Combined positioning system for substation intelligent inspection robot with integrated multi-sensors

The utility model discloses a combined positioning system for a substation intelligent inspection robot with integrated multi-sensors, comprising an industrial control machine, wherein the industrial control machine is connected with an RFID (radio frequency identification device) reader and a motion controller in two directions; a motion controller is connected with a motor encoder and a positioning magnetic sensor respectively; the final stopping decision of the robot is completed by the motion controller; the motion controller has higher real-time performance; the time delay problem of the system owning to the reading of an RFID label and the transferring of the industrial control machine can be solved; a magnetic stripe has small signal radiation scope; the magnetic sensor has high detection precision; the influence of the detection error of the sensor on the positioning of the robot is avoided; the positioning precision of the robot can be effectively improved; the position of the robot is calculated by the encoder so that the speed of the robot can be reduced before the path is changed or the robot is stopped; the running efficiency of the robot is improved; the positioning reliability of the robot is improved; the usage quantity of the RFID label is reduced; and the complexity of the system and the field construction difficulty are reduced.