摘要
变电站智能巡检机器人因其灵活的控制运行方式、不受天气因素影响等优点,逐渐运用在各电压等级变电站中,但部分巡检机器人存在路径规划不合理的问题。为了提高巡检机器人的工作效率,综述变电站定点巡视路线优化的研究现状,并提出将巡视点的优化转化为线路的优化问题。首先,对巡检机器人巡检路线的拓扑结构进行简化,将图论中“中国邮递员问题”的求解方法应用于巡检路线的优化;然后,采用奇偶点图上作业法构造简化模型的欧拉图,得到最佳巡视路线;最后,简要介绍了多巡检机器人协同作业区域的划分方法。研究成果可为变电站运维人员及巡检机器人生产厂家提供参考。
Due to advantages of flexible control operation mode and free from the influence of weather factors,the intelligent substation inspection robots are gradually used in substations of various voltage levels.However,some inspection robots have the problem of improper path planning.In order to improve the work efficiency of the inspection robot,the research status of the inspection route optimization for applications of fixed inspection points of the substation is summarized,and the suggestion to convert the optimization of the access sequence of points into the optimization of routes to improve the optimization efficiency is proposed.First,simplify the topology of the inspection route,and apply the solution method of the“Chinese postman problem”in graph theory to the optimization of the inspection route.A graphical method based on an odd-even-point approach is used to construct an Euler graph of the simplified model to obtain the best tour route.Finally,the division method of collaborative work area of multiple inspection robots is introduced.The research results can provide reference for substation operation and maintenance personnel and inspection robot manufacturers.
作者
张永涛
李博
张甲
刘涛
豆贝贝
ZHANG Yongtao;LI Bo;ZHANG Jia;LIU Tao;DOU Beibei(State Grid Zhoukou Power Supply Company,Zhoukou 466000,China)
出处
《山东电力技术》
2020年第9期45-49,66,共6页
Shandong Electric Power
关键词
变电站
巡检机器人
中国邮递员问题
奇偶点图上作业法
协同作业
substation
inspection robot
Chinese postman problem
graphical method based on an odd-even-point approach
collaborative work
