Gyrichidi Ntmitrii, Romanov Alexey M, Trofimov Oleg V, Eroshenko Stanislav A, Matrenin Pavel V, Khalyasmaa Alexandra I
Institute of Artificial Intelligence, MIREA-Russian Technological University (RTU MIREA), 119454 Moscow, Russia.
Ural Power Engineering Institute, Ural Federal University Named after the First President of Russia B.N. Yeltsin, 620002 Ekaterinburg, Russia.
Sensors (Basel). 2024 May 28;24(11):3494. doi: 10.3390/s24113494.
One of the key challenges in Multi-Spectral Automatic Diagnostic (MAD) robot design is the precise targeting of narrow-angle cameras on a specific part of the equipment. The paper shows that a low-cost MAD robot, whose navigation system is based on open-source ArduRover firmware and a pair of low-cost Ublox F9P GNSS receivers, can inspect the 8 × 4 degree ultraviolet camera bounding the targeting error within 0.5 degrees. To achieve this result, we propose a new targeting procedure that can be implemented without any modifications in ArduRover firmware and outperforms more expensive solutions based on LiDAR SLAM and UWB. This paper will be interesting to the developers of robotic systems for power equipment inspection because it proposes a simple and effective solution for MAD robots' camera targeting and provides the first quantitative analysis of the GNSS reception conditions during power equipment inspection. This analysis is based on the experimental results collected during the inspection of the overhead power transmission lines and equipment inspections on the open switchgear of different power plants. Moreover, it includes not only satellite, dilution of precision, and positioning/heading estimation accuracy but also the direct measurements of angular errors that could be achieved on operating power plants using GNSS-only camera targeting.
多光谱自动诊断（MAD）机器人设计中的关键挑战之一是将窄角相机精确对准设备的特定部位。本文表明，一种低成本的MAD机器人，其导航系统基于开源的ArduRover固件和一对低成本的Ublox F9P全球导航卫星系统（GNSS）接收器，能够对8×4度的紫外线相机进行检测，将瞄准误差控制在0.5度以内。为了实现这一结果，我们提出了一种新的瞄准程序，该程序无需对ArduRover固件进行任何修改即可实施，并且优于基于激光雷达同步定位与地图构建（LiDAR SLAM）和超宽带（UWB）的更昂贵的解决方案。本文对于电力设备检测机器人系统的开发者来说将会很有吸引力，因为它为MAD机器人的相机瞄准提出了一种简单有效的解决方案，并首次对电力设备检测期间的GNSS接收条件进行了定量分析。该分析基于在架空输电线路检测以及不同发电厂的敞开式开关设备检测过程中收集的实验结果。此外，它不仅包括卫星、精度稀释以及定位/航向估计精度，还包括使用仅基于GNSS的相机瞄准在运行中的发电厂可实现的角度误差的直接测量。
