CN106514654A - Patrol method of robot and patrol robot - Google Patents
Patrol method of robot and patrol robot Download PDFInfo
- Publication number
- CN106514654A CN106514654A CN201610994666.2A CN201610994666A CN106514654A CN 106514654 A CN106514654 A CN 106514654A CN 201610994666 A CN201610994666 A CN 201610994666A CN 106514654 A CN106514654 A CN 106514654A
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- China
- Prior art keywords
- chassis
- photographic head
- robot
- photographic
- image
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Abstract
The invention discloses a patrol method of a robot and the patrol robot. The method is applied to the patrol robot. The patrol robot comprises a head, a neck and a chassis; a first motor is mounted on the neck; and a camera and a second motor are mounted on the head. The method comprises steps as follows: a shooting target is determined; the target position to which the chassis moves is determined according to the shooting target; the chassis is controlled to move from the current position to the target position; whether the camera is aligned to the shooting target is judged; if the camera is not aligned to the shooting target, the direction of the camera is adjusted by controlling the first motor to rotate around the vertical direction and controlling the second motor to rotate around the horizontal direction until the camera is aligned to the shooting target; when the camera is aligned to the shooting target, the camera is controlled for shooting; and image preprocessing and image recognition are performed on an image shot by the camera, and a recognition result is output. With the method and the robot, the problem of long patrol time, high dangerousness and high labor intensity of the manual patrol manner are solved.
Description
Technical field
The present invention relates to field of artificial intelligence, more particularly, it relates to a kind of robot method for inspecting and survey monitor
Device people.
Background technology
The transmission of electric energy be unable to do without each substation equipment and circuit, and only these substation equipments and circuit are in safety
Running status, can just make electric energy really be applied to all trades and professions.
It is the important working link of Utilities Electric Co. to these substation equipments and patrolling and examining for circuit, Utilities Electric Co. has special
Patrol officer makes regular check on whether meter reading is normal, switch closure situation and equipment heating situation etc., to guarantee transformer station
The minimum fault rate of equipment and circuit.
But there is monitoring time length, dangerous high, high labor intensive in the mode of this manual inspection.
The content of the invention
In view of this, the present invention provides a kind of robot method for inspecting and crusing robot, to overcome manual inspection mode
The monitoring time length of presence, the dangerous high, problem of high labor intensive.
A kind of robot method for inspecting, is applied to crusing robot, and the crusing robot includes head, cervical region and bottom
Disk；The cervical region is provided with the first motor；The head is provided with photographic head and the second motor；The robot method for inspecting bag
Include：
Determine photographic subjects；
The target location of the chassis movement is determined according to the photographic subjects；
Control the chassis target location is moved to from current location；
Judge whether the photographic head is directed at the photographic subjects；
If photographic subjects described in the photographic head misalignment, rotated around vertical direction and control by controlling first motor
The direction that second motor rotates to adjust the photographic head around horizontal direction is made, until the photographic head is directed at the shooting
Target；
When the photographic head is directed at the photographic subjects, controls the photographic head and shot；
Image semantic classification and image recognition are carried out to the image that the photographic head is photographed, and exports recognition result.
Wherein, the control chassis is moved to the target location from current location, including：
Using the navigation mode of Multi-Sensor Data Fusion, control the chassis and the target position is moved to from current location
Put.
Wherein, the navigation mode of the employing Multi-Sensor Data Fusion, including：
Closely electromagnetic position data and electronic map data are combined using the perspective roadway characteristic data of vision, is realized
Navigation way shortest path planning.
Wherein, it is described that Image semantic classification and image recognition are carried out to the image that the photographic head is photographed, including：
Image semantic classification is carried out to the image that the photographic head is photographed, and carries out display lamp identification, pointer identification sum
Aobvious table numeral identification.
Alternatively, the robot method for inspecting also includes：
When the dump energy for detecting the crusing robot is less than preset value, controls the chassis and move from current location
Move to charging device position, then the crusing robot is controlled with the charging device automatic butt.
A kind of crusing robot, including robot body and control system, wherein：
The robot body includes head, cervical region and chassis；
The cervical region is provided with the first motor；
The head is provided with photographic head and the second motor；
The control system is connected with first motor, second motor and the chassis respectively, is clapped for determining
Take the photograph target；The target location of the chassis movement is determined according to the photographic subjects；Control the chassis to move from current location
To the target location；Judge whether the photographic head is directed at the photographic subjects；If shooting described in the photographic head misalignment
Target, rotates and controls second motor around horizontal direction rotation to adjust around vertical direction by control first motor
The direction of the photographic head, until the photographic head is directed at the photographic subjects；When the photographic head is directed at the photographic subjects
When, control the photographic head and shot；Image semantic classification and image recognition are carried out to the image that the photographic head is photographed, and
Output recognition result.
Wherein, the chassis is in-wheel driving chassis.
Wherein, the control system is specifically for the navigation mode using Multi-Sensor Data Fusion, control the chassis from
Current location is moved to the target location.
Wherein, the control system carries out Image semantic classification for the image that photographs to the photographic head and image is known
Not, specifically include：The control system carries out Image semantic classification for the image photographed to the photographic head, and is indicated
Lamp identification, pointer identification and digital display meter numeral identification.
Alternatively, the control system is additionally operable to be less than preset value in the dump energy for detecting the crusing robot
When, control the chassis and be moved to charging device position from current location, then control the crusing robot to fill with described
Electric installation automatic butt.
It can be seen from above-mentioned technical scheme that, crusing robot gathers substation equipment and circuit in the form of taking pictures
Image information, carries out pretreatment and identification by the image information to photographing, and draws the operation feelings of substation equipment and circuit
Condition.When shooting every time, crusing robot needs first to march to target location, recycles first installed in inspection machine person neck
Motor is freely rotated around vertical direction and is freely rotated around horizontal direction installed in the second motor of head, realizes that head exists
Rotate and the flexible motion in pitching both direction, so as to the angle for adjusting photographic head is shot.Crusing robot replaces people
Work is completed patrols and examines to the intellectuality of substation equipment and circuit, overcomes monitoring time length, danger that manual inspection mode is present
The dangerous high, problem of high labor intensive.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of crusing robot structural representation disclosed in the embodiment of the present invention；
Fig. 2 is a kind of robot method for inspecting flow chart disclosed in the embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
The embodiment of the invention discloses a kind of robot method for inspecting, is applied to crusing robot, to overcome manual inspection
Monitoring time length that mode is present, the dangerous high, problem of high labor intensive.
Referring to Fig. 1, the crusing robot includes head 100, cervical region 200 and chassis 300；Cervical region 200 is provided with first
Motor；Head 100 is provided with photographic head 101 and the second motor, and (first motor and second motor do not show in FIG
Go out).
Referring to Fig. 2, the robot method for inspecting includes：
Step S01：Determine photographic subjects；
Step S02：The target location of the movement of chassis 300 is determined according to the photographic subjects；
Step S03：Control chassis 300 is moved to the target location from current location；
Step S04：Judge whether photographic head 101 is directed at the photographic subjects；If shooting mesh described in 101 misalignment of photographic head
Mark, into step S05；If photographic head 101 has been directed at the photographic subjects, return to step S06；
Step S05：By controlling first motor around vertical direction rotation and controlling second motor around level side
The direction of the photographic head is adjusted to rotation；Return to step S04 afterwards；
Step S06：Control photographic head 101 is shot；
Step S07：Image semantic classification and image recognition are carried out to the image that photographic head 101 is photographed, and exports identification knot
Really.
From the foregoing, it will be observed that crusing robot gathers the image information of substation equipment and circuit in the form of taking pictures, by right
The image information for photographing carries out pretreatment and identification, draws the ruuning situation of substation equipment and circuit.When shooting every time, patrol
Inspection robot needs first to march to target location, recycles the first motor for being arranged on inspection machine person neck 200 around Vertical Square
To freely rotating and freely rotating around horizontal direction installed in the second motor of head 100, realize head 100 rotating and
Flexible motion in pitching both direction, so as to the angle for adjusting photographic head 101 is shot.Crusing robot replaces artificial complete
Patrol and examine into the intellectuality to substation equipment and circuit, overcome monitoring time length, danger that manual inspection mode is present
The high, problem of high labor intensive.
To ensure crusing robot unrestraint motion in region of patrolling and examining, the present embodiment recommends chassis 300 from wheeled
Drive chassis.More specifically, the in-wheel driving chassis is driven using double drivewheel differentials, and is furnished with two and is played a supportive role
Universal wheel.Wherein, double drivewheel differentials drive that to ensure that crusing robot has during advancing, turning enough flexible
Property, it is possible to achieve crusing robot is with arbitrarily angled movement；Two universal wheels are equipped with damping spring, balance crusing robot
Distribution of weight, moreover it is possible to good cushioning effect is played in crusing robot motor process, it is ensured that crusing robot is steadily pacified
Full movement.
Navigation is the basic guarantee that crusing robot carries out patrol task, is the robot stabilized necessary bar safelying travel
Part.The key factor of navigation is affected to have navigation mode and navigation algorithm.There is respective limitation in view of single navigation mode,
Such as single electromagnetic navigation, although can accomplish to be accurately positioned, but road ahead situation can not be predicted, seriously constrain survey monitor
The speed that device people advances；Single vision guided navigation, although disclosure satisfy that the requirement of navigation, but easily by environmental factorss such as illumination
Affect；Single GPS navigation is affected greatly by power equipment, so as to bring the result for being difficult to expect to navigation, in this regard, the present embodiment
Recommend the navigation mode using Multi-Sensor Data Fusion, make the robustness of navigation system higher and with higher precision, from
And precise control chassis 300 is moved to the target location from current location.For example, it is possible to use the perspective roadway characteristic of vision
Data combine closely electromagnetic position data and electronic map data, realize navigation way shortest path planning, meet machine
People patrols and examines needs.Additionally, adaptive location type pid control algorithm can be also used, for the fault processing for departing from leading line is adopted
The thought of fuzzy control, makes navigation system possess capacity of resisting disturbance, keep preferable convergence.
When the not enough power supply of crusing robot, need to consider the charging problems of crusing robot.It is corresponding, the machine
People's method for inspecting also includes：When detect the crusing robot dump energy be less than preset value when, control chassis 300 from work as
Front position is moved to charging device position, then controls the crusing robot with the charging device automatic butt.Specifically
Embodiment can be：Design charging depressed place localizer beacon and charging device docking beacon, realize guiding crusing robot from long distance
From the charging device is close to, recycles laser ranging method and angular plate as beacon, realize crusing robot with the charging
The closely docking of device.
Wherein, Image semantic classification and image recognition are carried out to the image that photographic head 101 is photographed, including：To photographic head 101
The image for photographing carries out Image semantic classification, and carries out display lamp identification, pointer identification and digital display meter numeral identification, so as to convenient
According to recognition result, staff learns whether meter reading is normal, switch closure situation and equipment heating situation etc..
Specifically, described image pretreatment, refers to the complex background for image, such as in the picture illumination condition it is complicated,
Object to be detected and environmental background color are close to, object is put irregularly, the problems such as block each other, first to photographic head
101 images for photographing carry out pretreatment, eliminate the noises such as illumination, background, reduce the noise spot in image, so as to effectively reduce
Invalid accumulation and amount of calculation.The means of Image semantic classification mainly include image filtering, binaryzation, rim detection etc..
The pointer identification, including straight-line detection, position angle is calculated and pointer value reads, and wherein straight-line detection is to close
Key, the present embodiment recommend the method converted using hough to realize straight-line detection.
The digital display meter numeral identification, including zone location, image segmentation and numeral identification.Wherein, zone location be for
The position of digital display meter display digit is found, by study being realized it is known that approximate location, can specifically use template matching method
Realize.For the particularity of digital display meter numeral, using the method for image segmentation, independent numeral is extracted, is then returned using SVM
Method carry out digital identification, reading numerical values.
The display lamp identification, recognizes three steps including loop truss, color notation conversion space and LED status：
1) loop truss：For pretreated image, as the size of display lamp is fixed, using template matching method
The detection of circle can be realized, this method can greatly reduce the complexity of algorithm.
2) color notation conversion space：The image typically all RGB types of image collected by collecting device, corresponding model
For RGB color model, in color model, each pixel value is being formed by stacking by tri- kinds of components of R, G, B, these three brightness values with
Intensity of illumination different and change, so it is unsatisfactory directly to carry out colour recognition effect using RGB color model, need face
The colour space is changed.HSI models were suggested in 1915, and this model is more suitable for effective identification of human eye, and gram
Some shortcomings of RGB models are taken, it is adaptable to colour recognition, so to be realized color rgb space to the conversion of HIS space.
3) LED status identification：According to colour recognition result, with reference to the positional information of loop truss, the shape of display lamp is recognized
State.
The embodiment of the invention discloses a kind of crusing robot, including robot body and control system.
As shown in figure 1, the inspection machine human body includes head 100, cervical region 200 and chassis 300；Cervical region 200 is installed
There is the first motor；Head 100 is provided with photographic head 101 and the second motor.
The control system is connected with first motor, second motor and chassis 300 respectively, is shot for determining
Target；The target location of the movement of chassis 300 is determined according to the photographic subjects；Control chassis 300 is moved to institute from current location
State target location；Judge whether photographic head 101 is directed at the photographic subjects；If photographic subjects described in 101 misalignment of photographic head, lead to
Cross first motor is controlled around vertical direction rotation and control second motor around horizontal direction rotation to adjust photographic head
101 direction, until photographic head 101 is directed at the photographic subjects；When photographic head 101 is directed at the photographic subjects, control is taken the photograph
Shot as 101；Image semantic classification and image recognition are carried out to the image that photographic head 101 is photographed, and exports identification knot
Really.
Wherein, chassis 300 can adopt in-wheel driving chassis, but not limit to.
Wherein, the control system is specifically for the navigation mode using Multi-Sensor Data Fusion, control the chassis from
Current location is moved to the target location.Specifically, the navigation mode of the employing Multi-Sensor Data Fusion, including：Utilize
The perspective roadway characteristic data of vision combine closely electromagnetic position data and electronic map data, realize that navigation way is most short
Path planning.
Wherein, the control system carries out Image semantic classification for the image that photographs to the photographic head and image is known
Not, specifically include：The control system carries out Image semantic classification for the image photographed to the photographic head, and is indicated
Lamp identification, pointer identification and digital display meter numeral identification.
Alternatively, the control system is additionally operable to be less than preset value in the dump energy for detecting the crusing robot
When, control the chassis and be moved to charging device position from current location, then control the crusing robot to fill with described
Electric installation automatic butt.
In sum, in scheme of the present invention, crusing robot gathers substation equipment and line in the form of taking pictures
The image information on road, carries out pretreatment and identification by the image information to photographing, and draws the fortune of substation equipment and circuit
Market condition.When shooting every time, crusing robot needs first to march to target location, recycles installed in inspection machine person neck
First motor is freely rotated around vertical direction and is freely rotated around horizontal direction installed in the second motor of head, realizes head
Portion is rotating and the flexible motion in pitching both direction, so as to the angle for adjusting photographic head is shot.Crusing robot generation
The intellectuality of substation equipment and circuit is patrolled and examined for being accomplished manually, overcome the monitoring time that manual inspection mode is present
Long, the dangerous high, problem of high labor intensive.
In this specification, each embodiment is described by the way of progressive, and what each embodiment was stressed is and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.For patrolling and examining disclosed in embodiment
For robot, as which corresponds to the method disclosed in Example, so description is fairly simple, related part is referring to method
Part illustrates.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
Various modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in the case of the spirit or scope without departing from the embodiment of the present invention in other embodiments.Therefore,
The embodiment of the present invention is not intended to be limited to the embodiments shown herein, and be to fit to principles disclosed herein and
The consistent most wide scope of features of novelty.
Claims (10)
1. a kind of robot method for inspecting, it is characterised in that be applied to crusing robot, the crusing robot include head,
Cervical region and chassis；The cervical region is provided with the first motor；The head is provided with photographic head and the second motor；The robot is patrolled
Detecting method includes：
Determine photographic subjects；
The target location of the chassis movement is determined according to the photographic subjects；
Control the chassis target location is moved to from current location；
Judge whether the photographic head is directed at the photographic subjects；
If photographic subjects described in the photographic head misalignment, rotated around vertical direction and control institute by controlling first motor
The direction that the second motor rotates to adjust the photographic head around horizontal direction is stated, until the photographic head is directed at the shooting mesh
Mark；
When the photographic head is directed at the photographic subjects, controls the photographic head and shot；
Image semantic classification and image recognition are carried out to the image that the photographic head is photographed, and exports recognition result.
2. robot method for inspecting according to claim 1, it is characterised in that the control chassis is from current location
The target location is moved to, including：
Using the navigation mode of Multi-Sensor Data Fusion, control the chassis and the target location is moved to from current location.
3. robot method for inspecting according to claim 1, it is characterised in that the employing Multi-Sensor Data Fusion is led
Boat mode, including：
Closely electromagnetic position data and electronic map data are combined using the perspective roadway characteristic data of vision, navigation is realized
Route shortest path planning.
4. robot method for inspecting according to claim 1, it is characterised in that the figure photographed by the photographic head
As carrying out Image semantic classification and image recognition, including：
Image semantic classification is carried out to the image that the photographic head is photographed, and carries out display lamp identification, pointer identification and digital display meter
Numeral identification.
5. the robot method for inspecting according to any one of claim 1-4, it is characterised in that the side of patrolling and examining of the robot
Method also includes：
When the dump energy for detecting the crusing robot is less than preset value, controls the chassis and be moved to from current location
Charging device position, then the crusing robot is controlled with the charging device automatic butt.
6. a kind of crusing robot, including robot body and control system, it is characterised in that：
The robot body includes head, cervical region and chassis；
The cervical region is provided with the first motor；
The head is provided with photographic head and the second motor；
The control system is connected with first motor, second motor and the chassis respectively, shoots mesh for determining
Mark；The target location of the chassis movement is determined according to the photographic subjects；Control the chassis institute is moved to from current location
State target location；Judge whether the photographic head is directed at the photographic subjects；If photographic subjects described in the photographic head misalignment,
Second motor is rotated and is controlled around vertical direction by control first motor rotates described to adjust around horizontal direction
The direction of photographic head, until the photographic head is directed at the photographic subjects；When the photographic head is directed at the photographic subjects, control
Make the photographic head to be shot；Image semantic classification and image recognition are carried out to the image that the photographic head is photographed, and is exported
Recognition result.
7. crusing robot according to claim 6, it is characterised in that the chassis is in-wheel driving chassis.
8. crusing robot according to claim 6, it is characterised in that the control system specifically for adopting sense more
The navigation mode of data fusion, controls the chassis and is moved to the target location from current location.
9. crusing robot according to claim 6, it is characterised in that the control system is for clapping to the photographic head
The image taken the photograph carries out Image semantic classification and image recognition, specifically includes：The control system is for photographic head shooting
To image carry out Image semantic classification, and carry out display lamp identification, pointer identification and digital display meter numeral identification.
10. the crusing robot according to any one of claim 6-9, it is characterised in that the control system is additionally operable to
When the dump energy for detecting the crusing robot is less than preset value, control the chassis and charging is moved to from current location
Device position, then the crusing robot is controlled with the charging device automatic butt.
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| CN201610994666.2A CN106514654A (en) | 2016-11-11 | 2016-11-11 | Patrol method of robot and patrol robot |
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| CN201610994666.2A CN106514654A (en) | 2016-11-11 | 2016-11-11 | Patrol method of robot and patrol robot |
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| CN107081765A (en) * | 2017-03-29 | 2017-08-22 | 国网上海市电力公司 | A kind of substation inspection robot autonomous classification method and a kind of inspecting robot |
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| CN107081765A (en) * | 2017-03-29 | 2017-08-22 | 国网上海市电力公司 | A kind of substation inspection robot autonomous classification method and a kind of inspecting robot |
| CN106956262A (en) * | 2017-04-20 | 2017-07-18 | 国家电网公司 | Robot vision operating method based on 3D live-action datas storehouse |
| CN107121983A (en) * | 2017-05-24 | 2017-09-01 | 国家电网公司 | Crusing robot path optimization controller based on 3D live-action maps and electronic compass |
| CN107784310A (en) * | 2017-11-08 | 2018-03-09 | 浙江国自机器人技术有限公司 | Status information of equipment acquisition methods, device, system, storage medium and robot |
| CN107843792A (en) * | 2017-11-09 | 2018-03-27 | 南通盛洋电气有限公司 | The real-time apparatus for evaluating of transformer based on noise and temperature |
| CN108682128A (en) * | 2018-04-04 | 2018-10-19 | 广州高新兴机器人有限公司 | A method of alarm linkage disposition |
| CN108133486B (en) * | 2018-05-03 | 2018-07-20 | 常州市盈能电气有限公司 | Crusing robot displacement distance computational methods |
| CN108133486A (en) * | 2018-05-03 | 2018-06-08 | 常州市盈能电气有限公司 | Crusing robot displacement distance computational methods |
| CN108890652A (en) * | 2018-06-28 | 2018-11-27 | 全球能源互联网研究院有限公司 | A kind of Intelligent Mobile Robot and method for inspecting substation equipment |
| CN108908344A (en) * | 2018-08-17 | 2018-11-30 | 云南电网有限责任公司昆明供电局 | A kind of crusing robot mechanical arm tail end space-location method |
| CN109142971A (en) * | 2018-08-17 | 2019-01-04 | 国网江苏省电力有限公司检修分公司 | The method for inspecting and inspection device of transmission line polling robot |
| CN110926377A (en) * | 2018-09-20 | 2020-03-27 | 苏州科瓴精密机械科技有限公司 | Robot and rotation angle measuring method thereof |
| CN110554694A (en) * | 2019-08-01 | 2019-12-10 | 北京云迹科技有限公司 | Method, system, robot and storage medium for turning off electric appliance |
| CN110796756A (en) * | 2019-09-27 | 2020-02-14 | 上海宝冶冶金工程有限公司 | Intelligent inspection method and system |
| CN110744546A (en) * | 2019-11-01 | 2020-02-04 | 云南电网有限责任公司电力科学研究院 | Method and system for grabbing non-stationary lead by defect repairing robot |
| CN110907361A (en) * | 2019-12-25 | 2020-03-24 | 深圳供电局有限公司 | Substation-based full-dimensional state detection method for transformer cabinet |
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| CN111476166B (en) * | 2020-04-08 | 2023-04-07 | 深圳市千乘机器人有限公司 | Self-service charging alignment method for ground inspection robot |
| CN111604888A (en) * | 2020-05-29 | 2020-09-01 | 珠海格力电器股份有限公司 | Inspection robot control method, inspection system, storage medium and electronic device |
| CN111604888B (en) * | 2020-05-29 | 2021-09-14 | 珠海格力电器股份有限公司 | Inspection robot control method, inspection system, storage medium and electronic device |
| CN111678602A (en) * | 2020-06-01 | 2020-09-18 | 福建睿思特科技股份有限公司 | State lamp color identification system based on STM32H7 processor |
| CN111678602B (en) * | 2020-06-01 | 2022-05-17 | 福建睿思特科技股份有限公司 | State lamp color identification system based on STM32H7 processor |
| CN111951161A (en) * | 2020-07-21 | 2020-11-17 | 北京全路通信信号研究设计院集团有限公司 | Target identification method and system and inspection robot |
| CN111952884A (en) * | 2020-08-28 | 2020-11-17 | 红相股份有限公司 | General investigation and reexamination detection method for high-voltage line |
| CN112000109A (en) * | 2020-09-10 | 2020-11-27 | 广西亚像科技有限责任公司 | Position correction method for power inspection robot, power inspection robot and medium |
| CN112051792A (en) * | 2020-09-17 | 2020-12-08 | 南京艺术学院 | Data center inspection device |
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| CN113031610A (en) * | 2021-03-10 | 2021-06-25 | 上海灵至科技有限公司 | Automatic prison night inspection robot system and control method thereof |
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Application publication date: 20170322 |