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Visual navigation inspection and obstacle avoidance method for line patrol robot

A line inspection robot and visual navigation technology, applied in the field of line inspection robots, can solve problems such as difficult obstacle-surmounting strategies of inspection systems

Active Publication Date: 2020-01-14
GUANGDONG KEYSTAR INTELLIGENCE ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Existing inspection robots are only equipped with a line inspection vision system, and it is difficult for this inspection system to perform better obstacle-crossing strategies while completing inspection tasks

Method used

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  • Visual navigation inspection and obstacle avoidance method for line patrol robot
  • Visual navigation inspection and obstacle avoidance method for line patrol robot
  • Visual navigation inspection and obstacle avoidance method for line patrol robot

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Embodiment Construction

[0034] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0035] The invention provides a visual navigation inspection and obstacle avoidance method for a line inspection robot. The line inspection robot is equipped with a motion control system, a visual navigation system and an inspection vision system, and both the motion control system and the visual navigation system establish communication with the inspection vision system connect;

[0036] The method includes the following steps:

[0037] (1) The inspection camera of the inspection vision system collects inspection images in real time, judges and identifies the type of tower according to the inspection image, inspects the wires between the towers and their auxiliary structures, and inspects the insulator strings and the fittings of the tower. The types of towers include straight towers and tension towers. The wires an...

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Abstract

The invention discloses a visual navigation inspection and obstacle avoidance method for a line patrol robot. The line patrol robot is provided with a motion control system, a visual navigation systemand an inspection visual system. The method comprises the following steps that: (1) an inspection visual system judges and identifies the type of a tower according to an inspection image for inspection; (2) a visual navigation system captures a visual navigation image in real time to obtain the type of a target object; (3) coarse positioning is performed; (4) accurate positioning is performed; (5) the visual navigation system sends a corresponding obstacle crossing strategy to the motion control system according to the tower type and the target object type, so that the inspection robot completes obstacle crossing. The inspection and obstacle crossing method is real-time and efficient.

Description

technical field [0001] The invention relates to the technical field of line inspection robots, in particular to a visual navigation inspection and obstacle avoidance method for a line inspection robot. Background technique [0002] The traditional transmission line inspection method is mainly based on manual inspection. The inspection efficiency is low, the labor intensity is high, the workers often work in the field, the working environment is harsh, and the inspection of the transmission line stalls across mountains, dense forests, and large rivers is difficult. bigger. The efficiency of helicopter inspection is higher, but its economic benefit is poor, and it is easy to ignore the slight damage of the transmission line. Line inspection robot is a special robot used to inspect high-voltage transmission lines. It can be used to replace manual inspection. It has high inspection efficiency and good imaging effect. It is an inevitable trend of the combination of robot technol...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0223G06V20/10G06V10/443G06V10/48G06V10/758G06T7/10G06T7/73G06T7/90B25J9/1666B25J9/1676B25J9/1697B25J19/023G06T7/0004G06T7/60G06T2207/20064G06T2207/30261G06T5/70
Inventor 李方贾绍春樊广棉薛家驹吴积贤杨帆
Owner GUANGDONG KEYSTAR INTELLIGENCE ROBOT CO LTD
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