CN108170134A - A kind of robot used for intelligent substation patrol paths planning method - Google Patents
A kind of robot used for intelligent substation patrol paths planning method Download PDFInfo
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- 230000004888 barrier function Effects 0.000 claims description 25
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
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Abstract
The invention discloses a kind of robot used for intelligent substation patrol paths planning method, including：Layering characterization is carried out to the running environment of crusing robot in substation, creates layering map；The e-text of Substation maintenance is parsed, obtains task information；Comprehensive utilization layering map and task information carry out optimum path planning.The characteristics of present invention focuses on safety for power industry, consider the constraintss such as repair schedule, substation's inside points road be narrow, path planning is carried out in advance, rationally to avoid service area, optimization equipment routing inspection sequence, while security requirement is reached, the routing inspection efficiency and intelligent level of robot used for intelligent substation patrol are improved.
Description
Technical field
The present invention relates to a kind of robot used for intelligent substation patrol paths planning methods, belong to substation's technical field.
Background technology
Path planning algorithm is the core technology and research hotspot of Mobile Robotics Navigation.Current research direction master
Will how the real time information acquired by known global information and sensor, using respective algorithms, such as genetic algorithm, ant colony
Algorithm, neural network algorithm etc. reach target point with optimal path.The robot that such algorithm is studied is in running environment
Movement it is unrestricted or be restricted less.And robot used for intelligent substation patrol（Hereinafter referred to as " crusing robot "）Path rule
The thinking of algorithm above cannot directly be continued to use by drawing, because the operation of crusing robot can be by limited road, electrical peace in substation
The constraints such as full distance, it is impossible to carry out freely avoidance and path planning.
In recent years, requirement of the power industry to running equipment safety is higher and higher, it is desirable that the operation of crusing robot cannot
Influence the normal operation of high-tension apparatus in substation.For security reasons, existing crusing robot is mostly using by pre-
If path, which is followed the beaten track, carries out inspection, without active path planning.If barrier occurs in the front of crusing robot operation, patrol
Inspection robot will stop patrol task, original place is parked in, until barrier is withdrawn.Crusing robot waits for barrier because being parked in original place always
The situation that object is hindered to be withdrawn and electricity is caused to exhaust happens occasionally, and such case does not meet requirement of the user to crusing robot.
Invention content
It is an object of the invention to overcome deficiency of the prior art, a kind of robot used for intelligent substation patrol path is provided
Planing method, active path planning cannot be carried out by solving crusing robot in the prior art, and user is not achieved to crusing robot
Intelligent requirements it is horizontal the technical issues of.
In order to solve the above technical problems, the technical solution adopted in the present invention is：A kind of robot used for intelligent substation patrol
Paths planning method includes the following steps：
Layering characterization is carried out to the running environment of crusing robot in substation, creates layering map；
The e-text of Substation maintenance is parsed, obtains task information；
Comprehensive utilization layering map and task information carry out optimum path planning.
The layering map includes：Characterize the global grating map of distribution of obstacles in substation, characterization crusing robot
The semantic map of examined in determination attribute, the topological map of characterization crusing robot polling path.
The specific method for creating global grating map is as follows：
The plane space that crusing robot in substation is run is separated into grid one by one；
Obstacle article coordinate is calculated according to the coordinate of crusing robot and direction and with the obstacle distance in substation；It will become
There are the corresponding grids in the region of barrier in power station to be labeled as " occupying ", and there is no the corresponding grid marks in region of barrier
For " free time ".
The coordinate and direction of crusing robot are obtained by SLAM algorithms.
Using Bresenham straightway scanning algorithms, the corresponding grid in region residing for barrier in substation is labeled as
" occupancy "；Straight line is drawn between the grid residing for the grid and barrier residing for crusing robot, straight line place of arrival is considered
There is no the regions of barrier, are all labeled as " free time ".
The specific method for creating semantic map is on the basis of global grating map is created, to being patrolled in global grating map
Object barrier region addition device attribute is examined, forms the semantic map needed for repair schedule parsing.
The device attribute includes equipment region, interval, device type.
The specific method for creating topological map is on the basis of the semantic map of structure, and inspection is set according to examined in determination
Point, with reference to substation road distribution blueprint, if exist between two adjacent inspection points can walking path, along it is feasible walk road
Distribution, two inspection points are connected with line segment；Until inspection point all in substation all connects, topology ground is formed
Figure.
The specific method of parsing acquisition task information is carried out to the e-text of Substation maintenance is：
The electronic document of substation's history work ticket is collected, history work ticket is learnt, extraction Substation maintenance is crucial
Word establishes work ticket keywords database；
Semantic segmentation, parsing are carried out according to keyword to the text of work ticket using work ticket keywords database, obtain task
Information.
The work ticket keyword includes：
With the relevant keyword of device name, including：" switch " " disconnecting link " " capacitor " " busbar " " main transformer "；
With the relevant keyword of operational motion, including：" dismounting " " replacement " " installation " " cleaning "；
The keyword of semanteme connection, including：" and " " and " "AND" " by " " extremely ".
History work ticket is learnt using word frequency-inverse file frequency approach, extracts Substation maintenance keyword.
The optimal route planning includes global optimal path planning and local optimum path planning；
The specific method of the global optimal path planning is as follows：
Global optimal path planning considers task information, with " avoiding service area " " shortest path based on being layered map
Diameter " is evaluation criterion, and all possible paths that inspection point is reached to crusing robot score, the highest path of selection scoring
As global optimum path；
The specific method of the local optimum path planning is as follows：
Using dynamic window method, linear velocity and angular speed to crusing robot are sampled, are existed with sample rate within a predetermined range
The movement of simulation crusing robot, obtains a series of path in the scheduled time；
To every paths according to " whether can drop into below road surface " " degree for deviateing global path " " close to the journey of target point
Degree " " walking posture " " whether can encounter barrier " scores for evaluation criterion, chooses the highest path conduct of comprehensive score
Local optimum path.
Compared with prior art, the advantageous effect that is reached of the present invention is：
The characteristics of focusing on safety for power industry considers the constraints such as repair schedule, substation's inside points road be narrow
Condition carries out path planning in advance, rationally to avoid service area, optimization equipment routing inspection sequence, is reaching security requirement
Meanwhile improve the routing inspection efficiency and intelligent level of robot used for intelligent substation patrol.
Description of the drawings
Fig. 1 is the principle of the present invention block diagram；
Fig. 2 is the flow chart of the present invention；
Fig. 3 is the comparison diagram of its corresponding layering map of certain substation's part realistic picture；
Fig. 4 is certain Substation maintenance e-text sectional drawing；
Fig. 5 is the optimum path planning schematic diagram for considering repair schedule；
Fig. 6 is local paths planning schematic diagram；
In figure：1st, barrier；2nd, global path；3rd, curb.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and be not intended to limit the protection scope of the present invention and limit the scope of the invention.
As shown in Figure 1, it is the principle of the present invention block diagram, on the one hand, need to create comprising distribution of obstacles, examined in determination category
The layering map of the information such as property, polling path topology；On the other hand, current repair schedule need to be parsed, obtains repair schedule
The tasks information such as working time, working region, action.The present invention is using above both sides data, according to Fig. 2 institutes
The algorithm flow shown, rationally avoids service area, and optimization inspection sequence obtains optimal path.Specifically comprise the following steps：
Step 1：Layering characterization is carried out to the running environment of crusing robot in substation, creates layering map；
Layering map includes：Characterize the global grating map of distribution of obstacles in substation, characterization crusing robot examined in determination
The semantic map of attribute, the topological map of characterization crusing robot polling path.
The specific method for creating global grating map is as follows：
The plane space that crusing robot in substation is run is separated into grid one by one；
Pass through SLAM（Immediately positioning and map building）After the completion of algorithm positioning, the accurate pose of crusing robot is obtained（Comprising
Coordinate and direction of the crusing robot in global map）；
Pass through laser radar scanning to environmental characteristic, i.e. obstacle distance；
The coordinate of barrier is calculated by crusing robot coordinate and direction and obstacle distance, it is straight using Bresenham
Line-segment sweep algorithm, the grid residing for barrier are labeled as " occupying ", residing for the grid and barrier residing for crusing robot
Straight line is drawn between grid, straight line place of arrival is all labeled as " free time ".
In this way, the plane space of crusing robot operation " is accounted for just according to the distribution of barrier in substation by a series of
With " or the two-dimensional grid of " free time " characterize, form global grating map.
The specific method for creating semantic map is as follows：
On the basis of the global grating map of structure, equipment category is added to the examined in determination barrier region in grating map
Property, such as：Equipment region, interval, device type etc. form the semantic map needed for repair schedule parsing.
The specific method for creating topological map is as follows：
On the basis of the semantic map of structure, inspection point is set according to examined in determination, with reference to substation's road distribution blueprint, if
Between two adjacent inspection points exist can walking path, then along it is feasible walk road be distributed, two inspection points are connected with line segment
Get up；Until inspection point all in substation all connects, topological map is formed.
As shown in figure 3, for the layering map that certain substation is obtained using above-mentioned creation method, it is layered #2 reactors in map
Region corresponds to the primary equipment region on the right of fire wall in realistic picture, and it is left that #2 capacitor areas correspond to fire wall in realistic picture
The primary equipment region on side；Primary equipment in the orientation and realistic picture that are layered residing for the inspection point that black dot indicates in map
Orientation residing for examined in determination matches.It is layered the road that the path that black lines indicate in map is physical presence in realistic picture
Diameter.
Step 2：The e-text of Substation maintenance is parsed, obtains task information；
The work such as the daily maintenance of substation, grid switching operation have specific task, and task includes working time, work
Make the information such as region, action, staff, safety measure.By the parsing to task, clearly future sometime
The a certain region of section will have execute-in-place, if crusing robot cannot need to combine according to preset path by the region
The layering map of establishment, re-starts global path planning.
Work ticket system is a kind of effective safety measure in Operation of Electric Systems management, and equipment is carried out in substation
Before the work such as maintenance, grid switching operation, it is necessary to fill in related work ticket.Crusing robot system can with work ticket related system into
Line interface obtains work ticket e-text, and content of text is parsed, ginseng of the analysis result as global path planning
It examines.
The specific method of parsing acquisition task information is carried out to the e-text of Substation maintenance is：
The electronic document of substation's history work ticket is collected, using TF-IDF（Word frequency-inverse file frequency）Method works to history
Ticket is learnt, and is extracted the common keyword of Substation maintenance, is established work ticket keywords database.The keyword of extraction includes：
With the relevant keyword of device name " switch " " disconnecting link " " capacitor " " busbar " " main transformer " etc.；With the relevant key of operational motion
Word " dismounting " " replacement " " installation " " cleaning " etc.；Semanteme connection keyword " and " " and " "AND" " by " " extremely " etc..With to going through
The study of history work ticket deepens continuously, and work ticket keywords database can constantly expand, is perfect.
Using established work ticket keywords database, semantic segmentation, parsing are carried out according to keyword to the text of work ticket,
Obtain working time, working region, action of work ticket etc..
As shown in figure 4, for certain Substation maintenance e-text sectional drawing, using aforementioned analytic method, the work is obtained
The working time of ticket is：10 divide during August in 2017 2 days 10 --- and 10 divide during August in 2017 12 days 10；Working region is：35kV
#2 capacitor areas；Action is：Capacitor is replaced.
Step 3：Comprehensive utilization layering map and task information carry out optimum path planning.
Optimal route planning includes global optimal path planning and local optimum path planning；
The specific method of the global optimal path planning is as follows：
Global optimal path planning considers task information, with " avoiding service area " " shortest path based on being layered map
Diameter " is evaluation criterion, and all possible paths that inspection point is reached to crusing robot score, the highest path of selection scoring
As global optimum path.
By taking patrol task shown in fig. 5 as an example, which is：Make an inspection tour #2 35 kV Side of Main Transformer grounding switch division shapes
State.Repair schedule is inquired first, and by taking Substation maintenance shown in Fig. 4 as an example, there is currently unclosed repair schedules：35kV
#2 capacitors are replaced.If not considering repair schedule, there are four paths, difference from initial position arrival target point for crusing robot
For：START-A-B-C-D、START-A-B-H-I-C-D、START-A-B-J-K-M-D、START-A-E-F-G-D；Consider maintenance
After plan, B-C sections of #2 capacitor areas cannot pass through, and when path planning avoids B-C sections, and the global optimum path finally obtained is
START-A-E-F-G-D。
The specific method of the local optimum path planning is as follows：
Using dynamic window method, linear velocity and angular speed to crusing robot are sampled, are existed with sample rate within a predetermined range
The movement of simulation crusing robot, obtains a series of path in the scheduled time；
To every paths according to " whether can drop into below road surface " " degree for deviateing global path " " close to the journey of target point
Degree " " walking posture " " whether can encounter barrier " scores for evaluation criterion, chooses the highest path conduct of comprehensive score
Local optimum path.
Crusing robot needs to carry out local paths planning during advancing, as shown in fig. 6, for local paths planning
Schematic diagram.The linear velocity of crusing robot and angular speed are sampled in the range of maximum value and minimum value, as linear velocity 0 ~
0.2m/s is sampled 20 times by decile, and angular speed is sampled 20 times in -0.2rad/s ~ 0.2rad/s by decile, such permutation and combination
Sample rate is up to 400 times.Crusing robot is simulated with sample rate in controlling cycle to move to obtain a series of path, such as
A, B, C ... in Fig. 6.It is " close according to " whether can drop into below road surface " " degree for deviateing global path " to every paths
The standards such as the degree of target point " " walking posture " " whether can encounter barrier " score, if path selection A, inspection machine
People will encounter temporary obstructions；If path selection C, crusing robot will be dropped into below road surface；Path selection D, E, F,
G, H, corresponding comprehensive score is than relatively low；Only path B, comprehensive score highest choose it as local optimum path.
The characteristics of the method for the present invention focuses on safety for power industry takes narrow wait of substation's inside points road into account and constrains
Condition considers repair schedule（Based on repair schedule, but repair schedule is not limited to, grid switching operation, road maintenance etc. influence inspection
The plan that robot normally advances takes into account）, path planning is carried out in advance, rationally to avoid service area, optimization equipment
Inspection sequence, while security requirement is reached, improves the routing inspection efficiency and intelligent level of crusing robot.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformation can also be made, these are improved and deformation
Also it should be regarded as protection scope of the present invention.
Claims (12)
1. a kind of robot used for intelligent substation patrol paths planning method, which is characterized in that include the following steps：
Layering characterization is carried out to the running environment of crusing robot in substation, creates layering map；
The e-text of Substation maintenance is parsed, obtains task information；
Comprehensive utilization layering map and task information carry out optimum path planning.
2. robot used for intelligent substation patrol paths planning method according to claim 1, which is characterized in that the layering
Map includes：Characterize the global grating map of distribution of obstacles in substation, the language for characterizing crusing robot examined in determination attribute
Free burial ground for the destitute figure, the topological map for characterizing crusing robot polling path.
3. robot used for intelligent substation patrol paths planning method according to claim 2, which is characterized in that create global
The specific method of grating map is as follows：
The plane space that crusing robot in substation is run is separated into grid one by one；
Obstacle article coordinate is calculated according to the coordinate of crusing robot and direction and with the obstacle distance in substation；It will become
There are the corresponding grids in the region of barrier in power station to be labeled as " occupying ", and there is no the corresponding grid marks in region of barrier
For " free time ".
4. robot used for intelligent substation patrol paths planning method according to claim 3, which is characterized in that pass through SLAM
Algorithm obtains the coordinate and direction of crusing robot.
5. robot used for intelligent substation patrol paths planning method according to claim 3, which is characterized in that use
The corresponding grid in region residing for barrier in substation is labeled as " occupying " by Bresenham straightway scanning algorithms；In inspection
Straight line is drawn between the grid residing for grid and barrier residing for robot, straight line place of arrival is considered that there is no barriers
Region is all labeled as " free time ".
6. robot used for intelligent substation patrol paths planning method according to claim 2, which is characterized in that create semantic
The specific method of map is on the basis of global grating map is created, to examined in determination barrier region in global grating map
Device attribute is added, forms the semantic map needed for repair schedule parsing.
7. robot used for intelligent substation patrol paths planning method according to claim 6, which is characterized in that the equipment
Attribute includes equipment region, interval, device type.
8. robot used for intelligent substation patrol paths planning method according to claim 1, which is characterized in that create topology
The specific method of map is on the basis of the semantic map of structure, inspection point is set according to examined in determination, with reference to substation road
Road be distributed blueprint, if between two adjacent inspection points exist can walking path, along it is feasible walk road be distributed, by two inspections
Point is connected with line segment；Until inspection point all in substation all connects, topological map is formed.
9. robot used for intelligent substation patrol paths planning method according to claim 1, which is characterized in that substation
The e-text of work ticket carries out parsing the specific method for obtaining task information：
The electronic document of substation's history work ticket is collected, history work ticket is learnt, extraction Substation maintenance is crucial
Word establishes work ticket keywords database；
Semantic segmentation, parsing are carried out according to keyword to the text of work ticket using work ticket keywords database, obtain task
Information.
10. robot used for intelligent substation patrol paths planning method according to claim 9, which is characterized in that the work
Make ticket keyword to include：
With the relevant keyword of device name, including：" switch " " disconnecting link " " capacitor " " busbar " " main transformer "；
With the relevant keyword of operational motion, including：" dismounting " " replacement " " installation " " cleaning "；
The keyword of semanteme connection, including：" and " " and " "AND" " by " " extremely ".
11. robot used for intelligent substation patrol paths planning method according to claim 9, which is characterized in that using word
Frequently-inverse file frequency approach learns history work ticket, extracts Substation maintenance keyword.
12. robot used for intelligent substation patrol paths planning method according to claim 1, which is characterized in that it is described most
Major path planning includes global optimal path planning and local optimum path planning；
The specific method of the global optimal path planning is as follows：
Global optimal path planning considers task information, with " avoiding service area " " shortest path based on being layered map
Diameter " is evaluation criterion, and all possible paths that inspection point is reached to crusing robot score, the highest path of selection scoring
As global optimum path；
The specific method of the local optimum path planning is as follows：
Using dynamic window method, linear velocity and angular speed to crusing robot are sampled, are existed with sample rate within a predetermined range
The movement of simulation crusing robot, obtains a series of path in the scheduled time；
To every paths according to " whether can drop into below road surface " " degree for deviateing global path " " close to the journey of target point
Degree " " walking posture " " whether can encounter barrier " scores for evaluation criterion, chooses the highest path conduct of comprehensive score
Local optimum path.
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