基于激光雷达与IMU融合的变电站智能巡检机器人视觉导航方法  

The visual navigation method of substation intelligent inspection robot based on fusion of LiDAR and IMU

作　　者：黄炜昭 谢欢欢 辛拓 张宏钊 陈龙 何维 Huang Weizhao;Xie Huanhuan;Xin Tuo;Zhang Hongzhao;Chen Long;He Wei(Shenzhen Power Supply Bureau Co.,Ltd.,Guangdong Shenzhen,518000,China)

机构地区：[1]深圳供电局有限公司,广东深圳518000

出　　处：《机械设计与制造工程》2024年第12期42-46,共5页Machine Design and Manufacturing Engineering

基　　金：深圳供电局有限公司项目(090000KK52200150)。

摘　　要：变电站智能巡检机器人在巡检过程中易受外部因素的影响,使行驶路径偏离规划路线,达不到理想的巡检效果,为此提出基于激光雷达与IMU融合的变电站智能巡检机器人视觉导航方法。对激光雷达与IMU数据进行融合后,将激光雷达采集的RGB图像转换为HSL图像,并对HSL图像的一维傅里叶变换进行递推,获取其二维离散傅里叶变换,完成图像的预处理;然后应用激光雷达和IMU融合算法预处理后的图像,实现智能巡检机器人视觉导航。仿真测试结果表明:所提方法可指导巡检机器人按照规划路线直线行驶或者转弯行驶,且偏离角度较小,有效提高了巡检效果。The intelligent inspection robot for substations is susceptible to external factors during the inspection process,causing the driving path to deviate from the navigation line and fail to achieve ideal inspection results.Therefore,a visual navigation method of intelligent inspection robots for substations based on the fusion of LiDAR and IMU is proposed.After fusing the LiDAR and IMU data,the RGB images captured by the LiDAR are converted into HSL images,and the one-dimensional Fourier transform of the HSL image is recursively derived to obtain its two-dimensional discrete Fourier transform,completing the image preprocessing;Then,the fusion algorithm of LiDAR and IMU is applied in combination with preprocessed images to achieve visual navigation for intelligent inspection robots.The simulation test results show that the proposed method can guide the inspection robot to travel in a straight line or turn according to the navigation line,and the deviation angle is small,effectively improving the inspection effect.

关 键 词：激光雷达 IMU数据 变电站巡检机器人 视觉导航 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]