高压输电线路巡线机器人障碍物视觉检测识别研.pdf

第 2 1 卷 　第 12 期 传 感 技 术 学 报 Vol . 2 1 　N o . 12 2008 年 12 月 CHIN ES E J OU RNAL OF S ENSORS AND AC TUA TORS Dec . 2008 Research of Obstacle Recognition Based on Vision f or High Voltage Transmission L ine Inspection Robot H U Cais h i , W U Gongp i ng , CA O H eng , J I A N G Guow ei ( ) Col leg e of Pow er an d M echanical Eng i neeri ng , Wuhan Uni vers ity , Wuhan 430072 , Chi na Abstract :Ob st acle reco gnition an d orient ation i s one of t he key t echnique s in high volt age t ran smi ssion line autono mou s in sp ection robot . In light of t he st r uct ure of 220 kV single sp lit t ran smi ssio n line , a met ho d of ob st acle reco gnition ba sed up on vi sio n sen sor i s p ut forwar d . Fir st of all , t he shot image i s p roce ssed by exp an sion , ero sion , Gau ss smoot hing t reat ment to relieve t he noi se . A nd t hen , Ot su i s u sed to imp rove Canny algorit hm so a s to det ect t he edge of t he image , w hich can reduce t he influence of t he light chan gin g . At la st , so me grap h cell s are det ect ed and given st ruct ure con st raint in t he edge of image to achieve ob st acle s reco gnition . A lot of t e st s p roved t hat st r uct ure s such a s wire , count erweight , st rain clamp and su sp en sion on high volt age t ran smi ssion line can be eff ectively reco gnized u sing t he met ho d . Key words :in sp ection robot ; ob st acle reco gnition ; ot su algorit hm ; canny algorit hm ; st r uct ure con st raint EEACC :7230 G 高压输电线路巡线机器人障碍物视觉检测识别研究