Transformer substation inspection robot GPS/Beidou differential positioning and navigation method

An inspection robot and differential positioning technology, applied in the field of substation inspection, can solve the problems of low positioning accuracy and complex construction, and achieve the effects of reliable communication, simple hardware equipment and low power consumption

Active Publication Date: 2017-12-12
SICHUAN HUIYUAN OPTICAL COMM CO LTD
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Problems solved by technology

Most of the technologies currently in use use the methods of laying tracks, laser positioning, and image analysis to realize positioning and navigation. These methods all have the disadvantages of complex construction, low positioning accuracy, and being greatly affected by objective factors.

Method used

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  • Transformer substation inspection robot GPS/Beidou differential positioning and navigation method
  • Transformer substation inspection robot GPS/Beidou differential positioning and navigation method

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Embodiment Construction

[0029] The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the following description.

[0030] like Figure 1-2 as shown,

[0031] Substation inspection robot GPS Beidou differential positioning and navigation platform, including a reference base station established on a fixed point in the substation, inspection robot positioning and navigation module, and management platform;

[0032] The reference reference station is mainly composed of a GPS / Beidou receiving unit, a data analysis and processing unit, and an RF communication unit. The GPS / Beidou receiving unit is used to receive reference values ​​and GPS / Beidou satellite signals, and the data analysis and processing unit is based on GPS / Beidou satellite signals. Calculate the positioning position of the reference base station, calculate the differential correction amount f...

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Abstract

The invention discloses a transformer substation inspection robot GPS/Beidou differential positioning and navigation method. A differential positioning method based on GPS/Beidou is adopted in positioning, so that fixed errors like the satellite lock, satellite ephemeris, ionized layer delaying and convection zone delaying are removed. The positioning and navigation method is mainly composed of a basis reference station, an inspection robot positioning and navigation module and a management platform. By using the method, accurate positioning and navigation of a transformer substation inspection robot can be achieved.

Description

technical field [0001] The invention relates to the field of substation inspection, in particular to a GPS Beidou differential positioning and navigation method for a substation inspection robot. Background technique [0002] At present, with the vigorous development of smart grid and robot technology, more and more robots are used in substation inspections to realize all-weather, all-round and fully autonomous inspections of substation equipment, replacing traditional manual inspection methods, and improving substation inspections. Automation and intelligence of inspection. Inspection robots are playing an increasingly important role in substation inspections. [0003] In the inspection robot system, how to realize the positioning and navigation of the inspection robot is a very important and key technology. Most of the technologies currently in use use the methods of laying tracks, laser positioning, and image analysis to realize positioning and navigation. These methods...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16G01C21/00G01S19/38G01S19/42G01S19/48G05D1/02
CPCB25J9/1664G01C21/00G01S19/38G01S19/42G01S19/48G05D1/02G05D1/021G05D1/0278
Inventor 苟科磊宋昌林陈方春
Owner SICHUAN HUIYUAN OPTICAL COMM CO LTD
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