Transformer substation inspection robot path planning navigation method

A technology of an inspection robot and a navigation method, which is applied in the field of route planning and navigation of a substation inspection robot, can solve the problems of difficult identification, single device shape, complex algorithm, etc., and achieves reduced image processing difficulty, high positioning accuracy, and detection accuracy. high effect

Active Publication Date: 2017-03-22
WUHAN UNIV
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Problems solved by technology

Electromagnetic navigation is based on magnetic trajectories and radio frequency identification (RFID) tags specially arranged on the road surface to realize the optimal path planning and two-way walking of the inspection robot. The construction of laying large-area magnetic strips is complicated and interferes with the normal operation of substations.
Inertial navigation technology is simple, but there are cumulative errors, and the stabilit...

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  • Transformer substation inspection robot path planning navigation method
  • Transformer substation inspection robot path planning navigation method
  • Transformer substation inspection robot path planning navigation method

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Embodiment Construction

[0039] The technical solutions of the present invention will be further specifically described below through the embodiments and in conjunction with the accompanying drawings.

[0040] The present invention comprises the following steps:

[0041]Step 1, substation map drawing step: the laser radar carried by the inspection robot scans the environmental information of the substation, walks around the substation for a week, and generates a two-dimensional map of the substation. Then select a grid of appropriate size, and process the substation map into a two-dimensional grid map. The specific operation method to obtain the two-dimensional grid map of the substation is as follows:

[0042] Step 1.1, put the lidar on the rotating pan-tilt, and the pan-tilt rotates according to the set angular velocity. The speed of the present invention is set to 30 rpm, and the pan-tilt can set the rotational speed range from 20 rpm to 60 rpm.

[0043] Specifically, the rotating pan / tilt must b...

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Abstract

The invention relates to a transformer substation inspection robot path planning navigation method. The method comprises the steps that a robot walks one circle around a transformer substation, and a two-dimensional grid map of the transformer substation is generated; transformer substation equipment image information is scanned, and a feature image is selected to serve as a road and equipment identification basis; an optimal inspection path is planned; surrounding environment information is scanned to generate a two-dimensional grid map of the surrounding environment, the position where the inspection robot is located is identified by comparing the surrounding environment map with the transformer substation map, and rough positioning is achieved; surrounding equipment image information is acquired, the equipment position is identified by comparing the surrounding environment image information with an equipment feature image, errors generated in the map matching link are corrected, and then higher-precision positioning is achieved; whether map matching positioning and visual positioning are in a same area or not is inspected, if yes, it is proved that positioning is accurate, and if not, it shows that positioning is wrong, and then map matching positioning and visual positioning are conducted again. Therefore, the positioning navigation reliability and accuracy are greatly improved.

Description

technical field [0001] The invention belongs to a navigation system for a substation inspection robot, in particular to a route planning and navigation method for a substation inspection robot based on map matching and visual positioning error correction. 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 info...

Claims

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Application Information

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IPC IPC(8): G01C21/00
Inventor 王军华代中余张坤
Owner WUHAN UNIV
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