| Manual inspection of outdoor Substation has shortcomings such as low efficiency,high labor cost,and high potential safety hazards.Therefore,it is a trend for manual inspection to be replaced by inspection robots.The current mature inspection robots,using radio frequency identification,magnetic tracks and other facilities to achieve navigation,have problems such as large amount of engineering and maintenance costs.Considering the development status of inspection robots,the autonomous navigation of the substation inspection robot based on lidar is researched in this essay.Map construction and autonomous navigation can be realized by this system.The research effectively reduces the cost of substation inspection robots and improves efficiency.The autonomous navigation function is researched by the following aspects:(1)According to the environmental characteristics and inspection requirements of the substation,the inspection robot is designed from three aspects: hardware architecture,communication scheme,and software.Then hardware such as the main control unit and sensor group are selected.(2)On the basis of the overall structure,odom and map construction algorithm are studied.In order to improve the accuracy of mapping,the odom is designed with data fusion from IMU and GPS.An improved Cartographer algorithm is proposed by combining the two mapping methods of particle filtering and loop optimization.Simulation proves that the algorithm improves the accuracy of map construction.(3)After the map construction is completed,the autonomous navigation algorithm of the inspection robot is researched.First,adaptive Monte Carlo Localization(AMCL)is used to obtain robot position information;then the path planning function is realized by A-Star(A*)and cost map;next,in order to improve the accuracy of robot motion and avoid oscillations,an improved DWA(Dynamic Window Approach)algorithm is given by adding an adaptive step size strategy to the DWA.(4)The robot is tested in the industrial center.The results show that the map constructed with the improved Cartographer algorithm has small distortion.The path planning algorithm designed in this essay is proved to be feasible,and the improved DWA algorithm used for motion planning is proven to maintain high motion accuracy,which can meet the related needs of substation inspection. |
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