面向环形管道的电力巡检机器人设计与环境建图

在大型水电站中，离相封闭母线（isolated phase enclosed bus, IPB）只能通过预防性试验对设备状态进行检查，难以目视外观检查。为解决这种密闭狭小空间的环形管道的巡检困难问题，提出了一种可在水平、竖直段上行走的轮式攀爬机器人。首先，对攀爬机器人移动和附着方式进行对比分析，根据实际工况，选用轮式推力附着方式并基于该方式对机器人整体结构进行力学分析；通过搭建的模拟IPB管道内的运动实验，结果验证了巡检机器人满足水电站内IPB管道的检修需求且具有良好的适应性；设计基于柱坐标的点云配准方法，解决了管道内无法正确建图的问题，且计算时间优于激光雷达里程计建图 (lidar odometry and mapping, LOAM)及迭代最近点 (iterative closest point, ICP)算法，拓展了激光雷达点云建图的应用范围。

Design and Mapping of Electric Inspection Robot System for Annular Pipeline

In some large hydropower stations, the isolated phase enclosed bus (IPB) can only check the equipment status through preventive tests, it is difficult to visually inspect the appearance. To solve the problem of difficult inspection of annular pipelines in such confined and narrow spaces, a wheeled climbing robot that can move in horizontal and vertical segments is proposed. By comparing and analyzing the movement and attachment methods of the climbing robot, and referring to the actual working conditions, the wheeled thrust attachment method was selected. Also, the force analysis of the overall structure of the robot was carried out. The experiments were carried out in the simulated IPB pipeline. The results verified that the inspection robot has good adaptability to the IPB pipeline. In addition, a point cloud registration method based on cylindrical coordinates was designed, which solves the problem that the map cannot be correctly constructed in the pipeline, and the calculation time is better than lidar odometry and mapping (LOAM) and iterative closest point (ICP) algorithms, which expands the application range of lidar point cloud mapping.