基于动态特征点的巡检机器人目标定位系统设计  

Design of Target Location System for Inspection Robot Based on Dynamic Feature Points

作　　者：朱李超 施会 茅晓亮 ZHU Lichao;SHI Hui;MAO Xiaoliang(State Grid Shanghai Fengxian Electric Power Supply Company,Shanghai 201400,China)

机构地区：[1]国网上海奉贤供电公司,上海201400

出　　处：《机械与电子》2022年第11期71-75,共5页Machinery & Electronics

摘　　要：为减轻巡检人员工作量、提高巡检效率,设计基于动态特征点的巡检机器人目标定位系统。明确定位系统基站与子基站主要功能,建立整体架构;选择工业相机、采集卡和显示器等作为硬件设备,为避免机器人受到环境干扰,调整步进电机与驱动器性能参数;建立系统软件开发环境,结合动态连接和演示程序2种封装模式,简化系统调试方案;对采集图像做灰度均衡化处理,以增强图像细节,利用动态特征点提取方法获得目标的方向与尺度特征;设定三帧差分算法的合理差分阈值,对图像做阈值化和逻辑相交处理,确定目标运动区域,完成定位。仿真实验证明,该系统不仅具备精准的静态定位功能,当目标实时运动时,也能获得理想定位结果。In order to reduce the workload of inspectors and improve inspection efficiency,a target positioning system for inspection robots based on dynamic feature points is designed.The main functions of the positioning system base station and sub base stations are defined,and the overall architecture is established;industrial cameras,capture cards,and displays are selected as hardware devices to avoid the robot from being interfered by the environment,the performance parameters of stepping motors and drivers are adjusted;a system software development environment is established,and two packaging modes,dynamic connection and demonstration program are combined,the system debugging plan is simplified;The gray level equalization process is used to enhance the image details,and the dynamic feature point extraction method is used to obtain the direction and scale characteristics of the target.The reasonable difference threshold of the three frame difference algorithm is set,the image go through thresholding and logical intersection processing,and the target moving area is determined to complete the positioning.Simulation experiments prove that the system not only has accurate static positioning function,but also can obtain ideal positioning results when the target is moving in real time.

关 键 词：动态特征点 巡检机器人 目标定位 系统设计 三帧差分 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TM63[自动化与计算机技术—控制科学与工程]