三维障碍空间场景重建下的变电所巡检机器人运动轨迹精度校正方法

Trajectory Accuracy Correction Method of Substation Inspection Robot Based on 3D Obstacle Space Scene Reconstruction

为解决变电所巡检机器人移动存在的遮挡、互相交叉的问题,该文提出三维障碍空间场景重建下的变电所巡检机器人运动轨迹精度校正方法。以三角网格模型构建方法为基础,对变电所模型进行错误三角网格修正、三角网格填充操作,结合材质贴图、纹理映射操作获取变电所三维障碍空间场景重建结果;采用惯性原理预测变电所巡检机器人被遮挡和交叉时的运动轨迹,计算巡检机器人测量数据的监测、随机传输误差,完成变电所巡检机器人运动轨迹精度校正。实验证明,该方法可以在变电所三维障碍空间场景重建下有效校正变电所巡检机器人运动轨迹精度,可以达到较好的路径规划效果。

In order to solve the problem of occlusion and intersection of the substation inspection robot movement,a method for the accuracy correction of the substation inspection robot movement trajectory under the three-dimensional obstacle space scene reconstruction is proposed.Based on the triangular mesh model construction method,the substation model is corrected and filled with wrong triangular mesh,and the 3D obstacle space scene reconstruction results of the substation are obtained by combining the material mapping and texture mapping operations.The inertia principle is used to predict the motion path of the substation inspection robot when it is blocked and crossed,calculate the monitoring and random transmission error of the inspection robot’s measurement data,and complete the accuracy correction of the substation inspection robot’s motion path.The experiment shows that this method can effectively correct the motion trajectory accuracy of the substation inspection robot under the three-dimensional obstacle space scene reconstruction of the substation,and can achieve good path planning effect.