架空输电线路巡检机器人塔上充电系统设计及充电策略研究

为满足架空输电线路巡检机器人全天候在线工作的要求,本文根据架空输电线路的环境特点,设计出一种架空输电线路巡检机器人塔上充电系统。优化的充电接口设计结合对接位置微调算法,有效提高了机器人充电对接的成功率；基于不同工况下的机器人功耗分析,建立机器人工作能耗模型,得出了科学的充电站布局方式及机器人充电策略。通过系统运行和充电测试结果表明,机器人塔上充电系统运行稳定,机器人充电对接准确、高效,满足机器人塔上自主充电的需求。

Research on charging system design and charging strategy of overhead trans-mission line inspection robot on tower

In order to meet the requirements of all-weather work of overhead transmission line inspection robot, according to the environmental characteristics of overhead transmission line, a tower charging system of overhead transmis-sion line inspection robot is designed in this paper. The optimized charging interface design combined with the docking position fine-tuning algorithm effectively improves the success rate of robot charging docking; Based on the analysis of robot power consumption under different working conditions, the working energy consumption model of the robot is established, and the scientific layout of charging station and robot charging strategy are obtained. The system operation and charging test results show that the charging system on the robot tower runs stably, the charging docking of the robot is accurate and efficient,which can meet the needs of autonomous charging of the robot on the tower.