CN101625573A - Digital signal processor based inspection robot monocular vision navigation system - Google Patents

Digital signal processor based inspection robot monocular vision navigation system Download PDF

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Publication number
CN101625573A
CN101625573A CN200810116394A CN200810116394A CN101625573A CN 101625573 A CN101625573 A CN 101625573A CN 200810116394 A CN200810116394 A CN 200810116394A CN 200810116394 A CN200810116394 A CN 200810116394A CN 101625573 A CN101625573 A CN 101625573A
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inspection robot
control
navigation
digital signal
signal processor
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CN200810116394A
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CN101625573B (en
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谭民
侯增广
梁自泽
李恩
傅思遥
蔡丽
景奉水
左歧
赵晓光
杨国栋
邓海波
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中国科学院自动化研究所
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The invention discloses a digital signal processor based inspection robot monocular vision navigation system. The system comprises a ground control center and an inspection robot which are connected by wireless communication, wherein the ground control center at least comprises a control computer and a wireless communication device which are electrically connected; and the inspection robot consists of an inspection robot body, an embedded type control unit, a navigation unit, a visual processing unit, a wireless communication unit and a battery unit, which are electrically connected with each other. The digital signal processor based inspection robot monocular vision navigation system has the advantages of realizing the automatic control and the automatic target tracking of the inspection robot, supporting free switch between remote control drive and automatic drive, and realizing the vision based on-line navigation and barrier detection of the inspection robot.

Description

Inspection robot monocular vision navigation system based on digital signal processor

Technical field

The present invention relates to field of intelligent control technology, specifically a kind of inspection robot monocular vision navigation system based on digital signal processor (DSP), the target recognition and tracking that is used for autonomous type overhead transmission line inspection robot based on vision, purpose is to pass through vision, improve the ability that inspection robot is independently executed the task, realize the identification of partial barriers, and realize tracking intended target.

Background technology

Inspection robot is a kind of along ultra-high-tension power transmission line walking, the real-time intelligent inspection robot detection line situation, that can partly or entirely replace manual inspection of energy, can reach and improve the purpose of patrolling and examining precision, reduction labour intensity, increasing work efficiency, saving human resources, guarantee the transmission line of electricity safe operation.

The inspection robot vision system is vision guided navigation and a detection system of utilizing embedded intelligence control technology and computer vision technique to design for inspection robot.After vision system captures target, guarantee that ground or overhead transmission line barrier are within the field range of airborne video camera, finish the autonomous tracking to its target obstacle, the task of vision guided navigation.

Summary of the invention

(1) technical matters that will solve

Fundamental purpose of the present invention be for the inspection robot on the overhead transmission line provide a kind of based on monocular vision, can realize the navigational system of vision track and local visual, with automatic/hand control and the autonomous/manually target following that realizes inspection robot, support remote driving and drive automatically between freely switching, realize inspection robot based on navigating and detection of obstacles on the line of vision.

System's major function is: finish single, as to divide barrier on the phase line (damper, wire clamp, insulator etc.) detection, identification, classification, location in real time, the guiding inspection robot is at a slow speed near shaft tower more; When obstacle detouring is operated, according to being installed in the image that actuating arm below video camera is caught, estimate the relative pose between phase line and the driving wheel, realize obstacle detouring servocontrol based on vision.

The single camera vision system of this inspection robot is mainly used in the following problem that solves:

1), real-time detection, location architomy, divide barriers such as stockbridge damper on the phase line, strain clamp, suspension clamp more, the guiding inspection robot is the convergence obstacle at a slow speed, avoids collision.

2), Real time identification goes out the type of barrier, according to its type projects obstacle detouring behavioral strategy, finishes the obstacle detouring motion control.

3), barrier is positioned by monocular vision.Carry out online distance estimations.

4), be suspended on the inspection robot on the lead because wind action and self attitude tend to produce swing when adjusting, therefore can cause degrading of image, solved the motion image blurring problem by the image restoration technology.

(2) technical scheme

For achieving the above object, the invention provides a kind of inspection robot monocular vision navigation system based on digital signal processor, this system comprises ground control centre and inspection robot, connects for wireless telecommunications between the two; Wherein, the ground control centre comprises control computer and wireless communication apparatus at least, is electrical connection between the two; Inspection robot is made up of inspection robot body, embedded control unit, navigation elements, VPU, radio communication unit and battery assembly module, is electrical connection between each component units.

In the such scheme, the control computer of described ground control centre not only is used for the motion state of inspection robot is controlled, and also is used for the start and stop of control chart picture transmission, the switching of video camera, the size of images acquired, the frame rate and the image quality operation of images.

In the such scheme, described ground control centre further comprises manual controller, and the wireless communication apparatus of this manual controller and ground control centre is arranged on the bigger frequency range of two difference, and is interference-free to guarantee the communication between the two.

In the such scheme, described ground control centre is connected with wireless telecommunications between the inspection robot, and following two kinds of wireless communication modes are provided: connect based on the WLAN (wireless local area network) of IEEE802.11 that wireless telecommunications are connected with ARM.

In the such scheme, described WLAN (wireless local area network) based on IEEE802.11 connects the employing ICP/IP protocol by WLAN (wireless local area network), realizes guidance command and image data transmission between inspection robot embedded control unit and the ground control centre control computer; It is the low coverage remote-control channel of setting up between inspection robot and the hand-held remote controller that described ARM wireless telecommunications connect, constitute by manual controller, ARM wireless telecommunications processor and radio frequency transceiving module, realize the wireless manual control under system's principal computer fault condition.

In the such scheme, the embedded control unit of described inspection robot is a central controller with ARM9.0, is aided with outside expanded circuit, is used to realize remote manual control/self-navigation switching, Navigation Control, data acquisition, data processing and wireless telecommunications.

In the such scheme, the VPU of described inspection robot adopts the digital signal processor DSP framework, by the TMS3200-ICETEK-DM642-C-IDK-M type dsp board card of Rui Tai, the dominant frequency of using based on image/network development is 600MHz high speed processing plate, and outside expanded circuit constitutes, be used to realize to the autonomous classification of target and location, measured object vision-based detection, finish the visual servo control of inspection robot when the obstacle detouring, thereby realize vision track and vision guided navigation function.

In the such scheme, described inspection robot is equipped with multiple sensors equipment, and this sensor device is by sonac, infrared sensor, Hall element, contact sensor, vision sensor and described composition; Wherein, the measurement range of sonac is 500 to 4000mm, is used for circuitry obstacle and surveys; Infrared sensor is used for obstacle detection, and the arm off-line and the lead location detection of holding line process in the inspection robot obstacle detouring operation; Hall element detects the mechanical position limitation of each movable joint, and touch sensor is a microswitch, is used for the spacing and inspection robot anti-collision of inspection robot movable joint; Described vision sensor unit is formed by Sony SSC-E453P ccd video camera with based on the video frequency collection card of DSP, is used for the vision guided navigation of inspection robot; The data of the sensor equipment collection all enter into embedded control unit, carry out data processing by embedded control unit, tentatively obtain external environmental information after the fusion, realize self-navigation.

In the such scheme, this system adopts Autonomous Control and two kinds of control models of remote handle control that inspection robot is controlled.

In the such scheme, this system is when adopting the Autonomous Control pattern that inspection robot is controlled, inspection robot is according to the structured data of this transmission line of electricity in patrol task and the database, utilize the various sensor senses environmental informations of installing on the inspection robot body, automatically select wheeled in the creep mode to creep, step-by-step movement is creeped or the swinging leaping over obstacles, realize the autonomous walking of inspection robot, control the transmission line of electricity inspection item that entrained instrument is finished regulation simultaneously along transmission line of electricity; Under the Autonomous Control pattern, the embedded control unit of inspection robot is transferred to ground base station to the running environment image of inspection robot by wireless network, supplies the personnel of Surveillance center to monitor.

In the such scheme, this system comprises following dual mode to the Long-distance Control of inspection robot: joint command mode and macros mode when adopting the remote handle control model that inspection robot is controlled.

In the such scheme, described joint command mode is that operating personnel send control command to each movable joint, sets the direction and the stroke of each joint motions; The inspection robot main frame directly is handed down to slave computer after receiving order, is controlled the motion of finishing the joint by slave computer.

In the such scheme, described macros mode is meant that operating personnel directly do not operate the joint, but provide the mass motion macros, after the inspection robot master controller receives macros, the oneself state current according to inspection robot independently cooked up order, direction and the stroke of each joint motions, is handed down to slave computer then respectively, the motion of control corresponding joint is up to the macros of finishing appointment.

(3) beneficial effect

From technique scheme as can be seen, the present invention has following technique effect:

1, this inspection robot monocular vision navigation system that provides for the inspection robot on the overhead transmission line of the present invention based on digital signal processor, can realize the automatic control and the autonomous target following of inspection robot, support remote driving and drive automatically between freely switching, realize inspection robot based on navigating and detection of obstacles on the line of vision.

2, the present invention's this inspection robot monocular vision navigation system of going into to provide for the line walking machine on the overhead transmission line based on digital signal processor, can finish single, as to divide barrier on the phase line (damper, wire clamp, insulator etc.) detection, identification, classification, location in real time, the guiding inspection robot is at a slow speed near shaft tower more; When obstacle detouring is operated, can estimate the relative pose between phase line and the driving wheel according to being installed in the image that actuating arm below video camera is caught, realize obstacle detouring servocontrol based on vision.

3, this inspection robot monocular vision navigation system that provides for the inspection robot on the overhead transmission line of the present invention based on digital signal processor, can real-time detection, the location architomy, divide barriers such as stockbridge damper on the phase line, strain clamp, suspension clamp more, the guiding inspection robot is the convergence obstacle at a slow speed, avoids collision.

4, this inspection robot monocular vision navigation system that provides for the inspection robot on the overhead transmission line of the present invention based on digital signal processor, the type that can Real time identification goes out barrier, according to its type projects obstacle detouring behavioral strategy, finish the obstacle detouring motion control.

5, the present invention can position barrier by monocular vision for this inspection robot monocular vision navigation system based on digital signal processor that the inspection robot on the overhead transmission line provides, and carries out online distance estimations.

6, this inspection robot monocular vision navigation system that provides for the inspection robot on the overhead transmission line of the present invention based on digital signal processor, be suspended on the inspection robot on the lead, because wind action and self attitude tend to produce swing when adjusting, therefore can cause degrading of image, solve the motion image blurring problem by the image restoration technology.

7, the present invention is this inspection robot monocular vision navigation system based on digital signal processor that the inspection robot on the overhead transmission line provides, and can be applicable to the self-navigation needs of various inspection robots.

Description of drawings

Fig. 1 is the synoptic diagram of inspection robot running environment;

Fig. 2 is the structural representation of the inspection robot monocular vision navigation system based on digital signal processor provided by the invention.

Embodiment

For making the purpose, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.

This inspection robot monocular vision navigation system based on digital signal processor provided by the invention comprises ground control centre and inspection robot, connects for wireless telecommunications between the two.Wherein, the ground control centre comprises control computer and wireless communication apparatus at least, is electrical connection between the two.Inspection robot is made up of inspection robot body, embedded control unit, navigation elements, VPU, radio communication unit and battery assembly module, is electrical connection between each component units.

The control computer of described ground control centre not only is used for the motion state of inspection robot is controlled, and also is used for the start and stop of control chart picture transmission, the switching of video camera, the size of images acquired, the frame rate and the image quality operation of images.

Described ground control centre further comprises manual controller, and the wireless communication apparatus of this manual controller and ground control centre is arranged on the bigger frequency range of two difference, and is interference-free to guarantee the communication between the two.Described ground control centre is connected with wireless telecommunications between the inspection robot, and following two kinds of wireless communication modes are provided: connect based on the WLAN (wireless local area network) of IEEE802.11 that wireless telecommunications are connected with ARM.Described WLAN (wireless local area network) based on IEEE802.11 connects the employing ICP/IP protocol by WLAN (wireless local area network), realizes guidance command and image data transmission between inspection robot embedded control unit and the ground control centre control computer.It is the low coverage remote-control channel of setting up between inspection robot and the hand-held remote controller that described ARM wireless telecommunications connect, constitute by manual controller, ARM wireless telecommunications processor and radio frequency transceiving module, realize the wireless manual control under system's principal computer fault condition.

The embedded control unit of described inspection robot is central controller with ARM9.0, is aided with outside expanded circuit, is used to realize remote manual control/self-navigation switching, Navigation Control, data acquisition, data processing and wireless telecommunications.

The VPU of described inspection robot adopts the digital signal processor DSP framework, by the TMS3200-ICETEK-DM642-C-IDK-M type dsp board card of Rui Tai, the dominant frequency of using based on image/network development is 600MHz high speed processing plate, and outside expanded circuit constitutes, be used to realize to the autonomous classification of target and location, measured object vision-based detection, finish the visual servo control of inspection robot when the obstacle detouring, thereby realize vision track and vision guided navigation function.Described inspection robot is equipped with multiple sensors equipment, and this sensor device is by sonac, infrared sensor, Hall element, contact sensor, vision sensor and described composition; Wherein, the measurement range of sonac is 500 to 4000mm, is used for circuitry obstacle and surveys; Infrared sensor is used for obstacle detection, and the arm off-line and the lead location detection of holding line process in the inspection robot obstacle detouring operation; Hall element detects the mechanical position limitation of each movable joint, and touch sensor is a microswitch, is used for the spacing and inspection robot anti-collision of inspection robot movable joint; Described vision sensor unit is formed by the SonySSC-E453P ccd video camera with based on the video frequency collection card of DSP, is used for the vision guided navigation of inspection robot; The data of the sensor equipment collection all enter into embedded control unit, carry out data processing by embedded control unit, tentatively obtain external environmental information after the fusion, realize self-navigation.

This inspection robot monocular vision navigation system based on digital signal processor provided by the invention is for guaranteeing the inspection robot safe and reliable operation, for inspection robot has designed two kinds of control models: Autonomous Control and remote handle control.Be this inspection robot monocular vision navigation system provided by the invention, adopt two kinds of control models of Autonomous Control and remote handle control that inspection robot is controlled based on digital signal processor.

The Autonomous Control pattern is meant that inspection robot is by environment sensing, decision rule under unmanned situation of intervening, and the planned intelligent behavior that on purpose produces is finished predetermined line data-logging task.When adopting the Autonomous Control pattern that inspection robot is controlled, after the inspection robot hanging wire starts, under unmanned situation of intervening, structured data according to this transmission line of electricity in patrol task and the database, utilize the various sensor senses environmental informations of installing on the inspection robot body, automatically select wheeled in the creep mode to creep, step-by-step movement is creeped or the swinging leaping over obstacles, realize the autonomous walking of inspection robot, control the transmission line of electricity inspection item that entrained instrument is finished regulation simultaneously along transmission line of electricity; Under the Autonomous Control pattern, the embedded control unit of inspection robot is transferred to ground base station to the running environment image of inspection robot by wireless network, supplies the personnel of Surveillance center to monitor.

The remote handle control model is meant that the image that the ground base station operating personnel pass back according to inspection robot carries out Remote to inspection robot.When adopting the remote handle control model that inspection robot is controlled, the Long-distance Control of inspection robot is comprised following dual mode: joint command mode and macros mode.Described joint command mode is that operating personnel send control command to each movable joint, sets the direction and the stroke of each joint motions; The inspection robot main frame directly is handed down to slave computer after receiving order, is controlled the motion of finishing the joint by slave computer.Described macros mode is meant operating personnel not directly to the joint operation, but provides the mass motion order, as macros such as " forearm off-line ", " postbrachium are grabbed line ".After the inspection robot master controller receives macros, the oneself state current according to inspection robot independently cooked up order, direction and the stroke of each joint motions, is handed down to slave computer then respectively, the motion of control corresponding joint is up to the macros of finishing appointment.When needs carry out Long-distance Control to inspection robot, operating personnel send " switching to the Long-distance Control mode " macros, inspection robot stops automatic operation, wait for Long-distance Control, operating personnel are according to the image that transmits, by issuing macros or the joint order is carried out Long-distance Control to inspection robot; After obstacle detouring is finished, inspection robot is issued " switching to automatic control mode " macros, inspection robot starts automatic running program, independently operation on the line.

Monitoring host computer is not only controlled the motion state of inspection robot, operations such as the size of the start and stop of all right control chart picture transmission, the switching of video camera, images acquired, the frame rate of images and image quality.When inspection robot sends when meeting the barrier alerting signal to Surveillance center, the monitor staff issues " starting the image transmission " order, makes monitoring host computer can obtain the image information of inspection robot environment of living in so that it is carried out Long-distance Control; When the motion arm exceeds the field range of current selected video camera, issue " switching video camera " order and select suitable video camera to proceed monitoring; Adjust the size of images if desired, can issue " change picture size " order, the size of adjusting acquisition window is so that monitoring; To the image transmitting speed, can be adjusted by " change transmission speed " order; To the quality of image, can be by " adjustment image quality " order, the quality factor when changing compression of images, thus change image quality; In addition, can also control the inspection robot main frame whether to the storage of recording a video of outside ambient image by " preservation video " order.

System of the present invention is made up of two parts: 1, and inspection robot and airborne equipment, 2, ground control station.By shown in Figure 1, the inspection robot body comprises that travel mechanism, arm are apart from adjusting mechanism, counterweight adjusting mechanism, slew gear, tangent pivot angle mechanism and paw clamp system, inspection robot body below hangs with cabinet, so that be fit to install airborne homer and VPU.Video camera is installed in the body front end of inspection robot, and the angle of optical axis and inspection robot working direction is about 30 °.Under this configuration, background is a sky, can reduce the complexity of image background like this.And the electric battery that electric energy is provided for these equipment.Equipment such as airborne homer and VPU are installed concentratedly in the shell of an aluminum, and shell can play the effect of protection internal unit and the effect of electromagnetic screen when being subjected to external impacts.Wireless communication module and control device are connected with embedded controller by serial line interface respectively, and electric battery provides power supply for the said equipment respectively.

Ground control station mainly is made up of ground control computer, wireless communication module, wireless video receiver module, telepilot and terrestrial operation person.Wherein wireless communication module is connected with ground control computer by serial ports, terrestrial operation person's direct control ground control computer and telepilot, and to switch the navigation and the drive manner of inspection robot: remote manual control driving or self-navigation are driven.

In the present embodiment, the two-arm swing type inspection robot that inspection robot has adopted the laboratory to develop voluntarily, camera is selected Sony SSC-E453P CCD for use, and vision processing system adopts TI DM642DSP processor, and electric battery has been selected Ni-MH battery for use.Ground control computer is an IBM-T41 series notebook computer, and wireless communication module is that communication distance is 2000 meters a wireless data transmission module, and communication frequency is set at 315MHZ.

Use system of the present invention, adopt the configuration that realizes example, verified the validity of system of the present invention by experiment.

Above-described specific embodiment; purpose of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the above only is specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any modification of being made, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (13)

1, a kind of inspection robot monocular vision navigation system based on digital signal processor is characterized in that, this system comprises ground control centre and inspection robot, connects for wireless telecommunications between the two; Wherein, the ground control centre comprises control computer and wireless communication apparatus at least, is electrical connection between the two; Inspection robot is made up of inspection robot body, embedded control unit, navigation elements, VPU, radio communication unit and battery assembly module, is electrical connection between each component units.
2, the inspection robot monocular vision navigation system based on digital signal processor according to claim 1, it is characterized in that, the control computer of described ground control centre not only is used for the motion state of inspection robot is controlled, and also is used for the start and stop of control chart picture transmission, the switching of video camera, the size of images acquired, the frame rate and the image quality operation of images.
3, the inspection robot monocular vision navigation system based on digital signal processor according to claim 1, it is characterized in that, described ground control centre further comprises manual controller, the wireless communication apparatus of this manual controller and ground control centre is arranged on the bigger frequency range of two difference, and is interference-free to guarantee the communication between the two.
4, the inspection robot monocular vision navigation system based on digital signal processor according to claim 3, it is characterized in that, described ground control centre is connected with wireless telecommunications between the inspection robot, and following two kinds of wireless communication modes are provided: connect based on the WLAN (wireless local area network) of IEEE802.11 that wireless telecommunications are connected with ARM.
5, the inspection robot monocular vision navigation system based on digital signal processor according to claim 4, it is characterized in that, described WLAN (wireless local area network) based on IEEE802.11 connects the employing ICP/IP protocol by WLAN (wireless local area network), realizes guidance command and image data transmission between inspection robot embedded control unit and the ground control centre control computer;
It is the low coverage remote-control channel of setting up between inspection robot and the hand-held remote controller that described ARM wireless telecommunications connect, constitute by manual controller, ARM wireless telecommunications processor and radio frequency transceiving module, realize the wireless manual control under system's principal computer fault condition.
6, the inspection robot monocular vision navigation system based on digital signal processor according to claim 1, it is characterized in that, the embedded control unit of described inspection robot is central controller with ARM9.0, be aided with outside expanded circuit, be used to realize remote manual control/self-navigation switching, Navigation Control, data acquisition, data processing and wireless telecommunications.
7, inspection robot monocular vision navigation system based on digital signal processor according to claim 1, it is characterized in that, the VPU of described inspection robot adopts the digital signal processor DSP framework, TMS3200-ICETEK-DM642-C-IDK-M type dsp board card by Rui Tai, the dominant frequency of using based on image/network development is a 600MHz high speed processing plate, and outside expanded circuit constitutes, be used to realize autonomous classification and location to target, the vision-based detection of measured object, finish the visual servo control of inspection robot when the obstacle detouring, thereby realize vision track and vision guided navigation function.
8, the inspection robot monocular vision navigation system based on digital signal processor according to claim 7, it is characterized in that, described inspection robot is equipped with multiple sensors equipment, this sensor device is by sonac, infrared sensor, Hall element, contact sensor, vision sensor and described composition; Wherein, the measurement range of sonac is 500 to 4000mm, is used for circuitry obstacle and surveys; Infrared sensor is used for obstacle detection, and the arm off-line and the lead location detection of holding line process in the inspection robot obstacle detouring operation; Hall element detects the mechanical position limitation of each movable joint, and touch sensor is a microswitch, is used for the spacing and inspection robot anti-collision of inspection robot movable joint; Described vision sensor unit is formed by Sony SSC-E453P ccd video camera with based on the video frequency collection card of DSP, is used for the vision guided navigation of inspection robot; The data of the sensor equipment collection all enter into embedded control unit, carry out data processing by embedded control unit, tentatively obtain external environmental information after the fusion, realize self-navigation.
9, the inspection robot monocular vision navigation system based on digital signal processor according to claim 1 is characterized in that, this system adopts Autonomous Control and two kinds of control models of remote handle control that inspection robot is controlled.
10, inspection robot monocular vision navigation system based on digital signal processor according to claim 9, it is characterized in that, this system is when adopting the Autonomous Control pattern that inspection robot is controlled, inspection robot is according to the structured data of this transmission line of electricity in patrol task and the database, utilize the various sensor senses environmental informations of installing on the inspection robot body, automatically select wheeled the creeping in the creep mode, step-by-step movement is creeped or the swinging leaping over obstacles, realize the autonomous walking of inspection robot, control the transmission line of electricity inspection item that entrained instrument is finished regulation simultaneously along transmission line of electricity; Under the Autonomous Control pattern, the embedded control unit of inspection robot is transferred to ground base station to the running environment image of inspection robot by wireless network, supplies the personnel of Surveillance center to monitor.
11, the inspection robot monocular vision navigation system based on digital signal processor according to claim 9, it is characterized in that, this system comprises following dual mode to the Long-distance Control of inspection robot: joint command mode and macros mode when adopting the remote handle control model that inspection robot is controlled.
12, the inspection robot monocular vision navigation system based on digital signal processor according to claim 11, it is characterized in that, described joint command mode is that operating personnel send control command to each movable joint, sets the direction and the stroke of each joint motions; The inspection robot main frame directly is handed down to slave computer after receiving order, is controlled the motion of finishing the joint by slave computer.
13, the inspection robot monocular vision navigation system based on digital signal processor according to claim 11, it is characterized in that, described macros mode is meant that operating personnel directly do not operate the joint, but provide the mass motion macros, after the inspection robot master controller receives macros, the oneself state current according to inspection robot, independently cook up order, direction and the stroke of each joint motions, be handed down to slave computer then respectively, the motion of control corresponding joint is up to the macros of finishing appointment.
CN2008101163941A 2008-07-09 2008-07-09 Digital signal processor based inspection robot monocular vision navigation system CN101625573B (en)

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