CN107443383A - Robot used for intelligent substation patrol environmental map laser positioning guider and method - Google Patents
Robot used for intelligent substation patrol environmental map laser positioning guider and method Download PDFInfo
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- CN107443383A CN107443383A CN201710834909.0A CN201710834909A CN107443383A CN 107443383 A CN107443383 A CN 107443383A CN 201710834909 A CN201710834909 A CN 201710834909A CN 107443383 A CN107443383 A CN 107443383A
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- 230000007613 environmental effect Effects 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims description 10
- 230000033001 locomotion Effects 0.000 claims abstract description 33
- 238000004891 communication Methods 0.000 claims abstract description 24
- 238000006243 chemical reaction Methods 0.000 claims abstract description 16
- 238000012544 monitoring process Methods 0.000 claims abstract description 15
- 230000003139 buffering effect Effects 0.000 claims description 9
- 230000011664 signaling Effects 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 4
- 230000035939 shock Effects 0.000 claims description 4
- 238000010276 construction Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims 1
- 230000004927 fusion Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 6
- 238000001514 detection method Methods 0.000 abstract description 5
- 238000011161 development Methods 0.000 abstract description 3
- 238000007689 inspection Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Human Computer Interaction (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of robot used for intelligent substation patrol environmental map laser positioning guider, it is characterised in that：The device includes laser sensor（1）, signal conversion module（2）, robot industry controller（3）, wireless communication module（4）, monitoring computer（5）, motion drive（6）, servomotor（7）And encoder（8）, laser position detection technique and Scan algorithm map building technologies be combined by robot used for intelligent substation patrol environmental map laser positioning navigation system, realizes crusing robot position and is accurately positioned and remote supervisory.System has the advantages that precision height, good reliability, safety coefficient are high, is laid the foundation for the positioning of crusing robot position and the development of airmanship.In addition, buffer device for collision effectively alleviates the infringement that collision is brought to whole device, the junction between road wheel and chassis is especially protected well, can greatly reduce the probability reprocessed.
Description
Technical field
The invention belongs to power transformer detection technique field, more particularly to a kind of robot used for intelligent substation patrol environment
Map laser positioning airmanship.
Background technology
Transformer station is that bridge is connected between transmission line of electricity and user, realizes the effect that high-tension electricity is converted to low tension.Companion
With the continuous development of Power Electronic Technique and image recognition technology, substation inspection technology is changed into machine via manual inspection
People's intelligent patrol detection.Crusing robot airmanship major part magnetic tracks airmanship, passes through the position of this sensor sensing robot
Put and magnetic tracks deviation, and be mediated, but track laying workload is big, circuit flexibility is low, Magnetic Sensor detecting distance is near,
Crusing robot chassis bottom, obstacle-overpass ability are caused, while position detection accuracy is low, is unfavorable for remote monitoring and management.
In addition, crusing robot can cause device is impaired to hinder normal work, especially road wheel and bottom when running into collision
The position of disk connection is easiest to be damaged in collision.
The content of the invention
Goal of the invention：The present invention provide a kind of robot used for intelligent substation patrol environmental map laser positioning guider and
Method, it is the problems of conventional the purpose is to solve.
Technical scheme：
A kind of robot used for intelligent substation patrol environmental map laser positioning guider, it is characterised in that：The device bag
Include laser sensor, signal conversion module, robot industry controller, wireless communication module, monitoring computer, motion driving
Device, servomotor and encoder；The wherein output unit of laser sensor (1) and signal conversion module (2) and wireless telecommunications mould
The signal input part of block (4) is connected, and the output end and the signal of robot industry controller (3) of signal conversion module (2) are defeated
Enter end to be connected, the signal output part of robot industry controller (3) and motion drive (6) and wireless communication module (4)
Signal input part is connected, and the signal output part of wireless communication module (4) is connected with the signal input part of monitoring computer (5)
Connect, the signal output part of motion drive (6) is connected with the control signal input of servomotor (7), servomotor (7)
Position signalling test side is connected with the signal measurement end of encoder (8), and signal output part and the motion of encoder (8) drive
The signal feedback input end of device (6) is connected, position signalling output end and the robot industry controller of motion drive (6)
(3) signal input part is connected, control instruction input and the wireless communication module (4) of robot industry controller (3)
Control instruction inputs out end and is connected, and the control of the control instruction input and monitoring computer (5) of wireless communication module (4) refers to
Order is connected.
Laser sensor (1), signal conversion module (2), robot industry controller (3), wireless communication module (4), prison
Control computer (5), motion drive (6), servomotor (7) and encoder (8) are arranged on robot ambulation chassis (9),
The lower end on chassis (9) is road wheel (10), and road wheel (10) is controlled by servomotor (7)；
Buffer device for collision is additionally provided with the chassis, the buffer device for collision includes buffer board (11), buffer pocket (12)
With lifting inserted link；
Buffer board (11) is arranged on the side of chassis (9), and the bottom of buffer board (11) is arranged on chassis by pivot shaft
(9) side forms the lever construction of activity；The position that pivot shaft is arranged on the close bottom end points of buffer board (11) causes
Laborsaving lever is formed at the top of buffer board (11)；The position of the pivot shaft is also at the bottom of the side on chassis (9)；(so
One to be hit when, it is ensured that the probability that top is hit, and laborsaving lever can cause the rotation of lever to be easy to be touched
Hair)
Buffer pocket (12) is arranged on the centre position of the bottom on chassis (9), the bottom connection T-shaped connection of buffer pocket (12)
Pipe, T-shaped connecting tube are the T-shaped structure being made up of standpipe (14) and transverse tube (15), and the bottom connection T-shaped of buffer pocket (12) connects
The standpipe (14) of pipe, transverse tube (15) both ends of bottom of the axle insertion T-shaped connecting tube of road wheel (10) and the axle of road wheel (10)
It can be done relative to transverse tube (15) and axial pull and push action；
Gear (16) and two toothed racks (17) are provided with buffer pocket (12), two toothed racks (17) are arranged on gear (16)
Both sides are simultaneously engaged with gear (16), and two toothed racks (17) can do the movement parallel to chassis (9) ground, and the sliding tooth in movement
Take turns (16) to rotate, the direction of motion of two toothed racks (17) is opposite；Two toothed racks (17) are connected by movable connecting rod (18) respectively
To buffer board (11) bottom of chassis (9) both sides, one end of movable connecting rod (18) is connected to rack (17) by rotating shaft, another
End is connected to buffer board (11) bottom by rotating shaft, and the center of gear (16) is with female sets of holes；
Inserted link is lifted as the downward opening Y-shaped structure being made up of the pole (19) of mobile jib (13) and two bifurcateds, mobile jib
(13) upper end is provided with external screw thread pull bar, can be relatively rotated between the external screw thread pull bar and mobile jib (13) and axial distance not
Become；External screw thread pull bar is put in the sets of holes of gear (16) to be coordinated with the sets of holes screw thread, and lifting is controlled by the rotation of gear (16)
The lifting of inserted link；
Be provided with through hole (20) on the wall of the transverse tube (15) of T-shaped connecting tube, the through hole with it is recessed on the axle of road wheel (10)
(21) position correspondence is cheated, during normal work, it is interior by road wheel (10) that pole (19) through through hole (20) inserts pit (21) afterwards
Axle is relatively fixed with transverse tube (15)；When the top of buffer board (11) receives shock, the low side of buffer board (11) pulls gear
(16) rotate so that lifting inserted link rises so that pole (19) leaves through hole (20) and pit (21) completes unblock.
Buffer spring (22) is provided between the top of buffer board (11) and the side wall of chassis (9).
Mobile jib (13) is arranged in standpipe (14), and the side wall of standpipe (14) is provided with the strip through-hole stretched out for pole (19)
(23) realize and lift for pole (19).
The part that the shaft extension of road wheel (10) enters transverse tube (15) is cased with level 2 buffering spring (24), level 2 buffering spring (24)
The axle of one end connection road wheel (10), other end connection transverse tube (15) inwall.
The transformer station implemented using above-mentioned robot used for intelligent substation patrol environmental map laser positioning guider
Intelligent inspection robot environmental map laser positioning air navigation aid, it is characterised in that：This method utilizes laser sensor (1) basis
The environmental information of scanning is periodically sent to robot industry controller (3), machine by setting value by signal conversion module (2)
People's industrial control unit (ICU) (3) map building functional software merges according to the pulse information of laser sensor (1) information and encoder (8)
Generate substation two-dimensional map；Gather information and cartographic information according to laser sensor 1 and self-position integrate and determine
Position, judges the deviation of position and pre- in-position, and robot industry controller (3) is received by wireless communication module (4)
Monitoring computer (5) control instruction or itself generation control instruction are sent to motion drive (6), and then control servomotor
(7) act, control crusing robot reaches specified location.
When robot used for intelligent substation patrol environmental map laser positioning navigation system map creates, map is stored as grid
Form；Establishment process is primarily based on a series of position of mobile robot W of maximum possible1、W2... to establish a series of matching
Map M1、M2..., it is assumed that m1、w1、mt-1, wt-1It is illustrated respectively in t and t-1 moment most probable local map and inspection
The shift position of robot, ztRepresent the observation in t crusing robot, utRepresent the motion of t crusing robot
Measure, then mt、wtIt is to be based on mt-1、wt-1Tried to achieve according to maximal margin new probability formula, formula is as follows：
<mt, wt>=arg maxmtwt[p(zt|mt, wt), p (| wt, mt|ut, mt-1, wt-1)|] (1)
When collecting ztWhen, travel through w using Scan algorithmstSpace, which is found, can make ztAnd mt-1The position w most matchedt；If ztIn
I-th of laser beam fall in mt-1The probability of middle place grid isThe weight then traveled through a little isThe maximum traversal point of weight
Position wt, and then mtCan be according to wt、ztCalculating is tried to achieve.
Advantages of the present invention and beneficial effect：Robot used for intelligent substation patrol environmental map laser positioning navigation system will
Laser position detection technique and Scan algorithm map building technologies are combined, and are realized crusing robot position and are accurately positioned and far
Journey is supervised.System has the advantages that precision height, good reliability, safety coefficient are high, and position and navigate skill for crusing robot position
The development of art lays the foundation.
In addition, buffer device for collision effectively alleviates the infringement that collision is brought to whole device, especially protection well
Junction between road wheel and chassis, can greatly reduce the probability reprocessed.
The present invention will be described in detail with specific embodiment below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 robot used for intelligent substation patrol environmental map laser positioning navigation system structure diagrams；
Fig. 2 map building flow charts；
Fig. 3 is buffer device for collision structural representation；
Fig. 4 is Fig. 3 view when running into collision；
Fig. 5 is gear structure schematic diagram；
1st, laser sensor；2nd, signal conversion module；3rd, robot industry controller；4th, wireless communication module；5th, monitor
Computer；6th, motion drive；7th, servomotor；8th, encoder.
Embodiment
In order to reach foregoing invention purpose, the present invention proposes that robot used for intelligent substation patrol environmental map laser positioning is led
Boat technology.
Robot used for intelligent substation patrol environmental map laser positioning navigation system structure diagram is as shown in figure 1, system bag
Include laser sensor 1, signal conversion module 2, robot industry controller 3, wireless communication module 4, monitoring computer 5, motion
Driver 6, servomotor 7, encoder 8, the wherein output unit of laser sensor 1 and signal conversion module 2, wireless telecommunications mould
The signal input part of block 4 is connected, the output end of signal conversion module 2 and the signal input part phase of robot industry controller 3
Connection, the signal input part phase of the signal output part and motion drive 6 and wireless communication module 4 of robot industry controller 3
Connection, the signal output part of wireless communication module 4 are connected with monitoring the signal input part of computer 5, the letter of motion drive 6
Number output end is connected with the control signal input of servomotor 7, the position signalling test side of servomotor 7 with and encoder
8 signal measurement end is connected, and the signal output part of encoder 8 is connected with the signal feedback input end of motion drive 6, fortune
The position signalling output end of dynamic driver 6 is connected with the signal input part of robot industry controller 3, robot industry control
The control instruction input of device 3 inputs out end with the control instruction of wireless communication module 4 and is connected, the control of wireless communication module 4
Command input processed is connected with monitoring the control instruction of computer 5.
Laser sensor 1, signal conversion module 2, robot industry controller 3, wireless communication module 4, monitoring computer
5th, motion drive 6, servomotor 7 and encoder 8 are arranged on robot ambulation chassis 9, and the lower end on chassis 9 is road wheel
10, road wheel 10 is controlled by servomotor 7；
Buffer device for collision is additionally provided with the chassis, the buffer device for collision includes buffer board 11, buffer pocket 12 and risen
Inserted link drops；
Buffer board 11 is arranged on the side on chassis 9, and the bottom of buffer board 11 is arranged on the side on chassis 9 by pivot shaft
The lever construction of formation activity；The position that pivot shaft is arranged on the close bottom end points of buffer board 11 causes the upper of buffer board 11
Portion forms laborsaving lever；The position of the pivot shaft is also at the bottom of the side on chassis 9；, can when so being hit
To ensure probability that top is hit, and laborsaving lever can cause the rotation of lever to be easy to be triggered
Buffer pocket 12 is arranged on the centre position of the bottom on chassis 9, the bottom connection T-shaped connecting tube of buffer pocket 12, and T-shaped connects
The T-shaped structure to be made up of standpipe 14 and transverse tube 15 is taken over, the bottom of buffer pocket 12 connects the standpipe 14 of T-shaped connecting tube, OK
Walk wheel 10 axle insertion T-shaped connecting tube the both ends of transverse tube 15 of bottom and the axle of road wheel 10 can be done relative to transverse tube 15 it is axial
Pull and push action；
The toothed rack 17 of gear 16 and two is provided with buffer pocket 12, two toothed racks 17 are arranged on the both sides of gear 16 and and tooth
The engagement of wheel 16, two toothed racks 17 can do the movement parallel to the ground of chassis 9, and drive gear 16 rotates in movement, two rooted teeth
The direction of motion of bar 17 is opposite；Two toothed racks 17 are connected to the bottom of buffer board 11 of the both sides of chassis 9 by movable connecting rod 18 respectively
Portion, one end of movable connecting rod 18 are connected to rack 17 by rotating shaft, and the other end is connected to the bottom of buffer board 11, tooth by rotating shaft
The center of wheel 16 is with female sets of holes；
Inserted link is lifted as the downward opening Y-shaped structure being made up of the pole (19) of mobile jib (13) and two bifurcateds, mobile jib
(13) upper end is provided with external screw thread pull bar, can be relatively rotated between the external screw thread pull bar and mobile jib (13) and axial distance not
Become；External screw thread pull bar is put in the sets of holes of gear (16) to be coordinated with the sets of holes screw thread, and lifting is controlled by the rotation of gear (16)
The lifting of inserted link；
Through hole 20 is provided with the wall of the transverse tube 15 of T-shaped connecting tube, the through hole and the pit 21 on the axle of road wheel 10
Put correspondingly, during normal work, pole 19 pass through insert after through hole 20 it is in pit 21 that the axle and transverse tube 15 of road wheel 10 is relatively solid
It is fixed；When the top of buffer board 11 receives shock, the low side of buffer board 11 pulls gear 16 to rotate so that and lifting inserted link rises,
So that pole 19 leaves through hole 20 and pit 21 completes unblock.
Buffer spring 22 is provided between the top of buffer board 11 and the side wall on chassis 9.
Mobile jib 13 is arranged in standpipe 14, and the side wall of standpipe 14 is provided with the strip through-hole 23 stretched out for pole 19 for branch
Bar 19 realizes lifting.
The part that the shaft extension of road wheel 10 enters transverse tube 15 is cased with level 2 buffering spring 24, the connection of the one end of level 2 buffering spring 24
The axle of road wheel 10, the other end connection inwall of transverse tube 15.
When running into collision as shown in figure 4, right side runs into collision, and the top of buffer board 11 is extruded, and buffer spring 22 is extruded
First-level buffer is completed, the lower end of buffer board 11 pulls rack 17 so that gear 16 rotates, and then causes external screw thread pull bar to drive lifting
Inserted link rises so that and pole 19 leaves through hole 20 and pit 21 completes unblock, and at the same time, if impulsive force continues, then
Chassis 9 is as the left side movement in figure, and at this moment, the level 2 buffering spring 24 in left side is stretched and the quilt of level 2 buffering spring 24 on right side
Level 2 buffering is completed in compression, protects the connection of whole chassis especially road wheel and chassis 9 well, is tieed up again after avoiding damage
Repair.After shock terminates, chassis is resetted, pole 19 reinserts through hole 20 and pit 21 completes temporary locking.
Robot used for intelligent substation patrol environmental map laser positioning navigation system is using laser sensor 1 according to setting value
The environmental information of scanning is periodically sent to robot industry controller 3, robot industry control by signal conversion module 2
The map building functional software of device 3 merges generation substation two according to the pulse information of the information of laser sensor 1 and encoder 8
Tie up map.According to laser sensor 1 information and cartographic information is gathered self-position is carried out to integrate positioning, judge position with
The deviation of pre- in-position, robot industry controller 3 by wireless communication module 4 receive monitoring the control instruction of computer 5 or
Itself produce control instruction and be sent to motion drive 6, and then control servomotor 7 to act, control crusing robot, which reaches, to be referred to
Positioning is put.
Robot used for intelligent substation patrol environmental map laser positioning navigation system map visioning procedure is as shown in Fig. 2 ground
Figure is stored as grid format.Establishment process is primarily based on a series of position of mobile robot W of maximum possible1、W2... to establish
A series of matching map M1、M2..., it is assumed that m1、w1、mt-1, wt-1It is illustrated respectively in t and t-1 moment most probable office
The shift position of portion's map and crusing robot, ztRepresent the observation in t crusing robot, utRepresent t survey monitor
The amount of exercise of device people, then mt、wtIt is to be based on mt-1、wt-1Tried to achieve according to maximal margin new probability formula, formula is as follows：
<mt, wt>=arg maxmtwt[p(zt|mt, wt), p (| wt, mt|ut, mt-1, wt-1)|] (1)
When collecting ztWhen, travel through w using Scan algorithmstSpace, which is found, can make ztAnd mt-1The position w most matchedt.If ztIn
I-th of laser beam fall in mt-1The probability of middle place grid isThe weight then traveled through a little isThe maximum traversal point of weight
Position wt, and then mtCan be according to wt、ztCalculating is tried to achieve.
Claims (7)
- A kind of 1. robot used for intelligent substation patrol environmental map laser positioning guider, it is characterised in that：The device includes Laser sensor (1), signal conversion module (2), robot industry controller (3), wireless communication module (4), monitoring computer (5), motion drive (6), servomotor (7) and encoder (8)；Wherein the output unit of laser sensor (1) turns with signal Mold changing block (2) is connected with the signal input part of wireless communication module (4), the output end and robot of signal conversion module (2) The signal input part of industrial control unit (ICU) (3) is connected, the signal output part and motion drive of robot industry controller (3) (6) and the signal input part of wireless communication module (4) is connected, and signal output part and the monitoring of wireless communication module (4) calculate The signal input part of machine (5) is connected, and the signal output part of motion drive (6) inputs with the control signal of servomotor (7) End is connected, and the position signalling test side of servomotor (7) is connected with the signal measurement end of encoder (8), encoder (8) Signal output part be connected with the signal feedback input end of motion drive (6), the output of the position signalling of motion drive (6) End is connected with the signal input part of robot industry controller (3), the control instruction input of robot industry controller (3) End is inputted out with the control instruction of wireless communication module (4) to be connected, control instruction input and the prison of wireless communication module (4) The control instruction of control computer (5) is connected.
- 2. robot used for intelligent substation patrol environmental map laser positioning guider according to claim 1, its feature It is：Laser sensor (1), signal conversion module (2), robot industry controller (3), wireless communication module (4), monitoring meter Calculation machine (5), motion drive (6), servomotor (7) and encoder (8) are arranged on robot ambulation chassis (9), chassis (9) lower end is road wheel (10)；Buffer device for collision is additionally provided with the chassis, the buffer device for collision includes buffer board (11), buffer pocket (12) and risen Inserted link drops；Buffer board (11) is arranged on the side of chassis (9), and the bottom of buffer board (11) is arranged on chassis (9) by pivot shaft Side forms the lever construction of activity；The position that pivot shaft is arranged on the close bottom end points of buffer board (11) causes buffer board (11) laborsaving lever is formed at top；The position of the pivot shaft is also at the bottom of the side on chassis (9)；Buffer pocket (12) is arranged on the centre position of the bottom on chassis (9), the bottom connection T-shaped connecting tube of buffer pocket (12), T-shaped Connecting tube is the T-shaped structure being made up of standpipe (14) and transverse tube (15), and the bottom connection T-shaped connecting tube of buffer pocket (12) is stood Manage (14), the axle of road wheel (10) inserts transverse tube (15) both ends of the bottom of T-shaped connecting tube and the axle of road wheel (10) can be relative Done in transverse tube (15) and axial pull and push action；Gear (16) and two toothed racks (17) are provided with buffer pocket (12), two toothed racks (17) are arranged on the both sides of gear (16) And engaged with gear (16), two toothed racks (17) can do the movement parallel to chassis (9) ground, and the drive gear in movement (16) rotate, the direction of motion of two toothed racks (17) is opposite；Two toothed racks (17) are connected to by movable connecting rod (18) respectively Buffer board (11) bottom of chassis (9) both sides, one end of movable connecting rod (18) are connected to rack (17), the other end by rotating shaft Buffer board (11) bottom is connected to by rotating shaft, the center of gear (16) is with female sets of holes；Inserted link is lifted as the downward opening Y-shaped structure being made up of the pole (19) of mobile jib (13) and two bifurcateds, mobile jib (13) Upper end be provided with external screw thread pull bar, can be relatively rotated between the external screw thread pull bar and mobile jib (13) and axial distance is constant；Outside Thread is put in the sets of holes of gear (16) to be coordinated with the sets of holes screw thread, and lifting inserted link is controlled by the rotation of gear (16) Lifting；Through hole (20), the through hole and the pit on the axle of road wheel (10) are provided with the wall of the transverse tube (15) of T-shaped connecting tube (21) position correspondence, during normal work, pole (19) insert the interior axle by road wheel (10) of pit (21) afterwards through through hole (20) It is relatively fixed with transverse tube (15)；When the top of buffer board (11) receives shock, the low side of buffer board (11) pulls gear (16) Rotation so that lifting inserted link rises so that pole (19) leaves through hole (20) and pit (21) completes unblock.
- 3. robot used for intelligent substation patrol environmental map laser positioning guider according to claim 2, its feature It is：Buffer spring (22) is provided between the top of buffer board (11) and the side wall of chassis (9).
- 4. the robot used for intelligent substation patrol environmental map laser positioning guider according to Claims 2 or 3, it is special Sign is：Mobile jib (13) is arranged in standpipe (14), and the side wall of standpipe (14) is provided with the strip through-hole stretched out for pole (19) (23) realize and lift for pole (19).
- 5. robot used for intelligent substation patrol environmental map laser positioning guider according to claim 4, its feature It is：The part that the shaft extension of road wheel (10) enters transverse tube (15) is cased with level 2 buffering spring (24), level 2 buffering spring (24) one The axle of end connection road wheel (10), other end connection transverse tube (15) inwall.
- 6. implemented using the robot used for intelligent substation patrol environmental map laser positioning guider described in claim 1 Robot used for intelligent substation patrol environmental map laser positioning air navigation aid, it is characterised in that：This method utilizes laser sensor (1) environmental information of scanning is periodically sent to by robot industry controller by signal conversion module (2) according to setting value (3), robot industry controller (3) map building functional software is according to the pulse of laser sensor (1) information and encoder (8) Information fusion generates substation two-dimensional map；Information is gathered according to laser sensor 1 and cartographic information enters to self-position The comprehensive positioning of row, judges the deviation of position and pre- in-position, and robot industry controller (3) passes through wireless communication module (4) receive monitoring computer (5) control instruction or itself produce control instruction and be sent to motion drive (6), and then control and watch Motor (7) action is taken, control crusing robot reaches specified location.
- 7. robot used for intelligent substation patrol environmental map laser positioning air navigation aid according to claim 6, its feature It is：When robot used for intelligent substation patrol environmental map laser positioning navigation system map creates, map is stored as grid lattice Formula；Establishment process is primarily based on a series of position of mobile robot W of maximum possible1、W2... come establish it is a series of matchingly Scheme M1、M2..., it is assumed that m1、w1、mt-1, wt-1It is illustrated respectively in t and t-1 moment most probable local map and survey monitor The shift position of device people, ztRepresent the observation in t crusing robot, utThe amount of exercise of t crusing robot is represented, Then mt、wtIt is to be based on mt-1、wt-1Tried to achieve according to maximal margin new probability formula, formula is as follows：<mrow> <mo><</mo> <msub> <mi>m</mi> <mi>t</mi> </msub> <mo>,</mo> <msub> <mi>w</mi> <mi>t</mi> </msub> <mo>></mo> <mo>=</mo> <mi>arg</mi> <msub> <mi>max</mi> <mrow> <msub> <mi>m</mi> <mi>t</mi> </msub> <msub> <mi>w</mi> <mi>t</mi> </msub> </mrow> </msub> <mo>[</mo> <mi>p</mi> <mrow> <mo>(</mo> <msub> <mi>z</mi> <mi>t</mi> </msub> <mo>|</mo> <msub> <mi>m</mi> <mi>t</mi> </msub> <mo>,</mo> <msub> <mi>w</mi> <mi>t</mi> </msub> <mo>)</mo> </mrow> <mo>,</mo> <mi>p</mi> <mrow> <mo>(</mo> <mo>|</mo> <msub> <mi>w</mi> <mi>t</mi> </msub> <mo>,</mo> <msub> <mi>m</mi> <mi>t</mi> </msub> <mo>|</mo> <msub> <mi>u</mi> <mi>t</mi> </msub> <mo>,</mo> <msub> <mi>m</mi> <mrow> <mi>t</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>,</mo> <msub> <mi>w</mi> <mrow> <mi>t</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mo>]</mo> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow>When collecting ztWhen, travel through w using Scan algorithmstSpace, which is found, can make ztAnd mt-1The position w most matchedt；If ztIn I laser beam falls in mt-1The probability of middle place grid isThe weight then traveled through a little isThe maximum traversal point position w of weightt, And then mtCan be according to wt、ztCalculating is tried to achieve.
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