变电站智能巡检机器人的定位与识别研究

Liyun Xing
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引用次数: 1

摘要

变电站巡检机器人在自主工作时遵循设定的路径,移动时需要对机器人进行准确定位,保证路径不偏离。本研究简要介绍了变电站巡检机器人、基于里程表的定位算法、射频识别(RFID)和基于机器视觉的定位算法,并通过RFID对前者算法进行改进。随后,对三种定位算法进行了比较。结果表明,在相同循环次数下,基于RFID+机器视觉的定位算法在三种被测算法中精度最高,且定位误差随循环次数的增加保持稳定。
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Research on the Positioning and Recognition of an Intelligent Inspection Robot in Substations
The substation inspection robot follows the set path when working autonomously, and accurate positioning of the robot while moving is required to ensure that the route does not deviate. This study briefly introduces a substation inspection robot, an odometer-based positioning algorithm, radio frequency identification (RFID), and a machine vision-based positioning algorithm, and improves the former algorithm by RFID. Subsequently, the three positioning algorithms were compared. The results showed that the RFID+machine vision-based positioning algorithm exhibited the highest accuracy among the three algorithms tested under the same cycle number, and its positioning error remained stable as the cycle number increased.
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