本文選題：激光掃描　切入點(diǎn)：地圖創(chuàng)建　出處：《浙江大學(xué)》2017年碩士論文

【摘要】：電力巡檢機(jī)器人是常見(jiàn)的具備巡檢能力的智能移動(dòng)機(jī)器人,主要實(shí)現(xiàn)從某一位置尋找合適路徑運(yùn)行至目標(biāo)位置點(diǎn)并完成特定檢測(cè)任務(wù)的功能。電力巡檢機(jī)器人系統(tǒng)通�？煞譃閷�(dǎo)航系統(tǒng)和檢測(cè)系統(tǒng)兩部分。其導(dǎo)航系統(tǒng)跨越通信、定位、信息融合、運(yùn)動(dòng)控制等多個(gè)技術(shù)領(lǐng)域。目前已投入應(yīng)用的巡檢機(jī)器人導(dǎo)航系統(tǒng)普遍需要在前期搭建地標(biāo)或者鋪設(shè)磁條,環(huán)境改造工程量大、應(yīng)變性弱且導(dǎo)航精度不夠高。針對(duì)上述問(wèn)題,本文研制了 一種基于激光掃描的電力巡檢機(jī)器人導(dǎo)航系統(tǒng),提出了整體系統(tǒng)的設(shè)計(jì)方案,研發(fā)了系統(tǒng)的各功能模塊子系統(tǒng),并進(jìn)行了整個(gè)系統(tǒng)的集成。研制的導(dǎo)航系統(tǒng)通過(guò)了多項(xiàng)實(shí)測(cè),已進(jìn)入實(shí)際應(yīng)用。首先,論文提出了整體導(dǎo)航系統(tǒng)的設(shè)計(jì)方案。根據(jù)系統(tǒng)硬件平臺(tái)設(shè)置,構(gòu)建了系統(tǒng)的整體框架,包括地圖創(chuàng)建、路徑規(guī)劃、定位導(dǎo)航等功能模塊,給出系統(tǒng)性能要求和預(yù)期指標(biāo)。其次,論文討論了系統(tǒng)軟件的研制。通過(guò)系統(tǒng)軟件平臺(tái)集成了環(huán)境地圖顯示、路徑規(guī)劃設(shè)計(jì)、實(shí)時(shí)定位跟蹤和遠(yuǎn)程導(dǎo)航控制等功能。在創(chuàng)建地圖與規(guī)劃路徑方面,應(yīng)用最近迭代點(diǎn)算法進(jìn)行激光點(diǎn)云數(shù)據(jù)匹配融合,實(shí)現(xiàn)了全局地圖的創(chuàng)建;基于系統(tǒng)軟件進(jìn)行地圖路徑設(shè)計(jì),通過(guò)最短路徑算法規(guī)劃了最優(yōu)導(dǎo)航路線。在研制導(dǎo)航模塊方面,通過(guò)激光點(diǎn)云數(shù)據(jù)與全局地圖的匹配實(shí)現(xiàn)了巡檢機(jī)器人的實(shí)時(shí)定位功能;設(shè)計(jì)并實(shí)現(xiàn)了導(dǎo)航初始定位的手動(dòng)標(biāo)定方法和自動(dòng)標(biāo)定方法以及直線路徑和曲線路徑的導(dǎo)航算法。最后,通過(guò)導(dǎo)航系統(tǒng)在三種不同環(huán)境的實(shí)測(cè)數(shù)據(jù),分析重復(fù)定位導(dǎo)航精度、室內(nèi)和室外環(huán)境定位導(dǎo)航效果,從系統(tǒng)性能分析、指標(biāo)實(shí)現(xiàn)等多方面進(jìn)行系統(tǒng)評(píng)估。目前,該導(dǎo)航系統(tǒng)可實(shí)現(xiàn)室內(nèi)樓道環(huán)境重復(fù)導(dǎo)航定位誤差±3cm以內(nèi),室外變電站環(huán)境導(dǎo)航定位誤差基本控制在±l0cm以內(nèi)的精度效果,已通過(guò)用戶單位驗(yàn)收投入商業(yè)試運(yùn)行。
[Abstract]:The power inspection robot is a common intelligent mobile robot with the ability to patrol. It mainly realizes the function of finding a suitable path from a certain position to the target point and completing a specific detection task.The power inspection robot system is usually divided into two parts: navigation system and detection system.Its navigation system spans many technical fields, such as communication, positioning, information fusion, motion control and so on.At present, the navigation system of inspection robot that has been put into use generally needs to set up landmarks or lay magnetic stripes in the early stage, the environmental reconstruction project is large, the variability is weak and the navigation accuracy is not high enough.In order to solve the above problems, a power inspection robot navigation system based on laser scanning is developed in this paper. The design scheme of the whole system is put forward, and the subsystems of each function module of the system are developed, and the integration of the whole system is carried out.The developed navigation system has passed many measurements and has been applied in practice.Firstly, the design scheme of the whole navigation system is put forward.According to the hardware platform of the system, the overall framework of the system is constructed, including the function modules of map creation, path planning, positioning and navigation, and the system performance requirements and expected indicators are given.Secondly, the paper discusses the development of the system software.The functions of environmental map display, path planning and design, real-time positioning and tracking and remote navigation control are integrated through the system software platform.In the aspect of creating map and planning path, the laser point cloud data matching fusion is carried out by using the nearest iteration point algorithm, the global map is created, and the map path is designed based on the system software.The optimal navigation route is planned by the shortest path algorithm.In the development of navigation module, the real-time location function of the inspection robot is realized by matching the laser point cloud data with the global map.The manual calibration method and automatic calibration method of initial navigation location and the navigation algorithm of straight line path and curve path are designed and implemented.Finally, through the measured data of the navigation system in three different environments, the accuracy of repeated positioning and navigation, indoor and outdoor environment positioning and navigation effect are analyzed, and the system performance analysis and index realization are systematically evaluated.At present, the navigation system can realize the accuracy effect of indoor corridor environment repeated navigation and positioning error within 鹵3cm, and outdoor substation environment navigation positioning error is basically controlled within 鹵l0cm, and has been put into commercial trial operation through user unit acceptance.
【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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