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针对无人值守变电站巡检机器人导航定位的问题,介绍了一种基于引导线的单目视觉导航方案。方案中提出一种基于先验模板的四边检测路径导航算法,通过对采集到的图像的边界信息进行分析处理,控制机器人的运动方向。并设计了一种用QR码承载主要待检设备信息的编码方法,变电站新增监控区域时只需更换QR码,巧妙地避开了整个巡检策略变更的繁杂。视觉导航方案是在Windows操作系统下用LabVIEW虚拟仪器软件平台提供的IMAQ Vision模块和MATLAB联合编程实现的,仿真结果显示导航效果理想,简洁可靠,提高了路径识别速度,增强了方案的可移植性和灵活性,具有现实意义。
Aimed at the problem of unmanned substation inspection robot navigation and positioning, a monocular visual navigation scheme based on guideline is introduced. In this scheme, a four-edge detection path navigation algorithm based on a priori template is proposed. By analyzing and processing the border information of the captured images, the robot’s movement direction is controlled. And design a QR code to carry the main equipment information to be seized encoding method, substation monitoring area simply replace the QR code, cleverly avoid the complexity of the entire inspection strategy changes. The visual navigation scheme is realized by the combination of IMAQ Vision module and MATLAB provided by the LabVIEW virtual instrument software platform under the Windows operating system. The simulation results show that the navigation effect is ideal, concise and reliable, the speed of path recognition is increased, and the portability of the scheme is enhanced And flexibility, with practical significance.