CN109737951A - A kind of navigation system and its air navigation aid of cable duct crusing robot - Google Patents
A kind of navigation system and its air navigation aid of cable duct crusing robot Download PDFInfo
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- CN109737951A CN109737951A CN201910098296.8A CN201910098296A CN109737951A CN 109737951 A CN109737951 A CN 109737951A CN 201910098296 A CN201910098296 A CN 201910098296A CN 109737951 A CN109737951 A CN 109737951A
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Abstract
The invention belongs to robot visual guidance technical fields, and in particular to a kind of navigation system of cable duct crusing robot, including image acquisition unit, image processing unit, kinematic driving unit, motion control unit, communication management unit；Described image acquiring unit and image processing unit, image processing unit and communication management unit, motion control unit and the equal two-way communication link of communication management unit；The input terminal of the output end connection kinematic driving unit of the motion control unit.Correspondingly, the present invention also provides a kind of air navigation aids of the navigation system of cable duct crusing robot.The present invention is small by environmental disturbances, can automatically adjust direction of advance, independently pass through fire prevention wall opening, realize the vision guided navigation of crusing robot.
Description
Technical field
The invention belongs to robot visual guidance technical fields, in particular relate to a kind of leading for cable duct crusing robot
Boat system and its air navigation aid.
Background technique
Cable duct intelligent patrol detection device is the part of power industry urgent need, because there are following hidden danger for cable duct: electricity
Equipment and cable operation fever cause space temperature to rise in cable ditch, and enclosure space not easy heat radiation, when the temperature is excessively high cable material
Expect easy to aging, generation fire hazard；It is dark moist in channel, cause decreasing insulating after cable dampness, generates insulation breakdown
Hidden danger；Conduit line narrow space brings very big difficulty to manual inspection, and inspection heavy workload, task are heavy, and conventional people
Power routing inspection efficiency is low.
For the particular surroundings of substation cable channel, inspection process mainly has following difficult point: cable duct is in underground, entirely
Environment is dark state；There is firewall between each channel, to inspection must just pass through under firewall back and forth in channels
The gutter hole of one 10cm*10cm；It then must edge to reach the careful property of detection and completion turning and operation of getting into the cave, robot
The gutter walking in cable duct.However, nowadays cable duct crusing robot on the market is mostly non-vision guided navigation system
System, such as magnetic navigation, predetermined trajectory navigation and command behind the scenes etc., there is a possibility that be unable to autonomous operation and be disturbed big
The problem of.
Summary of the invention
According to problems of the prior art, there is provided a kind of cable duct crusing robots for an object of the present invention
Navigation system, it is small by environmental disturbances, can automatically adjust direction of advance, independently pass through fire prevention wall opening, realize and patrol
Examine robotic vision navigation.
The invention adopts the following technical scheme:
A kind of navigation system of cable duct crusing robot, including image acquisition unit, image processing unit, movement driving
Unit, motion control unit, communication management unit；Described image acquiring unit and image processing unit, image processing unit with
Communication management unit, motion control unit and the equal two-way communication link of communication management unit；The output of the motion control unit
The input terminal of end connection kinematic driving unit.
Preferably, described image acquiring unit includes laser emitter and camera, the control terminal of the laser emitter
Connect the output end of image processing unit, the camera and image processing unit two-way communication link.
It is further preferred that the camera uses high clear colorful camera.
It is further preferred that the kinematic driving unit includes traveling driving motor, turns to driving motor and driving of getting into the cave
Motor；The output end of the motion control unit is separately connected traveling driving motor, turns to driving motor and driving motor of getting into the cave
Control terminal.
Still more preferably, described image processing unit and communication management unit are all made of raspberry pie computer main board；Institute
Motion control unit is stated using STM32 main control chip.
It still more preferably, further include management platform, the management platform and communication management unit two-way communication link.
Still more preferably, the top of the direction of advance of crusing robot, and laser is arranged in the laser emitter
The length for the laser line segment that transmitter issues is greater than the width of cable duct, laser line segment plane locating for crusing robot
Projection is located at the front of crusing robot；The camera is arranged close to laser emitter, and camera and laser emitter
Connecting line is parallel to the plane of rotation of the left and right travel wheel of crusing robot；The region of the intake image of the camera is greater than laser
The locating region of line segment, and laser rays section is located at the middle position of the intake image.
Correspondingly, the present invention also provides a kind of air navigation aids of the navigation system of cable duct crusing robot, including such as
Lower step:
S1 demarcates the initial position of crusing robot, i.e., by the left travel wheel of crusing robot and right travel wheel
The two sides of cable duct are erected at, the distance at cable duct edge of the left lateral into wheel apart from corresponding side is equal to right lateral into wheel apart from corresponding side
Cable duct edge distance, and the plane of rotation of left and right travel wheel is parallel to the length direction of cable duct, so that crusing robot
In normal traveling-position；
S2, during crusing robot advances, laser emitter issues laser rays, and camera shooting obtains laser rays institute
Locate the RGB color image of position, while image processing unit handles RGB color image, and it is corresponding to finally obtain laser rays
Fitting a straight line image, and then obtain fitting a straight line line segment number and straight length；
S3, described image processing unit are passed the line segment number of fitting a straight line and straight length information by communication management unit
Motion control unit is given, motion control unit controls traveling according to the line segment number and straight length information of fitting a straight line respectively and drives
Dynamic motor turns to driving motor and driving motor operating of getting into the cave, and then controls to adjust crusing robot and move ahead along cable duct.
Preferably, step S2 specifically comprises the following steps:
During crusing robot advances, the RGB color image of crusing robot direction of advance is obtained by camera by S21,
Containing the laser rays information being incident upon on cable duct issued by laser emitter in the RGB color image, while at image
It manages unit and gaussian filtering and median filter process is carried out to RGB color image, the RGB color image that obtains that treated；
S22, will treated RGB color figure by cvtColor function in the OpenCV function library of image processing unit
As being converted into HSV channel image；
HSV channel image is carried out HSV by the inRange function in the OpenCV function library of image processing unit by S23
Triple channel binaryzation sets range threshold locating for the laser rays in the channel H, channel S, the channel V that is, in inRange function, and
Red threshold is obtained by searching for HSV basic colors components range table, and then obtains binary image；
S24, by the medianBlur function in the OpenCV function library of image processing unit to the binary image
Median filtering is carried out, obtains filtered image, and filtered image is calculated by the Sobel operator in OpenCV function library
It is the cut-point of leading line at the pixel that gradient value changes greatly in the gradient value of the length direction of laser rays, thus
It eliminates perpendicular to the influence for interfering laser at the length direction of laser rays, obtains three bar navigation lines to get laser rays navigation picture is arrived
Picture；
S25 carries out laser rays to laser rays navigation picture by the parallel rapid refinement algorithm of the Zhang of image processing unit
Micronization processes obtain the skeleton image of laser rays navigation picture；
S26, by the findContours function in the OpenCV of image processing unit to the bone of laser rays navigation picture
Frame image carries out profile lookup, obtains linear pixel point image；
S27, will be in linear pixel point image by the method for hough transformation and least square method in image processing unit
Linear pixel point carry out straight line fitting, obtain fitting a straight line image, and then obtain the line segment number and straight length of fitting a straight line.
It is further preferred that the specific control process of step S3 are as follows:
If fitting a straight line contains three line segments, determine that crusing robot is opposite according to the length ratio of left and right two lines section
In the deviation angle of cable duct, if left line segment length is greater than right line segment length, the artificial shift state to the left of inspection machine, at this time
Motion control unit control turns to driving motor and turns to adjusting to the right, until left line segment length is equal to right line segment length；If left line
Segment length is less than right line segment length, then artificially shift state, at this time motion control unit control turn to driving to inspection machine to the right
Motor turns to adjusting to the left, until left line segment length is equal to right line segment length；If left line segment length is equal to right line segment length, at this time
Motion control unit controls the operating of traveling driving motor, and crusing robot continues to move ahead；
If fitting a straight line only has a line segment, and this line segment is located at the position of the top half of fitting a straight line image, then transports
Dynamic control unit control is got into the cave driving motor operating, and the deformation of crusing robot is completed so that crusing robot pass through it is anti-
Wall with flues hole；
If fitting a straight line only has two-lines section, and the line segment length on the left side is greater than the line segment length on the right, then for will be into
Row left-hand rotation right-angle turning, motion control unit control at this time turns to driving motor, and corner turns round to the left；If fitting a straight line only has two
Line segment, and the line segment length on the right is greater than the line segment length on the left side, then for right-hand rotation right-angle turning will be carried out, movement control at this time
Unit control processed turns to driving motor, and corner turns round to the right.
The advantages and beneficial effects of the present invention are:
1) present invention includes image acquisition unit, image processing unit, kinematic driving unit, motion control unit, communication
Administrative unit；Wherein, image acquisition unit includes laser emitter and camera, goes out laser by laser transmitter projects, takes the photograph
It takes pictures as head and obtains the image of laser region, realize the vision guided navigation of crusing robot；Meanwhile the movement driving list
Member includes traveling driving motor, turns to driving motor and driving motor of getting into the cave；The output end of the motion control unit connects respectively
The control terminal for connecing traveling driving motor, turning to driving motor and driving motor of getting into the cave obtains after being handled by image processing unit
Fitting a straight line line segment number and straight length information control kinematic driving unit so that crusing robot automatically adjusts
Direction of advance.
2) kinematic driving unit of the invention includes traveling driving motor, turns to driving motor and driving motor of getting into the cave, and is led to
It crosses and judges whether fitting a straight line is a line segment, each straight length in two lines section or three line segments and this line segment
Compare, to control traveling driving motor, turn to driving motor and driving motor operating of getting into the cave, and then is respectively completed crusing robot
Straight trip, steering and deformation so that crusing robot smoothly move ahead, turn round and by fire prevention wall opening；Survey monitor of the invention
Device people's navigation system is adaptable, small by environmental disturbances.
Detailed description of the invention
Fig. 1 is the composition block diagram of the navigation system of crusing robot of the invention.
Fig. 2 is the air navigation aid control flow chart of the navigation system of crusing robot of the invention.
Fig. 3 is treated RGB color image of the invention.
Fig. 4 is HSV channel image of the invention.
Fig. 5 is binary image of the invention.
Fig. 6 is laser rays navigation picture of the invention.
Fig. 7 is the skeleton image of laser rays navigation picture of the invention.
Appended drawing reference:
1- image acquisition unit, 2- image processing unit, 3- kinematic driving unit, 4- motion control unit, 5- communication pipe
Unit is managed, 6- manages platform, 11- laser emitter, 12- camera, 31- traveling driving motor, 32- steering driving motor, 33-
It gets into the cave driving motor.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, a kind of navigation system of cable duct crusing robot, including image acquisition unit 1, image procossing list
First 2, kinematic driving unit 3, motion control unit 4, communication management unit 5；Described image acquiring unit 1 and image processing unit
2, image processing unit 2 and communication management unit 5, motion control unit 4 and the equal two-way communication link of communication management unit 5；Institute
State the input terminal of the output end connection kinematic driving unit 3 of motion control unit 4；
Specifically, described image processing unit 2 and communication management unit 5 are all made of raspberry pie computer main board；The movement
Control unit 4 uses STM32 main control chip.
Described image acquiring unit 1 includes laser emitter 11 and camera 12, the control terminal of the laser emitter 11
Connect the output end of image processing unit 2, the camera 12 and 2 two-way communication link of image processing unit；
Specifically, the top of the direction of advance of crusing robot, and laser emitter is arranged in the laser emitter 11
The projection of 11 planes locating for crusing robot is located at the middle position of crusing robot or so travel wheel；The camera 12
It is arranged close to laser emitter 11, and camera 12 and 11 connecting line of laser emitter are parallel to the left and right traveling of crusing robot
The plane of rotation of wheel；
Specifically, the camera 12 uses high clear colorful camera.
The kinematic driving unit 3 includes traveling driving motor 31, turns to driving motor 32 and driving motor 33 of getting into the cave；Institute
The output end for stating motion control unit 4 is separately connected traveling driving motor 31, turns to driving motor 32 and driving motor 33 of getting into the cave
Control terminal.
Specifically, the navigation system of crusing robot further includes management platform 6, the management platform 6 and communication management list
First 5 two-way communication links, to complete the long-range control and long-range monitoring to crusing robot by management platform 6.
The laser emitter 11 is arranged in the top of the direction of advance of crusing robot, and laser emitter 11 issues
The length of laser line segment is greater than the width of cable duct, and the projection of laser line segment plane locating for crusing robot is located at inspection
The front of robot；The camera 12 is arranged close to laser emitter 11, and camera 12 is connect with laser emitter 11
Line is parallel to the plane of rotation of the left and right travel wheel of crusing robot；The region of the intake image of the camera 12 is greater than laser rays
The locating region of section, and laser rays section is located at the middle position of the intake image.
Below with reference to specific work process and attached drawing, navigation system and air navigation aid of the invention are described in detail:
S1 demarcates the initial position of crusing robot, i.e., by the left travel wheel of crusing robot and right travel wheel
The two sides of cable duct are erected at, the distance at cable duct edge of the left lateral into wheel apart from corresponding side is equal to right lateral into wheel apart from corresponding side
Cable duct edge distance, and the plane of rotation of left and right travel wheel is parallel to the length direction of cable duct, so that crusing robot
In normal traveling-position；
S2, during crusing robot advances, laser emitter 11 issues laser rays, and the shooting of camera 12 obtains laser
The RGB color image of line present position, while image processing unit 2 handles RGB color image, finally obtains laser rays
Corresponding fitting a straight line image, and then obtain the line segment number and straight length of fitting a straight line；
Specifically comprise the following steps:
During crusing robot advances, the RGB color figure of crusing robot direction of advance is obtained by camera 12 by S21
Picture is schemed simultaneously containing the laser rays information being incident upon on cable duct issued by laser emitter 11 in the RGB color image
As processing unit 2 carries out gaussian filtering and median filter process to RGB color image, the RGB color image that obtains that treated, such as
Shown in Fig. 3；
S22, will treated RGB color by cvtColor function in the OpenCV function library of image processing unit 2
Image is converted into HSV channel image, as shown in Figure 4；
S23 is carried out HSV channel image by the inRange function in the OpenCV function library of image processing unit 2
HSV triple channel binaryzation sets range threshold locating for the laser rays in the channel H, channel S, the channel V that is, in inRange function,
And red threshold is obtained by searching for HSV basic colors components range table, and then obtain binary image, as shown in Figure 5；Its
In, HSV basic colors components range table is as shown in table 1；
Table 1HSV basic colors components range table:
S24, by the medianBlur function in the OpenCV function library of image processing unit 2 to the binary image
Median filtering is carried out, obtains filtered image, and filtered image is calculated by the Sobel operator in OpenCV function library
It is the cut-point of leading line at the pixel that gradient value changes greatly in the gradient value of the length direction of laser rays, thus
It eliminates perpendicular to the influence for interfering laser at the length direction of laser rays, obtains three bar navigation lines to get laser rays navigation picture is arrived
Picture, as shown in Figure 6；
S25 carries out laser to laser rays navigation picture by the parallel rapid refinement algorithm of the Zhang of image processing unit 2
Line thinning processing, obtains the skeleton image of laser rays navigation picture, as shown in Figure 7；
S26, by the findContours function in the OpenCV of image processing unit 2 to the bone of laser rays navigation picture
Frame image carries out profile lookup, obtains linear pixel point image；
S27, by the method for hough in image processing unit 2 transformation and least square method by linear pixel point image
In linear pixel point carry out straight line fitting, obtain fitting a straight line image, and then obtain the line segment number and length of fitting a straight line
Degree.
S3, described image processing unit 2 pass through communication management unit 5 for the line segment number and straight length information of fitting a straight line
Send motion control unit 4 to, motion control unit 4 controls row according to the line segment number and straight length information of fitting a straight line respectively
Into driving motor 31, driving motor 32 and driving motor 33 of getting into the cave operating are turned to, and then controls to adjust crusing robot along electricity
Cable ditch moves ahead；
As shown in Fig. 2, specific control process are as follows: if fitting a straight line contains three line segments, according to left and right two lines section
Length, if left line segment length is greater than right line segment length, is patrolled than determining deviation angle of the crusing robot relative to cable duct
Examining machine, artificially shift state, the at this time control of motion control unit 4 turn to driving motor 32 and turn to adjusting to the right to the left, until left
Line segment length is equal to right line segment length；If left line segment length is less than right line segment length, the artificial shift state to the right of inspection machine,
The control of motion control unit 4 at this time turns to driving motor 32 and turns to adjusting to the left, until left line segment length is equal to right line segment length；
If left line segment length is equal to right line segment length, motion control unit 4 controls traveling driving motor 31 and operates at this time, crusing robot
Continue to move ahead；
If fitting a straight line only has a line segment, and this line segment is located at the position of the top half of fitting a straight line image, then transports
Dynamic control unit 4 controls the operating of driving motor 33 of getting into the cave, and the deformation of crusing robot is completed, so that crusing robot passes through
Prevent fires wall opening；
If fitting a straight line only has two-lines section, and the line segment length on the left side is greater than the line segment length on the right, then for will be into
Row left-hand rotation right-angle turning, the control of motion control unit 4 at this time turns to driving motor 32, and corner turns round to the left；If fitting a straight line only has
Two-lines section, and the line segment length on the right is moved greater than the line segment length on the left side then for that will carry out right-hand rotation right-angle turning at this time
The control of control unit 4 turns to driving motor 32, and corner turns round to the right.
Claims (10)
1. a kind of navigation system of cable duct crusing robot, it is characterised in that: including image acquisition unit (1), image procossing
Unit (2), kinematic driving unit (3), motion control unit (4), communication management unit (5)；Described image acquiring unit (1) with
Image processing unit (2), image processing unit (2) and communication management unit (5), motion control unit (4) and communication management list
First (5) equal two-way communication link；The input terminal of output end connection kinematic driving unit (3) of the motion control unit (4).
2. a kind of navigation system of cable duct crusing robot according to claim 1, it is characterised in that: described image obtains
Taking unit (1) includes laser emitter (11) and camera (12), and the control terminal of the laser emitter (11) connects at image
Manage the output end of unit (2), the camera (12) and image processing unit (2) two-way communication link.
3. a kind of navigation system of cable duct crusing robot according to claim 2, it is characterised in that: the camera
(12) high clear colorful camera is used.
4. a kind of navigation system of cable duct crusing robot according to claim 2, it is characterised in that: the movement is driven
Moving cell (3) includes traveling driving motor (31), turns to driving motor (32) and driving motor of getting into the cave (33)；The motion control
The output end of unit (4) is separately connected traveling driving motor (31), steering driving motor (32) and driving motor of getting into the cave (33)
Control terminal.
5. a kind of navigation system of cable duct crusing robot according to claim 4, it is characterised in that: at described image
Reason unit (2) and communication management unit (5) are all made of raspberry pie computer main board；The motion control unit (4) uses STM32 master
Control chip.
6. a kind of navigation system of cable duct crusing robot according to claim 1, it is characterised in that: further include management
Platform (6), the management platform (6) and communication management unit (5) two-way communication link.
7. a kind of navigation system of cable duct crusing robot according to claim 5, it is characterised in that: the laser hair
The top of the direction of advance of crusing robot, and the length of the laser line segment of laser emitter (11) sending is arranged in emitter (11)
Greater than the width of cable duct, laser line segment plane locating for crusing robot projection be located at crusing robot just before
Side；The camera (12) is arranged close to laser emitter (11), and camera (12) and laser emitter (11) connecting line are flat
Row is in the plane of rotation of the left and right travel wheel of crusing robot；The region of the intake image of the camera (12) is greater than laser line segment
Locating region, and laser rays section be located at it is described intake image middle position.
8. a kind of air navigation aid of the navigation system of cable duct crusing robot according to claim 7, which is characterized in that
Include the following steps:
S1 demarcates the initial position of crusing robot, i.e., sets up the left travel wheel of crusing robot and right lateral into wheel
In the two sides of cable duct, the distance at cable duct edge of the left lateral into wheel apart from corresponding side is equal to electricity of the right lateral into wheel apart from corresponding side
The distance at cable ditch edge, and the plane of rotation of left and right travel wheel is parallel to the length direction of cable duct, so that crusing robot is in
Normal traveling-position；
S2, during crusing robot advances, laser emitter (11) issues laser rays, and camera (12) shooting obtains laser
The RGB color image of line present position, while image processing unit (2) handles RGB color image, finally obtains laser
The corresponding fitting a straight line image of line, and then obtain the line segment number and straight length of fitting a straight line；
S3, described image processing unit (2) pass through communication management unit (5) for the line segment number and straight length information of fitting a straight line
It sends to motion control unit (4), motion control unit (4) is controlled respectively according to the line segment number and straight length information of fitting a straight line
Traveling driving motor (31), steering driving motor (32) and driving motor of getting into the cave (33) operating processed, and then control to adjust survey monitor
Device people moves ahead along cable duct.
9. a kind of air navigation aid of the navigation system of cable duct crusing robot according to claim 8, which is characterized in that
Step S2 specifically comprises the following steps:
During crusing robot advances, the RGB color image of crusing robot direction of advance is obtained by camera (12) by S21,
Containing the laser rays information being incident upon on cable duct issued by laser emitter (11) in the RGB color image, scheme simultaneously
As processing unit (2) carry out gaussian filtering and median filter process to RGB color image, the RGB color image that obtains that treated；
S22, will treated RGB color by cvtColor () function in the OpenCV function library of image processing unit (2)
Image is converted into HSV channel image；
S23 is carried out HSV channel image by inRange () function in the OpenCV function library of image processing unit (2)
HSV triple channel binaryzation sets range threshold locating for the laser rays in the channel H, channel S, the channel V that is, in inRange function,
And red threshold is obtained by searching for HSV basic colors components range table, and then obtain binary image；
S24, by medianBlur () function in the OpenCV function library of image processing unit (2) to the binary image
Median filtering is carried out, obtains filtered image, and filtered image is calculated by the Sobel operator in OpenCV function library
It is the cut-point of leading line at the pixel that gradient value changes greatly in the gradient value of the length direction of laser rays, thus
It eliminates perpendicular to the influence for interfering laser at the length direction of laser rays, obtains three bar navigation lines to get laser rays navigation picture is arrived
Picture；
S25 carries out laser rays to laser rays navigation picture by the parallel rapid refinement algorithm of the Zhang of image processing unit (2)
Micronization processes obtain the skeleton image of laser rays navigation picture；
S26, by findContours () function in the OpenCV of image processing unit (2) to the bone of laser rays navigation picture
Frame image carries out profile lookup, obtains linear pixel point image；
S27, will be in linear pixel point image by the method for hough transformation and least square method in image processing unit (2)
Linear pixel point carry out straight line fitting, obtain fitting a straight line image, and then obtain the line segment number and straight length of fitting a straight line.
10. a kind of air navigation aid of the navigation system of cable duct crusing robot according to claim 9, feature exist
In the specific control process of step S3 are as follows:
If fitting a straight line contains three line segments, determine crusing robot relative to electricity according to the length ratio of left and right two lines section
The deviation angle of cable ditch, if left line segment length is greater than right line segment length, the artificial shift state to the left of inspection machine moves at this time
Control unit (4) control turns to driving motor (32) and turns to adjusting to the right, until left line segment length is equal to right line segment length；If left
Line segment length is less than right line segment length, then artificially shift state, at this time motion control unit (4) control turn to inspection machine to the right
Driving motor (32) turns to adjusting to the left, until left line segment length is equal to right line segment length；If left line segment length is equal to right line segment
Length, motion control unit (4) control traveling driving motor (31) operating, crusing robot continue to move ahead at this time；
If fitting a straight line only has a line segment, and this line segment is located at the position of the top half of fitting a straight line image, then moves control
Unit (4) processed controls driving motor (33) operating of getting into the cave, and the deformation of crusing robot is completed, so that crusing robot passes through
Prevent fires wall opening；
If fitting a straight line only has two-lines section, and the line segment length on the left side is greater than the line segment length on the right, then will to carry out a left side
Turn right-angle turning, motion control unit (4) control at this time turns to driving motor (32), and corner turns round to the left；If fitting a straight line only has
Two-lines section, and the line segment length on the right is moved greater than the line segment length on the left side then for that will carry out right-hand rotation right-angle turning at this time
Control unit (4) control turns to driving motor (32), and corner turns round to the right.
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| CN201910098296.8A CN109737951B (en) | 2019-01-31 | 2019-01-31 | Navigation method of navigation system of cable trench inspection robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN112083732A (en) * | 2020-10-28 | 2020-12-15 | 中航华东光电（上海）有限公司 | Robot navigation method and system for detecting visible line laser |
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