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A positioning method and system for an inspection robot

A technology of inspection robot and positioning method, which is applied in the directions of instruments, image analysis, image enhancement, etc., can solve problems such as log error and slippage, and achieve the effect of reducing positioning error.

Active Publication Date: 2021-07-02
STATE GRID JIANGSU ELECTRIC POWER CO ELECTRIC POWER RES INST +3
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, because the driving wheel or encoder wheel of the inspection robot is easy to slip on the surface of the wire, resulting in odometer errors

Method used

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  • A positioning method and system for an inspection robot
  • A positioning method and system for an inspection robot
  • A positioning method and system for an inspection robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0041] Such as Figure 1-4 As shown, a positioning method for an inspection robot is provided, including the following steps:

[0042] Step 1. Use a sample with the same diameter as the wire to obtain the length of the wire in the field of view of the inspection robot, which specifically includes the following steps:

[0043] S11. Select a long strip (which can be a wire or a bar) with the same diameter as the wire as a sample, and its length is greater than the length of the wire in the field of view of the inspection robot, and mark its length and size;

[0044] S12. Select the same inspection robot as in the actual inspection, place it on the strip, and make the camera of the inspection robot consistent with the direction of the camera in the actual inspection;

[0045] S13. Make both ends of the marked strip exceed the boundary of the field of view of the inspection robot, take an image of the strip through the camera of the inspection robot, and obtain the actual length ...

Embodiment 2

[0065] An inspection robot positioning system is provided, including:

[0066] The wire length acquisition module in the field of view is used to obtain the length of the wire in the field of view of the inspection robot by using a sample with the same diameter as the wire;

[0067] The grain spacing calculation module is used to obtain the distance between adjacent lines of the wire along the wire axis according to the obtained wire length in the field of view;

[0068] The positioning module is used to obtain the movement distance of the inspection robot according to the distance between the adjacent lines of the wire along the axial direction of the wire and the number of lines passed by the inspection robot to achieve positioning.

[0069] Those skilled in the art should understand that the embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware...

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Abstract

The invention discloses a positioning method for an inspection robot, which includes: acquiring the length of the wire in the field of view of the inspection robot by using a sample with the same diameter as the wire; The distance between the adjacent lines of the wire along the axial direction of the wire and the number of lines passed by the inspection robot are obtained to obtain the movement distance of the inspection robot to achieve positioning. The invention can realize the precise positioning of the inspection robot.

Description

technical field [0001] The invention belongs to the technical field of power line inspection, and in particular relates to a positioning method and system for an inspection robot. Background technique [0002] Aerial conductors are an important carrier of electrical energy transmission. Internal and external damage to the conductor may cause disconnection, which seriously threatens the safe and stable operation of the transmission line and the safety of the surrounding public. At present, inspection robots are used to crawl along the lines and carry visible light cameras, infrared detectors, ultraviolet detectors and even X-ray machines to inspect power transmission lines, which is an important means to ensure line safety. During the inspection, determining the position of the inspection robot on the wire is the prerequisite for determining the location of the defect and formulating the next maintenance strategy. At present, the positioning of the inspection robot mainly u...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G06T7/20G06T7/62G06T7/70
CPCG01C21/20G06T7/20G06T2207/30204G06T7/62G06T7/70
Inventor 黄强陈大兵袁光宇高超刘建军杨立恒肖鹏
Owner STATE GRID JIANGSU ELECTRIC POWER CO ELECTRIC POWER RES INST