Transformer substation inspection robot positioning and navigation system and method based on three-dimensional laser and binocular vision

An inspection robot and binocular vision technology, applied in radio wave measurement systems, instruments, electromagnetic wave re-radiation, etc., can solve problems such as insufficient precision, difficult construction, electromagnetic interference in substations, etc., to improve positioning accuracy and precision, The effect of reducing the intensity and demand of inspections and ensuring precision and accuracy
CN111487642APending Publication Date: 2020-08-04NARI TECH CO LTD +2
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
NARI TECH CO LTD
Publication Date
2020-08-04

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Abstract

The invention discloses a transformer substation inspection robot positioning and navigation system and method based on three-dimensional laser and binocular vision. Two positioning modes, namely, three-dimensional laser global positioning and visual local positioning are introduced at the same time, three-dimensional laser is matched with a pre-input environment map for pose estimation, and a robot is navigated to the position near a preset place; a two-dimensional code plate at the preset place is captured through a visual system, the relative pose of the robot and the preset place is solvedthrough an SLAM correlation method, and more precise local navigation is carried out. According to the invention, two modes of laser and vision are fused, the positioning and navigation accuracy andprecision of the robot in a large complex scene are improved, the manual inspection intensity and demand are reduced, and the automatic inspection of the robot of the transformer substation is realized.
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Description

technical field

[0001] The invention relates to mobile robot positioning and navigation technology, in particular to a substation inspection robot positioning and navigation system and method based on three-dimensional laser and binocular vision. Background technique

[0002] Substation inspection is the basic link in power grid operation and maintenance, and an important part of daily operation and maintenance of substations. The contradiction between the growth of the power grid scale and the deployment of inspection personnel is becoming increasingly prominent. The manual inspection method is difficult to meet the development needs of "lean" inspection of the power grid, and it does not meet the requirements of the power grid company for intelligent inspection. The application of substation inspection robots can effectively alleviate the contradiction between the rapid growth of power grid equipment and the shortage of inspection personnel, and timely and accurately disco...

Claims

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