Autonomous Obstacle Avoidance Method for Substation Inspection Robot Based on Binocular Vision

摘要

In order to effectively solve the problems of robot path deviation and long obstacle avoidance path, an autonomous obstacle avoidance method for substation inspection robot based on binocular vision is proposed. The model of binocular stereo vision system is constructed, the three-dimensional world coordinate system of space points is obtained, and the position, distance, shape and other information of obstacles are obtained; After obtaining the position information of the obstacle, the vector field histogram algorithm (VFH) is used to adjust the robot's moving direction to achieve autonomous obstacle avoidance. The experimental results show that the success rate of obstacle avoidance of the proposed method is 96%, the obstacle avoidance path is short, and there is no deviation problem, which verifies its application effect.