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Multi-sensor asynchronous information fusion system and method for substation inspection robot

An inspection robot and multi-sensor technology, applied in the field of robot navigation, can solve the problems of no substation inspection robot navigation design, etc., to achieve the effect of enriching navigation decisions, improving navigation accuracy and work efficiency

Active Publication Date: 2020-11-20
CHENGDU UNIVERSITY OF TECHNOLOGY +1
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Problems solved by technology

However, there is currently no algorithm and system specifically designed for substation inspection robot navigation

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  • Multi-sensor asynchronous information fusion system and method for substation inspection robot

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Embodiment 1

[0056] A preferred embodiment of the present invention provides a multi-sensor asynchronous information fusion method for a substation inspection robot. The multi-sensor asynchronous information fusion method for a substation inspection robot in this embodiment includes: a sensor, a processor, a memory, and a storage device. The computer program in the memory and operable on the processor, for example, a program of a substation inspection robot multi-sensor asynchronous information fusion method, the method includes the following steps:

[0057] Step 1: Obtain the data information of the substation environment through different sensors, including the lidar point cloud information and visible light image information of the environment. The laser radar sensor is a two-dimensional laser radar sensor.

[0058] Step 2: Train the deep learning semantic segmentation model for the substation environment, and segment the visible light image information through the model;

[0059] Step...

Embodiment 2

[0078] This embodiment provides a substation inspection robot multi-sensor asynchronous information fusion system, including an electronic device connected to the substation inspection robot terminal equipment, characterized in that: the electronic device includes an environmental data acquisition module, a model Training module, sensor data matching and fusion module, fused data output module;

[0079] The environmental data acquisition module acquires environmental information of the substation;

[0080] The model training module trains the deep learning semantic segmentation model to obtain the substation environment semantic segmentation model;

[0081] After the data acquisition module obtains the visible light data of the substation environment, it is input into the model training module substation environment semantic segmentation model, and the substation environment picture information containing semantic information is obtained;

[0082] The sensor data matching and...

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Abstract

The invention discloses a multi-sensor asynchronous information fusion system and method for a substation inspection robot. The system comprises an environment data acquisition module, a model training module, a sensor data matching and fusion module and a fusion data output module. The environment data acquisition module obtains the environment information of a substation, the visible light sensor data in the environment information is input into the model training module to obtain environmental semantic information through a pre-trained substation environment semantic segmentation model, thedifferent sensor data are matched and fused by the sensor data matching and fusion module at the same time, and finally, the substation three-dimensional point cloud map information with the semanticinformation is sent to the inspection robot through the fusion data output module to guide the substation inspection robot to navigate. According to the system and method, the problem of navigation of the existing intelligent substation inspection robot in a complex environment of the substation is solved, and the navigation precision and the working efficiency of the inspection robot are effectively improved.

Description

technical field [0001] The invention relates to the technical field of robot navigation, in particular to a multi-sensor asynchronous information fusion system and method for a substation inspection robot. Background technique [0002] As the hub of the power network, the power station is responsible for the rise and fall regulation of the voltage in the power network and the distribution of electric energy. It is necessary to regularly inspect the equipment in the substation to eliminate potential safety hazards early and ensure the safe and stable operation of the power network. [0003] In the traditional inspection method, professional technicians conduct inspections on substations. However, the electrical equipment of the substation is complex and diverse, and the environment of the substation is dangerous. Manual patrol inspection has the problems of high work risk and high work intensity. At the same time, in order to ensure uninterrupted operation of substation eq...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16G06K9/62
CPCB25J9/1694B25J9/163G06F18/25
Inventor 杨强张葛祥康浩荣海娜
Owner CHENGDU UNIVERSITY OF TECHNOLOGY
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