Row pipe cable robot and control method thereof

Abstract

The invention relates to a duct cable robot and a control method thereof. The control method comprises the following steps: establishing a mapping relation among a camera coordinate system, an inertial coordinate system and a world coordinate system; obtaining a current frame movement distance and a current frame rotation matrix based on the current frame pipeline image and the previous frame pipeline image, and obtaining a current frame movement speed based on the current frame movement distance and the shooting period; judging the pipeline image of the current frame, and if no obstacle exists, obtaining the world coordinate position of the current frame based on the moving distance of the current frame and the mapping relation; controlling the robot to move linearly based on the current frame world coordinate position, the current frame moving speed, the given position and the given speed; if the obstacle exists, obtaining the moving speed of the current frame based on the moving distance of the current frame and the shooting period; and controlling the robot to rotate based on the current frame rotation matrix, the current frame movement speed, the given attitude angle and the given speed. According to the invention, the robot is controlled to complete linear and rotary motion with high precision.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a pipe-arranging cable robot and a control method thereof. Background technique [0002] With the rapid development of power scale, the construction scale of power grid system is getting larger and larger, and the rapid growth of urban electricity load has put forward higher and higher requirements for the reliability of power supply. The power grid system is easily affected by various influence of factors. [0003] The use of underground cables to replace overhead transmission lines is one of the best transmission and distribution methods in cities with densely populated areas. The underground cable channels can accommodate multiple circuits, and the adaptability of transmission capacity is enhanced, avoiding lightning, wind and rain, and salt fog. The influence of natural environment such as pollution and pollution on the cable improves the reliability of power supply. However...

AI Technical Summary

Problems solved by technology

[0005] In the prior art, the positioning method is carried out through the Global Positioning System (GPS). In the cable duct, the GPS positioning method is not accurate enough, and the cable duct is generally laid underground. In most cases, the GPS signal It is invalid; the pipeline robot positioning device and method based on the fusion of rotating magnetic field and inertial navigation, the method uses a strapdown inertial navigation system and a magnetic sensor for positioning, but it does not solve the problem caused by the pre-integration of the sensor itself when processing data positioning error

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