Obstacles ranging is one of the key technologies of the high -tension transmission line deicing robot. According to the structural features of the 220kV transmission line deicing robot, puts forward a new method of obstacles distance detection based on information integration. First of all. Design the structure of the multi- sensors detecting system of deicing robot based on the obstacles distribution. Build the model of the obstacles information integration system. According to the nonlinearity of the obstacles information state model, synchronize the asynchronous measured data of the sensors. Then, filtering and integrate the modified multi- sensors information. Compare with the results of the single sensor, the experimental results show that: This method can effectively integrate information from different sensors, with a higher range accuracy and faster convergence rate.%障碍物测距是高压输电线路自主除冰机器人的关键技术之一;针对220 kV输电线路除冰机器人的结构特点,提出了一种基于障碍物距离信息融合检测方法;首先根据障碍物分布情况设计了除冰机器人多传感器检测系统的结构,建立了障碍物信息融合系统模型.然后根据障碍物信息状态模型的非线性特点,对传感器获取的异步测量数据进行同步处理,再应用改进的多传感器信息进行滤波和融合,并与单个传感器的结果相比较,实验结果研究表明:该方法能有效地融合不同传感器的信息,具有更高的测距精度和更快的收敛速度.
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