基于ROS的开关站智能巡检机器人应用  

Application of Intelligent Inspection Robot for Switching Substation Based on ROS

作　　者：方海荣 陶文华[2] 覃盛调 韦泽巍 刘旭 陈晨[2] FANG Hairong;TAO Wenhua;QIN Shengdiao;WEI Zewei;LIU Xu;CHEN Chen(Guangxi Guangtou Qiaogong Energy Development Co.Ltd.,Laibin 546100 China;Liaoning Petrochemical University,Fushun 113005 China)

机构地区：[1]广西广投桥巩能源发展有限公司,广西来宾546100 [2]辽宁石油化工大学,辽宁抚顺113005

出　　处：《红水河》2024年第6期102-107,共6页

摘　　要：传统的人工巡检存在劳动强度大、工作效率低、安全性差等问题。随着计算机技术的迅速发展,智能巡检机器人的应用领域会越来越多。笔者以此为背景,开展开关站智能巡检机器人应用研究。首先,阐述智能巡检机器人硬件与软件系统的构成及功能;其次,分析智能巡检机器人所应用的地图构建、路径规划与定位以及目标识别算法;最后,介绍智能巡检机器人在开关站实际环境中测试应用。结果表明:智能巡检机器人能实现定位与自主导航,运行稳定;在仪器仪表读数识别、开关和闸刀等位置状态识别、红外测温的图像识别和目标检测方面表现良好。Traditional manual inspection has the problems of high labor intensity low work efficiency and poor safety.With the rapid development of computer technology the application field of intelligent inspection robot will be more and more.Based on this background the authors carry out the application research of intelligent inspection robot in switching substation.Firstly the composition and function of the hardware and software system of the intelligent inspection robot are described.Secondly the map construction path planning and positioning and target recognition algorithms applied by intelligent inspection robots are analyzed.Finally the application of intelligent inspection robot in the actual environment of switching substation is introduced.The results show that the intelligent inspection robot can realize positioning and autonomous navigation and runs stably It performs well in instrument reading recognition position state recognition of switches and switch blades image recognition of infrared temperature measurement and target detection.

关 键 词：智能巡检机器人 机器人操作系统 开关站 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]