Binocular vision navigation system and method based on power robot

Abstract

The invention discloses a binocular vision navigation system based on a power robot. The binocular vision navigation system comprises an image collecting system, a vision analysis system and a path planning system, wherein the image collecting system is used for controlling a camera through collecting software to collect environment images on a forward road of the robot, and then transmitting the collected images to the vision analysis system in a wired mode, the vision analysis system is used for detecting barriers according to the binocular image information and camera inner-outer parameter information and transmitting the information to a robot control system, and the patch planning system is used for building a two-dimensional occupied map to carry out path planning according to the environment information collected by the image collecting system and timely adjusting the walking path of the robot when the barriers exist so as to prevent the robot from colliding the barriers. Meanwhile, a vision navigation method is disclosed. Collision with the barriers is avoided, the self-adaptation capacity to the environment is improved, the autonomous navigation function of the power robot is truly achieved in the outdoor complex environment, and the flexibility and the safety performance of the power 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 an electric robot. Background technique [0002] With the continuous development of social economy, the electricity consumption has increased sharply, so the length of transmission lines and the number of substations have increased sharply. Most of the safety inspections of substations and transmission lines still rely on manual inspections. Manual inspections of power equipment are labor-intensive and inefficient, and can no longer keep up with the pace of the times. In order to ensure safe and reliable power supply, the automation and modernization of operation and maintenance of power equipment has increasingly shown its urgency. With the rapid development of modern science and technology, various electric robots have emerged as the times require, which can replace or assist traditional manual inspectio...

AI Technical Summary

Problems solved by technology

[0008] (1) There are many devices on both sides of the robot's driving path, resulting in complex image backgrounds, resulting in overlapping of obstacles and equipment areas, which brings great difficulties to target extraction and segmentation;

[0009] (2) Road area information will be affected by outdoor light changes, special weather, etc., causing interference information on the road surface, which is easy to introduce obstacle detection errors

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