输电线路除冰机器人视觉定位方法研究  

Research on Vision Positioning Method of Transmission Line Deicing Robot

作　　者：李辉熠[1] 李希[2] 谢景伟[1] LI Hui-yi;LI Xi;XIE Jing-wei(Hunan Mass Media Vocational and Technical College,Hu'nan Changsha 410100,China;Hu'nan Normal University,Hu'nan Changsha 410081,China)

机构地区：[1]湖南大众传媒职业技术学院,湖南长沙410100 [2]湖南师范大学,湖南长沙410081

出　　处：《机械设计与制造》2023年第3期198-202,共5页Machinery Design & Manufacture

基　　金：湖南省自然科学基金项目(12JJ5022)。

摘　　要：针对高压输电线路上的各种障碍物会影响除冰机器人的正常运行。为了提高机器人的越障能力,给出一种用于输电线路除冰机械人的视觉定位方法,用于机器人越障时的机械臂对准。使用Gabor变换把电缆线从背景中提取出来,然后用最小二乘法检测电缆线位置。通过不同光照度实验验证该定位方法的准确性和鲁棒性。实验结果表明,该检测方法可以在正常光照下准确定位,即使在高光照有部分纹理缺失时也有较强的鲁棒性。该研究为除冰机器人视觉检测方法的发展提供了一定的参考和借鉴。Various obstacles on the high-voltage transmission line will affect the normal operation of the de-icing robot.In order to improve the robot’s ability of surmounting obstacles,it presents a visual positioning method for the deicing robot of transmission line,which is used for the robot’s arm alignment when surmounting obstacles.Use Gabor transform to extract the cable from the background,and then use the least square method to detect the cable position.The accuracy and robustness of the localization method are verified by experiments with different illuminances.The experimental results show that the detection method can be accurately positioned under normal illumination,and it has strong robustness even when some textures are missing in high illumination.This research provides a certain reference and reference for the development of de-icing robot visual inspection methods.

关 键 词：输电线路 除冰机器人 越障能力 视觉检测 GABOR变换 

分 类 号：TH16[机械工程—机械制造及自动化]