摘要
针对水电站高压输水管道和隧道等封闭的工业场景人工检修方法效率低下,存在安全隐患的问题,提出采用无人机进行巡检的解决方案。由于此类封闭空间存在GPS信号受到屏蔽或者不强的问题,无人机无法利用GPS进行定位,提出了采用双二维激光雷达对无人机进行定位的方法,利用水平放置的激光雷达,采用Hector SLAM算法估计水平位置,并且通过竖直放置的激光雷达对高度方向的信息进行感知,从而获取无人机在隧道中的三维位姿信息。此外,通过激光雷达的点云数据提出了解算隧道中轴线的方法,结合无人机的位置控制策略实现了无人机沿隧道中轴线飞行的控制算法。通过仿真实验,无人机的位姿估计误差较小,且能沿隧道中轴线稳定飞行,满足隧道巡检的要求。
In view of the problems of low efficiency and hidden safety in the closed industrial scene such as high-pressure water transmission pipeline of hydropower station and tunnel,this paper proposes a solution of using unmanned aerial vehicle for patrol inspection.Because GPS signals are blocked or weak in such enclosed Spaces,drones cannot use GPS for positioning.In this paper,a method of positioning unmanned aerial vehicles(UAVs)by using two-dimensional lidar is proposed.The horizontal position is estimated by using the horizontal lidar with the Hector SLAM algorithm.In addition,the vertical lidar is used to perceive the altitude information,so as to obtain the threedimensional pose information of UAVs in the tunnel.In addition,based on the point cloud data of the lidar,a method to calculate the central axis of the tunnel is proposed.Combined with the position control strategy,the control algorithm of UAV flying along the central axis of the tunnel is realized.Through simulation experiments,the estimation error of UAV's pose is small,and it can fly stably along the central axis of the tunnel,meeting the requirements of tunnel inspection.
作者
陈艳超
田伟
楼勇
陈俊柱
沈润杰
CHEN Yanchao;TIAN Wei;LOU Yong;CHEN Junzhu;SHEN Runjie(East China Tian Huang Ping Pumped Storage Power CO.LTD.,Anji 313302,China;School of Electronics and Information Engineering,Tongji University,Shanghai,201804,China)
出处
《系统仿真技术》
2021年第3期148-152,共5页
System Simulation Technology
基金
国网新源控股有限公司科研项目(SGXYTP00YJJS2000084)。
关键词
无人机
位姿估计
激光雷达
SLAM
隧道
ROS
UAV(unmanned aerial vehicle)
pose estimation
laser radar
SLAM
tunnel
ROS
