Substation inspection robot obstacle avoidance method based on digital twinborn technology

The invention discloses a substation inspection robot obstacle avoidance method based on a digital twinborn technology. The method comprises the steps of image acquisition, image preprocessing, camera calibration, image stereo matching, obstacle detection, obstacle avoidance path planning and three-dimensional modeling. According to the substation inspection robot obstacle avoidance method based on the digital twinborn technology, the accuracy of navigation obstacle avoidance of the inspection robot is improved, the safety of obstacle avoidance walking of the inspection robot is ensured, a solid foundation is laid for autonomous navigation and obstacle avoidance of the substation inspection robot, and the substation inspection robot obstacle avoidance method based on the digital twinborn technology has practical application value. 本发明公开了一种基于数字孪生技术的变电站巡检机器人避障方法，包括图像采集、图像预处理、相机标定、图像立体匹配、障碍物检测、避障路径规划和三维建模。本发明提供了一种基于数字孪生技术的变电站巡检机器人避障方法，提高了巡检机器人导航避障的准确性，保证了巡检机器人避障行走的安全性，为解决变电站巡检机器人的自主导航与避障打下坚实的基础，具有实际应用价值。