变电站巡检机器人自主充电装置及对接控制分析-automatic charging device and docking control analysis of substation inspection robot.docxVIP

目录中文摘要..........................................................................................................................................I英文摘要........................................................................................................................................II1绪论.........................................................................................................................................11.1研究背景及意义.......................................................................................................................11.2自充电技术国内外研究现状....................................................................................................21.3课题来源及主要研究内容.......................................................................................................32自主充电技术及机器人系统.........................................................................................52.1机器人自主充电技术...............................................................................................................52.1.1移动机器人自主充电条件................................................................................................52.1.2机器人信息感知与信息融合技术....................................................................................62.1.3移动机器人定位技术........................................................................................................62.2机器人系统结构.......................................................................................................................72.2.1机器人内部单元................................................................................................................82.2.2机器人外部单元..............................................................................................................102.3机器人感知系统.....................................................................................................................112.3.1巡检机器人主控单元......................................................................................................112.3.2机器人视觉单元.......