CN111399522A - Substation inspection robot formation inspection formation keeping method based on behavior coordination - Google Patents
Substation inspection robot formation inspection formation keeping method based on behavior coordination Download PDFInfo
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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
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Abstract
The invention discloses a substation inspection robot formation inspection formation keeping method based on behavior coordination, which is based on sub-behavior design in a behavior control strategy; in the formation patrol inspection process, the substation patrol inspection robot needs to know the position of the substation patrol inspection robot in the formation, and two methods are adopted for determining the target position by the substation patrol inspection robot: a piloting reference point method and a neighbor reference point method; the sub-behaviors of each transformer substation inspection robot have own priority authority, the sub-behaviors of the transformer substation inspection robot are fused by adopting a suppression method, and when the sub-behaviors are under the same condition, the transformer substation inspection robot can select the sub-behavior with high priority as the current behavior of the transformer substation inspection robot. Three basic behaviors controlled by the formation are designed, and in the formation keeping behavior, a piloting reference point method and a neighbor reference point method are adopted to design the formation, so that the inspection formation of the transformer substation inspection robot is effectively kept, and the inspection efficiency of the transformer substation is greatly improved.
Description
Technical Field
The invention relates to the field of inspection robot collaborative formation control, in particular to a substation inspection robot formation inspection formation shape maintaining method based on behavior collaboration.
Background
With the continuous development of computer technology, a network joint control monitoring system is applied on a large scale in an unattended transformer substation to command a robot to perform patrol and monitoring operation, the transformer substation intelligent patrol robot system with the practical advantages of being free from the influence of weather factors, more flexible in control operation mode and the like is produced, and the outdoor high-voltage equipment patrol task is gradually executed by the transformer substation outdoor intelligent patrol robot. The equipment is essentially based on mobile platforms in different forms, and can effectively complete full-autonomous positioning and navigation in a transformer substation, automatically measure the running state and temperature of various equipment in the transformer substation by carrying infrared and visible light sensors and other equipment, automatically set inspection, record inspection results and complete information interaction with an existing running system in the transformer substation, thereby replacing the original manual inspection mode of the transformer substation, and simultaneously completing fault diagnosis.
At present, in order to further improve the inspection efficiency of substation equipment, all-weather equipment inspection work is carried out, and the multi-substation robot cooperative inspection becomes an important form of future substation inspection. In order to complete the routing inspection task, a formation formed by a plurality of routing inspection robots needs to maintain and change the formation when the formation runs, and the purpose of reaching a destination in an environment with obstacles is achieved. The formation of certain formation is required to be completed when the formation starts to travel; the formation is required to be kept in the environment without the obstacles, the formation is required to be changed to avoid the obstacles in the environment with the obstacles, and finally, the target position of the appointed routing inspection is reached. Through patrolling and examining the robot to a plurality of transformer substations and patrolling and examining the task distribution to the effectual transformer substation of keeping patrols and examines the formation of patrolling and examining of robot, the efficiency that patrols and examines of promotion transformer substation that can be very big.
Disclosure of Invention
The invention aims to provide a substation inspection robot formation inspection formation keeping method based on behavior coordination, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a substation inspection robot formation inspection formation keeping method based on behavior coordination comprises the following steps: step A, designing based on child behaviors in a behavior control strategy;
step B, in the process of formation tour inspection, the substation tour inspection robot needs to know the position of the substation tour inspection robot in the formation at every moment, and two methods are adopted for determining the target position by the substation tour inspection robot: a piloting reference point method and a neighbor reference point method;
C. the sub-behaviors of each transformer substation inspection robot have own priority authority, the sub-behaviors of the transformer substation inspection robot are fused by adopting a suppression method, and when the sub-behaviors are under the same condition, the transformer substation inspection robot can select the sub-behavior with high priority as the current behavior of the transformer substation inspection robot.
In the above step a, the child behavior design includes the following three types:
1. the running-to-target behavior refers to a behavior that the inspection robot moves from the current position to the expected position, namely the behavior enables the inspection robot to obtain an output vector pointing to the expected area, so that the inspection robot finishes the movement to the appointed expected position;
2. the obstacle avoidance behavior is a behavior of the inspection robot for avoiding collision with a static obstacle, and in the formation control of the multiple inspection robots, the behavior of the inspection robot for avoiding collision with the static obstacle has important research significance, and the behavior of avoiding collision with the static obstacle can be determined because the obstacle is static;
3. the formation keeping behavior means that after the formation of the inspection robot is known, the target position of the inspection robot in the formation is determined, and the formation keeping behavior generates an output vector pointing to the set position;
in the step B, the navigation reference point method is: firstly, one routing inspection robot is assigned in a formation as a piloting routing inspection robot, the positions of the rest routing inspection robots are used as reference to determine the expected positions of the routing inspection robots in the formation, the piloting routing inspection robot does not need to consider how to stabilize the formation, and the other routing inspection robots need to keep the determined formation at all times;
the neighbor reference point method comprises the following steps: in the formation of the multiple inspection robots, each inspection robot selects the position of the inspection robot closest to the inspection robot in the formation as a reference point, and then determines the position of the inspection robot in the formation according to the position of the adjacent inspection robot;
in the step C, the two kinds of formation reference methods, namely the pilot reference point method and the neighbor reference point method, are adopted, and the fusion mode of the child behaviors is designed by taking the pilot reference point method as the formation method. Three basic behaviors for the inspection robot: the method comprises the following steps of running towards a target, avoiding obstacles and keeping formation, and basically selecting the following steps:
1. for the piloting inspection robot, one of a target running behavior and an obstacle avoidance behavior is selected according to the environment and the motion condition of the piloting inspection robot, so that the autonomous inspection capability of the inspection robot is embodied; in addition, in the process of team routing and inspection, the navigation inspection robot also needs to consider the inspection condition of the following inspection robot, and the cooperation of the navigation inspection robot is reflected.
2. The following inspection robot mainly selects the behavior of obstacle avoidance and the behavior of formation maintenance, the cooperation of the inspection robot is embodied, the following inspection robot does not consider the indication movement of the piloting inspection robot alone, and certain autonomy of the following inspection robot is also embodied.
3. The priority of various behaviors of the piloting inspection robot and the following inspection robot is defined, so that formation inspection is more stable. Defining the highest priority level of obstacle avoidance behaviors for the piloting inspection robot, and then defining the behavior towards the target; and defining the follow-up inspection robot to have the highest priority of obstacle avoidance behaviors and the next order of formation keeping behaviors. And selecting what behavior is distributed according to the level.
Compared with the prior art, the invention has the beneficial effects that: three basic behaviors controlled by the formation are specifically designed, and in the behavior keeping behavior of the formation, the piloting reference point method and the neighbor reference point method are respectively adopted to design the formation, so that the formation can be formed more quickly, the final behavior is fused, the behavior inhibiting method is adopted to obtain the formation control output, the inspection formation of the transformer substation inspection robot is effectively kept, and the inspection efficiency of the transformer substation is greatly improved.
Drawings
FIG. 1 is a schematic view of the pilot reference point method of the present invention;
FIG. 2 is a diagram illustrating a neighbor reference point method according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, the present embodiment provides a technical solution: a substation inspection robot formation inspection formation keeping method based on behavior coordination comprises the following steps: step A, designing based on child behaviors in a behavior control strategy;
in step a above, the child behaviors include the following three types:
1. the running-to-target behavior refers to a behavior that the inspection robot moves from the current position to the expected position, namely the behavior enables the inspection robot to obtain an output vector pointing to the expected area, so that the inspection robot finishes the movement to the appointed expected position;
2. and (4) obstacle avoidance behavior, namely behavior of avoiding collision between the inspection robot and a static obstacle. According to the current research, in the motion environment of the multi-inspection robot formation inspection control, a static obstacle is a problem which can be certainly generated and needs to be considered, in the multi-inspection robot formation control, the behavior of the inspection robot for avoiding collision with the static obstacle has important research significance, and the behavior of avoiding collision with the static obstacle can be determined due to the fact that the obstacle is static;
3. the formation keeping behavior means that after the formation of the inspection robot is known, the target position of the inspection robot in the formation is determined, and the formation keeping behavior generates an output vector pointing to the set position;
step B, in the process of formation tour inspection, the substation tour inspection robot needs to know the position of the substation tour inspection robot in the formation at every moment, and two methods are adopted for determining the target position by the substation tour inspection robot: a piloting reference point method and a neighbor reference point method;
in the step B, the navigation reference point method is: firstly, one routing inspection robot is assigned in the formation as a pilot routing inspection robot, and the positions of the rest routing inspection robots are used as references to determine the expected positions of the routing inspection robots in the formation. The piloting inspection robot does not need to consider how to stabilize the formation, while the other inspection robots need to keep well-defined formation every moment, as shown in fig. 1.
The neighbor reference point method comprises the following steps: in formation of the multiple inspection robots, each inspection robot selects the position of the inspection robot closest to itself in the formation as a reference point, and then determines the position of itself in the formation according to the positions of the neighboring inspection robots, as shown in fig. 2.
C. The sub-behaviors of each transformer substation inspection robot have own priority authority, the sub-behaviors of the transformer substation inspection robot are fused by adopting a suppression method, and when the sub-behaviors are under the same condition, the transformer substation inspection robot can select the sub-behavior with high priority as the current behavior of the transformer substation inspection robot.
In the step C, in order to make each child behavior of the inspection robot have its own priority authority, the method adopts a suppression method to fuse the child behaviors of the inspection robot, and when the child behaviors are in the same condition, the inspection robot selects the child behavior with high priority as the current behavior of the movement of the inspection robot. The method adopts the two formation reference methods, namely a pilot reference point method and a neighbor reference point method, and designs a sub-behavior fusion mode by taking the pilot reference point method as the formation method of the formation. Three basic behaviors for the inspection robot: the method comprises the following steps of running towards a target, avoiding obstacles and keeping formation, and basically selecting the following steps:
1. for the piloting inspection robot, one of a target running behavior and an obstacle avoidance behavior is selected according to the environment and the motion condition of the piloting inspection robot, so that the autonomous inspection capability of the inspection robot is embodied; in addition, in the process of team routing and inspection, the navigation inspection robot also needs to consider the inspection condition of the following inspection robot, and the cooperation of the navigation inspection robot is reflected.
2. The following inspection robot mainly selects the behavior of obstacle avoidance and the behavior of formation maintenance, the cooperation of the inspection robot is embodied, the following inspection robot does not consider the indication movement of the piloting inspection robot alone, and certain autonomy of the following inspection robot is also embodied.
3. The priority of various behaviors of the piloting inspection robot and the following inspection robot is defined, so that formation inspection is more stable. Defining the highest priority level of obstacle avoidance behaviors for the piloting inspection robot, and then defining the behavior towards the target; and defining the follow-up inspection robot to have the highest priority of obstacle avoidance behaviors and the next order of formation keeping behaviors. And selecting what behavior is distributed according to the level.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (3)
1. A substation inspection robot formation inspection formation keeping method based on behavior coordination is characterized in that: the patrol formation keeping method comprises the following steps: step A, designing based on child behaviors in a behavior control strategy;
step B, in the process of formation tour inspection, the substation tour inspection robot needs to know the position of the substation tour inspection robot in the formation at every moment, and two methods are adopted for determining the target position by the substation tour inspection robot: a piloting reference point method and a neighbor reference point method;
C. the sub-behaviors of each transformer substation inspection robot have own priority authority, the sub-behaviors of the transformer substation inspection robot are fused by adopting a suppression method, and when the sub-behaviors are under the same condition, the transformer substation inspection robot can select the sub-behavior with high priority as the current behavior of the transformer substation inspection robot.
2. The substation inspection robot formation inspection formation keeping method based on behavior coordination according to claim 1, characterized in that: in the step A, the child behavior design comprises the following three types:
(1) the running-to-target behavior refers to a behavior that the inspection robot moves from the current position to the expected position, namely the behavior enables the inspection robot to obtain an output vector pointing to the expected area, so that the inspection robot finishes the movement to the appointed expected position;
(2) the obstacle avoidance behavior is a behavior of the inspection robot for avoiding collision with a static obstacle, and in the formation control of the multiple inspection robots, the behavior of the inspection robot for avoiding collision with the static obstacle has important research significance, and the behavior of avoiding collision with the static obstacle can be determined because the obstacle is static;
(3) and the formation keeping behavior is that after the formation of the inspection robot is known, the target position of the inspection robot in the formation is determined, and an output vector pointing to the set position is generated by the formation keeping behavior.
3. The substation inspection robot formation inspection formation keeping method based on behavior coordination according to claim 1, characterized in that: in the step B, the piloting reference point method is as follows: firstly, one routing inspection robot is assigned in a formation as a piloting routing inspection robot, the positions of the rest routing inspection robots are used as reference to determine the expected positions of the routing inspection robots in the formation, the piloting routing inspection robot does not need to consider how to stabilize the formation, and the other routing inspection robots need to keep the determined formation at all times;
the neighbor reference point method comprises the following steps: in the formation of the multiple inspection robots, each inspection robot selects the position of the inspection robot closest to the inspection robot in the formation as a reference point, and then determines the position of the inspection robot in the formation according to the positions of the adjacent inspection robots.
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| CN112286179A (en) * | 2020-09-07 | 2021-01-29 | 西安电子科技大学 | Cooperative motion control method and system, computer equipment and robot |
| CN112433538A (en) * | 2020-11-25 | 2021-03-02 | 中国航天空气动力技术研究院 | AUV formation method, system and storage medium |
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