Path planning method and device, and inspection robot

An inspection robot and path planning technology, applied in the electric power field, can solve problems such as low inspection efficiency and inability to realize autonomous inspection
CN107560631AActive Publication Date: 2018-01-09STATE GRID INTELLIGENCE TECH CO LTD
6 Cites 27 Cited by

Patent Information

Authority / Receiving Office
CN ยท China
Current Assignee / Owner
STATE GRID INTELLIGENCE TECH CO LTD
Publication Date
2018-01-09

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

Abstract

The invention discloses a path planning method and device, and an inspection robot. The path planning method specifically comprises the following steps: initializing information, determining the quantity of all docking points and all task points, a task starting point, a task ending point, a task list and the task point quantity; reading a shortest distance matrix containing all the docking pointsand all the task pints, a nearest neighbor matrix, the task starting point, the task ending points, the task point quantity and the task list; performing pre-treatment on the task list to obtain a latest task list; calculating the shortest distance matrix according to the latest task list to obtain a current shortest distance matrix corresponding to the latest task list; according to a preset improved ant colony algorithm, performing path calculation on the task points in the latest task list to obtain a task point sequence; performing refining treatment on the task point sequence according to the nearest neighbor matrix and preset one-way road section information to obtain a task point inspection sequence.
Need to check novelty before this filing date? Find Prior Art

Description

technical field

[0001] The present application relates to the field of electric power technology, and more specifically, to a path planning method, device and inspection robot. Background technique

[0002] During the normal operation of the substation, the instruments, meters, equipment and lines installed in it need regular or irregular inspections to ensure its safe and normal operation. In view of the high voltage in the substation environment, the threat to the safety of inspectors is obvious. In order to avoid the above-mentioned dangers, most substations have implemented the inspection of the above-mentioned facilities by inspection robots. However, during the inspection process, the inspection robot basically requires the operator to conduct inspections according to the preset route through remote control or wire control, and cannot realize autonomous inspections, resulting in low inspection efficiency. Contents of the invention

[0003] In view of this, the pres...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More