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Positioning method and device for patrol robot of transformer substation

A technology of inspection robots and positioning methods, which is applied in navigation computing tools and other directions, and can solve problems such as poor stability, poor fault tolerance, and inapplicability of mobile robots

Active Publication Date: 2017-01-11
XINJIANG UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The invention provides a positioning device and method for a substation inspection robot, which overcomes the deficiencies in the prior art, and can effectively solve the problems of poor stability and fault tolerance of mobile robots in the prior art and the inability of mobile robots to be used for outdoor mobile positioning The problem

Method used

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  • Positioning method and device for patrol robot of transformer substation
  • Positioning method and device for patrol robot of transformer substation
  • Positioning method and device for patrol robot of transformer substation

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0078] Embodiment 1: as attached figure 1 , 2 , 3, 4, 5, 6, 7, and 8, the substation inspection robot positioning method includes the following steps:

[0079] The first step is to establish a coordinate system, establish a world coordinate system OXYZ, and a two-dimensional code coordinate system o 1 x 1 the y 1 z 1 , the camera coordinate system o 2 x 2 the y 2 z 2 , the coordinate system o of part a of the gimbal 3 x 3 the y 3 z 3 , the coordinate system o of part b of the gimbal 3 x 4 the y 4 z 4 and robot coordinate system o 5 x 5 the y 5 z 5 ;

[0080] Here the QR code coordinate system o 1 x 1 the y 1 z 1 There is translation relative to the world coordinate system OXYZ, and rotation relative to the Z axis. camera coordinate system o 2 x 2 the y 2 z 2 Relative to the QR code coordinate system o 1 x 1 the y 1 z 1 for translation and rotation. The coordinate system of part A of the gimbal o 3 x 3 the y 3 z 3 Relative to the camera coo...

Embodiment 2

[0131] Embodiment 2: as attached Figure 9 , 10 As shown, a positioning device for a substation inspection robot includes a wheeled platform 1 for driving the robot, a robot motion controller 2 arranged in the wheeled platform 1, an encoder, a communication module, a camera and a cloud platform 3. The wheeled platform 1 is equipped with three omnidirectional wheels 5 at equal intervals along the circumference, and each of the three omnidirectional wheels 5 is equipped with an encoder. The bottom of the platform 3 is provided with a support shaft 4, which is fixedly installed on the wheel On the platform 1, the camera is installed on the top of the cloud platform 3, the robot motion controller 2 is connected to the communication module in two-way communication, the encoder is electrically connected to the robot motion controller 2 in two directions, and the camera and the cloud platform 3 are connected to the communication module Two-way communication connection.

[0132] In ...

Embodiment 3

[0137] Embodiment 3: as attached figure 1 , 2 , 3, 4, 5, 6, 7, 8, 9, and 10, the precise positioning method for the substation inspection robot based on the two-dimensional code information includes the following steps:

[0138] (1) Use the two-dimensional code generator to generate the two-dimensional code information of the substation equipment with the number;

[0139] (2) Bind the generated two-dimensional code picture, paste it on the corresponding equipment of the substation corresponding to the two-dimensional code information and obtain the coordinates of each two-dimensional code in the whole map;

[0140] (3) The trajectory diagram of the robot is automatically generated by the computer, and the trajectory diagram is sent to the mobile robot in a wireless form through a remote PC;

[0141] (4) Put the mobile robot equipped with pan / tilt and high-definition camera in the substation to move according to the trajectory map. During the movement of the robot, the position...

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Abstract

The invention relates to the technical field of intelligent patrol of transformer substations and discloses a positioning method and a positioning device for a patrol robot of a transformer substation. The positioning device comprises the following steps: (1) establishing a coordinate system; (2) calculating a positioning result of a speedometer; (3) calculating the pose of a movable robot; and (4) correcting a positioning result. The positioning device comprises a wheel type platform, a robot motion controller, encoders, a communication module, a camera and a cloud platform, wherein the wheel type platform is used for driving the robot to move, three all-directional wheels are mounted on the wheel type platform at equal intervals along the circumference, one encoder is mounted on each all-directional wheel, a support shaft is arranged at the bottom of the cloud platform and is fixedly mounted on the wheel type platform, and the camera is mounted on the top of the cloud platform. According to the positioning method and the positioning device, the encoders are combined with a QR code manner for positioning, so that the position of the movable robot can be still known when the QR code is shielded by obstacles. The patrol robot of the transformer substation can adopt the QR code positioning method in both the indoor and outdoor environments.

Description

technical field [0001] The invention relates to the technical field of substation intelligent inspection, and relates to a positioning method and a positioning device for a substation inspection robot. Background technique [0002] The positioning of existing mobile robots includes odometer-based positioning, inertial sensor-based positioning, visual positioning, ultrasonic positioning, map matching positioning, positioning based on multiple sensor information, positioning of road signs and lighthouses, and simultaneous positioning and map construction. (SLAM) and other positioning methods. At present, substation intelligent inspection robots mainly include track-type inspection robots and wheel-type inspection robots. The track-type inspection robot system uses the positioning piece set on the track to position the robot. The positioning accuracy is high, but the space for inspection is limited and it can only move in a fixed track. The positioning method of the wheeled i...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20Y04S10/50
Inventor 袁亮侯爱萍刘祖兵姜道伟罗高巨刚蒋伟何巍
Owner XINJIANG UNIVERSITY
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