Multi-sensor system for inspection robot and inspection method

Abstract

The invention relates to a multi-sensor system for an inspection robot and an inspection method. The multi-sensor system is characterized in that a sensor system acquires the current state of the inspection robot and external environmental information and sends the acquired current state and external environmental information to a ground base station; and after receiving the current state of the inspection robot and the external environmental information, which are sent by the sensor system, the ground base station sends a control command to the inspection robot. The problem that comprehensive and accurate environmental information of a power transmission line are very difficult to acquire in the driving process of the inspection robot is solved, and autonomous line catching and dynamic centroid adjustment in the obstacle crossing process of the inspection robot are guaranteed.

Description

technical field [0001] The invention relates to the field of robot inspection control, in particular to a multi-sensor system and inspection method of an inspection robot. Background technique [0002] The inspection robot moves along the overhead ground wire or transmission wire, and the anti-vibration hammers, wire clamps, crimping tubes, and spacers installed on it are all obstacles that the robot must cross during the inspection process. Therefore, when the inspection robot is running on the line, it is necessary to detect the line environment ahead, especially to analyze the obstacles existing on the line ahead, to determine its shape, size and position on the line, so as to guide the robot to stabilize its trend. approach and cross these obstacles. The inspection robot mainly realizes the understanding of the line environment by sensing the external environment information through sensors. [0003] At present, Li Qiang provides global information of the route environ...

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Problems solved by technology

[0003] At present, Li Qiang provides global information of the route environment based on GPS and prior knowledge of the route. However, due to the low accuracy of GPS and inaccurate prior knowledge, the positioning accuracy of the robot for obstacles is low, and the unknown route environment cannot be detected. Obstacles [Li Qiang. Design of optical cable positioning and inspection system based on GPS technology. Journal of Lanzhou Jiaotong University (Natural Science Edition), 2007,26(3): 116-118.]; Huang Xiaorong et al. solved the local environment based on laser sensors However, the positioning and recognition of obstacles cannot be realized globally or in a larger range [Huang Xiaorong, Ruan Yi, Li Zheng, Tang Yanyan. Research on Space Inspection Method of 500kV EHV Overhead Transmission Line Inspection Robot [J]. Machine Tools and Hydraulics, 2011, 39(11): 36-39.]; Hu Caishi et al. provided more environmental information based on visible light vision, but the algorithm adopted generally has a large amount of data and complex calculations, which is difficult to guarantee Real-time [Hu Caishi, Wu Gongping, Cao Xi, etc. Research on visual detection and recognition of obstacles in high-voltage transmission line inspection robots. Journal of Sensing Technology, 2008, 21(12): 2092-2096.]

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