Rapid Configuration Method for Inspection Object of Substation Inspection Robot Based on Hierarchical Map

摘要

Abstract This paper mainly focuses on the problem of time-consuming and labor-intensive configuration of existing inspection objects. A rapid configuration method for inspection objects of substation inspection robots based on hierarchical maps is proposed. The method hierarchically characterizes the operating environment of the substation inspection robot, and establishes a hierarchical map including the distribution of obstacles in the substation, the distribution of the passable roads, and the semantics of the primary equipment, so as to realize the setting of the inspection points of the inspection objects on the map. The proposed method has been put into application.