基于DSP的巡线机器人视觉系统设计

发布时间：2018-05-26 15:05

本文选题：输电线路检测 + 机器视觉系统　；参考：《安徽工业大学》2017年硕士论文

【摘要】：电力系统的安全稳定运行,对国民发展至关重要。由于高压输电线路安装位置距离地面较高,所处环境较为恶劣,给电力巡检工作带来困难。为提高巡检效率,本文针对高压巡线机器人视觉检测系统进行研究,完成了基于DSP的视觉系统设计,主要工作包括高压巡线机器人视觉系统的硬件系统设计及高压线和绝缘子的识别研究,并搭建了系统软硬件平台,在该平台上验证了所做研究工作的可行性。具体研究内容如下:首先,根据系统需求,选择TMS320DM6437作为系统核心处理器,提出了基于DSP的高压巡线机器人视觉系统总体硬件设计方案。主要包括DM6437的外围电路、图像采集处理与显示电路、图像数据存储电路以及程序固化电路的设计与实现。系统硬件平台设计时着重对电源完整性、串扰、反射抑制与端接匹配等方面分析,并应用在电路板设计中,保证了系统信号的完整性。其次,在巡线机器人视觉系统软件设计方面,根据巡线机器人工作环境特点,对目标图像进行运动图像去模糊、平滑、增强、边缘提取等预处理操作,以获取高质量的目标图像。在此基础上,根据视觉系统下的高压线成像特点,提出了基于改进的Freeman链码高压线识别算法,并验证了该方法的有效性。针对巡线机器人作业时绝缘子检测问题,研究了基于区域延伸绝缘子轮廓识别算法,实验结果可证明该方法能够有效并迅速的识别绝缘子。最后,在上述分析研究的基础上,搭建了视觉系统硬件测试平台,并对巡线机器人视觉系统硬件平台的电源模块、DDR2 SDRAM存储器、Flash存储器以及图像采集与显示等各功能模块进行测试,验证了系统硬件平台的正确性与稳定性。同时在搭建的系统硬件平台上,实现了对高压输电线路模型中高压线、绝缘子的识别,验证所提算法的可行性。综上所述,研究结果表明了本文设计方案的有效性与可行性。
[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.
【学位授予单位】：安徽工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP391.41;TP242

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