Substation patrol robot obstacle avoidance method based on laser radar

Abstract

The invention discloses a substation patrol robot obstacle avoidance method based on laser radar. A robot scans the surrounding environment through laser radar; an adopted environmental map is a two-dimensional matrix, which is a Boolean matrix of an actual substation, and the position in the substation having a device is defined as Boolean true; the current position coordinate of the robot and heading angle thereof as well as laser radar data obtained after mapping are fused; at the moment, whether the two-dimensional matrix is true or not is judged, if the two-dimensional matrix is true, it is indicated that the corresponding position of the substation has the substation device, and if the two-dimensional matrix is not true, it is indicated that the corresponding position of the substation has an obstacle, and with the coordinate of the robot as an index, corresponding elements are set as true in a new two-dimensional matrix; and a current surrounding navigation data layer of the robot serves as auxiliary information for obstacle avoidance, if a robot planned travel route passes through a corresponding matrix, where the navigation data layer is true, the robot replans a path and utilizes a shortest path algorithm to avoid the obstacle, thereby reducing possibility of the substation patrol robot in colliding with the obstacles.

Description

technical field [0001] The invention relates to an obstacle avoidance method for a substation inspection robot based on laser radar. Background technique [0002] Substation inspection robots are widely used in substations. It is very important to avoid obstacles immediately when robots perform inspection tasks. This is not only related to the safety of robots but also to the normal operation of substations. [0003] The substation inspection robot with infrared obstacle avoidance function, through the infrared sensor installed on the robot, detects the obstacle information during the moving process of the robot, and responds to realize the effective obstacle avoidance of the robot. It includes several infrared sensor modules arranged on the robot along the height direction of the robot. [0004] The ultrasonic obstacle avoidance device is installed on the robot; the ultrasonic barrier device is set outside the robot and faces the moving direction of the robot. When the rob...

AI Technical Summary

Problems solved by technology

[0006] 1. The obstacle avoidance effect of the substation inspection robot is proportional to the number of infrared sensors installed on the body. The more infrared sensors are installed, the higher the recognition rate of obstacles is, and the more sensors are installed, the appearance of the robot will be affected. As a result, the appearance design of the substation inspection robot will be limited, and the detection distance of the infrared sensor is also very limited, and distant obstacles cannot be detected in time and avoided in advance;

[0007] 2. The ultrasonic device is installed on the front side of the robot, so it cannot detect the size and shape of the obstacle, and the object can only be detected when the distance from the obstacle is relatively close, and it may not be able to dodge in time;

[0008] 3. The use of binocular vision navigation also has the problem of short detection distance. It cannot detect long-distance obstacles in time, and will be affected at night or in weak light conditions, and cannot detect obstacles in front of the robot. object and implement circumvention

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