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An autonomous charging method for substation inspection robots based on laser navigation

An inspection robot and autonomous charging technology, which is applied in the direction of instruments, non-electric variable control, two-dimensional position/channel control, etc., can solve problems such as autonomous charging, achieve flexible position design, and save construction costs and time.

Active Publication Date: 2018-10-30
HANGZHOU SHENHAO TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problem of autonomous charging of inspection robots in trackless navigation and positioning, and provide an autonomous charging method for substation inspection robots based on laser navigation

Method used

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  • An autonomous charging method for substation inspection robots based on laser navigation
  • An autonomous charging method for substation inspection robots based on laser navigation
  • An autonomous charging method for substation inspection robots based on laser navigation

Examples

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Embodiment Construction

[0024] See attached image. The autonomous charging method for an inspection robot described in this embodiment is used on a robot with at least a motion control system, an inertial navigation system, and a laser scanning sensor; first, a charging room 1 for an inspection robot needs to be built in the substation, and the charging room 1 needs to be built in the substation. The size data and the position of the charging pile 3 in the charging room 1 are entered into the industrial computer of the inspection robot 2; the charging room 1 is equipped with an automatic rolling shutter 11;

[0025] When the inspection robot 2 needs to be charged, it first returns to the front of the charging room 1, and the tail is facing the house. The charging room 1 automatically opens the shutter 11, and then the robot 2 goes back a certain distance in a straight line, so that the robot 2 enters the front half of the charging room 1. The charging room Close the door; at the same time, robot 2 us...

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Abstract

The invention discloses a substation patrol robot autonomous charging method based on laser navigation. The method comprises the following steps: 1) building a patrol robot charging room; 2) during charging, a patrol robot backing up to the charging room, and scanning wall information at the two sides and right ahead of the robot 3) issuing motion control information through positioning of the robot; 4) fitting straight lines; 5) selecting four lines meeting requirements; 6) calculating coordinates of angle points A and B to obtain pose information of the robot; 7) according to the pose information, adjusting the angle of the robot; 8) judging distance between the robot and a charging pile; 9) when reaching the preset distance, the robot backing up to the charging pile directly, and the robot starting charging; and 10) after finishing charging, the robot moving forwards to separate from the charging pile to finish charging. The method can realize trackless autonomous charging; track laying is not needed; and construction cost and time can be saved, and the charging room can be arranged flexibly.

Description

technical field [0001] The invention relates to a navigation and positioning technology of a substation inspection robot, in particular to an autonomous charging method for a substation inspection robot based on laser navigation. Background technique [0002] At present, the autonomous charging technology of substation inspection robots is designed based on navigation and positioning technology. Most of the existing navigation and positioning technologies use rail-based navigation and positioning. position, and then the navigation and positioning system issues motion commands, so that the robot can reach the designated working position along the track laid in advance. [0003] However, the use of rail-based inspection robot navigation and positioning technology needs to lay the track in advance, which brings a lot of infrastructure construction work, and after the track is laid, the walking route of the inspection robot is inflexible and cannot be fixed according to the mana...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/024
Inventor 贾帆陈如申黎勇跃
Owner HANGZHOU SHENHAO TECH
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