基于激光传感和PLC控制的电缆巡检机器人的智能化路径规划系统
Intelligent Path Planning System for Cable Inspection Robot Based on Laser Sensing and PLC Control
张京娥1
作者信息
- 1. 甘肃钢铁职业技术学院,嘉峪关 735100
- 折叠
摘要
为提高电缆巡检效率与安全性,设计一种基于激光传感和可编程逻辑控制器(Programmable Logic Controller,PLC)控制的电缆巡检机器人智能化路径规划系统.采用模块化硬件设计,结合激光雷达和惯性测量单元,实现路径规划、导航定位及避障功能的协同.实验结果表明该系统具备高精度定位与稳定路径跟踪能力,能够有效应对动态障碍物,满足复杂电力环境下巡检需求,为电力设施自动化运维提供技术支撑.
Abstract
In order to improve the efficiency and safety of cable inspection,an intelligent path planning system for cable inspection robots based on laser sensing and Programmable Logic Controller(PLC)was designed.Adopting modular hardware design,combined with laser radar and inertial measurement unit,to achieve collaborative path planning,navigation positioning,and obstacle avoidance functions.The experimental results show that the system has high-precision positioning and stable path tracking capabilities,can effectively deal with dynamic obstacles,meet the inspection needs in complex power environments,and provide technical support for the automation operation and maintenance of power facilities.
关键词
电缆巡检机器人/激光传感/可编程逻辑控制器(PLC)/路径规划/智能化系统Key words
cable inspection robot/laser sensing/Programmable Logic Controller(PLC)/path planning/intelligent system引用本文复制引用
出版年
2024
NETL
NSTL
万方数据