基于可拓层次分析的机器人系统安全评价方法  

Research on Safety Evaluation Method of Robot System Based on Extension Analytic Hierarchy Process

作　　者：刘旭 王颂 于洪鹏 李志海[2,3] LIU Xu;WANG Song;YU Hong-peng;LI Zhi-hai(Electric Power Research Institute of China Southern Power Grid Company Limited,Guangzhou 510080,China;Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;不详)

机构地区：[1]南方电网科学研究院有限责任公司,广州510080 [2]中国科学院沈阳自动化研究所,沈阳110016 [3]中国科学院机器人与智能制造创新研究院,沈阳110169

出　　处：《组合机床与自动化加工技术》2021年第3期87-89,93,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家重点研发计划“智能制造基础共性和关键技术标准研究重点专项”机器人关键技术标准研究(2016YFF0202003)。

摘　　要：为提高电力行业应用的机器人系统安全评价准确性,克服无法定性定量的对电力机器人进行安全评价,提出基于可拓层次分析的安全评价方法。首先,分析当前电力机器人技术水平与标准现状,确定影响评价结果的机械安全、电气安全、充电电池安全、定位导航安全等8个特征指标,建立电力机器人系统安全评价体系;其次,基于可拓层次分析法对安全评价指标的权重系数及隶属度矩阵确定,耦合计算得到可量化的安全评价;最后,针对变电站巡检机器人进行实验验证,整体安全评价结果与第三方质量安全检测报告的评价结果情况一致,验证了评价模型及评价方法的准确性。In order to improve the accuracy of electric power robot system safety assessment,overcome the problem that it is impossible to evaluate the safety of electric power robot qualitatively and quantitatively,a safety assessment method based on extension hierarchy analysis process(EAHP for short)is proposed.First,analyze the current state of electric power robot technology and standards,and determine 8 characteristic indicators that affect the evaluation results.Established a safety evaluation system for electric power robot systems and obtained evaluation index sets.Secondly,the weight is determined based on EAHP,and the membership matrix is established.The weight and membership matrix are coupled to calculate the safety evaluation result.Finally,the overall safety evaluation result is consistent with the evaluation result of the third-party quality and safety inspection report,which verifies the accuracy of the evaluation model and evaluation method.

关 键 词：机器人 安全评价 权重 隶属度 可拓层次分析 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]