图像处理技术在高压除冰机器人视觉系统中的应用  

Image processing technology applied in the vision system of the high-pressure deicing robot

作　　者：郝晓弘[1] 耿亮[1] 麻园园[1] 赵振男[1] 

机构地区：[1]兰州理工大学电气工程与信息工程学院,兰州730050

出　　处：《工业仪表与自动化装置》2010年第1期106-108,共3页Industrial Instrumentation & Automation

基　　金：甘肃省科技攻关项目(GS044-A52-001-24);甘肃省自然科学基金项目资助(3ZS042-B25-012)

摘　　要：除冰机器人在高压输电线上高速行走并进行除冰作业,其视觉系统是除冰机器人感知外部环境的重要器官,同时依此感知的环境信息实现对机器人的导航。视觉信息是否正确、及时地处理直接关系到除冰机器人的行驶速度以及避障能力,对除冰机器人控制的实时性和鲁棒性具有决定性作用。视觉信息处理技术是除冰机器人研究中的关键技术。该文主要介绍的是从目标标志物的图像获取,再经过图像预处理、图像分割和图像特征的提取过程的数字图像处理技术在除冰机器人中的应用。The deicing robot walks in the high - voltage transmission line at the high - speed and carries on the deicing operations, the visual system is the vital organs of the deicing robot to percept external environment, simultaneously depends on this sensation of the environmental information to realize the robot＇s navigation. The visual information is whether correct or timely to processes that directly related to the speed of the robot and obstacle avoidance capability, and play a decisive role for the real -time control and robustness of the deicing robot. The visual information processing technology is the key technologies in the deicing robot research. The main introduction of this article from the target image acquisition, and then after the image pre - processing, image segmentation and image feature extraction process of the digital image processing technology is in the deicing robot＇s application.

关 键 词：除冰 图像处理 视觉系统 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]