英文摘要 | In order to guarantee the safe and steady operation of high-voltage power transmission line, it is necessary to watch and maintenance it. At present manual inspection is usually used to do it. But this work is laborious and dangerous. Now as the development of robot technology, it is necessary to develop line-inspecting robot, which aims at the relief of workload, the improvement of wok efficient, the decrease in cost and the guarantee of the operation of line. The paper focuses on 110kv-power-transmission-line inspecting robot, briefly called as 110kv line-inspecting robot as follows. Firstly, the researches on line-inspecting robot are introduced, especially some typical robot prototypes. And the primary research fields of line-inspecting robot are proposed.Secondly, by considering the actual status of power transmission line, the machine of the 110kv line-inspecting robot and its work principle are decided. And the kinematics of the machine is analyzed, which validates the rationalization and feasibility of it.Thirdly, aiming at the complex machine of line-inspecting robot, a control system with hierarchical architecture for the 110kv line-inspecting robot is designed and developed, in order to realize the creeping, spanning and inspecting functions. It can control the movements of the 110kv line-inspecting robot flexibly and reliably. Fourthly, aiming at several typical obstacles on mock line in our lab, the navigation task of the 110kv line-inspecting robot is decided and a visual navigation system is designed and developed. By using of some image processing methods and fuzzy pattern recognition, the visual navigation system can recognize the types of the obstacles in the lab well Fifthly, According to the requirement of image segmentation in the visual navigation system, the present image segmentation algorithms are analyzed and compared, and the advantages and disadvantages of them are summarized. Then apply minimum cross entropy thresholding, whose applicability is wider, to segment the images in the visual navigation system. Sixthly, aiming at the illumination effect on the images in the visual navigation system, the color image enhancement based on retinex model is discussed. And an impersonal appraisal rule about the color rendition of the enhanced images is proposed by introducing the notion of gray relational degree. Seventhly, in order to detect the glistening regions (spacularities) in the images of the visual navigation system, the present detection algorithms are analyzed. And a new detection algorithm based on retinex model is proposed, which can detect them simply and effectively especially for images in simple background.Finally the primary work of the paper is summarized, and the topics for further research are also addressed. |
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