Transformer substation patrolling robot navigation control system and method

Abstract

The invention discloses a transformer substation patrolling robot navigation control system and method. The system comprises a magnetic sensor array, an array state processing module, a navigation control module and a movement control module, the magnetic sensor array collects actual transverse offset and transmits state information of the sensor array to the array state processing module, the array state processing module is connected with the magnetic sensor array and the navigation control module and used for acquiring transverse offset corresponding to state of the magnetic sensor array and state change time interval according to calibration information of the magnetic sensor array, and the navigation control module utilizes current transverse offset and the state change time interval to calculate navigation control amount and sends the navigation control amount to the control module to control movement of a patrolling robot. By the transformer substation patrolling robot navigation control system and method, prediction and adjustment in advance of transverse offset change trend caused by movement of the robot are realized, influence of navigation control output lag in the navigation control system on stability of the system is improved, and running stability of the robot is improved.

Description

technical field [0001] The invention relates to a navigation control system and method for a substation inspection robot. Background technique [0002] The substation inspection robot is a ground mobile robot that operates fully autonomously. It can carry sensors such as visible light cameras, infrared thermal imaging cameras, and pickups to conduct automatic inspections of power equipment, effectively reducing the labor intensity of manual inspections and ensuring the safety of substation equipment. run. [0003] In the application of substation inspection robot, reliable and stable navigation operation is the basis to ensure its completion of inspection tasks. At present, the navigation operation of inspection robots in substations is generally realized by magnetic trajectory guidance, and the corresponding navigation control system is mainly composed of three parts: magnetic sensor array, navigation control module and motion control module. The magnetic sensor array is ...

AI Technical Summary

Problems solved by technology

[0005] 1. Since the magnetic sensor array is composed of a limited number of single magnetic sensors, the state of the sensor array generated by the lateral offset of its center relative to the magnetic track is limited, and the existing inspection robot navigation control strategy is generally based on each sensor array The state outputs the pre-set motion control amount through the look-up table, so that the robot runs stably at a certain speed. If the speed limit is exceeded, the robot's running stability will be significantly reduced

[0006] 2. Since each sensor in the magnetic sensor array has a certain detection range, and only when the magnetic track magnetic field enters the detection range, the switch output state of the sensor will change, which will cause the output of the magnetic sensor array to not be able to track the offset in real time The navigation control strategy based on the state of the sensor array will inevitably have a lag in the output of the navigation control, which will also have an adverse effect on the stability of the robot when it is running at high speed

[0007] In view of the above problems, although it is possible to improve the effect of robot navigation control by increasing the number of magnetic sensors in the sensor array or setting different motion control amounts for different operating speeds, this will inevitably increase the manufacturing cost of the robot, and the related control amount It is also difficult to manually adjust the parameters

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