基于DGPS-SINS组合导航系统的定日镜清洗机器人设计Design of heliostat cleaning robot based on DGPS-SINS integrated navigation system
徐能,宓霄凌,张旭中,胡玉超,陈康立,薛刚强,熊步青
摘要(Abstract)：
针对国内外现有塔式太阳能热发电站中定日镜清洗存在的运维成本高、清洗效率低、影响镜场利用率等突出问题,开发了一款基于DGP-SINS组合导航系统的定日镜清洗机器人,并对组合导航系统进行了研究:首先,建立了机器人地面导航系统坐标系,推导了WGS-84坐标系到当地导航系统坐标系的转换方程;其次,针对机器人运动学模型开发了基于扩展Kalman滤波的状态估算法,对激光雷达数据聚类算法和模板匹配算法进行开发,对立柱和障碍物进行区分,在此基础上利用已知精确坐标的立柱信息,完成机器人局部环境下的定位和建图,有效提高了导航系统精度和稳定性;最后,基于模型机器人对设计的系统和算法进行了测试和仿真研究,测试结果验证了系统和算法的有效性,能够满足镜场环境下对定日镜的清洗需求。本文的成果还可应用于槽式、碟式太阳能热发电站及光伏发电系统等的聚光器的自动清洗系统或其他具有类似应用背景的领域或场景。
关键词(KeyWords)： 太阳能热发电站;定日镜;清洗机器人;DGPS-SINS;组合导航;SLAM
基金项目(Foundation): 太阳能热发电多元熔盐开发及工程化验证(2017-GX-A3)
作者(Author): 徐能,宓霄凌,张旭中,胡玉超,陈康立,薛刚强,熊步青
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