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针对大面积电力线路网络化检测的需求,结合电力线路巡检飞行机器人的特点,提出基于目标规划的电力线路巡检飞行机器人的智能寻迹方案.在智能寻迹方案的设计中,提出了包括故障率、关键度、气象因素的筛选准则,并利用对这些准则的综合评估进行电力线路的筛选;对于巡检序列的规划问题,利用反复最邻近法进行求解以确定最佳的巡检次序;对电力线路飞行机器人的智能寻迹方案进行了仿真实验,实验结果证明了该方法的可行性和有效性.
In view of the need of networked detection of large area power lines, combined with the characteristics of inspection of flying robots by power lines, an intelligent tracing scheme of power line inspection flying robots based on target planning is proposed.In the design of intelligent tracing schemes, Failure rate, criticality and meteorological factors, and make use of the comprehensive evaluation of these criteria to screen the power lines. For the planning of the inspection sequence, repeated nearest neighbor method is adopted to determine the optimal inspection order. The intelligent tracing scheme of the flying robot in power line is simulated, and the experimental results show the feasibility and effectiveness of the method.