本文選題：非結(jié)構(gòu)化環(huán)境　切入點：預(yù)處理　出處：《南京理工大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：隨著技術(shù)的進步,在配電線路帶電維護作業(yè)中使用機器人代替人進行作業(yè)具有重要的現(xiàn)實意義。在室外非結(jié)構(gòu)化作業(yè)環(huán)境中,機器人視覺系統(tǒng)采集到的圖像易受復(fù)雜背景、天氣和光照等各種環(huán)境因素的影響,大大增加了識別和定位作業(yè)目標的難度。為了使得機器人能夠自主完成帶電作業(yè)任務(wù),本文結(jié)合某配電線路維護機器人的研發(fā)項目,研究了作業(yè)目標識別和定位方法,論文主要完成以下工作:(1)對配電線路維護機器人的視覺系統(tǒng)進行需求分析,詳細描述視覺系統(tǒng)應(yīng)具備的功能。在此基礎(chǔ)上,設(shè)計了視覺系統(tǒng)中目標識別與定位子系統(tǒng)、監(jiān)控子系統(tǒng)和防碰撞檢測子系統(tǒng)的技術(shù)方案。(2)研究配電線路環(huán)境中的圖像預(yù)處理方法。針對復(fù)雜背景下作業(yè)目標提取困難的問題,提出了基于顏色直方圖和形態(tài)學(xué)的圖像分割方法。針對弱光、局部高光和全局高光的圖像,分別采用CLAHE、灰度非線性變換以及同態(tài)濾波等方法進行處理,突出了弱光、局部高光和全局高光圖像中的作業(yè)目標,為提取作業(yè)目標奠定了良好的基礎(chǔ)。(3)復(fù)雜背景下作業(yè)目標識別方法研究。為識別跌落式熔斷器中的熔絲管,提出了一種基于幾何約束的直線擬合法,采用概率Hough變換,并利用直線平行和距離約束等條件,對熔絲管管體進行識別。針對操作環(huán)識別困難的問題,利用熔絲管管體和操作環(huán)的幾何位置關(guān)系,提出基于位置和大小約束的橢圓擬合法識別操作環(huán)。針對復(fù)雜背景中其它物體對熔絲管識別造成的干擾,提出基于熔絲管管體和操作環(huán)互相約束的熔絲管識別方法,識別復(fù)雜背景中的熔絲管。實驗結(jié)果表明,所提方法可以識別不同場景中的熔絲管,準確度高,且魯棒性較好。(4)基于雙目視覺的作業(yè)目標空間位置測量方法研究。在對雙目攝像機進行標定的基礎(chǔ)上,利用Bouguet算法對圖像進行立體校正。利用熔絲管的幾何參數(shù)確定匹配窗口的大小,使用極線約束降低匹配維度,再采用歸一化的相關(guān)系數(shù)作為匹配測度函數(shù),對左右圖像中的熔絲管進行立體匹配,具有匹配速度快且精度高的優(yōu)點。最后給出了利用雙目立體匹配的視差計算熔絲管空間位置的方法。
[Abstract]:With the development of technology, it is very important to use robot instead of human in the maintenance of distribution line. In the outdoor unstructured working environment, the images collected by robot vision system are vulnerable to complex background. The influence of various environmental factors, such as weather and light, greatly increases the difficulty of identifying and locating the operation target. In order to enable the robot to accomplish the task of live operation independently, this paper combines the research and development project of a power distribution line maintenance robot. This paper studies the method of target identification and location. The main work of this paper is as follows: 1) analyzing the requirements of the vision system of the distribution line maintenance robot, and describing in detail the functions that the vision system should have. The technology scheme of target recognition and location subsystem, monitoring subsystem and anti-collision detection subsystem in visual system is designed to study the image preprocessing method in distribution line environment, aiming at the difficult problem of target extraction in complex background. A method of image segmentation based on color histogram and morphology is proposed. For the images with weak light, local highlights and global highlights, the methods of Clare, gray nonlinear transformation and homomorphic filtering are used to deal with them, respectively, and the weak light is highlighted. In order to identify the fuse tube in the drop fuse, the operation target in the local highlight and the global high light image is studied, which lays a good foundation for the extraction of the operation target under the complex background. In this paper, a linear fitting method based on geometric constraints is proposed. Using probabilistic Hough transform, linear parallelism and distance constraint are used to identify the fuse tube body. Based on the geometric position relationship between the fuse tube body and the operating ring, an elliptical fitting method based on position and size constraints is proposed to identify the operation ring. A method of identifying fuse tube based on mutual constraint between fuse tube body and operation ring is proposed to identify fuse tube in complex background. The experimental results show that the proposed method can identify fuse tube in different scenes with high accuracy. Moreover, the method of spatial position measurement based on binocular vision is studied. Based on the calibration of binocular camera, The size of matching window is determined by the geometric parameters of fuse tube, the matching dimension is reduced by pole line constraint, and the normalized correlation coefficient is used as the matching measure function. The stereo matching of fuse tubes in left and right images has the advantages of fast matching speed and high precision. Finally, a method for calculating the space position of fuse tubes by using the parallax of binocular stereo matching is presented.
【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP391.41;TP242

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