Humanoid patrol operation method and system for semantic intelligent substation robot

A technology for intelligent substations and robots, applied in the field of robots, can solve the problems of data analysis delay, cumbersome process of setting inspection points, and inability to guarantee the quality of inspection points, so as to achieve the effect of precise shooting.

Active Publication Date: 2020-11-06
STATE GRID INTELLIGENCE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 prob

Method used

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  • Humanoid patrol operation method and system for semantic intelligent substation robot
  • Humanoid patrol operation method and system for semantic intelligent substation robot
  • Humanoid patrol operation method and system for semantic intelligent substation robot

Examples

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Example Embodiment

[0067] Example 1

[0068] refer to figure 1 The humanoid patrol operation method of the semantic intelligent substation robot of the present embodiment is given, including:

[0069] S101: Build a three-dimensional semantic map of the unknown substation environment independently;

[0070] S102: Based on the three-dimensional semantic map, combined with the inspection / job task and the current position of the robot, autonomously plan the walking path of the robot;

[0071] S103: Control the robot to move according to the planned walking path, and carry out inspection / operation tasks during the traveling process;

[0072] S104: In the process of carrying out inspection / operation tasks, adjust the pose of the robotic arm equipped with inspection / operation tools in real time, so as to automatically collect and identify images of the equipment to be inspected at the best angle or automatically at the best angle Perform operation tasks and complete fully autonomous inspection / opera...

Example Embodiment

[0187] Embodiment 2

[0188] This embodiment provides a robot, which adopts the humanoid patrol operation method of a semantic intelligent substation robot as described in Embodiment 1 to perform patrol inspection.

[0189] like Figure 8 As shown, the robot includes a multi-degree-of-freedom mechanical arm 1 provided on the robot body, and the end 8 of the multi-degree-of-freedom mechanical arm is equipped with an inspection device 6 .

[0190] Specifically, the inspection equipment carried at the end of the multi-degree-of-freedom robotic arm includes: visible light camera, infrared camera, hand grasp, suction cup, partial discharge detector, etc.

[0191] Referring to Figures 9(a) and 9(b), the multi-degree-of-freedom mechanical arm on the robot body is used as the slave arm 4, and a control master arm 5 is additionally set. The master arm is a portable operating system suitable for personnel operation. After wearing the main arm 5, the centralized control operation and m...

Example Embodiment

[0202] Embodiment 3

[0203] This embodiment provides a humanoid patrol operation system of a semantic intelligent substation robot, which includes at least one robot according to the second embodiment.

[0204] The humanoid inspection operation system of the semantic intelligent substation robot in this embodiment includes: an embedded AI analysis module, a multi-degree-of-freedom robotic arm, an inspection camera, a binocular vision camera, and a three-dimensional laser radar connected to the embedded AI analysis module , Inertial Navigation Sensor, Robot IPC, and Robot Arm; wherein, the binocular vision camera is located at the front end of the robot, and the inspection camera is located at the end of the robotic arm through the robotic arm. The robotic robotic IPC is connected to the robot motion platform, which can realize multiple Vision, laser, GPS, inertial navigation and other sensor data access and synchronous acquisition, so as to realize the panoramic perception of...

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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...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0236G05D1/024G05D1/0242G05D1/0251G05D1/0257G05D1/0223G05D1/0214G05D1/0221G05D1/0278G05D1/0276G05D2201/02
Inventor 李建祥王振利王万国慕世友王克南肖鹏周大洲黄锐郝永鑫吕俊涛郭锐王海鹏
Owner STATE GRID INTELLIGENCE TECH CO LTD
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