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Transformer substation patrol robot positioning and navigation system

A technology of inspection robots, positioning and navigation, applied in navigation, surveying and mapping, road network navigators, etc., can solve problems such as strong manual dependence, and achieve the effects of good promotion, rich map information, and low hardware complexity

Inactive Publication Date: 2014-11-26
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method needs to draw an electronic map of the substation in advance, and the reference positioning column needs to be laid in advance and the coordinates must be determined. It is still a method based on artificial signs and is highly dependent on labor.

Method used

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  • Transformer substation patrol robot positioning and navigation system
  • Transformer substation patrol robot positioning and navigation system
  • Transformer substation patrol robot positioning and navigation system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0023] combine figure 1, a substation inspection robot positioning and navigation system, including a main control computer 1, a first gear motor 2, a second gear motor 3, a laser radar 4, a first encoder 5, a second encoder 6, a motion control module 7, The data acquisition card 8, the wireless data communication module 9 and the power supply module 10, the output end of the laser radar 4 is connected with the main control computer 1, and the surrounding environment information is sent to the main control computer 1, and the input of the main control computer 1 and the motion control module 7 The output end of the motion control module 7 is connected with the input ends of the first geared motor 2 and the second geared motor 3 at the same time to drive the first geared motor 2 and the second geared motor 3 to rotate. The first geared motor 2 and the second geared motor The output end of geared motor 3 is connected with the input end of first encoder 5, the second encoder 6 re...

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Abstract

The invention discloses a transformer substation patrol robot positioning and navigation system which comprises a main control computer, a first gear motor, a second gear motor, a laser radar, a first coder, a second coder, a motion control module, a data acquisition card, a wireless data communication module and a power supply module, wherein the laser radar is connected to the main control computer to transmit information of a surrounding environment to the main control computer, thus finishing map establishment and positioning, route planning, local obstacle avoidance and completing map information. According to the positioning and navigation system, artificial surveying and mapping as well as map establishment in advance are avoided, and autonomy is high; an environment map of a transformer substation can be automatically established and be updated in a patrolling process.

Description

technical field [0001] The invention belongs to the technical field of power system substation operation and maintenance, in particular to a positioning and navigation system for a substation inspection robot. Background technique [0002] The inspection robot system applied in the substation environment has been able to partially replace manual inspection methods, accurately inspect the equipment in the substation, find faults in time and generate reports, effectively maintain the stable operation of the power system, and reduce manual inspections. mistakes and work intensity. [0003] The prerequisite for the robot system to complete its inspection tasks is to realize the rapid and accurate autonomous positioning, navigation and path planning of the robot in a complex environment. At present, there are many ways to realize the positioning and navigation of substation inspection robots, such as laying fixed track navigation methods, machine vision positioning methods, GPS ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34
CPCG01C21/00
Inventor 吴盘龙李星秀曹洪君姚翔张新宇薄煜明邹卫军
Owner NANJING UNIV OF SCI & TECH
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