一种干式变压器搬运机器人多传感器融合地图构建方法
Research on Dry-type Transformer Handling Robot Based on Multi-sensor Fusion Positioning
黄匀飞 1张育宾 1卢俏玲 1邓剑辉 1萧正阳 1梁俊熙2
作者信息
- 1. 广东电网公司东莞供电局,广东 东莞 523000
- 2. 东莞市输变电工程建设有限责任公司,广东 东莞 523000
- 折叠
摘要
为了实现电网系统中干式变压器精准搬运及放置,提出了一种基于多传感器融合构建地图的方法.对惯性测量单元、二维激光雷达、红外传感器进行数据融合,构建配电房室内外环境的二维栅格地图,以实现干式变压器机器人的定位、导航和避障.仿真结果表明,文章所提方法是可行的.
Abstract
To achieve precise handling and placement of dry-type transformers in the power grid system,a method based on multi-sensor fusion for constructing maps was proposed.The data fusion of inertial measurement unit,two-dimensional laser radar and infrared sensor was carried out to build a two-dimensional grid map of the indoor and outdoor environment of the power distribution room,to realize the positioning,navigation,and obstacle avoidance of the dry-type transformer robot.Simulation experiments had verified the feasibility of the method.
关键词
干式变压器/搬运/多传感器融合/栅格地图Key words
dry-type transformer/carry/multi-sensor fusion/grid map引用本文复制引用
基金项目
广东电网有限责任公司 2022年第一批基建工程创新专题服务项目()
出版年
2024
国家科技期刊平台
NSTL
万方数据