Computer Engineering and Applications ›› 2021, Vol. 57 ›› Issue (14): 245-250.

### Research on Algorithm of Inspection Path Planning for Substation Robot

WANG Xiuli, ZHOU Peng, HOU Jingnan, WANG Shijun, LIN Xia

1. 1.Department of Electric Engineering, Shanxi University, Taiyuan 030013, China
2.Economics and Technology Research Institute of Gansu Electric Power Company, Lanzhou 730050, China
3.State Grid Shanxi Electric Power Company, Taiyuan 030021, China
• Online:2021-07-15 Published:2021-07-14

### 面向变电站机器人巡检路径规划中的算法研究

1. 1.山西大学 电力工程系，太原 030013
2.国网甘肃省电力公司 经济技术研究院，兰州 730050
3.国网山西省电力公司，太原 030021

Abstract:

In view of the inspection path problem of the inspection robot which is widely used in the substation at present, this paper discusses the inspection path problem, and according to the Hamilton loop method in the discrete mathematics theory and the routine path planning algorithm, this paper studies a kind of robot inspection path problem when the inspection paths of substations are rectangular. According to the different inspection methods, the following suggestions are put forward：global inspection mode, using the new Hamilton algorithm, when the starting point is set, any other point being inspected can be found out the Hamiltonian loop of the inspection path; the inspection mode of key equipment, using the method of Dijkstra algorithm combing with genetic algorithm; fixed-point inspection mode, using Dijkstra algorithm. The simulation results of three inspection methods are given respectively for sufficient power, low power return and continuing inspection after charging, and they are tested in a substation. The results show that the three algorithms are effective and feasible, and the new Hamilton loop algorithm is relatively shorter than the conventional algorithm, and the algorithm is relatively faster.