Inspection robot navigation system and method based on RTK Beidou and laser radar

Abstract

The invention relates to an inspection robot navigation system and method based on RTK Beidou and a laser radar. The inspection robot navigation system based on RTK Beidou and laser radar includes a robot movement station and a background management server, wherein the robot movement station includes a robot body, a control module, a positioning navigation module, a wireless communication module and a power supply management module; the control module, the positioning navigation module, the wireless communication module and the power supply management module are arranged on the robot body; thepositioning navigation module includes a laser radar and an RTK / SINS unit; a navigation map employs the design scheme combined with a global map and a local map; the global map construction draws ina mode that the robot records the track, and the navigation mode uses a preview PID algorithm; and the local map construction employs the laser radar to record the obstacle discrete data points and restore the obstacle edge information through the clustering step, the curve fitting step and other steps, and uses the artificial potential field path planning obstacle avoidance mode. Compared with the prior art, the inspection robot navigation system and method based on RTK Beidou and a laser radar have the advantages of being high in navigation positioning precision, having no demand for pavement reconstruction, being high in environment adaptability, and being high in work stability.

Description

technical field [0001] The invention relates to a navigation system, in particular to an inspection robot navigation system based on RTK Beidou and laser radar. Background technique [0002] Mobile inspection robots can save a lot of manpower, especially in dangerous places that are not suitable for manual inspections, such as ultra-high pressure inspection robots and oil pipeline inspection robots. It is bound to be a trend in the future to develop a combination of mobile inspection robots and manual inspections. [0003] Traditional mobile robots mostly use magnetic tracks, radio frequency identification technology RFID or fixed guide rails for positioning and navigation. In the 1990s, Japan developed a track inspection robot, which was applied to 500kV substations. In January 2014, the substation inspection robot developed by Zhejiang Guozi Robot Technology Co., Ltd. was put into operation in Ruian substation, using the navigation method of multiple sonar and laser rang...

AI Technical Summary

Problems solved by technology

Most of the references do not involve the construction of the system and the way of avoiding obstacles when encountering sudden obstacles on the inspection route

Moreover, although mobile robots developed in various places can basically meet the needs of routine inspections, they have disadvantages such as large environmental interference, weak anti-interference ability, low positioning accuracy and poor robot flexibility.

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