基于双目视觉的带电作业机器人的目标识别与定位方法研究  

Research on the object recognition and positioning method of live working robot based on binocular vision

作　　者：陈果 花国祥 俞斌 高峰[1,2] 徐铂裕 Chen Guo;Hua Guoxiang;Yu Bin;Gao Feng;Xu Boyu(School of Automation,Nanjing University of Information Science and Technology,Nanjing 210044,China;School of Automation,Wuxi University,Wuxi 214105,China;Meizhou Power Supply Bureau of Guangdong Power Grid Co.,Ltd.,Meizhou 514021,China)

机构地区：[1]南京信息工程大学自动化学院,南京210044 [2]无锡学院自动化学院,无锡214105 [3]广东电网有限责任公司梅州供电局,梅州514021

出　　处：《国外电子测量技术》2023年第6期139-146,共8页Foreign Electronic Measurement Technology

基　　金：江苏省高等学校自然科学基金(20KJB460004);南方电网有限公司科技项目(031400KK52220012)资助。

摘　　要：高空带电作业机器人对目标物的精细化作业,需要合适的视觉辅助系统判断机械臂或爪具的位置与距离。提出一种将基于双目立体视觉的带电作业机器人目标识别与定位方法。通过对传统的Census算法进行改进,用窗口均值像素代替中心像素,用自适应窗口代替固定窗口,并与差的绝对和(SAD)算法加权融合,得到一种改进的SAD-Census立体匹配融合算法。利用该算法进行像素匹配运算,得出视差图;在YOLO框架下训练输电线螺栓数据集,获得螺栓深度距离并精准识别。螺栓定位实验结果表明,该方法在近距离定位时能达到1.2%的定位精度,最小相对误差为0.5%,能够为带电作业机器人提供实时准确的环境感知信息,提高了带电作业机器人作业的稳定性。A suitable visual aid system is needed to judge the position and distance of the robot arm or claw in the highaltitude live working robot's fine work on the target object.This paper presents a binocular stereo vision based target recognition and localization method for live robot.Among them,the traditional Census algorithm is improved by replacing the center pixel with the window mean pixel and the fixed window with the adaptive window,and weighted fusion with SAD algorithm is obtained to obtain an improved Census-SAD stereo matching fusion algorithm.The algorithm is used for pixel matching and parallax map is obtained.Train the bolt data set of transmission lines under the YOLO framework to obtain the bolt depth distance and accurate identification.The experimental results of bolt positioning show that the proposed method can achieve a positioning accuracy of 1.2%in close range positioning,the minimum relative error was 0.5%,which can provide real-time and accurate environment perception information for live robot,and improve the operating stability of live robot.

关 键 词：带电作业机器人 目标识别与定位 双目立体视觉 SAD-Census算法 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]