配电网接地环视觉识别与定位方法研究  

Research on Visual Recognition and Positioning Method of Distribution Network Grounding Ring

作　　者：熊希曦 王旭红[1] 文艺[1] XIONG Xixi;WANG Xuhong;WEN Yi(School of Electrical and Information Engineering,Changsha University of Science and Technology,Changsha 410004,China)

机构地区：[1]长沙理工大学电气与信息工程学院,湖南长沙410004

出　　处：《湖南电力》2023年第3期94-102,共9页Hunan Electric Power

基　　金：湖南省双一流学科重点项目(19A026)。

摘　　要：为保障带电作业机器人挂设接地保护线的准确性,对配电网接地环的精准识别与定位方法展开研究。为提高识别精度和易于部署在上位机上,以YOLOX-S为基础,用简化的BiFPN代替颈部PAFPN特征利用层,将GIoU-Loss作为定位损失函数,以Focal Loss作为置信度预测损失函数。采用双目视觉方法对检测到的接地环进行定位,根据双目相机标定获得相机的内外参数和畸变系数,对左右图像进行立体校正,采用半全局立体匹配算法获得图像视差,最终利用重投影矩阵得到接地环的深度和坐标,从而实现接地环的精准识别与定位。将所提方法运用于带电作业机器人挂设接地保护线试验,结果表明该方法能实现机器人精准挂线,并能推广到电力机器人的其他作业。In order to guarantee the accuracy of the grounding protection wire hung by the banding robot,a research on the precise identification and positioning method of the grounding ring of the distribution network is carried out.In order to improve the recognition accuracy and easy deployment on the host computer,YOLOX-S is used as the basis,the simplified BiFPN network is used instead of the PAFPN feature utilisation layer of the neck,GIoU-Loss is used as the localisation loss function and Focal Loss is adopted as the confidence prediction loss function.A binocular vision method is used to locate the detected grounding ring,the binocular camera is calibrated to obtain the internal and external parameters and distortion coefficients of the camera,stereo correction is applied to the left and right images,the semi-global stereo matching algorithm is used to obtain the image parallax,and finally the depth and coordinates of the grounding ring are obtained using the reprojection matrix,so as to achieve accurate recognition and localization of the grounding ring.The proposed identification and positioning method is applied to the experiments of hanging grounding protection wires by a power strip operation robot,and the results show that the method can achieve accurate hanging of wires by the robot and can be extended to other operations of power robots.

关 键 词：目标检测 YOLOX 双目定位 SGBM 

分 类 号：TM84[电气工程—高电压与绝缘技术]