巡检机器人系统的软硬件协同设计
Hardware-software co-design of inspection robot system
毕逢东 1周淦 2张晨光 2姬少英 2彭良瑞 3闫睿劼3
作者信息
- 1. 中国石油天然气销售分公司,北京 100101
- 2. 北京眸视科技有限公司,北京 100085
- 3. 清华大学电子工程系,北京 100084;北京信息科学与技术国家研究中心,北京 100084
- 折叠
摘要
针对移动定位和目标感知两大问题,研究软件与硬件协同的巡检机器人系统设计方案.在移动定位方面,设计一种结合激光雷达、单目摄像头、惯性测量单元、GPS等多种传感器的即时定位与地图构建的技术方案,并采用在巡检环境中设置二维码路标辅助视觉定位的方法;在目标感知方面,以表计信息提取任务为例,设计一种基于深度学习的表计检测、定位与文本识别方法.结果表明,通过引入基于 5G移动通信及Wi-Fi的网络通信功能实现了具有网络管理平台的巡检机器人系统,系统达到实际应用要求,有效提升了巡检的自动化和智能化水平.
Abstract
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.
关键词
巡检机器人/移动定位/目标感知/深度学习/文本识别Key words
inspection robot/mobile positioning/object perception/deep learning/text recognition引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据