基于边界特征的电力巡检机器人自主越障方法  

Autonomous obstacle crossing method for electric power inspection robot based on boundary features

作　　者：马占海 肖建斌 陈亮 MA Zhanhai;XIAO Jianbin;CHEN Liang(Huaneng Xinjiang Jimsal Power Generation Co.,Ltd.,Changji 831799,China)

机构地区：[1]华能新疆吉木萨尔发电有限公司,新疆昌吉831799

出　　处：《电子设计工程》2022年第24期170-174,共5页Electronic Design Engineering

摘　　要：传统越障方法缺少对巡检特征的提取,使控制巡检机器人的电力幅值与实际幅值不一致,导致机器人越障效果不佳。针对该问题,提出了基于边界特征的电力巡检机器人自主越障方法。构造尺度空间,通过高斯差分尺度空间检测巡检关键点,并生成关键点描述子。匹配描述子之间的欧式距离,计算图片匹配度。根据基于边界特征的越障行为控制结构,控制越障行为。调整越障机器人越障运动姿态角,设计电力巡检机器人自主越障方案。由实验结果可知,该方法控制巡检机器人的电力幅值最高为0.90 V,最低为0.30 V,与实际幅值一致。Due to the lack of extraction of inspection features in traditional obstacle crossing methods,the power amplitude of the control inspection robot is inconsistent with the actual value,resulting in poor robot crossing effect.Aiming at this problem,an autonomous obstacle crossing method for electric power inspection robot based on boundary features is proposed.Construct the scale space,detect the inspection key points through the Gaussian difference scale space,and generate key point descriptors.The Euclidean distance between matching descriptors is used to calculate the matching degree of the image.According to the obstacle-crossing behavior control structure based on boundary characteristics,the obstacle-crossing behavior is controlled.Adjust the obstacle-crossing movement attitude angle of the obstacle-crossing robot,and design an autonomous obstacle-crossing scheme for the electric power inspection robot.It can be seen from the experimental results that the maximum power amplitude of the inspection robot controlled by this method is 0.90 V and the minimum is 0.30 V,which is consistent with the actual amplitude.

关 键 词：边界特征 电力巡检 机器人 自主越障 尺度空间 

分 类 号：TN820[电子电信—信息与通信工程]