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Valve hall inspection method and inspection robot based on laser radar

An inspection robot and lidar technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problem of inability to detect various abnormality of valve hall equipment, and achieve the effect of improving efficiency and accuracy

Pending Publication Date: 2017-05-24
MAINTENANCE BRANCH STATE GRID LIAONING ELECTRIC POWER +2
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  • Abstract
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  • Application Information

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Problems solved by technology

[0005] Aiming at the deficiencies in the existing technology, a valve hall inspection method and inspection robot based on lidar are proposed to solve the problem that the abnormality of various valve hall equipment cannot be detected in the prior art

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  • Valve hall inspection method and inspection robot based on laser radar
  • Valve hall inspection method and inspection robot based on laser radar

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Embodiment Construction

[0018] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined arbitrarily with each other.

[0019] figure 1 It is a flowchart of a valve hall inspection method based on lidar. Lidar valve hall inspection methods include:

[0020] Step 1, set the measuremen...

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Abstract

The invention discloses a valve hall inspection method and a valve hall inspection robot based on a laser radar. The inspection method includes the steps that a measuring plane of the laser radar fixed on the inspection robot is set to be perpendicular to the ground; the inspection robot runs along a preset track after receiving a data acquisition task, target valve hall equipment is detected through the laser radar, position information of the robot is obtained through a positioning device, and reference data and the position information are reported to a database; and after receiving a valve hall inspection task, the inspection robot runs along the preset track, acquires the position information and the reference data from the database, obtains radar data as real-time data, compares the real-time data with the reference data and judges whether the target valve hall equipment corresponding to the position information is abnormal or not according to the difference between the real-time data and the reference data as well as the preset threshold value. The valve hall inspection method and the inspection robot can effectively detect whether the valve hall equipment is abnormal or not, and the efficiency and the precision of equipment inspection are effectively improved.

Description

technical field [0001] The invention relates to the technical field of automatic detection, in particular to a laser radar-based inspection method for valve halls and an inspection robot. Background technique [0002] The converter valve group in the valve hall is the key equipment in the process of direct current transmission. In order to ensure its reliable operation, regular inspections are required. The valve hall inspection robot is used in the inspection work of the valve hall. [0003] The current technology can perform instrument reading or temperature measurement on instruments or vulnerable parts, and can also detect whether the valve hall is abnormal through image processing. The picture is compared with the normal picture, and the pattern recognition method is used to determine whether the area is abnormal. This method needs to take a picture of the area that may have problems in advance and make a template for pattern recognition. When the robot passes the pos...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/02B25J19/00
Inventor 朱静孙艳鹤孙德利张万新陈奎盛天宇陈庆军胡强
Owner MAINTENANCE BRANCH STATE GRID LIAONING ELECTRIC POWER
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