基于SLAM算法和动静态规划的电厂智能巡检机器控制研究  

Research on intelligent inspection machine control for power plants based on SLAM algorithm and dynamic and static planning

作　　者：高利平 林周勇 柯一鸿 康孝种 许文顺 GAO Liping;LIN Zhouyong;KE Yihong;KANG Xiaozhong;XU Wenshun(CHN Energy(Quanzhou)Thermal Power Co.,Ltd.,Quanzhou 362804,China)

机构地区：[1]国能(泉州)热电有限公司,福建泉州362804

出　　处：《电子设计工程》2024年第17期191-195,共5页Electronic Design Engineering

摘　　要：巡检机器控制是电厂巡检自动化和智能化技术的核心,但现行方法在实际应用中存在一些不足和缺陷,不仅控制路径平滑系数较低,而且存在碰撞问题,智能巡检机器避障性能较差,无法达到预期的控制效果,为此提出基于SLAM(Simultaneous Localization And Mapping)算法和动静态规划的电厂智能巡检机器控制方法。利用激光雷达和相机获取巡检环境信息,采用YOLOv3对图像增强,通过点云旋转去除激光点云中离散点,实现对点云数据增强,采用SLAM算法对巡检环境图像和激光点云融合,构建巡检地图和定位巡检机器,采用动静态规划根据环境信息动态调整巡检机器运动轨迹,从而实现对电厂智能巡检机器导航跟踪控制。经实验证明,应用设计方法后,巡检机器路径平滑系数在0.9以上,未发生碰撞,该方法在电厂智能巡检机器控制方面具有良好的应用前景。Inspection machine control is the core of power plant inspection automation and intelligent technology.However,current methods have some shortcomings and deficiencies in practical application,such as low control path smoothness coefficient,collision problems,poor obstacle avoidance performance of intelligent inspection machines,and inability to achieve the expected control effect.Therefore,a research on power plant intelligent inspection machine control based on SLAM(Simultaneous Localization And Mapping)algorithm and dynamic and static planning is proposed.Using LiDAR and camera to obtain inspection environment information,YOLOv3 is used to enhance the image,and discrete points in the laser point cloud are removed through point cloud rotation to enhance point cloud data.SLAM algorithm is used to fuse the inspection environment image and laser point cloud,construct inspection maps and positioning inspection machines,and use dynamic and static planning to dynamically adjust the movement trajectory of inspection machines based on environmental information,thereby achieving navigation and tracking control of intelligent inspection machines in power plants.It has been experimentally proven that the smoothness coefficient of the inspection machine path under the application of the design method is above 0.9,and there has been no collision.It has good application prospects in the control of intelligent inspection machines in power plants.

关 键 词：SLAM算法 动静态规划 电厂 巡检机器控制 YOLOv3 

分 类 号：TN126[电子电信—物理电子学]