基于人工智能的变电所巡检机器人协同避障算法

Collaborative Obstacle Avoidance Algorithm for Substation Patrol Inspection Robots Based on Artificial Intelligence

针对变电所巡检机器人系统在协同运作过程中不能获取障碍物轮廓特征及有效距离导致避障效果不佳的问题,提出基于人工智能的变电所巡检机器人系统协同运作避障方法。通过对巡检机器人运动形式进行分析,构建机器人运动数学模型;通过传感器与电力载波采集巡检机器人运作环境信息,并通过图像处理获取障碍物轮廓特征与有效距离;基于人工智能算法对机器人避障进行控制,结合交通规则和预约表实现机器人协同运作避障。结果表明:应用该方法的变电所巡检机器人系统协同运作避障精度较高,在实际应用中发挥了良好的避障性能,提升了变电所巡检智能化水平及牵引供电系统的安全性。

With regard to the problem of poor performance of avoidance of obstacles caused by the inability to obtain obstacle contour features and effective distance during the collaborative operation of the substation patrol inspection robot system,an artificial intelligence-based obstacle avoidance method is proposed for collaborative operation and obstacle avoidance of patrol inspection robot system of the substation.Through analyzing the motion forms of patrol inspection robots,a mathematical model of robot motion is constructed.The environmental information is operated via sensor and electric power carrier,and the obstacle contour and effective distance are obtained via image processing.The obstacle avoidance of robot is controlled on the basis of artificial intelligence algorithm,the collaborative operation of obstacle avoidance for the robot is realized with combination of traffic rules and reservation tables.The results show that the accuracy of collaborative operation of obstacle avoidance of patrol inspection robot system for the substation by application of the method is higher,and it has been playing a good role in obstacle avoidance performance in practical application,improving the intelligent level of substation patrol inspection and the safety of the traction power supply system.