基于SLAM与IWD的电力巡检机器人关键技术研究  

Research on Key Technologies of Power Inspection Robot Based on SLAM and IWD

作　　者：李震领 屈国际 许浒 LI Zhenling;QU Guoji;XU Hu(CGN New Energy Holdings Co.,Ltd.,Beijing 100070,China)

机构地区：[1]中国广核新能源控股有限公司,北京100070

出　　处：《自动化与仪表》2025年第4期46-50,共5页Automation & Instrumentation

摘　　要：该文对电力巡检机器人的路径规划进行了研究,并进行了巡检路径规划和定位问题分析。采用了基于定位与地图构建和智能水滴算法的路径规划方法。方法的创新在于结合了激光导航法高精度的定位能力与智能水滴算法较好的路径规划能力,有效提高了机器人的巡检效率。经实验测试,加载研究所提技术的巡检机器人通过了所有设置的任务节点,并规划出了一条任务路径,路径长度为48.2 m。同时,在路径中设置的障碍物都被规避。实验测试实现了变电站的安全巡检目的,保障了变电站的安全运行。This paper conducted research on the path planning of power inspection robots and analyzed the problems of inspection path planning and positioning.Adopted a path planning method based on positioning and map construction,as well as intelligent water droplet algorithm.The innovation of the method lies in the combination of the high-precision positioning ability of laser navigation method and the good path planning ability of intelligent water droplet algorithm,effectively improving the inspection efficiency of the robot.After experimental testing,the inspection robot loaded with the technology proposed by the research institute passed all the set task nodes and planned a task path with a length of 48.2 m.At the same time,obstacles set in the path are avoided.The experimental testing has achieved the safety inspection purpose of the substation,ensuring the safe operation of the substation.

关 键 词：SLAM IIWD 路径规划 变电站安全 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]