基于路面标识的变电站巡检机器人单目视觉导航  

Substation Patrol Robot Monocular Visual Navigation Based on Road Signs

作　　者：赵坤[1] 赵书涛[1] 

机构地区：[1]华北电力大学,河北保定071003

出　　处：《电力信息与通信技术》2014年第3期81-84,共4页Electric Power Information and Communication Technology

摘　　要：针对变电站巡检机器人视觉导航定位的问题,提出基于路面标志的变电站机器人单目视觉导航巡检整体方案,设计了直行、拐弯和停止路面标志并对其进行了可行性分析,在MATLAB和LABVIEW的开发环境下编写了路径识别程序,结果显示路面标志能够很好地被提取识别,此方案具有较强的实用性和现实意义,省去电子地图制作时间,对本身设备要求较低,在普通变电站的基础设施上铺设即可。To solve the issues of patrol robot＇s navigation in unattended substations, this paper introduces a monocular visual navigation overall scheme based oll the road signs, designs the road sign of straight, turn and stop, and analyzes its feasibility. The running results of the path identification procedures written in MATLAB and LABVIEW development environment show that the road signs can be extracted and recognized well and the scheme has a strong practical and realistic significance and can be applied to the intYastructure of the ordinary substations because of saving the time of making electronic map and low device demands.

关 键 词：巡检机器人 视觉导航 路面标志 I图像处理 

分 类 号：TM452[电气工程—电器]