Binocular vision navigation system and method based on inspection robot in transformer substation

Abstract

The invention discloses a binocular vision navigation system based on an inspection robot in a transformer substation. The binocular vision navigation system comprises a robot body, an image collecting system, a network transmission system, a vision analysis system, a route planning system and a robot control system, wherein the image collecting system is arranged in front of the robot body and used for collecting environmental information images of a forwarding road and then uploads the environmental information images to the vision analysis system on the basis of the network transmission system; the vision analysis system detects a barrier in the road area of the transformer substation according to binocular image information collected by the image collecting system and inside and outside parameters of a camera; the route planning system plans a route according to environment information detected by the vision system and timely adjusts the walking routes of the robot, so that the robot can be prevented from being collided with the barrier; and the robot control system controls moving of the robot body according to the route planned by the route planning system. The invention simultaneously discloses a vision navigation method. By means of the system and the method, the self-adaptation ability of the robot to the environment is improved, the autonomous navigation function of the electric robot is really realized in the complicated outdoor environment, and the flexibility and the safety of the robot are improved.

Description

technical field [0001] The invention relates to a binocular vision navigation system and method, in particular to a binocular vision navigation system and method based on a substation inspection robot. Background technique [0002] With the development of sensor technology and processor technology, robot technology is developing towards an increasingly intelligent direction. The formation and development of computer vision theory has enabled robots to have a visual system similar to human binoculars, allowing robots to obtain more environmental information based on the visual system. Visual navigation technology mainly includes monocular, binocular stereo vision, trinocular and multi-camera structures. Monocular vision mainly uses the image information collected by the camera to identify the signs in the structural scene, directly uses the image plane information to judge the scene, and also uses the method of motion-based three-dimensional information recovery to navigate ...

AI Technical Summary

Problems solved by technology

[0005] (1) During the driving process of the substation inspection robot, there are many devices on both sides of the driving path, resulting in complex image backgrounds, resulting in overlapping of obstacles and equipment areas, which brings great difficulties to target extraction and segmentation;

[0006] (2) Road area information will be affected by outdoor lighting changes, special weather, etc., causing interference information on the road surface, which is easy to introduce obstacle detection errors;

[0007] (3) In the existing technology, the walking path of the substation inspection robot is often unable to be specifically planned, and obstacles cannot be effectively avoided

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