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Path planning and navigation positioning method for substation operation robot based on intersection point and road section

A technology for operating robots and path planning, which is applied in navigation, surveying and mapping and navigation, navigation computing tools, etc. It can solve the problems of low intelligence and single moving mode, and achieve the effect of strong adaptability and optimized computing

Active Publication Date: 2021-02-19
WUHAN ZHONGYUAN HUADIAN SOFTWARE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the current substation inspection robot has a single mobile mode and low intelligence, and there are still many places where the inspection efficiency can be improved.

Method used

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  • Path planning and navigation positioning method for substation operation robot based on intersection point and road section
  • Path planning and navigation positioning method for substation operation robot based on intersection point and road section
  • Path planning and navigation positioning method for substation operation robot based on intersection point and road section

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Embodiment Construction

[0051] In order to more clearly illustrate the purpose, text and advantages of the present invention, the implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0052] refer to figure 1 , the substation operation robot involved in the present invention includes the following processing units:

[0053] A map positioning unit for obtaining the position and attitude of the robot in the substation environment;

[0054] A motion control unit used to control the movement and rotation of the robot in the substation environment;

[0055] An autonomous navigation unit used to realize robot processing inspection tasks and navigation tasks;

[0056] A road network optimization unit for robots to process substation inspection routes and moving directions;

[0057] A path planning unit for calculating the route of the robot to perform inspection tasks;

[0058] The obstacle processing unit is used for the...

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Abstract

The invention discloses a path planning and navigation positioning method for a substation operation robot based on intersection points and road sections, mainly including: detection of the robot's own position and attitude, construction of a substation environment map, map data optimization, robot positioning, road network structure, and local paths Planning, global path planning, robot autonomous navigation, and path interruption and obstacle handling. The invention adopts the positioning algorithm combining the active Monte Carlo particle filter positioning algorithm and the template matching algorithm and the multi-layer road network algorithm based on intersection points and road sections, which can realize the rapid positioning of the robot under different speed requirements and can quickly process a large number of patrols. Global path optimization under inspection task requirements. The invention has strong adaptability, can allow the robot to complete specified inspection tasks on roads of different shapes, can effectively detect obstacles on the road and selectively bypass them, and the whole process does not require manual intervention.

Description

technical field [0001] The invention belongs to the field of advanced manufacturing and automation, and particularly relates to application scenarios such as robot control, autonomous navigation, and electric power intelligent inspection. Navigation, positioning and path planning of inspection robot in substation environment. Background technique [0002] With the continuous improvement of people's living standards, the demand for electric energy is increasing. The number and scale of substations are also constantly developing, and substation inspection operations are becoming more and more important. [0003] At present, substation inspection operations are mainly done manually, and electric power workers directly observe and approve various equipment through naked eyes or hand-held instruments. Due to the large number of equipment in the substation, the inspection work is time-consuming and laborious, and workers are prone to omissions and errors in the inspection work. ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G01C21/00
CPCG01C21/005G01C21/20
Inventor 陈鹏冯维纲熊少华危常明李哲靖冯维颖曹昊
Owner WUHAN ZHONGYUAN HUADIAN SOFTWARE