Humanoid patrol operation method and system for semantic intelligent substation robot

Abstract

The invention provides a humanoid patrol operation method and system for a semantic intelligent substation robot. The robot humanoid patrol operation method for the semantic intelligent substation comprises the following steps: autonomously constructing a three-dimensional semantic map of an unknown substation environment; based on the three-dimensional semantic map, combining the inspection / operation task and the current position of the robot to autonomously plan the walking path of the robot; controlling the robot to move according to the planned walking path, and carrying out an inspection / operation task in the advancing process; in the process of carrying out the inspection / operation task, adjusting the pose of the mechanical arm carrying the inspection / operation tool in real time, sothat the image of the equipment to be inspected is automatically collected and recognized at the optimal angle or the operation task is automatically executed at the optimal angle, and the full-autonomous inspection / operation task of the transformer substation environment is completed.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to a humanoid inspection operation method and system for a semantic intelligent substation robot. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] Existing inspection robots generally adopt a stop-preset operation mode, and the deployment and implementation process is divided into two stages: configuration and operation. In the configuration phase, for a new substation with unknown environmental information, a large amount of manual work is required. The inspection point of the inspection robot is usually manually set by the on-site personnel according to the inspection task. When setting, the on-site personnel first remotely control the robot to run along the inspection route, and stop when it runs to the periphery of the power equipment to be i...

AI Technical Summary

Problems solved by technology

[0005] (1) When the robot is deployed on site, the setting process of inspection and detection points is cumbersome and requires a large amount of manual participation in the workload. The on-site configuration personnel have a large labor load and low efficiency; Large, the setting standards are inconsistent, resulting in the quality of the inspection point setting cannot be guaranteed; the robot adopts the docking operation method, and each inspection point needs to be stopped for operation, the inspection efficiency is low, and frequent start and stop will cause hidden dangers to the stable operation of the robot

[0006] (2) In the process of robot inspection, traditional robots use laser single navigation method, which has the problem of sparse laser point cloud leading to navigation failure, and the accuracy of navigation cannot be guaranteed

[0007] (3) In terms of inspection data analysis, the existing substation inspection robots have weak front-end video and image processing capabilities, and most image and video data are currently analyzed and processed by the back-end server through the network. Affected by the bandwidth of the transmission network, the data There is a delay in the analysis, which cannot meet the needs of application scenarios with high real-time requirements such as robot navigation, visual servoing, and timely defect detection.

[0008] (4) The staff cannot truly understand the substation environment and equipment status in the control room

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