CN109405823B - Rapid positioning system and positioning method for charging point of pipe gallery track type inspection robot - Google Patents
Rapid positioning system and positioning method for charging point of pipe gallery track type inspection robot Download PDFInfo
- Publication number
- CN109405823B CN109405823B CN201811127631.4A CN201811127631A CN109405823B CN 109405823 B CN109405823 B CN 109405823B CN 201811127631 A CN201811127631 A CN 201811127631A CN 109405823 B CN109405823 B CN 109405823B
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- rotary encoder
- inspection robot
- charging point
- charging
- positioning
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- 238000007689 inspection Methods 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 230000006698 induction Effects 0.000 claims abstract description 6
- 210000001503 joint Anatomy 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 description 6
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Classifications
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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
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)
- Manipulator (AREA)
Abstract
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Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201811127631.4A CN109405823B (en) | 2018-09-27 | 2018-09-27 | Rapid positioning system and positioning method for charging point of pipe gallery track type inspection robot |
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CN201811127631.4A CN109405823B (en) | 2018-09-27 | 2018-09-27 | Rapid positioning system and positioning method for charging point of pipe gallery track type inspection robot |
Publications (2)
Publication Number | Publication Date |
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CN109405823A CN109405823A (en) | 2019-03-01 |
CN109405823B true CN109405823B (en) | 2024-05-24 |
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CN201811127631.4A Active CN109405823B (en) | 2018-09-27 | 2018-09-27 | Rapid positioning system and positioning method for charging point of pipe gallery track type inspection robot |
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CN (1) | CN109405823B (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112621777A (en) * | 2020-12-14 | 2021-04-09 | 国网山东省电力公司栖霞市供电公司 | Rail mounted intelligent power distribution live working warehouse management robot |
CN113964915B (en) * | 2021-11-08 | 2023-11-07 | 北京华能新锐控制技术有限公司 | Control method for cooperative work of multi-working-section track robot |
Citations (9)
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JP2004283956A (en) * | 2003-03-20 | 2004-10-14 | Sony Corp | Charging system, robot device, charging device, and charging method |
CN202058039U (en) * | 2011-04-23 | 2011-11-30 | 山东电力研究院 | Combined positioning system for substation intelligent inspection robot with integrated multi-sensors |
CN203444334U (en) * | 2013-08-30 | 2014-02-19 | 浙江理工大学 | Autonomous navigation system of tour guide robot |
CN204243858U (en) * | 2014-11-24 | 2015-04-01 | 贵阳供电局 | A kind of non-contact type wireless charging device and a kind of Intelligent Mobile Robot |
CN104742111A (en) * | 2015-04-02 | 2015-07-01 | 江苏亿嘉和信息科技有限公司 | Traveling mechanism of cable tunnel inspection robot |
CN106787233A (en) * | 2016-12-22 | 2017-05-31 | 武汉大学 | Cable tunnel inspection robot and charging method with wireless charging device |
CN107508390A (en) * | 2017-08-22 | 2017-12-22 | 国网江苏省电力公司电力科学研究院 | A kind of crusing robot wireless charging system and method |
CN206960914U (en) * | 2017-06-09 | 2018-02-02 | 扬州华电电气有限公司 | A kind of cable tunnel inspection robot system |
CN208795239U (en) * | 2018-09-27 | 2019-04-26 | 郑州华力信息技术有限公司 | Piping lane rail mounted crusing robot charge point quick positioning system |
-
2018
- 2018-09-27 CN CN201811127631.4A patent/CN109405823B/en active Active
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004283956A (en) * | 2003-03-20 | 2004-10-14 | Sony Corp | Charging system, robot device, charging device, and charging method |
CN202058039U (en) * | 2011-04-23 | 2011-11-30 | 山东电力研究院 | Combined positioning system for substation intelligent inspection robot with integrated multi-sensors |
CN203444334U (en) * | 2013-08-30 | 2014-02-19 | 浙江理工大学 | Autonomous navigation system of tour guide robot |
CN204243858U (en) * | 2014-11-24 | 2015-04-01 | 贵阳供电局 | A kind of non-contact type wireless charging device and a kind of Intelligent Mobile Robot |
CN104742111A (en) * | 2015-04-02 | 2015-07-01 | 江苏亿嘉和信息科技有限公司 | Traveling mechanism of cable tunnel inspection robot |
CN106787233A (en) * | 2016-12-22 | 2017-05-31 | 武汉大学 | Cable tunnel inspection robot and charging method with wireless charging device |
CN206960914U (en) * | 2017-06-09 | 2018-02-02 | 扬州华电电气有限公司 | A kind of cable tunnel inspection robot system |
CN107508390A (en) * | 2017-08-22 | 2017-12-22 | 国网江苏省电力公司电力科学研究院 | A kind of crusing robot wireless charging system and method |
CN208795239U (en) * | 2018-09-27 | 2019-04-26 | 郑州华力信息技术有限公司 | Piping lane rail mounted crusing robot charge point quick positioning system |
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CN109405823A (en) | 2019-03-01 |
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TA01 | Transfer of patent application right |
Effective date of registration: 20240411 Address after: 450000 9 Huaihe Road, Zhengzhou, Henan Applicant after: ZHENGZHOU XIANGHE GROUP Co.,Ltd. Country or region after: China Applicant after: STATE GRID HENAN ELECTRIC POWER COMPANY ZHENGZHOU POWER SUPPLY Co. Applicant after: STATE GRID CORPORATION OF CHINA Address before: Room 62, 12th Floor, Building 9, East Zone, University Science and Technology Park, No. 289 West Third Ring Road, High tech Zone, Zhengzhou City, Henan Province, 450001 Applicant before: ZHENGZHOU HUALI INFORMATION TECHNOLOGY Co.,Ltd. Country or region before: China Applicant before: STATE GRID HENAN ELECTRIC POWER COMPANY ZHENGZHOU POWER SUPPLY Co. Applicant before: STATE GRID CORPORATION OF CHINA |
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