CN104216411B - A kind of patrolling method in electronic circuit - Google Patents
A kind of patrolling method in electronic circuit Download PDFInfo
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Abstract
The present invention relates to the patrolling method in a kind of electronic circuit, the method includes: 1) provide control system, control system includes motor-drive circuit, infrared ray electric transducer, high-definition camera equipment, image processing equipment and Freescale IMX6 processor, infrared ray electric transducer is used for detecting line walking track, high-definition camera equipment is for gathering the forward image of inspection robot, image processing equipment is for carrying out image procossing to forward image, Freescale IMX6 processor is connected respectively with infrared ray electric transducer and image processing equipment, to control motor-drive circuit based on line walking track detection result and processing result image, line walking is to be arranged on the ground guiding band with pre-set color；And 2) use control system to carry out line walking.By means of the invention it is possible to accurately control the travel track of inspection robot, and the type of objects ahead can be automatically identified, to determine next step operation of inspection robot.
Description
Technical field
The present invention relates to robot field, particularly relate to the patrolling method in a kind of electronic circuit.
Background technology
It when traditional electro-mechanical product introduces electronic technology, computer technology and automatic control technology, is formed for so-called a new generation electromechanical integrated product.Typical electromechanical integrated product embodies the combination of mechanical technique, electronic technology, computer technology etc., several multiple new and high technologies, and several functions is integrated, and commercially has extremely strong competitiveness.Electromechanical integration is the multi-disciplinary mixing together such as machinery, microelectronics, control, computer, information processing, and playing development and progress depends on the progress and development of correlation technique.Its main development direction is digitlization, intellectuality, modularization, networking, hommization, miniaturization, integrated, band source and greenization.Electronic product high-performance generally comprise at a high speed, in high precision, high efficiency and high reliability, research in electromechanical integration technology for the artificial intelligence paid attention to day by day, and the intellectuality of robot is exactly the important application of electromechanical integration technology.
Inspection robot is the one of robot, the history producing existing many decades of Intelligent patrol robot, and he is commonly used by people in the industrial detection of the race of various robots and predefined paths.Intelligent patrol robot is for specific place, finds the localization method of applicable its own mechanical feature, by being continually adjusted to reach target, is finally completed the task of setting.How to use the key that succinct, quick, stable control method and detection equipment are robots.He is the guide line placing pre-set color on dark ground, such as white, feature be ground must be sharp contrast with guide line.Robot passes through sensor tracking, and reflection line walking information is until CPU sends interrupt requests and stops tracking in real time.The impossible absolute clear of general factory, in order to avoid robot collsion damage, robot need to have the ability of keeping in obscurity and the function of terminal stopping.
But, Intelligent patrol robot of the prior art, generally several infrared ray photoelectric sensing unit is only set for detecting line walking, not high to the detection efficiency of line walking, have a strong impact on inspection robot and pursued walking of line walking, meanwhile, lack the treatment mechanism treated respectively to detection target and barrier, also cannot formulate different avoidance schemes according to the size of barrier, thus cause rear control platform excessively frequent to the operation of inspection robot.
Therefore, need the patrolling method in a kind of electronic circuit, the line walking efficiency of inspection robot can be improved, ensure that robot follows strictly desired trajectory walking, additionally, it is capable of the type identification to objects ahead and Dimensions recognition, automatically to carry out different predetermined registration operation according to recognition result, reduce the workload of rear control platform.
Content of the invention
In order to solve the problems referred to above, the invention provides the patrolling method in a kind of electronic circuit, increase more infrared ray photoelectric sensing unit to improve line walking precision, use ultrasonic sensor to detect objects ahead distance, and in the case that objects ahead distance is shorter, Fang Qidong image capture device and image processing equipment realize target type discrimination to the forward image collecting, thus determine the operator scheme of inspection robot, reduce the artificial intervention of rear control platform, improve the operating efficiency of inspection robot.
According to an aspect of the present invention, provide the patrolling method in a kind of electronic circuit, the method includes: 1) provide control system, described control system includes motor-drive circuit, infrared ray electric transducer, high-definition camera equipment, image processing equipment and Freescale IMX6 processor, described infrared ray electric transducer is used for detecting line walking track, described high-definition camera equipment is for gathering the forward image of described inspection robot, described image processing equipment is for carrying out image procossing to described forward image, described Freescale IMX6 processor is connected respectively with described infrared ray electric transducer and described image processing equipment, to control described motor-drive circuit based on line walking track detection result and processing result image, described line walking is to be arranged on the ground guiding band with pre-set color；And 2) use described control system to carry out line walking.
More specifically, described based in the inspection robot control system of image recognition, described control system also includes ultrasonic sensor, it is positioned at the dead ahead of described inspection robot, including ultrasonic transmitting element, ultrasonic wave receiving unit and ALU, described ultrasonic transmitting element is used for launching ultrasonic wave, described ultrasonic wave receiving unit is for receiving the ultrasonic wave reflecting through objects ahead, described ALU is connected respectively with described ultrasonic transmitting element and described ultrasonic wave receiving unit, receive time difference and propagation speed of ultrasonic waves for launching based on ultrasonic wave, calculate the target range apart from described inspection robot for the objects ahead；Storage device, prestore target signature types of database, described target signature types of database saves the corresponding target signature of each target type, described storage device has also prestored target upper limit gray threshold, target lower limit gray threshold, predeterminated target distance threshold, expected detection target type, goal-selling height threshold and goal-selling length threshold, and described target upper limit gray threshold is used for separating the target and background in image with described target lower limit gray threshold；Described infrared ray electric transducer is arranged on the bottom of described inspection robot, it is made up of two row's photoelectric sensing unit, described two row's photoelectric sensing unit are separately positioned on the both sides in described travelling robot walking direction, each photoelectric sensing unit output low level when line walking being detected, exports high level when being not detected by line walking；Described high-definition camera equipment is arranged on the dead ahead of described inspection robot；nullDescribed image processing equipment is by image pre-processing unit、Image segmentation unit、Image identification unit and dimension calculating unit composition，Described image pre-processing unit connects described high-definition camera equipment，For carrying out picture superposition and image wavelet filtering successively to described forward image，To export pretreatment image，Described image segmentation unit is connected with described image pre-processing unit，For by pixel identification between target upper limit gray threshold and target lower limit gray threshold for the gray value in described pretreatment image and form target subgraph，Described target subgraph is divided out from described pretreatment image，Described image identification unit is connected respectively with described image segmentation unit and described storage device，For identifying the target signature in described target subgraph，And the target signature recognizing is mated with the corresponding target signature of target type each of in described target signature types of database，To find the objects ahead type corresponding to the target signature recognizing，Described dimension calculating unit is connected with described image segmentation unit，For calculating object height and target length based on described target subgraph；Wireless communication interface, controls platform wireless connection with far-end, for carrying out bi-directional signal communication with described far-end control platform；Described Freescale IMX6 processor is connected respectively with described infrared ray electric transducer, described image processing equipment, described ultrasonic sensor, described storage device, described high-definition camera equipment and described motor-drive circuit, based on the driving direction of the described motor-drive circuit of output level control of each photoelectric sensing unit in described infrared ray electric transducer；Described Freescale IMX6 processor is when described target range is less than or equal to predeterminated target distance threshold, start described high-definition camera equipment and described image processing equipment, and when described objects ahead type unexpected detection target type, start barrier and avoid pattern, when described objects ahead type is expected detection target type, start robot tupe；Wherein, in described barrier avoidance pattern, described Freescale IMX6 processor is less than or equal to goal-selling height threshold at described object height, send leap instruction to described motor-drive circuit, when described object height is more than goal-selling height threshold and described target length less than or equal to goal-selling length threshold, send instruction of detouring to described motor-drive circuit, when described object height is more than goal-selling height threshold and described target length more than goal-selling length threshold, send wait instruction to described motor-drive circuit, and send demand modeling signal to wireless communication interface；In described robot tupe, described Freescale IMX6 processor receives control signal that forwarded, described far-end control platform by described wireless communication interface, to control the operation to objects ahead for the described inspection robot.
More specifically, described based in the inspection robot control system of image recognition, described storage device, described image processing equipment and described Freescale IMX6 processor are all located in the case nose of described inspection robot, and described wireless communication interface is positioned on the case nose of described inspection robot.
It more specifically, described control system also includes DC Brushless Motor based in the inspection robot control system of image recognition described, is connected with described motor-drive circuit, under the control of described motor-drive circuit, provide power for described crusing robot.
More specifically, described based in the inspection robot control system of image recognition, in described two row's photoelectric sensing unit, the quantity often arranging photoelectric sensing unit is equal, is 10.
More specifically, described based in the inspection robot control system of image recognition, the resolution ratio of the forward image that described high-definition camera equipment is gathered is 1280 × 720.
Brief description
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the inspection robot control system based on image recognition according to embodiment of the present invention.
Detailed description of the invention
Below with reference to accompanying drawings the embodiment based on the inspection robot control system of image recognition of the present invention is described in detail.
Inspection robot, refer to move robot as carrier, using visible light camera, infrared thermography, other detecting instruments as load system, using many information fusion of machine vision-electromagnetic field-GPS-GIS as robot autonomous movement and the navigation system independently patrolled and examined, using embedded computer as the hardware and software development platform of control system.Inspection robot has detection of obstacles, AUTONOMOUS TASK planning, active obstacle, independently patrols and examines, patrols and examines the robot body of image and data to transmission line of electricity and line corridor thereof and automatically store and patrol and examine the functions such as job management and analyzing and diagnosing with long range radio transmissions, ground remote wireless monitoring and the supply in real time online of remote control, electric energy, backstage.
When relating to the control system of inspection robot, should be noted that following some.
First, in order to this robot may be used for different occasion, the color of guide line needs to become sharp contrast with the color on ground, the sensor of selection, it has to be possible to reliably identify light color guide line and dark floor.Because sensor is the eyes of robot, need the good sensor of Selection effect, robot a pair of bright eyes could be given, send the low and high level detecting to control system.
Secondly, it is that the placement strategy of sensor is formulated.During placement sensor, need the profile in view of robot chassis and driving method, fully take into account the various situations that robot is likely encountered when advancing, be in course of adjustment and all the sensors whether may be allowed to deviate from detection object so that line walking failure.Robot to be considered directly is walked and the issuable various situations of state such as turning.
Further, the master controller selecting to be suitable for is needed.Because the input quantity of master controller is in addition to the photo-sensor signal for line walking, also includes detecting the presence of barrier with ultrasonic sensor and whether arrive at；Output quantity is mainly the number etc. that motor needs the control signal providing.In addition to the requirement that port selects, the speed of service that also should meet master controller is higher, processes information stable in time, and the development environment of close friend.
The inspection robot control system based on image recognition of the present invention, described robot can be controlled exactly advance in strict accordance with line walking, use the target identification technology based on image procossing simultaneously, can intelligently determine the operation scheme of robot according to objects ahead type, and, only when ultrasonic sensor detects that objects ahead is in preset distance, just start target identification, decrease power consumption for crusing robot.
Fig. 1 is the block diagram of the inspection robot control system based on image recognition according to embodiment of the present invention, described control system includes ultrasonic sensor 1, infrared ray electric transducer 2, high-definition camera equipment 3, image processing equipment 4, Freescale IMX6 processor 5, motor-drive circuit 6, storage device 7, wireless communication interface 8 and power supply unit 9, described Freescale IMX6 processor 5 and described ultrasonic sensor 1, described infrared ray electric transducer 2, described high-definition camera equipment 3, described image processing equipment 4, described Freescale IMX6 processor 5, described motor-drive circuit 6, described storage device 7, described wireless communication interface 8 and described power supply unit 9 connect respectively.Described motor-drive circuit 6 is for driving the motor of described inspection robot to control the route of described inspection robot.Described power supply unit 9 is for providing power supply supply for described inspection robot control system.
Then, more specific description is carried out to the structure of the inspection robot control system of the present invention.
Described ultrasonic sensor 1, it is positioned at the dead ahead of described inspection robot, including ultrasonic transmitting element, ultrasonic wave receiving unit and ALU, described ultrasonic transmitting element is used for launching ultrasonic wave, described ultrasonic wave receiving unit is for receiving the ultrasonic wave reflecting through objects ahead, described ALU is connected respectively with described ultrasonic transmitting element and described ultrasonic wave receiving unit, receive time difference and propagation speed of ultrasonic waves for launching based on ultrasonic wave, calculate the target range apart from described inspection robot for the objects ahead.
Described infrared ray electric transducer 2, for detecting line walking track, described line walking is to be arranged on the ground guiding band with pre-set color, described infrared ray electric transducer 2 is arranged on the bottom of described inspection robot, it is made up of two row's photoelectric sensing unit, described two row's photoelectric sensing unit are separately positioned on the both sides in described travelling robot walking direction, each photoelectric sensing unit output low level when line walking being detected, export high level when being not detected by line walking.
Described high-definition camera equipment 3, for gathering the forward image of described inspection robot, is arranged on the dead ahead of described inspection robot.
nullDescribed image processing equipment 4 is connected with described high-definition camera equipment 3，Described image processing equipment 4 is by image pre-processing unit、Image segmentation unit、Image identification unit and dimension calculating unit composition，Described image pre-processing unit connects described high-definition camera equipment 3，For carrying out picture superposition and image wavelet filtering successively to described forward image，To export pretreatment image，Described image segmentation unit is connected with described image pre-processing unit，For by pixel identification between target upper limit gray threshold and target lower limit gray threshold for the gray value in described pretreatment image and form target subgraph，Described target subgraph is divided out from described pretreatment image，Described image identification unit is connected respectively with described image segmentation unit and described storage device 7，For identifying the target signature in described target subgraph，And the target signature recognizing is mated with the corresponding target signature of target type each of in described target signature types of database，To find the objects ahead type corresponding to the target signature recognizing，Described dimension calculating unit is connected with described image segmentation unit，For calculating object height and target length based on described target subgraph.
Described storage device 7 has prestored target signature types of database, described target signature types of database saves the corresponding target signature of each target type, described storage device 7 has also prestored target upper limit gray threshold, target lower limit gray threshold, predeterminated target distance threshold, expected detection target type, goal-selling height threshold and goal-selling length threshold, and described target upper limit gray threshold is used for separating the target and background in image with described target lower limit gray threshold.
Described wireless communication interface 8 and far-end control platform wireless connection, for carrying out bi-directional signal communication with described far-end control platform.
The control of described Freescale IMX6 processor 5 includes, based on the driving direction of the described motor-drive circuit 6 of output level control of each photoelectric sensing unit in described infrared ray electric transducer 2.
Described Freescale IMX6 processor 5 is when the described target range receiving is less than or equal to predeterminated target distance threshold, start described high-definition camera equipment 3 and described image processing equipment 4, described Freescale IMX6 processor 5 is after described high-definition camera equipment 3 and described image processing equipment 4 work, when described objects ahead type unexpected detection target type, start barrier and avoid pattern, when described objects ahead type is expected detection target type, start robot tupe.
Wherein, in described barrier avoidance pattern, described Freescale IMX6 processor 5 is less than or equal to goal-selling height threshold at described object height, send leap instruction to described motor-drive circuit 6, when described object height is more than goal-selling height threshold and described target length less than or equal to goal-selling length threshold, send instruction of detouring to described motor-drive circuit 6, when described object height is more than goal-selling height threshold and described target length more than goal-selling length threshold, send wait instruction to described motor-drive circuit 6, and send demand modeling signal to wireless communication interface 8；In described robot tupe, described Freescale IMX6 processor 5 receives control signal that forwarded, described far-end control platform by described wireless communication interface 8, to control the operation to objects ahead for the described inspection robot.
Wherein, selection based on user, described storage device 7, described image processing equipment 4 and described Freescale IMX6 processor 5 each may lie in the case nose of described inspection robot, described wireless communication interface 8 can be located on the case nose of described inspection robot, described control system can also include DC Brushless Motor, it is connected with described motor-drive circuit 6, there is provided power for described crusing robot under the control of described motor-drive circuit 6, in described two row's photoelectric sensing unit, the quantity often arranging photoelectric sensing unit is equal, all elect 10 as, the resolution ratio of the forward image that described high-definition camera equipment 3 is gathered can be 1280 × 720.
In addition, ultrasonic sensor is 1 sensor utilizing the characteristic of ultrasonic wave to develop.Ultrasonic wave is a kind of vibration frequency higher than the mechanical wave of sound wave, is occurred vibration to produce by transducing wafer under the excitation of voltage, and he has frequency height, wavelength is short, diffraction phenomenon is little, particularly good directionality, ray can be become and the features such as direction propagation.Ultrasonic wave is very big to the penetrating power of liquid, solid, and especially in the opaque solid of sunlight, he can penetrate the degree of depth of tens meters.Ultrasonic wave encounters impurity or interface can produce significantly to reflect to form and be reflected into echo, encounters live animal physical efficiency and produces Doppler effect.Therefore ultrasound examination is widely used in the aspects such as industry, national defence, biomedicine.
Ultrasonic probe is mainly made up of piezoelectric chip, both can launch ultrasonic wave, it is also possible to receive ultrasonic wave.Small-power ultrasonic probe makees detection effect more.He can have many different structures, can divide normal probe (compressional wave), angle probe (shear wave), surface wave probe (surface wave), Lamb wave probe (Lamb wave), dual probe (probe transmitting, a probe receive) etc..The core of ultrasonic probe is one piece of piezoelectric chip in its plastic wrapper or metal-coating.The material constituting wafer can have many kinds.The size of wafer, as diameter and thickness are also different, therefore each probe performance and differ.
In addition, the IMX6 processor 5 of Freescale is the high scalability multinuclear serial application processor based on ARM Cortex-A9 framework, according to the difference of application scenario, provide alternative monokaryon, double-core and four nucleus products for customer selecting.It is expansible that the monokaryon of IMX6 series, double-core and four core embodiments achieve hardware, and software and pin are completely compatible.The kernel of four ARM Cortex-A9 that IMX 6 four core series reaches 1.2GHz by providing the speed of service, and combine integrated 3D graphic element and 1080p coding/decoding video engine, provide power management function supporting the 1080p video playback of 350mW simultaneously, thus solve polycaryon processor cannot be in the application under scene powered by battery.IMX6 have employed 40 nanometer technology processing procedures of maturation, have 1MB L2 cache, support 1080P 60fps decoding, and 1080P 30fps coding can be carried out, 3D video can also be play under high definition pattern simultaneously, he can also manage the dual camera for 3D stereoscopic shooting simultaneously, has independent 2D and summit accelerating engine.
Use the inspection robot control system based on image recognition of the present invention, cannot be carried out high accuracy line walking and the not high technical problem of object recognition intelligenceization for existing inspection robot control system, increase multiple photoelectric sensing unit to improve line walking precision, increase the image processing techniques based on image recognition, carry out detection of obstacles target differentiation, barrier size detection etc. to process to objects ahead, there is provided more reference data for inspection robot, in order to inspection robot takes different counter-measure, thus reduce the artificial intervention of far-end control platform.
Although it is understood that the present invention discloses as above with preferred embodiment, but above-described embodiment is not limited to the present invention.For any those of ordinary skill in the art, without departing under technical solution of the present invention ambit, technical solution of the present invention is made many possible variations and modification by the technology contents that all may utilize the disclosure above, or is revised as the Equivalent embodiments of equivalent variations.Therefore, every content without departing from technical solution of the present invention, the technical spirit of the foundation present invention is to any simple modification made for any of the above embodiments, equivalent variations and modification, in the range of all still falling within technical solution of the present invention protection.
Claims (1)
1. the patrolling method in an electronic circuit, it is characterised in that the method includes:
1) providing control system, described control system includes motor-drive circuit, infrared ray
Electric transducer, high-definition camera equipment, image processing equipment and Freescale IMX6 processor,
Described infrared ray electric transducer is used for detecting line walking track, and described high-definition camera equipment is used for adopting
Collecting the forward image of described inspection robot, described image processing equipment is for described front figure
As carrying out image procossing, described Freescale IMX6 processor senses with described infrared ray photoelectric
Device and described image processing equipment connect respectively, at based on line walking track detection result and image
Reason output control described in motor-drive circuit, described line walking for be arranged on ground have default
The guiding band of color；And
2) described control system is used to carry out line walking；
Described control system also includes:
Ultrasonic sensor, is positioned at the dead ahead of described inspection robot, including ultrasonic wave is launched
Unit, ultrasonic wave receiving unit and ALU, described ultrasonic transmitting element is for sending out
Penetrating ultrasonic wave, described ultrasonic wave receiving unit is for receiving through surpassing that objects ahead reflects
Sound wave, described ALU receives single with described ultrasonic transmitting element and described ultrasonic wave
Unit connects respectively, receives time difference and propagation speed of ultrasonic waves for launching based on ultrasonic wave, meter
Calculate the target range apart from described inspection robot for the objects ahead；
Storage device, has prestored target signature types of database, described target signature type
Database saves the corresponding target signature of each target type, and described storage device is also in advance
Store target upper limit gray threshold, target lower limit gray threshold, predeterminated target distance threshold,
Expected detection target type, goal-selling height threshold and goal-selling length threshold, described mesh
Put on limit gray threshold and described target lower limit gray threshold for by the target in image and the back of the body
Scape separates；
Described infrared ray electric transducer is arranged on the bottom of described inspection robot, by two row's light
Electricity sensing unit composition, described two row's photoelectric sensing unit are separately positioned on described inspection robot
The both sides of direction of travel, each photoelectric sensing unit output low level when line walking being detected,
Export high level when being not detected by line walking；
Described high-definition camera equipment is arranged on the dead ahead of described inspection robot；
Described image processing equipment is by image pre-processing unit, image segmentation unit, image recognition
Unit and dimension calculating unit composition, described image pre-processing unit connects described high-definition camera and sets
Standby, for carrying out picture superposition and image wavelet filtering successively to described forward image,
To export pretreatment image, described image segmentation unit is connected with described image pre-processing unit,
For by gray value in described pretreatment image target upper limit gray threshold and target lower limit ash
Pixel identification between degree threshold value simultaneously forms target subgraph, by described target subgraph from described
Pretreatment image divides out, described image identification unit and described image segmentation unit and institute
State storage device to connect respectively, be used for identifying the target signature in described target subgraph, and will
Target type each of in the target signature recognizing and described target signature types of database
Corresponding target signature is mated, to find the front corresponding to the target signature recognizing
Target type, described dimension calculating unit is connected with described image segmentation unit, for based on institute
State target subgraph and calculate object height and target length；
Wireless communication interface, controls platform wireless connection with far-end, for controlling with described far-end
Platform carries out bi-directional signal communication；
Described Freescale IMX6 processor and described infrared ray electric transducer, described image
Processing equipment, described ultrasonic sensor, described storage device, described high-definition camera equipment and
Described motor-drive circuit connects respectively, based on each photoelectricity in described infrared ray electric transducer
The driving direction of the described motor-drive circuit of output level control of sensing unit；
Described Freescale IMX6 processor is less than or equal to predeterminated target in described target range
During distance threshold, start described high-definition camera equipment and described image processing equipment, and described
During objects ahead type unexpected detection target type, start barrier and avoid pattern, described
When objects ahead type is expected detection target type, start robot tupe；
Wherein, in described barrier avoidance pattern, described Freescale IMX6 processor exists
Described object height is less than or equal to goal-selling height threshold, sends to described motor-drive circuit
Cross over instruction, little more than goal-selling height threshold and described target length at described object height
When equal to goal-selling length threshold, send, to described motor-drive circuit, instruction of detouring,
Described object height is more than goal-selling height threshold and described target length is more than goal-selling
During length threshold, send wait instruction to described motor-drive circuit, and to wireless communication interface
Send demand modeling signal；
Wherein, in described robot tupe, described Freescale IMX6 processor connects
Receive control signal that forwarded, described far-end control platform by described wireless communication interface, with
Control the operation to objects ahead for the described inspection robot；
Described storage device, described image processing equipment and described Freescale IMX6 processor
Be all located in the case nose of described inspection robot, described wireless communication interface be positioned at described in patrol
On the case nose of line robot；
Described control system also includes: DC Brushless Motor, with described motor-drive circuit even
Connect, under the control of described motor-drive circuit, provide power for crusing robot；
In described two row's photoelectric sensing unit, the quantity often arranging photoelectric sensing unit is equal, is
10；
The resolution ratio of the forward image that described high-definition camera equipment is gathered is 1280 × 720.
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| CN105182977B (en) * | 2015-01-25 | 2016-07-06 | 哈尔滨工大服务机器人有限公司 | Robot system for rectangular target detection |
| CN104679001A (en) * | 2015-01-25 | 2015-06-03 | 无锡桑尼安科技有限公司 | Rectangular target detection method |
| CN105180970B (en) * | 2015-05-22 | 2017-09-08 | 国网河南省电力公司电力科学研究院 | A kind of picking sensor Optimization Design that trajectory measurement is waved for transmission line of electricity |
| CN104848855B (en) * | 2015-05-22 | 2017-11-28 | 国网河南省电力公司电力科学研究院 | Transmission line galloping track calibration system and scaling method based on picking sensor |
| CN107231267B (en) * | 2016-03-25 | 2023-01-17 | 中兴通讯股份有限公司 | Communication network inspection method and device and inspection client |
| CN108829114A (en) * | 2018-09-11 | 2018-11-16 | 天津农学院 | A kind of SCM Based intelligent developed vehicle |
| CN110134128A (en) * | 2019-05-24 | 2019-08-16 | 安徽扬远信息科技有限公司 | A kind of robot remote control control system |
| CN113900436B (en) * | 2021-09-07 | 2023-11-07 | 杭州申昊科技股份有限公司 | Inspection control method, inspection control device, inspection control equipment and storage medium |
| CN114378821B (en) * | 2022-01-19 | 2024-04-05 | 华能汕头海门发电有限责任公司 | Charging and discharging management method of inspection robot |
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| JP3879848B2 (en) * | 2003-03-14 | 2007-02-14 | 松下電工株式会社 | Autonomous mobile device |
| CN1305194C (en) * | 2004-12-17 | 2007-03-14 | 华北电力大学（北京） | Power circuit scanning test robot airplane and controlling system |
| CN101625573B (en) * | 2008-07-09 | 2011-11-09 | 中国科学院自动化研究所 | Digital signal processor based inspection robot monocular vision navigation system |
| CN101770221B (en) * | 2008-12-30 | 2012-01-04 | 中国科学院自动化研究所 | Two-arm inspection robot control system based on field bus |
| CN102114635A (en) * | 2009-12-31 | 2011-07-06 | 武汉大学 | Intelligent controller of inspection robot |
| CN102941920A (en) * | 2012-12-05 | 2013-02-27 | 南京理工大学 | High-tension transmission line inspection robot based on multi-rotor aircraft and method using robot |
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