| 四足机器人变电站巡检目标单探测器复合激光跟踪算法 |
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| 引用本文：王身丽，梅春晓，赵威，吴军，张芳，夏欢.四足机器人变电站巡检目标单探测器复合激光跟踪算法[J].计算技术与自动化,2025,(4):129-133 |
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| 中文摘要:巡检环境中的光线和角度对激光束有影响，因此在跟踪变电站巡检目标时，需要对光束进行有效校正，以提升跟踪精度。为此，提出了四足机器人变电站巡检目标单探测器复合激光跟踪算法。以单探测器的测站坐标为视角，构建出全局坐标系，并结合平移参数以及旋转参数将其转换为四足机器人的测量坐标系。结合伽马算法对激光光束坐标信息进行校正，并将激光光束点位的梯度信息与位置信息进行结合，构建出位置循环矩阵。结合卡尔曼滤波算法，结合循环位置矩阵中的历史数据，对巡检目标的位置信息进行动态预测，并基于预测结果对机器人的移动速度以及位置距离进行调整，从而实现巡检目标动态跟踪。实验结果表明，采用本文方法对巡检目标进行跟踪时，跟踪结果与实际运动路径的重合度较高，具备较为理想的跟踪精度。 |
| 中文关键词:四足机器人 变电站巡检 激光跟踪 单探测器 伽马算法 |
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| Single Detector Compound Laser Tracking Algorithm for Substation Inspection Target of Quadruped Robot |
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| 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. |
| keywords:quadruped robot substation inspection laser tracking single detector gamma algorithm |
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