面向变电站多机器人智能协同巡检系统的研究分析
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摘要
变电站巡检机器人长期面临高温、高电压、强风雷电等外部环境,严重影响巡检机器人的工作质量。为提高变电站巡检机器人系统的稳定性、可靠性及精度,对多机器人智能巡检系统的构建及关键技术进行分析,基于ROS系统的多机器人创新开发平台对巡检机器人模型构建、巡检路径动态规划、避障控制算法、环境建模、人-机-环境交互感知等进行实验分析,形成一套面向变电站多机器人智能协同巡检系统的研究方法,为变电站巡检机器人后续的研究提供一定的参考。
The substation inspection robot faces long-term external environment such as high temperature,high voltage,strong wind and lightning,which seriously affects the working quality of the inspection robot. In order to improve the stability,reliability and accuracy of the substation inspection robot system,the construction and key technologies of the multi-robot intelligent inspection system are analyzed in this paper. Multi-robot innovation development platform based on ROS system for experimental analysis of patrol robot model construction,patrol path dynamic planning,obstacle avoidance control algorithm,environment modeling,human-machine-environment interaction perception, a research method for multi-robot intelligent collaborative inspection system for substation is formed, which provides a reference for the subsequent research of substation inspection robot.
The substation inspection robot faces long-term external environment such as high temperature,high voltage,strong wind and lightning,which seriously affects the working quality of the inspection robot. In order to improve the stability,reliability and accuracy of the substation inspection robot system,the construction and key technologies of the multi-robot intelligent inspection system are analyzed in this paper. Multi-robot innovation development platform based on ROS system for experimental analysis of patrol robot model construction,patrol path dynamic planning,obstacle avoidance control algorithm,environment modeling,human-machine-environment interaction perception, a research method for multi-robot intelligent collaborative inspection system for substation is formed, which provides a reference for the subsequent research of substation inspection robot.
引文
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[2]陈玉波,袁秉森.一种轨道式变电站巡检机器人的研究与应用[J].电气应用,2015(13):126-129.
[3]周立辉,张永生,孙勇,等.智能变电站巡检机器人研制及应用[J].电力系统自动化,2011,35(19):85-88.
[4]Allan J F,Beaudry J.Robotic systems applied to power substations-A state-of-the-art survey[C].//International Conference on Applied Robotics for the Power Industry.2015.
[5]Vignati F,Guardone A.Multi-domain simulations of shock wave interaction with aerodynamic obstacles in cylindrical implosions[J].Journal of Computational&Applied Mathematics,2015,283:218-227.
[6]Suzuki T,Kitamura M,Amano Y,et al.6-DOF localization for a mobile robot using outdoor 3D voxel maps[C].//IEEE/RSJ International Conference on Intelligent Robots&Systems.2010.
[7]PARK,JoonYoung,LEE,et al.An Inspection Robot for Live-Line Suspension Insulator Strings in 345-kVPower Lines[J].IEEE Transactions on Power Delivery,2012,27(2):632-639.
[8]Guo R,Sun Y,Han L.A patrol robot for electric power substation[C].//International Conference on Mechatronics&Automation.2009.
[9]鲁守银,苏建军.机器人在变电站设备巡检中的应用[J].机器人技术与应用,2007(5):33-36.
[10]周静,吴冉冉,周楚薇,等.35 kV小型变电站巡检机器人研究[J].云南电力技术,2016,44(5):83-86.