本文選題：輸電線路檢測(cè) + 機(jī)器視覺(jué)系統(tǒng)��； 參考：《安徽工業(yè)大學(xué)》2017年碩士論文

【摘要】：電力系統(tǒng)的安全穩(wěn)定運(yùn)行,對(duì)國(guó)民發(fā)展至關(guān)重要。由于高壓輸電線路安裝位置距離地面較高,所處環(huán)境較為惡劣,給電力巡檢工作帶來(lái)困難。為提高巡檢效率,本文針對(duì)高壓巡線機(jī)器人視覺(jué)檢測(cè)系統(tǒng)進(jìn)行研究,完成了基于DSP的視覺(jué)系統(tǒng)設(shè)計(jì),主要工作包括高壓巡線機(jī)器人視覺(jué)系統(tǒng)的硬件系統(tǒng)設(shè)計(jì)及高壓線和絕緣子的識(shí)別研究,并搭建了系統(tǒng)軟硬件平臺(tái),在該平臺(tái)上驗(yàn)證了所做研究工作的可行性。具體研究?jī)?nèi)容如下:首先,根據(jù)系統(tǒng)需求,選擇TMS320DM6437作為系統(tǒng)核心處理器,提出了基于DSP的高壓巡線機(jī)器人視覺(jué)系統(tǒng)總體硬件設(shè)計(jì)方案。主要包括DM6437的外圍電路、圖像采集處理與顯示電路、圖像數(shù)據(jù)存儲(chǔ)電路以及程序固化電路的設(shè)計(jì)與實(shí)現(xiàn)。系統(tǒng)硬件平臺(tái)設(shè)計(jì)時(shí)著重對(duì)電源完整性、串?dāng)_、反射抑制與端接匹配等方面分析,并應(yīng)用在電路板設(shè)計(jì)中,保證了系統(tǒng)信號(hào)的完整性。其次,在巡線機(jī)器人視覺(jué)系統(tǒng)軟件設(shè)計(jì)方面,根據(jù)巡線機(jī)器人工作環(huán)境特點(diǎn),對(duì)目標(biāo)圖像進(jìn)行運(yùn)動(dòng)圖像去模糊、平滑、增強(qiáng)、邊緣提取等預(yù)處理操作,以獲取高質(zhì)量的目標(biāo)圖像。在此基礎(chǔ)上,根據(jù)視覺(jué)系統(tǒng)下的高壓線成像特點(diǎn),提出了基于改進(jìn)的Freeman鏈碼高壓線識(shí)別算法,并驗(yàn)證了該方法的有效性。針對(duì)巡線機(jī)器人作業(yè)時(shí)絕緣子檢測(cè)問(wèn)題,研究了基于區(qū)域延伸絕緣子輪廓識(shí)別算法,實(shí)驗(yàn)結(jié)果可證明該方法能夠有效并迅速的識(shí)別絕緣子。最后,在上述分析研究的基礎(chǔ)上,搭建了視覺(jué)系統(tǒng)硬件測(cè)試平臺(tái),并對(duì)巡線機(jī)器人視覺(jué)系統(tǒng)硬件平臺(tái)的電源模塊、DDR2 SDRAM存儲(chǔ)器、Flash存儲(chǔ)器以及圖像采集與顯示等各功能模塊進(jìn)行測(cè)試,驗(yàn)證了系統(tǒng)硬件平臺(tái)的正確性與穩(wěn)定性。同時(shí)在搭建的系統(tǒng)硬件平臺(tái)上,實(shí)現(xiàn)了對(duì)高壓輸電線路模型中高壓線、絕緣子的識(shí)別,驗(yàn)證所提算法的可行性。綜上所述,研究結(jié)果表明了本文設(shè)計(jì)方案的有效性與可行性。
[Abstract]:The safe and stable operation of power system is very important to the development of the nation. Because the installation position of HV transmission line is higher than the ground and the environment is bad, it is difficult to inspect the electric power. In order to improve the inspection efficiency, the vision inspection system of high voltage inspection robot is studied in this paper, and the design of vision system based on DSP is completed. The main work includes the hardware system design of high voltage inspection robot vision system and the identification research of high voltage wire and insulator. The hardware and software platform of the system is built, and the feasibility of the research work is verified on the platform. The specific research contents are as follows: firstly, according to the system requirements, TMS320DM6437 is selected as the core processor of the system, and the overall hardware design scheme of the vision system of high-voltage inspection robot based on DSP is proposed. It mainly includes the peripheral circuit of DM6437, the circuit of image acquisition and display, the circuit of image data storage and the design and realization of program solidification circuit. When the hardware platform is designed, the integrity of power supply, crosstalk, reflection suppression and terminal matching are analyzed and applied to the circuit board design to ensure the integrity of the system signal. Secondly, in the software design of inspection robot vision system, according to the working environment characteristics of the inspection robot, the target image is pre-processed such as deblurring, smoothing, enhancement, edge extraction and so on. To obtain high quality target images. On this basis, according to the characteristics of high-voltage line imaging in the visual system, an improved Freeman chain code high-voltage line recognition algorithm is proposed, and the effectiveness of the method is verified. To solve the problem of insulator detection in line patrol robot, an algorithm of insulator contour recognition based on extended insulator is studied. The experimental results show that the method can identify insulators effectively and quickly. Finally, on the basis of the above analysis and research, the hardware testing platform of visual system is built. The power module DDR2 SDRAM memory flash memory and image acquisition and display modules of the hardware platform of the inspection robot vision system are tested to verify the correctness and stability of the hardware platform of the system. At the same time, the recognition of high-voltage lines and insulators in the HV transmission line model is realized on the hardware platform of the system, and the feasibility of the proposed algorithm is verified. To sum up, the research results show the effectiveness and feasibility of the design scheme.
【學(xué)位授予單位】：安徽工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP391.41;TP242

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本文編號(hào)：1937695