CN115793638A - Routing point library planning and establishing method for inspection robot in power system - Google Patents
Routing point library planning and establishing method for inspection robot in power system Download PDFInfo
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- CN115793638A CN115793638A CN202211477634.7A CN202211477634A CN115793638A CN 115793638 A CN115793638 A CN 115793638A CN 202211477634 A CN202211477634 A CN 202211477634A CN 115793638 A CN115793638 A CN 115793638A
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Abstract
A routing point library planning and establishing method for an inspection robot in an electric power system solves the problems that an offline global routing method is too single and simple and is prone to errors in an existing inspection path based on a power station inspection robot. A routing point library planning and establishing method for an inspection robot in an electric power system comprises the steps of establishing an offline global path and is characterized in that the offline global path is established; the method comprises the steps that an intelligent system of a power station generates an offline global planned path, the path plan is led into a robot to form an instruction, the robot moves along the planned path according to gps or Beidou, and bypasses obstacles to measure and analyze the state of the surrounding environment and optimize the local path in real time. The method is used for planning and establishing the routing point library of the inspection robot in the power system.
Description
The technical field is as follows:
the invention relates to the technical field of robot routing inspection, in particular to a routing point library planning and establishing method for an inspection robot in an electric power system.
The background art comprises the following steps:
in recent years, with the development and application of technologies such as detection, data processing, internet and the like, some technologies such as intelligent control, data processing, internet and the like are developed and applied, and some products which integrate intelligent control, advanced detection and automatic decision are continuously appeared. For example, the inspection robot in the intelligent power station gradually replaces the traditional manual inspection work, the working strength and the danger of the manual inspection are greatly reduced by utilizing the robot to inspect, and the reliability of power station equipment can be effectively improved. However, how to provide a method suitable for planning the inspection task of the power station robot according to the distribution situation of the power station equipment is an important research content, so that the robot can independently complete the inspection task.
Compare with the mobile robot who is applied to conventional scene, the power station patrols and examines the robot and operates in the environment of high noise, high interference, because comparatively little airtight space such as many indoor, pipelines of its operational environment, workstation, the more power equipment that need avoid all kinds of high voltages, heavy current of barrier in addition, so the power station patrols and examines the path planning of robot and more need guarantee the accuracy to avoid touching power equipment and cause the accident. Therefore, the key is that how to detect and identify the obstacle is considered besides reasonably planning the optimal routing inspection path, and a feasible safe routing inspection path can be effectively avoided and flexibly planned again to continue to complete the task.
At present, the inspection path of the inspection robot based on the power station has the problems that an offline global path method is too single and simple and is easy to make mistakes.
Along with the deepening of the application of the intelligent power station, the complexity of a power station inspection scene is increased, and higher requirements are provided for path planning of the inspection robot. Generally speaking, an offline global path acquired in a robot-assisted intelligent system is single and fixed, but a power station application scene belongs to a time-varying complex scene to a certain extent, and an obstacle may exist in a certain period of time on a planned path, so that the conventional offline global path is difficult to completely consider the situation that the obstacle appears in the planned path of the robot, and a path needs to be tracked and calibrated in real time through a sensor.
Obstacle avoidance local path algorithm based on sensor real-time optimization is too complex
The method for planning the path by adopting the sensor technology can effectively make up the defect that the offline planned path cannot track local dynamic information, and the inspection robot acquires the self motion track and the information of peripheral obstacles through the position sensor and the speed sensor and calculates the path avoiding touching the obstacles according to a built-in algorithm. However, these algorithms are too complex, have high cost and insufficient intelligence, and cannot meet the changeable space-time environment of the power station.
The invention aims to provide a routing point library planning and establishing method for an inspection robot in an electric power system.
A routing point library planning and establishing method for an inspection robot in an electric power system comprises the steps of establishing an offline global path, generating the offline global planned path by a power station intelligent system, leading the path plan into the robot and forming an instruction, moving the robot along the planned path according to gps or Beidou, bypassing obstacles, and measuring and analyzing the state of the surrounding environment and carrying out real-time local path optimization processing.
The method for establishing the offline global path is characterized in that feasible path information of inspection can be obtained by combining the positioning system and the geographical distribution condition of a power station according to the characteristics that the positions of various types of electrical equipment are relatively fixed and the starting position, the target position and the communication path of the inspection are relatively clear, and an auxiliary intelligent system can make an optimal robot inspection path offline according to the information.
The method for establishing the routing point library planning of the inspection robot in the power system is characterized in that the step of generating an offline global planned path by a power station intelligent system comprises the following steps: in order to improve the real-time performance of the inspection, a global planning map is generated on a two-dimensional plane by means of a power station geographic information system, the initial position and the target position of the inspection path of the robot are determined, and the path of the whole inspection point library is represented by discrete position points, so that a specific two-dimensional inspection path table is generated.
The method for establishing the routing point library plan of the inspection robot in the power system is characterized in that the path plan is led into the robot to form an instruction, a generated two-dimensional routing point library path table is led into the robot through a communication network, and the robot further converts path points into a moving instruction which can be executed by the robot through meaning of each position on the path table.
The method for establishing the routing point library plan of the inspection robot in the power system is characterized in that the step of importing the routing plan into the robot and forming an instruction is as follows: the robot moves by comparing the current position with the initial position of the routing inspection path through a GPS or a Beidou of the robot, and moves according to the planned routing inspection path.
The method for establishing the routing point library of the inspection robot in the power system is characterized in that the following steps of bypassing obstacles and measuring, analyzing and processing the state of the surrounding environment are carried out: and acquiring the obstacle condition of each direction through a high-precision sensor configured by the inspection robot. And information interaction and judgment with the surrounding environment are realized by means of the sensor. The robot measures, analyzes and processes the surrounding environment state according to the sensor elements arranged on the robot, and further issues corresponding action instructions to the execution elements according to a pre-designed algorithm to the analysis result through the control system;
the routing point library planning and establishing method for the inspection robot in the power system comprises the following steps of: because the inspection path of the robot is relatively fixed, the path optimization method is embodied in deviation correction for avoiding obstacles. The method comprises the steps that a sensor-machine speed sensor configured by a robot is adopted to obtain the self motion track and cycle obstacle information, the shortest distance of deviation without touching the obstacle is calculated in real time, the advancing direction close to an offline planned path is kept to the maximum extent, after the robot bypasses the obstacle, the robot returns to the offline planned path in time, and the original routing inspection path is recovered;
and when the global routing inspection path has the obstacle, selecting the minimum advancing direction of the path by adopting an image cutting method in combination with the routing inspection path on the map. The tangent diagram method is based on a polygonal obstacle model, an obstacle with an arbitrary shape is replaced by an approximate polygon, and a tangent diagram is constructed in a free space, so that the robot walks along a tangent line from a starting point to a target point, and the path is shortest.
Has the advantages that:
the power station inspection robot routing planning method combines the practical application scene of the power station, and comprehensively applies the known global planning of the environmental information and the technology based on the sensor information local path planning to realize the routing planning of the power station inspection robot. Aiming at the characteristic that the power station inspection robot has a relatively fixed inspection path, an off-line planning path is generated by adopting a power station geographic information system and is used as a global inspection path. In addition, the robot further corrects the possible obstacle situation in the global routing inspection path by adopting the self-configured sensing information, and quickly switches back to the global routing inspection path after the robot bypasses the obstacle in the shortest distance through calculation of an algorithm. The strategy can not only fully utilize the existing information of the power station to complete routing inspection path planning in advance, but also improve the real-time performance; and the system can dynamically identify and bypass the obstacles on the routing inspection path, and has good flexibility and adaptability.
The invention can make full use of the existing information of the power station to complete the off-line planning of the routing inspection path in advance, improve the real-time performance, dynamically identify and bypass the obstacles on the routing inspection path in the shortest distance, and has good flexibility and adaptability.
The invention can realize the remote and automatic special application scene of the robot to the power station inspection based on the offline path and the path planning strategy of real-time correction of the sensing technology, thereby greatly reducing the operation and maintenance manpower and material resources, reducing the maintenance workers and bringing good economic and social benefits.
Description of the drawings:
FIG. 1 is a flow chart of the present invention.
The specific implementation mode is as follows:
example 1
A routing point library planning and establishing method for an inspection robot in an electric power system comprises the steps of establishing an offline global path, generating the offline global planned path by a power station intelligent system, leading the path plan into the robot and forming an instruction, moving the robot along the planned path according to gps or Beidou, bypassing obstacles, and measuring and analyzing the state of the surrounding environment and carrying out real-time local path optimization processing.
Example 2:
the method for establishing the offline global path through planning of the routing point library of the inspection robot in the power system in the embodiment 1 is characterized in that feasible routing information of inspection can be obtained by combining a positioning system and the geographical distribution condition of a power station by utilizing the characteristics that the positions of various types of electrical equipment are relatively fixed and the starting position, the target position and the communication path of inspection are relatively clear, and an intelligent system is assisted to make an optimal routing path of the inspection robot offline according to the information.
Example 3:
the routing point library planning and establishing method for the inspection robot in the power system in the embodiment 1 or 2, wherein the step of generating the offline global planned path by the intelligent system of the power station refers to the following steps: in order to improve the real-time performance of the inspection, a global planning map is generated on a two-dimensional plane by means of a power station geographic information system, the initial position and the target position of the inspection path of the robot are determined, and the path of the whole inspection point library is represented by discrete position points, so that a specific two-dimensional inspection path table is generated.
Example 4:
the routing point library planning and establishing method for the inspection robot in the power system according to embodiment 1, 2 or 3, wherein the step of importing the path plan into the robot and forming the command is to import the generated two-dimensional routing point library path table into the robot through the communication network, and the robot further converts the path points into the movement command which can be executed by the robot by referring to each position meaning on the path table.
Example 5:
the method for establishing routing point library planning of the inspection robot in the power system according to the embodiment 1, 2, 3 or 4, wherein the step of introducing the routing plan into the robot and forming the instruction includes: the robot moves by comparing the current position with the initial position of the routing inspection path through a GPS or a Beidou of the robot, and moves according to the planned routing inspection path.
Example 6:
the method for establishing a routing point library of an inspection robot in an electric power system in embodiment 1, 2, 3, 4, or 5, wherein the step of bypassing obstacles and measuring, analyzing, and processing the ambient environment state includes: and acquiring the obstacle condition of each direction through a high-precision sensor configured by the inspection robot. And information interaction and judgment with the surrounding environment are realized by means of the sensor. The robot measures, analyzes and processes the surrounding environment state according to the sensor elements arranged on the robot, and further issues corresponding action instructions to the execution elements according to a pre-designed algorithm to the analysis result through the control system;
example 7:
the method for establishing the routing point library planning of the inspection robot in the power system in the embodiment 1, 2, 3, 4, 5 or 6 comprises the following steps: because the inspection path of the robot is relatively fixed, the path optimization method is embodied in deviation correction for avoiding obstacles. The method comprises the steps that a sensor-machine speed sensor configured by a robot is adopted to obtain self motion track and cycle obstacle information, the shortest distance of deviation without touching the obstacle is calculated in real time, the advancing direction close to an offline planned path is kept to the maximum extent, and after the robot bypasses the obstacle, the robot returns to the offline planned path in time to recover the original routing inspection path;
and when the obstacle exists on the global routing inspection path, selecting the minimum advancing direction of the path by adopting an image cutting method in combination with the routing inspection path on the map. The tangent diagram method is based on a polygonal obstacle model, an obstacle with an arbitrary shape is replaced by an approximate polygon, and a tangent diagram is constructed in a free space, so that the robot walks along a tangent from a starting point to a target point, and the path is shortest.
Claims (7)
1. A routing point library planning and establishing method for an inspection robot in an electric power system comprises the steps of establishing an off-line global path and is characterized in that the off-line global path is established; the method comprises the steps that an intelligent system of a power station generates an offline global planned path, the path plan is led into a robot to form an instruction, the robot moves along the planned path according to gps or Beidou, and bypasses obstacles to measure and analyze the state of the surrounding environment and optimize the local path in real time.
2. The routing point library planning and establishing method for the inspection robots in the power system according to claim 1, wherein the offline global routing establishing method is characterized in that feasible routing information for inspection can be obtained by combining a positioning system and the geographical distribution condition of power stations by utilizing the characteristics that positions of various types of electrical equipment are relatively fixed and inspection starting positions, target positions and communication paths are relatively clear, and an intelligent auxiliary system can establish an optimal robot inspection path offline according to the information.
3. The routing point library planning and establishing method for the inspection robots in the power system according to claim 2, which is characterized in that: the generation of the offline global planning path related to the power station intelligent system refers to the following steps: in order to improve the real-time performance of the inspection, a global planning map is generated on a two-dimensional plane by means of a power station geographic information system, the initial position and the target position of the inspection path of the robot are determined, and the path of the whole inspection point library is represented by discrete position points, so that a specific two-dimensional inspection path table is generated.
4. The routing point library planning and establishing method for the inspection robot in the power system according to claim 3, characterized by comprising the following steps: the step of importing the path plan into the robot and forming the command is to import the generated two-dimensional routing inspection point library path table into the robot through the communication network, and the robot further converts the path points into the movement command which can be executed by the robot through the meaning of each position on the path table.
5. The routing point library planning and establishing method for the inspection robot in the power system as claimed in claim 4, wherein the routing point library planning method comprises the following steps: the step of guiding the path plan into the robot and forming the instruction is as follows: the robot moves by comparing the current position with the initial position offset of the routing inspection path through the GPS or the Beidou of the robot, and moves according to the planned routing inspection path.
6. The routing point library planning and establishing method for the inspection robots in the power system according to claim 5, wherein the routing point library planning and establishing method comprises the following steps: the obstacle bypassing is used for measuring, analyzing and processing the state of the surrounding environment, and the method comprises the following steps: and acquiring the obstacle condition of each direction through a high-precision sensor configured by the inspection robot. And information interaction and judgment with the surrounding environment are realized by means of the sensor. The robot measures, analyzes and processes the surrounding environment state according to the sensor elements arranged on the robot, and further issues corresponding action instructions to the execution elements according to a pre-designed algorithm for the analysis result through the control system.
7. The routing point library planning and establishing method for the inspection robots in the power system according to claim 1, which is characterized in that: the real-time local path optimization method comprises the following steps: because the inspection path of the robot is relatively fixed, the path optimization method is embodied in deviation correction for avoiding obstacles. The method comprises the steps that a sensor-machine speed sensor configured by a robot is adopted to obtain the self motion track and cycle obstacle information, the shortest distance of deviation without touching the obstacle is calculated in real time, the advancing direction close to an offline planned path is kept to the maximum extent, after the robot bypasses the obstacle, the robot returns to the offline planned path in time, and the original routing inspection path is recovered;
and when the obstacle exists on the global routing inspection path, selecting the minimum advancing direction of the path by adopting an image cutting method in combination with the routing inspection path on the map. The tangent diagram method is based on a polygonal obstacle model, an obstacle with an arbitrary shape is replaced by an approximate polygon, and a tangent diagram is constructed in a free space, so that the robot walks along a tangent from a starting point to a target point, and the path is shortest.
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| CN116277041A (en) * | 2023-05-24 | 2023-06-23 | 深蓝(天津)智能制造有限责任公司 | Robot structure optimization method and system combined with demand analysis |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116277041A (en) * | 2023-05-24 | 2023-06-23 | 深蓝(天津)智能制造有限责任公司 | Robot structure optimization method and system combined with demand analysis |
| CN116277041B (en) * | 2023-05-24 | 2023-08-29 | 深蓝(天津)智能制造有限责任公司 | Robot structure optimization method and system combined with demand analysis |
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