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一种新的辅助导航方法,帮助站点检查机器人安全地穿越草地
Qiang Yang1,2, Song Ma1, Gexiang Zhang1
1School of Automation, Chengdu University of Information Technology, Chengdu 610225, China.
Sensors (Basel, Switzerland)
|November 25, 2023
概括
这项研究引入了一种改进的导航方法,使变电站检查机器人能够安全地越过草地障碍物. 新的算法增强了对象检测,并融合了传感器数据,提高了检查效率.
科学领域:
- 机器人和自动化 机器人和自动化
- 人工智能的人工智能
- 变电站工程 变电站工程
背景情况:
- 智能变电站利用检查机器人进行安全操作.
- 草地障碍物经常会打断机器人检查,降低效率.
- 目前基于LiDAR的机器人错误地将草视为硬障碍物,导致任务失败.
研究的目的:
- 开发用于变电站检查机器人的先进导航方法,以安全地穿越草原.
- 加强对草的认可,作为一个独特的障碍物类型.
- 提高对象检测的准确性和整体检查效率.
主要方法:
- 设计了一种辅助导航算法,用于草地识别和越过障碍物.
- 改进了Faster R-CNN网络,为优化对象检测盒提供了三层卷积结构.
- 融合超声波雷达信号与对象识别结果用于安全判断.
主要成果:
- 改进的Faster R-CNN在0.5.5的IOU值下实现了91.25%的平均平均精度 (mAP).
- 拟议的方法表明,与基础网络相比,mAP的改善率为4.13%.
- 导航算法成功使机器人能够安全地穿越草地,提高了检查效率.
结论:
- 开发的辅助导航方法有效地使变电站检查机器人能够克服草地障碍.
- 优化的Faster R-CNN网络显著提高了在草环境中对象检测的准确性.
- 这种方法提高了自动化变电站检查的可靠性和效率.
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