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750 / 2022-03-31 20:13:46
Research on Anti-collision Control System of Orbital Inspection Robot for GIS Based on Multi-sensor Fusion
inspection robot,multi-sensor,Collision Avoidance,information fusion
17. High Voltage Applications in Smart Grid
摘要录用
Yifei Zhu / Jiangnan University
Hong-yu NI / State Grid Shaoxing Power Supply Company
Bin Chen / State Grid Shaoxing Power Supply Company
愈 季 / 江南大学
Yan Wenxu / Jiangnan University
With the intellectualization of GIS equipment inspection, the rail GIS inspection robot technology is becoming more mature. Aiming at the possibility of collision between the mobile manipulator mounted on the inspection robot and the GIS equipment in the process of working, the anti-collision control system of the manipulator based on multi-sensor fusion is designed.The spatial structure between manipulator and GIS device is relatively complex. The relative distance and velocity between target and manipulator can be calculated by CCD camera and lidar, so the collision can be avoided by limiting the relative velocity between them, and the distance between sensor and GIS device can be minimized. The anti-collision control system consists of an embedded system, a multi-sensor network and motor drivers. The multi-sensor system collects information around the manipulator. The embedded system processes the signals and control the motor based on multi-sensor information fusion algorithm. Finally, a simulation platform is built on MATLAB to verify the real-time, stability and reliability.The results show that the control system can avoid the collision between the end of the manipulator and the GIS device, it can also control the manipulator to stop at the set distance.The manipulator can avoid encountering GIS equipment at different speeds. When the manipulator moves at a higher speed, the distance error will increase, which verifies the stability, reliability and real-time performance of the anti-collision system.
重要日期

  • 会议日期

    09月25日

    2022

    至

    09月29日

    2022

  • 08月15日 2022

    提前注册日期

  • 09月10日 2022

    报告提交截止日期

  • 11月10日 2022

    注册截止日期

  • 11月30日 2022

    初稿截稿日期

  • 11月30日 2022

    终稿截稿日期

主办单位
IEEE DEIS
承办单位
Chongqing University
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