CN202111447213 A CN 202111447213A CN 114374239 B CN114374239 B CN 114374239B
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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
- H02J7/00032—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
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- 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
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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
- H02J7/0047—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]
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- 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
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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention relates to a charging method of an explosion-proof inspection robot, which is characterized in that the inspection robot starts inspecting in an inspection area from a charging pile, records a moving path of the explosion-proof inspection robot and comprises the following steps: acquiring the real-time battery power of the anti-explosion type inspection robot, the initial power when the anti-explosion type inspection robot starts inspecting, the real-time position of the anti-explosion type inspection robot in an inspection area, the inspection path of the anti-explosion type inspection robot and the shortest path between each inspection site and a charging pile on the inspection path; based on the real-time battery power of the explosion-proof inspection robot, the initial power when the explosion-proof inspection robot starts inspecting, 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 place and the charging pile on the inspection path and the power consumption of the pre-acquired explosion-proof inspection robot moving by one meter, the explosion-proof inspection robot moves to the charging pile for charging.
Description
Technical Field
The invention relates to the technical field of robot charging, in particular to a charging method of an explosion-proof type inspection robot.
Background
When the existing robot is charged autonomously, the current battery capacity of the robot and the highest efficiency of the robot can be achieved when the robot is charged are not considered.
Meanwhile, in practical application, the situation that the battery in the robot is fully charged is not considered, and the battery is fully charged just before the battery is charged, so that the moving path of the inspection robot is long, and in the later stage, the moving path of the inspection robot is short because of unstable discharge, that is, the moving distance of the inspection robot can be different from the moving distance of the inspection robot when the battery consumes 80% of full battery and 20% of full battery, so that even if the battery of the inspection robot is charged, the charging time cannot be accurately known, the inspection place of the inspection robot is the largest, and the improvement of the working efficiency of the inspection robot is realized.
Disclosure of Invention
First, the technical problem to be solved
In view of the above-mentioned drawbacks 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 robot can be improved only when the current battery power of the robot is not considered and when the robot is charged.
(II) technical scheme
In order to achieve the above purpose, the main technical scheme adopted by the invention comprises the following steps:
the embodiment of the invention provides a charging method of an explosion-proof inspection robot, wherein the explosion-proof inspection robot is inspected in an inspection area from a charging pile, and a path moved by the explosion-proof inspection robot is recorded in the inspection process, and the charging method comprises the following steps:
s1, acquiring real-time battery power of an explosion-proof inspection robot, initial power when the explosion-proof inspection robot starts inspecting, real-time position of the explosion-proof inspection robot in an inspection area, inspection paths of the explosion-proof inspection robot and shortest paths between each inspection place and a charging pile on the inspection paths;
the inspection area comprises a plurality of inspection sites;
s2, based on the real-time battery power of the explosion-proof inspection robot, the initial power of the explosion-proof inspection robot when the inspection is started, 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 place and a charging pile on the inspection path and the power consumption of the pre-acquired explosion-proof inspection robot moving by one meter, the explosion-proof inspection robot moves to the charging pile for charging.
Preferably, the S2 includes:
s21, judging whether the real-time battery electric quantity of the explosion-proof type inspection robot is smaller than G, and acquiring a first judgment result;
wherein g=q×c;
q is the initial electric quantity when the explosion-proof type inspection robot starts inspection;
c is a preset coefficient;
s22, if the first judgment result is that the real-time battery power of the explosion-proof inspection robot is smaller than or equal to G, the explosion-proof inspection robot moves to the charging pile to charge 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 place and the charging pile on the inspection path and the power consumption of the explosion-proof inspection robot, which is acquired in advance, of the explosion-proof inspection robot.
Preferably, the S22 includes:
s221, determining a next inspection position of the current position of the explosion-proof inspection robot on the inspection path of the explosion-proof inspection robot based on the real-time position of the explosion-proof inspection robot in the inspection area and the inspection path of the explosion-proof inspection robot;
s222, acquiring the distance between the current position of the explosion-proof type inspection robot and a next inspection place based on the current position of the explosion-proof type inspection robot in an inspection area and the next inspection place on the inspection path of the explosion-proof type inspection robot;
s223, judging whether the battery electric quantity of the explosion-proof type inspection robot is larger than the 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 the charging pile and the power consumption of the explosion-proof type inspection robot moving one meter, and acquiring a second judgment result;
the first power consumption Q1 is: q1= (d0+s) ×q;
d0 is the distance between the current position and the next inspection site of the explosion-proof inspection robot;
s is the shortest path between the next inspection site and the charging pile;
q is the power consumption of the explosion-proof inspection robot moving by one meter, which is acquired in advance;
s224, if the second judgment result is yes, the explosion-proof type inspection robot moves to the next inspection place to conduct inspection and repeats the steps S221-S223 until the battery electric quantity of the explosion-proof type inspection robot is smaller than the 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 inspection robot to move from the charging pile to the current position.
Preferably, the step 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 power consumption of the pre-acquired explosion-proof type inspection robot moving 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, prior to 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 a specific value 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 type 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 from 80% full battery power to 60% 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 from 60% full battery power to 40% 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 battery power from 40% of full battery power;
the fifth distance is the distance that the explosion-proof type inspection robot moved when the explosion-proof type inspection robot consumes battery power from 20% full battery power to 0.
Preferably, the method comprises the steps of,
the preset time period is 180 days.
Preferably, the S0 includes:
s01, respectively acquiring a D1 value based on the first distances;
the D1 value is an average value of the first distances;
acquiring a D2 value based on the plurality of second distances;
the D2 value is an average value of the plurality of second distances;
acquiring a D3 value based on the plurality of third distances;
the D3 value is an average value of the plurality of third distances;
acquiring a D4 value based on the fourth distances;
the D4 value is an average value of the plurality of fourth distances;
acquiring a D5 value based on the plurality of fifth distances;
the D5 value is an average value of the plurality of fifth distances;
s02, determining a specific value of c based on the D1 value, the D2 value, the D3 value, the D4 value, the D5 value and the initial electric quantity when the explosion-proof type inspection robot starts inspection.
Preferably, the S02 specifically includes:
if the initial electric quantity of the explosion-proof type inspection robot when the inspection starts is between the full battery electric quantity and 80% 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 =d3× (initial charge at which 1/2 explosion-proof inspection robot starts inspection-40% full battery charge)/Z;
the Z is 20% full battery capacity;
k2 =d1× (initial charge at start of inspection by explosion proof inspection robot-80% full battery charge)/Z;
if the initial electric quantity of the explosion-proof type inspection robot starts to inspect is between 80% full battery electric quantity and 60% 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 =d4× (initial charge at which 1/2 explosion-proof inspection robot starts inspection-20% full battery charge)/Z;
k4 =d2× (initial charge at start of inspection by explosion proof inspection robot-60% full battery charge)/Z;
if the initial electric quantity of the explosion-proof type inspection robot starts to inspect is between 60% full battery electric quantity and 40% 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 =d3× (initial charge at start of inspection by explosion proof inspection robot-40% full battery charge)/Z;
if the initial electric quantity of the explosion-proof type inspection robot starts to inspect is between 40% full battery electric quantity and 20% full battery electric quantity, determining a specific numerical value of c by adopting a formula (4);
the formula (4) is:
c＝(D5-K6)/(K7+K6)；
k6 =d5 (20% full battery charge-1/2 initial charge at start of inspection by explosion-proof inspection robot)/Z;
k7 =d4× (initial charge at start of inspection by explosion proof inspection robot-20% full battery charge)/Z;
if the initial electric quantity of the explosion-proof type inspection robot when the inspection starts is between 20% full battery electric quantity and 0 battery electric quantity, the specific value of c is a first preset value.
Preferably, the method comprises the steps of,
the first preset value is 0.68.
(III) beneficial effects
The beneficial effects of the invention are as follows: according to the charging method of the explosion-proof inspection robot, the real-time battery power of the explosion-proof inspection robot, the initial power of the explosion-proof inspection robot when the inspection is started, 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 site and the charging pile on the inspection path and the power consumption of the pre-acquired explosion-proof inspection robot moving one meter are adopted, and the explosion-proof inspection robot moves to the charging pile for charging, so that the inspection sites 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;
fig. 2 is a schematic diagram of distribution of a charging pile, an explosion-proof inspection robot and a next inspection site in an embodiment of the invention.
[ reference numerals description ]
1: charging piles;
2: the current position of the explosion-proof inspection robot;
3: the method comprises the steps that an explosion-proof type inspection robot is located at a next inspection place of a current position on an inspection path;
d0: the explosion-proof type inspection robot moves a distance from the current position to the next inspection site;
s: is the shortest path between the next inspection site and the charging pile.
Detailed Description
The invention will be better explained by the following detailed description of the embodiments with reference to the drawings.
In order that the above-described aspects may be better understood, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may 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 of an explosion-proof inspection robot, where the inspection robot is inspected in an inspection area from a charging pile, and a path moved by the explosion-proof inspection robot is recorded during the inspection, and the charging method includes:
s1, acquiring real-time battery power of an explosion-proof inspection robot, initial power when the explosion-proof inspection robot starts inspecting, real-time position of the explosion-proof inspection robot in an inspection area, inspection path of the explosion-proof inspection robot and shortest path between each inspection place and a charging pile on the inspection path.
The inspection area comprises a plurality of inspection sites.
S2, based on the real-time battery power of the explosion-proof inspection robot, the initial power of the explosion-proof inspection robot when the inspection is started, 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 place and a charging pile on the inspection path and the power consumption of the pre-acquired explosion-proof inspection robot moving by one meter, the explosion-proof inspection robot moves to the charging pile for charging.
In a practical application of this embodiment, the S2 includes:
s21, judging whether the real-time battery electric quantity of the explosion-proof type inspection robot is smaller than G, and acquiring a first judgment result.
Where g=q×c.
Q is the initial electric quantity when the explosion-proof type inspection robot starts inspection.
c is a predetermined coefficient.
S22, if the first judgment result is that the real-time battery power of the explosion-proof inspection robot is smaller than or equal to G, the explosion-proof inspection robot moves to the charging pile to charge 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 place and the charging pile on the inspection path and the power consumption of the explosion-proof inspection robot, which is acquired in advance, of the explosion-proof inspection robot.
In a practical application of this embodiment, the S22 includes:
s221, determining the next inspection position of the current position of the explosion-proof inspection robot on the inspection path of the explosion-proof inspection robot based on the real-time position of the explosion-proof inspection robot in the inspection area and the inspection path of the explosion-proof inspection robot.
S222, acquiring the distance between the current position of the explosion-proof type inspection robot and a next inspection place based on the current position of the explosion-proof type inspection robot in the inspection area and the next inspection place on the inspection path of the explosion-proof type inspection robot.
S223, judging whether the battery electric quantity of the explosion-proof type inspection robot is larger than the 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 the charging pile and the power consumption of the explosion-proof type inspection robot moving one meter obtained in advance, and obtaining a second judgment result.
The first power consumption Q1 is: q1= (d0+s) ×q.
D0 is the distance between the current position and the next inspection site of the explosion-proof inspection robot.
S is the shortest path between the next inspection site and the charging pile.
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 to carry out inspection and repeats the steps S221-S223 until the battery electric quantity of the explosion-proof type inspection robot is smaller than the 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 inspection robot to move from the charging pile to the current position. And the explosion-proof type inspection robot returns to the charging pile for charging.
For example, referring to fig. 2, assuming that the inspection robot is ready to go to the next inspection location 3 at the current position 2, at this time, the current battery power of the inspection robot is greater than the first power Q1, which means that the current battery power of the inspection robot can support the inspection robot movement D0 (the distance between the current position and the next inspection location of the explosion-proof inspection robot) and S (the shortest path between the next inspection location and the charging pile), the inspection robot moves to the next inspection location 3 to continue inspection.
In a practical application of the present embodiment, the step S223 includes:
s2231, 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 pre-acquired explosion-proof type inspection robot moving one meter, acquiring a first power quantity Q1 required by the explosion-proof type inspection robot from the current position to the charging pile through the next inspection place.
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 a practical application of this embodiment, the method further includes, 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 the specific value 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 the initial electric quantity when the explosion-proof type inspection robot starts inspection.
The first distance is the distance that the explosion-proof type inspection robot moved 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 from 80% full battery power to 60% full battery power.
And the third distance is the distance moved by the explosion-proof type inspection robot when the explosion-proof type inspection robot consumes from 60% full battery capacity to 40% full battery capacity.
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 battery power from 40% of full battery power.
The fifth distance is the distance that the explosion-proof type inspection robot moved when the explosion-proof type inspection robot consumes battery power from 20% full battery power to 0.
In a practical application of this embodiment, the preset time period is 180 days.
In a practical application of this embodiment, the S0 includes:
s01, respectively acquiring a D1 value based on the first distances.
The D1 value is an average of the first distances.
And acquiring a D2 value based on the plurality of second distances.
The D2 value is an average of the plurality of second distances.
And acquiring a D3 value based on the third distances.
The D3 value is an average of the plurality of third distances.
And acquiring a D4 value based on the fourth distances.
The D4 value is an average of the plurality of fourth distances.
And acquiring a D5 value based on the fifth distances.
The D5 value is an average of the plurality of fifth distances.
S02, determining a specific value of c based on the D1 value, the D2 value, the D3 value, the D4 value, the D5 value and the initial electric quantity when the explosion-proof type inspection robot starts inspection.
In practical application of this embodiment, the S02 specifically includes:
if the initial electric quantity of the explosion-proof type inspection robot when the inspection starts is between the full battery electric quantity and 80% full battery electric quantity, a specific value of c is determined by adopting a formula (1).
The formula (1) is:
c＝(D4+D5+K1)/(K2+D2+D3-K1)。
k1 =d3× (initial charge at the start of inspection by 1/2 explosion proof inspection robot-40% full battery charge)/Z.
And Z is 20% full battery capacity.
K2 =d1× (initial charge at start of inspection by explosion proof inspection robot-80% full battery charge)/Z.
If the initial electric quantity of the explosion-proof type inspection robot when the inspection starts is between 80% full battery electric quantity and 60% full battery electric quantity, a specific numerical value of c is determined by adopting a formula (2).
The formula (2) is:
c＝(D5+K3)/(K4+D3+D4-K3)。
k3 =d4× (initial charge at the start of inspection by 1/2 explosion proof inspection robot-20% full battery charge)/Z.
K4 =d2× (initial charge at start of inspection by explosion proof inspection robot-60% full battery charge)/Z.
If the initial electric quantity of the explosion-proof type inspection robot when the inspection starts is between 60% full battery electric quantity and 40% full battery electric quantity, a specific numerical value of c is determined by adopting a formula (3).
The formula (3) is:
c＝(D5+K3)/(K5+D4-K3)。
k5 =d3× (initial charge at start of inspection by explosion proof inspection robot-40% full battery charge)/Z.
If the initial electric quantity of the explosion-proof type inspection robot when the inspection starts is between 40% full battery electric quantity and 20% full battery electric quantity, a specific numerical value of c is determined by adopting a formula (4).
The formula (4) is:
c＝(D5-K6)/(K7+K6)。
k6 =d5 (20% full battery charge-1/2 initial charge at which the explosion proof inspection robot starts inspection)/Z.
K7 =d4× (initial charge at start of inspection by explosion proof inspection robot-20% full battery charge)/Z.
If the initial electric quantity of the explosion-proof type inspection robot when the inspection starts is between 20% full battery electric quantity and 0 battery electric quantity, the specific value of c is a first preset value.
In a practical application of this embodiment, the first preset value is 0.68.
According to the charging method of the explosion-proof inspection robot, due to the fact that the real-time battery power of the explosion-proof inspection robot, the initial power of the explosion-proof inspection robot when the inspection is started, 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 site and a charging pile on the inspection path and the power consumption of the pre-acquired explosion-proof inspection robot moving one meter are adopted, the explosion-proof inspection robot moves to the charging pile for charging, the inspection sites of the inspection robot are the most, and the working efficiency of the inspection robot is improved.
It will be appreciated by those skilled in the art that 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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, etc. are for convenience of description only and do not denote any order. These terms may be understood as part of the component name.
Furthermore, it should be noted that in the description of the present specification, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with the embodiment or example being included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed 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, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those 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 upon learning the basic inventive concepts. Therefore, the appended claims should be construed to include preferred embodiments and all such variations and modifications as 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 to the present invention without departing from the spirit or scope of the invention. Thus, the present invention should also include such modifications and variations provided that they come within the scope of the following claims and their equivalents.
Claims (7)
1. The charging method of the explosion-proof inspection robot is characterized in that the explosion-proof inspection robot starts to inspect in an inspection area after being sent out by a charging pile, and records a path moved by the explosion-proof inspection robot in the inspection process, and the charging method comprises the following steps:
s1, acquiring real-time battery power of an explosion-proof inspection robot, initial power when the explosion-proof inspection robot starts inspecting, real-time position of the explosion-proof inspection robot in an inspection area, inspection paths of the explosion-proof inspection robot and shortest paths between each inspection place and a charging pile on the inspection paths;
the inspection area comprises a plurality of inspection sites;
s2, controlling the explosion-proof inspection robot to move to a charging pile for charging based on the real-time battery power of the explosion-proof inspection robot, the initial power of the explosion-proof inspection robot when the inspection is started, 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 place and the charging pile on the inspection path and the power consumption of the pre-acquired explosion-proof inspection robot when the explosion-proof inspection robot moves by one meter;
the step S2 comprises the following steps:
s21, judging whether the real-time battery electric quantity of the explosion-proof type inspection robot is smaller than G, and acquiring a first judgment result;
wherein g=q×c;
q is the initial electric quantity when the explosion-proof type inspection robot starts inspection;
c is a preset coefficient;
s22, if the first judgment result is that the real-time battery power of the explosion-proof inspection robot is smaller than or equal to G, controlling the explosion-proof inspection robot to move to a charging pile for charging based on 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 place and the charging pile on the inspection path and the power consumption of the explosion-proof inspection robot, which is acquired in advance, for one meter;
the S22 includes:
s221, determining a next inspection position of the current position of the explosion-proof inspection robot on the inspection path of the explosion-proof inspection robot based on the real-time position of the explosion-proof inspection robot in the inspection area and the inspection path of the explosion-proof inspection robot;
s222, acquiring the distance between the current position of the explosion-proof type inspection robot and a next inspection place based on the current position of the explosion-proof type inspection robot in an inspection area and the next inspection place on the inspection path of the explosion-proof type inspection robot;
s223, judging whether the battery electric quantity of the explosion-proof type inspection robot is larger than the 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 the charging pile and the power consumption of the explosion-proof type inspection robot moving one meter, and acquiring a second judgment result;
the first electric quantity Q1 is: q1= (d0+s) ×q;
d0 is the distance between the current position and the next inspection site of the explosion-proof inspection robot;
s is the shortest path between the next inspection site and the charging pile;
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, controlling the explosion-proof type inspection robot to move to the next inspection place for inspection, repeating the steps S221-S223 until the battery electric quantity of the explosion-proof type inspection robot is smaller than the first electric quantity Q1, otherwise, controlling the explosion-proof type inspection robot to return to the charging pile for charging according to a path of the explosion-proof type inspection robot from the charging pile to the current position.
2. The method of claim 1, wherein 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 power consumption of the pre-acquired explosion-proof type inspection robot moving 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.
3. The method according to claim 2, characterized in that the method further comprises, prior to 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 a specific value 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 type 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 from 80% full battery power to 60% 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 from 60% full battery power to 40% 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 battery power from 40% of full battery power;
the fifth distance is the distance that the explosion-proof type inspection robot moved when the explosion-proof type inspection robot consumes battery power from 20% full battery power to 0.
4. The method of claim 3, wherein the step of,
the preset time period is 180 days.
5. The method of claim 4, wherein S0 comprises:
s01, respectively acquiring a D1 value based on the first distances;
the D1 value is an average value of the first distances;
acquiring a D2 value based on the plurality of second distances;
the D2 value is an average value of the plurality of second distances;
acquiring a D3 value based on the plurality of third distances;
the D3 value is an average value of the plurality of third distances;
acquiring a D4 value based on the fourth distances;
the D4 value is an average value of the plurality of fourth distances;
acquiring a D5 value based on the plurality of fifth distances;
the D5 value is an average value of the plurality of fifth distances;
s02, determining a specific value of c based on the D1 value, the D2 value, the D3 value, the D4 value, the D5 value and the initial electric quantity when the explosion-proof type inspection robot starts inspection.
6. The method according to claim 5, wherein S02 specifically comprises:
if the initial electric quantity of the explosion-proof type inspection robot when the inspection starts is between the full battery electric quantity and 80% 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 =d3× (initial charge at which 1/2 explosion-proof inspection robot starts inspection-40% full battery charge)/Z;
the Z is 20% full battery capacity;
k2 =d1× (initial charge at start of inspection by explosion proof inspection robot-80% full battery charge)/Z;
if the initial electric quantity of the explosion-proof type inspection robot starts to inspect is between 80% full battery electric quantity and 60% 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 =d4× (initial charge at which 1/2 explosion-proof inspection robot starts inspection-20% full battery charge)/Z;
k4 =d2× (initial charge at start of inspection by explosion proof inspection robot-60% full battery charge)/Z;
if the initial electric quantity of the explosion-proof type inspection robot starts to inspect is between 60% full battery electric quantity and 40% 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 =d3× (initial charge at start of inspection by explosion proof inspection robot-40% full battery charge)/Z;
if the initial electric quantity of the explosion-proof type inspection robot starts to inspect is between 40% full battery electric quantity and 20% full battery electric quantity, determining a specific numerical value of c by adopting a formula (4);
the formula (4) is:
c＝(D5-K6)/(K7+K6)；
k6 =d5× (20% full battery charge-1/2 initial charge at which the explosion-proof inspection robot starts inspection)/Z;
k7 =d4× (initial charge at start of inspection by explosion proof inspection robot-20% full battery charge)/Z;
if the initial electric quantity of the explosion-proof type inspection robot when the inspection starts is between 20% full battery electric quantity and 0 battery electric quantity, the specific value of c is a first preset value.
7. The method of claim 6, wherein the step of providing the first layer comprises,
the first preset value is 0.68.
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