Abstract
The inspection space environment of indoor inspection robot in substation is complex and changeable. To acquire autonomous positioning and navigation of inspection robot in substation, which makes it difficult for indoor inspection robot to locate and identify images, this paper proposes a visual positioning method to solve the problem. The realization process of inspection robot vision navigation is to use the wireless detection RFID tag to roughly locate the robot, and use the target image information extracted by a camera to perform ranging, and judge the forward direction of the robot through image processing and pattern recognition. Finally, according to the information stored in the RFID tag, the task type of the robot in a certain position in the substation is determined and executed. The experiment runs in the actual substation environment, and the control algorithm can quickly complete the correction of the deviation from the predetermined track position. At the same time, it shows the characteristics of fast path recognition, accurate discrimination, with flexibility and portability.
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