电力隧道机器人巡检目标坐标定位的共轭搜索

吉林大学学报(信息科学版) ›› 2020, Vol. 38 ›› Issue (1): 79-85.

电力隧道机器人巡检目标坐标定位的共轭搜索

王东海，周平，赵轩，储强

南京供电公司电缆医检室，南京210000

收稿日期:2019-09-12 出版日期:2020-01-20 发布日期:2020-02-17
作者简介:王东海( 1972— ) ，男，南京人，南京供电公司高级工程师，主要从事电力电缆运检管理工作研究，( Tel) 86-13695500888 ( E-mail) zp_syjs． sgcc． com． cn。
基金资助:
国家电网公司科技基金资助项目( 5207DG170037)

Conjugated Search for Target Coordinate Location of Power Tunnel Ｒobot

WANG Donghai，ZHOU Ping，ZHAO Xuan，CHU Qiang

Cable Inspection Ｒoom，Nanjing Power Supply Company，Nanjing 210000，China

Received:2019-09-12 Online:2020-01-20 Published:2020-02-17

摘要/Abstract

摘要： 电力隧道环境机器人巡检目标坐标定位过程中，利用传统搜索算法会产生信息损失，从而导致搜索定位
结果存在精度不够理想问题。为此，提出了一种共轭搜索算法。该算法通过搭建机器人巡检模型，得到反映机
器人位姿的坐标系，然后通过共轭算子规划设置机器人搜索路径。机器人沿着设置的搜索路径采集实时巡检
图像，并根据特征值识别图像中的目标节点。解算机器人在巡检过程中的位姿，并结合手眼标定和空间坐标的
测量结果，实现机器人巡检目标的搜索和坐标定位。对比实验结果表明，所提出的共轭搜索算法对目标位置的
定位环境风险评价( EＲA: Environmental Ｒisk Assessment) 指标更趋近于0，与传统搜索算法相比具有更好的定
位精度。

关键词: 电力隧道, 机器人巡检, 目标定位, 定位坐标, 共轭搜索

Abstract: In the process of target coordinate location robot inspection at power tunnel environment，the
traditional search algorithm will produce information loss，which leads to the problem that the accuracy of search
and location results is not ideal． Therefore，a conjugate search algorithm is proposed． This algorithm builds the
robot inspection model，obtains the coordinate system which reflects the robot posture，and then sets up the robot
search path through the conjugate operator programming． The robot collects real-time inspection images along the
search path and identifies target nodes in the image according to the eigenvalues． The position and posture of the
robot in the process of inspection are calculated，and the results of hand-eye calibration and spatial coordinate
measurement are combined to realize the search and coordinate positioning of robot inspection targets．
Experimental results show that the proposed conjugate search algorithm is closer to 0 in positioning EＲA
( Environmental Ｒisk Assessment) index of target location，and has better positioning accuracy than traditional
search algorithm．

Key words: electric power tunnel, robot inspection, target, locate the coordinate, conjugate search

中图分类号:

TP301

王东海, 周平, 赵轩, 储强. 电力隧道机器人巡检目标坐标定位的共轭搜索[J]. 吉林大学学报(信息科学版), 2020, 38(1): 79-85.

WANG Donghai, ZHOU Ping, ZHAO Xuan, CHU Qiang. Conjugated Search for Target Coordinate Location of Power Tunnel Ｒobot[J]. Journal of Jilin University (Information Science Edition), 2020, 38(1): 79-85.