Calculation method for driving area of tour inspection robot of transformer station

Abstract

The invention discloses a calculation method for a driving area of a tour inspection robot of a transformer station. The method comprises the steps of image collection in which road images of the tour inspection robot of the transformer station in a driving process are collected in real time; image processing in which an ROI is selected from the road images, graying, filtering de-noising and edge extraction are carried out on the selected ROI, edge information of the road images is obtained, and a boundary of a road area is obtained by linear detection; offset calculation in which the distance from a central point of an ROI image of the road to the left / right boundary of the road area is calculated, the distance from the robot to the left / right boundary of the road area, namely the offset distance of the robot, is calculated via an offset formula, and motion control in which the offset distance of the robot is compared with a pre-set distance, and the walking direction of the robot is adjusted according to magnitude relation of the two values, so that the robot drives according to the preset distance. The method has the advantages of simple processing flow, high algorithm robustness and high instantaneity.

Description

technical field [0001] The patent of the present invention relates to a method for calculating the driving area of ​​a substation inspection robot. Background technique [0002] At present, navigation methods are mainly divided into two categories: autonomous navigation and non-autonomous navigation. Autonomous navigation does not require external assistance, such as external navigation, Doppler navigation, and astronomical navigation; non-autonomous navigation requires the cooperation of relevant ground and air equipment, such as wireless navigation, satellite navigation, etc. [0003] The working concept of GPS navigation is based on satellite-based distance correction. Users calculate their current position by measuring the distance to each visible satellite in space. The position of the satellite is equivalent to an accurate known reference point. By solving the differential GPS, it can provide the robot's centimeter-level position coordinates and real-time heading. ...

AI Technical Summary

Problems solved by technology

[0012] 1. The processing flow is relatively complicated, and there are many steps that cannot meet the real-time requirements and cannot meet the current unattended needs of smart substations;

[0013] 2. It cannot detect the edge of the road very well and has no good robustness;

[0014] 3. When the substation inspection robot has a driving deviation, it cannot make real-time adjustments to the driving conditions of the vehicle, and cannot ensure that the vehicle travels according to the pre-specified route

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