CN109190778A - It is a kind of to concentrate conveyer method towards the Intelligent Mobile Robot for patrolling fibrillar center - Google Patents
It is a kind of to concentrate conveyer method towards the Intelligent Mobile Robot for patrolling fibrillar center Download PDFInfo
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Abstract
The present invention relates to Intelligent Mobile Robots, and transhipment to be concentrated to use technical field, and in particular to a kind of to concentrate conveyer method towards the Intelligent Mobile Robot for patrolling fibrillar center.The present invention it is possible to prevente effectively from crusing robot transport between different substation use when human and material resources and time cost waste, greatly improve the service efficiency of crusing robot；It realizes transhipment of the crusing robot between different substation to use, it is growing with the insufficient conspicuous contradiction of patrol officer to overcome substation, has a wide range of engineering application value；Efficient, economic operational version that the invention proposes the separate unit crusing robots with flexible time window, overcome that crusing robot is expensive, limited amount, and be difficult to meet the conspicuous contradiction with inspection substation quantity, it has been obviously improved the utility value of crusing robot.
Description
Technical field
The present invention relates to Intelligent Mobile Robots, and transhipment to be concentrated to use technical field, and in particular to a kind of towards patrolling in dimension
The Intelligent Mobile Robot of the heart concentrates conveyer method.
Background technique
Substation is the core hinge of power grids at different levels, is the key that guarantee electric power netting safe running to station equipment routine inspection
Means.As the requirement of stability of power system is continuously improved, there are large labor intensities, equipment to be checked point for manual inspection mode
Dissipate, bad weather interference effect the disadvantages of, it is objective insufficient and be not suitable with smart grid development and become that manual inspection also gradually highlights its
The sign of gesture.
For above situation, 2002, " Mobile Robot for Substation Equipment Inspection " project was listed in National 863 plan；2013
Year, Intelligent Mobile Robot starts the inspection application for putting into State Grid Corporation of China comprehensively；2016, Southern Power Grid Company also fitted
When propose implementation " machine patrol+people patrol " and explore the new demand for applying intelligent operation, it is intended to by develop flexibly carry multiple types,
The intelligent robot of high-performance, high-precision sensor realizes round-the-clock, the uninterrupted monitoring to power transmission and transforming equipment, pushes to " dress
Standby intelligent, operation wisdom " transition and upgrade, solves the conspicuous contradiction of structural understaffing, promotes production run quality and equipment
The general level of the health.
In power grid enterprises, administration Shuo Zuo substation of fibrillar center is each patrolled, but service machine people may only have 1 to 3.Such as
The crusing robot for patrolling fibrillar center is only fixed on single seat substation and used, be then difficult to sufficiently by fruit during practical application
The advantage of its sustainable work；In addition current transformer substation crusing robot cost of investment is high, is fixed on a certain substation using then
Its input-output ratio certainly will be reduced.In consideration of it, it is necessary to transport to use inspection between more substations for patrolling fibrillar center's administration
Robot.Although the Intelligent Mobile Robot transporting mode by optimal setting can reduce manpower, physics cost, carry out
The research of transportation mode and optimization algorithm is very limited, causes transhipment working efficiency low.Therefore it is necessary to study towards patrolling in dimension
The Intelligent Mobile Robot of the heart concentrates conveyer method, enables efficiently to transport use between different substation, crack
The conspicuous contradiction of structural understaffing, it is ensured that promote the quality level of production run.
Summary of the invention
When the purpose of the present invention predominantly solves crusing robot quantity less than substation's quantity, it is difficult to make full use of inspection
The problem of robot, concentrates conveyer method towards the Intelligent Mobile Robot for patrolling fibrillar center the present invention provides a kind of, to answer
Being maximized with the time is that target establishes open type flexible with time window and transports path optimization model, calculate transhipment road, when
Between whether match with set rule base, and then avoid time cost waste on the basis of realize efficiently transhipment, for establish
The production command system of substation inspection provides decision-making foundation.To achieve the goals above, the technical solution adopted by the present invention is such as
Under:
It is a kind of towards patrol fibrillar center Intelligent Mobile Robot concentrate conveyer method the following steps are included:
(1) during solving single transhipment taking turn, every substation only scheme primary by the robot inspection:
Wherein, i ∈ C, G=(V, E) refer to robot transport network system in saving；V refers to node collection, including substation site collection C=
{ 1,2 ..., A } and patrol fibrillar center's node collectionTwo subsets；K is the quantity that any one patrols robot of fibrillar center
Collection, wherein
(2) it solves a certain seat substation site and at a time only has a robot inspection, without by inspection simultaneously
Scheme:
Wherein, i ∈ C；
(3) it solves and is only used for inspection, charging in every substation site retention period crusing robot, avoid idle side
Case:
(4) transit vehicle provided by solving, which meets, loads transhipment crusing robot in the scheme of nargin:
∑Kij≤W；
Wherein, k ∈ K；KijRefer to crusing robot quantity involved in scheme, W refers to the crusing robot of transit vehicle
Maximum loading, W={ 1,2,3,4 }；
(5) solve transit vehicle will not a certain substation site of approach, another substation is just directly sailed for without inspection
The scheme of website:
Wherein, k ∈ K；
(6) time-consuming that transit vehicle reaches a certain seat substation site is solved:
Wherein, i ∈ C, k ∈ K, b ∈ D；tikRefer to that crusing robot k reaches the time of substation site i；tijRefer to and patrols
Robot is examined from substation site i to the travel time of node j；t0Refer to every crusing robot in the inspection of substation site
Time；
(7) crusing robot arrival time t ' is solvedikWhether the constraint condition of work of transformer substation time, t ' are metikIt is to patrol
It examines robot k and reaches substation site i whether effective arrival time:
l'i≤t'ik≤u'i；
Wherein, i ∈ C, k ∈ K, [l'i,u'i] refer to the timeliness for considering that substation site i can effectively carry out inspection work
Time window,Referring to influences the maximum tolerance degree that substation site i working time window early arrives；Refer to and violates substation site i
The maximum tolerance degree that time window evening arrives；[li,ui] refer to the working time window of substation site i；
(8) the best sequencing that robot completes whole website transhipment inspections is solved:
Wherein, i, j ∈ V, k ∈ K；
(9) incomplete polling path is filtered:
Wherein,Indicate the node that transhipment scheme is related to；K ∈ K, b ∈ D；
(10) the totle drilling cost minimum programme of transhipment is solved, calculation formula is as follows:
Wherein, r refers to the fixed cost coefficient of passing by one's way that stops of allotment transit vehicle and robot；O refers to transit vehicle oil
Consume cost coefficient；hijRefer to the distance between substation site i to website j；P refers to performance deduction of points function；E refers to side collection, E=
{eij=(i, j) | i, j ∈ V, i ≠ j }, eijIndicate the side between node i and j.
Preferably, describedIt is decision variable, concrete meaning is as follows:
Preferably, describedIt is decision variable, concrete meaning is as follows:
The invention has the benefit that the present invention is it is possible to prevente effectively from crusing robot is transported between different substation makes
The human and material resources and time cost of used time waste, and greatly improve the service efficiency of crusing robot；Realize crusing robot
Transhipment between different substation uses, and it is growing with the insufficient conspicuous contradiction of patrol officer to overcome substation, has
A wide range of engineering application value；Efficient, economic operational version that the invention proposes the separate unit crusing robots with flexible time window,
Expensive crusing robot, limited amount and the large number of conspicuous contradiction of substation to be inspected are overcome, is obviously improved
The utility value of crusing robot.
Detailed description of the invention
Fig. 1 is flow chart of the invention.
Specific embodiment
In order to better understand the present invention, the present invention will be further explained below with reference to the attached drawings and specific examples:
The Intelligent Mobile Robot for patrolling the distribution of fibrillar center's wide area towards power supply bureau concentrates transport process problem that can describe
Are as follows: crusing robot k successively goes to each seat substation inspection equipment from fibrillar center is patrolled, and returns and patrol fibrillar center.In this process
In, every substation site i is only primary by inspection.
Assuming that the inspection working time window of substation site i is [li,ui], therefore must meter and the time window to it is early to or evening have
Timeliness, the timeliness time window of effective time range are [l'i,u'i], vehicle k is reached beyond this restriction section will be by set
The deduction of points of performance coefficient must be until earliest that is, if crusing robot k reaches substation site i earlier than timeliness time window
Start service time l'iIt could inspection；If crusing robot k, which is later than timeliness time window, reaches substation site i, necessary
Starting service time u' the latestiReaching before could inspection.
It completes once to patrol the administrative each substation site of fibrillar center in view of the above-mentioned problems, the present invention will solve crusing robot
Preferred plan reaches the smallest target of inspection process Expenses Cost.The cost refer to traveling road apart from brought manpower,
Material resources and time cost.
In conjunction with Fig. 1, specific implementation process of the present invention is as follows:
(1) quantity of inspection substation needed for combing, for transporting the crusing robot quantity used, for the people of allotment
The resources such as member, vehicle, fund.
(2) during solving single transhipment taking turn, every substation only scheme primary by the robot inspection:
Wherein, i ∈ C, G=(V, E) refer to robot transport network system in saving；V refers to node collection, including substation site collection C=
{ 1,2 ..., A } and patrol fibrillar center's node collectionTwo subsets；K is the quantity that any one patrols robot of fibrillar center
Collection, wherein
(3) it solves a certain seat substation site and at a time only has a robot inspection, without by inspection simultaneously
Scheme:
Wherein, i ∈ C；
(4) it solves and is only used for inspection, charging in every substation site retention period crusing robot, avoid idle side
Case:
(5) transit vehicle provided by solving, which meets, loads transhipment crusing robot in the scheme of nargin:
∑Kij≤W；
Wherein, k ∈ K；KijRefer to crusing robot quantity involved in scheme, W refers to the crusing robot of transit vehicle
Maximum loading, W={ 1,2,3,4 }；
(6) solve transit vehicle will not a certain substation site of approach, but another power transformation is just directly sailed in not inspection
The scheme of website:
Wherein, k ∈ K；
(7) time-consuming that transit vehicle reaches a certain seat substation site is solved:
Wherein, i ∈ C, k ∈ K, b ∈ D；tikRefer to that crusing robot k reaches the time of substation site i；tijRefer to and patrols
Robot is examined from substation site i to the travel time of node j；t0Refer to every crusing robot in the inspection of substation site
Time；
(8) crusing robot arrival time t' is solvedikWhether the constraint condition of work of transformer substation time, t' are metikIt is to patrol
It examines robot k and reaches substation site i whether effective arrival time:
l'i≤t'ik≤u'i；
Wherein, i ∈ C, k ∈ K, [l'i,u'i] refer to the timeliness for considering that substation site i can effectively carry out inspection work
Time window,Referring to influences the maximum tolerance degree that substation site i working time window early arrives；Refer to and violates substation site i
The maximum tolerance degree that time window evening arrives；[li,ui] refer to the working time window of substation site i；
(9) the best sequencing that robot completes whole website transhipment inspections is solved:
Wherein, i, j ∈ V, k ∈ K；
(10) incomplete polling path is filtered:
Wherein,Indicate the node that transhipment scheme is related to；K ∈ K, b ∈ D；
(11) the totle drilling cost minimum programme of transhipment is solved, calculation formula is as follows:
Wherein, r refers to the fixed cost coefficient of passing by one's way that stops of allotment transit vehicle and robot；O refers to transit vehicle oil
Consume cost coefficient；hijRefer to the distance between substation site i to website j；P refers to performance deduction of points function；E refers to side collection, E=
{eij=(i, j) | i, j ∈ V, i ≠ j }, eijIndicate the side between node i and j.
Wherein,It is decision variable, concrete meaning is as follows:
It is decision variable, concrete meaning is as follows:
The present invention is not limited to above-described specific embodiment, and the foregoing is merely preferable case study on implementation of the invention
, it is not intended to limit the invention, any modification done within the spirit and principles of the present invention and changes equivalent replacement
Into etc., it should all be included in the protection scope of the present invention.
Claims (3)
1. a kind of concentrate conveyer method towards the Intelligent Mobile Robot for patrolling fibrillar center, it is characterised in that: the following steps are included:
(1) during solving single transhipment taking turn, every substation only scheme primary by the robot inspection:
Wherein, i ∈ C, G=(V, E) refer to robot transport network system in saving；V refers to node collection, including substation site collection C=1,
2 ..., A } and patrol two subsets of fibrillar center node collection D={ 1,2 ..., B }；K is the quantity that any one patrols robot of fibrillar center
Collect, wherein K={ 1,2 ..., H }；
(2) it solves a certain seat substation site and at a time only has a robot inspection, without by the scheme of inspection simultaneously:
Wherein, i ∈ C；
(3) it solves and is only used for inspection, charging in every substation site retention period crusing robot, avoid idle scheme:
(4) transit vehicle provided by solving, which meets, loads transhipment crusing robot in the scheme of nargin:
∑Kij≤W；
Wherein, k ∈ K；KijRefer to crusing robot quantity involved in scheme, W refers to that the crusing robot of transit vehicle is maximum
Useful load, W={ 1,2,3,4 }；
(5) solve transit vehicle will not a certain substation site of approach, another substation site is just directly sailed for without inspection
Scheme:
Wherein, k ∈ K；
(6) time-consuming that transit vehicle reaches a certain seat substation site is solved:
Wherein, i ∈ C, k ∈ K, b ∈ D；tikRefer to that crusing robot k reaches the time of substation site i；tijRefer to inspection machine
People is from substation site i to the travel time of node j；t0Refer to every crusing robot in the monitoring time of substation site；
(7) crusing robot arrival time t ' is solvedikWhether the constraint condition of work of transformer substation time, t ' are metikIt is survey monitor
Device people k reaches substation site i whether effective arrival time:
l′i≤t′ik≤u′i；
Wherein, i ∈ C, k ∈ K, [l 'i,u′i] refer to the timeliness time for considering that substation site i can effectively carry out inspection work
Window,Referring to influences the maximum tolerance degree that substation site i working time window early arrives；Refer to and violates the substation site i time
The maximum tolerance degree that window evening arrives；[li,ui] refer to the working time window of substation site i；
(8) the best sequencing that robot completes whole website transhipment inspections is solved:
Wherein, i, j ∈ V, k ∈ K；
(9) incomplete polling path is filtered:
Wherein,Indicate the node that transhipment scheme is related to；K ∈ K, b ∈ D；
(10) the totle drilling cost minimum programme of transhipment is solved, calculation formula is as follows:
Wherein, r refers to the fixed cost coefficient of passing by one's way that stops of allotment transit vehicle and robot；O refers to transit vehicle oil consumption expense
Use coefficient；hijRefer to the distance between substation site i to website j；P refers to performance deduction of points function；E refers to side collection, E={ eij
=(i, j) | i, j ∈ V, i ≠ j }, eijIndicate the side between node i and j.
2. it is according to claim 1 a kind of towards the Intelligent Mobile Robot concentration conveyer method for patrolling fibrillar center, it is special
Sign is: describedIt is decision variable, concrete meaning is as follows:
3. it is according to claim 1 a kind of towards the Intelligent Mobile Robot concentration conveyer method for patrolling fibrillar center, it is special
Sign is: describedIt is decision variable, concrete meaning is as follows:
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113452746A (en) * | 2021-05-11 | 2021-09-28 | 华翔翔能科技股份有限公司 | Pump station operation and maintenance patrol management method and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113452746A (en) * | 2021-05-11 | 2021-09-28 | 华翔翔能科技股份有限公司 | Pump station operation and maintenance patrol management method and system |
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