Visual Navigation Method of Substation Patrol Robot

摘要

In view of actual demand of circular inspection of substation equipments,a visual navigation method based on trajectory guidance for monocular patrol robot is presented.For preinstalled guide trajectory and stop marks,the video capture program is developed by OpenCV and DirectShow software library to implement real-time acquisition of video information of road;the target colour is extracted by HSI model,then the interference information is removed by mathematical morphology;finally the trajectory and stop marks are segmented and extracted by calculating the 8-adjacent connected areas,and the trajectory parameters are calculated by sampling-estimation method,the electric motor for two driving wheel is controlled by navigational parameters which are fused by proportional coefficient to implement the motion control of patrol robot.Experimental results show that the presented method possesses better real-time performance and reliability and the autonomous navigation of patrol robot can be realized by this method.