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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

Active Publication Date: 2018-01-09
STATE GRID INTELLIGENCE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

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

Method used

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  • Path planning method and device, and inspection robot
  • Path planning method and device, and inspection robot
  • Path planning method and device, and inspection robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0061] figure 1 It is a flow chart of the steps of an embodiment of a path planning method provided by the present invention,

[0062] like figure 1 As shown, the path planning method provided in this embodiment is applied to the inspection robot of the substation, which is used to enable the inspection robot to conduct autonomous inspection of the substation according to the planned path, so as to get rid of relying on the operator to perform inspection by remote control fetters, the path planning method includes steps:

[0063] S101: initialization operation.

[0064] That is to initialize all the information required for path planning, the so-called initialization includes determining the initial information required for path planning. The information here is the information of the substation that the inspection robot inspects, including the number and number of all stops and all task points, and also includes the task start point, task end point, task point list and the...

Embodiment 2

[0086] figure 2 It is a flow chart of steps in another embodiment of the path planning method provided by this application.

[0087] like figure 2 As shown, the path planning method provided in this embodiment is applied to the inspection robot of the substation, which is used to enable the inspection robot to conduct autonomous inspection of the substation according to the planned path, so as to get rid of relying on the operator to perform inspection by remote control fetters, the path planning method includes steps:

[0088] S201: initialization operation.

[0089] That is to initialize all the information required for path planning, the so-called initialization includes determining the initial information required for path planning. The information here is the substation information and task information that the inspection robot inspects, including the number and number of task points, task start point, task end point, task point list and application mode.

[0090] T...

Embodiment 3

[0128] image 3 It is a structural block diagram of an embodiment of a path planning device provided by the present invention.

[0129] like image 3 As shown, the path planning device provided by this embodiment is applied to the inspection robot of the substation, which is used to enable the inspection robot to conduct autonomous inspection of the substation according to the planned path, so as to get rid of relying on the operator to perform inspection by remote control The path planning device specifically includes an information initialization module 10 , a matrix reading module 20 , a list processing module 100 , a matrix calculation module 30 , a path calculation module 40 and a refinement processing module 50 .

[0130] The information initialization module is used to initialize the signal.

[0131] That is to initialize all the information required for path planning, the so-called initialization includes determining the initial information required for path planning...

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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.

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

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Application Information

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IPC IPC(8): G01C21/34
Inventor 邓燕田晓璐刘加科王亚菲周昊杨森梁涛
Owner STATE GRID INTELLIGENCE TECH CO LTD
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