广东电力2017，Vol.30Issue(2)：143-149,7.DOI:10.3969/j.issn.1007-290X.2017.02.024
变电站智能机器人巡检任务规划
Inspection Mission Planning for Substation Intelligent Robot
摘要
Abstract
On the basis of analyzing and studying requirements for inspection on primary devices in the substation,this paper presents a kind of method suitable for inspection mission planning for substation intelligent robot which can ensure full automatic inspection on equipment by robot.According to types and numbers of devices in the substation,this method sets inspection mission points firstly and according to different inspection lines,it can finally realize automatic inspection by substation intelligent robot.In order to verify rationality of inspection mission planning for the robot,field testing on robot inspection in one 220 kV substation in Qingyuan district was taken.Results indicate that mission planning can meet requirements for automatic inspection by substation intelligent robot.关键词
变电站巡检/智能机器人/任务规划/路线规划Key words
substation inspection/intelligent robot/mission planning/path planning分类
信息技术与安全科学引用本文复制引用
钱金菊,王柯,王锐,彭向阳..变电站智能机器人巡检任务规划[J].广东电力,2017,30(2):143-149,7.基金项目
中国南方电网有限责任公司科研项目(GDKJ00000026) （GDKJ00000026）
