A mapping system and method based on laser navigation substation inspection robot

Abstract

The invention discloses a mapping system based on a laser navigation substation patrol robot as well as a method. The mapping system comprises a laser radar, an industrial personal computer, a GPS module and a vision module, wherein the laser radar and the GPS module are arranged on a patrol robot body; the vision module is arranged at the front end of the patrol robot body; the industrial personal computer acquires environment screenshots of the vision module, compares two adjacent images and analyzes the course angle of the robot; the laser radar transmits acquired distance information to the industrial personal computer, the GPS module transmits acquired coordinates information to the industrial personal computer, and the industrial personal computer transforms the distance information into a two-dimensional plane picture and rotates the plane picture to the same course angle as the robot so as to acquire the map of the current perimeter zone of the robot. With adoption of the mapping method for the substation on the basis of GPS, vision and laser radar of the laser navigation substation patrol robot, defects of the conventional substation mapping method can be overcome, the mapping precision can be improved, the mapping speed can be increased, and labor consumption can be reduced.

Description

Technical field [0001] The invention relates to a mapping system and method based on a laser navigation substation inspection robot. Background technique [0002] Substation mapping is a necessary link before the operation of the laser navigation substation inspection robot. It mainly records the map of the substation in the form of data as detailed and accurate as possible. The laser navigation substation inspection robot uses the map to compare the real-time surrounding information obtained by the lidar, and determines the position of the laser navigation substation inspection robot through the positioning algorithm. Therefore, the accuracy of the built substation map is very important for the navigation and positioning of the laser navigation substation inspection robot. [0003] The existing substation mapping methods include several: [0004] 1. Nowadays, most of the substation construction maps are drawn manually, using total station, meter ruler and laser rangefinder to cond...

AI Technical Summary

Problems solved by technology

[0004] 1. Most substation construction maps are now manually drawn, and manual surveying and mapping is performed through total stations, meter rulers and laser rangefinders; however, manual drawing will produce large errors, which will affect the positioning accuracy and navigation of laser navigation substation inspection robots. The effect has an impact, and manual drawing will also consume a lot of manpower and time costs;

[0005] 2. Use the laser radar and encoder installed on the laser navigation substation inspection robot body to collect data together, and then fuse the data later to generate a substation map. The substation map generated in this way will produce a large cumulative error, resulting in some The ring road cannot be closed;

[0006] 3. Use 3D mapping equipment to set up multiple points in the substation for scanning and mapping. Later, the 3D map will be spliced ​​with the data scanned by the station through software, and then the 3D map needs to be converted into the 2D required by the laser navigation substation inspection robot. For substation maps, it is necessary to purchase special equipment for 3D mapping, which is expensive and needs to be mapped in small areas at intervals. In the later stage, the maps need to be stitched together through software, which takes a lot of time to collect data.

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