本文選題：雙目立體視覺 + 電力巡檢��； 參考：《北京理工大學》2016年碩士論文

【摘要】：近年來,全球范圍內掀起了多旋翼輕小型無人機商業(yè)化的熱潮。在高壓電力巡檢應用中,無人機代替人工監(jiān)察線路作業(yè)可極大提高工作效率。為防止巡檢無人機與電力設備間發(fā)生碰撞事故,本文研究了基于雙目立體視覺的無人機避障算法和遠程監(jiān)控系統(tǒng)。避障算法主要完成長基線雙目視覺系統(tǒng)下的障礙物深度信息精確感知,為飛行控制系統(tǒng)提供動作依據(jù)。遠程監(jiān)控系統(tǒng)以虛擬現(xiàn)實設備為終端,實時監(jiān)測機載短基線雙目系統(tǒng)獲取的巡檢場景。論文主要展開了如下工作:(1)雙目視覺系統(tǒng)設計與標定。在無人機避障工作中,為獲得較精確的距離感知效果,設計了大型標定板與長基線雙目視覺系統(tǒng)并進行立體標定。利用該視覺系統(tǒng)對遠距離范圍內的預設標靶進行視覺測距實驗,驗證了標定結果的正確性與遠距離視覺測距的可靠性。在遠程監(jiān)控系統(tǒng)的設計工作中,制作了類似人眼結構的短基線雙目視覺系統(tǒng),以此作為監(jiān)控系統(tǒng)的機載前端采集裝置。(2)實際巡檢場景下的雙目測距算法設計與仿真。本文依靠長基線垂直架設的雙目視覺系統(tǒng)進行場景深度感知,并對如何獲取在以下兩種巡檢場景捕獲同名匹配點進行重點分析。a)電力線場景。鑒于電力線幾乎不存在特征點信息,本文首先檢測公共視野內的電力線,利用視覺極線與電力線近似正交的性質尋找電力線上的同名匹配點對;b)電力塔場景。區(qū)別于雷達、結構光等主動式深度感知方法,本文首先利用基于光流法的全被動式景深感知模型初步感知前景電力塔,然后利用SIFT算法提取塔身上的特征點并匹配,匹配結果即為同名匹配點對。同名匹配點對坐標結合相機標定參數(shù)即可計算高壓線、塔目標的深度信息。(3)基于雙目視覺系統(tǒng)的遠程監(jiān)控系統(tǒng)設計與硬件實現(xiàn)。本文對該系統(tǒng)設計思路和主要功能模塊(短基線水平架設雙目視覺模塊,以FPGA與視頻壓縮芯片為核心的圖像處理模塊,無線收發(fā)模塊,虛擬現(xiàn)實終端)進行詳細闡述。通過虛擬現(xiàn)實終端,工作人員可以更真實地遠程感知巡檢情況。本文的研究工作及其主要成果可以作為視覺避障技術在無人機電力巡檢應用中的積極嘗試。
[Abstract]:In recent years, there has been a worldwide commercial boom of multi-rotor light and small UAVs. In the application of high voltage power inspection, unmanned aerial vehicle (UAV) can greatly improve the working efficiency instead of manual monitoring line operation. In order to prevent collision between patrol UAV and power equipment, the obstacle avoidance algorithm and remote monitoring system of UAV based on binocular stereo vision are studied in this paper. Obstacle avoidance algorithm mainly realizes the accurate perception of obstacle depth information under the long baseline binocular vision system, and provides the basis for flight control system. The remote monitoring system uses virtual reality equipment as the terminal to monitor the inspection scene acquired by the airborne short baseline binocular system in real time. The main work of this paper is as follows: 1) Design and calibration of binocular vision system. In order to obtain accurate range sensing effect, a large scale calibration board and a long baseline binocular vision system are designed and calibrated. The vision system is used to carry out the visual ranging experiment on the preset target in the long range, which verifies the correctness of the calibration results and the reliability of the distance vision ranging. In the design of remote monitoring system, a short-baseline binocular vision system similar to the human eye structure is developed, which is used as the airborne front-end acquisition device of the monitoring system, and the Binocular ranging algorithm is designed and simulated under the actual inspection scene. In this paper, the binocular vision system with long baseline vertical erection is used for depth perception, and how to obtain the matching point of the same name in the following two kinds of patrol scenes is analyzed. A) Power line scene is analyzed. In view of the fact that there is almost no characteristic point information in the power line, this paper first detects the power line in the common field of vision, and uses the property of the approximate orthogonality between the visual pole line and the power line to find the scene of the power tower with the same name matching point on the power line. Different from active depth sensing methods such as radar and structured light, this paper first uses the passive depth sensing model based on optical flow method to perceive the foreground electric tower, and then uses SIFT algorithm to extract and match the feature points on the tower body. The matching result is a pair of matching points with the same name. The design and hardware implementation of remote monitoring system based on binocular vision system can be used to calculate the depth information of high voltage line and tower target based on matching point pair coordinate and camera calibration parameters. In this paper, the design idea and main function modules of the system are described in detail, including the short baseline horizontal binocular vision module, the image processing module with FPGA and video compression chip as the core, the wireless transceiver module, and the virtual reality terminal. Through the virtual reality terminal, the staff can more realistically perceive the inspection situation remotely. The research work and its main achievements in this paper can be used as visual obstacle avoidance technology in the UAV electric power inspection application.
【學位授予單位】：北京理工大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：TM755

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