CN109599945A - A kind of autonomous crusing robot cruising inspection system of wisdom power plant and method - Google Patents
A kind of autonomous crusing robot cruising inspection system of wisdom power plant and method Download PDFInfo
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- H02J13/0075—
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
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- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
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Abstract
The invention discloses a kind of autonomous crusing robot cruising inspection system of wisdom power plant and method, the present invention merges laser radar, gyroscope etc., and by SLAM algorithm, using laser radar, increment type constructs grating map；Using reverse D* algorithm, finds target cost and estimate the smallest intermediate objective position, realize Robotic Dynamic path planning and positioning；Label is read by RFID reader simultaneously and obtains the information that equipment needs to detect；In robot operational process, barrier is detected using ultrasonic sensor, the Environment Obstacles in path are independently hidden in conjunction with SLAM algorithm, realizing can be with independent navigation and movement in complicated thermal power plant's environment.A variety of non-contact sensors are to meet the point inspection demands of various equipment.The present invention can the inspection in workshop automatically, be not necessarily to manual control, inspection real-time data transmission to control centre sounded an alarm when there is exception.Manual inspection can be replaced, routing inspection efficiency is improved, improves the safety of Power Plant Equipment.
Description
Technical field
The present invention relates to thermal power plant's operation and maintenance technical fields, are related to a kind of wisdom power plant autonomous crusing robot inspection system
System and method.
Background technique
The main source of China's electric power is thermal power generation, and thermoelectricity in-plant equipment is concentrated, pipeline distribution is wide, narrow space, ring
Border is complex.In order to ensure the stable operation of power plant safety, needs periodically to carry out inspection, mostly use manual work at present.People
The mode of work inspection is at high cost, low efficiency, and there is also certain hidden danger for the safety of staff.It is wide with " smart grid " theory
General popularization, construction wisdom power plant have become the inexorable trend of electric power network technique development, substitute artificial energy using intelligent robot
The deficiencies such as manual inspection large labor intensity, working efficiency are low, controllability is low effectively are avoided, possess stable working state, detection
The characteristics of precision height, detection information intellectual analysis.This technology will greatly improve thermal power plant's generating reliability and safe coefficient, add
The intelligent construction of strong thermal power plant cruising inspection system, perfect " smart grid " system.
In recent years, numerous studies have been done to the system and method for inspecting of intelligent inspection robot by China, a large amount of phases occur
Close product.Chinese invention patent CN201110216728.4 discloses a kind of transformer station intelligent robot inspection system and inspection
The station level intelligent robot cruising inspection system of method, monitoring center and at least one substation passes through network connection；Each station
Grade intelligent robot cruising inspection system includes at least one base station, at the same be additionally provided in substation environment information acquisition subsystem with
And it is mounted on each fixed point auxiliary Monitor And Control Subsystem needed at monitoring device in substation, on the intelligent inspection robot
Equipped with intelligent inspection robot slave computer, the intelligent inspection robot slave computer is also connect with detection unit, and the detection is single
Member includes infrared detection unit and ultraviolet detection unit, and the ultraviolet detection unit includes ultraviolet video server and ultraviolet detection
Device.The invention optimizes with polling path, and intelligence degree is high, with all the period of time fault detection and seamless video monitoring
Advantage.But because the invention need to install positioning device to detected environment, so have the building of location navigation positioning system expensive, installation
Period is long and the shortcomings that modifying existing power station environment；Secondly, the invention is only for substation, sensor be only integrated with heat at
Picture and Visual retrieval instrument can not shake motor common in thermal power plant and pipe leakage are detected and analyzed, and motor
Abnormal vibration and the leakage of vapor are exactly one of the key problem that thermal power plant needs to prevent, and not only need to possess corresponding sensing
Device, while robot detection system also being needed correctly abnormal data and can track tracing to the source to abnormal position respectively.
Chinese invention patent CN201310072288.9 discloses a kind of comprehensive parameters of the substation based on crusing robot
Detection system, which is characterized in that including a base station system area and the mobile station system area of at least one, the base station system
It is connected by wireless communication between area and mobile station system area.The invention also discloses a kind of method for inspecting of crusing robot.
The substation of the invention is able to detect substation's comprehensive parameters, inspection machine based on the comprehensive parameters detection system of crusing robot
People Anywhere can effectively communicate with control centre in tour place, and interact with control centre, receive to refer to
Show and feedback information.The method for inspecting operation of the crusing robot of the invention is very humanized and intelligent, can undertake various
The patrol task of burst.But its DGPS is in the closed environment of the more buildings of thermal power plant, signal it is low cannot precise positioning, and
Since Power Plant Equipment quantity is more, inspection quantity is big to use its higher cost of RFID.The sensing system of the invention simultaneously is not
It is perfect, lack and leaks gas and shake the former function of being detected.
Chinese invention patent CN201410182458.3 application discloses a kind of intelligent machine for power station inspection and maintenance
Device people and its control system, including inspection maintenance activity robot body and remote console.Robot body uses tracked machine
Tool hand structure, four tracked mobile platforms provide sufficient power and steering behaviour for robot is mobile under the complicated landform of power station,
Athey wheel can also be rotated along Athey wheel connecting shaft, increase landform adaptability.Robot body is mounted with monitoring system, to patrol
Inspection and maintenance activity provide control information.There is independent navigation and manual remote control to operate both of which for robot.Independent navigation root
The inspection of projected route is completed according to the information independence that complex navigation system provides, manual operation robot moves under remote control operation mode
Dynamic and mechanical arm maintenance activity.The robot has automation, intelligence degree high, flexibly small and exquisite feature.But it is multiple
Closing navigation system is implemented in combination with by differential GPS and inertial orientation, therefore before its differential global positioning system needs mounted base station to cause
Phase investment is high and needs to change thermal power plant's environment, and precision will receive influence in thermal power plant's indoor environment；And inertia is led
It navigates because the accumulated error generated in robot operational process causes the orientation accuracy of navigation poor, while the system also needs controller
Voluntarily import cartographic model.The research and development product only has visible light and thermal imaging detector in face of the detection environment of thermal power plant, can not
Adapt to detection demand complicated in thermal power plant's workshop.
In conclusion having a large amount of achievements for the country, electric inspection process robot, and face the inspection machine of substation
People has mature product.But concentrated for equipment in thermal power plant's workshop, detection project is more, narrow space, environment complexity
Application demand, be capable of crusing robot system that independent navigation tests and analyzes simultaneously and method for inspecting not yet mature research at
Fruit.And how to design and meet " smart grid " concept and replace the artificial crusing robot for carrying out operation under power plant's complex environment
It is the research direction and trend of present intelligent robot.
Summary of the invention
The present invention proposes a kind of autonomous survey monitor of wisdom power plant for the problems of existing crusing robot system
Device people cruising inspection system and method.The robot system merges laser radar, gyroscope, odometer, RFID reader, ultrasonic avoidance
Sensor constructs grating map by SLAM algorithm, then by reverse D* algorithmic rule path and positions, while independently hiding ring
Border obstacle, to independent navigation and be moved in complicated thermal power plant's environment.A variety of non-contact sensings are carried by holder
Device, to replace the artificial point in all directions that carries out to examine.
Above-mentioned technical problem of the invention is mainly to be addressed by following technical proposals:
A kind of autonomous crusing robot cruising inspection system of wisdom power plant, which is characterized in that including
Embedded system: controlling as core controller for robot and signal processing；
Mobile module: using 4 wheel driven mobile platform as each module of moving carrier carrying, embedded control system passes through 485
Four DC servo motors of serial ports independent control, make robot can be with flexible motion；
Navigation positioning module: including RFID reader, two-dimensional laser radar, gyroscope, odometer, ultrasonic sensor, lead to
Cross 485 serial ports connection embedded system；Two-dimensional laser radar scanning ambient enviroment completes map structuring；Cooperate gyroscope and mileage
Count into path planning and navigator fix；Several ultrasonic sensors of robot front are placed in, it is auxiliary for detecting Environment Obstacles
Help robot autonomous avoidance；The facility information to be checked for posting RFID label tag is read by RFID reader, is accurately corrected, often
The information and detection demand of a RFID label tag write device；
Wireless charging module: including limiting device, transmitting end-coil, end-coil, lithium battery and power management mould are received
Group；Transmitting end-coil and limiting device are fixed in workshop, as charging depressed place；End-coil is received to be mounted on robot chassis,
Alignment receives end-coil and transmits energy by electromagnetic induction under the auxiliary of limiting device, is lithium battery power supply；Power management mould
Group connects embedded system by 485 serial ports；Robot detects that not enough power supply or inspection finish, and self-navigation, which navigates to, fills
It charges in electric depressed place；
Holder module: controlling three DC servo motors by 485 serial ports after signal conversion module, rise up and down
Drop, left-right rotation, the movement for rotating upwardly and downwardly three degree of freedom, the information tune obtained according to robot localization information and image recognition
Whole holder posture, and then the information collecting device being equipped on holder is directed at measurement equipment to be checked；
Information acquisition module: image information, laser vibration measurer are acquired including high-definition camera and infrared thermal imaging camera
Vibration information is acquired, orientation MIC acquires acoustic information；Collected information is sent to through signal conversion module by 485 serial ports
Then embedded system is sent back to monitoring center by network communication module；
Communication module: being connect with embedded system by ICP/IP protocol, then the office covered by WiFi connection thermal power plant
Domain net, is communicated with monitoring center；The data that the industrial personal computer real-time reception machine people of monitoring center measures, while can be long-range
Remote-controlled robot operation.
A kind of autonomous crusing robot method for inspecting of wisdom power plant, which is characterized in that
Step 1, robot initial builds figure: when first time is using autonomous crusing robot, needing to required inspection
Environment build figure, remote control robot uses two-dimensional laser radar scanning ambient enviroment, carries out building figure by SLAM algorithm；So
The coordinate for wanting inspection device is identified on built map afterwards, makes robot that can go calibration position inspection with independent navigation；
Step 2, charging is awaited orders: autonomous crusing robot carries out wireless charging when not having patrol task, in charging depressed place, etc.
Task to be inspected；
Step 3, receive patrol task: after autonomous crusing robot receives patrol task, being passed through using reverse D* algorithm
It finds target cost and estimates the smallest intermediate objective position, the optimal path of each inspection point is removed in automatic planning；
Step 4, autonomous inspection: crusing robot is mobile to detection target according to the autonomous path cooked up；If encountering
Environment Obstacles re-start path planning automatically, with cut-through object；After reaching specified anchor point, taken by robot
Pose adjustment is carried out with the label that RFID reader reads measurement equipment to be checked and reads the information to be detected；
Step 5, anchor point is examined: after autonomous crusing robot reaches designated position, being adjusted holder first, is known by image
Not, the target for needing to detect is recognized, and will test equipment and be accurately aimed at detection target；Then call corresponding detection module into
Monitoring center is passed in the detection of row information after data processing；If it is detected that data exception, sounds an alarm automatically；
Step 6, sequence inspection: step 3 is repeated to 5, until patrol task is completed, charging depressed place is returned to and charges；
Step 7, remote controlled point is examined: if needing manual intervention, with remote control can remotely control and more targetedly be put inspection.
In a kind of above-mentioned autonomous crusing robot method for inspecting of wisdom power plant, the step 1, simultaneously using laser radar
By SLAM algorithm, increment type constructs grating map, and specific step is as follows,
Step 1.1, status predication: according to the equation of motion of mobile robot, the data pair of odometer and gyroscope are utilized
Current state is predicted, when k+1 is calculated by the state X (k) and system input control quantity u (k) of k moment mobile robot
The system mode X (k+1) at quarter；
Step 1.2, feature extraction and data correlation: first according to the centre bit of the Data capture environment road sign of laser radar
It sets；From the distance and angle of the acquisition target point opposed robots of laser radar, software filtering is carried out to initial data, is obtained
The coordinate of heart point；Data correlation is to look for and the most matched known environment feature of current signature；The association door threshold for falling in setting
As its most matched feature within value and with the characteristic value of the position " closest " for being predicted target observed；
The expansion of step 1.3, new road sign: if not detecting the road sign to match, using the road sign measured as
New road sign is added in feature database；
Step 1.4 is updated system mode and covariance matrix using the road sign observed.
In a kind of above-mentioned autonomous crusing robot method for inspecting of wisdom power plant, the step 3, calculated using reverse D*
Method estimates the smallest intermediate objective position by finding target cost, realizes Robotic Dynamic path planning and positioning, specific to walk
It is rapid as follows,
Step 3.1, the environmental map model established using mobile robot, expand the point for having barrier；
Step 3.2, target potential-energy function are as follows:Emin is robot from starting point to mesh
Punctuate target potential energy minimum；The intermediate node M (x, y) that objective function is less than Emin- ε searches for outward in robot；
Step 3.3, in search process, after searching the intermediate node of the condition of satisfaction, from node, by robot
To the reduced gradient direction of node M (x, y) distance, the path that robot current location reaches node M (x, y) is found；Robot
By constantly searching for M (x, y), the active path planning of robot is realized.
In a kind of above-mentioned autonomous crusing robot method for inspecting of wisdom power plant, the step 5, method for inspecting it is specific
Process is: after robot is run to the equipment of required point inspection, the height and angle of adjust automatically holder make detection device pair
Quasi- target；The temperature field that institute's measurement equipment is shot by thermal infrared imager, judges temperature regime；It is visited at a distance by laser vibration measurer
The vibration data of measurement equipment certain point；The identification that pointer and dial plate are realized by high-definition camera, judges the reading of table；Pass through gas
Whether exceeded body detection module surveys some local gas concentration；By carrying highly sensitive orientation MIC, acquisition equipment fortune
Sound when row, embedded system carry out voice print analysis, realize vibration equipment trace to the source, the functions such as abnormal alarm.
The present invention due to using the technology described above, has the advantage that 1. crusing robot systems using SLAM algorithm
In conjunction with reverse D* algorithm, map structuring, and navigator fix can be carried out under thermal power plant's complex environment.Cooperate RFID label tag simultaneously
Accurately adjusted, it is at low cost, precision is high, it can quickly and easily carry out the autonomous cruise of thermal power plant's project.2. detecting holder
A variety of non-contact sensors such as laser vibration measurer, high-definition camera, thermal infrared imager, orientation mic are merged in complicated thermal power plant
Inside meet the point inspection demand of various equipment.3. the robot inspection in workshop automatically is not necessarily to manual control, and inspection data are real-time
It is transferred to remote control terminal, is sounded an alarm when occurring abnormal.Manual inspection can be replaced, routing inspection efficiency is improved, improves thermoelectricity
The safety of plant.
Detailed description of the invention
Fig. 1 is autonomous crusing robot cruising inspection system structure chart of the invention.
Fig. 2 is autonomous crusing robot method for inspecting flow chart of the invention.
Fig. 3 is autonomous crusing robot SLAM algorithm flow chart of the invention.
Fig. 4 is the reverse D* algorithm flow chart of autonomous crusing robot of the invention.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment:
It is as shown in Figure 1 the autonomous crusing robot cruising inspection system structure chart of wisdom power plant of the invention, including embedded system
System, mobile module, navigation positioning module, wireless charging module, holder module, information acquisition module, communication module.
The embedded system is controlled as core controller for robot and signal processing.
The mobile module, using 4 wheel driven mobile platform as each module of moving carrier carrying, embedded control system is logical
485 serial ports independent control, four DC servo motors are crossed, make robot can be with flexible motion；
The navigation positioning module includes RFID reader, two-dimensional laser radar, gyroscope, odometer, ultrasonic sensor,
Embedded system is connected by 485 serial ports.Two-dimensional laser radar scanning ambient enviroment completes map structuring；Cooperate gyroscope with it is inner
Journey counts into path planning and navigator fix；Several ultrasonic sensors of robot front are placed in, for detecting Environment Obstacles,
Auxiliary robot automatic obstacle avoiding；The facility information to be checked for posting RFID label tag is read by RFID reader, is accurately corrected,
The information and detection demand of each RFID label tag write device；
The wireless charging module includes limiting device, transmitting end-coil, receives end-coil, lithium battery and power management
Mould group.Transmitting end-coil and limiting device are fixed in workshop, as charging depressed place；It receives end-coil and is mounted on robot chassis
On, it is lithium battery power supply that alignment, which receives end-coil and transmits energy by electromagnetic induction, under the auxiliary of limiting device；Power management
Mould group connects embedded system by 485 serial ports.Robot detects that not enough power supply or inspection finish, and self-navigation navigates to
It charges in charging depressed place；
The holder module by 485 serial ports control three DC servo motors, carry out oscilaltion, left-right rotation, on
The movement of lower rotation three degree of freedom adjusts holder posture according to the information that robot localization information and image recognition obtain, into
And the information collecting device being equipped on holder is directed at measurement equipment to be checked；
The information acquisition module includes high-definition camera and infrared thermal imaging camera acquisition image information, vibration measurement with laser
Instrument acquires vibration information, and orientation MIC acquires acoustic information.Collected information is sent to embedded system by 485 serial ports, so
Monitoring center is sent back to by network communication module afterwards；
The communication module is connect with embedded system by ICP/IP protocol, then covered by WiFi connection thermal power plant
Local area network is communicated with monitoring center；The data that the industrial personal computer real-time reception machine people of monitoring center measures, while can be remote
Journey remote-controlled robot operation.
It is illustrated in figure 2 the autonomous crusing robot method for inspecting flow chart of wisdom power plant of the invention, which is characterized in that
Before coming into operation, to needing the equipment of inspection to stick RFID label tag, the information and detection of each label write device in power plant
Demand covers WIFI network in power plant.
Step 1, robot initial builds figure: when first time is using autonomous crusing robot, needing to required inspection
Environment build figure, remote control robot uses two-dimensional laser radar scanning ambient enviroment, carries out building figure by SLAM algorithm；So
The coordinate for wanting inspection device is identified on built map afterwards, makes robot that can go calibration position inspection with independent navigation.
Step 2, charging is awaited orders: autonomous crusing robot carries out wireless charging when not having patrol task, in charging depressed place, etc.
Task to be inspected.
Step 3, receive patrol task: after autonomous crusing robot receives patrol task, being passed through using reverse D* algorithm
It finds target cost and estimates the smallest intermediate objective position, the optimal path of each inspection point is removed in automatic planning.
Step 4, autonomous inspection: crusing robot is mobile to detection target according to the autonomous path cooked up；If encountering
Environment Obstacles re-start path planning automatically, with cut-through object；After reaching specified anchor point, taken by robot
Pose adjustment is carried out with the label that RFID reader reads measurement equipment to be checked and reads the information to be detected.
Step 5, anchor point is examined: after autonomous crusing robot reaches designated position, being adjusted holder first, is known by image
Not, the target for needing to detect is recognized, and will test equipment and be accurately aimed at detection target；Then call corresponding detection module into
Monitoring center is passed in the detection of row information after data processing；If it is detected that data exception, sounds an alarm automatically.
Step 6, sequence inspection: step 3 is repeated to 5, until patrol task is completed, charging depressed place is returned to and charges.
Step 7, remote controlled point is examined: if needing manual intervention, with remote control can remotely control and more targetedly be put inspection.
Autonomous crusing robot SLAM algorithm flow chart is illustrated in figure 3 in the step 1, which is characterized in that is utilized and is swashed
Optical radar simultaneously passes through SLAM algorithm, and increment type constructs grating map, and specific step is as follows,
(1) status predication: according to the equation of motion of mobile robot, using the data of odometer and gyroscope to current shape
State is predicted, is by what the k+1 moment was calculated in the state X (k) and system input control quantity u (k) of k moment mobile robot
System state X (k+1).
(2) feature extraction and data correlation: first according to the center of the Data capture environment road sign of laser radar.From
The distance and angle of the acquisition target point opposed robots of laser radar, carries out software filtering to initial data, obtains central point
Coordinate.Data correlation is to look for and the most matched known environment feature of current signature.Fall in setting association door threshold value it
It is interior and with the characteristic value of the position " closest " for being predicted target observed as its most matched feature.
(3) expansion of new road sign: if not detecting the road sign to match, using the road sign measured as new road sign
It is added in feature database.
(4) system mode and covariance matrix are updated using the road sign observed.
The autonomous reverse D* algorithm flow chart of crusing robot is illustrated in figure 4 in the step 3, which is characterized in that is utilized
Inversely D* algorithm estimates the smallest intermediate objective position by finding target cost, realizes Robotic Dynamic path planning and determine
Position, specific step is as follows,
(1) the environmental map model established using mobile robot, expands the point for having barrier.
(2) target potential-energy function are as follows:Emin is robot from starting point to target point
Target potential energy minimum；The intermediate node M (x, y) that objective function is less than Emin- ε searches for outward in robot.
(3) in search process, after searching the intermediate node of the condition of satisfaction, from node, by robot to section
The reduced gradient direction of point M (x, y) distance, finds the path that robot current location reaches node M (x, y).Robot passes through
Continuous search M (x, y), realizes the active path planning of robot.
5. the autonomous crusing robot method for inspecting of a kind of wisdom power plant according to claim 2, which is characterized in that institute
It states in step 5, the detailed process of method for inspecting is:
After robot is run to the equipment of required point inspection, the height and angle of adjust automatically holder make detection device
Alignment target；The temperature field that institute's measurement equipment is shot by thermal infrared imager, judges temperature regime；It is remote by laser vibration measurer
The vibration data of detecting devices certain point；The identification that pointer and dial plate are realized by high-definition camera, judges the reading of table；Pass through
Whether exceeded gas detection module surveys some local gas concentration；By carrying highly sensitive orientation MIC, equipment is acquired
Sound when operation, embedded system carry out voice print analysis, realize vibration equipment trace to the source, the functions such as abnormal alarm.
Specific embodiment described herein is only an example for the spirit of the invention.The neck of technology belonging to the present invention
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (5)
1. a kind of autonomous crusing robot cruising inspection system of wisdom power plant, which is characterized in that including
Embedded system: controlling as core controller for robot and signal processing；
Mobile module: using 4 wheel driven mobile platform as each module of moving carrier carrying, embedded control system passes through 485 serial ports
Four DC servo motors of independent control, make robot can be with flexible motion；
Navigation positioning module: including RFID reader, two-dimensional laser radar, gyroscope, odometer, ultrasonic sensor, pass through 485
Serial ports connects embedded system；Two-dimensional laser radar scanning ambient enviroment completes map structuring；Cooperation gyroscope is counted with mileage
At path planning and navigator fix；Several ultrasonic sensors of robot front are placed in, for detecting Environment Obstacles, auxiliary machine
Device people's automatic obstacle avoiding；The facility information to be checked for posting RFID label tag is read by RFID reader, is accurately corrected, each
The information and detection demand of RFID label tag write device；
Wireless charging module: including limiting device, transmitting end-coil, end-coil, lithium battery and power management modules are received；Hair
It penetrates end-coil and limiting device is fixed in workshop, as charging depressed place；It receives end-coil to be mounted on robot chassis, limit
Alignment receives end-coil and transmits energy by electromagnetic induction under the auxiliary of device, is lithium battery power supply；Power management modules pass through
485 serial ports connect embedded system；Robot detects that not enough power supply or inspection finish, self-navigation navigate to charging depressed place into
Row charging；
Holder module: controlling three DC servo motors by 485 serial ports after signal conversion module, carries out oscilaltion, a left side
It turns right and moves, rotates upwardly and downwardly the movement of three degree of freedom, cloud is adjusted according to the information that robot localization information and image recognition obtain
Platform posture, and then the information collecting device being equipped on holder is directed at measurement equipment to be checked；
Information acquisition module: image information, laser vibration measurer acquisition are acquired including high-definition camera and infrared thermal imaging camera
Vibration information, orientation MIC acquire acoustic information；Collected information is sent to insertion by 485 serial ports through signal conversion module
Formula system, is then sent back to monitoring center by network communication module；
Communication module: being connect with embedded system by ICP/IP protocol, then the local area network covered by WiFi connection thermal power plant,
It is communicated with monitoring center；The data that the industrial personal computer real-time reception machine people of monitoring center measures, while can be with remote control
Robot manipulating task.
2. a kind of autonomous crusing robot method for inspecting of wisdom power plant, which is characterized in that
Step 1, robot initial builds figure: when first time is using autonomous crusing robot, needing the ring to required inspection
Figure is built in border, and remote control robot uses two-dimensional laser radar scanning ambient enviroment, carries out building figure by SLAM algorithm；Then exist
Mark wants the coordinate of inspection device on built map, makes robot that can go calibration position inspection with independent navigation；
Step 2, charging is awaited orders: autonomous crusing robot carries out wireless charging when not having patrol task, in charging depressed place, and waiting is patrolled
Inspection task；
Step 3, receive patrol task: after autonomous crusing robot receives patrol task, passing through searching using reverse D* algorithm
Target cost estimates the smallest intermediate objective position, and the optimal path of each inspection point is removed in automatic planning；
Step 4, autonomous inspection: crusing robot is mobile to detection target according to the autonomous path cooked up；If encountering environment
Obstacle re-starts path planning automatically, with cut-through object；After reaching specified anchor point, by entrained by robot
The label that RFID reader reads measurement equipment to be checked carries out pose adjustment and reads the information to be detected；
Step 5, anchor point is examined: after autonomous crusing robot reaches designated position, adjustment holder first, and by image recognition,
The target for needing to detect is recognized, and will test equipment and be accurately aimed at detection target；Then corresponding detection module is called to carry out
Monitoring center is passed in the detection of information after data processing；If it is detected that data exception, sounds an alarm automatically；
Step 6, sequence inspection: step 3 is repeated to 5, until patrol task is completed, charging depressed place is returned to and charges；
Step 7, remote controlled point is examined: if needing manual intervention, with remote control can remotely control and more targetedly be put inspection.
3. the autonomous crusing robot method for inspecting of a kind of wisdom power plant according to claim 2, which is characterized in that the step
In rapid 1, using laser radar and by SLAM algorithm, increment type constructs grating map, and specific step is as follows,
Step 1.1, status predication: according to the equation of motion of mobile robot, using the data of odometer and gyroscope to current
State is predicted, the k+1 moment is calculated by the state X (k) and system input control quantity u (k) of k moment mobile robot
System mode X (k+1)；
Step 1.2, feature extraction and data correlation: first according to the center of the Data capture environment road sign of laser radar；
From the distance and angle of the acquisition target point opposed robots of laser radar, software filtering is carried out to initial data, obtains center
The coordinate of point；Data correlation is to look for and the most matched known environment feature of current signature；The association door threshold value for falling in setting
Within and with the characteristic value of the position " closest " for being predicted target observed as its most matched feature；
The expansion of step 1.3, new road sign: if not detecting the road sign to match, using the road sign measured as new road
Mark is added in feature database；
Step 1.4 is updated system mode and covariance matrix using the road sign observed.
4. the autonomous crusing robot method for inspecting of a kind of wisdom power plant according to claim 2, which is characterized in that the step
In rapid 3, using reverse D* algorithm, the smallest intermediate objective position is estimated by finding target cost, realizes Robotic Dynamic road
Diameter planning and positioning, specific step is as follows,
Step 3.1, the environmental map model established using mobile robot, expand the point for having barrier；
Step 3.2, target potential-energy function are as follows:
Emin is robot from starting point to target point target potential energy minimum；Objective function is searched for less than Emin- ε outward by robot
Intermediate node M (x, y)；
Step 3.3, in search process, after searching the intermediate node of the condition of satisfaction, from node, by robot to section
The reduced gradient direction of point M (x, y) distance, finds the path that robot current location reaches node M (x, y)；Robot passes through
Continuous search M (x, y), realizes the active path planning of robot.
5. the autonomous crusing robot method for inspecting of a kind of wisdom power plant according to claim 2, which is characterized in that the step
In rapid 5, the detailed process of method for inspecting is: after robot is run to the equipment of required point inspection, the height of adjust automatically holder
Degree and angle, make detection device alignment target；The temperature field that institute's measurement equipment is shot by thermal infrared imager, judges temperature regime；
Pass through the vibration data of laser vibration measurer long-range detection equipment certain point；The knowledge of pointer and dial plate is realized by high-definition camera
Not, judge the reading of table；By gas detection module, whether exceeded some local gas concentration is surveyed；It is highly sensitive by carrying
The orientation MIC of degree, sound when acquisition equipment is run, embedded system carry out voice print analysis, realize that vibration equipment traces to the source, is abnormal
The functions such as alarm.
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