A semantic intelligent substation inspection robot navigation system and method

Abstract

The invention discloses a semantic intelligent substation inspection robot navigation system and method, which stores a three-dimensional semantic map of the substation in advance. The method specifically includes: receiving an inspection task, and the inspection task includes a designated inspection area or a designated inspection Equipment; determine the corresponding equipment to be inspected according to the three-dimensional semantic map; use the three-dimensional space projection coordinates of all equipment to be inspected in the three-dimensional semantic map as points on the robot's walking route, and plan the inspection route based on the current location of the robot ; Perform inspection according to the inspection route. By constructing a three-dimensional electronic map of a substation containing semantic information, the present invention can autonomously collect and provide more robust spatial position information, effectively improving the quality of data collection and inspection efficiency.

Description

technical field [0001] The invention belongs to the technical field of substation inspection, and in particular relates to a navigation system and method for a semantically intelligent substation inspection robot. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art. [0003] At present, the detection points of the inspection robot are 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 inspected; after that, it can be remotely adjusted. The attitude of the robot on the pan / tilt, so that the pan / tilt drives the visible light camera, infrared thermal imager and other non-contact detection sensors to aim at each device to be inspected around the robot in turn...

AI Technical Summary

Problems solved by technology

[0004] (1) The process of setting the above detection points is cumbersome, and due to the large number of equipment in the substation and the different spatial orientations, the workload of manually setting the detection points is heavy and subjectivity is strong, and the setting standards are inconsistent; The application mode of data collection after point docking also restricts the further improvement of robot inspection efficiency;

[0005] (2) If the inspection robot stops at a fixed detection point, and then collects inspection data from surrounding devices in different directions, it is difficult to obtain high-quality inspection data for each device due to the influence of the sensor observation angle and light. Facilitate subsequent equipment status identification and fault diagnosis

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