Navigation positioning method for tour inspection robot of transformer substation

A patrol robot, navigation and positioning technology, applied in two-dimensional position/channel control and other directions, can solve the problems of high cost, heavy ground processing workload, poor path flexibility, etc., and achieve low cost, simple construction, and high precision Effect

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A patrol robot, navigation and positioning technology, applied in two-dimensional position/channel control and other directions, can solve the problems of high cost, heavy ground processing workload, poor path flexibility, etc., and achieve low cost, simple construction, and high precision Effect

CN104571103AActive Publication Date: 2015-04-29STATE GRID CORP OF CHINA +3

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Embodiment approach 1

[0024] Implementation mode one: from figure 1 It can be seen that there are four groups of devices to be inspected in this embodiment, and the inspection trajectory of the robot is determined to be a rectangle according to their positions, as shown by the dotted line in the figure. Next, you need to install the tracking navigation light and the positioning navigation light. First, determine the installation location, and extend each side of the rectangular inspection track. The extension length can be set to d. The value of d ensures that when the robot reaches the end of the inspection track, it The imaging of the lamp in the infrared thermal imager preferably takes up 2 / 3 of the image. This position is the installation position of the tracking and navigation light 1. In this embodiment, eight tracking and navigation lights are installed. The position corresponding to each equipment to be inspected on the inspection track is a fixed point. In this embodiment, there are four f...

Embodiment approach 2

[0048] Embodiment 2: When there is a curved track in the path, the installation method of the tracking navigation light 1 and the positioning navigation light 2 is as follows: Figure 4 , the two straight trajectories transition through a curved trajectory. According to the starting point 4 and the moving direction of the robot marked in the figure, a tracking navigation light 1 is installed at a distance d on the extension line of the rear end of each straight trajectory. The distance d ensures that the tracking The track navigation light 1 is not on the moving track of the robot, and the imaging area of the infrared thermal imaging camera occupies more than 2 / 3 of the imaging area as much as possible. After determining the fixed-point position and quantity according to the equipment to be inspected, locate the distance d beside the straight track of the navigation light installation 0 place, such as Figure 4 As shown in , save the distance D between each fixed point and ...

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Abstract

The invention discloses a navigation positioning method for a tour inspection robot of a transformer substation. The imaging positions of tracking navigation lamps in an infrared thermal imager are detected, so that the moving direction of a trolley is determined, and the aim of tracking is fulfilled; in order to position the robot in a moving process, a cradle head is horizontally rotated until an image of a positioning navigation lamp in the infrared thermal imager is in the center, the distance to the next fixed point is calculated according to the horizontal rotating angle of the cradle head and the moving distance of the trolley is calculated according to the sizes of images of the tracking navigation lamps in the infrared thermal imager, so that the aim of positioning is fulfilled.

Description

technical field [0001] The invention mainly relates to a navigation and positioning method for a substation inspection robot. Background technique [0002] In the past, the power industry generally used manual inspection for the maintenance of outdoor equipment in substations. Under severe weather conditions such as high voltage, ultra-high voltage, rain, snow, fog, etc., it not only endangers the safety of inspection personnel, but also brings certain hidden dangers to the safe operation of the power grid. Opportunity for pre-overhaul. With the advancement of science and technology, the automation of substation inspections has been greatly improved. Robot inspections through infrared thermal imaging cameras have been widely used. The problem is that the navigation method used by robots will directly affect the inspection results. At present, The navigation methods adopted by substation inspection robots include magnetic trajectory navigation, inertial navigation, GPS navi...

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Application Information

Patent Timeline

29 Apr 2015

Publication

CN104571103A

IPC: G05D1/02

Inventors: 樊绍胜; 贺铁光