地下电缆沟智能巡检机器人导航避障技术研究  

Research on Navigation and Obstacle Avoidance Technology of Intelligent Inspection Robot for Underground Cable Trench

作　　者：肖慧慧 樊绍胜[3,4] 何瑛[1,2] 胡晓东 XIAO Huihui;FAN Shaosheng;HE Ying;HU Xiaodong(Hunan Engineering Research Center of Special Robot Control Technology and Equipment in Complex Environment,Xiangtan,Hunan 411104,China;Hunan Vocational Institute of Technology,Xiangtan,Hunan 411104,China;Institute of Electrical and Information Engineering,Changsha University of Science&Technology,Changsha,Hunan 410014,China;Hunan Key Laboratory of Electric Robots,Changsha,Hunan 410014 China;CRRC Zhuzhou Institute Co.,Ltd.,Zhuzhou,Hunan 412001,China)

机构地区：[1]复杂环境特种机器人控制技术与装备湖南省工程研究中心,湖南湘潭411104 [2]湖南理工职业技术学院,湖南湘潭411104 [3]长沙理工大学电气与信息工程学院,湖南长沙410014 [4]电力机器人湖南省重点实验室,湖南长沙410014 [5]中车株洲电力机车研究所有限公司,湖南株洲412001

出　　处：《控制与信息技术》2022年第4期17-22,共6页CONTROL AND INFORMATION TECHNOLOGY

基　　金：湖南省自然科学基金项目(2020JJ7005);湖南省自然科学基金项目(2021JJ50020);复杂环境特种机器人控制技术与装备湖南省工程研究中心专项(Lgy18gz004)。

摘　　要：电缆沟是电力系统必不可少的基础设施之一。地下电缆沟内部空间狭窄、空气环境恶劣,人工电力巡检需携带多种检测工具,存在行走困难、检测不便等问题,且一旦发生冒烟、起火等紧急情况,容易造成人身伤害。为此,文章基于所设计的双驱动履带式电缆沟智能巡检机器人系统,构建了机器人运动模型并提出了一种地下电缆沟智能机器人导航避障技术,其采用基于改进的RBPF-SLAM算法对电缆沟智能机器人同时进行定位与地图构建。实验结果显示,该机器人能够在电缆沟内实现自主导航定位,不仅能顺利通过PVC管、砖块及铁质撬棍等障碍物,而且对于较高的障碍物,也能够成功避障,满足地下电缆沟巡检技术要求。Cable trench is one of the essential infrastructures of power system. Internal space of underground cable trench is narrow and its air environment is harsh. Manual power inspection needs to carry variety of detection tools. There are problems such as difficulty in walking and inconvenient detection. In the event of an emergency such as smoke or fire, it is easy to cause personal injury. Therefore, based on the designed double-drive-crawler type cable trench intelligent inspection robot system, a robot motion model is constructed and an intelligent robot navigation and obstacle avoidance technology for underground cable trench is proposed. It uses an improved RBPF-SLAM algorithm to locate and map the cable trench intelligent robot at the same time.Experimental results show that the robot can realize autonomous navigation and positioning in the cable trench. It not only can smoothly pass through obstacles such as PVC pipes, bricks and iron crowbars, and for higher obstacles, but also can successfully avoid obstacles. It meets the technical requirements of inspection for underground cable trench.

关 键 词：智能巡检 机器人 电缆沟 RBPF-SLAM算法 导航 避障 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]