基于多元融合的输电线路螺栓边缘检测算法  

Bolt Edge Detection Algorithm for Transmission Line Based on Multivariate Fusion

作　　者：谢敏 李烨 钱磊 任伟峰 顾敏 陈健 Xie Min;Li Ye;Qian Lei;Ren Weifeng;Gu Min;Chen Jian(Power Transmission Engineering Branch,Wuxi Guangying Group Co.,Ltd.,Wuxi 214000,China)

机构地区：[1]无锡广盈集团有限公司输电工程分公司,江苏无锡214000

出　　处：《兵工自动化》2025年第3期105-112,共8页Ordnance Industry Automation

基　　金：无锡广盈集团有限公司输电工程分公司2024年电力塔攀爬机器人研究服务(GYKJ202302)。

摘　　要：针对输电线路上螺栓的机器人定位问题,提出基于多元融合的输电线路螺栓边缘和位姿检测算法。对螺栓图像进行预处理,通过Canny模块进行边缘检测,进行连通域分析去噪,通过Graham扫描模块提取出完整螺栓轮廓。通过大量实验将该算法与其他检测算法进行对比,结果表明:相比其他4种算法,该算法能更好地检测出输电线路设备中的螺栓轮廓,在螺栓背景对比度较低时,依然能保持良好优势,并能根据其位姿检测算法进行机械臂定位。In order to solve the problem of robot positioning of bolts on transmission lines,an algorithm for detecting the edge and pose of bolts on transmission lines based on multivariate fusion is proposed.The bolt image is preprocessed,the edge is detected by Canny module,the noise is removed by connected domain analysis,and the complete bolt contour is extracted by Graham scanning module.Through a large number of experiments,the algorithm is compared with other detection algorithms,and the results show that compared with the other four algorithms,the algorithm can better detect the bolt contour in the transmission line equipment,and can still maintain a good advantage when the bolt background contrast is low,and can locate the manipulator according to its pose detection algorithm.

关 键 词：电力巡检机器人 图像预处理 图像轮廓检测 位姿检测 视觉检测 

分 类 号：TP751[自动化与计算机技术—检测技术与自动化装置]