CN105698807A - Laser navigation system applicable to intelligent inspection robot of transformer substation - Google Patents
Laser navigation system applicable to intelligent inspection robot of transformer substation Download PDFInfo
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- CN105698807A CN105698807A CN201610067580.5A CN201610067580A CN105698807A CN 105698807 A CN105698807 A CN 105698807A CN 201610067580 A CN201610067580 A CN 201610067580A CN 105698807 A CN105698807 A CN 105698807A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
Abstract
The invention discloses a laser navigation system applicable to an intelligent inspection robot of a transformer substation, overcoming the problem in the prior art that navigation control positioning precision of the robot still needs to be improved. The laser navigation system comprises the following steps: step 1, configuring the robot; step 2, establishing an environment map; step 3, carrying out a laser navigation positioning test; and step 4, executing tasks at stopping points. In the step 3, a move_base packet in the laser navigation positioning test is used for doing a path plan on the map by utilizing robot position information and real-time obstacle information sensed by a laser sensor, and issuing planning speed information to a movement controller on the bottom layer, so that the robot safely arrives at an appointed target position. The invention provides the laser navigation type intelligent inspection robot of the transformer substation, which is not interfered by a strong electromagnetic field in a transformer substation environment, and is reliable to operate, accurate in navigation positioning, easy to realize and low in development cost.
Description
Technical field
This invention relates to a kind of laser navigation method of robot, particularly relate to a kind of Laser navigation system suitable in robot used for intelligent substation patrol。
Background technology
Deepening continuously and developing along with scientific and technological progress and power system reform, Automation of Electric Systems degree there has been large increase, many transformer stations achieve remote measurement, remote signalling, remote control, remote regulating function, but all there is also to a certain extent because nobody monitors in time at the scene, makes an inspection tour and a series of potential safety hazards of causing。For this, robot used for intelligent substation patrol is increasingly becoming the important member in few people or unattended substation。
At present, robot used for intelligent substation patrol mainly has two kinds of navigation modes, and magnetic tracks is navigated and laser navigation。Although magnetic navigation mode has the features such as navigator fix repeatable accuracy is good, capacity of resisting disturbance is strong, but its shortcoming is also abnormal obvious, when such as magnetic tracks is laid, ground construction complex work amount is big, robot running route is dumb, robot chassis height is limited to Magnetic Sensor detecting distance etc.。When Laser navigation system runs, it is not necessary to complicated floor treatment, and it is provided that the accurate position of robot and course information；Robot navigation controls to complete in Robot Motion Controller, is conducive to improving response time and the precision that robot navigation controls。
On the other hand, along with fast development and the complication of robot field, the durability of code and modular demand are increasingly stronger, and existing robot system of increasing income can not well adapt to demand。WillowGarage companies in 2010 have issued the robot operating system ROS (robotoperatingsystem) that increases income deferring to BSD agreement, quickly expand study in robot research field and use the upsurge of ROS。At present, ROS has been increasingly becoming the universal Software Platform in robot research and development field。
The magnetic tracks navigation of prior art employing adopts magnetic tracks to guide additional RFID tag location, and navigation system is by array of magnetic sensors, motion controller (containing motor driver, lower same), industrial computer and RFID card reader composition；Workflow is: by the array of magnetic sensors measuring robots skew relative to magnetic tracks being installed on robot chassis front end, motion controller adjusts the differential of robot two side drive wheel according to this side-play amount, so that the magnetic tracks that Robot is laid in advance is run；RFID card reader in robot is connected with industrial computer, and when RFID card reader detects that the path point of the RFID tag mark of pre-plugged reporting information are to after industrial computer, the industrial computer control robot that sends instructions down again stops or turns to。
Laser navigation mode adopts laser navigation sensor to position, and navigation system is made up of laser navigation sensor, motion controller and industrial computer。Patent No. zL200420040968.9, name is called in the patent of " mobile inspecting rebot of variable distributing apparatus " to propose and a kind of adopts the technical scheme of distribution equipment operation conditions in automatic detecting transformer station of robot。The program adopts GPS geo-location system and laser range sensor composition navigation information transfer unit, and its dynamic locating accuracy reaches as high as Centimeter Level, can be accurately obtained in transformer station the coordinate of optional position in theory。But in transformer station's strong electromagnetic environment, interference that GPS device is subject in transformer station strong-electromagnetic field, cause that its navigation and positioning accuracy reduces and even lost efficacy, affect robot and complete to patrol and examine work quality。
Although prior art has the disadvantage in that 1, magnetic tracks navigation navigator fix mode has the features such as navigator fix repeatable accuracy is good, capacity of resisting disturbance is strong, but also face some problems in actually used, when such as magnetic tracks is laid, ground construction complex work amount is big, robot running route is dumb, robot chassis height is limited to Magnetic Sensor detecting distance, stop the raising of precision is limited between industrial computer and motion controller communication delay etc., and these problems are relatively difficult to resolve certainly under magnetic navigation mode。
2, GPS geo-location system and laser range sensor composition navigation information transfer unit are adopted in conjunction with the laser navigation of GPS, but in transformer station's strong electromagnetic environment, interference that GPS device in this navigation information transfer unit is subject in transformer station strong-electromagnetic field, cause that its navigation and positioning accuracy reduces even to lose efficacy, affect robot and complete to patrol and examine work quality。
3, the mode of existing Intelligent Mobile Robot many employings presetting bit performs the Detection task of power equipment, not only needs the camera head parameter that each power equipment of prior calibration each task point place is corresponding, records as presetting bit data, and teaching task is heavy；More to guarantee the robot accurate stop at each task point, otherwise just cannot complete detection。
Summary of the invention
Instant invention overcomes in prior art, robot navigation controls the problem that positioning precision still needs to improve, it is provided that the Laser navigation system being applicable to robot used for intelligent substation patrol that a kind of reliable, positioning precision is higher。
The technical solution of the present invention is to provide a kind of Laser navigation system being applicable to robot used for intelligent substation patrol having steps of: containing following steps: step 1, robot configure；Step 2, environmental map create；Step 3, laser navigation assignment test；Step 4, anchor point tasks carrying。
Robot configuration in described step 1 mainly comprises the steps that step 1: robot modeling；Step 2: sensing data is issued；Step 3: mileage information calculates；Step 4:tf coordinate system transformation etc.。
The ambient condition information that hector_mapping bag in the establishment of described step 2 environmental map utilizes laser sensor to perceive draws environmental map calculating robot's current location information。
In described step 3, the move_base bag in laser navigation assignment test utilizes the real-time complaint message that robot location's information and laser sensor perceive to do path planning on map, and by planning that velocity information is distributed to the motion controller of bottom, make robot security arrive the target location specified。
Described move_base bag mainly includes two parts: global path planning carries out the planning of overall path according to given target location, calculates the robot overall route to target location, utilizes navfn bag to realize；Local paths planning carries out hiding route planning according to neighbouring barrier, utilizes base_local_planner bag to realize。
The described navfn bag algorithm by Dijkstra optimal path, calculates the least cost path, as the overall route of robot on environmental map；Described base_local_planner bag arrives a plurality of road warp of target by TrajectoryRollout and DynamicWindowapproaches algorithm search, some evaluation criterions are utilized to choose the path of optimum, such as whether meeting strikes obstacles or required time, and calculate required real-time speed and angle；Its main thought is as follows: (1) robot current state sampling (dx, dy, dtheta)；(2) for the speed of each sampling, calculating robot, with the state after this speeds a period of time, draws a route travelled；(3) utilizing some evaluation criterions is a plurality of route calculation score；(4) according to score, optimal path is selected；(5) repeat above process until arrive target location。
Described step 4 anchor point tasks carrying must measure each equipment coordinate position in three dimensions in advance, after robot stops, automatically calculate the The Cloud Terrace camera parameter of stopped position corresponding device。
Compared with prior art, the present invention have the advantage that suitable in the Laser navigation system of robot used for intelligent substation patrol the invention provides a kind of by strong-electromagnetic field interference substation, reliable, navigator fix accurately, be easily achieved, Intelligent routing inspection robot of laser navigation that development cost is cheap。Make full use of original magnetic navigation robot system, only a navigation module need to be provided to communicate with motion controller, laser navigation is not by electromagnetic interference influence, navigation and positioning accuracy is up to Centimeter Level even grade, device integration is high, external interface is easy to use, it is ensured that robot is reliably efficiently completed and patrols and examines work, can be widely applied to patrolling and examining of power plant and the various distribution equipment of transformer station。Native system is without complicated floor treatment workload, flexibly changing robot running route, robot chassis height is not by the constraint of navigation system ground, and robot stops precision also not to be affected by communication delay between industrial computer and motion controller, thus avoiding original navigator fix mode problem encountered。Using HECTOR rapid drafting, ten several minutes just can create the map that a width needed dozens of hour to generate originally。Abandon presetting bit detection method, improve the efficiency that robot site is disposed。Limit robot motion's scope so that it is can run in transformer station's specified link and unexpected its can enter non-rice habitats district。Limit map size, each loading robot peripheral map, improve the speed of service。The present invention only needs each power equipment of single-time measurement coordinate position (total powerstation) in three dimensions, after robot arrives anchor point, automatically the The Cloud Terrace camera parameter of this some place corresponding device is calculated, the method is precisely reliable, simple, it is greatly saved manpower and materials and time cost that robot site is disposed。
Accompanying drawing explanation
Fig. 1 is the hardware system building-block of logic that the present invention is applicable to the Laser navigation system of robot used for intelligent substation patrol；
Fig. 2 is the present invention right hand rule schematic diagram that ROS uses suitable in the Laser navigation system robot modeling of robot used for intelligent substation patrol；
Fig. 3 is present invention modeling size schematic diagram of vehicle body and wheel suitable in the Laser navigation system of robot used for intelligent substation patrol；
Fig. 4 is present invention ROS navigation module block schematic illustration suitable in the Laser navigation system of robot used for intelligent substation patrol。
Detailed description of the invention
The Laser navigation system present invention being applicable to robot used for intelligent substation patrol below in conjunction with the drawings and specific embodiments is described further: as shown in Figure 1, the technical scheme is that Intelligent routing inspection robot of laser navigation of hardware system of the present invention, it includes chassis, chassis is provided with 24v rechargeable battery, DC2412 transformator, motion controller, drive motor, remote control reception module, alarm lamp, laser sensor, MOXA switch, serial server, The Cloud Terrace pillar, industrial computer, video server, wireless module。Wherein motion controller, laser sensor and wireless module by 24V power voltage supply, motion controller respectively with drive motor, remote control reception module, alarm lamp connect；MOXA switch, serial server, industrial computer, video server and cradle head controllor are by 12V power voltage supply；The Cloud Terrace pillar top is provided with The Cloud Terrace and electric device maintenance unit；The Cloud Terrace is by cradle head controllor control；Electric device maintenance unit includes thermal camera and high-definition camera；Video server connects with cradle head controllor, MOXA switch, pick up and loudspeaker power amplifier respectively；Motion controller, laser sensor and cradle head controllor are connected with industrial computer by MOXA switch；Cradle head controllor is connected with serial server also by serial ports；Wireless module is connected with MOXA switch by network interface。
Software system: the software system of the present invention be the technical scheme is that and develops in ROS system, makes full use of achievement of increasing income, and shortens development cost and cycle。The functional packet used has robot model to wrap and drives bag, speedometer information bag, map building bag, location navigation bag, task control bag。Robot is modeled by robot model's bag, it is provided that the accurate description of robot model。Robotically-driven bag receives the ROS velocity information issued, and is distributed to the kinetic control system of robot, and receives the real-time speed of robot as feedback, it is provided that to the actual mileage information of speedometer information bag calculating robot。Map building bag utilizes mileage information and laser data to create environmental map and describes, and the location navigation for next step provides map support。Location navigation bag feedback robot coordinate position in map, receives target information, planning global path and local path, issues robot control command so that it is target location of arriving safe and sound。The anchor point information of robot issued by task control bag, and issues task of taking pictures after robot successfully stops。
This software system workflow includes four partial contents: robot configures；Environmental map creates；Laser navigation assignment test；Anchor point tasks carrying。
First, robot configures。Robot configuration mainly includes robot modeling, the contents such as sensing data is issued, and mileage information calculates, tf coordinate system transformation。
1, robot modeling。ROS uses right hand rule, as in figure 2 it is shown, forefinger and middle finger point to x, y-axis positive direction, thumb points to z-axis positive direction。Selecting robot center of rotation as zero, dead ahead is x-axis positive direction, and y-axis is towards a left side, and z-axis upward, is counterclockwise positive direction when z-axis rotates, is negative direction clockwise。Use cuboid to replace vehicle body, use cylinder to replace wheel, as it is shown on figure 3, preserve each module size and coordinate data in URDF file。
2, sensing data is issued。It is very important by ROS release sensor data。Robot passes through sensor senses surrounding and oneself state information: without laser data, robot just cannot disturbance of perception, without mileage information, robot just cannot complete self poisoning, without camera information, robot just cannot complete to take pictures and thermometric task。
3, mileage information calculates。ROS issues speed command and controls robot motion, motion controller Real-time Feedback robot mileage information。For differential driving control, robot range ability and current towards generally using following two formula to be updated:
Distance=(left_encoder+right_encoder)/2.0；(1)
Theta=(left_encoder-right_encoder)/WHEEL_BASE；(2)
Left_encoder and right_encoder refers to left and right wheels range ability respectively, and WHEEL_BASE refers to two-wheeled spacing。For (2) formula, during robot rectilinear motion return 0, turn clockwise be on the occasion of, be negative value counterclockwise。
According to two above formula, robot position in two-dimensional Cartesian system is as follows:
X_position=distance*sin(theta);
Y_position=distance*cos(theta);
Above formula returns three values, X_position, Y_position, theta。These three value creates speedometer coordinate system。X represents transverse movement, and on the occasion of to the right, negative value is to the left；Y represents lengthwise movement, and on the occasion of forward, negative value is backwards。Theta represents rotation, and on the occasion of to the right, negative value is to the left。
4, tf coordinate system transformation。ROS uses tf transforming tree to carry out coordinate system transformation。In concept, the corresponding coordinate system of each node in coordinate transform tree, Mei Tiao branch correspondence one is from present node to the conversion of its child node。Tree structure ensure that the conversion between two coordinates is way flow, and the branch set is the directed edge from father node to child node。
Such as: a simple robot, its mobile foundation and the laser sensor being positioned above can define two coordinate systems: a coordinate origin is positioned at base central (base_link), and another coordinate origin is positioned at laser sensor center (base_laser)。The data of laser sensor represent with laser sensor center, and namely these data are under base_laser coordinate system。In order to realize the barrier avoiding function of robot, it is necessary to realize the tf coordinate system transformation from base_laser to base_link。Create two nodes, correspond respectively to two coordinate systems of base_laser and base_link。In order to set up a limit (branch of coordinate transform book), it is thus necessary to determine that father node and child node。In this example, it is assumed that base_link is father node, by converting, the laser sensor data received by base_laser are transformed under base_link coordinate system, reform into and very simply call tf storehouse, and robot can use these information avoidances。
Second, environmental map creates。
SLAM, instant location and map structuring, the earliest by Smith, Self and Cheeseman in proposition in 1988, the theory important due to it and using value, a lot of scholars think that it is the key realizing real full autonomous mobile robot。SLAM problem can be described as: robot in circumstances not known from a unknown position, moving process carries out self poisoning according to location estimation and map, on the basis of self poisoning, build increment type map, it is achieved the autonomous location of robot and navigation simultaneously。
Hectorslam is a realization of SLAM algorithm, utilizes the map obtained that laser beam dot matrix is optimized, and estimates the probability of the laser spots expression at map and occupancy grid。Wherein scan matching uses gauss-newton method to solve, and finds laser point set to be mapped to rigid body conversion (x, y, theta) of existing map。For avoiding Local Minimum but not (being similar to multi-peak model, partial gradient is minimum, but non-global optimum) of global optimum occurs, map adopts the form of multiresolution。
The map (costmap) of ROS adopts the form of grid (grid), and the value of grid is the integer of 0 ~ 255, is divided into three kinds of states: take (having barrier), useless (free time), the unknown。
The environmental map that robot now creates does not include road information, the interpolation of road information, does not need extra measurement, only need to when creating map, along road boundary place several laser instrument can the montant of perception, after one-tenth figure, the road shape system pressed in reality formed by montant is coupled together。After road information has added, guarantee robot path planning only carries out in road area, and does not affect its positioning precision。
3rd, laser navigation is tested。
ROS passes through map server loading environment map, and in conjunction with speedometer information and laser sensor information, uses adaptive monte carlo method feedback robot position in map。Move_base bag utilizes the real-time complaint message that robot location's information and laser sensor perceive to do path planning on map, and by planning that velocity information is distributed to the motion controller of bottom, makes robot security arrive the target location specified。ROS navigation module framework is as shown in Figure 4。
It will be seen that move_base bag mainly includes two parts in navigation module frame diagram:
(1) global path planning (globalplanner): carry out the planning of overall path according to given target location, calculates the robot overall route to target location。This function is that navfn bag realizes。The navfn algorithm by Dijkstra optimal path, calculates the least cost path on costmap, as the overall route of robot。
(2) local paths planning (localplanner): carry out hiding route planning according to neighbouring barrier, utilizes base_local_planner bag to realize。This bag uses the speed and angle (dx, dy, dthetavelocities) that should travel in TrajectoryRollout and DynamicWindowapproaches algorithm calculating robot each cycle。
The a plurality of road warp arriving target searched for by base_local_planner bag by algorithm on map, utilize whether some evaluation criterions (can bump against barrier, time required for arriving target etc.) choose optimum path, and calculate required real-time speed and angle。Wherein, the main thought of TrajectoryRollout and DynamicWindowapproaches algorithm is as follows:
(1) robot current state sampling (dx, dy, dtheta)；(2) for the speed of each sampling, calculating robot, with the state after this speeds a period of time, draws a route travelled；(3) utilizing some evaluation criterions is a plurality of route calculation score；(4) according to score, optimal path is selected；(5) process above is repeated。
ROS provides the mode of static and dynamic two kinds of loading maps。Static mode loads global map, the scene that the scale that is applied in is smaller, a range of scene of dynamical fashion detecting sensor periphery, and transformer station's scene needs both to take into account。Two ways is combined by the present invention, develops a kind of mode loading local map, can respond the road information loaded in static map, again can real-time perception robot peripheral information, it is possible to the robot being well adapted under this large scene of transformer station patrols and examines application。
The Restoration Mechanism that ROS provides is not applied for the specific environment of transformer station。When robot front occurs that dynamic disorder stops that robot travels on original planning road suddenly, the Restoration Mechanism of ROS can not meet requirement。Whether automatic decision of the present invention has sufficient space to move by robot, advances with regard to pathfinding if had, if insufficient space waits until obstacle cleaning with regard to original place。
4th, anchor point tasks carrying。
The stop mode low precision that ROS provides, easily shakes。The present invention is when robot can not stop very well, improve the transmission frequency of its control command, it is made first to draw back one section of safe distance in secure side, then reattempting and move to impact point, this measure is repeatedly performed, and can solve most concussion problem, consider operational efficiency, limit its number of times attempting retreating, stop when being substantial access to anchor point, also can complete the Detection task in this anchor point well。
Magnetic navigation robot and most laser navigation machine adopt the mode of presetting bit to perform the Detection task of power equipment per capita; not only need to perform heavy teaching task; with greater need for guaranteeing the robot accurate stop in each anchor point, the state-detection task of this place's equipment otherwise just cannot be completed。The present invention only need to measure each equipment coordinate position (total powerstation) in three dimensions in advance, after robot stops, automatically the The Cloud Terrace camera parameter of stopped position corresponding device is calculated, the method is precisely reliable, simple, it is greatly saved manpower and materials and time cost that robot site is disposed。
Using ROS as Intelligent Mobile Robot operating system, there is no precedent at home, development cost can be saved, the direction that application really merits attention can be primarily focused on again。The change that the present invention does in ROS system mainly have following some: (1) local map load。ROS provides the mode of static and dynamic two kinds of loading maps。Static mode loads global map, the scene that the scale that is applied in is smaller, a range of scene of dynamical fashion detecting sensor periphery, and transformer station's scene needs both to take into account。Two ways is combined by the present invention, develops a kind of mode loading local map, can respond the road information loaded in static map, again can real-time perception robot peripheral information, it is possible to the robot being well adapted under this large scene of transformer station patrols and examines application。
(2) robot precisely stops。The stop mode low precision that ROS provides, easily shakes。The present invention is when robot can not stop very well, improve the transmission frequency of its control command, it is made first to draw back one section of safe distance in secure side, then reattempting and move to impact point, this measure is repeatedly performed, and can solve most concussion problem, consider operational efficiency, limit its number of times attempting retreating, stop when being substantial access to anchor point, also can complete the Detection task in this anchor point well。
(3) road and anchor point information are added and breathing space setting。The interpolation of road information, does not need extra measurement, only need to when creating map, along road boundary place several laser instrument can the montant of perception, after one-tenth figure, the road shape system pressed in reality formed by montant is coupled together。After the position of anchor point is determined by technical staff, also can determine coordinate according to such scheme, convenient and reliable。The size that the present invention arranges breathing space according to road width makes robot operation safer steadily。
(4) robotary recovers and automatic obstacle avoidance。The Restoration Mechanism that ROS provides is not applied for the specific environment of transformer station。When robot front occurs that dynamic disorder stops that robot travels on original planning road suddenly, the Restoration Mechanism of ROS can not meet requirement。Whether automatic decision of the present invention has sufficient space to move by robot, advances with regard to pathfinding if had, if insufficient space waits until obstacle cleaning with regard to original place。
(5) electric inspection process device intelligence is captured。Magnetic navigation robot and most laser navigation machine adopt the mode of presetting bit to perform the task of power equipment per capita; not only need to perform heavy teaching task; with greater need for guaranteeing the robot accurate stop in each anchor point, the patrol task of this place's equipment state otherwise just cannot be completed。The present invention only needs once to measure each equipment coordinate position in three dimensions by total powerstation in advance, after robot arrives anchor point, directly according to the three-dimensional coordinate of equipment and robot pose, automatically the The Cloud Terrace camera parameter of this some place correspondence inspection device is calculated, The Cloud Terrace is driven to complete the candid photograph of inspection device, experiments show that the method is precisely reliable, simple, it is greatly saved manpower and materials and time cost that robot site is disposed。
Particular embodiments described above; the purpose of the present invention, technical scheme and beneficial effect have been further described; it is it should be understood that; the foregoing is only specific embodiments of the invention; it is not limited to the present invention; all within the spirit and principles in the present invention, any amendment of making, equivalent replacement, improvement etc., should be included within protection scope of the present invention。
Claims (7)
1. the Laser navigation system being applicable to robot used for intelligent substation patrol, it is characterised in that: containing following steps:
Step 1, robot configure；
Step 2, environmental map create；
Step 3, laser navigation assignment test；
Step 4, anchor point tasks carrying。
2. the Laser navigation system suitable in robot used for intelligent substation patrol according to claim 1, it is characterised in that: the robot configuration in described step 1 mainly comprises the steps that
Step 1: robot modeling；
Step 2: sensing data is issued；
Step 3: mileage information calculates；
Step 4:tf coordinate system transformation etc.。
3. the Laser navigation system suitable in robot used for intelligent substation patrol according to claim 1, it is characterized in that: the ambient condition information that the hector_mapping bag in the establishment of described step 2 environmental map utilizes laser sensor to perceive draws environmental map calculating robot's current location information。
4. the Laser navigation system suitable in robot used for intelligent substation patrol according to claim 1, it is characterized in that: the real-time complaint message that in described step 3, the move_base bag in laser navigation assignment test utilizes robot location's information and laser sensor to perceive does path planning on map, and by planning that velocity information is distributed to the motion controller of bottom, make robot security arrive the target location specified。
5. the Laser navigation system suitable in robot used for intelligent substation patrol according to claim 4, it is characterized in that: described move_base bag mainly includes two parts: global path planning carries out the planning of overall path according to given target location, calculate the robot overall route to target location, utilize navfn bag to realize；Local paths planning carries out hiding route planning according to neighbouring barrier, utilizes base_local_planner bag to realize。
6. the Laser navigation system suitable in robot used for intelligent substation patrol according to claim 5, it is characterized in that: the described navfn bag algorithm by Dijkstra optimal path, environmental map calculates the least cost path, as the overall route of robot；Described base_local_planner bag arrives a plurality of road warp of target by TrajectoryRollout and DynamicWindowapproaches algorithm search, some evaluation criterions are utilized to choose the path of optimum, such as whether meeting strikes obstacles or required time, and calculate required real-time speed and angle；Its main thought is as follows:
(1) robot current state sampling (dx, dy, dtheta)；
(2) for the speed of each sampling, calculating robot, with the state after this speeds a period of time, draws a route travelled；
(3) utilizing some evaluation criterions is a plurality of route calculation score；
(4) according to score, optimal path is selected；
(5) repeat above process until arrive target location。
7. the Laser navigation system suitable in robot used for intelligent substation patrol according to claim 1, it is characterized in that: described step 4 anchor point tasks carrying must measure each equipment coordinate position in three dimensions in advance, after robot stops, automatically calculate the The Cloud Terrace camera parameter of stopped position corresponding device。
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