Transformer substation inspection robot obstacle encountering control method and system

Abstract

The invention discloses a transformer substation inspection robot obstacle encountering control method and system. The method comprises the steps of: loading a generated path calibration map into an inspection robot; enabling the inspection robot to execute an inspection task and autonomously navigate and walk according to an inspection path; acquiring point cloud data in a road area range in realtime; and judging whether an obstacle exists in the inspection path area or not according to the point cloud data, and executing corresponding operation according to a judgment result until the inspection task is finished. According to the invention, the 3d laser radar is adopted to perform obstacle sensing while meeting autonomous navigation and positioning requirements, a laser radar sensor isfully utilized, various obstacle encountering control methods are provided, and after the robot encounters a fault, different processing modes are performed according to different road conditions, different obstacle sizes and positions, so that intelligent obstacle treatment of the robot is realized, the problems of single obstacle treatment mode, low intelligent level and the like of the robot are solved, the labor cost of operation and maintenance is reduced, and the practical level of products is improved.

Description

technical field [0001] The invention relates to the technical field of substation inspection, in particular to a method and system for controlling a substation inspection robot when it encounters an obstacle. Background technique [0002] The current obstacle detection method of the substation inspection robot mainly uses ultrasonic sensors or infrared sensors to sense. Generate a fault signal to enable the driver, the robot stops immediately, and an alarm is issued, and the robot continues to perform inspection tasks until the fault is removed. [0003] The anti-collision mode at this stage is that the inspection robot will stop immediately and give an alarm when it encounters an obstacle, and the robot will continue to walk until the obstacle is removed. If the obstacle is not removed, the robot will stop and give an alarm, waiting for the operation and maintenance personnel to manually Obstacles are removed, the obstacle handling mode is single, the flexibility is insuff...

AI Technical Summary

Problems solved by technology

[0011] The purpose of the present invention is to address the deficiencies in the prior art, to provide a method and system for controlling failures of substation inspection robots, which solves the problems of single failure handling mode and low level of intelligence of robots, reduces labor costs for operation and maintenance, and improves product quality. practical level

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