Hardware-software co-design of inspection robot system
Aiming to two major problems of mobile positioning and object perception,the hardware-software co-design schemes of inspection robot system were explored.For the mobile positioning,a simultaneous localization and mapping strate-gy by combining LiDAR,monocular camera,inertial measurement unit,GPS and other sensors was designed,and an im-proved visual positioning scheme was introduced by using the ArUco marker road sign detection.For the object perception,taking the task of meter information extraction as an example,the deep learning based meter detection,localization and text recognition methods were adopted.The results show that,by incorporating the 5G mobile communication and Wi-Fi network communication functions,an intelligent inspection robot system with network management platform is implemented.The de-veloped inspection robot system has met the requirements in practical applications,which effectively enhances the automation and intelligence level of inspection.
国家科技期刊平台
NSTL
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