全天候移动车间巡检机器人目标定位算法  

All-weather Mobile Workshop Inspection Robot Target Localization Algorithm

作　　者：孟延辉 史晓龙 王占宁 李江龙 耿冬梅 MENG Yanhui;SHI Xiaolong;WANG Zhanning;LI Jianglong;GENG Dongmei(Ultra high Voltage Branch,State Grid Hebei Electric Power Co.,Ltd.,Shijiazhuang 050070,China;Hebei Huaneng Power Equipment Co.,Ltd.,Renqiu 062550,China)

机构地区：[1]国网河北省电力有限公司超高压分公司,河北石家庄050070 [2]河北华能源电力设备有限公司,河北任丘062550

出　　处：《机械与电子》2023年第2期71-75,共5页Machinery & Electronics

摘　　要：全天候移动车间巡检机器人移动轨迹复杂,为获取高精度的巡检机器人目标定位结果,提出一种全天候移动车间巡检机器人目标定位算法。优先标定得到移动车间环境的相机,获取相机参数,通过高低纹理匹配完成移动车间环境重建。然后通过相机内外参数将匹配点的图像坐标和世界坐标相关联,以此为依据估计巡检机器人的位姿。最终将得到的移动车间环境地图和周围数据相结合,采用粒子滤波算法对全天候移动车间巡检机器人位置组建的粒子群集合优化处理,通过不断迭代更新,输出目标定位结果。结果表明,所提算法可以有效降低巡检机器人目标定位时间以及联合定位误差,获取准确率更高的目标定位结果。The movement trajectory of the all-weather mobile workshop inspection robot is complex.In order to obtain the high-precision target positioning results of the inspection robot, an all-weather mobile workshop inspection robot target positioning algorithm is proposed.The camera of the mobile workshop environment is first calibrated, the camera parameters are obtained, and the reconstruction of the mobile workshop environment is completed through high and low texture matching.Then, the image coordinates of the matching point and the world coordinates are correlated through the camera’s internal and external parameters, and the pose of the inspection robot is estimated based on this.Finally, the obtained mobile workshop environment map is combined with the surrounding data, and the particle filter algorithm is used to optimize the particle swarm set formed by the all-weather mobile workshop inspection robot position.Through continuous iterative update, the target positioning result is output.The simulation results show that the proposed algorithm can effectively reduce the target positioning time and joint positioning error of the inspection robot, and obtain target positioning results with higher accuracy.

关 键 词：全天候 移动车间 巡检机器人 目标定位 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]