Title:
VISUAL NAVIGATION INSPECTION AND OBSTACLE AVOIDANCE METHOD FOR LINE INSPECTION ROBOT
Document Type and Number:
WIPO Patent Application WO/2021/114508
Kind Code:
A1
Abstract:
A visual navigation inspection and obstacle avoidance method for a line inspection robot. The line inspection robot is provided with a motion control system, a visual navigation system and an inspection visual system; and the method comprises the following steps: (1) according to an inspection image, the inspection visual system determining and identifying the type of a tower for inspection; (2) the visual navigation system shooting a visual navigation image in real time to obtain the type of a target object; (3) coarse positioning; (4) accurate positioning; and (5) according to the type of the tower and the type of the target object, the visual navigation system sending a corresponding obstacle crossing strategy to the motion control system, such that the inspection robot completes obstacle crossing. The inspection and obstacle avoidance method is real-time and efficient.
Inventors:
LI FANG (CN)
JIA SHAOCHUN (CN)
FAN GUANGMIAN (CN)
XUE JIAJU (CN)
WU JIXIAN (CN)
YANG FAN (CN)
JIA SHAOCHUN (CN)
FAN GUANGMIAN (CN)
XUE JIAJU (CN)
WU JIXIAN (CN)
YANG FAN (CN)
Application Number:
PCT/CN2020/081422
Publication Date:
June 17, 2021
Filing Date:
March 26, 2020
Export Citation:
Assignee:
GUANGDONG KEYSTAR INTELLIGENCE ROBOT CO LTD (CN)
International Classes:
B25J5/02
Domestic Patent References:
| WO2016060139A1 | 2016-04-21 |
Foreign References:
| CN110687904A | 2020-01-14 | |||
| CN102114635A | 2011-07-06 | |||
| CN102116625A | 2011-07-06 | |||
| CN108508909A | 2018-09-07 | |||
| CN103762522A | 2014-04-30 | |||
| CN107966985A | 2018-04-27 | |||
| CN107962577A | 2018-04-27 |
Other References:
ZHU, YANHUAN: "Research on Visual Detection Method of High-Voltage Line Inspection Robot", ELECTRONIC TECHNOLOGY & INFORMATION SCIENCE, CHINA MASTER’S THESES FULL-TEXT DATABASE (ELECTRONIC JOURNALS), 15 February 2018 (2018-02-15), pages 1 - 83, XP055821577, ISSN: I138-1768
WU, GONGPING ET AL.: "Research on High Voltage Transmission Line Inspection Robot and its Key Technologies", PROCEEDINGS OF THE 2005 NATIONAL SUMMIT FORUM ON ADVANCED MANUFACTURING EQUIPMENT AND ROBOTICS, 22 June 2006 (2006-06-22), pages 1 - 120, XP055821581
WU, GONGPING ET AL.: "Research on High Voltage Transmission Line Inspection Robot and its Key Technologies", PROCEEDINGS OF THE 2005 NATIONAL SUMMIT FORUM ON ADVANCED MANUFACTURING EQUIPMENT AND ROBOTICS, 22 June 2006 (2006-06-22), pages 1 - 120, XP055821581
Attorney, Agent or Firm:
WAYNE INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)
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