多传感器融合的变电站智能机器人自动化行走控制系统  

Multi sensor fusion intelligent robot automation walking control system for substations

作　　者：刘培杰 乔江峰 曾拓 黄浩 骆睿智 LIU Peijie;QIAO Jiangfeng;ZENG Tuo;HUANG Hao;LUO Ruizhi(Guangdong Power Grid Heyuan Power Company,Guangdong Heyuan 517000,China)

机构地区：[1]广东电网河源供电局,广东河源517000

出　　处：《自动化与仪器仪表》2025年第3期182-186,共5页Automation & Instrumentation

基　　金：南方电网科技项目《变电站全景双臂特种作业操作机器人系统研制》(GDKJXM20222626)。

摘　　要：为增强智能机器人在变电站巡检过程中行走的定位及导航能力,有效利用多传感器的环境感知能力以及信息互补能力,设计多传感器融合的变电站智能机器人自动化行走控制系统。系统利用惯性测量单元以及里程计精准采集变电站智能机器人的角速度、航向角度以及行程信息,经扩展卡尔曼滤波算法融合后,获取智能机器人定位结果,将定位结果与实际位置之间的偏差及偏差变化率作为模糊PID控制器的输入,通过输入量分析与控制参数动态调整,生成最优控制指令作用于驱动电机,精确控制智能机器人的运动状态,确保其能够沿着预设轨迹实现自动化、稳定、准确地行走。实验结果显示:该系统可以有效依据机器人定位结果,实现其自动化行走控制,减少智能机器人巡检过程中在转弯处的行走偏差,并避免碰撞现象发生。In order to enhance the positioning and navigation capabilities of intelligent robots during substation inspections,and effectively utilize the environmental perception and information complementarity capabilities of multiple sensors,a multi-sensor fusion substation intelligent robot automation walking control system is designed.The system utilizes inertial measurement units and odometry to accurately collect angular velocity,heading angle,and travel information of intelligent robots in substations.After fusion with the extended Kalman filter algorithm,the positioning results of the intelligent robot are obtained.The deviation and deviation change rate between the positioning results and the actual position are used as inputs for the fuzzy PID controller.Through input analysis and dynamic adjustment of control parameters,the optimal control instructions are generated to act on the driving motor,accurately controlling the motion state of the intelligent robot and ensuring that it can walk automatically,stably,and accurately along the preset trajectory.The experimental results show that the system can effectively achieve automated walking control based on robot positioning results,reduce walking deviation at turning points during intelligent robot inspection,and avoid collision phenomena.

关 键 词：多传感器融合 扩展卡尔曼滤波 变电站 智能机器人 自动化行走 模糊PID控制器 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]