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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

Pending Publication Date: 2020-08-04
NARI TECH CO LTD +2
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

Among them, positioning technologies based on GPS, UWB, and WiFi have defects such as insufficient accuracy and are susceptible to electromagnetic interference from substations; magnetic navigation technology has defects such as damage to substation road facilities, construction difficulties, and magnetic strip demagnetization, which cannot be applied to substation inspections. Robots; and SLAM technology based on vision or laser can effectively solve the problem of robot positioning and navigation without changing or changing the environment to a small extent
[0004] Since the scenes of substations are generally large and complex, and there are many similar scenes, the SLAM technology using a single sensor cannot achieve ideal positioning results

Method used

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

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Embodiment Construction

[0029] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0030] The substation inspection robot positioning and navigation system based on three-dimensional laser and binocular vision of the present invention includes a three-dimensional point cloud data acquisition module, a three-dimensional map construction module, a three-dimensional map visualization module, a point cloud matching and positioning module, and binocular vision information acquisition Processing module, robot motor part.

[0031] The substation refers to the large-scale substation of the power grid company. The substation is huge in scale, and the internal facilities of the site are basically substation columns and erection wires, etc., with similar characteristics. The robot system needs to complete the 3D visual mapping of the scene, distinguish similar scenes within the scene, and update its positioning informa...

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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.

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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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/86G01S17/89
CPCG01S17/86G01S17/89
Inventor 张庆伟鲁锦涛董元帅王庆王力代莹
Owner NARI TECH CO LTD
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