基于超声波信号波段分解和PHAT-β-γ通用交叉相关性的变压器机器人的空间定位
Hongxin Ji1, Xinghua Liu2, Jianwen Zhang1
1School of Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, China.
Sensors (Basel, Switzerland)
|March 13, 2024
概括
准确地定位变压器巡逻机器人在金属外中的位置是一项挑战. 这项研究介绍了一种使用波纹分解和PHAT-β-γ交叉相关性进行精确机器人定位的空间超声波定位方法.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 信号处理 信号处理
- 电气工程 电气工程
背景情况:
- 由于金属外干扰,很难在大型浸油变压器内准确定位机器人.
- 现有的本地化方法与变压器内部的封闭和复杂环境作斗争.
研究的目的:
- 为变压器巡逻微机器人提出一种新的空间超声波定位方法.
- 为了提高机器人定位在变压器外中的准确性和可靠性.
主要方法:
- 使用五元立体超声波阵列进行信号采集.
- 应用波段分解用于适应频率分解和超声波信号的无声化.
- 采用修改相变-β-马 (PHAT-β-γ) 通用交叉相关法来确定传感器之间的精确时间延迟.
主要成果:
- 拟议的方法实现了变压器巡逻微型机器人的精确空间定位.
- 在模拟的变压器油箱中,相对定位误差在4.1%以内.
- 最大定位误差小于3厘米,符合工程要求.
结论:
- 开发的空间超声波定位方法有效地解决了机器人定位在油浸式变压器内部的挑战.
- 波纹分解和PHAT-β-γ交叉相关性为复杂环境中精确的微机器人定位提供了强大的解决方案.
- 该方法的性能满足了对变压器检查和维护的实际工程要求.
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