基于双目视觉的变电站巡检机器人故障点定位方法  

Fault Location Method for Substation Inspection Robot Based on Binocular Vision

作　　者：孙锦钊 慕爱东 孙梦阳 SUN Jinzhao;MU Aidong;SUN Mengyang

机构地区：[1]烟台国网中电电气有限公司,山东烟台264000

出　　处：《今日自动化》2024年第9期179-181,共3页Automation Today

摘　　要：由于变电站通常位于偏远地区,其运行环境较为恶劣,实际运行中设备与线路故障时有发生,故提出基于双目视觉的变电站巡检机器人故障点定位方法。在巡检机器人上搭载双目摄像机,基于双目视觉技术获取变电站故障点的巡检图像,预处理所获取的变电站巡检机器人故障点双目图像,对预处理后的双目图像中目标故障点进行立体匹配,获得故障点定位结果。实验结果表明,设计方法下变电站巡检机器人故障点定位结果的相对误差仅0.84%,定位精度较高。Due to the fact that substations are usually located in remote areas and have harsh operating environments,equipment and line failures often occur during actual operation.A fault location method based on binocular vision for substation inspection robots is proposed.Install binocular cameras on the inspection robot,obtain inspection images of substation fault points based on binocular vision technology,preprocess the obtained binocular images of substation inspection robot fault points,perform stereo matching on the target fault points in the preprocessed binocular images,and obtain fault point localization results.The experimental results show that the relative error of the fault location results of the substation inspection robot under the design method is only 0.84%,indicating a high positioning accuracy.

关 键 词：双目视觉 变电站 巡检机器人 故障点 定位方法 

分 类 号：TM63[电气工程—电力系统及自动化] TP242.6[自动化与计算机技术—检测技术与自动化装置] TF089[自动化与计算机技术—控制科学与工程]