基于高光谱遥感图像识别的输电线路巡检机器人路径自动化控制系统  

Path Automation Control System of Transmission Line Inspection Robot Based on Hyperspectral Remote Sensing Image Recognition

作　　者：汪晶 谭清岩 WANG Jing;TAN Qingyan(State Grid Maanshan Power Supply Company,Maanshan 243000,China)

机构地区：[1]国网马鞍山供电公司,马鞍山243000

出　　处：《自动化与仪表》2024年第8期45-48,53,共5页Automation & Instrumentation

摘　　要：输电线路巡检机器人路径自动控制的合理性,是保障巡检机器人能够自主完成巡检任务,提高巡检效率的关键。该文设计基于高光谱遥感图像识别的输电线路巡检机器人路径自动化控制系统。聚类输电线路高光谱遥感图像的像元,识别高光谱遥感图像中的输电线路。依据输电线路识别结果,利用双蚁群算法确定最佳巡检路径。通过模糊PID控制器控制巡检机器人的伺服电机,沿着最优巡检路径移动,实现巡检机器人的路径自动化控制。系统测试结果表明,所设计系统能够依据高光谱遥感图像的输电线路识别结果,规划巡检机器人的巡检路径,巡检路径拐点较少。The rationality of automatic path control of transmission line inspection robot is the key to ensure that inspection robot can complete inspection tasks independently and improve inspection efficiency.An automatic path control system of transmission line inspection robot based on hyperspectral remote sensing image recognition is designed.Clustering the pixels of hyperspectral remote sensing images of transmission lines to identify transmission lines in hyperspectral remote sensing images.According to the identification results of transmission lines,the optimal inspection path is determined by using double ant colony algorithm.The fuzzy PID controller is used to control the servo motor of the inspection robot to move along the optimal inspection path,thus realizing the automatic control of the inspection robot's path.The system test results show that the designed system can plan the inspection path of the inspection robot according to the transmission line identification results of hyperspectral remote sensing images,and the inspection path has fewer inflection points.

关 键 词：高光谱 遥感图像识别 输电线路 巡检机器人 巡检路径 自动化控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]