The Research Of In Substation Inspection Robot Based On Visual Navigation

In the context of the development of substation towards unattended direction,the traditional manual inspection is gradually replaced by robot intelligent inspection system.The paper research electric inspection robot of autonomous positioning and moving.A patrol inspection method based on visual navigation path following control system and global path planning is designed and the design method was verified from the perspective of system application.The research content mainly includes the following aspects:(1)Substation environmental modeling and path planning.Combining with the system application requirements,in this paper,the inspection robot path planning on the analysis of the key technical problems,refer to the relevant documents of inspection robot global path planning algorithm for research,combining with the characteristics of system and the substation environment space condition is proposed Voroni figure the environment model is created,and by using simulated annealing algorithm between nodes shortest path combination in the optimal solution of the search,skipping the local optimal solution problem to complete the global optimal solution and find the approximate optimal solution.(2)Camera calibration and visual distance measurement.Aiming at the problem of camera distortion in visual navigation system,Zhang Zhengyi’s calibration method is utilized to obtain the camera’s internal and external parameters for correction.A method of visual distance measurement is given for monocular vision system.(3)Road marking detection and path following control.Firstly,the algorithm preprocesses the acquired image with image segmentation algorithm.Secondly,for straight lane detection,edge detection is utilized to extract the edge points of lane markings,Hough transform is utilized to fit straight line.For corner detection,obtain the road markings at the bends by using the straight line-hyperbolic model matching method.Then,the switching method of the lane model is defined.Lastly,follow the path according to the specific road model.(4)Experimental application analysis of substation robot intelligent inspection system修改为Experimental analysis of substation robot intelligent inspection system.In this experiment,firstly,an global path planning is realized by using simulated annealing algorithm,then the software design,complete equipment,including transformer,circuit breaker,isolating switch setting the rational observation points are designed to complete all sorts of equipment state information of real-time acquisition.The result shows that this software can work effectively for robot operation control,inspection tasks and complete the alarm,also ensure safe and reliable operation of the transformer substation.