A visual navigation inspection and obstacle avoidance method for a line inspection robot
A line inspection robot and visual navigation technology, applied in the field of line inspection robots, can solve problems such as difficult obstacle strategies for inspection systems
Active Publication Date: 2020-08-04
GUANGDONG KEYSTAR INTELLIGENCE ROBOT CO LTD
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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
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[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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The invention discloses 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; the method includes the following steps: (1) The inspection vision system is based on The inspection image judges and identifies the type of tower for inspection; (2) the visual navigation system shoots the visual navigation image in real time to obtain the type of the target object; (3) rough positioning; (4) precise positioning; (5) the visual navigation system according to the tower The type and target object type will send the corresponding obstacle-crossing strategy to the motion control system, so that the inspection robot can complete the obstacle-crossing. The patrolling inspection and obstacle surmounting method of the present invention 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...
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IPC IPC(8): B25J5/02B25J9/16B25J11/00B25J19/04H02G1/02
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