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

An inspection robot and path planning technology, which is applied to control/adjustment systems, instruments, motor vehicles, etc., can solve the problems of obtaining inspection data, inspection, planning path restrictions, etc., to reduce inspection time and improve inspection time. Efficiency, the effect of improving adaptability

Active Publication Date: 2021-05-28
STATE GRID INTELLIGENCE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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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

Method used

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

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0040]Example one

[0041]According to an embodiment of the present invention, an embodiment of a substation foot type patrol robot path planning method is provided.figure 1 , Including the following process:

[0042]S101: Control the operation of the robot along the set inspection route, collect peripheral environment information during the inspection process, identify the type of power device to be inspected and the current operational road characteristics;

[0043]Specifically, the robot receives the inspection task, and the global inspection route is set along the inspection task. During the robot running, the environmental information of the controller or other mode identification technology is used to use a visual sensor or laser radar. Identify the type of power devices to be inspected, extract semantic information and current operational pavement features and boundaries.

[0044]Among them, environmental information includes: pavement feature information (flat pavement, stone pavement, ...

Example Embodiment

[0078]Example 2

[0079]According to an embodiment of the present invention, an embodiment of a substation foot type patrol robot path planning system includes:

[0080]The information acquisition module is used to control the operation of the robot's set inspection route. The surrounding environment information is collected during the inspection process, identify the type of power device to be inspected and the current operational road characteristics;

[0081]The information extraction module is used to extract the semantic information of the power device to be inspected, and obtain monitoring point information associated with the power device to be inspected;

[0082]The local path planning module is used to use the local path planning control robot with the local path planning control robot with the local path planning control robot to take the patrol data acquisition.

[0083]As an alternative embodiment, in order to increase the stability of the stable robot standing process, it includes: st...

Example Embodiment

[0085]Example three

[0086]In one or more embodiments, a substation foot type patrol robot is disclosed, including the substation foot-style inspection robot path planning system according to Embodiment 2, or using the substation foot formula described in the embodiment Patrol the robot path planning method for the inspection of power equipment.

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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...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0246G05D1/0257G05D1/0214G05D1/0221G05D1/0276G05D2201/02
Inventor 肖鹏孟健董旭朱明智李建祥黄锐许曦普徐康王勇杨尚伟李希智李健
Owner STATE GRID INTELLIGENCE TECH CO LTD
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