东北电力技术2026，Vol.47Issue(4)：52-56,5.
视觉激光雷达下风电场升压站远程智能巡检机器人自主导航
Autonomous Navigation Method for Remote Intelligent Inspection Robot in Wind Farm Step-Up Substation Using Vision LiDAR
张兴奎1
作者信息
- 1. 大唐陕西发电有限公司新能源分公司,陕西 西安 710000
- 折叠
摘要
Abstract
The interior of a step-up substation is crowded with numerous pieces of equipment.These devices will block the navigation signals of the robot,affecting its precise judgment of its own position.Therefore,it proposes an autonomous navigation method for a re-mote intelligent inspection robot operating in a wind farm step-up substation under vision LiDAR.For the wind-farm step-up substation,it generates the point cloud data by vision LiDAR to describe the specific location of the inspection target.It establishes a grid map of the movement environment for intelligent inspection robots to clearly define the movement range of the navigation robots.And on this basis,it introduces a dynamic-priority optimization algorithm to plan the navigation trajectory of the remote intelligent inspection robot.Experi-mental results show that the robot's attitude angles match the expected values and the planned navigation paths are optimal.关键词
视觉激光雷达/风电场升压站/巡检机器人/自主导航Key words
vision LiDAR/wind-farm step-up substation/inspection robot/autonomous navigation分类
信息技术与安全科学引用本文复制引用
张兴奎..视觉激光雷达下风电场升压站远程智能巡检机器人自主导航[J].东北电力技术,2026,47(4):52-56,5.
