摘要
为了提升配电室巡检工作质量,解决安全隐患,设计基于多传感器融合技术的配电室智能巡检系统。该系统中由智能巡检机器人搭载多种传感器和工业相机,通过运动控制子系统和后台控制子系统对机器人运动过程进行控制。利用机器人采集配电室内设备信息,将所得信息发送至嵌入式中央处理器中进行多传感器信息融合,融合后信息经以太网传输到云服务器中存储,并通过网络服务器传输至手机、平板等智能装置中,完成配电室智能巡检。实验结果表明,利用所设计系统融合后的数据更加精准,可为机器人避障提供了可靠数据保障,且该系统的障碍物辨识精度高,在巡检方式、巡检效果、巡检策略方面具备显著优势,可有效解决配电室设备存在的安全隐患。
In order to improve the quality of inspection work in distribution room and solve the potential safety hazard,an intelligent inspection system of distribution room based on multi-sensor fusion technology is designed.In this system,the intelligent inspection robot is equipped with a variety of sensors and industrial cameras,and the motion process of the robot is controlled by the motion control subsystem and background control subsystem.The robot collects the equipment information in the power distribution room,and sends the information to the embedded CPU for multi-sensor information fusion.After fusion,the information is transmitted to the cloud server for storage through Ethernet,and transmitted to the mobile phone,tablet and other intelligent devices through the network server to complete the intelligent inspection of the distribution room.The experimental results show that the fusion data of the designed system is more accurate,which can provide reliable data guarantee for robot obstacle avoidance,and the obstacle identification accuracy of the system is high,which has significant advantages in the inspection mode,inspection effect and inspection strategy,and can effectively solve the security risks of the equipment in the distribution room.
作者
刘宇
郑琳
于力
王春
张琼华
刘明江
LIU Yu;ZHENG Lin;YU Li;WANG Chun;ZHANG Qionghua;LIU Mingjiang(Yunnan Power Grid Limited Liability Company Honghe Power Supply Bureau,Yunnan Mengzi 661100,China)
出处
《工业仪表与自动化装置》
2021年第2期63-68,共6页
Industrial Instrumentation & Automation
关键词
多传感器融合
配电室
智能巡检
机器人
运动控制
multi sensor fusion
power distribution room
intelligent inspection
robot
motion control
作者简介
刘宇(1970),男,云南建水人,工程硕士,云南电网有限责任公司红河供电局,高级工程师,主要研究方向为变电运行维护、检修及带电作业。
