CN113341431A - Transformer substation robot indoor navigation positioning method based on double-path laser - Google Patents
Transformer substation robot indoor navigation positioning method based on double-path laser Download PDFInfo
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- CN113341431A CN113341431A CN202110437536.XA CN202110437536A CN113341431A CN 113341431 A CN113341431 A CN 113341431A CN 202110437536 A CN202110437536 A CN 202110437536A CN 113341431 A CN113341431 A CN 113341431A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
The invention discloses a transformer substation robot indoor navigation positioning method based on double-path laser, which overcomes the problem that the robot in the transformer substation in the prior art is not convenient to operate due to inaccurate positioning, and comprises a double-path laser data calibration stage and a robot path navigation displacement stage; firstly, a two-way laser data calibration stage and a robot path navigation displacement stage are carried out. According to the invention, the distance position information from the transformer substation robot to the equipment to be operated is measured through the two-way laser radar sensor, the two-way data is subjected to data integration, and the positioning algorithm in the transformer substation robot realizes the path planning of the transformer substation robot according to the distance position information so as to achieve the optimal path from the transformer substation robot to the equipment to be operated.
Description
Technical Field
The invention relates to the technical field of transformer substations, in particular to a transformer substation robot indoor navigation positioning method based on double-path laser.
Background
Currently, the artificial intelligence technology has been widely applied in the fields of finance, medical treatment, education, manufacturing, etc., and has achieved good application effects. Electric power industry practitioners often relate to some high-risk operations, especially some work in the transformer substation, such as brake and closing, switching operation, equipment inspection, unusual timely accident handling. The intelligent robot is a typical representative of the artificial intelligence technology, can replace people to complete some work, and has natural matching with the requirement of a transformer substation on the artificial intelligence technology. At present, an intelligent operation robot is put into a transformer substation for the first time by Jiaxing power supply companies, the intelligent operation robot can realize the switch operation, equipment inspection and emergency accident treatment of the transformer substation, and a traditional inspection robot can only complete the equipment inspection work and does not have multipurpose capability. Substation equipment is numerous, has multiclass equipment such as transformer, cubical switchboard, insulator, generating line, isolator, and the indoor operating robot is subject to the operation space of arm, needs closely equipment such as the cubical switchboard cabinet body of approaching to operate, however because the restriction of robot action, the unable accurate location of the chassis of the indoor robot of transformer substation is operated to corresponding cubical switchboard, and the inaccurate operation difficulty to the cubical switchboard of robot migration time overlength that leads to the fact easily of location.
Disclosure of Invention
The invention aims to solve the problem that operation is not facilitated due to inaccurate positioning of a robot in a transformer substation in the prior art, and provides a transformer substation robot indoor navigation positioning method based on double-path laser, which can improve positioning accuracy.
In order to achieve the purpose, the invention adopts the following technical scheme:
a transformer substation robot indoor navigation positioning method based on double-path laser comprises a double-path laser data calibration stage and a robot path navigation displacement stage; firstly, performing a two-path laser data calibration stage and a robot path navigation displacement stage;
the two-way sensor data calibration phase comprises the following steps:
a1, the transformer substation robot receives the position of the equipment to be operated sent by the command system;
a2, arranging a double-path laser radar sensor on the transformer substation robot, and transmitting laser pulses to the position of equipment to be operated by the double-path laser radar sensor;
a3, returning laser scattered by the equipment to be operated to respective laser radar sensors, and reading the time of returning each path of laser by the two-path laser radar sensors to obtain distance data from the two paths of substation robots to the cabinet body;
the a2 includes the following:
the transformer substation robot is internally provided with an image information sensor for sensing an image of equipment to be operated and a visible light photo automatic identifier for identifying graphic information of the equipment to be operated, wherein the image information sensor is connected with the visible light photo automatic identifier and is used for acquiring picture information of the equipment to be operated and comparing the picture information with information of the equipment to be operated, which is sent by a command system, so as to find correct equipment to be operated; the command system sends the position information and the picture information of the equipment to be operated to the transformer substation robot, and the transformer substation robot finds the equipment to be operated according to the position information and the picture information sent by the command system and wants the equipment to be operated to emit laser pulses;
the robot path navigation displacement stage comprises the following steps:
b1, the transformer substation robot obtains distance data from the two paths to the cabinet body;
b2, realizing the path planning of the transformer substation robot through a positioning algorithm;
and B3, moving the substation robot to the equipment to be operated according to the planned path.
According to the invention, the distance position information from the transformer substation robot to the equipment to be operated is measured through the two-way laser radar sensor, the two-way data is subjected to data integration, and the positioning algorithm in the transformer substation robot realizes the path planning of the transformer substation robot according to the distance position information so as to achieve the optimal path from the transformer substation robot to the equipment to be operated.
Because the robot can only move transversely or longitudinally to a target when moving, the substation robot cannot obliquely and directly move to the position of the equipment to be operated in a straight line mode, and obstacles can block the movement of the substation robot if the path is on, a positioning algorithm can ensure that a plurality of nodes are searched by creating a rectangular coordinate system to realize optimal path when path planning is carried out.
Preferably, the two-way lidar sensor is arranged by adopting the following method: be equipped with double-circuit laser radar sensor on the robot of transformer substation, wherein the laser pulse perpendicular to of laser radar sensor transmission of the same kind treats the operation face on the operating equipment, and the rotatable setting of the laser pulse of another way laser radar sensor transmission is on the robot of transformer substation, and the direction of the laser pulse of rotatable laser radar sensor transmission is according to the position direction real-time adjustment of treating the operating equipment at every turn.
Preferably, the device to be operated is provided with means including a button and a knob on the operation surface.
Preferably, one path of laser pulse emitted by the laser radar sensor is perpendicular to an operation surface on the equipment to be operated, the direction of the laser pulse emitted by the other path of laser radar sensor is according to the position of the equipment to be operated each time, and the position distance data read by the perpendicular laser radar sensor is l1The distance data read by the laser radar sensor with the irradiation direction being the direction of the operating equipment is l2The positioning algorithm realizes the transformer substation machine according to the two distance dataAnd planning the path of the robot.
Preferably, the positioning algorithm realizes the path planning of the substation robot according to the two distance data, and the path planning comprises the following contents: b21, establishing a rectangular coordinate system by taking the current position of the substation robot as the origin of coordinates, reading an included angle theta between two laser pulses by the substation robot, and keeping the included angle theta along a data distance l1The direction from the starting point to the end point is the positive direction of the x axis, the positive direction of the y axis is perpendicular to the positive direction of the x axis, and the data distance l is formed2The point above falls within the first quadrant;
b22, moving to the first node along the positive direction of the x axis or the positive direction of the y axis, if the first movement to the first node is along the positive direction of the x axis, the direction of moving to the second node next time is from the first node to the vertical direction of the last movement to be close to one side of the equipment to be operated, namely the positive direction of the y axis; if the first movement to the first node is along the positive direction of the y axis, the direction of the next movement to the second node is from the first node to the vertical direction of the last movement to be close to one side of the equipment to be operated, namely the positive direction of the x axis;
b23, when an obstacle is encountered in the moving process, the position of the current obstacle is positioned as a node, and the next moving is continued until the cabinet body to be operated is reached.
Preferably, the substation robot moves the total distance x of all the nodes in the positive direction of the x axis1＝l1。
Preferably, the substation robot moves the total distance y of all the nodes in the positive direction of the y axis1＝l2×sinθ。
Preferably, the planned path in B3 includes a plurality of nodes and connecting lines between the nodes, and the connecting lines between the nodes are straight line segments; the connecting line between each node and the next node is only in the transverse or longitudinal direction on the rectangular coordinate system; if the connecting line between the current node and the next node is in the transverse direction of the rectangular coordinate system, the connecting line between the next node and the next node is in the longitudinal direction of the rectangular coordinate system;
if the connecting line between the current node and the next node is in the longitudinal direction of the rectangular coordinate system, the connecting line between the next node and the next node is in the transverse direction of the rectangular coordinate system.
Therefore, the invention has the following beneficial effects:
the invention solves the problem that the robot in the transformer substation room is limited by the operation space and can not accurately perform chassis control navigation positioning, improves the positioning accuracy, aligns the laser data output by the two-way laser through the positioning algorithm in real time and effectively fuses the laser data to obtain the environment data with wide visual angle, accurately positions the position information of the equipment to be operated, and rapidly positions and plans the path by combining the two data obtained by the two-way laser radar, thereby realizing the high-precision transformer substation robot indoor position positioning, ensuring the high-precision applicability of the transformer substation robot, reducing the operation period of the transformer substation robot, and improving the operation safety and efficiency.
Drawings
Fig. 1 is a flowchart of the present embodiment.
Fig. 2 is a schematic diagram of the two-way laser direction of the present embodiment.
In the figure: 1. the system comprises a transformer substation robot 2, a switch cabinet 3, equipment to be operated 4, an obstacle 5, a first node 6, a second node 7 and a third node.
Detailed Description
The invention is further described with reference to the following detailed description and accompanying drawings.
Example 1:
the embodiment provides a transformer substation robot indoor navigation positioning method based on two-way laser, which comprises a two-way laser data calibration stage and a robot path navigation displacement stage as shown in fig. 1; firstly, performing a two-path laser data calibration stage and a robot path navigation displacement stage;
the two-way sensor data calibration phase comprises the following steps:
a1, the transformer substation robot receives the position of the equipment to be operated sent by the command system;
a2, arranging a double-path laser radar sensor on the transformer substation robot, and transmitting laser pulses to the position of equipment to be operated by the double-path laser radar sensor;
a3, returning laser scattered by the equipment to be operated to respective laser radar sensors, and reading the time of returning each path of laser by the two-path laser radar sensors to obtain distance data from the two paths of substation robots to the cabinet body;
the a2 includes the following:
the transformer substation robot is internally provided with an image information sensor for sensing an image of equipment to be operated and a visible light photo automatic identifier for identifying graphic information of the equipment to be operated, wherein the image information sensor is connected with the visible light photo automatic identifier and is used for acquiring picture information of the equipment to be operated and comparing the picture information with information of the equipment to be operated, which is sent by a command system, so as to find correct equipment to be operated; the command system sends the position information and the picture information of the equipment to be operated to the transformer substation robot, and the transformer substation robot finds the equipment to be operated according to the position information and the picture information sent by the command system and wants the equipment to be operated to emit laser pulses;
the robot path navigation displacement stage comprises the following steps:
b1, the transformer substation robot obtains distance data from the two paths to the cabinet body;
b2, realizing the path planning of the transformer substation robot through a positioning algorithm;
and B3, moving the substation robot to the equipment to be operated according to the planned path.
Preferably, the two-way lidar sensor is arranged by adopting the following method: be equipped with double-circuit laser radar sensor on the robot of transformer substation, wherein the laser pulse perpendicular to of laser radar sensor transmission of the same kind treats the operation face on the operating equipment, and the rotatable setting of the laser pulse of another way laser radar sensor transmission is on the robot of transformer substation, and the direction of the laser pulse of rotatable laser radar sensor transmission is according to the position direction real-time adjustment of treating the operating equipment at every turn.
Preferably, the device to be operated is provided with means including a button and a knob on the operation surface.
Preferably, one path of laser pulse emitted by the laser radar sensor is vertical to an operation surface on the equipment to be operated, and the other path of laser pulse emitted by the laser radar sensor is vertical to the operation surface on the equipment to be operatedAccording to the position of the equipment to be operated each time, the position distance data read by the vertical laser radar sensor is l1The distance data read by the laser radar sensor with the irradiation direction being the direction of the operating equipment is l2And the positioning algorithm realizes the path planning of the transformer substation robot according to the two distance data.
Preferably, the positioning algorithm realizes the path planning of the substation robot according to the two distance data, and the path planning comprises the following contents:
b21, establishing a rectangular coordinate system by taking the current position of the substation robot as the origin of coordinates, reading an included angle theta between two laser pulses by the substation robot, and keeping the included angle theta along a data distance l1The direction from the starting point to the end point is the positive direction of the x axis, the positive direction of the y axis is perpendicular to the positive direction of the x axis, and the data distance l is formed2The point above falls within the first quadrant;
b22, moving to the first node along the positive direction of the x axis or the positive direction of the y axis, if the first movement to the first node is along the positive direction of the x axis, the direction of moving to the second node next time is from the first node to the vertical direction of the last movement to be close to one side of the equipment to be operated, namely the positive direction of the y axis; if the first movement to the first node is along the positive direction of the y axis, the direction of the next movement to the second node is from the first node to the vertical direction of the last movement to be close to one side of the equipment to be operated, namely the positive direction of the x axis;
b23, when an obstacle is encountered in the moving process, the position of the current obstacle is positioned as a node, and the next moving is continued until the cabinet body to be operated is reached.
Preferably, the substation robot moves the total distance x of all the nodes in the positive direction of the x axis1＝l1。
Preferably, the substation robot moves the total distance y of all the nodes in the positive direction of the y axis1＝l2×sinθ。
Preferably, the planned path in B3 includes a plurality of nodes and connecting lines between the nodes, and the connecting lines between the nodes are straight line segments; the connecting line between each node and the next node is only in the transverse or longitudinal direction on the rectangular coordinate system; if the connecting line between the current node and the next node is in the transverse direction of the rectangular coordinate system, the connecting line between the next node and the next node is in the longitudinal direction of the rectangular coordinate system;
if the connecting line between the current node and the next node is in the longitudinal direction of the rectangular coordinate system, the connecting line between the next node and the next node is in the transverse direction of the rectangular coordinate system.
As shown in fig. 2, in this embodiment, the substation robot 1 moves to the obstacle 4 along the positive direction of the y-axis to record the position as the first node 3, then the substation robot moves to the switch cabinet 2 along the direction perpendicular to the last moving direction and close to the device to be operated 3, that is, the positive direction of the x-axis, and records the current position as the second node, the substation robot 1 moves to the position of the device to be operated 3 along the positive direction of the y-axis, so as to ensure that the total moving distance is the minimum, reduce the invalid moving distance, and ensure that the positioning accuracy is correct through the coordinate system and the position read by the two-way laser beam.
The above embodiments are described in detail for the purpose of further illustrating the present invention and should not be construed as limiting the scope of the present invention, and the skilled engineer can make insubstantial modifications and variations of the present invention based on the above disclosure.
Claims (8)
1. A transformer substation robot indoor navigation positioning method based on double-path laser is characterized by comprising a double-path laser data calibration stage and a robot path navigation displacement stage;
firstly, performing a two-path laser data calibration stage and a robot path navigation displacement stage;
the two-way sensor data calibration phase comprises the following steps:
a1, the transformer substation robot receives the position of the equipment to be operated sent by the command system;
a2, arranging a double-path laser radar sensor on the transformer substation robot, and transmitting laser pulses to the position of equipment to be operated by the double-path laser radar sensor;
a3, returning laser scattered by the equipment to be operated to respective laser radar sensors, and reading the time of returning each path of laser by the two-path laser radar sensors to obtain distance data from the two paths of substation robots to the cabinet body;
the a2 includes the following:
the transformer substation robot is internally provided with an image information sensor for sensing an image of equipment to be operated and a visible light photo automatic identifier for identifying graphic information of the equipment to be operated, wherein the image information sensor is connected with the visible light photo automatic identifier and is used for acquiring picture information of the equipment to be operated and comparing the picture information with information of the equipment to be operated, which is sent by a command system, so as to find correct equipment to be operated; the command system sends the position information and the picture information of the equipment to be operated to the transformer substation robot, and the transformer substation robot finds the equipment to be operated according to the position information and the picture information sent by the command system and wants the equipment to be operated to emit laser pulses;
the robot path navigation displacement stage comprises the following steps:
b1, the transformer substation robot obtains distance data from the two paths to the cabinet body;
b2, realizing the path planning of the transformer substation robot through a positioning algorithm;
and B3, moving the substation robot to the equipment to be operated according to the planned path.
2. The transformer substation robot indoor navigation and positioning method based on the two-way laser as claimed in claim 1, wherein the two-way laser radar sensor is arranged by adopting the following method:
be equipped with double-circuit laser radar sensor on the robot of transformer substation, wherein the laser pulse perpendicular to of laser radar sensor transmission of the same kind treats the operation face on the operating equipment, and the rotatable setting of the laser pulse of another way laser radar sensor transmission is on the robot of transformer substation, and the direction of the laser pulse of rotatable laser radar sensor transmission is according to the position direction real-time adjustment of treating the operating equipment at every turn.
3. The transformer substation robot indoor navigation and positioning method based on the two-way laser as claimed in claim 2, wherein devices including buttons and knobs are arranged on an operation surface of equipment to be operated.
4. The transformer substation robot indoor navigation and positioning method based on the two-way laser as claimed in claim 1, wherein a laser pulse emitted by a laser radar sensor is perpendicular to an operation surface on equipment to be operated;
the direction of the laser pulse emitted by the other path of laser radar sensor is according to the position of the equipment to be operated each time; the position distance data read by the vertical laser radar sensor is l1；
The distance data read by the laser radar sensor with the irradiation direction as the direction of the equipment to be operated is l2And the positioning algorithm realizes the path planning of the transformer substation robot according to the two distance data.
5. The transformer substation robot indoor navigation and positioning method based on the two-way laser as claimed in claim 4, wherein the positioning algorithm for realizing the path planning of the transformer substation robot according to the two distance data comprises the following contents:
b21, establishing a rectangular coordinate system by taking the current position of the substation robot as the origin of coordinates, reading an included angle theta between two laser pulses by the substation robot, and keeping the included angle theta along a data distance l1The direction from the starting point to the end point is the positive direction of the x axis, the positive direction of the y axis is perpendicular to the positive direction of the x axis, and the data distance l is formed2The point above falls within the first quadrant;
b22, moving to the first node along the positive direction of the x axis or the positive direction of the y axis, if the first movement to the first node is along the positive direction of the x axis, the direction of moving to the second node next time is from the first node to the vertical direction of the last movement to be close to one side of the equipment to be operated, namely the positive direction of the y axis; if the first movement to the first node is along the positive direction of the y axis, the direction of the next movement to the second node is from the first node to the vertical direction of the last movement to be close to one side of the equipment to be operated, namely the positive direction of the x axis;
b23, when an obstacle is encountered in the moving process, the position of the current obstacle is positioned as a node, and the next moving is continued until the cabinet body to be operated is reached.
6. The indoor navigation and positioning method for substation robots based on two-way laser as claimed in claim 5, wherein the substation robot moves the total distance x of all nodes in the positive direction of the x axis1＝l1。
7. The indoor navigation and positioning method for substation robots based on two-way laser as claimed in claim 5, wherein the substation robot moves the total distance y of all nodes in the positive direction of the y-axis1＝l2×sinθ。
8. The transformer substation robot indoor navigation and positioning method based on the two-way laser as claimed in claim 1, wherein the planned path in B3 comprises a plurality of nodes and connecting lines among the nodes, and the connecting lines among the nodes are straight line segments; the connecting line between each node and the next node is only in the transverse or longitudinal direction on the rectangular coordinate system;
if the connecting line between the current node and the next node is in the transverse direction of the rectangular coordinate system, the connecting line between the next node and the next node is in the longitudinal direction of the rectangular coordinate system;
if the connecting line between the current node and the next node is in the longitudinal direction of the rectangular coordinate system, the connecting line between the next node and the next node is in the transverse direction of the rectangular coordinate system.
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