Substation patrol robot autonomous charging method based on laser navigation

An inspection robot and autonomous charging technology, which is applied in the direction of instruments, non-electric variable control, two-dimensional position/channel control, etc., can solve problems such as autonomous charging, achieve flexible position design, and save construction costs and time.

Active Publication Date: 2016-10-12
HANGZHOU SHENHAO TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problem of autonomous charging of inspection robots in trackless n

Method used

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  • Substation patrol robot autonomous charging method based on laser navigation
  • Substation patrol robot autonomous charging method based on laser navigation
  • Substation patrol robot autonomous charging method based on laser navigation

Examples

Experimental program
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Example Embodiment

[0024] See attached picture. The autonomous charging method for the inspection robot described in this embodiment is used on robots that have at least a motion control system, an inertial navigation system, and a laser scanning sensor; first, it is necessary to build a charging room 1 for the inspection robot in the substation, and to connect the charging room 1 The size data and the position of the charging pile 3 in the charging room 1 are entered into the industrial computer of the inspection robot 2; the charging room 1 is equipped with an automatic rolling door 11;

[0025] When the inspection robot 2 needs to be charged, first go back to the front of the charging room 1, with the tail facing the house, the charging room 1 automatically opens the rolling door 11, and then the robot 2 recedes a certain distance in a straight line, so that the robot 2 enters the first half of the charging room 1, the charging room Close the door; at the same time, the robot 2 uses the laser sc...

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Abstract

The invention discloses a substation patrol robot autonomous charging method based on laser navigation. The method comprises the following steps: 1) building a patrol robot charging room; 2) during charging, a patrol robot backing up to the charging room, and scanning wall information at the two sides and right ahead of the robot 3) issuing motion control information through positioning of the robot; 4) fitting straight lines; 5) selecting four lines meeting requirements; 6) calculating coordinates of angle points A and B to obtain pose information of the robot; 7) according to the pose information, adjusting the angle of the robot; 8) judging distance between the robot and a charging pile; 9) when reaching the preset distance, the robot backing up to the charging pile directly, and the robot starting charging; and 10) after finishing charging, the robot moving forwards to separate from the charging pile to finish charging. The method can realize trackless autonomous charging; track laying is not needed; and construction cost and time can be saved, and the charging room can be arranged flexibly.

Description

technical field [0001] The invention relates to a navigation and positioning technology for a substation inspection robot, in particular to an autonomous charging method for a substation inspection robot based on laser navigation. Background technique [0002] At present, the autonomous charging technology of substation inspection robots is designed based on navigation and positioning technology. position, and then the navigation and positioning system issues movement commands to make the robot arrive at the designated work position along the track laid in advance. [0003] However, the use of track-based inspection robot navigation and positioning technology requires laying the track in advance, which brings a lot of infrastructure construction work, and after the track is laid, the walking route of the inspection robot is fixed and inflexible, and cannot be adjusted according to the management personnel. needs to be changed. The inspection robot based on laser navigation...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/024
Inventor 贾帆陈如申黎勇跃
Owner HANGZHOU SHENHAO TECH
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