电力巡检机器人路径规划技术及应用综述

电力巡检是保障电力设备安全与稳定的关键.传统的巡检方式以人工为主,其高风险、低效率、易漏检的缺点难以满足电力巡检要求,将机器人应用于电力巡检具有安全高效、自主分析、智能决策的优势.路径规划技术通过求解巡检路线以实现遍历巡检与自主避障,是电力巡检机器人的关键技术之一.对此,首先分析不同电力场景的巡检内容与要求;然后,综述电力单体巡检机器人路径规划技术与协同巡检机器人路径规划技术,并总结电力巡检机器人路径规划技术在发电站、变电站以及输电线路场景下的应用效果;最后,对电力巡检机器人路径规划关键技术进行展望,即未来电力巡检机器人路径规划技术将向着多源异构信息融合、深度强化学习以及云边端协同路径规划方向发展.

Review of research and applications on path planning technology for power inspection robots

Power inspection is the key to ensuring the safety and stability of power equipment.The traditional inspection method is mainly manual, which has the disadvantages of high risk, low efficiency and easy to miss inspection, but it is difficult to meet the requirements of power inspection.Path planning technology is one of the key technologies for power inspection robots by solving inspection routes to achieve traversal inspection and autonomous obstacle avoidance.We firstly analyzes the inspection contents and requirements of different power scenarios, then reviews the path planning technology of power single inspection robots and collaborative inspection robots, and summarizes the application effects of the path planning technology of power inspection robots in power stations, substations and transmission line scenarios.Finally, an outlook is provided on the key technologies for the path planning of power inspection robots, which will be developed in the direction of multi-source heterogeneous information fusion, deep reinforcement learning and cloud-edge-end collaborative path planning.