Vision-based navigation and positioning control method for transformer substation inspection robot
An inspection robot and control method technology, applied in two-dimensional position/channel control, non-electric variable control, vehicle position/route/altitude control and other directions, can solve manual laying, low GPS navigation accuracy, poor stability, etc. question
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[0040] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0041] The vision-based substation inspection robot navigation positioning control method of the present invention, the steps are:
[0042] S1: Pre-set the navigation path and docking location identification, and the inspection robot automatically recognizes the inspection path and docking location through machine vision.
[0043] The robot carries out inspection according to the visual navigation marking line, and the present invention lays the navigation marking line (such as a yellow marking line with a width of 150mm) in the substation road. The robot patrols the substation from the starting point and returns to the starting point. The robot can adapt to the substation's actual narrow terrain and sharp bends to realize path planning.
[0044] The present invention further sets marking points of different shapes on the marking lin...
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