Position guidance method of live-working robot based on lidar point-cloud

Abstract

With the rapid development of smart grid and the improvement of people’s living standards, live-working robot plays a more and more important role in uninterrupted maintenance. In order to solve the problems of parking failure and low space guidance efficiency in live-working robot of substation equipment, this paper proposes a position guidance method of live-working robot based on lidar point-cloud. Firstly, aiming at the problem that the existing lidar has a small view, this paper proposes a large scene 3D scanning method based on lidar and PTZ. Secondly, aiming at the problem that the robot in ground is difficult to realize the one-time stop of the bucket car when the operation target is at a high altitude, this paper proposes an insulator positioning method based on the laser point-cloud in the open scene. The experimental results show that compared with the existing methods, the proposed method can not only effectively realize the three-dimensional reconstruction of the open environment, but also realize the spatial positioning of the insulator, and guide the end robot of the bucket car to move to the front of the target, which is of great significance to the substation intelligent maintenance.