Vision-based navigation and positioning control method for transformer substation inspection robot

An inspection robot and control method technology, applied in two-dimensional position/channel control, non-electric variable control, vehicle position/route/altitude control and other directions, can solve manual laying, low GPS navigation accuracy, poor stability, etc. question

Active Publication Date: 2016-06-22
CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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Problems solved by technology

In actual use, it is found that although the magnetic trajectory navigation has the advantages of simple and reliable navigation principle and high positioning accuracy, the magnetic trajectory of this navigation method needs to be laid manually, and the existing road layout of the substation needs to be greatly adjusted. The path flexibility is poor, which is not conducive to actual operation.
Inertial navigation needs to install a wireless signal transceiver device in the working environment, and the stability is relatively poor
The current accuracy of GPS navigation is low and cannot meet the safety requirements of substations

Method used

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  • Vision-based navigation and positioning control method for transformer substation inspection robot
  • Vision-based navigation and positioning control method for transformer substation inspection robot
  • Vision-based navigation and positioning control method for transformer substation inspection robot

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Embodiment Construction

[0040] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0041] The vision-based substation inspection robot navigation positioning control method of the present invention, the steps are:

[0042] S1: Pre-set the navigation path and docking location identification, and the inspection robot automatically recognizes the inspection path and docking location through machine vision.

[0043] The robot carries out inspection according to the visual navigation marking line, and the present invention lays the navigation marking line (such as a yellow marking line with a width of 150mm) in the substation road. The robot patrols the substation from the starting point and returns to the starting point. The robot can adapt to the substation's actual narrow terrain and sharp bends to realize path planning.

[0044] The present invention further sets marking points of different shapes on the marking lin...

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Abstract

The invention discloses a vision-based navigation and positioning control method for a transformer substation inspection robot. The method includes the steps of setting a navigation path and stop position markers in advance, the inspection robot automatically identifying the inspection path and the stop positions through machine visual sense, laying a navigation marker line on a transformer substation road, setting identification points with different shapes on the navigation marker line to mark the current inspection position of the robot and key inspection equipment, and conducting real-time video capture and real-time control on the robot. The vision-based navigation and positioning control method has the advantages of high anti-interference performance, capability of running on a complex road, high stability and high accuracy.

Description

technical field [0001] The invention mainly relates to the field of automatic inspection equipment for substations, in particular to a vision-based navigation and positioning control method for a substation inspection robot. Background technique [0002] With the advancement of science and technology, automatic inspection equipment (such as: inspection robot) in substations has been widely used, and the inspection function of automatic inspection equipment is becoming more and more powerful. The quality of the inspection effect of the above-mentioned automatic inspection equipment is directly related to the navigation method adopted. [0003] At present, the navigation methods used by substation inspection robots include magnetic trajectory navigation, inertial navigation, GPS navigation and visual navigation. In actual use, it is found that although the magnetic trajectory navigation has the advantages of simple and reliable navigation principle and high positioning accura...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0246G05D2201/0207
Inventor 樊绍胜张绍海胡文韬甘彬
Owner CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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