隧道清洗机器人智能调度方法

Intelligent Scheduling Method of Tunnel Cleaning Robot

针对目前隧道清洗机器人作业调度中采用定时的僵化作业模式,造成电力、消防资源浪费,并干扰驾驶人行车安全问题,提出一种隧道清洗机器人智能调度方法。该方法首先依据隧道车流量、温度、湿度等影响因素,形成了对基础设施运营性能时变模型的描述。在此基础上,考虑基础设施运营性能、机器人作业成本、对隧道交通流的影响等,构建了隧道清洗机器人调度的级联优化模型,分别对机器人调度周期及作业时间进行优化,以实现机器人的高效运营。将该方法与常用的基于人工经验的定周期调度方法进行实验对比,结果显示在相同的作业成本下,该方法的基础设施运营性能较定周期调度方法提高了6%。

At present, the fixed time operation mode is adopted during the job scheduling of tunnel cleaning robot. This would waste the power and the fire resources and affect the driving safety. Aiming at this problem, an intelligent scheduling method of tunnel cleaning robot is presented. Firstly, the time varying operation character of tunnel infrastructure is described according to the influence factors, such as traffic flow, temperature, humidity and so on. Then, considering the operation performance of infrastructure, the operation cost of robot, the impact on tunnel traffic flow and so on, the cascading optimization scheduling model of tunnel cleaning robot is constructed. The scheduling cycle and operation time of cleaning robot are optimized respectively to realize the efficient operation of robot. In the experiment, the proposed method is compared with the commonly used fixed time scheduling method. The results show that at the same operation cost, the infrastructure operation performance increases 6% by using the proposed method compared to the fixed time scheduling method.