基于机器视觉技术的变电站巡检机器人自动导航系统  

Automatic Navigation System of Substation Inspection Robot Based on Machine Vision Technology

作　　者：吕强 李永强 王辉 张海涛 LV Qiang;LI Yong-qiang;WANG Hui;ZHANG Hai-tao(Ultra High Voltage Company of State Grid Gansu Electric Power Company,Lanzhou 730070,China)

机构地区：[1]国网甘肃省电力公司超高压公司,兰州730070

出　　处：《自动化与仪表》2023年第4期65-69,共5页Automation & Instrumentation

摘　　要：该文设计基于机器视觉技术的变电站巡检机器人自动导航系统,有效规划巡检机器人巡检路径,实现巡检机器人自动导航。该系统利用以PIC16F73为单片机的核心控制器,通过机器视觉采集模块采集变电站巡检设备和路线图像,经过图像处理模块分割、去噪处理后,由无线传输模块传输至巡检导航模块,结合栅格法和蚁群算法得出变电站巡检机器人路线规划最优路线;利用PID控制器控制巡检机器人按照规划路线行驶,实现变电站巡检机器人自动导航。实验结果表明,该系统无线通信性能好、覆盖范围广,可准确采集变电站巡检设备和路线图像并精准实现巡检机器人定位,能够有效规划巡检路线,实现巡检机器人自动导航。The automatic navigation system of the substation inspection robot based on machine vision technology is designed to effectively plan the inspection path of the inspection robot and realize the automatic navigation of the inspection robot.The system uses PIC16F73 as the core controller of the single chip computer,collects the substation patrol equipment and route images through the machine vision acquisition module,and after the image processing module segmentation and noise removal processing,the system is transmitted to the patrol navigation module by the wireless transmission module.The optimal route of the substation patrol robot route planning is obtained by combining the grid method and the ant colony algorithm.PID controller is used to control the patrol robot to drive according to the planned route and realize the automatic navigation of the patrol robot in the substation.The experimental results show that the system has good wireless communication performance and wide coverage.It can accurately collect the image of the substation inspection equipment and route and accurately realize the positioning of the inspection robot.It can effectively plan the inspection route and realize the automatic navigation of the inspection robot.

关 键 词：机器视觉技术 变电站 巡检机器人 自动导航系统 机器人定位 路径规划 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]