视觉激光雷达下风电场升压站远程智能巡检机器人自主导航OA

The interior of a step-up substation is crowded with numerous pieces of equipment.These devices will block the navigation signals of the robot,affecting its precise judgment of its own position.Therefore,it proposes an autonomous navigation method for a re-mote intelligent inspection robot operating in a wind farm step-up substation under vision LiDAR.For the wind-farm step-up substation,it generates the point cloud data by vision LiDAR to describe the specific location of the inspection target.It establishes a grid map of the movement environment for intelligent inspection robots to clearly define the movement range of the navigation robots.And on this basis,it introduces a dynamic-priority optimization algorithm to plan the navigation trajectory of the remote intelligent inspection robot.Experi-mental results show that the robot's attitude angles match the expected values and the planned navigation paths are optimal.