面向变电站机器人巡检路径规划中的算法研究  

Research on Algorithm of Inspection Path Planning for Substation Robot

作　　者：王秀丽 周鹏 侯静楠 王仕俊 林霞[3] WANG Xiuli;ZHOU Peng;HOU Jingnan;WANG Shijun;LIN Xia(Department of Electric Engineering,Shanxi University,Taiyuan 030013,China;Economics and Technology Research Institute of Gansu Electric Power Company,Lanzhou 730050,China;State Grid Shanxi Electric Power Company,Taiyuan 030021,China)

机构地区：[1]山西大学电力工程系,太原030013 [2]国网甘肃省电力公司经济技术研究院,兰州730050 [3]国网山西省电力公司,太原030021

出　　处：《计算机工程与应用》2021年第14期245-250,共6页Computer Engineering and Applications

基　　金：国家自然科学基金(11802166);甘肃省青年科技基金计划(17JR5RA346);国网甘肃省电力公司科技项目(SGGSJYOOPSJS1800)。

摘　　要：针对目前在变电站中应用广泛的巡检机器人,探讨了其巡检路径的问题,依据离散数学理论中的哈密顿回路方法和路径的常规规划算法,研究了一种变电站的巡检路径为矩形分布时的机器人巡检路径问题。针对不同巡检方式,分别提出:全局巡检方式,采用新提出的哈密顿算法,当巡视起点被设定后,其他被巡视的任何点均可被归类,从而找出其巡检路径的哈密顿回路;重点设备巡检方式,采用Dijkstra算法和遗传算法相结合的方法;固定点巡检方式,采用Dijkstra算法。其中,三种巡检方式分别针对电量充足、低电量返回及充电完毕继续巡视等方面给出仿真结果,并将其在某变电站进行了试用。研究结果表明,三种巡检方式下的算法均有效可行,新提出的哈密顿回路算法巡视的路径比常规方法相对要短,算法的运算速度相对更快。In view of the inspection path problem of the inspection robot which is widely used in the substation at present,this paper discusses the inspection path problem, and according to the Hamilton loop method in the discrete mathematics theory and the routine path planning algorithm, this paper studies a kind of robot inspection path problem when the inspection paths of substations are rectangular. According to the different inspection methods, the following suggestions are put forward:global inspection mode, using the new Hamilton algorithm, when the starting point is set, any other point being inspected can be found out the Hamiltonian loop of the inspection path;the inspection mode of key equipment, using the method of Dijkstra algorithm combing with genetic algorithm;fixed-point inspection mode, using Dijkstra algorithm. The simulation results of three inspection methods are given respectively for sufficient power, low power return and continuing inspection after charging, and they are tested in a substation. The results show that the three algorithms are effective and feasible,and the new Hamilton loop algorithm is relatively shorter than the conventional algorithm, and the algorithm is relatively faster.

关 键 词：巡检路径 新哈密顿回路算法 DIJKSTRA算法 遗传算法 组合算法 

分 类 号：TM71[电气工程—电力系统及自动化]