基于AVS算法的变电站设备巡检机器人控制优化方法研究  

Research on control method of substation equipment inspection robot based on AVS algorithm

作　　者：兰依 石敏 耿昌易 何春 LAN Yi;SHI Min;GENG Changyi;HE Chun(Nanning Power Supply Bureau,Guangxi Power Grid Co.,Ltd.,Nanning 530031,China)

机构地区：[1]广西电网有限责任公司南宁供电局,广西南宁530031

出　　处：《电子设计工程》2020年第20期184-188,共5页Electronic Design Engineering

基　　金：南方电网科技项目(2015NR3358)。

摘　　要：为了提高变电站设备巡检机器人捕获目标图像的准确性,文中提出了一种基于AVS算法的变电站设备巡检机器人控制优化方法。该方法在视觉伺服系统基础上,利用尺度不变特征变换方法将机器人捕获设备的图像与模板图像进行匹配,验证图像中目标图像要素存在状态,并通过计算偏移像素来控制PTZ对结果进行校正,从而捕获更准确的目标图像。实验结果证明,该算法有效提升了变电站设备巡检机器人图像捕获的效率,优化了巡检机器人视觉伺服系统。In order to improve the accuracy of the target image captured by the inspection robot of substation equipment,a control optimization method of inspection robot of substation equipment based on AVS algorithm is proposed.Based on the visual servo system,this method uses the scale invariant feature transformation method to match the image of the robot capture device with the template image,verifies the existence state of the target image elements in the image,and controls PTZ to correct the results by calculating the offset pixels,so as to capture more accurate target image.Experimental results show that the algorithm effectively improves the efficiency of image capture of inspection robot in substation equipment,and optimizes the visual servo system of inspection robot.

关 键 词：AVS算法 尺度不变特征变换方法 变电站 设备巡检机器人 PTZ 目标图像 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]