一种干式变压器搬运机器人多传感器融合地图构建方法

Research on Dry-type Transformer Handling Robot Based on Multi-sensor Fusion Positioning

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.