Automatic obstacle avoiding method of substation inspection robot

Abstract

The invention relates to an automatic obstacle avoiding method of a substation inspection robot. Obstacle information around the inspection robot is scanned with laser radar, and the types of obstacles are judged through an infrared temperature sensor; if the obstacles are humans or animals, the inspection robot notify the humans to leave or to dispel the animals, and there is no need to avoid the obstacles; if the obstacles remain on a set path of the inspection robot, the inspection robot executes avoiding; obstacle priorities are divided according to 'time distance' that is time that the inspection robot takes to arrive at the obstacles; the inspection robot keeps to the right according to set driving rules; upon contact with an obstacle, the inspection robot moves along the obstacle clockwise from the left of the obstacle and ends avoiding after arriving at the front of the obstacle; if unable to bypass the obstacle from the left, the inspection robot tries to bypass the obstacle anticlockwise from the right of the obstacle. The method is insusceptible to temperature and visible light, and distance and direction information detection precision is higher.

Description

technical field [0001] The invention relates to automatic obstacle avoidance, in particular to an automatic obstacle avoidance method for a substation inspection robot. Background technique [0002] Substation equipment inspection robots use autonomous or remote control to inspect outdoor high-voltage equipment in unattended or few-attended substations, and can promptly detect thermal defects of power equipment, foreign object suspension and other equipment anomalies. According to the task operation of the operator in the base station or the pre-set tasks, the global path planning in the substation can be automatically carried out, and the image inspection of the substation equipment, the automatic identification of equipment and meters, and the infrared detection of primary equipment can be completed through various sensors carried in the substation. Detection, etc., record equipment information, and provide abnormal alarms. [0003] In the research on related technologies...

AI Technical Summary

Problems solved by technology

There are problems of small number of sensors, single obstacle avoidance scheme and low efficiency

At the same time, the traditional obstacle avoidance device does not consider the influence of the ambient temperature on the ultrasonic propagation speed, and there is an error in setting a single ultrasonic propagation speed; the infrared sensor is susceptible to visible light interference, which affects the accuracy and reliability of obstacle avoidance

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