Multi-robot collaborative inspection method for power lines
A multi-robot and power line technology, applied in the direction of overhead line/cable equipment, etc., can solve the problems of robot path limitation, intricate environment, and many steps, and achieve the effect of improving adaptability, robustness, and system efficiency
Active Publication Date: 2018-06-19
NORTH CHINA ELECTRIC POWER UNIV (BAODING)
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Problems solved by technology
Compared with general multi-robot tasks, power line inspection tasks have particularities: (1) The working area has a large span, is more affected by external forces, and the environment is intricate; (2) The path of the robot is limited, and it must (3) The conventional power inspection system does not fully consider the actual operation of the power grid. Some well-run line sections are prone to excessive inspection, while some sections are inspected Insufficient phenomenon; (4) In the specific operation tasks, there are many steps and complicated procedures in the detection and repair of power transmission and distribution lines, which also increases the difficulty of operation
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[0033] The invention is a multi-robot collaborative patrol inspection method for power lines. In the power line patrol inspection task, conductors are segmented according to pole towers, and patrol inspection line sections are generated according to pole tower coordinates and conductor model data. In the multi-robot power inspection and operation tasks, various types of robots work together to complete the specified tasks, so that the system has the ability of area planning and task re-planning to improve system efficiency and adaptability and robustness in unknown dynamic environments.
[0034] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
[0035] Specific examples, such as figure 1 As shown, the power line multi-robot collaborative inspection method includes the following steps:
[0036] Step 1, segment the inspection line, segment the wires according to the tower, generate inspection line sect...
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The invention provides a power line multi-robot collaborative inspection method. A lead is sectioned according to a tower in a power line inspection task, and inspection line sections are generated according to the tower coordinates and lead module data. In the multi-robot power inspection and operation task, multiple types of robots strive to complete the assigned task together, and the system is enabled to have the regional planning and task replanning capacity so as to enhance the system efficiency and the adaptability and the robustness under the unknown dynamic environment.
Description
technical field [0001] The invention relates to the technical field of multi-robot collaboration, in particular to a multi-robot collaborative inspection method for power lines. Background technique [0002] The traditional manual inspection and operation methods of the power grid have the characteristics of high labor intensity, low work efficiency, and poor personnel safety, especially in severe weather and complex terrain conditions. At present, many scientific research institutions have successively carried out research on various operating robots, such as substation equipment inspection robots, live repair operation robots, cantilever line inspection robots, optical fiber composite overhead ground wire inspection robots, insulator detection robots, and ice breaking transmission lines. Robots, and some are already in operation, have withstood the test of harsh weather. With the emergence of electric robots with different functions and sizes and the continuous maturity a...
Claims
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IPC IPC(8): H02G1/02
CPCH02G1/02
Inventor 姜丽梅
Owner NORTH CHINA ELECTRIC POWER UNIV (BAODING)