Research on trajectory tracking method of power inspection robot based on binocular vision
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.
binocular vision technologyelectric power inspectioninspection robottrajectory trackingrobot trajectory
万方数据
维普
