摘要
330kV变电站环境复杂、空间狭窄且电磁干扰强烈,传统巡检方式存在效率低、安全风险高等问题。针对这一痛点,本文设计了一种基于激光SLAM的自主巡检机器人系统,通过融合Velo dyneVLP-16激光雷达、Xsens惯性测量单元及视觉传感器,实现高精度的环境感知与定位。系统基于二维栅格地图构建,结合A*算法与B样条曲线进行全局路径规划,配合动态窗口法驱动的局部动态避障控制,实现对变电站复杂场景的安全高效巡检。
The 330kV substation has a complex environment,narrow space and strong electromagnetic interference.Traditional inspection methods have problems such as low efficiency and high safety risks.To address this pain point,this paper designs an autonomous inspection robot system based on laser SLAM.By integrating Velodyne VLP-16 lidar,Xsens inertial measurement unit and visual sensors,it achieves high-precision environmental perception and positioning.The system is built on A two-dimensional raster map,combines the A*algorithm and B-spline curves for global path planning,and is equipped with local dynamic obstacle avoidance control driven by the dynamic window method to achieve safe and efficient inspection of complex scenarios in substations.
作者
陈振勇
徐亮
巩艳红
孟凡奇
Chen Zhenyong;Xu Liang;Gong Yanhong;Meng Fanqi(State Grid Gansu Electric Power Company;Pingliang Power Supply Company of State Grid Gansu Electric Power Company)
出处
《信息化研究》
2025年第5期24-27,共4页
INFORMATIZATION RESEARCH
