Navigation positioning method for tour inspection robot of transformer substation

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...

AI Technical Summary

Problems solved by technology

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. Opportunities for advance inspection

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 navigation and visual navigation. In actual use, magnetic trajectory navigation has been found to have a simple and reliable guiding principle, high navigation positioning accuracy and good repeatability, and is resistant to Strong interference ability and other advantages, but the magnetic trajectory of this navigation method needs to be laid manually, the ground processing workload is large, and the path flexibility is poor. At the same time, the magnetic trajectory navigation method cannot provide real-time feedback on the current precise position of the robot in the substation, which is not conducive to operation; inertia Navigation needs to install a wireless signal transceiver device in the working environment, and the stability is relatively poor; the current accuracy of GPS navigation is low, and its error is within 2-5 meters, which cannot meet the safety requirements of substations; The quantity is relatively abundant, and it has attracted more and more attention in recent years. However, when robots conduct inspections outdoors, they are inevitably affected by changes in light intensity and ground conditions, which have a great impact on the accuracy of robot visual navigation. Visual navigation requires the installation of stereo cameras in the robot's environment, which is expensive

Therefore, the implementation of current navigation methods is relatively complicated, the cost is relatively high, and the stability and accuracy are not very ideal.

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