Research On Navigation Method Of Substation Inspection Robot Based On The Laser Point Cloud

The normal and safe operation of the substation is related to all aspects of national economy and people’s livelihood. In order to ensure the safe running of the substation it needs to carry on the daily inspection, to find out the fault of electrical equipment in substation and solve problems in time. Currently, inspection work of substation is mainly done by manual operation. The inspection work daily, due to the technical level limitation of the inspection staff and other aspects, could not guarantee to achieve the overall effective inspection every time, probably leading to bad situation such as omission and error checking. In addition, when encountering severe natural phenomena, such as rain, snow and high temperature weather, it is also unable to guarantee the effectiveness of the inspection work. At the same time, the heavy work load is also a safety hazard.In order to solve the shortage of manual inspection, the paper puts forward a navigation method, which can effectively solve the above problems. In the paper, it has a deep research on the navigation method of the substation inspection robot. The main research work is divided into the following several aspects.Firstly, this paper introduces the experimental platform, which is a four wheeled mobile robot equipped with a laser range finder Hokuyo UTM30LX. Secondly, based on the features of substation laser point cloud data, the IRI_SLAM algorithm is proposed to realize real-time simultaneous localization and map building, combining the ICP algorithm with the probability theory. Then, according to characteristics of substation environment, it puts forward the path algorithm IRI_Pathplanning based on the map constructed by the IRI_SLAM algorithm, planning an optimal path to the goal location. Finally, the integration of IRI_SLAM and IRI_Pathplanning algorithm, it develops a navigation system IRI_Nav, and carries on the experiment in a substation. The experiment results shows that, the navigation system proposed in this paper not only achieves the purpose of precise navigation, and more accurate and efficient than the traditional method.