An optimal route planning method for instrument inspection robot based on yolov3
A patrol robot and route planning technology, applied in the field of robotics, can solve the problems of large footprint, complex and numerous internal equipment, and heavy workload of manual drawing robots, etc., to achieve simple implementation, low cost, The effect of increased accuracy
Active Publication Date: 2020-06-16
NANJING TETRAELC ELECTRONICS TECH CO LTD
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Problems solved by technology
The optimal route planning for the inspection robot inspection needs to know the working map and the location of the inspection target in the map. The thermal power plant water station occupies a large area, and the internal equipment is complex and various. Manually draw the robot working environment map and calibrate The workload of inspecting the target position is too large, and there may be errors
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[0033] The present invention will be further described below in conjunction with the accompanying drawings.
[0034] An optimal route planning method for an instrument inspection robot based on YOLOv3 of the present invention, YOLOv3 is a regression-based target recognition convolutional neural network model, which uses 53 convolutional layers of 3*3 and 1*1 , some residual network structures are also used in the multi-scale prediction later, which has the advantages of fast detection speed and high accuracy rate. It is currently one of the best algorithms for target detection and can be used to identify and detect inspection targets.
[0035] The YOLOv3-based instrument inspection robot optimal route planning method provided in this embodiment includes the steps of modeling and training the target detection model based on the YOLOv3 algorithm framework and the robot optimal inspection path planning step based on the ant colony algorithm.
[0036] One, the described modeling a...
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The invention discloses an optimal route planning method for an instrument inspection robot based on the YOLOv3. The method concretely comprises the steps of: S1, creating a patrol work environment map and determining an inspection target position; S2, inputting an initialized information pheromone matrix to determine an initial point and a termination point; S3, determining nodes which can be reached in the next step, and selecting an initial point in the next step; S4, updating a path and the path length; S5, repeatedly performing the step 3 and the step 4 until ants reach a target point orthe ants have walked all the walkable paths; S6, repeatedly performing the steps 3-5 until the ant iteration calculation is completed; S7, updating the information pheromone matrix T, wherein ants which do not reach the target point are not in the calculation range; and S8, repeatedly performing the steps 3-7 until the nth generation ant iteration is finished, and outputting an optimal path curve.The optimal route planning method is simple in implement, low in cost and high in precision, can effectively improve the automation level of the inspection robot and can reduce the participation of the manual operation in the whole path planning process.
Description
technical field [0001] The present invention relates to a robot path planning method, and more specifically to a YOLOv3-based optimal path planning method for an instrument inspection robot of a chemical water station in a thermal power plant, which belongs to the field of robots. Background technique [0002] The chemical water station of the thermal power plant is the place where the chemical water treatment is carried out. The chemical water treatment can ensure that all parts of the thermal system have good water vapor quality, so as to prevent scaling, corrosion and salt accumulation of thermal equipment, which is very important for ensuring the safety and security of the power plant. Economic operation is of great significance. The chemical water station contains a large number of instruments, which are used to monitor the temperature, pressure, current and other important parameters of the working fluid and equipment in the chemical water treatment process. The instr...
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IPC IPC(8): G05D1/02
Inventor 刘爽闵济海雷凌刘宏钰姜红杉雷丽君
Owner NANJING TETRAELC ELECTRONICS TECH CO LTD