Navigation method and system for substation fire-fighting robot in complex environment

• Main Authors: CHENG XUEQI, WANG YUHANG, XU YUE, TIAN JIAN, RUAN PENGCHENG, GAO XIAODONG, ZHANG WEI, ZHANG MAOCHUN, WANG SU, WANG HAILEI
• Format: Patent
• Language: Chinese; English
• Published: 31.03.2020
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention discloses a navigation method and system for a substation fire-fighting robot in a complex environment, and the method comprises the steps: carrying out the registration and fusion of anestablished substation three-dimensional visual model and a three-dimensional laser model, and obtaining a new three-dimensional model; arranging wireless AP equipment at a plurality of water supplypoints in the substation, and constructing a wireless network in the substation; calculating a first coordinate position of the fire-fighting robot relative to the wireless AP according to the coordinate position of the wireless AP equipment in the new three-dimensional model; and determining a second coordinate position of the fire-fighting robot in the new three-dimensional model, comparing thefirst coordinate position with the second coordinate position, and determining whether the current coordinate of the robot is correct or not. 本发明公开了一种复杂环境下变电站消防机器人的导航方法及系统，包括：将建立的变电站三维视觉模型和三维激光模型进行配准融合，得到新的三维模型；在站内多个供水点位置布设无线AP