基于ROS的电力变电站巡检移动机器人

为了从电力变电站的日常巡检任务中释放人力资源,设计了一种用于监测变电站设施并收集所需信息的巡检移动机器人。该巡检移动机器人搭配HIK视觉平台、激光传感器和工业个人计算机(IPC),并可在机器人操作系统(ROS)中进行编程。通过预先设定在机器人中的变电站全局地图,一旦接收到巡检任务,该巡检移动机器人可以选择最短路径来完成任务,并且在巡检机器人中使用激光传感器导航方式控制运动方法。此外,还在控制器中添加了Kalman滤波器来排除导航传感器提供的异常位置信息。通过实验分析,结果表明:该巡检机器人能够在电力变电站中进行巡检工作且满足实际工况需求。

Mobile Robot for Power Substation Patrol Inspection Based on ROS

In order to release human resources from the daily patrol task of power substation,a mobile patrol robot was designed for monitoring substation facilities and collecting needed information.The mobile patrol robot is equipped with a HIK vision platform,a laser sensor and an industrial personal computer (IPC),and can be programmed in robot operating system (ROS).ROS designed communication package,processor package and mobile control package in IPC.By presetting the global map of the substation in the robot,once the patrol task is received,the mobile robot can select the shortest path to complete the task,and the laser sensor navigation mode was used to control the motion of the patrol robot.In addition,an additional Kalman filter was added to the controller to eliminate the abnormal position information provided by the navigation sensor.The experimental results show that the patrol robot can perform patrol work in power substation to meet the actual working conditions.