There are problems such as delay and poor reliability in the online distance measurement of power in-spection robot trajectory tracking,resulting in low trajectory tracking accuracy.A trajectory tracking method for power inspection robots based on binocular vision is proposed for this purpose.Firstly,it constructs a kinematic model of the robot to analyze motion errors,obtains point cloud data and process point cloud mesh information,and strengthens the collection of trajectory data.Then,it extracts the corresponding motion trajectory path and verifies the feasibility of the robot trajectory tracking scheme according to the relevant path,reduces the error rate of extracting trajectory tracking information.Finally,the angle of trajectory tracking system is adjusted,and a two-way navigation system is established to obtain real-time tracking results.Through experimental verifica-tion,the proposed method has high trajectory tracking accuracy,with a tracking error of less than 2%,and can effectively complete the trajectory tracking of power inspection robots.
关键词
双目视觉技术/电力巡检/巡检机器人/轨迹跟踪/机器人轨迹
Key words
binocular vision technology/electric power inspection/inspection robot/trajectory tracking/robot trajectory
维普
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