基于双目视觉技术的高压输电线路巡检机器人在线测距

为实现巡检机器人在线测距的实时性和可靠性,对传统测距算法进行改进,提出一种用于高压输电线路巡检机器人视觉导航的双目实时测距算法,左右摄像头相互协作,在左摄像头障碍识别的基础上对线路障碍物进行预设取点,然后通过两摄像头对所取点进行测距,随着机器人前进不断更新障碍物到镜头的距离。实验结果表明:该测距算法具有速度快、精度高和实时性强等优点。

Research on online ranging of high-voltage transmission line inspection robot based on binocular vision technology

Binocular ranging technology is an important branch in the field of machine vision. The use of binocular ranging technology on the high-voltage transmission line inspection robot provides a powerful guarantee for the robot"s online obstacle location and obstacle crossing. In order to realize the real-time and reliability of the on-line ranging of the inspection robot, this paper improves the traditional ranging algorithm and proposes a binocular real-time ranging algorithm for the visual navigation of the high-voltage transmission line inspection robot. The left and right cameras cooperate with each other. On the basis of the recognition of the left camera obstacle, the line obstacle is preset to take a point, and then the distance is taken by the two cameras, and the distance of the obstacle to the lens is continuously updated as the robot advances. The experimental results show that the ranging algorithm has the advantages of high speed, high precision and strong real-time performance.