| 童枭军,陈 洋,路 浩,熊 凌,程 磊.面向表计读数的变电站巡检机器人路径规划[J].电子测量与仪器学报,2022,36(8):167-177 |
| 面向表计读数的变电站巡检机器人路径规划 |
| Path planning of substation inspection robot for meter reading |
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| DOI： |
| 中文关键词: 变电站巡检机器人 路径规划 观测窗 信息素重利用 蚁群优化算法 |
| 英文关键词:substation inspection robot path planning observation window pheromone reuse ant colony optimization algorithm |
| 基金项目:国家自然科学基金(62173262,62073250,62003249)、湖北省重点研发计划(2020BAB021)、辽宁省联合基金机器人学国家重点实验室开放基金(2021 KF 22 14)项目资助 |
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| 中文摘要: |
| 将巡检机器人应用于变电站内的表计自动读数可以降低人力成本、提高工作效率,但由于仪表通常悬挂在高处,为了获
取准确的读数,机器人观测时的位姿受到苛刻的约束。 此外,机器人读数时云台调整时间消耗大大降低了巡检效率。 针对此问
题,本文通过分析观测窗约束、路网约束,以及云台姿态调整时间消耗,以机器人完成巡检任务的总时间为代价,建立了面向表
计读数的机器人路径规划模型。 然后,提出一种信息素重利用的蚁群优化算法用以求解机器人的巡检路径与停靠方案。 仿真
实验表明本文方法得到的巡检路径在时间消耗上比初始时间代价节省了 66%,从而验证了模型的有效性与算法的可行性。 |
| 英文摘要: |
| Applying the inspection robot to the automatic reading of the meter in the substation can reduce the labor cost and improve the
work efficiency, but because the instrument is usually suspended in the high place, the posture of the robot is severely restricted in order
to obtain accurate reading. In addition, the time consumption of PTZ adjustment during robot reading greatly reduces the inspection
efficiency. In order to solve this problem, by analyzing the observation window constraint, the route map constraint, and the time
consumption of PTZ adjustment, at the cost of the total time for the robot to complete the inspection task, a robot path planning model for
meter reading is established. Then, an ant colony optimization algorithm based on pheromone reuse is proposed to solve the inspection
path and parking scheme of the robot. Simulation results show that the time consumption of the inspection path obtained by this method
is 66% less than the initial time cost, thus verifying the effectiveness of the model and the feasibility of the algorithm. |
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