Research on Visual Navigation of Untended Substation Patrol Robot

ZUO Min; ZENG Guang-ping; TU Xu-yan

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Research on Visual Navigation of Untended Substation Patrol Robot

更新时间：2025-07-16

- Research on Visual Navigation of Untended Substation Patrol Robot
- Acta Electronica Sinica Vol. 39, Issue 10, Pages: 2464-2468(2011)
- 作者机构：
  
  1. 北京工商大学计算机与信息工程学院,北京,100048
  2. 北京科技大学计算机与通信工程学院,北京,100083
  3. 北京工商大学计算机与信息工程学院北京,100048
  4. 北京科技大学计算机与通信工程学院北京,100083
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP24
- Published：2011
- 稿件说明：
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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.
DOI：

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. DOI：

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.

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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