| Inspection robot for power transmission lines is a new technology that can replace the traditional manual inspection and aerial inspection. It improves the efficiency and quality of the inspection for transmission line and ensures the stability of the transmission line. As one of the hottest research topics in the field of robotics, inspection robot has a high value and application prospects.This paper studies the stereo visual navigation technology applications in the inspection robot, combined with inspection robot motion model to verify the feasibility and stability of the visual navigation programs, and do some research and analysis on the related key technologies, specific studies They include: binocular stereo vision system,inspection robot kinematics modeling, visual navigation programs, stability control and extrapolated tracking of stereoscopic visual.Binocular stereo vision system is the foundation of stereoscopic navigation. after researching the imaging mode and measurement principle of binocular stereo vision system, this paper analyzes the calibration method of binocular stereo vision system, and finally experimentally derived calibration results.Inspection robot motion model is the basis for the inspection robot motion control.This paper, based on the analysis of inspection robot operating environment, discusses the behavior of obstacle-surmounting, and designs a new structure and approach to cross obstacle. Then it study the motion model and the settings of binocular stereo vision system in the structure.Visual navigation is the basic security of inspection robot to achieve the patrol function along transmission line. on the research of common robot visual navigation, this paper proposes a visual navigation way applied to the inspection robot designed in this paper, and discusses the obstacle-crossing behavior plan about the inspection robot. the experiment proved that the feasibility and stability of the navigation in the obstacle-crossing course.Stability control and extrapolated tracking of stereoscopic visual as the key auxiliary technologies of visual navigation control are conducive to the stability of control. This paper, based on inspection robot motion model, analyzes the application of gravity-center adjusting mechanism in the stability control of inspection robot, and discusses the pitch binocular stereo vision system tracking application to visual navigation.In summary, the results show that the proposed visual navigation program of inspection robot enables stereoscopic navigation assisted by inspection robot motion model,feasible and stable; the design of the pitch visual system in front of body and the gravity-center adjusting mechanism can improve the visual navigation stability. In this paper, the work will have a certain role in the further research work of inspection robot for power transmission lines, and lay a gSood foundation for subsequent inspection work on transmission line. |
PDF Full Text Request