CN110703784A - Automatic tracking obstacle avoidance method suitable for transformer substation inspection robot - Google Patents
Automatic tracking obstacle avoidance method suitable for transformer substation inspection robot Download PDFInfo
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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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
Abstract
The invention discloses an automatic tracking obstacle avoidance method suitable for a transformer substation inspection robot, which can be used for inspection work of a transformer substation control room by combining a small inspection robot, mainly overcomes the defects of poor navigation and positioning flexibility and high environmental requirement of the transformer substation inspection robot, and promotes the development of an intelligent inspection robot. The method comprises the following implementation steps: (1) paving a guide rail; (2) turning on the head lamp; (3) performing tracking motion; (4) obstacle avoidance; (5) to the destination; (6) and returning to the starting point. The robot can be patrolled and examined and travel along predetermineeing the track, and the robot can automated inspection establish in advance the track in the in-process of traveling, realizes going forward of straight way and arc track. If the deviation exists, the automatic correction can be carried out, and the operation returns to the preset track. When the robot detects the obstacle in front of the advancing direction, the robot can automatically stop moving to avoid the obstacle until the obstacle is eliminated, and therefore the automatic moving function of the intelligent patrol robot in the substation control room is achieved.
Description
Technical Field
The invention belongs to the field of substation inspection, and particularly relates to an automatic tracking obstacle avoidance method suitable for a substation inspection robot.
Background
The transformer substation is a hub of a power transmission network, equipment inspection work of the transformer substation is basic guarantee for safe and efficient operation of power station equipment, the equipment inspection work of the transformer substation in China still generally adopts a manual inspection mode at present, and normal operation of the transformer substation is guaranteed through sensory observation and manual recording of the operation state of each equipment. However, as the scale of the substation is enlarged, the inspection area is continuously increased, and the operation environment is more complex, so that the inspection range and workload of the field equipment of the substation are increased, and a great burden is imposed on inspection personnel, so that part of the inspection personnel is passively idled, and phenomena such as missing inspection, false inspection and the like exist, which brings huge hidden troubles to the safe operation of the equipment and the power grid. In addition, the environment of the transformer substation is complex, the equipment is numerous, and a plurality of high-voltage areas exist, so that the personal safety of inspection personnel is difficult to ensure.
Along with the continuous construction of smart power grids, the continuous development of robot technology, it becomes possible to utilize the robot to patrol substation equipment, and the patrol robot is very suitable for being rapidly deployed in the environment of a substation protection room with strong environmental adaptability, highly integrated miniaturized equipment volume and accurate remote control communication capacity. At present, a transformer substation intelligent inspection robot product capable of running stably is released by a plurality of domestic units, and is applied to a plurality of sites. For example, the intelligent inspection robot for the transformer substation of Shandong Luneng group, the intelligent robot for the infrared thermal imager of Shanghai dynasty Menu sprout photoelectricity, the inspection robot for the transformer substation of Hangzhou Shenhao and the like are all large in size, heavy, poor in navigation and positioning flexibility and high in requirement on environment, and are not suitable for working in the transformer substations with numerous devices and complex environment.
Disclosure of Invention
The invention aims to provide an automatic tracking obstacle avoidance method suitable for a transformer substation inspection robot, which overcomes the defects of the existing transformer substation inspection robot in the aspect of moving function and realizes the tracking motion of the inspection robot and the automatic obstacle avoidance function when an obstacle is encountered.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automatic tracking obstacle avoidance method suitable for a transformer substation inspection robot comprises the following steps:
(1) laying a guide rail for navigation and positioning of the inspection robot aiming at the relative position between the inspection robot parking place and the equipment to be read in the transformer substation;
(2) the inspection robot is provided with a self-contained light source to illuminate a front guide rail and a possible obstacle, so that the normal movement of the robot is guaranteed;
(3) the left front part and the right front part of the inspection robot are respectively provided with a reflection photoelectric sensor capable of rotating by 120 degrees, the position of the guide rail is positioned in real time, and the inspection robot is driven to automatically track along the guide rail according to the position of the guide rail;
(4) respectively installing a distance sensor at the left front part and the right front part of the inspection robot, judging whether obstacles exist in the front part according to distance detection, stopping the inspection robot to move if the obstacles exist, restarting the tracking motion of the inspection robot after the obstacles are removed, and continuing to move if the obstacles do not exist;
(5) when the inspection robot moves to the front of the equipment to be read, namely the photoelectric sensor identifies the position of the equipment, the robot stops moving, and a data reading program of the next step is started;
(6) and after the data reading is finished, the inspection robot restarts the automatic tracking obstacle avoidance movement until the inspection robot moves to the next data acquisition point to prepare for reading the data next time.
Furthermore, in the step (3), a reflection photoelectric sensor capable of rotating 120 degrees is respectively installed in the left front part and the right front part of the inspection robot, the position of the guide rail is positioned in real time, the inspection robot is driven to move along the guide rail according to the position of the guide rail, and when the deviation of the robot from the guide rail is detected, the direction is corrected in time, so that the inspection robot is guaranteed to move normally and safely along the guide rail.
Further, in the step (4), the distance between the sensor and the front object is measured by using the distance sensor, the distance between the robot and the obstacle is calculated through calculation, so that whether the obstacle exists in front or not is judged, and in addition, an included angle between the obstacle and the two distance sensors is obtained through calculation, so that whether the obstacle is in front of the robot or not is judged.
Further, in the moving process of the inspection robot, two distance sensors are used for measuring the distance between the sensor and the front object respectively, if an obstacle exists above the guide rail, the distance from the obstacle above the guide rail to the sensor is measured, if the obstacle is not above the guide rail, the distance from the obstacle to the nearest side of the guide rail is measured by the sensor, the measured distances are respectively a and b, and the distance between the two sensors is known as c, the distance between the inspection robot and the obstacle is calculated by a mathematical formula
Wherein
If the distance h is larger than 1m, the situation that no obstacle exists in the front is indicated, and the vehicle continues to move forwards; and if the distance is less than 1m, calculating an angle cosine value between the obstacle and the sensor.
Further, calculating the cosine value of the angle between the obstacle and the sensor specifically includes: the cosine values of the angles between the two distance sensors and the barrier are respectively
If an angle cosine value is smaller than 0, the obstacle is not positioned right in front of the inspection robot but positioned in front of the side of the inspection robot, and the normal movement of the inspection robot is not delayed; if the cosine values of the two angles are larger than 0, the obstacle needs to be avoided in front of the inspection robot.
Further, the determination conditions for obstacle release in step (4) are: h is greater than 1m or the cosine values of the two angles are not all greater than 0.
Compared with the prior art, the invention has the following beneficial technical effects:
the invention can make the small-sized inspection robot quickly and safely reach the front of the equipment to be read for image acquisition aiming at the conditions of numerous equipment in the substation, complex environment and serious electromagnetic interference, thereby realizing the ground movement function required when the substation control room is remotely monitored.
Through actual tests, the method provided by the invention can realize that the inspection robot runs along the preset track. The robot can automatically detect the preset track in the running process, and the advancing of the straight track and the arc track is realized. If the deviation exists, the automatic correction can be carried out, and the operation returns to the preset track. When the robot detects the obstacle in front of the advancing direction, the robot can automatically stop moving to avoid the obstacle until the obstacle is eliminated, and therefore the automatic moving function of the intelligent patrol robot in the substation control room is achieved.
Drawings
FIG. 1 is a flow chart of an implementation of the present invention;
FIG. 2 is a schematic diagram of an obstacle avoidance process;
fig. 3 is a flow chart of an obstacle avoidance process.
Detailed Description
The present invention is further illustrated below:
an automatic tracking obstacle avoidance method suitable for a transformer substation inspection robot comprises the following steps:
(1) laying guide rail
And laying a guide rail for navigation and positioning of the robot aiming at the relative position between the inspection robot parking place and the equipment to be read in the transformer substation. When the guide rail is laid, the area with smaller space and larger electromagnetic interference is avoided as much as possible, so that the inspection robot can normally and safely pass through the guide rail area.
(2) Turn on the head lamp
In order to deal with the condition of insufficient illumination of extreme weather or underground substations, the inspection robot is provided with a light source to illuminate the front guide rail and possible obstacles, and the normal movement of the robot is guaranteed.
(3) Following the movement
The left front part and the right front part of the inspection robot are respectively provided with a reflection photoelectric sensor capable of rotating by 120 degrees, the position of the guide rail is positioned in real time, and the inspection robot is driven to move along the guide rail according to the position of the guide rail.
(4) Obstacle avoidance
The inspection robot is provided with a distance sensor at the left front part and the right front part respectively, and the width of the robot is larger than that of the guide rail with reference to fig. 2, and the measured distance value is refreshed once every 20 ms.
(4a) Calculating the distance: in the moving process of the inspection robot, two distance sensors are used for measuring the distance between the sensor and a front object respectively, if an obstacle exists over the guide rail, the distance from the obstacle above the guide rail to the sensor is measured, if the obstacle is not over the guide rail, the sensor can measure the distance from the obstacle to the nearest side of the guide rail, and the measured distance is setThe distances are a and b respectively, and the distance between the two sensors is c, the distance between the robot and the obstacle can be calculated by a mathematical formula
Wherein
If the distance h is greater than 1M, it indicates that no obstacle exists ahead, and the vehicle can continue to move forward; and if the distance is less than 1m, calculating an angle cosine value between the obstacle and the sensor.
(4b) Calculating an angle: the cosine values of the angles between the two distance sensors and the barrier are respectively
If a value less than 0 exists, the obstacle is not positioned right in front of the robot but positioned in front of the side of the robot, and the normal movement of the robot is not delayed; if the two values are both larger than 0, the obstacle is in front of the robot and needs to be avoided.
(4c) Obstacle avoidance: and when the front obstacle is judged to exist, stopping the inspection robot to move until h is greater than 1m or the two cosine values are not all greater than 0, indicating that the obstacle is removed and restarting the tracking motion of the robot.
(5) To a destination
When the inspection robot moves to the front of equipment to be read, namely the photoelectric sensor identifies the position of the equipment, the robot stops moving, and a data reading program of the next step is started, namely shooting is carried out through a camera arranged on a positive telescopic lifting rod in the inspection robot;
(6) go back to the starting point
And after the data reading is finished, the inspection robot restarts the automatic tracking obstacle avoidance movement until the inspection robot moves to the next data acquisition point to prepare for next data reading, and returns to the original point after all the equipment to be read acquires the data.
The invention is further described below with reference to the accompanying drawings:
referring to fig. 1, the present invention is embodied as follows.
Step 1. laying guide rail
Before the inspection robot works, the movement track of the inspection robot needs to be planned manually, and navigation and positioning are carried out on the inspection robot through the form of laying guide rails. When the guide rail is laid, the region with small space and large electromagnetic interference is avoided as much as possible, so that the inspection robot can normally and safely pass through the guide rail region.
Under extreme weather condition or when the transformer substation is in the underground, the illumination is serious not enough, and the robot of patrolling and examining is difficult to detect the motion guide rail, consequently, makes the robot of patrolling and examining possess the light source by oneself, illumination the place ahead guide rail and the barrier that probably exists, guarantee the normal removal of robot.
Step 3, starting the tracking movement
The left front part and the right front part of the inspection robot are respectively provided with a reflection photoelectric sensor capable of rotating by 120 degrees, the position of the guide rail is positioned in real time, and the inspection robot is driven to move along the guide rail according to the position of the guide rail.
Step 4, obstacle avoidance, refer to fig. 2 and fig. 3
The inspection robot needs to detect whether an obstacle exists in real time in the moving process and avoid the obstacle, and the obstacle avoiding process is divided into three steps:
(4-1) calculating a distance: in the moving process of the inspection robot, two distance sensors are used for measuring the distances a and b between the sensors and a front object respectively, the distance between the two sensors is known to be c, and the distance between the robot and an obstacle is known to be c
Wherein
If the distance h is greater than 1M, it indicates that no obstacle exists ahead, and the vehicle can continue to move forward; and if the distance is less than 1m, calculating an angle cosine value between the obstacle and the sensor.
(4-2) calculation ofAngle: the cosine values of the angles between the two distance sensors and the barrier are respectively
If a value less than 0 exists, the obstacle is not positioned right in front of the robot but positioned in front of the side of the robot, and the normal movement of the robot is not delayed; if the two values are both larger than 0, the obstacle is in front of the robot and needs to be avoided.
(4-3) obstacle avoidance: and when the front obstacle is judged to exist, stopping the inspection robot to move until h is greater than 1m or the two cosine values are not all greater than 0, indicating that the obstacle is removed and restarting the tracking motion of the robot.
Step 5, reaching the destination
When patrolling and examining the robot and moving to the equipment the place ahead of waiting to read data, when photoelectric sensor discerned the equipment position promptly, the robot stop motion starts data reading procedure on next step, and data reading mainly carries out image acquisition to the preset position that sets up in advance, mainly shoots, shoots through the camera that sets up on the positive flexible lifter in patrolling and examining the robot promptly.
Step 6, returning to the starting point
And after the data reading is finished, the inspection robot restarts the automatic tracking obstacle avoidance movement until the inspection robot moves to the next data acquisition point to prepare for reading the data next time, and returns to the starting point after all the equipment to be read acquires the data.
Effects of the implementation
Through actual tests, the method provided by the invention can realize that the inspection robot runs along the preset track. The robot can automatically detect the preset track in the running process, and the advancing of the straight track and the arc track is realized. If the deviation exists, the automatic correction can be carried out, and the operation returns to the preset track. When the robot detects the obstacle in front of the advancing direction, the robot can automatically stop moving to avoid the obstacle until the obstacle is eliminated, and therefore the automatic moving function of the intelligent patrol robot in the substation control room is achieved.
Claims (6)
1. An automatic tracking obstacle avoidance method suitable for a transformer substation inspection robot is characterized by comprising the following steps:
(1) laying a guide rail for navigation and positioning of the inspection robot aiming at the relative position between the inspection robot parking place and the equipment to be read in the transformer substation;
(2) the inspection robot is provided with a self-contained light source to illuminate a front guide rail and a possible obstacle, so that the normal movement of the robot is guaranteed;
(3) the left front part and the right front part of the inspection robot are respectively provided with a reflection photoelectric sensor capable of rotating by 120 degrees, the position of the guide rail is positioned in real time, and the inspection robot is driven to automatically track along the guide rail according to the position of the guide rail;
(4) respectively installing a distance sensor at the left front part and the right front part of the inspection robot, judging whether obstacles exist in the front part according to distance detection, stopping the inspection robot to move if the obstacles exist, restarting the tracking motion of the inspection robot after the obstacles are removed, and continuing to move if the obstacles do not exist;
(5) when the inspection robot moves to the front of the equipment to be read, namely the photoelectric sensor identifies the position of the equipment, the robot stops moving, and a data reading program of the next step is started;
(6) and after the data reading is finished, the inspection robot restarts the automatic tracking obstacle avoidance movement until the inspection robot moves to the next data acquisition point to prepare for reading the data next time.
2. The automatic tracking obstacle avoidance method suitable for the substation inspection robot according to claim 1, characterized in that in the step (3), a reflection photoelectric sensor capable of rotating by 120 degrees is respectively installed in the left front part and the right front part of the inspection robot, the position of the guide rail is positioned in real time, the inspection robot is driven to move along the guide rail according to the position of the guide rail, and when the robot is detected to deviate from the guide rail, the direction is corrected in time, so that the inspection robot is ensured to normally and safely move along the guide rail.
3. The automatic tracking obstacle avoidance method suitable for the substation inspection robot according to claim 1, wherein in the step (4), the distance between the sensor and the object in front is measured by using the distance sensor, the distance between the robot and the obstacle is calculated through calculation, so that whether the obstacle exists in front is judged, and in addition, an included angle between the obstacle and the two distance sensors is obtained through calculation, so that whether the obstacle is in front of the robot is judged.
4. The automatic tracking obstacle avoidance method suitable for the transformer substation inspection robot according to claim 3, characterized in that in the moving process of the inspection robot, two distance sensors are used for respectively measuring the distance between the sensor and a front object, if an obstacle exists above the guide rail, the distance from the obstacle right above the guide rail to the sensor is measured, if the obstacle is not above the guide rail, the sensor measures the distance from the obstacle to the nearest side of the guide rail, the measured distances are respectively a and b, and if the distance between the two sensors is known to be c, the distance between the inspection robot and the obstacle is calculated by a mathematical formula
Wherein
If the distance h is larger than 1m, the situation that no obstacle exists in the front is indicated, and the vehicle continues to move forwards; and if the distance is less than 1m, calculating an angle cosine value between the obstacle and the sensor.
5. The automatic tracking obstacle avoidance method suitable for the substation inspection robot according to claim 4, wherein the calculation of the angle cosine value between the obstacle and the sensor specifically comprises: the cosine values of the angles between the two distance sensors and the barrier are respectively
If an angle cosine value is smaller than 0, the obstacle is not positioned right in front of the inspection robot but positioned in front of the side of the inspection robot, and the normal movement of the inspection robot is not delayed; if the cosine values of the two angles are larger than 0, the obstacle needs to be avoided in front of the inspection robot.
6. The automatic tracking obstacle avoidance method suitable for the substation inspection robot according to claim 5, wherein the judgment condition for obstacle removal in the step (4) is as follows: h is greater than 1m or the cosine values of the two angles are not all greater than 0.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111240340A (en) * | 2020-02-11 | 2020-06-05 | 北京海益同展信息科技有限公司 | Inspection robot, safe operation system, safe operation method and storage medium |
| CN113050628A (en) * | 2021-03-05 | 2021-06-29 | 国网四川省电力公司技能培训中心 | Automatic tracking system and method for cable inspection |
| CN113552884A (en) * | 2021-07-21 | 2021-10-26 | 国电南瑞科技股份有限公司 | Automatic navigation and obstacle avoidance method and device for valve hall fire-fighting robot |
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Application publication date: 20200117 |