Autonomous navigation method for substation inspection robot based on travelling deviation

3rd International Conference on Advances in Energy, Environment and Chemical Engineering

能源学;生态环境科学;化学工业

Yang, Guoqing^1 ; Xu, Wei^1 ; Li, Jian^1 ; Fu, Chongguang^1 ; Zhou, Hao^1 ; Zhang, Chuanyou^1 ; Shao, Guangting^1

Shandong Luneng Intelligence Technology Co. Ltd., Jinan, China^1

关键词: Acquisition device;    Autonomous navigation;    Canny Operators;    Digital image;    High-accuracy;    Inspection robots;    Region of interest;    Stable performance;   

Others  :  https://iopscience.iop.org/article/10.1088/1755-1315/69/1/012201/pdf
DOI  :  10.1088/1755-1315/69/1/012201

学科分类：环境科学（综合）

来源: IOP

【 摘 要 】

A new method of edge detection is proposed in substation environment, which can realize the autonomous navigation of the substation inspection robot. First of all, the road image and information are obtained by using an image acquisition device. Secondly, the noise in the region of interest which is selected in the road image, is removed with the digital image processing algorithm, the road edge is extracted by Canny operator, and the road boundaries are extracted by Hough transform. Finally, the distance between the robot and the left and the right boundaries is calculated, and the travelling distance is obtained. The robot's walking route is controlled according to the travel deviation and the preset threshold. Experimental results show that the proposed method can detect the road area in real time, and the algorithm has high accuracy and stable performance.