基于激光光斑的带电作业机器人线缆定位方法  

Cable Location Method of Live Working Robot Based on Laser Spot

作　　者：刘召 李聪利[2] 耿美晓 郭新[2] 张昕[2] 王立国 Liu Zhao;Li Congli;Geng Meixiao;Guo Xin;Zhang Xin;Wang Liguo(Tsinghua Tongchuang Robot Co.,Ltd,Tianjin300300,China;State Grid Tianjin Electric Power Company,Tianjin300010,China)

机构地区：[1]清研同创机器人(天津)有限公司,天津300300 [2]国网天津市电力公司,天津300010

出　　处：《应用激光》2020年第1期140-146,共7页Applied Laser

基　　金：天津市智能制造科技重大专项(17ZXZNGX00120)。

摘　　要：为满足复杂条件下带电作业机器人作业过程中对线缆的定位需求,提出一种基于激光光斑的带电作业机器人线缆定位方法,在双目相机安装滤光片,移动激光发射器,并在线缆上形成两个光斑。对光斑源图像提取HSV空间的亮度分量,减少光照差异及背景对光斑的影响。利用帧间差分获得两光斑的亮度分布图的差分图像。通过光斑筛选获得目标光斑,去除差分中抖动、光照变化等影响。通过匹配左右相机的光斑对,计算光斑三维坐标,获得线缆上的目标位置和姿态,保证了立体匹配的准确率。搭建实验平台,采集多种光照环境、背景下的线缆图,具有96%的定位准确率,定位误差也能达到作业需求,验证了该定位方法的有效性及实用性。In order to meet the requirement of cable location in the process of live working robot working under complex conditions, a cable location method of live working robot based on laser spot is proposed. The filter is installed before binocular camera lens. Two light spots are formed on the cable by moving the laser transmitter. The value(V) component of HSV space is extracted from the source image to reduce the influence of illumination and background difference on the speckle. The difference image of the brightness distribution of the two spots is obtained by using the inter-frame difference. Through spot selection, two target spots are obtained, and the effects of jitter and illumination change in difference image are eliminated. Then match the spot pairs of left and right cameras. And calculate the three-dimensional coordinates of the spot to obtain the position and pose of the target cable, which ensures the accuracy of stereo matching. An experimental platform is built to collect cable images in various illumination and backgrounds. The location success rate is 96%, and the positioning error can meet the operational requirements, which verifies the effectiveness and practicability of the location method.

关 键 词：激光光斑 高压线缆定位 帧间差分 带电作业机器人 三维位姿计算 

分 类 号：TN249[电子电信—物理电子学] TP391.41[自动化与计算机技术—计算机应用技术]