面向未知环境的带电作业机器人动态目标定位方法  

Dynamic target localization method for live working robots in unknown environment

作　　者：王巍 闫源 刘伊军 张凤岐 代泽荟 郭宇栋 WANG Wei;YAN Yuan;LIU Yijun;ZHANG Fengqi;DAI Zehui;GUO Yudong(Ordos Power Supply Branch of Inner Mongolia Electric Power(Group)Co.,Ltd.,Ordos 017010,China)

机构地区：[1]内蒙古电力(集团)有限责任公司鄂尔多斯供电分公司,内蒙古鄂尔多斯017010

出　　处：《电子设计工程》2025年第7期12-15,21,共5页Electronic Design Engineering

基　　金：国家重点社科基金项目(NMDL20230044)。

摘　　要：在带电作业过程中,机器人需要实时感知周围环境的变化,并根据障碍物位置动态调整自身的运动轨迹,实现动态目标准确定位,从而完成带电作业。基于上述背景,提出面向未知环境的带电作业机器人动态目标定位方法。在未知环境中选择机器人动态位姿帧,并根据具体的动态位姿节点线特征,完成带电作业机器人动态位姿的估算。针对作业区域实施三维重建,通过拟合机器人带电作业目标边缘轮廓,确定动态目标所处位置,完成面向未知环境的带电作业机器人动态目标定位。实验结果表明,所研究方法能够准确定位动态目标,使机器人能够根据障碍物位置动态调整自身的运动轨迹。In the process of live working,robots need to perceive changes in the surrounding environment in real time,and dynamically adjust their own motion trajectory based on the position of obstacles to achieve accurate positioning of dynamic targets,thus completing live working.Based on the above background,a dynamic target localization method for live working robots in unknown environments is proposed.Select the dynamic pose frame of the robot in an unknown environment,and estimate the dynamic pose of the live working robot based on the specific dynamic pose node line characteristics.Implement 3D reconstruction for the work area,fit the edge contour of the robot’s live working target,determine the position of the dynamic target,and complete the dynamic target localization of the live working robot facing unknown environments.The experimental results show that the proposed method can accurately locate dynamic targets,enabling the robot to dynamically adjust its motion trajectory based on the position of obstacles.

关 键 词：带电作业 机器人 目标定位 位姿帧 线特征 三维重建 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]