基于机器视觉的电力巡检机器人自动化系统设计  

Design of Automation System for Electric Power Inspection Robot Based on Machine Vision

作　　者：黄松涛 HUANG Song-tao(State Grid Tongliao Power Supply Company,Tongliao 028000 China)

机构地区：[1]国网内蒙古东部电力有限公司通辽供电公司,内蒙古通辽028000

出　　处：《自动化技术与应用》2024年第1期35-38,43,共5页Techniques of Automation and Applications

摘　　要：为实现巡检中更低的误检率,设计一种基于机器视觉的电力巡检机器人自动化系统。利用远距离激光雷达配合多种设备,实现机器人的定位导航。根据图像预处理模块能够实现巡检图像的色彩分割、降噪滤波等处理。总控平台模块主要由六部分构成,分别为图像识别单元、核心服务单元等。通过硬件与软件相结合实现机器人的电力巡检功能。实验结果表明,设计的机器人运动指标良好,能够实现高效变电站巡检,同时系统的巡检导航性能良好,巡检误检率较低,说明系统满足设计需求。In order to achieve lower false detection rate in inspection,an automatic system of power inspection robot based on machine vision is designed.Using long-distance lidar with a variety of equipment to realize the positioning and navigation of the robot.According to the image preprocessing module,the color segmentation,noise reduction and filtering of patrol image can be realized.The main control platform module is mainly composed of six parts,namely image recognition unit,core service unit,etc.The power inspection function of the robot is realized through the combination of hardware and software.The experimental results show that the designed robot has good motion index and can realize efficient substation inspection.At the same time,the system has good inspection and navigation performance and low inspection error rate,which shows that the system meets the design requirements.

关 键 词：机器视觉 转向电机 电力巡检机器人 自动化系统 CCD摄像机 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TM76[自动化与计算机技术—控制科学与工程]