基于双目视觉的变电站巡检机器人自主避障技术  

Autonomous Obstacle Avoidance Method for Substation Inspection Robot Based on Binocular Vision

作　　者：连宝晶 Lian Baojing(Yunnan Zhengheng Technology Co.,Ltd.,Kunming of The Province,Kunming,Yunnan 650000,China)

机构地区：[1]云南正恒科技有限公司,云南昆明650000

出　　处：《云南电力技术》2024年第2期77-80,共4页Yunnan Electric Power

摘　　要：为了有效解决机器人路径偏移和避障路径过长的问题,提出了一种基于双目视觉的变电站巡检机器人自主避障方法。构建双目立体视觉系统模型,获取空间点的三维世界坐标系,获取障碍物的位置、距离、形状等信息,在获得障碍物的位置信息后,利用矢量场直方图算法(VFH)调整机器人的移动方向,实现自主避障。实验结果表明,所提方法的避障成功率为96%,避障路径较短,且不存在偏离问题,验证了其应用效果。In order to effectively solve the problems of robot path deviation and long obstacle avoidance path,an autonomous obstacle avoidance method for substation inspection robot based on binocular vision is proposed.The model of binocular stereo vision system is constructed,the three-dimensional world coordinate system of space points is obtained,and the position,distance,shape and other information of obstacles are obtained;After obtaining the position information of the obstacle,the vector field histogram algorithm(VFH)is used to adjust the robot's moving direction to achieve autonomous obstacle avoidance.The experimental results show that the success rate of obstacle avoidance of the proposed method is 96%,the obstacle avoidance path is short,and there is no deviation problem,which verifies its application effect.

关 键 词：视野 巡逻机器人 自主避障 矢量场直方图算法 

分 类 号：TM74[电气工程—电力系统及自动化]