Abstract
A fall protection method of intelligent patrol robot based on binocular vision is presented in the paper, and the safe running of robot is realized in substation. A binocular camera is installed on the intelligent inspection robot of the substation, and the front road surface of the inspection robot is photographed by a binocular camera. The disparity map is computed by the current road image obtained by the left and right camera, and the actual distance between the two cameras is obtained. By comparing with the preset distance threshold to determine whether the front is a dangerous area. Experimental results show that the proposed method has high accuracy and strong robustness. It can effectively avoid the fall protection of the inspection robot, reduce the damage caused by the drop of the inspection robot and improve the security during the patrolling process of the inspection robot.
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Wu, X. et al. (2020). Research on Anti-fall Algorithms of Substation Intelligent Inspection Robot. In: Xhafa, F., Patnaik, S., Tavana, M. (eds) Advances in Intelligent Systems and Interactive Applications. IISA 2019. Advances in Intelligent Systems and Computing, vol 1084. Springer, Cham. https://doi.org/10.1007/978-3-030-34387-3_9
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DOI: https://doi.org/10.1007/978-3-030-34387-3_9
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