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Transformer substation inspection robot indoor positioning method based on information fusion

An inspection robot and indoor positioning technology, which is applied in the direction of instruments, electromagnetic radiation induction, computer components, etc., can solve the problems of accumulation and lack of visual positioning, and achieve the effects of strong pertinence, fast convergence, and accurate pose information

Pending Publication Date: 2021-10-29
ANHUI ELECTRIC POWER DESIGN INST CEEC
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AI Technical Summary

Problems solved by technology

[0005] Common gyroscopes and accelerometers for substation inspection robots on the market, such as microcomputer gyroscopes and MEMS accelerometers, have the advantages of small size, light weight, good reliability, and easy system integration. The pose of the current substation inspection robot is estimated by integration, and long-term movement will cause the accumulation of deviations
[0006] At present, the most widely used visual identification of artificial road signs is the two-dimensional code. The positioning algorithm required by this positioning technology is relatively simple and easy to use, with high precision and faster calculation speed, but it is easy to cause a certain moment in a more complex environment. lack of visual orientation

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  • Transformer substation inspection robot indoor positioning method based on information fusion
  • Transformer substation inspection robot indoor positioning method based on information fusion
  • Transformer substation inspection robot indoor positioning method based on information fusion

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Embodiment Construction

[0045] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0046] Such as figure 1 As shown, an indoor positioning method for a substation inspection robot based on information fusion includes the following steps:

[0047] S1. Use the camera installed in the center of the robot to be tested to scan and take pictures of the two-dimensional code, and process the obtained two-dimensional code image, specifically including:

[0048] S11. Perform grayscale processing on the obtained two-dimensional code image to obtain a grayscale image.

[0049] S12. Perform binarization processing on the obtained grayscale image, that is, change the grayscale values ​​of all pixels in the grayscale image to 0 (black) or 255 (white), to obtain a binarized image.

[0050] In order to obtain ideal results, it is necessary to determine a threshold to distinguish and classify the gray value of the pixels in the grayscale i...

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Abstract

The invention provides a transformer substation inspection robot indoor positioning method based on information fusion. The method comprises the steps: carrying out scanning and photographing on a two-dimensional code, and processing an obtained two-dimensional code image; calculating the pose of a to-be-tested robot in a two-dimensional code positioning mode; estimating the linear velocity and the angular velocity of the to-be-tested robot in the two-dimensional code positioning mode; measuring the linear velocity and the angular velocity of the to-be-tested robot in an inertial measurement positioning mode; estimating the pose of the to-be-tested robot in the inertial measurement positioning mode; constructing an observer; iteratively calculating a pose deviation estimated value of the to-be-tested robot in the inertial measurement positioning mode; and calculating the final pose of the to-be-detected robot. According to the invention, information fusion is carried out on a two-dimensional code positioning mode and an inertial measurement positioning mode, the observer model based on the attitude kinematics of the substation inspection robot is constructed, and the real-time pose of the substation inspection robot can be rapidly and accurately estimated in real time.

Description

technical field [0001] The invention relates to the technical field of indoor positioning of a substation inspection robot, in particular to an indoor positioning method for a substation inspection robot based on information fusion. Background technique [0002] The substation inspection robot is a ground mobile robot that operates fully autonomously. It can carry sensors such as visible light cameras, infrared thermal imaging cameras, and pickups to conduct automatic inspections of power equipment, effectively reducing the labor intensity of manual inspections and ensuring the safety of substation equipment. run. [0003] In the application of substation inspection robot, precise positioning and navigation is the key to ensure its completion of inspection tasks. At present, substation inspection robots adopt positioning and navigation methods such as differential GPS, dead reckoning, inertial measurement, and artificial road sign visual identification. [0004] An inertia...

Claims

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Application Information

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IPC IPC(8): G01C21/20G06K7/14
CPCG01C21/206G06K7/1417G06K7/1443
Inventor 谢枫谢登科陈海浪阮勇刘耀中周贺王锦涛季鹏程严宇鹏
Owner ANHUI ELECTRIC POWER DESIGN INST CEEC
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