A substation automatic composition robot and method based on visual navigation
A visual navigation and robot technology, applied in the field of substation automatic composition robot, to achieve the effect of reducing workload, low cost and simple scheme
Active Publication Date: 2019-12-10
STATE GRID INTELLIGENCE TECH CO LTD
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In addition, there are illuminated LED lights around the camera of the visual navigation device, which solves the impact of light intensity on visual image processing, and can adapt to night environment visual navigation for automatic map construction
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[0042] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0043] Such as figure 1 As shown, the substation automatic composition robot based on visual navigation includes a robot platform 1, on which there are industrial computer 2, odometer 3, visual navigation device 4, laser radar 5, and driving wheels 6 of the mobile platform.
[0044] Robot platform 1, this embodiment is the form of wheeled mobile platform, and its characteristic is that mobile platform has several driving wheels 6;
[0045] The industrial computer 2 is characterized in that it is a computer mounted on the robot mobile platform;
[0046] The odometer 3 is characterized in that it receives the speed sensor signal and is connected with the industrial computer through the communication line;
[0047] Described visual navigation device 4, it is characterized in that, this device is installed on the robot platform, has core visual collection...
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The invention discloses a visual navigation based transformer substation automatic composition robot and a method. The visual navigation based transformer substation automatic composition robot comprises a robot platform, an industrial personal computer, a stroke measurement device, a visual navigation device, a laser radar and a walking mechanism. The walking mechanism is arranged at the lower end of the robot platform. The industrial personal computer is arranged on the robot platform and connected with the stroke measurement device. The stroke measurement device receives signals of a speed measurement sensor. The visual navigation device and the laser radar are fixed to the front end of the robot platform, and the laser radar scans the environment. According to the visual navigation based transformer substation automatic composition robot and the method, automation of environment data collection and map configuration is really achieved, the workload of human participation is reduced, the robot autonomously operates in the whole process, the scheme is simple, cost is low, and practical value is high. In addition, lighting LED lamps are distributed around a camera of the visual navigation device, the influence of illumination intensity on visual image processing is eliminated, and the robot can adapt to night environment visual navigation for automatic map construction.
Description
technical field [0001] The invention belongs to the technical field of mobile robot positioning and navigation, and in particular relates to a substation automatic composition robot and method based on visual navigation. Background technique [0002] With the in-depth application of substation inspection robots in recent years, the complex substation environment and substation inspection tasks have put forward higher requirements for the navigation mode and navigation positioning accuracy of inspection robots. In order to better adapt to complex The substation environment meets the needs of complex substation inspection tasks. More and more navigation technologies are put into testing and put into application. Laser navigation technology is one of them. Laser navigation is characterized by less on-site construction, flexible path changes, and equipment integration. Higher advantages are more and more favored by the market. In the process of robot laser navigation, the reali...
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IPC IPC(8): B25J9/16B25J19/02B25J19/04
CPCB25J9/1628B25J9/1664B25J19/022B25J19/04
Inventor 刘加科孔令文田晓璐孙凯秦振华傅崇光韩磊
Owner STATE GRID INTELLIGENCE TECH CO LTD