基于高斯投影的变电站巡检机器人定位建图技术  

Positioning and Mapping Technology for Substation Inspection Robot Based on Gaussian Projection

作　　者：柏仓 邱刚 陈杰 谭笑 曹京荥 李陈莹 BAI Cang;QIU Gang;CHEN Jie;TAN Xiao;CAO Jingying;LI Chenying(State Grid Jiangsu Electric Power Co.,Ltd.,Nanjing 211103,China;Electric Power Research Institute of State Grid Jiangsu Electric Power Co.,Ltd.,Nanjing 211103,China)

机构地区：[1]国网江苏省电力有限公司,江苏南京211103 [2]国网江苏省电力有限公司电力科学研究院,江苏南京211103

出　　处：《测控技术》2024年第6期14-20,共7页Measurement & Control Technology

基　　金：国网江苏省电力有限公司科技资助项目(J2022128)。

摘　　要：保障变电站的安全是电力供应的关键要素,因此变电站的巡检工作是不可或缺的。目前,采用机器人进行自动化巡检是变电站巡检领域的重要趋势。获得变电站的平面地图是实现变电站自动化巡检的关键。目前传统的定位建图方案,如同步定位与建图(Simultaneous Localization and Mapping,SLAM)、离线全球定位系统(Global Positioning System,GPS)定位等,往往存在特征识别困难、建图时间过长或者地图所需存储空间过大等缺点。基于此,提出了一种基于高斯投影的变电站巡检机器人定位建图技术。采集完工作区域内外边界和障碍区域的边界点后,通过高斯投影,将采集到的地理位置坐标转换为平面直角坐标,并通过射线法实现平面栅格地图的建立。再根据已有的栅格地图信息和实时接收的机器人当前位置信息实现定位功能。实验验证了该定位建图技术的可行性,该方法可极大地提升建图速度,减少地图所需的存储空间,建立的地图可用于巡检机器人后续的路径规划和导航。Ensuring the safety of substations is a critical element of power supply,so the substation inspection is indispensable.Currently,employing robots for automated inspection is a significant trend in the substation inspection field.Obtaining a planar map of the substations is crucial for achieving automated substation inspection.Currently,traditional positioning and mapping solutions like simultaneous localization and mapping(SLAM)and ofline Global Positioning System(GPS)positioning ften suffer from difficulties in feature recognition,lengthy mapping times,or excessive storage space requirements for maps.Based on this,a substation inspection robot positioning and mapping technology is proposed based on Gaussian projection.After collecting boundary points of the work area's internal and external boundary,and the obstacle area,the collected geographic coordinates are transformed into planar rectangular coordinate through Gaussian projection.Subsequently,a planar grid map is established using the ray method.The positioning function is realized according to the existing grid map information and the current position information of the robot receivd in real time.Experiments verifies the effectiveness of this positioning and mapping technology.This method significantly enhances mapping speed,reduces necessary map storage space,and the resultant map can be utilized for subsequent path planning and navigation of inspection robots.

关 键 词：巡检机器人 定位建图 高斯投影 射线法 坐标转换 栅格地图 

分 类 号：TM81[电气工程—高电压与绝缘技术] TP242[自动化与计算机技术—检测技术与自动化装置]