机器人视觉导航技术的二次设备智能巡检方法  

Intelligent Inspection Method of Secondary Equipment Based on Robot Vision Navigation Technology

作　　者：张志 王立玮 杨钰雪 樊京杭 ZHANG Zhi;WANG Li-wei;YANG Yu-xue;FAN Jing-hang(State Grid Hebei Information&Telecommunication Branch,Shijiazhuang 050000,China)

机构地区：[1]国网河北省电力有限公司信息通信分公司,石家庄050000

出　　处：《自动化与仪表》2021年第4期51-56,共6页Automation & Instrumentation

摘　　要：针对传统技术中巡检环境存在有害气体、工作环境封闭性强、巡检路程长等缺点,该研究对二次设备巡检机器人的功能进行了完善与设计,提高了机器人的智能化应用程度。并利用CCD彩色相机实现巡检图象采集并去噪,提高了大风、云雾、雨雪等天气中图像采集能力。利用深度摄像头进行视觉导航,实现了机器人巡检过程中的位置定位。试验表明,该研究的视觉导航系统精度很高,误差在1 cm以内,具有定位精确、自主巡检速度快和工作区域维护少等优点。Aiming at the disadvantages of traditional technology such as harmful gases in the inspection environment,strong closed working environment,and long inspection distance,this research has perfected and designed the functions of the secondary equipment inspection robot to improve the intelligent application of the robot.And use CCD color camera to realize the inspection image collection and denoising,which improves the image collection ability in the weather such as strong wind,cloud and fog,rain and snow.The depth camera is used for visual navigation to realize the position positioning during the robot inspection process.Experiments show that the visual navigation system in this study has high accuracy,with an error of less than 1cm,and has the advantages of accurate positioning,fast autonomous inspection speed and less maintenance of the work area.

关 键 词：机器人 二次设备 巡检 图象采集去噪技术 视觉导航 深度摄像头 

分 类 号：TM73[电气工程—电力系统及自动化]