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Path planning method for intelligent inspection robot of substation

A patrol robot and path planning technology, which is applied in the direction of instrumentation, non-electric variable control, vehicle position/route/height control, etc., can solve the problem of failing to meet the user's intelligent requirements for the patrol robot, and the patrol robot cannot be dynamic Path planning and other issues to achieve the effect of improving inspection efficiency and intelligence level, optimizing equipment inspection sequence

Inactive Publication Date: 2018-06-15
NARI TECH CO LTD +1
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Problems solved by technology

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art, to provide a path planning method for the substation intelligent inspection robot, to solve the problem that the inspection robot in the prior art cannot perform dynamic path planning, and cannot achieve the intelligence of the user for the inspection robot Technical questions at the required level

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  • Path planning method for intelligent inspection robot of substation
  • Path planning method for intelligent inspection robot of substation
  • Path planning method for intelligent inspection robot of substation

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Embodiment Construction

[0041] The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solution of the present invention more clearly, but not to limit the protection scope of the present invention.

[0042] Such as figure 1 Shown is the principle block diagram of the present invention. On the one hand, it is necessary to create a layered map containing information such as obstacle distribution, inspection object attributes, and inspection path topology; on the other hand, it is necessary to analyze the current maintenance plan and obtain the maintenance plan. Work task information such as working time, work area, work content, etc. The present invention adopts the above two aspects of data, according to figure 2 In the algorithm flow shown, the inspection area is reasonably avoided, the inspection sequence is optimized, and the optimal path is obtained. Specifically include the following...

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Abstract

The invention discloses a path planning method for the intelligent inspection robot of a substation. The method includes the following steps that: layered characterization is performed on the operating environment of an inspection robot within a substation, and a layered map is created; the electronic text of the work ticket of the substation is analyzed, and work task information is obtained; andoptimal path planning is carried out through comprehensively using the layered map and the work task information. According to the method of the invention, on the basis of a characteristic that the electric power industry pays much attention to safety, constraint conditions such as a maintenance plan and a constraint condition that branch paths in the substation are narrow are comprehensively considered; path planning is performed in advance, and therefore, an inspection area can be avoided reasonably, an equipment inspection sequence can be optimized, and the inspection efficiency and intelligence level of the intelligent inspection robot of the substation can be improved with safety requirements satisfied.

Description

technical field [0001] The invention relates to a path planning method for a substation intelligent inspection robot, which belongs to the technical field of substations. Background technique [0002] Path planning algorithm is the core technology of mobile robot navigation, and it is also a research hotspot. The current research direction is mainly on how to use the known global information and real-time information collected by sensors to use corresponding algorithms, such as genetic algorithm, ant colony algorithm, neural network algorithm, etc., to reach the target point with the optimal path. Such algorithms study robots with unrestricted or less restricted movements in their operating environment. However, the path planning of the substation intelligent inspection robot (hereinafter referred to as "inspection robot") cannot directly follow the idea of ​​the above algorithm, because the operation of the inspection robot will be restricted by narrow roads in the substat...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0274
Inventor 张庆伟董元帅黄国方史宁凯徐璟王力代莹
Owner NARI TECH CO LTD
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