面向变电站多机器人智能协同巡检系统的研究分析

Research and Analysis on Multi-Robot Intelligent Collaborative Inspection System for Substation

变电站巡检机器人长期面临高温、高电压、强风雷电等外部环境,严重影响巡检机器人的工作质量。为提高变电站巡检机器人系统的稳定性、可靠性及精度,对多机器人智能巡检系统的构建及关键技术进行分析,基于ROS系统的多机器人创新开发平台对巡检机器人模型构建、巡检路径动态规划、避障控制算法、环境建模、人-机-环境交互感知等进行实验分析,形成一套面向变电站多机器人智能协同巡检系统的研究方法,为变电站巡检机器人后续的研究提供一定的参考。

The substation inspection robot faces long-term external environment such as high temperature,high voltage,strong wind and lightning,which seriously affects the working quality of the inspection robot. In order to improve the stability,reliability and accuracy of the substation inspection robot system,the construction and key technologies of the multi-robot intelligent inspection system are analyzed in this paper. Multi-robot innovation development platform based on ROS system for experimental analysis of patrol robot model construction,patrol path dynamic planning,obstacle avoidance control algorithm,environment modeling,human-machine-environment interaction perception, a research method for multi-robot intelligent collaborative inspection system for substation is formed, which provides a reference for the subsequent research of substation inspection robot.