Transformer substation inspection robot positioning and navigation system integrated with multiple sensors

Abstract

The invention discloses a transformer substation inspection robot positioning and navigation system integrated with multiple sensors. The system is divided into nine functional modules including a positioning module, an obstacle avoidance module, a map management module, a voice control module, an electric quantity monitoring module, a task scheduling module, a navigation module, a bottom layer control module and a safety guarantee module. According to the invention, a laser radar odometer and a visual mileage calculation method are introduced to a substation inspection robot for the first time; the positioning stability and accuracy of the outdoor substation inspection robot can be effectively improved; and meanwhile, a depth camera is introduced into the transformer substation inspectionrobot, low obstacles or pit obstacles in front of the robot can be conveniently obtained, the compatibility and safety of the robot to various environments are improved, and meanwhile the robot has higher automatic navigation and obstacle avoidance capacity in the inspection task.

Description

technical field [0001] The invention relates to the technical field of automatic positioning and navigation of a substation inspection robot, in particular to a multi-sensor fusion substation inspection robot positioning and navigation system. Background technique [0002] In recent years, with the rapid development of mobile robot technology, more and more mobile robots are playing a huge role in various fields of society. With the advent of the era of artificial intelligence (AI), robotics has become an important indicator of the level of high-tech development, such as home service robots, shopping guide robots, sweeping robots, substation inspection robots, etc. However, as people's requirements for robot intelligence are getting higher and higher, almost all mobile robots will face a basic problem, that is, how to accurately locate, navigate and avoid obstacles in the three-dimensional world that people live in. The problem can be solved in a short time, because various...

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Problems solved by technology

[0005] The purpose of the present invention is to overcome the shortcomings of insufficient stability of traditional substation inspection robots based on magnetic rails and laser radar sensors, and propose a multi-sensor fusion substation inspection robot positioning and navigation system. The invention is the first time for substation inspection robots The introduction of laser radar odometer and visual mileage calculation method can effectively improve the positioning stability and accuracy of the outdoor substation inspection robot. At the same time, a depth camera is introduced to the substation inspection robot, which can easily obtain relatively low obstacles in front of the robot. Objects or pothole obstacles improve the compatibility and safety of the robot in various environments, and also enable the robot to have stronger automatic navigation and obstacle avoidance capabilities in inspection tasks

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