| 无人变电站智能机器人的视觉导航研究 |
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| 引用本文： | 左敏,曾广平,涂序彦.无人变电站智能机器人的视觉导航研究[J].电子学报,2011,39(10):2464-2468. |
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| 作者姓名： | 左敏 曾广平 涂序彦 |
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| 作者单位： | 1. 北京工商大学计算机与信息工程学院,北京100048;北京科技大学计算机与通信工程学院,北京100083
2. 北京科技大学计算机与通信工程学院,北京,100083 |
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| 基金项目： | 国家自然科学基金(No.61170113); 北京市教委面上项目(No.PHR201008242); 北京市人才强教计划(No.KM201010011006) |
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| 摘 要： | 为了在无人变电站利用轮式机器人实现仪表、装置、设备的巡视、检测,本文提出一种基于“引导线”识别的视觉导航方法.轮式机器人利用摄像机采集路面环境信息,通过视频识别引导线,根据引导线的实际位置与预定位置的偏差,利用智能PID控制方法,控制机器人左、右轮的运动速度,从而控制机器人行进的方向.变电站实际应用效果表明:该导航方法...
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| 关 键 词： | 视觉导航 引导线识别 PID控制 变电站巡检机器人 |
| 收稿时间： | 2010-08-03 |
Research on Visual Navigation of Untended Substation Patrol Robot |
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| ZUO Min,ZENG Guang-ping,TU Xu-yan.Research on Visual Navigation of Untended Substation Patrol Robot[J].Acta Electronica Sinica,2011,39(10):2464-2468. |
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| Authors: | ZUO Min ZENG Guang-ping TU Xu-yan |
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| Affiliation: | ZUO Min1,2,ZENG Guang-ping2,TU Xu-yan2(1.School of Computer and Information Engineering,Beijing Technology and Business University,Beijing 100048,China,2.School of Computer and Communication Engineering,University of Science and Technology Beijing,Beijing 100083,China) |
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| Abstract: | This paper presents a visual navigation method based on guideline visual recognition for wheeled robot to inspect equipment and instrument in unattended substation.Wheeled robot collects the road information via camera and recognizes the guideline.According the deviation of the guideline's actual location and intended location use the PID control technology controls the left and right wheel's speed to control the robot moving direction.The practical application in substation shows that the navigation method is simple and reliable,fully able to meet the navigation requirements of substation patrol robot. |
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| Keywords: | visual navigation guideline recognition PID control substation patrol robot |
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