A visual navigation method of substation inspection robot

摘要

According to the real condition of the substation inspection robot provided a vision-based navigation control method for substation inspection robot can be run in the complex road environment, with strong anti-interference, implementation of simple, good stability and high precision in this paper. Reasonably plan the inspection paths, enabling robot to full check each device in substation. Robots get information of navigation path through the visual, using HSV color space model effectively solve the interference of illumination in the image, then calculate the current offset of the center, and sent it to the controller, adjusting left and right wheels with differential speed make the robot running stably.