Title:
SUBSTATION INSPECTION ROBOT NAVIGATION CONTROL SYSTEM AND METHOD
Document Type and Number:
WIPO Patent Application WO/2018/032933
Kind Code:
A1
Abstract:
Provided are a substation inspection robot navigation control system and method; the substation inspection robot navigation control system comprises a magnetic sensor array, an array status processing module, a navigation control module, and a motion control module; the magnetic sensor array collects an actual lateral offset and transmits sensor array status information to the array status processing module; the array status processing module is connected to the magnetic sensor array and the navigation control module and is used, according to magnetic sensor array calibration information, to obtain a lateral offset corresponding to the magnetic sensor array status and status change time interval; the navigation control module uses the current lateral offset and status change time interval and calculates the navigation control volume and sends it to the motion control module so as to control the motion of the inspection robot. The invention performs prediction and advance adjustment of the trend of lateral offset change resulting from moving the robot, alleviates the impact that the navigation control output lag present in the navigation control system has on system stability, and improves the stability of the robot in operation.
Inventors:
XIAO PENG (CN)
LUAN YIQING (CN)
MU SHIYOU (CN)
LI JIANXIANG (CN)
ZHAO JINLONG (CN)
WANG HAIPENG (CN)
LI LI (CN)
WANG XINGZHAO (CN)
LV JUNTAO (CN)
LI XIZHI (CN)
YANG SHANGWEI (CN)
HAO YONGXIN (CN)
ZHANG XU (CN)
LUAN YIQING (CN)
MU SHIYOU (CN)
LI JIANXIANG (CN)
ZHAO JINLONG (CN)
WANG HAIPENG (CN)
LI LI (CN)
WANG XINGZHAO (CN)
LV JUNTAO (CN)
LI XIZHI (CN)
YANG SHANGWEI (CN)
HAO YONGXIN (CN)
ZHANG XU (CN)
Application Number:
PCT/CN2017/093788
Publication Date:
February 22, 2018
Filing Date:
July 21, 2017
Export Citation:
Assignee:
STATE GRID SHANDONG ELECTRIC POWER RES INSTITUTE (CN)
SHANDONG LUNENG INTELLIGENCE TECHNOLOGY CO LTD (CN)
STATE GRID CORP CHINA (CN)
SHANDONG LUNENG INTELLIGENCE TECHNOLOGY CO LTD (CN)
STATE GRID CORP CHINA (CN)
International Classes:
G05D1/02
Foreign References:
| CN106292664A | 2017-01-04 | |||
| CN103292806A | 2013-09-11 | |||
| CN203643844U | 2014-06-11 | |||
| CN202205099U | 2012-04-25 | |||
| CN102269995A | 2011-12-07 | |||
| CN105180934A | 2015-12-23 | |||
| CN104898665A | 2015-09-09 | |||
| JP2002189519A | 2002-07-05 |
Attorney, Agent or Firm:
BEYOND ATTORNEYS AT LAW (CN)
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