[1]朱李超,施 会,茅晓亮.基于动态特征点的巡检机器人目标定位系统设计[J].机械与电子,2022,(11):71-75.
　ZHU Lichao,SHI Hui,MAO Xiaoliang.Design of Target Location System for Inspection Robot Based on Dynamic Feature Points[J].Machinery & Electronics,2022,(11):71-75.
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基于动态特征点的巡检机器人目标定位系统设计()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2022年11期
页码:
71-75
栏目:
智能工程
出版日期:
2022-11-25

文章信息/Info

Title:
Design of Target Location System for Inspection Robot Based on Dynamic Feature Points
文章编号:
1001-2257 ( 2022 ) 11-0071-05
作者:
朱李超; 施 会; 茅晓亮
国网上海奉贤供电公司,上海 201400
Author(s):
ZHU Lichao ;  SHI Hui ;  MAO Xiaoliang
( State Grid Shanghai Fengxian Electric Power Supply Company , Shanghai 201400 , China )
关键词:
动态特征点; 巡检机器人; 目标定位; 系统设计; 三帧差分
Keywords:
dynamic feature points ;  patrol robot ;  target positioning ;  system design ;  three frame difference
分类号:
TP242 ; TM63
文献标志码:
A
摘要:
为减轻巡检人员工作量、提高巡检效率,设计基于动态特征点的巡检机器人目标定位系统。明确定位系统基站与子基站主要功能,建立整体架构;选择工业相机、采集卡和显示器等作为硬件设备,为避免机器人受到环境干扰,调整步进电机与驱动器性能参数;建立系统软件开发环境,结合动态连接和演示程序 2 种封装模式,简化系统调试方案;对采集图像做灰度均衡化处理,以增强图像细节,利用动态特征点提取方法获得目标的方向与尺度特征;设定三帧差分算法的合理差分阈值,对图像做阈值化和逻辑相交处理,确定目标运动区域,完成定位。仿真实验证明,该系统不仅具备精准的静态定位功能,当目标实时运动时,也能获得理想定位结果。
Abstract:
In order to reduce the workload of inspectors and improve inspection efficiency , a target positioning system for inspection robots based on dynamic feature points is designed.The main functions of the positioning system base station and sub-base stations are defined , and the overall architecture is established ; industrial cameras , capture cards , and displays are selected as hardware devices to avoid the robot from being interfered by the environment , the performance parameters of stepping motors and drivers are adjusted ; a system software development environment is established , and two packaging modes , dynamic connection and demonstration program are combined , the system debugging plan is simplified ; The gray level equalization process is used to enhance the image details , and the dynamic feature point extraction method is used to obtain the direction and scale characteristics of the target.The reasonable difference threshold of the three-frame difference algorithm is set , the image go through thresholding and logical intersection processing , and the target moving area is determined to complete the positioning.Simulation experiments prove that the system not only has accurate static positioning function , but also can obtain ideal positioning results when the target is moving in real time.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2021-12-08
作者简介:朱李超 ( 1987- ),男,浙江绍兴人,硕士,工程师,研究方向为变电运行;施 会 ( 1987- ),男,上海人,工程师,研究方向为变电运行;茅晓亮 ( 1988- ),男,上海人,工程师,研究方向为变电运行。
更新日期/Last Update: 2022-12-13