Positioning and Mapping Technology for Substation Inspection Robot Based on Gaussian Projection

摘要

Obtaining a planar map of the substation is crucial for achieving automated substation inspection. Currently, traditional positioning and mapping solutions like SLAM and offline GPS positioning often suffer from difficulties in feature recognition, lengthy mapping times, or excessive storage space requirements for maps. Building upon this, a substation inspection robot positioning and mapping technology is produced based on Gaussian projection. After collecting boundary points of the work area's internal and external perimeters, along with obstacle zone boundaries, geographic coordinates collected are transformed into planar Cartesian coordinates through Gaussian projection. Subsequently, a planar grid map is established using the ray casting method. The achieved map information, combined with real-time updates on the robot's current position, enables accurate robot positioning. Feasibility experiments have verified the effectiveness of this positioning and mapping technology. This methodology significantly enhances mapping speed, reduces necessary map storage space, and the resultant map can be utilized for subsequent path planning and navigation of inspection robots.