Slam and Navigation of Electric Power Intelligent Inspection Robot based on ROS

Lu, Peng; Sun, Wencheng; An, Chao; Fu, Qiang; Long, Chanjuan; Wen-jiang, LI

doi:10.1109/iciba52610.2021.9687883

Cited by 2 publications

(2 citation statements)

References 2 publications

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“…Therefore, many research institutes have optimized and upgraded the mechanical structure and positioning system of the wheeled EIR to produce the adaptable robot for the indoor inspection. The robot operating system (ROS) was used to design the control with highly efficient, by which the accurate mapping, high positioning and low cost can be achieved for the EIR (Figure 4) (Lu et al , 2021). However, the inspection structure of this robot is still under development, and a robotic arm needs to be installed to operate the relevant inspection functions.…”

Section: Electrical Inspection Robots Used In Substationsmentioning

confidence: 99%

A review of indoor-orbital electrical inspection robots in substations

Dong

Liang²,

Li³

et al. 2022

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Purpose The purpose of this study is to provide an in-depth understanding about the indoor-orbital electrical inspection robot, which is useful for motivating the further investigation on the inspection of electrical equipment. Currently, electric energy has a strong correlation with the economic development of the country. Intelligent substations play an important role in the transmission and distribution of the electricity; the maintenance of the substation has attracted intensive attention due to the requirement of reliability and safety. The indoor-orbital electrical inspection robot has increasingly become the main tool to realize the unmanned. Hence, a systematic review is conducted systematically reviewing the current technical status of the indoor-orbital electrical inspection robot and discuss the existed problems. Design/methodology/approach In this paper, the most essential achievements in the field of indoor-orbital electrical inspection robots were reported to present the current status, and the mechanical structures and key inspective technologies were also discussed. Findings Four recommendations are provided from the analyzed review, which have made constructive comments on the overall structural design, functionality, intelligence and future development direction of the indoor-orbital electrical inspection robot, respectively. Originality/value To the best of the authors’ knowledge, this is the first systematic review study on indoor-orbital electrical inspection robots; it fills the theoretical gap and proffers design ideas and directions for the development of the indoor-orbital electrical inspection robot.

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Section: Electrical Inspection Robots Used In Substationsmentioning

confidence: 99%

A review of indoor-orbital electrical inspection robots in substations

Dong

Liang²,

Li³

et al. 2022

View full text Add to dashboard Cite

show abstract

“…With the development of the smart grid, the use of inspection robots instead of manual inspection has become the mainstream way, which has been widely used in substations [6,7]. To complete the task of inspecting substations, inspection robots need to have autonomous navigation capabilities [8]. At present, inspection robots equipped with 3D LiDAR cannot recognize the grass category, so they treat the grass as an obstacle based on the information of the ultrasonic sensor [9].…”

Section: Introductionmentioning

confidence: 99%

A New Assistance Navigation Method for Substation Inspection Robots to Safely Cross Grass Areas

Yang,

Ma,

Zhang

et al. 2023

Sensors

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With the development of intelligent substations, inspection robots are widely used to ensure the safe and stable operation of substations. Due to the prevalence of grass around the substation in the external environment, the inspection robot will be affected by grass when performing the inspection task, which can easily lead to the interruption of the inspection task. At present, inspection robots based on LiDAR sensors regard grass as hard obstacles such as stones, resulting in interruption of inspection tasks and decreased inspection efficiency. Moreover, there are inaccurate multiple object-detection boxes in grass recognition. To address these issues, this paper proposes a new assistance navigation method for substation inspection robots to cross grass areas safely. First, an assistant navigation algorithm is designed to enable the substation inspection robot to recognize grass and to cross the grass obstacles on the route of movement to continue the inspection work. Second, a three-layer convolutional structure of the Faster-RCNN network in the assistant navigation algorithm is improved instead of the original full connection structure for optimizing the object-detection boxes. Finally, compared with several Faster-RCNN networks with different convolutional kernel dimensions, the experimental results show that at the convolutional kernel dimension of 1024, the proposed method in this paper improves the mAP by 4.13% and the mAP is 91.25% at IoU threshold 0.5 in the range of IoU thresholds from 0.5 to 0.9 with respect to the basic network. In addition, the assistant navigation algorithm designed in this paper fuses the ultrasonic radar signals with the object recognition results and then performs the safety judgment to make the inspection robot safely cross the grass area, which improves the inspection efficiency.

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Slam and Navigation of Electric Power Intelligent Inspection Robot based on ROS

Cited by 2 publications

References 2 publications

A review of indoor-orbital electrical inspection robots in substations

A review of indoor-orbital electrical inspection robots in substations

A New Assistance Navigation Method for Substation Inspection Robots to Safely Cross Grass Areas

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