巡检机器人行驶轨迹定位方法

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英文篇名：Location Method of the Inspection Robot According to the Travel Trajectory 作者：胡鹏 ; 吴功平 ; 曹琪 ; 杨松 英文作者：HU Peng;WU Gong-ping;CAO Qi;YANG Song;School of Power and Mechanical Engineering,Wuhan University;Guangdong Keystar Intelligent Robot Co.,Ltd.;State Grid Electric Power Co.,Ltd.,Jilin Province Baishan Power Company; 关键词：信息融合 ; 轨迹定位 ; 巡检机器人 ; 优化补偿 ; 自动巡检 英文关键词：Information Fusion;;Trajectory Positioning;;Inspection Robot;;Optimization and Compensation;;Self-Inspection 中文刊名：机械设计与制造 英文刊名：Machinery Design & Manufacture 机构：武汉大学动力与机械学院;广东科凯达智能机器人有限公司;国网吉林省电力有限公司白山供电公司; 出版日期：2019-03-08 出版单位：机械设计与制造 年：2019 期：03 基金：广东省重大专项项目(2015B090922007);; 佛山市创新团队项目(2015IT100143);; 南方智谷引进团队项目(2015CXTD01);; 广东电网公司项目(k-GD2013-030) 语种：中文; 页：23-26+31 页数：5 CN：21-1140/TH ISSN：1001-3997 分类号：TP242

摘要

针对机器人在架空地线上的无人监控的自动巡检,提出了一种在杆塔档间测绘巡检机器人行驶路径轨迹并定位的方法,为自动巡检任务奠定了基础。依赖优化后的里程计及倾角传感器实时测量由重力或张力引起的具有悬链线附加弧垂的行走里程与倾角数据并融合,得到机器人在悬链线上运行时不同时刻不同位置相对于杆塔基准点的位姿关系。为了提高定位精度,根据地线的悬链线特征对倾角数据进行平滑处理,降低外在因素对定位的影响程度。通过多次模拟实验以及现场实际运行结果发现该定位方法满足现场自动巡检的应用。
        For better unsupervised auto-Inspection of robot,it proposes a location method according to the travel trajectory of the inspection robot which lays an important foundation for inspection mission. It could get the running line trajectory and the robot's positionand orientation relative to the tower point at different time and location from data fusion between multisensor and odometer which measure the real-time path with additionnalcatenary sag. In order to improve the positioning precision,data of inclinometer was optimized based on the catenary line feature,lightening the influence of external factors.All the facts that many tests about location and field experiments have been tried show it is satisfied with the self-inspection application.

引文

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