CN202092653U

CN202092653U - Navigation system for substation inspection robot

Info

Publication number: CN202092653U
Application number: CN2010206978848U
Authority: CN
Inventors: 李卫国; 刘瑶; 芦竹茂; 李俊霖; 渠展展; 石海鹏; 李熙
Original assignee: North China Electric Power University
Current assignee: North China Electric Power University
Priority date: 2010-12-27
Filing date: 2010-12-27
Publication date: 2011-12-28
Anticipated expiration: 2020-12-27

Abstract

The utility model particularly relates to a navigation system for a substation inspection robot, belonging to the fields of a robot and navigation. The navigation system consists of a single-chip microcomputer control circuit, a GPS (global positioning system) module, an electronic compass, a laser range finder and laser homing equipment by cooperatively adopting GPS, electronic compass navigation and infrared range finding and positioning. An electronic map is drawn and a coordinate system is established according to the floor plan of a substation; and when a robot cart inspects the work, positioning is approximately performed in the coordinate system according to the GPS value, a reference rod (column) is selected, a circle is drawn with the distance measured by the laser range finder as the radius, a public intersection point on the circumference is the exact location of the cart in the coordinate system, and the cart heading is adjusted to finish the independent substation inspection.

Description

The navigational system of robot is maked an inspection tour by a kind of transformer station

Technical field

The utility model belongs to robot and navigation field, and the navigational system of robot is maked an inspection tour by particularly a kind of transformer station.

Background technology

For a long time, the substation equipment manual inspection operating type that China's power industry is continued to use, not only big under high pressure, ultra-high voltage environment to hazard to person, and electric power netting safe running brought certain hidden danger.Substation equipment is maked an inspection tour the tour work that robot can replace manually finishing substation equipment, and making an inspection tour robot can be according to predefined assignment instructions or the staff task operating in the base station, and self-navigation, location and path planning are maked an inspection tour equipment.Information such as the real time data that the staff only needs to receive by the backstage base station computer, image can be understood the working condition of substation equipment.Inspecting substation equipment robot navigation positioning system is one of gordian technique that realizes equipment routing inspection work.

GPS navigation bearing accuracy height, the unit bearing accuracy is better than 10m, adopts the difference location, and precision can reach centimetre-sized and millimeter level.But the gps system weak point is: the work of GPS receiver is subjected to transformer station's high-voltage electric field and high-intensity magnetic field disturbs, and the influence of factors such as local landform and surrounding buildings thing, and being less than 4 when visual Navsat, the GPS receiver just can't correctly be located, or bearing accuracy is relatively poor.

Summary of the invention

The utility model is in order to overcome the above-mentioned defective of prior art, propose a kind of transformer station and maked an inspection tour the navigational system of robot, the method that its navigational system adopts GPS, electronic compass navigation and infrared distance measurement location to be used, the guided robot dolly is finished the autonomous tour work of transformer station.

The technical solution adopted in the utility model is:

This navigational system comprises navigation module and execution module, wherein, navigation module is made up of single-chip microcomputer, GPS module, electronic compass, laser range finder and laser homing equipment, and the signal output part of GPS module, electronic compass, laser range finder and laser homing equipment all is connected with single-chip microcomputer; Execution module is made up of horizontal stage electric machine, The Cloud Terrace potentiometer and movable motor, and wherein, the signal output part of single-chip microcomputer is connected with horizontal stage electric machine, The Cloud Terrace potentiometer and movable motor respectively.

Described single-chip microcomputer is the Atmega128 single-chip microcomputer.

The beneficial effects of the utility model are: the method that adopts GPS, electronic compass navigation and infrared distance measurement location to be used, and the guided robot dolly is finished the autonomous tour work of transformer station; The bearing accuracy height, speed is fast, can overcome the interference to the GPS receiver of transformer station's high-voltage electric field and high-intensity magnetic field, and the influence of factors such as local landform and surrounding buildings thing, and applicable situation is extensive.

Description of drawings

Fig. 1 is the structured flowchart that the robot navigation system is maked an inspection tour by the utility model transformer station.

Embodiment

The utility model provides a kind of transformer station to make an inspection tour the navigational system of robot, below in conjunction with the drawings and specific embodiments the utility model is described further.

As shown in Figure 1, this navigational system comprises navigation module and execution module, wherein, navigation module is made up of Atmega128 single-chip microcomputer, GPS module, electronic compass, laser range finder and laser homing equipment, and the signal output part of GPS module, electronic compass, laser range finder and laser homing equipment all is connected with the Atmega128 single-chip microcomputer; Execution module is made up of horizontal stage electric machine, The Cloud Terrace potentiometer and movable motor, and wherein, the signal output part of Atmega128 single-chip microcomputer is connected with horizontal stage electric machine, The Cloud Terrace potentiometer and movable motor respectively.

The flow of navigation of this navigational system is:

(1) draw electronic chart according to the floor plan of transformer station, set up coordinate system, indicate road in coordinate diagram, the coordinate of bar/post comprises the distance between longitude and latitude and the electrical equipment;

When (2) work is maked an inspection tour by described robot, read the GPS numerical value of position, determine the coarse positioning of dolly in coordinate system;

(3) read the value of compass, determine robot car headstock direction;

(4) according to the coarse positioning position of described robot, in the 270 ° of degree scopes in headstock the place ahead, from electronic chart, choose three reference lever/posts, and the coordinate of definite reference lever/post;

(5) laser range finder is aimed at reference lever/post and find range, take the sector scanning mode, and compare,, then detect again if exceed setting value with the distance of estimating for assurance obtains correct result;

(6) be the center of circle with three reference lever/posts, the distance that records is that radius is drawn circle, and the common intersection of three circumference is the accurate coordinates of robot car in electronic chart;

(7), adjust the course of described robot according to the accurate coordinates of gained.

When robot car was maked an inspection tour work, for realizing navigator fix rapidly and accurately, the measure of employing had:

1. when measuring the accurate coordinates of robot car,, therefore need accurately to measure the travel track of dolly, in calculating, add the course offset correction because dolly is in traveling process.

2. laser ranging is positioned in the most short time and finishes, and has adopted following two kinds of measures in order to shorten positioning time:

(1) laser range finder is when searching reference location bar/post, and the velocity of rotation of loading the horizontal The Cloud Terrace of laser range finder is 250-300 °/s; During closest approach on seeking reference lever/post, the velocity of rotation of loading the horizontal The Cloud Terrace of laser range finder is 25-30 °/s.

For guaranteeing the correct quick rotation of The Cloud Terrace, adopt Atmega128 single-chip microcomputer and circuit board thereof control The Cloud Terrace and laser range finder; For reducing the The Cloud Terrace moment of inertia, adopt the driven by motor The Cloud Terrace to rotate, export rotational angle with potentiometer.

(2) for searching out reference lever/post as early as possible, record distance, add laser homing equipment, the guided laser stadimeter is aimed at reference lever/post.

Claims

1. the navigational system of robot is maked an inspection tour by a transformer station, comprise navigation module and execution module, it is characterized in that, navigation module is made up of single-chip microcomputer, GPS module, electronic compass, laser range finder and laser homing equipment, and the signal output part of GPS module, electronic compass, laser range finder and laser homing equipment all is connected with single-chip microcomputer; Execution module is made up of horizontal stage electric machine, The Cloud Terrace potentiometer and movable motor, and wherein, the signal output part of single-chip microcomputer is connected with horizontal stage electric machine, The Cloud Terrace potentiometer and movable motor respectively.

2. the navigational system of robot is maked an inspection tour by transformer station according to claim 1, it is characterized in that described single-chip microcomputer is the Atmega128 single-chip microcomputer.