Transformer substation inspection robot track calculation method and device based on inter-wheel differential

An inspection robot and dead track reckoning technology, which is applied in the direction of navigation through speed/acceleration measurement, can solve the problems of complex hardware circuit and high data synchronization requirements, and achieve the effect of simple parameter debugging, easy algorithm implementation and cost reduction.

Active Publication Date: 2015-08-19
STATE GRID INTELLIGENCE TECH CO LTD
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Problems solved by technology

Although this method has high local positioning accuracy and accurate and reliable position information perception, the hardware circuit of this method is complex, the gyroscope is greatly affected by disturbances such as bumps, and the requirements for data synchronization are high.

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  • Transformer substation inspection robot track calculation method and device based on inter-wheel differential
  • Transformer substation inspection robot track calculation method and device based on inter-wheel differential
  • Transformer substation inspection robot track calculation method and device based on inter-wheel differential

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Embodiment Construction

[0040] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0041] Such as figure 1As shown, the dead reckoning transposition of the substation inspection robot based on the differential speed between wheels includes a circuit board 1 of the dead reckoning device, on which there is a signal interface 2 of the speed sensor of the left wheel of the robot, and a signal interface of the speed sensor of the right wheel of the robot 3. The output signals of the speed sensor signal interfaces 2 and 3 are connected to the signal conditioning circuit 4, the signal conditioning circuit 4 is connected to the controller 5, and the dead reckoning device is connected to the industrial computer or other control systems through the communication interface 6.

[0042] The signal interface 2 of the robot left wheel speed sensor can have multiple signal accesses for multi-wheel speed sensors on the same side;

[0043] The signal ...

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Abstract

The invention discloses a transformer substation inspection robot track calculation method and device based on inter-wheel differential. A feedback link is added in the track calculation method, track data treated by virtue of Kalman filtering is fed back to a track calculation equation, the self-correction of the equation is realized, and the influence of interference on the track calculation can be effectively alleviated. The track calculation precision is relatively high in a local part, the circuit is simple, the parameter is simple to debug, and the algorithm is easy to realize. The transformer substation inspection robot track calculation method is combined with a magnetic track navigation technology, a magnetic track can be buried in a segmenting manner, the in-situ construction can be effectively reduced, and the cost is reduced; the transformer substation inspection robot track calculation method also can be combined with a GPS global navigation system, in a failure area of the GPS, the track information with high local precision can be outputted, and the weaknesses of the GPS global navigation system can be effectively compensated.

Description

technical field [0001] The invention belongs to the technical field of mobile robot positioning and navigation, and in particular relates to a method and device for dead reckoning of a substation inspection robot based on differential speed between wheels. Background technique [0002] With the in-depth application of substation inspection robots in recent years, complex substation inspection tasks have put forward higher requirements for the reliable and accurate operation of inspection robots in substations. The basis for accurate docking at checkpoints. At present, the technologies used for the position and heading angle information perception of substation inspection robots mainly include the following: [0003] 1. The way of magnetic track course guidance and RFID tag auxiliary positioning. This method combines the magnetic track pre-buried on the ground surface with the magnetic sensor array carried on the robot body to provide real-time heading guidance during travel...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/12
CPCG01C21/12
Inventor 刘加科田晓璐孔令文秦振华付崇光孙凯田克超
Owner STATE GRID INTELLIGENCE TECH CO LTD
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