【摘要】：變電站是電網(wǎng)的樞紐，定期巡視對(duì)于保證變電站電氣設(shè)備正常運(yùn)行至關(guān)重要。近年來(lái)，隨著電力科技進(jìn)步和體制改革的不斷深入，變電站巡檢技術(shù)正由機(jī)器人巡檢逐步取代人工巡檢。 變電站智能巡檢機(jī)器人攜帶紅外熱像儀、可見(jiàn)光CCD、拾音器等檢測(cè)與傳感裝置，以自主運(yùn)行或遠(yuǎn)程遙控的方式，全天候地在無(wú)人或少人值守的變電站對(duì)室外高壓電力設(shè)備進(jìn)行定期巡檢，能夠及時(shí)發(fā)現(xiàn)電力設(shè)備的熱缺陷、異物懸掛等異�，F(xiàn)象，自動(dòng)發(fā)出報(bào)警信號(hào)或進(jìn)行預(yù)先設(shè)置好的故障處理措施，可靠的導(dǎo)航是巡檢機(jī)器人正確工作的關(guān)鍵技術(shù)，因此研究變電站智能巡檢機(jī)器人導(dǎo)航方法具有重要的實(shí)際意義。 本文通過(guò)分析現(xiàn)有變電站巡檢技術(shù)，引入機(jī)器視覺(jué)和人工智能等基本理論，對(duì)變電站巡檢機(jī)器人功能需求進(jìn)行分析，首先設(shè)計(jì)了一種變電站智能巡檢機(jī)器人總體結(jié)構(gòu)，然后針對(duì)無(wú)人值守變電站巡檢機(jī)器人導(dǎo)航定位的問(wèn)題，制定了一種基于引導(dǎo)線的單目視覺(jué)導(dǎo)航方案，，方案包括循線行走和定點(diǎn)檢測(cè)兩部分。處理循線行走部分時(shí)提出一種基于先驗(yàn)?zāi)０宓乃倪厵z測(cè)路徑導(dǎo)航算法，通過(guò)對(duì)循跡攝像機(jī)采集到的道路圖像的四條邊界信息進(jìn)行HSL模型轉(zhuǎn)換、圖像預(yù)處理等分析，比對(duì)模板判斷類型從而預(yù)測(cè)性地控制機(jī)器人的運(yùn)動(dòng)方向。處理重要設(shè)備定點(diǎn)檢測(cè)部分時(shí)對(duì)變電站需要巡檢的一次設(shè)備做了統(tǒng)計(jì)，進(jìn)而設(shè)計(jì)了一種用QR碼加載主要待檢設(shè)備信息的編碼方案，從而實(shí)現(xiàn)QR碼的輔助巡檢定位，且變電站新增監(jiān)控區(qū)域時(shí)只需更換QR碼，從而避開(kāi)了整個(gè)巡檢策略變更的繁雜。論文最后模擬機(jī)器人實(shí)際導(dǎo)航情況進(jìn)行實(shí)驗(yàn)，程序運(yùn)行結(jié)果表明本文的視覺(jué)導(dǎo)航方法可靠、減少了圖像處理花費(fèi)的時(shí)間進(jìn)而提高了路徑識(shí)別速度，且路徑識(shí)別效果較理想，具有靈活的可移植性。
[Abstract]:Substation is the hub of power network, and regular inspection is very important to ensure the normal operation of substation electrical equipment. In recent years, with the progress of power science and technology and the deepening of system reform, substation inspection technology is gradually replacing manual inspection by robot inspection. The substation intelligent inspection robot carries infrared thermal imager, visible light CCD, sound pickup and other detection and sensing devices to operate independently or remotely by remote control. Conducting regular inspection of outdoor high-voltage power equipment in unattended or under-manned substations around the clock, which can timely discover abnormal phenomena such as thermal defects and foreign body suspension of power equipment. It is the key technology to automatically send alarm signals or pre-set fault handling measures, and reliable navigation is the key technology for the correct operation of the inspection robot. Therefore, it is of great practical significance to study the navigation method of intelligent inspection robot in substation. By analyzing the existing substation inspection technology and introducing the basic theories such as machine vision and artificial intelligence, this paper analyzes the functional requirements of substation inspection robot. Firstly, a general structure of substation intelligent inspection robot is designed. Then, aiming at the problem of navigation and positioning of unattended substation inspection robot, a single vision navigation scheme based on guide line is developed, which includes two parts: wire-following walking and fixed-point detection. This paper presents a path navigation algorithm based on a priori template for detecting the four edges of road images, which is based on a priori template. Through the HSL model transformation and image preprocessing analysis, the four edge information of the road images collected by the track tracking camera is analyzed by HSL model transformation, image preprocessing, and so on. The motion direction of the robot is controlled predictably by comparing the type of the template. When dealing with the important equipment fixed point detection part, this paper makes statistics on the primary equipment which needs to be inspected in the substation, and then designs a coding scheme of loading the information of the main equipment to be inspected by using QR code, so as to realize the auxiliary inspection and location of QR code. And the new monitoring area of substation only need to change QR code, thus avoiding the complexity of the change of the whole inspection strategy. At last, the simulation of robot navigation is carried out. The program results show that the visual navigation method in this paper is reliable, which reduces the time spent in image processing and improves the speed of path recognition, and the effect of path recognition is satisfactory. Flexible portability.
【學(xué)位授予單位】：華北電力大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TM63;TP242

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