高压输电线路巡检机器人续航里程的预测方法  

Method for predicting endurance mileage for high voltage power transmission line inspection robot

作　　者：郭磊[1] 吴功平[1] 麦晓明 彭向阳 杨智勇[1] 周鹏 GUO Lei;WU Gongping;MAI Xiaoming;PENG Xiangyang;YANG Zhiyong;ZHOU Peng(School of Power and Mechanical Engineering, Wuhan University, Wuhan 430072, China;Electric Power Research Institute, Guangdong Grid Co. , Ltd. , Guangzhou 510080, China;Guangdong Keystar Intelligent Robot Co. , Ltd. , Foshan 528000, China)

机构地区：[1]武汉大学动力与机械学院,湖北武汉430072 [2]广东电网有限责任公司电力科学研究院,广东广州510080 [3]广东科凯达智能机器人有限公司,广东佛山528000

出　　处：《武汉大学学报（工学版）》2018年第4期347-355,共9页Engineering Journal of Wuhan University

基　　金：广东省科技计划专项项目(编号:2015B090922007);佛山市科技创新团队项目(编号:2015IT100143);中国南方智谷引进创新团队和项目资助(编号:2015CXTD01);广东电网有限责任公司项目(编号:K-GD2014-0621002)

摘　　要：续航里程预测是高压线路巡线机器人要解决的一项工程实用化关键技术问题．首先通过对机器人所用锂电池进行放电实验，用负载电压法处理实验数据后得出机器人电池剩余电量函数．然后根据机器人的工作环境建立机器人在巡检作业时在线路上行走、越障、巡视等工况下的能耗模型，得出机器人续航里程估计方法．最后通过实验验证了该续航里程估计方法的正确性和实用性，最后提出并验证了一种续航预测误差方法，为巡检机器人的电源设计和线路巡检方案规划以及无动力下坡空速与馈能的研究提供了理论依据．The estimation of endurance mileage is a key engineering technology to be solved for the inspection robot on high voltage line. Through the study of the discharge experiment of lithium batteries, we could obtain the function of the remaining power by experimental data processing with the method of load voltage; this paper comes to a way to estimate the endurance mileage according to the energy consumption model for robot when confronted with different working conditions such as inspecting the targets, passing the obstacles, etc. Some experiments which have been tested for their correctness and availability to provide a powerful theoretical foundation for the design of robot＇s power supply system and inpsction planning and the study of controlling the speed of the robot when walking down along the ground line with no power.

关 键 词：巡线机器人 剩余电量 架空地线 续航预测 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]