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Inspection robot hovering control method and device based on visual feedback

A technology of inspection robot and visual feedback, which is applied in the direction of attitude control, non-electric variable control, control/regulation system, etc., and can solve problems such as difficult to lock the target

Pending Publication Date: 2021-10-08
GUANGDONG POWER GRID CO LTD +1
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  • Abstract
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  • Claims
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Problems solved by technology

[0004] In view of this, the present invention aims to solve the problem that the existing inspection flying robot is difficult to lock the target and achieve stable hovering in the presence of external disturbances

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  • Inspection robot hovering control method and device based on visual feedback
  • Inspection robot hovering control method and device based on visual feedback
  • Inspection robot hovering control method and device based on visual feedback

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Embodiment Construction

[0047] In order to make the purpose, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the following description The embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0048] see figure 1 , the present embodiment provides a hovering control method for an inspection robot based on visual feedback, which is characterized in that it includes the following steps:

[0049]S100: Obtain the video information image of the hovering target in real time through the airborne visual sensor, and ...

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Abstract

The invention provides an inspection robot hovering control method and device based on visual feedback, and belongs to the technical field of power transmission line inspection. The method comprises the following steps: acquiring and processing a video information image of a target at a hovering position, extracting a current feature vector and an expected feature vector of the target at the hovering position from the processed video information image, further acquiring a feature error vector, performing operation in an IBVS controller, and outputting an initial control instruction; and according to the feature information of the current state of the inspection robot, fusing the feature information with the initial control instruction to serve as input of the self-balancing controller, generating a final control instruction, repeating the steps, and continuously correcting the hovering position of the inspection robot in real time according to the generated final control instruction. The problem that an existing inspection flying robot is difficult to lock a target and realize stable hovering under the condition of external disturbance is solved.

Description

technical field [0001] The invention belongs to the technical field of inspection of power transmission lines, and in particular relates to a hovering control method and device for an inspection robot based on visual feedback. Background technique [0002] Today's society is increasingly dependent on electricity supply. Therefore, the interruption of power operation will cause huge financial losses to power producers, sellers and consumers. Therefore, the current industry generally focuses on how to reduce power line failures. In order to detect faults as soon as possible and arrange an effective maintenance plan, it is necessary to conduct regular inspections on power lines. Both the traditional manpower walking inspection method and the helicopter assisted inspection method have shortcomings. Human walking inspection requires staff to observe the power line along the line, but from the ground observation, only the surface of the power line can be seen. At the same time, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/106
Inventor 邸龙吴卫堃董丽梦李梓玮谭麒余航王伦
Owner GUANGDONG POWER GRID CO LTD
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