| Abstract:The light and angle in the inspection environment have an impact on the laser beam. Therefore, when tracking the inspection target of a substation, it is necessary to effectively correct the beam and improve the tracking accuracy. In this regard, a quadruped robot substation inspection target single detector composite laser tracking algorithm is proposed. From the perspective of the measurement station coordinates of a single detector, a global coordinate system is constructed, and combined with translation and rotation parameters, it is converted into the measurement coordinate system of a quadruped robot. By combining the gamma algorithm to correct the coordinate information of the laser beam, and combining the gradient information of the laser beam point with the position information, a position loop matrix is constructed. By combining the Kalman filtering algorithm with historical data in the cyclic position matrix, the position information of the inspection target is dynamically predicted. Based on the prediction results, the robot's movement speed and position distance are adjusted to achieve dynamic tracking of the inspection target. The experimental results show that when using the method proposed in this paper to track inspection targets, the overlap between the tracking results and the actual motion path is high, and it has ideal tracking accuracy. |
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