变电站智能巡检机器人激光导航系统研究  

Research of the Laser Navigation System for the Intelligent Patrol Robot

作　　者：肖鹏[1] 栾贻青[1] 郭锐[1] 王明瑞[1] 孙勇[1] 

机构地区：[1]山东电力研究院国家电网电力机器人技术实验室,济南250002

出　　处：《自动化与仪表》2012年第5期5-9,共5页Automation & Instrumentation

基　　金：山东电力研究院科研基金项目(KY2011-15)

摘　　要：针对现有变电站智能巡检机器人导航定位方式的不足,将激光定位技术应用于巡检机器人导航,设计了巡检机器人激光导航原型系统,并在室外环境下对其进行了实验测试,实验结果表明,巡检机器人运行平稳,具有较高的导航控制精度。另外,文中详细论述了巡检机器人激光导航系统实现过程中所涉及的激光定位及导航控制原理,并给出了导航系统的硬件组成结构和软件执行流程。Aimed at the deficiency of the navigation system of the intelligent patrol robot,the laser positioning technology was applied to the navigation of the robot,a prototype navigation system was designed,and an experimental test was made in the outdoor environment. Experiment test results show that the robot running was steady and the quality of navigation was precise. In addition,the theory of laser positioning and navigation control involved in the laser navigation system was discussed in this paper,the hardware structure and software flow chart of the navigation system were also given out.

关 键 词：变电站 巡检机器人 激光导航 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]