Transformer substation inspection robot global path planning method based on magnetic navigation

Abstract

The invention relates to a transformer substation inspection robot global path planning method based on magnetic navigation. The method comprises the steps of: modeling an environment of a transformer substation to form a topology network graph and a connecting relationship matrix; determining a searching path matrix, namely the shortest path matrix, by using a Floyd algorithm, and increasing the computing speed by iterative optimization; computing the shortest connecting path between an initial point and a target point sequence by transversing nodes and edges; converting the shortest connecting path into a travel path indicated by an RFID (radio frequency identification device) sequence; and computing the rotating angle of a robot at each RFID at an intersection according to the connectivity of the path. The transformer substation inspection robot adopting the transformer substation inspection robot global path planning method provided by the invention is short in travel path, and rapid to be in place for detection, therefore, the energy of batteries is saved, and simultaneously the time for moving the robot equipment for verification after the operation of the transformer substation equipment can be effectively saved.

Description

technical field [0001] The invention relates to a robot path planning method, in particular to a global path planning method for a substation inspection robot based on magnetic navigation. Background technique [0002] Substation equipment inspection is a basic work to effectively ensure the safe operation of substation equipment and improve the reliability of power supply. Substation inspection robots can replace operators to automatically complete substation daily equipment inspections, infrared temperature measurement, and equipment status inspection before and after operation, so as to effectively improve the work efficiency and quality of equipment inspections, reduce labor intensity and work risks, and improve substation intelligence. , to provide support for unattended substations. Substation inspection robot has become an important auxiliary means for substation equipment inspection. [0003] The key technology of motion control of substation inspection robot is na...

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Problems solved by technology

Two patents issued by the China Intellectual Property Office of the Super High Voltage Bureau of Chongqing Electric Power Company, CN101984382A "Method for Intelligent Inspection of Substation Equipment Using Robots" and CN102082466A "Intelligent Inspection Robot System for Substation Equipment", both involve the use of magnetic navigation and RFID to achieve navigation and positioning, but the problem with the two patents is that the RFID is only buried on one side of the magnetic strip. When the robot patrols, it can only patrol one-way along a closed magnetic track, and does not support two-way walking; the consequence is that if the specific equipment is patrolled At this time, the robot does not optimize the path and needs to take some unnecessary paths, which not only wastes the battery energy of the robot, but also prolongs the time for the robot to detect in place, and the detection efficiency is not high

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