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:该导航方法简单可靠,完全能满足变电站巡检机器人导航的要求.
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.
出处
《电子学报》
EI
CAS
CSCD
北大核心
2011年第10期2464-2468,共5页
Acta Electronica Sinica
基金
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)
