光伏电站巡检机器人电磁导航系统设计

兰建军; 李春来; 刘寅东

兰建军,李春来,刘寅东.光伏电站巡检机器人电磁导航系统设计[J].电测与仪表,2017,54(9):.
Lan Jianjun,Li Chunlai,Liu Yindong.Design of Electromagnetic Navigation System for Photovoltaic Power Station Inspection Robot[J].Electrical Measurement & Instrumentation,2017,54(9):.

光伏电站巡检机器人电磁导航系统设计

Design of Electromagnetic Navigation System for Photovoltaic Power Station Inspection Robot

DOI：

中文关键词: 电磁导航加权数据融合控制策略加权系数

英文关键词:electromagnetic navigation, weighted data fusion, control policy, weighting coefficient

基金项目:青海省光伏发电并网技术重点实验室开放课题

作者中文名	作者英文名	单位
兰建军	Lan Jianjun	东北电力大学
李春来	Li Chunlai	国网青海省电力公司电力科学研究院
刘寅东	Liu Yindong	东北电力大学

摘要点击次数: 2082

中文摘要:

针对电磁导航巡检机器人转向控制精度的问题,提出一种基于传感器加权数据融合的转向控制策略。为了准确计算出巡检机器人的转向角度,利用8个在机械机构上对称分布的传感器进行信号检测,对传感器数据进行加权融合后获取机器人偏离导航线位置,给出了加权系数计算过程和位置-转向角度关系曲线。该方案计算量小,程序控制简单,非常适合在微控制器上进行应用。

英文摘要:

Aiming at the steering control accuracy problem of electromagnetic navigation inspection robot, a steering control strategy based on weighting sensor data fusion is brought forward. In order to accurately calculate the turning Angle of inspection robot, the eight sensors symmetrical distributed on the mechanical mechanism are used to test the signal, and obtains deviating position between the navigation line and inspection robot, weighting coefficient calculation process and the position of steering angle relationship curve are provided. The scheme is low computational complexity and easy to control and suitable for applying in microcontroller

查看全文查看/发表评论下载PDF阅读器

关闭