特高压换流站消防机器人灭火任务自动快速分配方法  

Automatic and rapid assignment method of fire extinguishing task of fire extinguishing robot in UHV converter station

作　　者：张佳庆 陈涛 刘睿 洪清泉 沈旭钊 ZHANG Jiaqing;CHEN Tao;LIU Rui;HONG Qingquan;SHEN Xuzhao(State Grid Anhui Electric Power Electric Power Science Research Institute Co.,Ltd.,Hefei 230601,China;Emergency Management Department Tianjin Fire Research Institute,Tianjin 300100,China;Guoanda Co.,Ltd.,Xiamen 361022,fujian China)

机构地区：[1]国网安徽省电力有限公司电力科学研究院,安徽合肥230601 [2]应急管理部天津消防研究所,天津300100 [3]国安达股份有限公司,福建厦门361022

出　　处：《粘接》2024年第10期79-82,共4页Adhesion

基　　金：国家电网有限公司科学技术项目(项目编号:5500-202120595A-0-5-YS)。

摘　　要：为了提升灭火效率,对特高压换流站消防机器人灭火任务分配方法深入研究。通过测温型三光图像结合红外热成像图像的处理技术实现火源识别,确定消防机器人灭火任务的灭火区域,以灭火时间最短为目标,构建消防机器人灭火任务分配目标函数,通过蚁群算法对灭火任务分配目标函数进行求解,根据信息素多少选择灭火任务,采用全局调整规则、整体信息更新剩余任务,直到完成所有灭火任务分配为止,实现特高压换流站消防机器人灭火任务分配。实验结果表明,所提方法灭火任务完成度高,且执行任务时间最短。In order to improve the efficiency of fire extinguishing,the fire extinguishing task allocation method of the fire fighting robot in UHV converter station was deeply studied.The fire source identification of the fire robot is achieved through temperature measurement type three light map exploration,combined with infrared thermal imag⁃ing image processing technology to identify the fire source,the fire extinguishing area of the fire extinguishing task of the fire extinguishing robot is determined,the objective function of the fire extinguishing task assignment of the fire extinguishing robot is constructed with the shortest fire extinguishing time as the goal,the fire extinguishing task assignment objective function is solved by the ant colony algorithm,the fire extinguishing task is selected ac⁃cording to the number of pheromones,and the remaining tasks are updated by global adjustment rules and overall in⁃formation until all fire extinguishing task assignments are completed,so as to realize the fire extinguishing task assignment of the fire extinguishing robot of the UHV converter station.The experimental results showed that the pro⁃posed method has a high completion rate of firefighting tasks and the shortest execution time.

关 键 词：特高压换流站 消防机器人 灭火任务分配 灭火时间 蚁群算法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TQ569[自动化与计算机技术—控制科学与工程]