期刊论文

Tracking and Calibration of Infrared Image based on Light Substation Inspection Robot Navigation Methods

中文

电力学报

1005-6548

2015

30

6

457-461

10.13357/j.cnki.jep.002512

61473049:国家自然科学基金 14k001:湖南省高等学校创新平台开放基金 k1403041-11:长沙市科技计划

本校为第一机构

提出了一种基于灯光追踪与红外图像的导航定位方法,该方法首先在机器人行走路线附近固定点放置导航灯,然后通过红外热像仪对导航灯进行图像采集,再利用图像相关算法对采的图像进行处理,最后通过确定导航灯在红外摄像仪中成像大小、位置与实际导航灯位置对应关系,完成机器人的导航与定位,从而实现对变电站设备的实时监测。实验结果表明,该方法实现了精度较高的自主导航定位,环境适应性好,能够满足变电站巡检需求。

A navigation and location method based on light tracking and infrared image adjusting for inspection robot in substation is proposed in this paper.First of all,the range lights in fixed points near the path are settled,and then the images which contain the information of the range light through infrared video camera can be captured,next some corresponding algorithms to preprocess the images is implemented to eliminate irrelevant information,finally the range light＇s real position can be got according to its size and position in the image,thus ...