Automatic charging control method of intelligent patrol robot based on machine vision

Abstract

The invention discloses an intelligent patrol robot automatic charging control method based on machine vision, which comprises acquiring an image of a charging pile by using a detection algorithm, calculating the relative angle between the intelligent patrol robot and the charging pile, converting the relative angle to the rotation angle and adjusting the attitude of the intelligent patrol robot;calculating the distance between the intelligent patrol robot and the charging pile and adjusting the running speed of the intelligent patrol robot to complete the automatic charging. At each char point, according to that detect and tracked target rectangular frame, the invention adjusts the movement state of the intelligent patrol inspection robot in real time, and reduces the positioning error;And because of the non-contact, high efficiency and convenience of visual information, it can robustly and precisely assist the intelligent patrol robot to approach the charging pile with proper angleand speed, accomplish the automatic charging, enhance the intelligent degree of the intelligent patrol robot, and make it truly complete the 24-hour unmanned patrol task.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, and in particular relates to an automatic charging control method for an intelligent inspection robot based on machine vision. Background technique [0002] The automatic charging of the robot is generally done by laser positioning or magnetic navigation. Magnetic navigation needs to embed magnetic strips in the construction of the substation plant, which requires a large amount of engineering and high maintenance costs, so it is not suitable. Laser positioning is performed by the laser emission and receiver installed on the inspection robot to measure the distance between the equipment and the environment, and the traditional odometer is used to estimate whether it has reached the preset point, adjust the pose, and complete the charging. However, due to the cumulative error in mileage estimation and insufficient positioning accuracy, it is easy to cause automatic charging failure. ...

AI Technical Summary

Problems solved by technology

However, due to the cumulative error of mileage estimation and insufficient positioning accuracy, it is easy to cause automatic charging failure

[0003] The autonomous positioning system of the intelligent inspection robot based on laser positioning enables the robot to run along the set path indoors and calculate the arrival point according to the odometer. Check robot task completion

Images