基于多源感知的智能巡检机器人系统设计  

Design of Intelligent Inspection Robot System Based on Multi-source Perception

作　　者：李坚林 柯艳国 谢佳 LI Jianlin;KE Yanguo;XIE Jia(State Grid Anhui Electric Power Co.,Ltd.,Hefei 230061,China)

机构地区：[1]国网安徽省电力有限公司,安徽合肥230061

出　　处：《微型电脑应用》2024年第3期15-18,22,共5页Microcomputer Applications

基　　金：电力“智能+”端云协同融合创新平台建设及应用示范。

摘　　要：为了提高智能巡检机器人巡检效果,保障电力系统稳定运行,设计基于多源感知的智能巡检机器人系统。依据多源感知原理设计,系统的硬件单元包括传感器选型单元、控制器选型单元及其边缘设备通信单元;软件模块包括多传感器模型构建模块、多传感器获取特征融合模块与巡检机器人导航控制模块。通过设计与开发,实现了智能巡检机器人系统的运行。实验数据表明,应用所设计系统获得的巡检机器人响应时延更短,巡检机器人导航距离、角度偏差数据较小,充分证实了所设计系统提高了巡检机器人巡检效果,具有较好的应用性能,能够保障电力系统稳定运行。In order to improve the inspection effect of intelligent inspection robot and ensure the stable operation of power system,an intelligent inspection robot system based on multi-source perception is designed.Based on multi-source sensing principle,the hardware unit of the system includes sensor selection unit,controller selection unit and edge device communication unit.The software module includes multi-sensor model building module,multi-sensor acquisition feature fusion module and inspection robot navigation control module.Through the design and development,the operation of intelligent inspection robot system is realized.The experimental data show that the response time delay of the inspection robot obtained by the application of the designed system is shorter,and the navigation distance and angle deviation data of the inspection robot are smaller,which fully proves that the designed system improves the inspection effect of the inspection robot,has better application performance,and can ensure the stable operation of the power system.

关 键 词：智能 巡检机器人 激光雷达传感器 应用研究 巡检技术 导航控制 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]