Positioning method and device for inspection robot based on valve hall of flexible DC converter station
An inspection robot and flexible DC technology, applied in two-dimensional position/channel control, measuring devices, vehicle position/route/height control, etc., can solve problems such as error-prone automatic positioning
Active Publication Date: 2021-08-17
TIANSHENGQIAO BUREAU CSG EHV POWER TRANSMISSION CO
View PDF31 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0004] The purpose of this application is to provide a positioning method and device for an inspection robot based on the valve hall of a flexible DC converter station, which is used to effectively improve the inspection machine in the prior art and make automatic positioning easy in the electronic map obtained based on the symmetrical structure technical flaws that go wrong
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0015] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
[0016] It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second" and the like are only used to distinguish descriptions, and cannot be understood as indicating or implying relative importance.
[0017] The inspection robot in the embodiment of the present application conducts inspection based on the electronic map formed by the highly symmetrical structure in the valve hall of the flexible DC converter station. The technical solution provided by the embodiment of the present application is a method of using laser radar to locate and measure the refere...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The application provides a positioning method and device for an inspection robot based on a valve hall of a flexible DC converter station. The method includes: determining M target nodes S(n) with unique labels that the shortest inspection route passes through; As the inspection starting point of the inspection robot, obtain the first coordinate corresponding to the first position and the first reading corresponding to the odometer in the current state, and calculate each target node S(n) among the M target nodes S(n) The distance from the first position is determined as the first distance; the inspection robot is controlled to conduct inspections from the first position according to the shortest inspection route, and the current position on the electronic map is located according to the laser radar scanner, and the mileage of the current position is calculated The difference between the second reading and the first reading of the meter is determined as the second distance, and it is judged whether the difference between the second distance of the current position and the first distance corresponding to the current position is greater than the first preset threshold, and if so, The inspection robot stops inspection and repositions.
Description
technical field [0001] The present application relates to the technical field of automatic positioning and navigation of inspection robots in substations, and specifically relates to a positioning method and device for inspection robots based on valve halls of flexible DC converter stations. Background technique [0002] Flexible DC transmission technology is a new type of DC transmission technology based on voltage source converters, controllable turn-off devices and pulse width modulation technology. This technology has high controllability, convenient design and construction, environmental protection, small footprint and There are advantages such as no need for communication between flow stations, and the valve hall of the flexible DC converter station is one of the core design contents of the DC converter station project. [0003] At present, the inspection robot can be used to realize intelligent inspection for the inspection of the electric equipment in the valve hall ...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02G01C22/00G01S17/42
CPCG05D1/0257G05D1/0223G05D1/0221G05D1/0276G01S17/42G01C22/00
Inventor 李标俊郑丰罗远峰姚传涛陈小平冷梅戴甲水向权舟庄志发关宇洋王林
Owner TIANSHENGQIAO BUREAU CSG EHV POWER TRANSMISSION CO