Design Of Compound Navigation And Path Planning System For Substation Inspection Robot

With the progress of industrial technology and the development of new energy technology,the demand for electricity is growing.Substation is a key link in the power system,its operation and maintenance of intelligent will have a significant impact on the development of the entire grid.The number of substations in China is huge,and the labor intensity of the traditional manual inspection method is large.There are misjudgments or omissions in the judgment of abnormal conditions;At present,the substation robot has the problems of single navigation mode,insufficient navigation accuracy,and even the need for staff to control the robot in the background.Therefore,it is necessary to design a compound navigation and path planning system that can plan the working path and provide accurate navigation for the substation inspection robot.The compound navigation and path planning system designed in this paper is based on a four-wheel robot,with raspberry pie 4B,RPLIDAR A3 laser radar and high-definition camera,to achieve path planning and accurate navigation of the patrol robot.In the laser navigation mode of the composite navigation system,the laser radar and Hector algorithm are used to build the working environment map for the robot,the adaptive Monte Carlo algorithm is used to accurately locate the robot,and the deviation between the robot’s travel direction and the expected path is calculated to complete the navigation control of the robot;In the visual navigation mode,the navigation camera in front of the robot is used to take a picture of the guide line on the ground.Weighted reconstruction of each component gray level image of the HSV model of the image,and then filtering.A local adaptive mean value threshold method is proposed to extract the guide line,and the guide line is simplified into a linear model for the least squares fitting.The position and attitude deviation between the robot and the guide line is analyzed.In the path planning system,an improved intelligent water drop(IWD)algorithm is proposed in this paper to solve the problems of the IWD algorithm in robot path planning,such as weak solving ability and easy to be interfered by the local optimal solution.The improved algorithm introduces the distance factor between the node and the target point into the path probability of the original algorithm,which makes the algorithm more powerful and accelerates the convergence speed of the algorithm;At the identical time,the roulette wheel technique is brought in the chance decision of the algorithm to keep away from falling into the nearby foremost in the answer process;Finally,combining the Freud algorithm(Floyd)to smooth the planned path,reduce the inflection point of the path to fit the motion law of the patrol robot.Analyze the obstacles encountered by the robot during the inspection process,and design the robot obstacle avoidance process.After the system is built,the basic velocity manipulate of the robotic is first of all tested.From the experimental results,it can be considered that the simple pace of the robotic is steady in the pace range;The mountain climbing and impediment avoidance experiments are carried out for the robot,and the experimental effects affirm the reliability of the system.Finally,the route planning potential and navigation potential of the machine are tested.From the take a look at results,it can be considered that the course route of the device planning is clear,and the navigation machine publications the robotic to attain the goal factor accurately;At last,the inspection characteristic of the gadget is tested.The experimental records indicates that the robotic precisely locates the working factor in the course of the inspection process,which suggests that the gadget is possible and can meet the desires of the inspection robotic in the substation.