10 kV中置式开关柜巡视操作机器人定位系统设计  

Design of positioning system of 10 kV mid-mounted switchgear inspection robot

作　　者：吕佩佩 杜巍峰 刘洋 Lv Peipei;Du Weifeng;Liu Yang(State Grid Shanghai Fengxian Power Supply Company,Shanghai,201499,China;Beijing Rayiee Proto Technology Development Co.,Ltd.,Beijing,100071,China)

机构地区：[1]国网上海奉贤供电公司,上海201499 [2]北京瑞盈智拓科技发展有限公司,北京100071

出　　处：《机械设计与制造工程》2024年第6期82-86,共5页Machine Design and Manufacturing Engineering

基　　金：国网上海市电力公司项目(520923220001)。

摘　　要：设计基于机器视觉技术的10 kV中置式开关柜巡视操作机器人定位系统。将CCD相机内部电路分为主控电路与驱动电路,利用驱动电路中的信号预处理单元对采集的图像信息去噪,通过主控电路的USB接口,将A/D采样得到的图像信息传输至目标提取模块内。通过非参数核密度模型构造抑制背景信息模型,提取目标图像前景信息。利用Hough变换方法设计定位模块,结合目标前景图像信息,生成巡视操作机器人控制指令,驱动与控制直线电机,令巡视操作机器人移动至指定位置。实验结果表明:该系统定位精度较高,可有效对巡视操作机器人进行定位,且机器人实际运动轨迹与规划运动轨迹偏差较小。In order to improve the positioning effect of the patrol operation robot,the 10 kV cabinet patrol operation robot positioning system based on machine vision technology is designed.The circuit system inside the CCD camera is designed for the main control circuit and the drive circuit.The signal preprocessing unit in the drive circuit is used to process the collected image information,and the A/D sample transmits the final image information through the USB interface of the main control circuit to the target extraction module.Through the non-parametric kernel density model,the inhibitory background information model is constructed to obtain the final target foreground information extraction results.The Hough transformation method is used to design the positioning module.Combined with the target foreground image information,it generates the control command of the patrol robot,drives and controls the linear motor,makes the patrol robot to move to the designated position,and completes the design of the patrol operation robot of the 10 kV medium switch cabinet.The experiment proves that the system can effectively control the positioning of the patrol robot to the set 10 coordinate points,and the deviation between the actual movement trajectory and the planned movement trajectory is small,and the positioning accuracy of the system is high,which can accurately locate the patrol robot of 10 kV medium switch cabinet.

关 键 词：机器视觉技术 10 kV中置式开关柜 巡视操作 机器人定位 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]