摘要
为了实现电网系统中干式变压器精准搬运及放置,提出了一种基于多传感器融合构建地图的方法。对惯性测量单元、二维激光雷达、红外传感器进行数据融合,构建配电房室内外环境的二维栅格地图,以实现干式变压器机器人的定位、导航和避障。仿真结果表明,文章所提方法是可行的。
To achieve precise handling and placement of dry-type transformers in the power grid system,a method based on multi-sensor fusion for constructing maps was proposed.The data fusion of inertial measurement unit,two-dimensional laser radar and infrared sensor was carried out to build a two-dimensional grid map of the indoor and outdoor environment of the power distribution room,to realize the positioning,navigation,and obstacle avoidance of the dry-type transformer robot.Simulation experiments had verified the feasibility of the method.
作者
黄匀飞
张育宾
卢俏玲
邓剑辉
萧正阳
梁俊熙
HUANG Yunfei;ZHANG Yubin;LU Qiaoling;DENG Jianhui;XIAO Zhengyang;LIANG Junxi(Dongguan Power Supply Bureau,Dongguan 523000,China;Dongguan Power Transmission and.Transformation Engineering Construction Co.,Ltd,Dongguan 523000,China)
出处
《广东石油化工学院学报》
2024年第3期86-89,共4页
Journal of Guangdong University of Petrochemical Technology
基金
广东电网有限责任公司2022年第一批基建工程创新专题服务项目。