| With the continuous improvement of voltage levels, substations cover larger and larger areas. The operating environment becomes more complex. Workload of manual substation inspection becomes heavier. Substation inspection robot is able to partially replace or fully replace routine manual inspection of substations.The designed inspection robot includes many hardware devices, such as the Robot body, industrial computer system, GPS, digital radio receivers, ARM, IMU, Wireless Router, camera and other auxiliary equipment. The robot body contains mechanical structure, wheels and drivers. The computer system is equipped with an Ubuntu operating system and a Robot Operating System (ROS), which is the core of the entire inspection robot control platform. Localization information is provided by the GPS module. Signal from the base station is received by the digital radio. The current attitude information is collected by IMU. These three kinds of information are sent to the ARM processor to calculate location and attitude. The ARM processor sends the results to the computer through serial port. The computer determines the next destination of the robot with running hierarchical A* algorithm.Establish the hierarchical map database is the basis of the inspection robot route planning system. Firstly, the database divides the map into two layers according to the road width, passenger and vehicle flow and barricades. Secondly, the algorithm selects the key points of the road. Differential GPS is used to measure latitude and longitude of these points. Then a hierarchical map database is set up and stored in an industrial computer. Thirdly, the hierarchical A* algorithm program is implemented. A Pioneer3 robot is driven to accomplish route planning and Navigation. Finally, a region is chosen to exam the system.Through a field test in an experimental area, proved the system to be able to search the optimal path, and is able to drive Pioneer3 robot autonomous navigation to the destination node. |
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