Global Path Design And Implementation For Substation Intelligent Inspection Robot

With the improvement of intelligence, new voltage level and new technologies are being applied to the high pressure and ultra-high voltage power transmission system gradually. And then substation with no or few people on duty tends to large-scale, modernization, complication. In terms of efficiency, safety, reliability, traditional inspection methods of substation equipment face enormous challenges. However, intelligent inspection robot not only can improve the intelligence level of the power system, but also can effectively solve the new problems of the traditional methods. Global path planning is the precondition to complete the inspection task for the robot, so it’s significant to research global path planning.The target of global path planning of intelligent substation inspection robot is to find the optimal path that can complete all tasks. Firstly, this paper introduces the background and significance of the subject, the research status and development trend at home and abroad, and the main content and objectives as well as chapters’ arrangements.Secondly, summarize basic ideas of map-modeling methods and path planning algorithm for global path planning. The main map-modeling introduced are visual graph, topology, free space approach, and grid. The main path planning algorithm introduced are Dijkstra algorithm, A* algorithm, genetic algorithm and simulated annealing algorithm. The paper summarizes their principles in path planning, and analyzes their strengths and weaknesses on different occasions.Thirdly, according to the requirements of intelligent substation inspection robot systems’ mission, magnetic track navigation and radio frequency identification technology are chosen. Static semi-structured road model is selected as substation’s map model according to the navigation way, the substation environment, road characteristics and the moving characteristics of intelligent inspection robot.Fourthly, global optimal path planning of intelligent substation inspection robot need to solve two problems. One is to gain the shortest path between any two stop points. The other is to gain an optimal combination of all of the stop points that robot must pass by. The paper propose using Dijkstra algorithm and simulated annealing algorithm to solve theirs two problems. Considering the weakness of traditional Dijkstra algorithm on in large-scale environment, that is too large storage, low search efficiency, too much space redundancy, the paper developes the algorithm by limiting the search area and filtering redundant points. In order to limiting the search area, two-Cartesian coordinate system is established. The search area is determined by the start-point and the target-point’s location in the two-Cartesian coordinate system. The search range is reduced greatly, and search efficiency is improved. The second problem is a typical NP problem. The paper uses simulated annealing algorithm to optimize the combination. In order to avoid a suboptimal solution, all better solutions are memorized, and after finishing search, the optimal solution is selected from all better solutions.Finally, Microsoft Visual Studio 2010 combined with SQL Server database is selected as the experimental platform for the realization of the substations dimensional electronic map system, which can create static semi-structured road model, plan global path and locate and track the position of the robot。The system has been applied to the actual project, and the results show that the method in this paper is efficient and practical.