Study on the Navigation of Patrol Robot of Transformer Substation Based on Color Vision and RFID

Abstract

The robustness and real-time performance are of the greatest significance for the navigation of the patrol robot in the transformer substation. To meet this demand, a navigation and position approach is presented in this paper based on color vision and RFID(Radio Frequency Identification) technology. In the presented system, the position information is provided by RFID tags and navigation is completed by the extraction of guidelines. Based on the deep analysis of the advantages and shortcoming of different color space, a new approach integrating the good real-time performance of grayscale image process and rich information in color images process is presented to improve the robustness and real-time performance of navigation. Fast Hough transform is selected and combined with least square method to detect the navigation line. Experimental results show that the presented method can meet the real-time and robust demand of the navigation of patrol robot.

Multiple player detection and tracking method using a laser range finder for a robot that plays with human

“…Using the proposed method, the guidance robot can track a guest even when the robot loses the guest. Because the LRF is not affected by lighting conditions, the proposed method is also effective for realizing a patrol robot [39][40][41] that works at night. Finally, while this work aims to realize a robot that plays Darumasan ga Koronda, the proposed technology of person detection and tracking can be used for other games, such as the Tag [42,43].…”