Inspection robot navigation system and method based on RTK Beidou and laser radar

A technology of inspection robot and laser radar, which is applied in the field of navigation system, can solve the problems of uninvolved obstacle avoidance, poor robot flexibility, weak anti-interference ability, etc., to solve the problem of positioning failure, accurate and reliable obstacle information, and high precision Effect

Inactive Publication Date: 2018-03-20
SHANGHAI UNIVERSITY OF ELECTRIC POWER
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Problems solved by technology

Most of the references do not involve the construction of the system and the way of avoiding obstacles when encountering sudden obstacles on the inspection route
Moreover, although mobile robots developed in vario

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  • Inspection robot navigation system and method based on RTK Beidou and laser radar
  • Inspection robot navigation system and method based on RTK Beidou and laser radar
  • Inspection robot navigation system and method based on RTK Beidou and laser radar

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Embodiment Construction

[0039] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.

[0040] 1. System structure

[0041] Such as figure 1 As shown, this embodiment provides an inspection robot navigation system based on RTK Beidou and laser radar for intelligent inspection, including a robot mobile station 100 and a background management server 200 using wireless routing network communication, and the communication protocol adopts TCP / IP protocol, the robot mobile station 100 includes a robot body and a control module arranged on the robot body, a positioning navigation module 101, a wireless communication module 102 and a power management module 103, and the contro...

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Abstract

The invention relates to an inspection robot navigation system and method based on RTK Beidou and a laser radar. The inspection robot navigation system based on RTK Beidou and laser radar includes a robot movement station and a background management server, wherein the robot movement station includes a robot body, a control module, a positioning navigation module, a wireless communication module and a power supply management module; the control module, the positioning navigation module, the wireless communication module and the power supply management module are arranged on the robot body; thepositioning navigation module includes a laser radar and an RTK/SINS unit; a navigation map employs the design scheme combined with a global map and a local map; the global map construction draws ina mode that the robot records the track, and the navigation mode uses a preview PID algorithm; and the local map construction employs the laser radar to record the obstacle discrete data points and restore the obstacle edge information through the clustering step, the curve fitting step and other steps, and uses the artificial potential field path planning obstacle avoidance mode. Compared with the prior art, the inspection robot navigation system and method based on RTK Beidou and a laser radar have the advantages of being high in navigation positioning precision, having no demand for pavement reconstruction, being high in environment adaptability, and being high in work stability.

Description

technical field [0001] The invention relates to a navigation system, in particular to an inspection robot navigation system based on RTK Beidou and laser radar. Background technique [0002] Mobile inspection robots can save a lot of manpower, especially in dangerous places that are not suitable for manual inspections, such as ultra-high pressure inspection robots and oil pipeline inspection robots. It is bound to be a trend in the future to develop a combination of mobile inspection robots and manual inspections. [0003] Traditional mobile robots mostly use magnetic tracks, radio frequency identification technology RFID or fixed guide rails for positioning and navigation. In the 1990s, Japan developed a track inspection robot, which was applied to 500kV substations. In January 2014, the substation inspection robot developed by Zhejiang Guozi Robot Technology Co., Ltd. was put into operation in Ruian substation, using the navigation method of multiple sonar and laser rang...

Claims

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Application Information

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IPC IPC(8): G01S19/48G01S17/08G01S17/02
CPCG01S17/08G01S19/48G01S17/86
Inventor 彭道刚戚尔江夏飞关欣蕾陈跃伟王立力赵晨洋陈昱皓刘世彬
Owner SHANGHAI UNIVERSITY OF ELECTRIC POWER
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