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Transformer substation inspection robot navigation system and transformer substation inspection robot navigation method

An inspection robot and navigation system technology, applied in the field of substation inspection robot navigation system, can solve the problems of no autonomous navigation function, high price of lidar, loss of navigation effect, etc., to improve outdoor applicability and practicability, and improve navigation. The effect of high precision and reliability

Active Publication Date: 2018-12-18
BEIJING AEROSPACE GUANGHUA ELECTRONIC TECH CO LTD
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Problems solved by technology

[0003] At present, there are two mainstream outdoor positioning solutions for inspection robot navigation on the market. One is the laser radar navigation system. This kind of system can achieve practical laser radar. Requirements; one is RTK navigation system, this system does not have autonomous navigation function, once the scene is blocked, the reliability will be very low, and even the navigation effect will be lost

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  • Transformer substation inspection robot navigation system and transformer substation inspection robot navigation method
  • Transformer substation inspection robot navigation system and transformer substation inspection robot navigation method

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Embodiment Construction

[0024] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0025] figure 1 It is a block diagram of the substation inspection robot navigation system provided by the embodiment of the present invention. Such as fig...

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Abstract

The invention discloses a transformer substation inspection robot navigation system and a transformer substation inspection robot navigation method. The transformer substation inspection robot navigation system comprises a robot body and a ground station. The ground station is used to transmit difference information to the robot body. The robot body is used to process the difference information toacquire positioning information, and the robot body is used to acquire first measuring navigation information of a current mobile station by virtual displacement information, gesture information, andpositioning information through a fusion algorithm, and the virtual displacement information and the gesture information are provided by the robot body. The robot body is used to establish a raster map according to polar coordinate information, and according to the raster map and the polar coordinate information, the second measuring navigation information of the current mobile station is acquired. The robot body is used to fuse the first measuring navigation information and the second measuring navigation information by Kalman filtering to acquire real-time navigation information. Accordingto the invention, automatic navigation capability is provided, and outdoor navigation precision and navigation stability are greatly improved.

Description

technical field [0001] The invention belongs to the field of substation inspection robots, and in particular relates to a navigation system and method for a substation inspection robot. Background technique [0002] The substation intelligent inspection robot has the functions of autonomous navigation, positioning, charging, and inspection. It uses the combination of infrared thermal imaging and high-definition video technology to accurately monitor the readings of various instruments in the substation and the current and voltage heating phenomena of equipment, and timely find equipment defects. Improving the efficiency of equipment inspections will completely replace manual inspections, more effectively ensure the quality of equipment inspections, improve work efficiency, reduce the work intensity of operators, and focus on solving the problems of difficult and dangerous inspections in bad weather. The promotion and application of on-duty substations provides innovative tec...

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Application Information

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IPC IPC(8): G01S19/41
CPCG01S19/41
Inventor 吴海辛瑞红李萌李鹏博语
Owner BEIJING AEROSPACE GUANGHUA ELECTRONIC TECH CO LTD
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