测控技术2024，Vol.43Issue(6)：14-20,7.DOI:10.19708/j.ckjs.2024.06.003
基于高斯投影的变电站巡检机器人定位建图技术
Positioning and Mapping Technology for Substation Inspection Robot Based on Gaussian Projection
摘要
Abstract
Ensuring the safety of substations is a critical element of power supply,so the substation inspection is indispensable.Currently,employing robots for automated inspection is a significant trend in the substation in-spection field.Obtaining a planar map of the substations is crucial for achieving automated substation inspec-tion.Currently,traditional positioning and mapping solutions like simultaneous localization and mapping(SLAM)and offline Global Positioning System(GPS)positioning often suffer from difficulties in feature recog-nition,lengthy mapping times,or excessive storage space requirements for maps.Based on this,a substation in-spection robot positioning and mapping technology is proposed based on Gaussian projection.After collecting boundary points of the work area's internal and external boundary,and the obstacle area,the collected geo-graphic coordinates are transformed into planar rectangular coordinate through Gaussian projection.Subsequent-ly,a planar grid map is established using the ray method.The positioning function is realized according to the existing grid map information and the current position information of the robot receivd in real time.Experiments verifies the effectiveness of this positioning and mapping technology.This method significantly enhances map-ping speed,reduces necessary map storage space,and the resultant map can be utilized for subsequent path planning and navigation of inspection robots.关键词
巡检机器人/定位建图/高斯投影/射线法/坐标转换/栅格地图Key words
inspection robot/positioning and mapping/Gaussian projection/ray method/coordinate conversion/grid map分类
动力与电气工程引用本文复制引用
柏仓,邱刚,陈杰,谭笑,曹京荥,李陈莹..基于高斯投影的变电站巡检机器人定位建图技术[J].测控技术,2024,43(6):14-20,7.基金项目
国网江苏省电力有限公司科技资助项目(J2022128) （J2022128）
