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Substation inspection robot navigation method with laser positioning and radio frequency positioning

A technology of inspection robot and navigation method, which is applied in the field of electric power system and robot, can solve the problems of poor positioning accuracy and difficult track laying, and achieve the effects of high positioning accuracy, rich inspection routes, and accurate and reliable positioning

Inactive Publication Date: 2019-02-22
NANJING INST OF TECH
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AI Technical Summary

Problems solved by technology

[0012] The purpose of the present invention is to solve the above-mentioned technical problems of difficult track laying and poor positioning accuracy, and provide a navigation method for a substation inspection robot using laser orientation and radio frequency positioning. In this method, the substation inspection robot ensures the direction of travel by dete

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  • Substation inspection robot navigation method with laser positioning and radio frequency positioning
  • Substation inspection robot navigation method with laser positioning and radio frequency positioning

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[0042] Example

[0043] like figure 2 Shown: The substation is set with charging position point D1, turning position points D2 and D3, monitoring position points D4 and D5, and set up 6 laser light sources L1 to L6, among which monitoring position point D4 is the regular inspection position point and position point D5 For key equipment monitoring position points, each position point has a unique number and is equipped with a corresponding radio frequency card with a unique number. Position points D2, D3, D4, and D5 are set with a corresponding laser light source, and position point D1 is set with two lasers light source. When the laser light source L1 irradiates from the position point D2 to the position point D1, when the laser light source L2 irradiates from the position point D3 to the position point D2, when the laser light source L3 irradiates from the position point D4 to the position point D3, when the laser light source L4 irradiates from the position point D3 D1 po...

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Abstract

The invention discloses a substation inspection robot navigation method with laser positioning and radio frequency positioning. The method comprises the steps that: (a) a robot determines a first position point and starts a corresponding laser light source after reaching a set time or receiving a signal, (b) a laser direction detector determines the traveling direction of the robot, (c) the laserlight source is closed and a current position point is identified when the robot reaches a position point of emitting laser, (d) the robot performs detection work when a monitoring position point is identified in step (c), (e) the robot starts a next laser light source on a traveling route according to a turning position point number and a logic table when a turning position point is identified instep (c), (f) steps (b) and (c) are repeated and the execution according to step (b) or (c) is determined according to the e identification result of step (c), and (g) the robot returns to a departure point after the detection work is completed. The method of the invention has the advantages of accurate traveling direction and high positioning precision.

Description

technical field [0001] The invention relates to the field of power systems and robots, in particular to a navigation method for a substation inspection robot using laser orientation and radio frequency positioning. Background technique [0002] Electric power regulations require that substations must conduct regular inspections: the traditional inspection method is manual inspections, which have problems such as high labor intensity, low inspection efficiency, and unobjective evaluation standards; with the development of intelligent technology, robots are gradually replacing Manual inspection can realize all-weather, all-round, fully automatic intelligent inspection of substations, effectively reduce operation and maintenance costs, and improve inspection efficiency and accuracy. [0003] Electric power regulations require that substations must conduct regular inspections: the traditional inspection method is manual inspections, which have problems such as high labor intensi...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0225G05D1/024G05D1/0242G05D1/0246G05D1/0276G05D1/028G05D2201/02
Inventor 陈凡刘海涛郝思鹏李军张小莲
Owner NANJING INST OF TECH
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