Design of a laser navigation system for substation inspection robot

Author

Peng Xiao ; Rui Guo ; Yiqing Luan ; Haipeng Wang ; Li Li ; Feng Zhang ; Dongzhe Pang

Author_Institution

Electr. Power Robotic Lab., Shandong Electr. Power Res. Inst., Jinan, China

fYear

2013

fDate

12-14 June 2013

Firstpage

739

Lastpage

743

Abstract

Aimed at the deficiency of the magnetic guide and RFID parking system used by substation inspection robot now, a laser navigation method is introduced, and a prototype laser navigation system is designed based on NAV200. The whole structure of the navigation system is presented; the data processing and navigation control algorithm are also described in detail. In order to verify the repetitive precision of the system, an experimental test has been carried out in a 500KV outdoor substation. Experimental results show that the laser navigation system works well, and the repetitive precision of navigation control is precise enough to help the robot fulfill inspection tasks.

Keywords

inspection; laser beam applications; mobile robots; power system control; substations; NAV200; RFID parking system; data processing; laser navigation system design; magnetic guide; navigation control algorithm; outdoor mobile robot; outdoor substation; prototype laser navigation system; substation inspection robot; voltage 500 kV; Inspection; Lasers; Mobile robots; Navigation; Robot kinematics; Substations;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation (ICCA), 2013 10th IEEE International Conference on

Conference_Location

Hangzhou

ISSN

1948-3449

Print_ISBN

978-1-4673-4707-5

Type

conf

DOI

10.1109/ICCA.2013.6564880

Filename

6564880