Inspection robot laser navigation system and method

Abstract

The invention relates to an inspection robot laser navigation system and method. An inspection robot sets a laser to emit laser; a receiving plate is mounted on each straight road section after turning in a substation inspection route; the inspection robot sets a laser to emit laser; a receiving plate is mounted on each straight road section after turning in the substation inspection route; an image of the receiving plate is collected, and if the laser point position in the image is not located in the image center area, the visual angle of an image collection module is adjusted by a main control computer until the laser point position is located in the image center area; and if the laser point position deviates from the image center, the front wheel direction of the inspection robot is adjusted. A laser ranging technology is adopted to replace a magnetic guide rail navigation technology, so that the influence of severe weather on robot positioning is overcome; a magnetic guide rail does not need to be arranged in a transformer substation, and a laser receiver is relatively simple to arrange; the adjustment mode is simple in calculation, the adjustment speed is high, continuous adjustment is conducted after the vehicle passes through the curve, and the vehicle body is rapidly adjusted to move forwards along the straight line.

Description

technical field [0001] The invention relates to the technical field of inspection robots, in particular to a laser navigation system and method for an inspection robot. Background technique [0002] Substation inspection robot is the product of intelligent substation to replace manual inspection. Most of the substations are located in sparsely populated or even harsh environment areas. In addition to the development of unattended substations, only manual inspections are inefficient, poor in safety and reliability. Compared with the traditional manual inspection, the substation inspection robot mainly inspects the equipment under high voltage and unattended substations. [0003] At present, the inspection robot includes the following modules: walking module, image recognition module, and navigation module. Inspection robots can be divided into wheel-type inspection robots, crawler-type inspection robots and fixed-track inspection robots according to the walking mode. [00...

AI Technical Summary

Problems solved by technology

[0007] 1. The magnetic track navigation system needs to be connected to the positioning system, and bad weather will affect the transmission of the signal, resulting in delay or loss of operation information transmission

[0008] 2. The magnetic track navigation system needs to lay magnetic strips under the inspection route, and excavation and installation of magnetic strips are required for the inspection section of the substation, which is difficult to deploy

In addition, it is necessary to regularly detect and maintain the magnetic stripe, otherwise the aging of the magnetic stripe will cause inaccurate positioning information and affect the automatic inspection.

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