河北工业科技2025，Vol.42Issue(4)：340-348,356,10.DOI:10.7535/hbgykj.2025yx04005
高压配电柜操作机器人路径校正与目标定位研究
Research on path correction and target localization of operation robot for high-voltage distribution cabinet
摘要
Abstract
To reduce operational risks for personnel,develope a high-precision positioning robot for high-voltage distribution cabinets,a variable universe fuzzy controller path correction algorithm and a high-precision neural network target localization method were proposed.Firstly,the kinematics of the diagonal dual-steering-wheel robot was analyzed,and an AGV(automated guided vehicle)path correction controller was designed.Secondty,the scaling factor of the variable domain was derived through velocity grading,and a variable domain fuzzy controller based on velocity grading was developed.Finally,the mapping relationship between the world coordinate system and the image coordinate system was constructed by integrating target features with a camera imaging model.By leveraging the advantages of gradient preservation and reducing the computational load on individual neural networks,three residual back propagation(BP)neural network mapping models were introduced to effectively implement the coordinate transformation.The results show that the velocity graded variable domain fuzzy controller effectively achieves rapid and smooth path correction of AGV at different velocities.The correction performance in a high-speed operation of AGV can be improved by reducing the scaling factor of the output domain.The average error of the residual BP neural network is 0.630 mm,and the maximum error is 0.816 mm.This study provides valuable references for improving the safety and operational accuracy of high-voltage distribution control cabinet systems.关键词
自动化技术应用/模糊控制器/路径校正/BP神经网络/目标定位Key words
application of automation technology/fuzzy controller/path correction/BP neural network/target localization分类
信息技术与安全科学引用本文复制引用
闫人滏,傅伯雄,赵伟,苏克,王钊,陆微微..高压配电柜操作机器人路径校正与目标定位研究[J].河北工业科技,2025,42(4):340-348,356,10.基金项目
国家电网有限公司总部科技项目(kjcb2024-015) （kjcb2024-015）
