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Method for calculating moving distance of polling robot

A technology for patrolling robots and moving distances, applied in the field of robots, can solve problems such as wheel slippage and poor precision, and achieve the effects of convenient maintenance, low system cost, and high detection accuracy

Active Publication Date: 2018-06-08
CHANGZHOU YINGNENG ELECTRICAL
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] The technical problem to be solved by the present invention is: to propose a method for calculating the moving distance of the inspection robot, and realize the calculation of the moving distance of the inspection robot through the video camera, thereby solving the problem of wheel slipping when calculating the moving distance and positioning with the pulse number of the stepping motor. , The problem of poor precision caused by wear and tear

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  • Method for calculating moving distance of polling robot
  • Method for calculating moving distance of polling robot
  • Method for calculating moving distance of polling robot

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Embodiment Construction

[0033] The present invention will now be described in further detail in conjunction with the accompanying drawings and preferred embodiments. These drawings are all simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, so they only show the configurations related to the present invention.

[0034] A method for calculating the moving distance of an inspection robot, comprising the following steps: 1) The inspection robot faces the same side of a fixed target, and takes two pictures at different positions along the track, both of which contain the same fixed target; Figure 1-2 as shown, figure 2 (a)-(b) are the first and second schematic diagrams of the relative positions of the inspection robot and the guide rail and the target when taking pictures; image 3 (a)-(b) are the schematic diagrams of the two images taken by the inspection robot at track positions 1 and 2, both of which contain the same fixed targe...

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Abstract

The invention relates to a method for calculating the moving distance of a polling robot. The method comprises the following steps: (1) taking two pictures containing the same fixed target from the same surface of a fixed target facing towards the polling robot along different positions of a track; (2) respectively calculating image positions of the same fixed target at the same positions in the two pictures; and (3) calculating variation values of the image positions of the same fixed target at the same positions in the two pictures as the moving distance of the polling robot. According to the method, the calculation of the moving distance of the polling robot is realized by virtue of a video camera, so that the problem of poor precision caused by the slipping and abrasion of wheels whenthe moving distance is calculated and positioned by virtue of a stepping motor pulse count can be solved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a method for calculating the moving distance of an inspection robot. Background technique [0002] As the end of the power grid, indoor distribution stations have a large number, and the inspection pressure is huge. The emergence of orbital inspection robots has greatly alleviated the inspection problem of indoor distribution stations. Since the track installed in the power distribution room usually has 90-degree curved rails, when the inspection robot passes these curved rails, the driving wheels will slip to a certain extent; in addition, when the inspection robot is running at high speed, the driving wheels will also have a certain degree of Slippage and wear will affect the accuracy of the distance traveled. Once the accuracy of the inspection robot’s walking distance becomes poor, the actual position of the robot’s arrival at the target position will be offset. Taking pictures of the ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/187G06T7/73G01C3/00
CPCG01C3/00G06T7/187G06T7/73G06T2207/10024
Inventor 庄孟文
Owner CHANGZHOU YINGNENG ELECTRICAL