A substation inspection robot navigation control system and method

Abstract

The invention discloses a substation inspection robot navigation control system and method, which includes a magnetic sensor array, an array status processing module, a navigation control module and a motion control module. The magnetic sensor module collects the actual lateral offset and transmits the sensor array status information. To the array status processing module; the array status processing module is connected to the magnetic sensor array and the navigation control module, and is used to obtain the lateral offset corresponding to the magnetic sensor array status and the status change time interval based on the magnetic sensor array calibration information; the navigation control module Using the current lateral offset and state change time interval, the navigation control amount is calculated and sent to the motion control module to control the movement of the inspection robot. The present invention predicts and adjusts the lateral offset change trend caused by robot movement in advance, improves the impact of navigation control output lag in the navigation control system on system stability, and improves the stability of robot operation.

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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