基于激光扫描的电力巡检机器人导航系统研制

发布时间：2018-04-01 04:17

本文选题：激光扫描　切入点：地图创建　出处：《浙江大学》2017年硕士论文

【摘要】：电力巡检机器人是常见的具备巡检能力的智能移动机器人,主要实现从某一位置寻找合适路径运行至目标位置点并完成特定检测任务的功能。电力巡检机器人系统通常可分为导航系统和检测系统两部分。其导航系统跨越通信、定位、信息融合、运动控制等多个技术领域。目前已投入应用的巡检机器人导航系统普遍需要在前期搭建地标或者铺设磁条,环境改造工程量大、应变性弱且导航精度不够高。针对上述问题,本文研制了一种基于激光扫描的电力巡检机器人导航系统,提出了整体系统的设计方案,研发了系统的各功能模块子系统,并进行了整个系统的集成。研制的导航系统通过了多项实测,已进入实际应用。首先,论文提出了整体导航系统的设计方案。根据系统硬件平台设置,构建了系统的整体框架,包括地图创建、路径规划、定位导航等功能模块,给出系统性能要求和预期指标。其次,论文讨论了系统软件的研制。通过系统软件平台集成了环境地图显示、路径规划设计、实时定位跟踪和远程导航控制等功能。在创建地图与规划路径方面,应用最近迭代点算法进行激光点云数据匹配融合,实现了全局地图的创建;基于系统软件进行地图路径设计,通过最短路径算法规划了最优导航路线。在研制导航模块方面,通过激光点云数据与全局地图的匹配实现了巡检机器人的实时定位功能;设计并实现了导航初始定位的手动标定方法和自动标定方法以及直线路径和曲线路径的导航算法。最后,通过导航系统在三种不同环境的实测数据,分析重复定位导航精度、室内和室外环境定位导航效果,从系统性能分析、指标实现等多方面进行系统评估。目前,该导航系统可实现室内楼道环境重复导航定位误差±3cm以内,室外变电站环境导航定位误差基本控制在±l0cm以内的精度效果,已通过用户单位验收投入商业试运行。
[Abstract]:The power inspection robot is a common intelligent mobile robot with the ability to patrol. It mainly realizes the function of finding a suitable path from a certain position to the target point and completing a specific detection task.The power inspection robot system is usually divided into two parts: navigation system and detection system.Its navigation system spans many technical fields, such as communication, positioning, information fusion, motion control and so on.At present, the navigation system of inspection robot that has been put into use generally needs to set up landmarks or lay magnetic stripes in the early stage, the environmental reconstruction project is large, the variability is weak and the navigation accuracy is not high enough.In order to solve the above problems, a power inspection robot navigation system based on laser scanning is developed in this paper. The design scheme of the whole system is put forward, and the subsystems of each function module of the system are developed, and the integration of the whole system is carried out.The developed navigation system has passed many measurements and has been applied in practice.Firstly, the design scheme of the whole navigation system is put forward.According to the hardware platform of the system, the overall framework of the system is constructed, including the function modules of map creation, path planning, positioning and navigation, and the system performance requirements and expected indicators are given.Secondly, the paper discusses the development of the system software.The functions of environmental map display, path planning and design, real-time positioning and tracking and remote navigation control are integrated through the system software platform.In the aspect of creating map and planning path, the laser point cloud data matching fusion is carried out by using the nearest iteration point algorithm, the global map is created, and the map path is designed based on the system software.The optimal navigation route is planned by the shortest path algorithm.In the development of navigation module, the real-time location function of the inspection robot is realized by matching the laser point cloud data with the global map.The manual calibration method and automatic calibration method of initial navigation location and the navigation algorithm of straight line path and curve path are designed and implemented.Finally, through the measured data of the navigation system in three different environments, the accuracy of repeated positioning and navigation, indoor and outdoor environment positioning and navigation effect are analyzed, and the system performance analysis and index realization are systematically evaluated.At present, the navigation system can realize the accuracy effect of indoor corridor environment repeated navigation and positioning error within 卤3cm, and outdoor substation environment navigation positioning error is basically controlled within 卤l0cm, and has been put into commercial trial operation through user unit acceptance.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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