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Substation inspection robot positioning navigation method and system

An inspection robot, positioning and navigation technology, which is applied to satellite radio beacon positioning systems, radio wave measurement systems, instruments, etc. The effect of reducing errors

Inactive Publication Date: 2019-07-05
NANJING INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The application of magnetic trajectory navigation is earlier, and it is necessary to lay magnetic strips on the road in advance. The robot car finds the path by sensing the information of the magnetic strip. The programming is simple and the positioning accuracy is high, but its initial cost is high, and it is troublesome to re-plan the path in the later stage; inertial navigation It is not suitable for applications in environments with high electromagnetic intensity such as substations, because it mainly uses the electronic compass to measure the strength of the earth's magnetic field to plan the direction path, which will cause large deviations; although laser positioning and navigation accuracy is relatively high, road signs need to be set Auxiliary navigation, the use environment is restricted; GPS navigation has high flexibility, but it needs to receive satellite signals, and there will be signal distortion and loss, which will affect the positioning accuracy
[0005] To sum up, the existing substation inspection robot uses a single sensor to realize positioning and navigation, the positioning accuracy is poor, and the error of map construction for the surrounding environment is also relatively large

Method used

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  • Substation inspection robot positioning navigation method and system
  • Substation inspection robot positioning navigation method and system

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Embodiment 1

[0045] figure 1 It is a flowchart of a positioning and navigation method for a substation inspection robot according to an embodiment of the present invention.

[0046] see figure 1 , the substation inspection robot positioning and navigation method of the embodiment, including:

[0047] Step S1: Obtain the current location data and surrounding environment point cloud data of the substation inspection robot.

[0048] The position data is obtained by using GPS, and the surrounding environment point cloud data is obtained by using laser radar. The position data z1=(Px, Py), wherein, Px is the abscissa of the location of the substation inspection robot in the Cartesian coordinate system, and Py is the ordinate of the location of the substation inspection robot in the Cartesian coordinate system; The surrounding environment point cloud data Among them, ρ represents the position of the substation inspection robot from the origin of the polar coordinate system, Indicates the ...

Embodiment 2

[0065] During the working process, the substation inspection robot repositions its own pose through the environmental characteristics repeatedly observed during the movement, and then builds the map incrementally according to its own position, thus achieving the role of simultaneous positioning and map construction. However, due to random errors in this process, the sensor’s judgment on the movement of the robot car is also uncertain, and there are external factors such as electromagnetic interference from the substation, so that each time the map is constructed, the increment added to the previous map There are errors, and as the number of iterations increases, the errors become larger and larger, thereby reducing the accuracy of map construction and positioning and navigation. In this implementation, the Kalman filter algorithm is used to compensate the error increased by iteration, so as to improve the positioning accuracy.

[0066] Kalman filtering is a filtering algorithm...

Embodiment 3

[0118] The invention also provides a substation inspection robot positioning and navigation system, figure 2 It is a schematic structural diagram of a substation inspection robot positioning and navigation system according to an embodiment of the present invention.

[0119] see figure 2 , the substation inspection robot positioning and navigation system of the embodiment includes:

[0120] The first data acquisition module 201 is used to acquire the position data and surrounding environment point cloud data of the substation inspection robot at the current moment; the position data is obtained by using GPS, and the surrounding environment point cloud data is obtained by using laser radar of.

[0121] The position data z1=(Px, Py), wherein, Px is the abscissa of the location of the substation inspection robot in the Cartesian coordinate system, and Py is the ordinate of the location of the substation inspection robot in the Cartesian coordinate system; The surrounding envi...

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Abstract

The invention discloses a substation inspection robot positioning navigation method and system. The method includes obtaining the position data and surrounding environment point cloud data of a substation inspection robot at a current moment; calculating first pose information and second pose information; obtaining correction data of a last moment; adopting a Kalman filtering algorithm to performfiltering processing on the first and second pose information according to the correction data of the last moment so that the correction data of the current moment can be obtained; and constructing amap model of an environment where the substation inspection robot is located at the current moment so as to realize the positioning navigation of the substation inspection robot. The method and systemcan enhance positioning precision and reduce error of map construction on the surrounding environments.

Description

technical field [0001] The invention relates to the technical field of substation inspection, in particular to a positioning and navigation method and system for a substation inspection robot. Background technique [0002] The substation is the hub of changing the voltage level and power transmission, and is an important part of the power system, which has high requirements for its safety. Therefore, the inspection of substations is essential. High-quality and efficient inspections can greatly improve the reliability and safety of substation operations, and are conducive to maintaining the normal operation and stability of the power system. [0003] Manual inspection is the traditional operation method of substation inspection. Sometimes inspection personnel are easily missed or wrongly inspected due to factors such as work fatigue and boredom. According to the statistics of China Electric Power Research Institute, the direct economic loss caused by missed and wrong detecti...

Claims

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Application Information

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IPC IPC(8): G01S17/02G01S19/45
CPCG01S19/45G01S17/86
Inventor 王威陆琴心陈巍
Owner NANJING INST OF TECH
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