基于单目机器视觉的高压输电线路障碍物定位研究  

Location of the Obstacle of High Voltage Transmission Lines Based on Monocular Machine Vision

作　　者：王忠亮[1] 吴功平[1] 何缘[1] 杨智勇[1] 

机构地区：[1]武汉大学动力与机械学院,湖北武汉430072

出　　处：《机械设计与制造》2015年第4期85-87,共3页Machinery Design & Manufacture

摘　　要：高压输电线巡线机器人运行线路上的障碍物识别定位,是实现巡线机器人自主导航的关键技术之一。针对110k V高压输电线路地线结构的特点,提出了基于单目机器视觉的高压输电线路障碍物定位研究方法。通过在巡检机器人本体上安装单目摄像机,利用单目摄像机采集前方线路图像,对图像中的障碍物进行识别,利用识别出来的障碍物位置中心与摄像机的位置关系建立测距几何模型,来对巡线机器人前方障碍物进行定位。该方法可以较精确地对巡线机器人前方约(1-2)m内的障碍物进行定位并测距,且误差小、识别率高、响应快。最后,通过实验验证该方法有较高的可行性和有效性,能够极大提高巡线机器人自主导航能力。Obstacle recognition and orientation of high voltage transmission line inspection robot on the line, is one of the key techniques for implementation of inspection robot antonomous navigation. In light of the wire structure of 11OkV high voltage transmission line, a method of obstacle recognition and orientation based on monocular machine vision is put forward. By in.talling a monocular camera on a patrol robot body, using monocular carnera acquisition front line image, ident^es obstacles of the image, establishes distance geometry model by using the relationship between the identiwd obstacles central location and the camera position, to locate obstacles in front of the inspection robot. This method can be more accurate to position and range obstacles within about （1-2） meters in front of the robot, and it has small error, high recognition rate, and fast response. Finally, experiments results verify that this method has high feasibility and effectiveness,can greatly improve the ability for autonomous navigation of inspection robot.

关 键 词：高压输电线 巡线机器人 单目机器视觉 几何模型 障碍物定位 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.62[自动化与计算机技术—检测技术与自动化装置]