Substation unmanned carrying device based on laser SLAM navigation

Abstract

The invention discloses a transformer substation unmanned carrying device based on laser SLAM navigation. The device is provided with a multi-line laser radar, a camera, a positioning module, an inertial measurement sensor and an industrial personal computer. During working, the industrial personal computer firstly synchronizes three-dimensional point cloud acquired by the laser radar, environment images shot by the camera, six-degree-of-freedom motion data acquired by the IMU and position information provided by the positioning module. Then, feature points and contour data of the obstacle are extracted from the image. Through fusion of the sensor data, Kalman filtering is combined with a factor graph optimization algorithm to carry out position estimation and environment modeling, and finally a high-precision three-dimensional map of the transformer substation is constructed or updated in real time. According to the scheme, multi-source heterogeneous sensor information is fused, the perception robustness and navigation precision of the substation in a complex environment are remarkably improved, and reliable map support is provided for unmanned carrying.

Description

Technical Field

[0001] This application relates to the field of transportation device technology, and in particular to an unmanned transportation device for substations based on laser SLAM navigation. Background Technology

[0002] Unmanned substation transport devices are core equipment for smart grid construction, enabling autonomous inspection, monitoring, and emergency operations, and significantly improving the efficiency and safety of power operation and maintenance.

[0003] Chinese Patent, Publication No. CN108673467B, Publication Date: March 16, 2021, discloses "Substation Live-Line Maintenance Robot System and Method". It adopts multi-sensor information fusion technology and uses various types of sensors installed on the robot to perceive information about the robot body and the surrounding environment, thereby improving the safety and reliability of robot operation.

[0004] The shortcomings of the above technical solution are: it cannot build a high-precision map of the substation in real time, locate the unmanned transport device in the substation, and form a dynamic path adjustment for the unmanned transport device in the substation. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this application is to provide an unmanned substation transport device based on laser SLAM navigation, which can construct a high-precision map of the substation in real time, locate the unmanned substation transport device, and enable dynamic path adjustment of the unmanned substation transport device.

[0006] To achieve the above objectives, this application adopts the following technical solution: This application provides an unmanned substation transport device based on laser SLAM navigation. The unmanned substation transport device includes: a multi-line lidar for acquiring distances to obstacles and 3D point clouds in the environment; a camera for capturing images of the environment; a positioning module for acquiring the position information of the unmanned substation transport device; an inertial measurement sensor for acquiring six-degree-of-freedom acceleration and angular velocity data; and an industrial control computer that performs the following steps: synchronizing the 3D point cloud acquired by the multi-line lidar, the image acquired by the camera, the six-degree-of-freedom acceleration and angular velocity data acquired by the inertial measurement sensor, and the position information acquired by the positioning module for subsequent registration; extracting feature points and contour data of obstacles in the image acquired by the camera; and using Kalman filtering and factor graph optimization algorithms to fuse the 3D point cloud, feature points and contour data of obstacles in the image, six-degree-of-freedom acceleration and angular velocity data, and position information to generate a 3D map of the substation.

[0007] As a preferred technical solution, the industrial control computer further performs the following steps: based on the dynamic model of the unmanned substation transport device, initial PID parameters are obtained through traditional tuning methods or pre-trained optimization algorithms; dynamic errors are calculated, including lateral error, directional error, and obstacle avoidance correction term. The lateral error is the vertical distance between the current centerline of the unmanned substation transport device and the predetermined path, the directional error is the difference between the current orientation of the unmanned substation transport device and the tangential angle of the predetermined path, and the obstacle avoidance correction term is the path offset dynamically adjusted based on the distance, position, and contour data of nearby obstacles; the PID parameters are updated based on the gain of the error, including proportional gain, integral gain, and derivative gain. When the ultrasonic radar detects a nearby obstacle, the proportional gain is temporarily increased to improve the obstacle avoidance response speed. When the inertial measurement sensor senses the road surface tilt, the integral gain weight is increased to compensate for the steady-state deviation caused by gravity. When the environmental three-dimensional point cloud data of the multi-line lidar shows a narrow channel, the derivative gain weight is increased to suppress attitude oscillation.

[0008] As a preferred technical solution, the multi-line lidar is connected to a multi-line lidar control box. The multi-line lidar control box performs the following steps: receiving raw pulses or digital signals from the connected multi-line lidar; signal processing, including: calculating the laser pulse flight time to obtain the distance; denoising and filtering to improve the signal-to-noise ratio; calculating the distance value of each measurement point; calculating the intensity value of the reflected signal; combining the distance and intensity values ​​with the corresponding laser beam ID and the precise scanning angle and position information inside the lidar to generate three-dimensional spatial points; multi-line lidar control, including: configuring, starting, and stopping the connected multi-line lidar; adjusting the laser emission power, scanning range, and scanning frequency; monitoring the temperature, voltage, rotation speed, connection status, and operating status of the multi-line lidar to diagnose potential faults; implementing laser safety protocols; and communicating with an industrial control computer, including: sending the processed point cloud data and lidar status information to the industrial control computer through a standard interface; and receiving control commands from the industrial control computer, including start scanning, stop scanning, and parameter setting requests.

[0009] As a preferred technical solution, the positioning module includes: an RTK unit; the RTK unit includes an RTK antenna and an RTK controller; the RTK controller performs the following steps: signal processing, including: filtering signal noise through a low-noise amplifier; converting radio frequency signals into digital signals through an ADC converter; and position information optimization, including: comparing the phase difference of satellite signals received by the base station and the unmanned substation vehicle, and calculating the precise position information of the unmanned substation vehicle in real time.

[0010] As a preferred technical solution, the unmanned substation transport device further includes: ultrasonic radar; when the speed of the unmanned substation transport device is less than a preset value, ultrasonic radar is used to measure the distance to obstacles in the environment.

[0011] As a preferred technical solution, the industrial control computer is configured with a warning-stop dual threshold mechanism, which is executed by the industrial control computer based on the obstacle distance measured by ultrasonic radar.

[0012] As a preferred technical solution, the unmanned substation transport device further includes: a switch, a CAN module, a router, and a DC module; the switch and router are used to process network communication, the CAN module is used to convert control signals, and the DC module converts the DC input voltage into DC output voltages of different voltage levels to power the unmanned substation transport device.

[0013] As a preferred technical solution, the unmanned substation transport device further includes: a chassis; the chassis is used to support and fix other components on the unmanned substation transport device, and to provide traction for the unmanned substation transport device to travel; the left and right ends of the front of the chassis are provided with front lights, and the left and right ends of the rear of the chassis are provided with rear lights; the front of the chassis is also provided with a front stop bar, and the rear of the chassis is also provided with a rear stop bar, the front stop bar and the rear stop bar are respectively connected to the chassis by buckles.

[0014] As a preferred technical solution, the RTK antenna includes a main RTK antenna and a secondary RTK antenna, which are symmetrically arranged about the central axis of the unmanned substation transport device, and the distance between the main RTK antenna and the secondary RTK antenna is greater than 0.8m.

[0015] As a preferred technical solution, the chassis is provided with several profile interfaces for connecting and installing materials or equipment to be transported, and a pull ring is provided at the rear of the chassis.

[0016] Compared with the prior art, the beneficial effects of this application are as follows: This application utilizes multi-sensor spatiotemporal synchronization, laser-vision fusion SLAM, and factor graph optimization algorithms to construct a high-precision map of the substation in real time, locate the unmanned transport device in the substation, and form a dynamic path adjustment for the unmanned transport device in the substation, thereby realizing centimeter-level 3D reconstruction and blind-spot-free inspection of the substation. Attached Figure Description

[0017] Figure 1 This is a structural schematic diagram of the unmanned substation transport device based on laser SLAM navigation in this application. Figure 2This is a structural schematic diagram of the unmanned substation transport device based on laser SLAM navigation, from another perspective, as described in this application. Figure 3 This is a schematic diagram of the mounting plate structure of this application; The components include: 1. Chassis; 2. Profile interface; 3. Sensor bracket; 4. RTK antenna; 5. Camera; 6. Camera base interface; 7. RTK antenna interface; 8. Multi-line LiDAR; 9. Front touch stop bar; 10. Rear touch stop bar; 11. Pull ring; 12. Switch; 13. CAN module; 14. RTK controller; 15. Industrial computer; 16. Multi-line LiDAR control box; 17. Router; 18. Inertial measurement sensor; 19. Ultrasonic radar; 20. DC module; 21. Rear light; 22. Front light; 23. Mounting plate. Detailed Implementation

[0018] To enable those skilled in the art to better understand the present application, the technical solutions in specific embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0019] like Figures 1-3 As shown, this application provides an unmanned substation transport device based on laser SLAM navigation.

[0020] The unmanned substation transport device based on laser SLAM navigation includes: chassis 1, multi-line lidar 8, positioning module, camera 5, inertial measurement sensor 18, and industrial control computer 15.

[0021] The chassis 1 is used to support and fix other components on the unmanned substation transport device, and to receive the power output from the motor. The power is transmitted to the drive wheels through the transmission system and converted into traction force to drive the unmanned substation transport device.

[0022] In this application, the chassis 1 is provided with two profile interfaces 2 on the left and right sides. The length direction of the profile interface 2 is along the front and rear direction, and it is used to connect and install the materials or equipment to be transported.

[0023] The front and left sides of the chassis 1 are provided with headlights 22, and the rear and left sides of the chassis 1 are provided with taillights 21. The taillights 21 are used for left and right turn indication, and the headlights 22 are used for illumination.

[0024] The front of the chassis 1 is also provided with a front stop strip 9, and the rear of the chassis 1 is also provided with a rear stop strip 10. The front stop strip 9 and the rear stop strip 10 are connected to the chassis 1 by buckles for collision prevention.

[0025] The rear of the chassis 1 is also equipped with a pull ring 11 for towing.

[0026] The multi-line lidar 8 measures the distance to obstacles and the 3D point cloud by simultaneously emitting laser beams from multiple laser emitters and receiving reflected laser beams from multiple receivers. A "U"-shaped sensor bracket 3 is fixedly mounted on the front end of the chassis 1, and the multi-line lidar 8 is fixedly mounted in the middle of the lower part of the sensor bracket 3.

[0027] Camera 5 is fixedly mounted in the middle of the upper part of sensor bracket 3. Camera 5 captures images of the environment to obtain feature points and contour data of obstacles in the environment. Camera 5 includes a camera base with a camera base interface 6, through which camera 5 is connected to industrial control computer 15.

[0028] The chassis 1 has a mounting plate 23, on which the following are fixedly installed: switch 1212, CAN module 1313, positioning module 14, industrial computer 1515, multi-line lidar control box 1616, router 1717, inertial measurement sensor 1818, and DC module 2020.

[0029] Among them, switch 12 and router 17 are used to handle network communication, CAN module 13 is used to convert control signals, and DC module 20 (DC-DC power module) converts DC input voltage into DC output voltage of different voltage levels to power the unmanned transport device of the substation.

[0030] The multi-line lidar 8 is connected to the multi-line lidar control box 16, which is used to perform the following steps: a. Receive raw pulses or digital signals from the connected multi-line lidar 8; b. Signal processing, including: b1, calculate the laser pulse flight time to obtain the distance; b2, noise reduction and filtering, improves the signal-to-noise ratio; b3, accurately calculates the distance value for each measurement point; b4, calculate the intensity value of the reflected signal; b5 combines the distance and intensity values ​​with the corresponding laser beam ID (Channel ID) and the precise scanning angle / position information (including rotation angle, pitch angle, etc.) inside the radar to generate a three-dimensional spatial point; c. Multi-line lidar 8-control, including: c1, Configure, start, and stop the connection of the multi-line lidar 8; c2, adjusts laser emission power, scanning range, scanning frequency, etc.; c3 monitors the temperature, voltage, speed, connection status, and working status of the multi-line lidar 8 to determine if they are normal and diagnoses potential faults. c4 implements laser safety protocols; d. Communication with industrial computer 15 includes: d1 sends the processed point cloud data and radar status information to the industrial control computer 15 through standard interfaces (such as Ethernet TCP / IP, UDP, CAN bus, RS232 / 485, or even higher speeds such as 1G / 10G Ethernet, PCIe, etc.); d2 receives control commands from the industrial computer 15, such as start scanning, stop scanning, and parameter setting requests.

[0031] The inertial measurement sensor 18, i.e., the IMU sensor, includes an accelerometer and a gyroscope, and outputs six-degree-of-freedom acceleration and angular velocity data.

[0032] The positioning module is used to acquire the location information of unmanned transport devices in substations. In this application, the positioning module includes an RTK unit.

[0033] The RTK unit includes an RTK antenna 4 and an RTK controller 14. The RTK antenna 4 is used to receive radio frequency signals from satellites (such as GPS, GLONASS, Galileo, BDS, etc.) and convert them into digital information that can be interpreted by subsequent processing units. The RTK antenna 4 operates based on the carrier phase differential principle. By receiving the radio frequency signals from the satellite, it performs preprocessing using an internal low-noise amplifier (LNA) and a high-precision clock, and then transmits the signals to the RTK controller 14.

[0034] In this application, the RTK antenna 4 includes a main RTK antenna 4 and a secondary RTK antenna 4. The main RTK antenna 4 and the secondary RTK antenna 4 are respectively installed on the left and right ends of the upper part of the sensor bracket 3, and are symmetrically arranged about the central axis of the unmanned substation vehicle. The distance between the main RTK antenna 4 and the secondary RTK antenna 4 is greater than 0.8m. The secondary RTK antenna 4 works in conjunction with the main RTK antenna 4 to calculate the attitude of the unmanned substation vehicle through the dual-antenna baseline. The phase difference of the signals received by the main RTK antenna 4 and the secondary RTK antenna 4 from the same satellite, combined with the baseline length, is used to calculate the heading angle (heading angle, pitch angle) of the unmanned substation vehicle through geometric relationships, with an accuracy of up to 0.1.

[0035] Both the main RTK antenna 4 and the secondary RTK antenna 4 are equipped with RTK antenna interfaces 7, and the main RTK antenna 4 and the secondary RTK antenna 4 are connected to the RTK controller 14 through their respective RTK antenna interfaces 7.

[0036] RTK controller 14 performs the following steps: a. Signal processing, including: a1 filters signal noise through a low-noise amplifier (LNA); a2, converts radio frequency signals into digital signals through an ADC converter; b. Location information optimization, including: By comparing the phase difference between the satellite signals received by the base station (with a known precise location) and the unmanned substation vehicle, the precise location information of the unmanned substation vehicle can be calculated in real time.

[0037] The industrial control computer 15 integrates the three-dimensional point cloud data acquired by the multi-line lidar 8, the feature points and contour data of obstacles acquired by the camera 5, the six-degree-of-freedom acceleration and angular velocity data acquired by the inertial measurement sensor 18, and the position information acquired by the positioning module to generate a three-dimensional map of the substation. Specifically, the industrial control computer 15 performs the following steps: a. The three-dimensional point cloud acquired by the multi-line lidar 8, the image acquired by the camera 5, the six-degree-of-freedom acceleration and angular velocity data acquired by the inertial measurement sensor 18, and the position information acquired by the positioning module are synchronized for subsequent registration. b. Extract feature points and contour data of obstacles from the images acquired by the camera 5; c. By using Kalman filtering and factor graph optimization algorithms, a 3D map of the substation is generated by fusing feature points and contour data of obstacles in the 3D point cloud, six-degree-of-freedom acceleration and angular velocity data, and location information.

[0038] Furthermore, a predetermined path information, including several path points, is input into the industrial control computer 15. Based on the 3D map and the predetermined path information, the industrial control computer 15 adjusts the position and attitude of the unmanned substation transport device in real time. Specifically, the industrial control computer 15 also performs the following steps: Based on the dynamic model of the unmanned substation transport device, the initial PID parameters are obtained through traditional tuning methods or pre-trained optimization algorithms. Calculate the dynamic error, which includes lateral error, directional error, and obstacle avoidance correction. The lateral error is the vertical distance between the centerline of the current unmanned transport device in the substation and the predetermined path. The directional error is the difference between the orientation of the current unmanned transport device in the substation and the tangential angle of the predetermined path. The obstacle avoidance correction is the path offset dynamically adjusted based on the distance, position, and contour data of nearby obstacles. The PID parameters are updated based on the error gain, which includes proportional gain, integral gain and derivative gain. When the ultrasonic radar 19 detects a nearby obstacle, the proportional gain is temporarily increased to improve the obstacle avoidance response speed. When the inertial measurement sensor 18 senses the road tilt, the integral gain weight is increased to compensate for the steady-state deviation caused by gravity. When the environmental three-dimensional point cloud data of the multi-line lidar 8 is displayed in a narrow channel, the derivative gain weight is increased to suppress attitude oscillation.

[0039] Furthermore, the unmanned substation transport device also includes an ultrasonic radar 19, which is mounted on mounting plate 23. When the speed of the unmanned substation transport device is less than 5 km / h, the ultrasonic radar 19 is used to measure the distance to obstacles in the environment. The ultrasonic radar 19 calculates the distance to obstacles by emitting high-frequency sound waves above 19 kHz (shorter wavelength) and using the echo time difference. The 19 kHz frequency is outside the range of most mechanical noise to reduce interference from the industrial environment; the short wavelength can detect small obstacles (such as pipes and metal supports).

[0040] Furthermore, the industrial control computer 15 is configured with a warning-stop dual threshold mechanism (such as triggering a voice broadcast or light warning when the obstacle distance is less than 50 cm, and forcibly cutting off power and locking the action when the obstacle distance is less than 20 cm). The industrial control computer 15 executes the warning-stop dual threshold mechanism based on the obstacle distance measured by the ultrasonic radar 19.

[0041] It should be noted that the terms "first," "second," and similar terms used in this application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, "a" or "one," and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. "A plurality" or "several" indicates at least two. Unless otherwise stated, terms such as "front," "back," "left," "right," "lower," and / or "upper" are for illustrative purposes only and are not limited to a location or spatial orientation. Terms such as "comprising" or "including" indicate that the elements or objects preceding "comprising" encompass the elements or objects listed following "comprising" or "including" and their equivalents, and do not exclude other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect.

[0042] The singular forms “a,” “the,” and “the” used in this application specification and appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0043] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A substation unmanned transport device based on laser SLAM navigation, characterized in that, The unmanned transport device for the substation includes: Multi-line lidar, used to acquire distances and three-dimensional point clouds of obstacles in the environment; A camera used to capture images of the environment; The positioning module is used to acquire the location information of the unmanned transport device in the substation. An inertial measurement sensor, wherein the inertial measurement sensor is used to acquire six-degree-of-freedom acceleration and angular velocity data; The industrial control computer performs the following steps: synchronizing the 3D point cloud acquired by the multi-line lidar, the image acquired by the camera, the six-degree-of-freedom acceleration and angular velocity data acquired by the inertial measurement sensor, and the position information acquired by the positioning module for subsequent registration; extracting feature points and contour data of obstacles in the image acquired by the camera; and using Kalman filtering and factor graph optimization algorithms to fuse the 3D point cloud, feature points and contour data of obstacles in the image, six-degree-of-freedom acceleration and angular velocity data, and position information to generate a 3D map of the substation.

2. The unmanned substation transport device based on laser SLAM navigation according to claim 1, characterized in that, The industrial control computer also performs the following steps: Based on the dynamic model of the unmanned substation transport device, the initial PID parameters are obtained through traditional tuning methods or pre-trained optimization algorithms. Calculate the dynamic error, which includes lateral error, directional error, and obstacle avoidance correction. The lateral error is the vertical distance between the centerline of the current unmanned transport device in the substation and the predetermined path. The directional error is the difference between the orientation of the current unmanned transport device in the substation and the tangential angle of the predetermined path. The obstacle avoidance correction is the path offset dynamically adjusted based on the distance, position, and contour data of nearby obstacles. Error-based gain updates PID parameters, where the gain includes proportional gain, integral gain, and derivative gain. When ultrasonic radar detects a nearby obstacle, it temporarily increases the proportional gain to improve obstacle avoidance response speed. When inertial measurement sensor senses road tilt, it increases the integral gain weight to compensate for steady-state deviation caused by gravity. When multi-line lidar displays environmental 3D point cloud data in narrow channels, it increases the derivative gain weight to suppress attitude oscillation.

3. The unmanned substation transport device based on laser SLAM navigation according to claim 1, characterized in that, The multi-line lidar is connected to a multi-line lidar control box, and the multi-line lidar control box performs the following steps: Receive raw pulses or digital signals from the connected multi-line lidar; Signal processing includes: calculating the time of flight of the laser pulse to obtain the distance; denoising and filtering to improve the signal-to-noise ratio; calculating the distance value of each measurement point; calculating the intensity value of the reflected signal; and combining the distance and intensity values ​​with the corresponding laser beam ID and the precise scanning angle and position information inside the radar to generate three-dimensional spatial points. Multi-line lidar control includes: configuring, starting, and stopping connected multi-line lidars; adjusting laser emission power, scanning range, and scanning frequency; monitoring the temperature, voltage, rotation speed, connection status, and operational status of the multi-line lidars to diagnose potential faults; and implementing laser safety protocols. Communicating with the industrial control computer includes: sending processed point cloud data and radar status information to the industrial control computer through a standard interface; and receiving control commands from the industrial control computer, including start scanning, stop scanning, and parameter setting requests.

4. The unmanned substation transport device based on laser SLAM navigation according to claim 1, characterized in that, The positioning module includes an RTK unit; the RTK unit includes an RTK antenna and an RTK controller; the RTK controller performs the following steps: Signal processing includes: filtering signal noise using a low-noise amplifier; and converting radio frequency signals into digital signals using an ADC converter. Location information optimization includes: comparing the phase difference of satellite signals received by the base station and the unmanned substation vehicle to calculate the precise location information of the unmanned substation vehicle in real time.

5. The unmanned substation transport device based on laser SLAM navigation according to claim 1, characterized in that, The unmanned substation transport device also includes an ultrasonic radar; when the speed of the unmanned substation transport device is less than a preset value, the ultrasonic radar is used to measure the distance to obstacles in the environment.

6. A substation unmanned transport device based on laser SLAM navigation according to claim 5, characterized in that, The industrial control computer is configured with a warning-stop dual threshold mechanism, which is then executed based on the obstacle distance measured by the ultrasonic radar.

7. The unmanned substation transport device based on laser SLAM navigation according to claim 1, characterized in that, The unmanned substation transport device also includes: a switch, a CAN module, a router, and a DC module; the switch and router are used to process network communication, the CAN module is used to convert control signals, and the DC module converts the DC input voltage into DC output voltage of different voltage levels to power the unmanned substation transport device.

8. The unmanned substation transport device based on laser SLAM navigation according to claim 1, characterized in that, The unmanned substation transport device further includes: a chassis; the chassis is used to support and fix other components on the unmanned substation transport device, and to provide traction for the unmanned substation transport device to travel; the left and right ends of the front of the chassis are provided with front lights, and the left and right ends of the rear of the chassis are provided with rear lights; the front of the chassis is also provided with a front stop bar, and the rear of the chassis is also provided with a rear stop bar, and the front stop bar and the rear stop bar are respectively connected to the chassis by buckles.

9. A substation unmanned transport device based on laser SLAM navigation according to claim 4, characterized in that, The RTK antenna includes a main RTK antenna and a secondary RTK antenna, which are symmetrically arranged about the central axis of the unmanned substation transport device, and the distance between the main RTK antenna and the secondary RTK antenna is greater than 0.8m.

10. A substation unmanned transport device based on laser SLAM navigation according to claim 9, characterized in that, The chassis is provided with several profile interfaces for connecting and installing materials or equipment to be transported, and a pull ring is provided at the rear of the chassis.

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