Research On Path Planning Of Inspection Robot In 220kV Substation

In recent years,our industrial economy is growing steadily,and the demand for social electricity is increasing year by year.Therefore,power grid company expands the construction of 220 kV substation.With the development of artificial intelligence and the acceleration of the intelligent process of power grid,robot intelligent inspection has gradually replaced manual inspection and become the first choice of substation electrical inspection.Therefore,the power grid company has purchased a large number of mobile robots and put them into the equipment inspection of 220 kV substation.In order to improve the inspection efficiency of robots in the complex substation environment,this paper studies the global path planning of robots in the 220 kV substation environment.The main contents are as follows:First of all,the characteristics of the 220 kV substation environment and the distribution of equipment areas in the station are introduced,and then the equipment failures that may be encountered in the process of intelligent inspection and the fault detection methods are introduced.Then the principles of magnetic navigation and laser navigation are analyzed,and the laser navigation technology with better flexibility is selected to realize the positioning of the inspection robot.Finally,the principles of viewable method,topology method and raster diagram method are introduced.After comparing the advantages and disadvantages of each method,the more suitable raster diagram method is selected to build the two-dimensional model of substation environment.Then,the principles,advantages and disadvantages of Dijkstra algorithm,A*algorithm and ant colony algorithm are introduced respectively.Through the simulation comparison between A* algorithm and Dijkstra algorithm,A* algorithm with better path effect is finally selected for multi-strategy improvement to adapt to the inspection requirements of robots in substation environment.And determine the ant colony algorithm and improved A* algorithm combined planning ideas.Aiming at the problem that there are A large number of useless nodes in the path generated by the original A*algorithm in the substation environment,the improved estimation function strategy is combined with the 32 neighborhood expansion strategy to reduce the number of redundant points.Then,the safety obstacle avoidance strategy is used to solve the problem of poor safety of the generated path,the path optimization strategy is used to further reduce the useless inflection points in the path,the path smoothing strategy is used to curve the path,so that the generated path has three advantages: less inflection points,short path length and good safety.The feasibility of the hybrid improvement strategy is verified by simulation comparison.Finally,according to the special inspection requirements and daily inspection requirements of 220 kV substation equipment,the global static path planning schemes of single-task point inspection and multi-task point inspection are proposed respectively.For single-task point inspection,the improved A* algorithm and bidirectional improved A*algorithm are combined to solve the problem that a single target point in the special obstacle area is not easy to search.According to the principle of solving the Traveling Saleman Problem(TSP)by using ant colony algorithm,multiple device points were arranged in the optimal sequence number,and then the improved A* algorithm was used to plan the path among device points according to the sequence number.The feasibility of the two schemes is verified by simulation.Figure [57] table [11] reference [81]...