| With the continuous progress of robot technology,substation inspection robot is becoming more and more developed.Manual inspection of power equipment will gradually be replaced by inspection robot.The inspection robot of substation must rely on stable and reliable navigation method.According to the actual situation of substation,a vision based navigation control method for the robot is proposed.The inspection robot collects image information of the color navigation path through the navigation camera,and calculates the offset and offset angle in the image.Through the kinematics analysis of the inspection robot,the fuzzy control method is used to control the attitude of the inspection robot.The navigation image offset and the offset angle are taken as the input of the fuzzy control,and the speed difference between the left and right wheels of the inspection robot is taken as the output,and the motion attitude of the inspection robot is adjusted in real time.In order to make the offset and offset angle calculation more accurate,eliminate the interference of the navigation image by the outdoor complex environment such as strong illumination,shadow and road debris,the paper presents a series of methods for image processing,including image reconstruction based on HSV color space,template matching based on gray value,image denoising based on curvature filtering,image segmentation of adaptive threshold,and image offset calculation based on probability and statistics etc.These methods have the advantages of strong anti-interference ability,good stability,high precision and strong applicability,which satisfies the real-time navigation requirements of the substation inspection robot.At the same time,in order to make inspection robot to carry out inspection work all the time,and make the navigation method more stable and applicable,a series of navigation control methods for special cases are proposed in this paper.By using the curve navigation control method to ensure that the inspection robot in the curved navigation path on the stable walk.Through the horizontal angle control of the fill light to ensure that the inspection robot's fill light always illuminate the navigation path.Using the method of intensity control based on the brightness and saturation of the image,so that the evening navigation image can always get the appropriate intensity of the fill light.In addition,an automatic homing method for detaching the navigation path is proposed,which further improves the stability and reliability of the inspection robot.The algorithm proposed in this paper is implemented on the basis of Visual C++,and has been put into actual operation.The robot system works well and realizes the overall inspection of the substation.The practical application results show that the vision navigation control algorithm of this paper has strong anti-interference ability,and can adapt to the complex environment outside the substation,and improve the stability and reliability of the substation inspection robot. |
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