Path planning method and system for foot type inspection robot of transformer substation

Abstract

The invention discloses a path planning method and systemfor the foot type inspection robot of a transformer substation. The method comprises the following steps: controlling the robot to operate along a preset inspection path, collecting the surrounding environment information in the inspection process, and recognizing the type of to-be-inspected power equipment and the current operation road surface characteristics; extracting semantic information of to-be-detected power equipment, and obtaining monitoring point position information associated with the to-be-detected power equipment; and controlling the robot to break away from the preset inspection path by utilizing local path planning, and running to the optimal observation position of the to-be-inspected equipment for inspection data acquisition. By utilizing the characteristic that the foot type inspection robot has good adaptability to various road environments in the station, when approaching the inspection equipment, the robot is controlled to be separated from an inspection task through local path planning to set a global inspection path, and operates around the to-be-inspected equipment, so that all-directional inspection data acquisition of the to-be-inspected equipment can be realized, and the inspection data of the to-be-inspected point can be acquired from the optimal observation angle.

Description

technical field [0001] The invention relates to the technical field of substation inspection robots, in particular to a path planning method and system for a substation footed inspection 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] Compared with the traditional wheeled inspection robot motion platform, the footed inspection robot motion platform has stronger environmental adaptability and movement flexibility. Typical obstacles in the station, such as going up and down stairs, and climbing over roadside stones, have greatly improved the adaptability to the complex road environment in the station, thus providing the necessary conditions for the full coverage inspection of substations. [0004] However, due to the presence of fixed or temporary facilities such as rodent-proof baffles, safety fences, and construction protection net...

AI Technical Summary

Problems solved by technology

[0004] However, due to the presence of fixed or temporary facilities such as rodent-proof baffles, safety fences, and construction protection nets in some areas of the substation, the inspection operation area in the footed robot station is restricted. How to plan a reasonable inspection route to achieve full coverage of the substation equipment by the robot Patrol inspection, maximizing the benefits of foot inspection is the problem faced by robot path planning

[0005] In the prior art, the path planning of inspection robots is often pre-planned inspection paths based on the environment inside the substation. Although these paths can avoid some obstacle facilities, they cannot realize all-round inspection of the equipment in the substation. Due to the limitation of the planning path, it is impossible to ensure that the inspection data can be obtained from the best observation angle.

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