Transformer substation inspection robot path planning navigation method

Abstract

The invention relates to a transformer substation inspection robot path planning navigation method. The method comprises the steps that a robot walks one circle around a transformer substation, and a two-dimensional grid map of the transformer substation is generated; transformer substation equipment image information is scanned, and a feature image is selected to serve as a road and equipment identification basis; an optimal inspection path is planned; surrounding environment information is scanned to generate a two-dimensional grid map of the surrounding environment, the position where the inspection robot is located is identified by comparing the surrounding environment map with the transformer substation map, and rough positioning is achieved; surrounding equipment image information is acquired, the equipment position is identified by comparing the surrounding environment image information with an equipment feature image, errors generated in the map matching link are corrected, and then higher-precision positioning is achieved; whether map matching positioning and visual positioning are in a same area or not is inspected, if yes, it is proved that positioning is accurate, and if not, it shows that positioning is wrong, and then map matching positioning and visual positioning are conducted again. Therefore, the positioning navigation reliability and accuracy are greatly improved.

Description

technical field [0001] The invention belongs to a navigation system for a substation inspection robot, in particular to a route planning and navigation method for a substation inspection robot based on map matching and visual positioning error correction. Background technique [0002] Substation equipment inspection robots use autonomous or remote control to inspect outdoor high-voltage equipment in unattended or few-attended substations, and can promptly detect thermal defects of power equipment, foreign object suspension and other equipment anomalies. According to the task operation of the operator in the base station or the pre-set tasks, the global path planning in the substation can be automatically carried out, and the image inspection of the substation equipment, the automatic identification of equipment and meters, and the infrared detection of primary equipment can be completed through various sensors carried in the substation. Detection, etc., record equipment info...

AI Technical Summary

Problems solved by technology

Electromagnetic navigation is based on magnetic trajectories and radio frequency identification (RFID) tags specially arranged on the road surface to realize the optimal path planning and two-way walking of the inspection robot. The construction of laying large-area magnetic strips is complicated and interferes with the normal operation of substations.

Inertial navigation technology is simple, but there are cumulative errors, and the stability of long-term work is poor

Relying entirely on visual navigation, the algorithm is complex and requires too much processor performance. At the same time, due to the single shape of the equipment in the substation, it is difficult to identify

The strong magnetic field of the substation interferes with the GPS signal, and the stability of GPS positioning is poor

Other navigation methods also have many problems such as low precision and poor stability.

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