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Outdoor inspection robot positioning system and method based on GPS and microwaves

An inspection robot, GPS positioning technology, applied in satellite radio beacon positioning system, radio wave measurement system, radio wave reflection/re-radiation and other directions, can solve the problem of inability to apply, coverage should not be greater than 10 meters, cumulative error, etc. problem, to achieve the effect of improving accuracy and solving multi-valued problems

Active Publication Date: 2019-12-03
CHINA ACAD OF SAFETY SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the ultrasonic attenuation is obvious during the transmission process, which affects the effective range of its positioning. Its coverage is small and the coverage should not be greater than 10 meters, so it is difficult to apply on a large scale outdoors.
[0008] In addition, lidar has high positioning accuracy, but it cannot be applied in places such as open spaces or places with large environmental changes, and direct sunlight in rainy and snowy weather fields; in radio frequency identification technology, RFID tags require precise pre-site surveys and multiple arrangements in advance. Tags; inertial navigation system has drift error and cumulative error; vision-based positioning is quite difficult for different light, weather and background processing
Due to the time synchronization of the transmitting station, the conventional microwave positioning system has low measurement accuracy

Method used

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  • Outdoor inspection robot positioning system and method based on GPS and microwaves
  • Outdoor inspection robot positioning system and method based on GPS and microwaves
  • Outdoor inspection robot positioning system and method based on GPS and microwaves

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Embodiment 1

[0039] An outdoor inspection robot positioning system based on GPS and microwave includes a GPS positioning system, a microwave positioning system and a robot navigation system.

[0040] The GPS positioning system adopted is the current mainstream commercial GPS positioning system. The current GPS positioning method is to measure the distance between the satellite of the known position and the user's receiver, and then integrate the data of multiple satellites to know the receiver's location. specific location. Due to errors related to GPS satellites, errors related to signal propagation, and errors related to receiving equipment, the current mainstream commercial GPS positioning accuracy is 10 meters. In this application, GPS is used for preliminary positioning. GPS is a relatively mature commercial system, so this application will not repeat it.

[0041] The microwave positioning system consists of no less than three microwave transmitters installed in the substation, such ...

Embodiment 2

[0049] A positioning method for an outdoor inspection robot based on GPS and microwaves, comprising the following steps:

[0050] Step 1, uniformly and fixedly installing several microwave transmitters in the inspection area, the distance between the microwave transmitters is 25-35 meters;

[0051] Step 2, obtain the GPS signal through the GPS antenna on the inspection robot, and obtain the GPS positioning data of the inspection robot by the GPS processing module loaded by the inspection robot;

[0052] Step 3, the microwave receiving end of the inspection robot load receives the pulse signals generated by each microwave transmitting end, and records the time difference when the pulse signals of each microwave transmitting end arrive at the microwave receiving end;

[0053] Step 4, taking the GPS positioning data as the center to make a grid of 2 meters * 2 meters, the accuracy of each grid is 0.05 meters * 0.05 meters, and the time difference of the grid traversal pulse signa...

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Abstract

The invention, which belongs to the technical field of outdoor robot positioning, relates to an outdoor inspection robot positioning system and method based on a GPS and microwaves. The outdoor inspection robot positioning system comprises a GPS positioning system, a microwave positioning system and a robot navigation system. The microwave positioning system is composed of no less than three microwave transmitting terminals arranged in a transformer substation. The robot navigation system installed on an inspection robot body includes a GPS antenna, a GPS processing module, a microwave receiving terminal, a microwave positioning processing module and a comprehensive positioning chip. According to the invention, with the GPS and microwave composite positioning system, the precision of the positioning system can be further improved and the multi-valued problem of the microwave positioning system is solved.

Description

technical field [0001] The invention relates to a positioning system and method for an outdoor inspection robot based on GPS and microwaves, belonging to the technical field of outdoor robot positioning. Background technique [0002] In the power system, it is an important task to arrange regular inspection tasks, to read substation facility instruments and perform routine inspections of high-voltage electrical equipment. At present, substation inspection work is still a very arduous task. The manual inspection method of traditional substations is still adopted by most substations in China, but many factors of inspectors will directly affect the reliability of inspections, such as the work experience, business ability, sense of responsibility and mental state of inspectors; from In terms of efficiency, especially for substation inspections in slightly remote areas, the cost of manpower and time wasted on the road cannot be ignored; moreover, when it comes to safety, due to ...

Claims

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Application Information

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IPC IPC(8): G01S19/48G01S13/06
CPCG01S13/06G01S19/48
Inventor 史聪灵车洪磊胡鹄王文伟张兴凯吕敬民李建胥旋何理石杰红
Owner CHINA ACAD OF SAFETY SCI & TECH