Automatic obstacle crossing system of crawler-type transformer substation inspection robot and automatic obstacle crossing control method

Abstract

The invention discloses an automatic obstacle crossing system of a crawler-type transformer substation inspection robot and an automatic obstacle crossing control method. The system comprises a mobilerobot body, a sensing system, a communication system, a control system, a pan-tilt system, a lighting system, an automatic charging system and an alarm system, wherein the sensing system, the controlsystem, the communication system, the lighting system and the alarm system are installed on the robot body; the pan-tilt system is arranged on the mobile robot system; information transmission is conducted between the sensing system and an industrial control computer, and information transmission is conducted between a movement control system and the industrial control computer. The robot can becharged by using the automatic charging system, the signal obtained by the sensing system is transmitted to the industrial control computer for analysis and processing, surrounding obstacle information is identified, analyzed and processed, then the industrial control computer sends a signal to the control system and other various assist systems, automatic obstacle crossing of the transformer substation inspection robot can be achieved, and meanwhile, the conditions of devices in a transformer substation can be monitored.

Description

technical field [0001] The invention relates to the field of robots and their control, in particular to an autonomous obstacle-surmounting system and a control method thereof in a non-structural environment of a crawler-type inspection robot. Background technique [0002] With the continuous progress of intelligent technology, robots have been applied in various fields, and the development of intelligent technology of robots has attracted extensive attention from all walks of life. Whether it is indoors or outdoors, intelligent robots are gradually replacing humans to complete work in some very dangerous environments that are not suitable for human activities. [0003] At present, using inspection robots to conduct inspections, equipment status monitoring and other signal detection work in some special environments has become an important way of inspection in special working environments, and will also become a mainstream form. However, there are still many problems in the ...

AI Technical Summary

Problems solved by technology

However, there are still many problems in the inspection robot at this stage. The inspection robot belongs to the ground mobile robot, and its navigation and positioning technology is not very mature, which is the key issue for the current inspection robot to realize real intelligence and complete autonomous movement.

At the same time, most inspection robots are still unable to realize human-computer interaction, and the ability of human-computer interaction needs to be improved. The safety performance of some inspection robots cannot be guaranteed at present, and further research and development and improvement are still needed.

And in some special working environments, the road surface is generally not horizontal, usually unstructured road conditions, such as stairs, grass, muddy ground, chasms, etc., inspection robots have to go back and forth in these unstructured environments Shuttle requires a certain ability to overcome obstacles autonomously. According to its structural characteristics, the wheeled inspection robot cannot work normally in operating environments such as unstructured terrain and climbing stairs, and cannot achieve rapid obstacle clearance. Assisted by a certain obstacle clearance system

In addition, the battery capacity of the existing inspection robot is limited, and generally can only last for a few hours, and must be charged in time. If it is manually charged, the inspection robot cannot operate completely autonomously.

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