Transformer substation robot indoor navigation positioning method based on double-path laser

Abstract

The invention discloses a transformer substation robot indoor navigation positioning method based on double-path laser, which overcomes the problem of inconvenience in operation caused by inaccurate positioning of a robot in a transformer substation in the prior art, and comprises a double-path laser data calibration stage and a robot path navigation displacement stage, and a double-path laser data calibration stage and a robot path navigation displacement stage are firstly carried out. According to the invention, the distance position information from the substation robot to the to-be-operated equipment is measured through the two-way laser radar sensor, and the two-way data is integrated; and a positioning algorithm in the transformer substation robot realizes path planning of the transformer substation robot according to the distance position information to reach an optimal path for the transformer substation robot to move to the to-be-operated equipment.

Description

technical field [0001] The invention relates to the technical field of substations, in particular to an indoor navigation and positioning method for a substation robot based on two-way lasers. Background technique [0002] At present, artificial intelligence technology has been widely used in finance, medical care, education, manufacturing and other fields, and has achieved good application results. Practitioners in the power industry are often involved in a series of high-risk operations, especially some work in substations, such as closing, opening, switching operations, equipment inspections, abnormal and timely accident handling. Intelligent robot is a typical representative of artificial intelligence technology, which can replace human beings to complete some tasks, and has a natural match with the substation's demand for artificial intelligence technology. At present, Jiaxing Power Supply Company has put the intelligent operation robot into the substation for the firs...

AI Technical Summary

Problems solved by technology

[0003] The present invention aims to overcome the problem of unfavorable operation caused by inaccurate positioning of robots in substations in the prior art, and provides an indoor navigation and positioning method for substation robots based on two-way lasers, which can improve positioning accuracy. The output laser frame data is aligned in real time and effectively fused to obtain environmental feature point data with a wide viewing angle, combined with iterative feature point detection to achieve high-precision indoor positioning of substation robots

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