CN104267726A - High-voltage line detection method - Google Patents
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- CN104267726A CN104267726A CN201410505236.0A CN201410505236A CN104267726A CN 104267726 A CN104267726 A CN 104267726A CN 201410505236 A CN201410505236 A CN 201410505236A CN 104267726 A CN104267726 A CN 104267726A
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Abstract
The invention relates to a high-voltage line detection method. The high-voltage line detection method includes the steps that (1) an inspection robot control system is provided, wherein the control system comprises an infrared sensor, a CCD camera, a monitor host and a wireless communication interface, the monitor host is connected with the infrared sensor, the CCD camera and the wireless communication interface, the monitor host has the remote control mode and the automatic control mode, whether the monitor host is switched to be in remote control mode or not is determined on the basis of detection results of the infrared sensor and the CCD camera, and the monitor host achieves control over the inspection robot according to the remote control information received by the wireless communication interface when in the remote control mode; (2) a control system is used for detection. By means of the high-voltage line detection method, robots can cross over barriers of the determined type automatically in the automatic control mode, and can keep away from barriers which robots can not cross over automatically in the remote control mode under wireless communication control, so that the normal inspection work of robots is ensured.
Description
Technical field
The present invention relates to power monitoring field, particularly relate to a kind of high-tension line detection method.
Background technology
Mobile robot technology integrated application comprises the technology such as multiple sensors, mechanical motion control, telecommunications, all has broad prospects in family expenses, amusement, security, monitoring, the disaster relief and Military Application every field.Current every country is all absorbed in the research and development of mobile robot technology, to occupying one seat in this.
Be used in the application of electric power supervisory control mobile robot, patrolling and examining of ultra-high-tension power transmission line is a wherein important sub-field of application.Be not only require that robot freely can advance fast on ultra-high-tension power transmission line, and more need to cross over dissimilar barrier, such as stockbridge damper, strain clamp and suspension clamp etc. machine Man's Demands in this sub-field.As can be seen here, ultra-high-tension power transmission line patrol and examine the requirement of mobile robot higher.
But, the mobile robot of power monitoring in prior art, the distance of preceding object thing distance robot only can be detected by ultrasonic sensor or infrared ray sensor, there is no the means of obstacle identity identification, when barrier is difficult to cross over, helpless especially, like this, the work carrying out the robot patrolled and examined of ultra-high-tension power transmission line is usually interrupted, and needs manual operation could by robot above water, causes patrolling and examining risk and to increase and efficiency is not high.
Therefore, need a kind of high-tension line detection method, no matter front runs into the barrier of which kind of type, can make flexibly and hide scheme, reduces on-the-spot artificial interference, ensures the security of electric inspection process.
Summary of the invention
In order to solve the problem, the invention provides a kind of high-tension line detection method, when infrared ray sensor detects barrier, obstacle identity is identified by image recognition apparatus, if belong to the type that can automatically cross over, then control each movable joint and automatically cross over, if do not belong to the type that can automatically cross over, then image scene is sent to far-end parametric controller, and realizes dodging barrier based on the steering order of far-end parametric controller.
According to an aspect of the present invention, provide a kind of high-tension line detection method, the method comprises: 1) provide crusing robot control system, described control system comprises infrared ray sensor, ccd video camera, monitoring host computer and wireless communication interface, described monitoring host computer and described infrared ray sensor, described ccd video camera is connected respectively with described wireless communication interface, described monitoring host computer has distance control mode and automatic control mode, testing result based on described infrared ray sensor and described ccd video camera determines whether to be switched to distance control mode, described monitoring host computer is under distance control mode, according to the control of remote control information realization to described crusing robot that described wireless communication interface receives, and 2) use described control system to detect.
More specifically, described inspection robot for high-voltage line control system also comprises multiple movable joint, be separately positioned on the diverse location of described crusing robot, each movable joint is electrically connected with described monitoring host computer, under the control of described monitoring host computer, perform different motion direction and different motion stroke, described infrared ray sensor is arranged on the case nose of described crusing robot, comprise infra-red ray transmitting unit, infrared receiver unit and computing unit, described infra-red ray transmitting unit is for launching infrared ray, described infrared receiver unit is for receiving the infrared ray reflected through preceding object thing, described computing unit is connected respectively with described infra-red ray transmitting unit and described infrared receiver unit, for based on infrared ray transmitter and receiver mistiming and infrared ray propagation rate, calculate the obstacle distance of preceding object thing apart from described crusing robot, storer, be arranged in the case nose of described crusing robot, prestore barrier characteristic type database, described barrier characteristic type database saves barrier characteristic sum corresponding to each obstacle identity across barrier instruction, and described storer has also prestored default obstacle distance threshold value, described ccd video camera, is arranged on the case nose of described crusing robot, for gathering forward image, image recognition apparatus, be arranged in the case nose of described crusing robot, comprise image segmentation unit and image identification unit, described image segmentation unit is connected with described ccd video camera, the segmentation of barrier subimage is performed with acquired disturbance thing subimage to described forward image, described image identification unit is connected respectively with described image segmentation unit and described storer, feature identification is carried out with acquired disturbance thing feature to described barrier subimage, and the barrier feature that the barrier feature recognized is corresponding with each obstacle identity in described barrier characteristic type database is mated, if the match is successful, the obstacle identity corresponding to the barrier feature recognized is exported as preceding object thing type, if it fails to match, output matching failure information, described wireless communication interface is arranged on the case nose of described crusing robot, for receiving the remote control information that far-end parametric controller sends, described remote control information comprises joint commands, macros and switching control command, and described wireless communication interface is also sent to far-end parametric controller for the forward image of the barrier warning message that sent by described monitoring host computer and forwarding, described monitoring host computer is arranged in the case nose of described crusing robot, be defaulted as automatic control mode, with described infrared ray sensor, described storer, described ccd video camera, described image recognition apparatus is connected respectively with described wireless communication interface, when the obstacle distance received is less than or equal to default obstacle distance threshold value, start described ccd video camera and described image recognition apparatus, after the described ccd video camera of startup and described image recognition apparatus, when receiving preceding object thing type, search corresponding to described preceding object thing type hindering instruction in which memory, according to the correspondence found across barrier instruction control described multiple movable joint, when the information that receives that it fails to match, described barrier warning message is sent to described wireless communication interface and enters described distance control mode, wherein, in described distance control mode, described monitoring host computer reception is forwarded by described wireless communication interface, the remote control information that far-end parametric controller sends, if described remote control information is joint commands, then joint commands is directly transmitted to movable joint corresponding to described joint commands by described monitoring host computer, if described remote control information is macros, then described monitoring host computer is resolved described macros, determine that the direction of motion of each movable joint and movement travel are to control each movable joint respectively, if described remote control information is for switching control command, then described monitoring host computer is switched to described automatic control mode, described wireless communication interface also comprises TCP encapsulation unit and TCP resolution unit, described TCP encapsulation unit is used for described barrier warning message being encapsulated as TCP bag to be sent to described far-end parametric controller by cordless communication network, and described TCP resolution unit is wrapped for resolving the TCP received from described far-end parametric controller to obtain described remote control information.
More specifically, described inspection robot for high-voltage line control system also comprises image encoder, be connected respectively with described monitoring host computer and described wireless communication interface, for receiving the forward image that described monitoring host computer forwards, and to described forward image compressed encoding, to generate compression coded image and to send to described wireless communication interface.
More specifically, in described inspection robot for high-voltage line control system, described image encoder is the image encoder of MPEG-4 compression and coding standard.
More specifically, in described inspection robot for high-voltage line control system, described multiple movable joint comprises forearm and the postbrachium of two arms of described crusing robot.
More specifically, in described inspection robot for high-voltage line control system, respective direction of motion and movement travel are also sent to described monitoring host computer by multiple movable joint in real time, so that described monitoring host computer realizes the parsing to described macros.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the inspection robot for high-voltage line control system illustrated according to an embodiment of the present invention.
Embodiment
Below with reference to accompanying drawings the embodiment of inspection robot for high-voltage line control system of the present invention is described in detail.
From applied environment, mobile robot can be divided into two large classes, i.e. industrial robot and specialized robot.So-called industrial robot is exactly multi-joint manipulator towards industrial circle or multi-freedom robot.Specialized robot be then except industrial robot, serve the various sophisticated machine people of the mankind for nonmanufacturing industry, comprising: service robot, underwater robot, supervisory-controlled robot, amusement robot, military robot, agricultural robot, robotize machine etc.In specialized robot, the development of some branch is very fast, has the trend of independent architectonical, as service robot, underwater robot, military robot, micro-manipulating robot etc.International robot scholar, is also divided into two classes from applied environment by robot: the service under the industrial robot under manufacturing environment and non-fabrication environment and human emulated robot.
Because the singularity of power department work, electric power place is a Different high risk sites, and high pressure and high electromagnetic radiation to the injury of field personnel comparatively greatly, frequently should not carry out on-the-spot manual operation.And mobile robot because its dirigibility and intelligence degree higher, by power department is favored, be usually customized to adapt to multiple electric power place, such as high voltage substation, for patrolling to the long-range meter reading of high tension instrument or to high-tension line scene, thus replacement staff performs various task.
But; due to the complicated site environment in electric power place; robot in action in often can run into various types of barrier; the normal walking of these barrier obstruction robots; further obstruction robot executes the task; in order to dodge these barriers; current; generally when using ultrasonic sensor or infrared ray sensor to detect that front exists barrier; the action that concrete steering order carrys out control is sent by far-end parametric controller, but, bring so again a problem; the frequent information interaction of scene and far-end, have impact on machine task efficiency.
Inspection robot for high-voltage line control system of the present invention, there are two kinds of control models, i.e. distance control mode and automatic control mode, when obstacle identity can be recognized, keep away barrier instruction based on corresponding default of the obstacle identity recognized, automatically realize barrier and dodge, when None-identified is to obstacle identity, the image passed back in real time according to scene by far-end parametric controller of side, sends the control that concrete operational order has come situ machine people.
Fig. 1 is the block diagram of the inspection robot for high-voltage line control system illustrated according to an embodiment of the present invention, as shown in Figure 1, described control system comprises wireless communication interface 1, ccd video camera 2, image recognition apparatus 3, monitoring host computer 4, infrared ray sensor 5, storer 6 and n movable joint 7, wherein n be greater than 1 natural number, described monitoring host computer 4 and described wireless communication interface 1, ccd video camera 2, image recognition apparatus 3, infrared ray sensor 5, storer 6 is connected respectively with n movable joint 7, described monitoring host computer 4 has distance control mode and automatic control mode, testing result based on described infrared ray sensor 5 and described ccd video camera 2 determines whether to be switched to distance control mode, described monitoring host computer 4 is under distance control mode, according to the control of remote control information realization to described crusing robot that described wireless communication interface 1 receives, wherein said wireless communication interface 1 and far-end parametric controller 8 realize the bidirectional transmit-receive of data by wireless network.
Then, more specific description is carried out to the structure of inspection robot for high-voltage line control system of the present invention.
A described n movable joint 7, is separately positioned on the diverse location of described crusing robot, and each movable joint 7 is electrically connected with described monitoring host computer 4, under the control of described monitoring host computer 4, performs different motion direction and different motion stroke.
Described infrared ray sensor 5 is arranged on the case nose of described crusing robot, comprise infra-red ray transmitting unit, infrared receiver unit and computing unit, described infra-red ray transmitting unit is for launching infrared ray, described infrared receiver unit is for receiving the infrared ray reflected through preceding object thing, described computing unit is connected respectively with described infra-red ray transmitting unit and described infrared receiver unit, for based on infrared ray transmitter and receiver mistiming and infrared ray propagation rate, calculate the obstacle distance of preceding object thing apart from described crusing robot.
Described storer 6 is arranged in the case nose of described crusing robot, prestore barrier characteristic type database, described barrier characteristic type database saves barrier characteristic sum corresponding to each obstacle identity across barrier instruction, and described storer 6 has also prestored default obstacle distance threshold value.
Described ccd video camera 2 is arranged on the case nose of described crusing robot, for gathering forward image.
Described image recognition apparatus 3 is arranged in the case nose of described crusing robot, comprise image segmentation unit and image identification unit, described image segmentation unit is connected with described ccd video camera 2, the segmentation of barrier subimage is performed with acquired disturbance thing subimage to described forward image, described image identification unit is connected respectively with described image segmentation unit and described storer, feature identification is carried out with acquired disturbance thing feature to described barrier subimage, and the barrier feature that the barrier feature recognized is corresponding with each obstacle identity in described barrier characteristic type database is mated, if the match is successful, the obstacle identity corresponding to the barrier feature recognized is exported as preceding object thing type, if it fails to match, output matching failure information.
Described wireless communication interface 1 is arranged on the case nose of described crusing robot, for receiving the remote control information that far-end parametric controller 8 sends, described remote control information comprises joint commands, macros and switching control command, and described wireless communication interface 1 is also sent to far-end parametric controller 8 for the forward image of the barrier warning message that sent by described monitoring host computer 4 and forwarding.
Described monitoring host computer 4 is arranged in the case nose of described crusing robot, be defaulted as automatic control mode, various data according to receiving realize following control, when the obstacle distance received is less than or equal to default obstacle distance threshold value, start described ccd video camera 2 and described image recognition apparatus 3, after the described ccd video camera 2 of startup and described image recognition apparatus 3, when receiving preceding object thing type, search corresponding to described preceding object thing type hindering instruction in described storer 6, according to the correspondence found across barrier instruction control a described n movable joint 7, when the information that receives that it fails to match, described barrier warning message is sent to described wireless communication interface 1 and enters described distance control mode.
Wherein, in described distance control mode, described monitoring host computer 4 is received and to be forwarded by described wireless communication interface 1, the remote control information that far-end parametric controller 8 sends, if described remote control information is joint commands, then joint commands is directly transmitted to the movable joint of described joint commands 7 correspondence by described monitoring host computer 4, if described remote control information is macros, then described monitoring host computer 4 is resolved described macros, determine that the direction of motion of each movable joint 7 and movement travel are to control each movable joint 7 respectively, if described remote control information is for switching control command, then described monitoring host computer 4 is switched to described automatic control mode.
Described wireless communication interface 1 also comprises TCP encapsulation unit and TCP resolution unit, described TCP encapsulation unit is used for described barrier warning message being encapsulated as TCP bag to be sent to described far-end parametric controller 8 by cordless communication network, and described TCP resolution unit is wrapped for resolving the TCP received from described far-end parametric controller 8 to obtain described remote control information.
Wherein, described inspection robot for high-voltage line control system can also comprise image encoder, be connected respectively with described monitoring host computer 4 and described wireless communication interface 1, for receiving the forward image that described monitoring host computer 4 forwards, and to described forward image compressed encoding, to generate compression coded image and to send to described wireless communication interface 1, described image encoder may be selected to be the image encoder of MPEG-4 compression and coding standard, forearm and the postbrachium of two arms of described crusing robot can be comprised in a described n movable joint 7, respective direction of motion and movement travel can also be sent to described monitoring host computer 4 by a described n movable joint 7 in real time, so that described monitoring host computer 4 realizes the parsing to described macros.
In addition, video compression algorithm mainly contains except MPEG-4: MPEG-1; MPEG-2; MOTION-JPEG; H.263; Small echo.MPEG-4 is generally acknowledged best compression algorithm.MPEG-4 has the following advantages:
(1) resolution is high: MPEG-4 can reach the high resolving power effect of closely MPEG-2.MPEG-4 algorithm+RET the resolution enhancement techniques of POS-Watch, screen resolution is made to reach 704*576, and other products (particularly the industry control type product of Based PC-base) though adopt be MPEG-4 compression algorithm, because its system resource needs to support huge WINDOWS system, again without resolution enhancement techniques, so the resolution of 352*288 can only be accomplished.
(2) compressibility is high: the compressibility of MPEG-4 can up to 200: 1, and the capacity of a frame picture only has 1-2KB.So high compressibility, solves the bottleneck of hard-disk capacity, makes people can store the video file of longer time.In addition, playing function is also specific to MPEG-4 frame by frame.
(3) the code stream bandwidth of dynamic assignment code stream: MPEG-4 is unfixed (and MPEG-1 fixes code stream 1.5Mbits/s), he can adjust code stream automatically according to the complexity of picture and intensity of variation, picture more complicated or change more violent in take more bandwidth, ensure that image quality; Picture fairly simple or static in, take less bandwidth, saved resource.
(4) be applicable to Internet Transmission: POS-Watch mono-road in real time (25 frames/second) upload shared bandwidth and be approximately 600Kbits/s and (do not fix, the bandwidth taken depending on concrete condition difference is also different), be applicable to very much the Internet Transmission of low bandwidth.Even if network bandwidth wretched insufficiency, MPEG-4 can reduce certain frame number and ensure image quality.In addition, a multiple video and audio object coding of video source, is very applicable to interactive multimedia communication.
(5) algorithm is not fixed: MPEG-4 is an open algorithm (MPEG-1 and MPEG-2 is fixing algorithm), each manufacturer can develop oneself MPEG-4 algorithm, the MPEG-4 algorithm of POS-Watch is developed for the DSP (digital signal processor of reduced instruction set computer) of TI (Texas Instrument) by POSDATA company, in addition, the MPEG-4 developed due to each manufacturer is different, so obtain very high guarantee in security and confidentiality.
(6) high non fouling: present supervisory system substantially all will relate to network, but the error code of Ethernet is very high, if do not have very high non fouling, can have a strong impact on the transmission quality of picture.The robustness of MPEG-4 error handle, contributes to the storage of low bit rate video under high bit-error environment and transmission.
Adopt inspection robot for high-voltage line control system of the present invention, the technical matters of manipulation more how far is held for the lower needs of existing electric power place robot avoiding barrier ability, based on image processing techniques, barrier is identified, determine that can barrier successful with existing type matching, if belong to existing type, then realize automatically dodging according to the leap instruction corresponding with existing type, if do not belong to existing type, root realizes effectively dodging according to the steering order of far-end parametric controller, like this, all types of barrier can be dodged, reduce on-the-spot manpower intervention and far-end data amount, improve the automatization level of robot.
Be understandable that, although the present invention with preferred embodiment disclose as above, but above-described embodiment and be not used to limit the present invention.For any those of ordinary skill in the art, do not departing under technical solution of the present invention ambit, the technology contents of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (6)
1. a high-tension line detection method, the method comprises:
1) crusing robot control system is provided, described control system comprises infrared ray sensor, ccd video camera, monitoring host computer and wireless communication interface, described monitoring host computer and described infrared ray sensor, described ccd video camera is connected respectively with described wireless communication interface, described monitoring host computer has distance control mode and automatic control mode, testing result based on described infrared ray sensor and described ccd video camera determines whether to be switched to distance control mode, described monitoring host computer is under distance control mode, according to the control of remote control information realization to described crusing robot that described wireless communication interface receives, and
2) use described control system to detect.
2. the method for claim 1, is characterized in that, described control system also comprises:
Multiple movable joint, is separately positioned on the diverse location of described crusing robot, and each movable joint is electrically connected with described monitoring host computer, under the control of described monitoring host computer, performs different motion direction and different motion stroke;
Described infrared ray sensor is arranged on the case nose of described crusing robot, comprise infra-red ray transmitting unit, infrared receiver unit and computing unit, described infra-red ray transmitting unit is for launching infrared ray, described infrared receiver unit is for receiving the infrared ray reflected through preceding object thing, described computing unit is connected respectively with described infra-red ray transmitting unit and described infrared receiver unit, for based on infrared ray transmitter and receiver mistiming and infrared ray propagation rate, calculate the obstacle distance of preceding object thing apart from described crusing robot;
Storer, be arranged in the case nose of described crusing robot, prestore barrier characteristic type database, described barrier characteristic type database saves barrier characteristic sum corresponding to each obstacle identity across barrier instruction, and described storer has also prestored default obstacle distance threshold value;
Described ccd video camera, is arranged on the case nose of described crusing robot, for gathering forward image;
Image recognition apparatus, be arranged in the case nose of described crusing robot, comprise image segmentation unit and image identification unit, described image segmentation unit is connected with described ccd video camera, the segmentation of barrier subimage is performed with acquired disturbance thing subimage to described forward image, described image identification unit is connected respectively with described image segmentation unit and described storer, feature identification is carried out with acquired disturbance thing feature to described barrier subimage, and the barrier feature that the barrier feature recognized is corresponding with each obstacle identity in described barrier characteristic type database is mated, if the match is successful, the obstacle identity corresponding to the barrier feature recognized is exported as preceding object thing type, if it fails to match, output matching failure information,
Described wireless communication interface is arranged on the case nose of described crusing robot, for receiving the remote control information that far-end parametric controller sends, described remote control information comprises joint commands, macros and switching control command, and described wireless communication interface is also sent to far-end parametric controller for the forward image of the barrier warning message that sent by described monitoring host computer and forwarding;
Described monitoring host computer is arranged in the case nose of described crusing robot, be defaulted as automatic control mode, with described infrared ray sensor, described storer, described ccd video camera, described image recognition apparatus is connected respectively with described wireless communication interface, when the obstacle distance received is less than or equal to default obstacle distance threshold value, start described ccd video camera and described image recognition apparatus, after the described ccd video camera of startup and described image recognition apparatus, when receiving preceding object thing type, search corresponding to described preceding object thing type hindering instruction in which memory, according to the correspondence found across barrier instruction control described multiple movable joint, when the information that receives that it fails to match, described barrier warning message is sent to described wireless communication interface and enters described distance control mode,
Wherein, in described distance control mode, described monitoring host computer reception is forwarded by described wireless communication interface, the remote control information that far-end parametric controller sends, if described remote control information is joint commands, then joint commands is directly transmitted to movable joint corresponding to described joint commands by described monitoring host computer, if described remote control information is macros, then described monitoring host computer is resolved described macros, determine that the direction of motion of each movable joint and movement travel are to control each movable joint respectively, if described remote control information is for switching control command, then described monitoring host computer is switched to described automatic control mode,
Wherein, described wireless communication interface also comprises TCP encapsulation unit and TCP resolution unit, described TCP encapsulation unit is used for described barrier warning message being encapsulated as TCP bag to be sent to described far-end parametric controller by cordless communication network, and described TCP resolution unit is wrapped for resolving the TCP received from described far-end parametric controller to obtain described remote control information.
3. method as claimed in claim 2, it is characterized in that, described control system also comprises:
Image encoder, is connected respectively with described monitoring host computer and described wireless communication interface, for receiving the forward image that described monitoring host computer forwards, and to described forward image compressed encoding, to generate compression coded image and to send to described wireless communication interface.
4. method as claimed in claim 3, is characterized in that: described image encoder is the image encoder of MPEG-4 compression and coding standard.
5. method as claimed in claim 2, is characterized in that: described multiple movable joint comprises forearm and the postbrachium of two arms of described crusing robot.
6. method as claimed in claim 2, is characterized in that: respective direction of motion and movement travel are also sent to described monitoring host computer by multiple movable joint in real time, so that described monitoring host computer realizes the parsing to described macros.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105429048A (en) * | 2015-12-18 | 2016-03-23 | 贵州南源电力科技股份有限公司 | Patrol robot lightweight method for electric transmission line and lightweight patrol robot |
| CN106446921A (en) * | 2016-09-05 | 2017-02-22 | 国网重庆市电力公司电力科学研究院 | High-voltage power transmission line barrier identification method and apparatus |
| CN107862759A (en) * | 2017-10-31 | 2018-03-30 | 东华大学 | One kind storage intelligent patrol detection device and method |
| CN111522346A (en) * | 2020-05-07 | 2020-08-11 | 国网四川省电力公司电力科学研究院 | Intelligent obstacle avoidance method based on deep learning |
| US20210209367A1 (en) * | 2018-05-22 | 2021-07-08 | Starship Technologies Oü | Method and system for analyzing robot surroundings |
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2014
- 2014-09-27 CN CN201410505236.0A patent/CN104267726A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105429048A (en) * | 2015-12-18 | 2016-03-23 | 贵州南源电力科技股份有限公司 | Patrol robot lightweight method for electric transmission line and lightweight patrol robot |
| CN105429048B (en) * | 2015-12-18 | 2017-11-14 | 贵州南源电力科技股份有限公司 | The light-weighted method of crusing robot and lightweight crusing robot of transmission line of electricity |
| CN106446921A (en) * | 2016-09-05 | 2017-02-22 | 国网重庆市电力公司电力科学研究院 | High-voltage power transmission line barrier identification method and apparatus |
| CN107862759A (en) * | 2017-10-31 | 2018-03-30 | 东华大学 | One kind storage intelligent patrol detection device and method |
| CN107862759B (en) * | 2017-10-31 | 2020-05-26 | 东华大学 | Intelligent inspection device and method for storage |
| US20210209367A1 (en) * | 2018-05-22 | 2021-07-08 | Starship Technologies Oü | Method and system for analyzing robot surroundings |
| US11741709B2 (en) * | 2018-05-22 | 2023-08-29 | Starship Technologies Oü | Method and system for analyzing surroundings of an autonomous or semi-autonomous vehicle |
| CN111522346A (en) * | 2020-05-07 | 2020-08-11 | 国网四川省电力公司电力科学研究院 | Intelligent obstacle avoidance method based on deep learning |
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