基于冗余任务的轮式机器人巡检方法

针对配电室电力设备智能化巡检工作中,存在巡检方式单一等问题,基于轮式巡检机器人结构及系统、路径优化和通信等关键技术,研究了一种基于冗余任务的轮式机器人巡检方法.针对目前配电室巡检环境和轮式巡检机器人结构及系统特性,建立配电室巡检过程模型.分析顺序巡检方法的速度、位姿和节点关系,建立机器人巡检过程的路程-时间模型和奖惩模型,根据能耗约束得到目标函数.最后,通过设计方法实验流程图,依次分析顺序巡检、任务巡检和冗余任务巡检的效益值.实验结果表明,冗余任务巡检方式在保证单位时间和单位行程能耗比率不变的前提下,降低了控制系统能耗,有效提高了人机交互的巡检效益,且更好地兼容远程监测人员经验与机器人巡检优势,为智能化巡检技术的研究和推广提供了思路和方法.

A Patrol Inspection Method of Wheeled Robot Based on Redundant Task

To solve the problem of single inspection mode in the intelligent inspection of power equipment in the distribution room,based on the key technologies such as the structure,system,path optimization,and communication of the wheeled inspection robot,a kind of wheeled inspection method based on redundant tasks was studied.According to the current inspection environment of the distribution room and the structure and system characteristics of the wheeled inspection robot,the inspection process model of the distribution room was established.The speed,posture,and node relationship of the sequential inspection method are analyzed,the range-time model and the reward-punishment model of the robot inspection process are established,and the objective function is obtained according to the energy consumption constraint.Finally,through the experimental flow chart of the design method,the benefit value of sequential inspection,task inspection,and redundant task inspection is analyzed successively.The experimental results show that the redundant task checking way in unit time and under the premise of energy consumption per unit stroke rate is constant,the energy consumption of control system,effectively improve the inspection efficiency,humancomputer interaction and better compatibility with remote monitoring personnel experience and inspection robot advantages provides the intelligent inspection technology research and promotion ideas and methods.