| 输电线路除冰机器人障碍视觉检测识别算法 |
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| 引用本文： | 谭磊,王耀南,沈春生.输电线路除冰机器人障碍视觉检测识别算法[J].仪器仪表学报,2011,32(11). |
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| 作者姓名： | 谭磊 王耀南 沈春生 |
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| 作者单位： | 湖南大学电气与信息工程学院 长沙410082 |
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| 摘 要： | 障碍物检测识别是实现输电线路除冰机器人自主除冰作业的关键技术之一.针对220 kV输电线路的结构特点,提出了一种障碍物视觉检测识别算法.算法首先对机器人采集的原始图像进行中值滤波以减少图像噪声并减小障碍物内部的灰度差异；然后利用Otsu算法来确定Canny算子的参数,较好地提取出图像的边缘；最后利用改进的随机Hough变换(RHT)提取出几何图形基元,并施加一定的结构约束,实现了对障碍物的检测识别.在模拟线路上的实验结果表明,该方法能有效地对高压输电线路的导线以及防震锤、绝缘子等障碍物进行检测识别.
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| 关 键 词： | 除冰机器人 障碍识别 图像处理 结构约束 Hough变换 |
Vision based obstacle detection and recognition algorithm for transmission line deicing robot |
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| Tan Lei,Wang Yaonan,Shen Chunsheng.Vision based obstacle detection and recognition algorithm for transmission line deicing robot[J].Chinese Journal of Scientific Instrument,2011,32(11). |
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| Authors: | Tan Lei Wang Yaonan Shen Chunsheng |
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| Affiliation: | Tan Lei,Wang Yaonan,Shen Chunsheng(College of Electrical and Information Engineering,Hunan University,Changsha 410082,China) |
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| Abstract: | Obstacle detection and recognition is one of the key techniques in transmission line deicing robot.A vision based obstacle detection and recognition algorithm is designed based on the structure of 220 kV transmission line.Firstly,the original image captured by the robot is median-filtered to reduce noise and gray-scale difference within the obstacles.Then the Otsu algorithm is used to determine the parameters of Canny operator in order to extract edges from the image.Finally,the improved random Hough transf... |
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| Keywords: | deicing robot obstacle recognition image processing structure constraint Hough transform |
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