Substation inspection robot and its method based on multi-sensor data fusion composition

Abstract

The invention discloses a transformer substation patrol robot based on multi-sensor data fusion picture composition and a method thereof. The transformer substation patrol robot comprises a robot moving platform, wherein an industrial control machine, a speedometer, a speed measuring sensor, a vision acquisition device and a laser radar are arranged on the robot moving platform; the industrial control machine is connected with a journey calculation device, the vision acquisition device and the laser radar respectively; the journey calculation device is connected with the speed measuring sensor. The transformer substation patrol robot has the beneficial effects that the vision image processing position and the laser radar synchronization positioning and map establishment are two decision positioning modes, journey calculation device track plotting is a relative positioning mode, combined action of the two absolute positioning modes in picture composition is successfully achieved, the relative positioning mode is corrected by using the absolute positioning modes, and continuous correction of the journey calculation device is realized.

Description

technical field [0001] The invention belongs to the technical field of mobile robot positioning and navigation, and in particular relates to a substation inspection robot and method based on multi-sensor data fusion technologies such as odometer, vision, and laser radar. Background technique [0002] With the in-depth application of substation inspection robots in recent years, the complex substation environment and substation inspection tasks have put forward higher requirements for the navigation mode and navigation positioning accuracy of inspection robots. In order to better adapt to complex The substation environment meets the needs of complex substation inspection tasks. More and more navigation technologies are put into testing and put into application, and laser navigation technology is one of them. In the process of robot laser navigation, realizing autonomous positioning and high-precision navigation is an important prerequisite for inspection robots to complete in...

AI Technical Summary

Problems solved by technology

Although this method has certain feasibility and realizes the integration of environmental data collection and positioning and navigation on the same robot, there are errors in this solution because the odometer and gyroscope belong to the relative positioning mode, and the error has been unavoidable in the process of environmental data collection. When it comes to correction, there will be a large cumulative error after long-term or large-scale dead reckoning, and the circular loop cannot be closed. This requires that in the later stage of environmental data processing, in addition to data format conversion and editing, in order to correct the accumulated errors. In addition, it is necessary to introduce complex algorithms such as ICP (Closest Point Cyclic Iterative Matching Algorithm) and spring model. In addition, a large number of detailed map modification and adjustment work must be carried out. The reference standard is vague, the workload is heavy and there are modifications. The accuracy of the map is not high, the reproduction effect is not good, etc.

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