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Multi-sensor information fusion power transmission line robot navigation method and system

A power transmission line and multi-sensor technology, which is applied in the direction of radio wave measurement systems, instruments, and sound wave reradiation, can solve the problems of unsatisfactory autonomous operation of robots, large errors in GPS positioning accuracy, and incomplete information collection, etc., to achieve enhanced anti-corrosion Interference ability, fast convergence, effect of reducing irrelevant features

Inactive Publication Date: 2019-12-24
STATE GRID INTELLIGENCE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The autonomous operation of the transmission line robot requires more accurate obstacle positioning information. The existing robot navigation system cannot meet the requirements of the autonomous operation of the robot due to the incomplete collection of information.
In terms of related research, ZL200510019930.2 discloses a method for high-voltage line inspection robots to navigate along transmission lines. It uses electromagnetic sensors to form an array to characterize the distance from high-voltage transmission lines. This method is only applicable to robots walking on lines. situation; ZL200910273513.9 discloses a GIS-GPS navigation method for line patrol robots, which can only be used for rough positioning due to large errors in GPS positioning accuracy

Method used

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  • Multi-sensor information fusion power transmission line robot navigation method and system
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  • Multi-sensor information fusion power transmission line robot navigation method and system

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Embodiment 1

[0036] In one or more embodiments, a transmission line robot navigation method based on multi-sensor information fusion is disclosed, such as figure 1 As shown, the transmission line robot navigation system uses visual sensors, ultrasonic sensors, and photoelectric sensors. The image information collected by the visual sensor is extracted through the layered gradient direction histogram feature extraction method and the support vector machine classification algorithm. figure 2 Identify the obstacles on the walking path of the robot shown, and use the binocular vision system, one or more sets of ultrasonic sensors and one or more sets of photoelectric sensors to locate the obstacles at the same time, and obtain multiple sets of obstacle positioning information , and then use the neural network algorithm to fuse the obtained multiple sets of obstacle location information, and use the fused obstacle location results to guide the transmission line robot to overcome obstacles. The...

Embodiment 2

[0070] In one or more embodiments, a multi-sensor information fusion transmission line robot navigation system is disclosed, including:

[0071] A module for collecting the video image information of the power transmission line in the moving direction of the power transmission line robot through the visual sensor, and extracting the histogram feature of the layered gradient direction in the video image information;

[0072] The layered gradient orientation histogram feature used for extraction is input into the classification model trained by the support vector machine for classification, and the module for determining the obstacle type;

[0073] A module for simultaneously locating obstacles using a binocular vision system, one or more sets of ultrasonic sensors, and one or more sets of photoelectric sensors to obtain multiple sets of obstacle positioning information;

[0074] A module for merging the obtained multiple sets of obstacle positioning information through the neur...

Embodiment 3

[0078] In one or more implementations, it is disclosed that a terminal device includes a memory, a processor, and a computer program stored in the memory and operable on the processor. When the processor executes the program, the first embodiment is implemented. Multi-sensor information fusion method for robot navigation of transmission lines. For the sake of brevity, details are not repeated here.

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Abstract

The invention discloses a multi-sensor information fusion power transmission line robot navigation method and a multi-sensor information fusion power transmission line robot navigation system. The method comprises the following steps: collecting the video image information of a power transmission line in the advancing direction of a power transmission line robot through a visual sensor, and extracting the hierarchical gradient direction histogram features in the video image information; inputting the extracted hierarchical gradient direction histogram features into a classification model trained by using a support vector machine for classification, and determining the type of an obstacle; a binocular vision system, one or more groups of ultrasonic sensors and one or more groups of photoelectric sensors are respectively used for simultaneously positioning obstacles to obtain multiple groups of obstacle positioning information; and fusing the acquired multiple groups of obstacle positioning information through a neural network to obtain a final positioning result of the obstacle in the advancing direction of the power transmission line robot. According to the power transmission linerobot navigation method, various sensor information is combined, the problems that a traditional positioning method is limited in detection range and small in sensing information amount are solved, and the anti-interference capacity of a navigation system is enhanced through comprehensive processing of the multi-sensor information.

Description

technical field [0001] The invention relates to the fields of multi-sensor technology and computer vision technology, in particular to a transmission line robot navigation method and system for multi-sensor information fusion. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] The autonomous operation ability of a robot depends on its navigation system. Generally, robot navigation uses prior environmental information, the current pose of the robot, and observation information from sensors to form an accurate estimate of the robot's next move after certain processing. At present, there are many ways of robot positioning and navigation, such as: positioning and navigation based on laser ranging, positioning and navigation based on photoelectric line-finding, positioning and navigation based on visual information, and positioning and navigation ...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/46G06K9/62G01S15/93G01S17/93
CPCG01S15/93G01S17/93G06V20/40G06V20/46G06V10/50G06F18/2411G06F18/25
Inventor 李振宇郭锐王万国张峰刘丕玉李勇杨波孙晓斌黄振宁宋云京冯刚赵金龙
Owner STATE GRID INTELLIGENCE TECH CO LTD
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