Three-dimensional point cloud-based patrol robot vision system and control method

Abstract

The invention relates to a three-dimensional point cloud-based patrol robot vision system and a control method. According to the system, point cloud data of a patrol environment is collected by adopting an RGBD video camera, and a three-dimensional map of the patrol environment is created based on a point cloud fusion technology; obstacle avoidance and optimal path planning are performed based onan artificial potential field method; based on a convolutional neural network identification algorithm, three-dimensional features of objects are fused, a target object in the patrol environment is identified, and according to a mapping relationship between the target object and the camera, three-dimensional coordinates of the target object are accurately located; based on a wireless network system, real-time data obtained by a patrol robot is transmitted to a control terminal quickly in real time; and an operator can monitor or play back a patrol condition through the control terminal in realtime, and can control the robot to execute a patrol task through the terminal. According to the control method of the system, a working environment of the patrol robot is not influenced by change ofambient light, and the patrol task can be finished in a dark light condition.

Description

technical field [0001] The invention relates to a three-dimensional point cloud-based inspection robot vision system and method. Background technique [0002] With the increasing maturity of robot technology, the need to use robots for inspections has arisen as the times require, such as: power inspections, fire inspections, tunnel inspections, underground mine inspections, and unknown environment and terrain detection. Manual inspections have problems such as low work efficiency, high labor intensity, and high management costs, and it is difficult to guarantee the safety of inspection personnel in some harsh environments and complex and dangerous jobs, such as rainy and snowy weather, high temperature, extreme cold, underground mines and High voltage power equipment, etc. The use of robots to replace workers in inspections can effectively protect the lives of inspection personnel in some dangerous environments, and can successfully solve the above-mentioned drawbacks of ma...

AI Technical Summary

Problems solved by technology

[0003] The vision system of traditional inspection robots mostly relies on RGB image acquisition equipment for environment perception, map construction, path planning, and target recognition. Patrol inspection and night inspection, etc., the quality of the inspection work is seriously affected

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