视觉导航技术在电力高压线巡检机器人中的应用研究
Research on the Application of Visual Navigation Technology in Inspection Robots for Power High-voltage Lines
林海 1王楠1
作者信息
- 1. 河北省送变电有限公司,河北 石家庄 050000
- 折叠
摘要
本文围绕视觉导航技术在电力高压线巡检机器人中的应用展开研究.阐述研究背景与目的;分析视觉导航技术原理及相关理论支撑,包括图像采集、处理技术与机器学习、深度学习的应用;剖析国内外现有视觉导航技术发展现状及主流导航方式的优缺点;深入探讨视觉导航技术的关键环节,如目标检测与定位、双目立体视觉定位等;提出提高视觉导航精度的方法,包括定位精度提升策略和高精度导航方法实践;介绍视觉导航技术在变电站智能巡检机器人及无人机和机器人中的应用;最后总结研究结论,并对未来研究方向进行了展望,如融合多传感器技术、强化深度学习算法、提高自主决策能力、拓展应用场景及加强可靠性和稳定性研究.
Abstract
This article focuses on the application of visual navigation technology in power high-voltage line inspection robots.It elaborates on the research background and objectives;analyzes the principles of visual navigation technology and related theoretical support,including image acquisition,processing techniques,and the application of machine learning and deep learning;dissects the current development status of visual navigation technology at home and abroad,as well as the advantages and disadvantages of mainstream navigation methods;deeply discusses key aspects of visual navigation technology,such as target detection and localization,and binocular stereo vision positioning;proposes methods to improve the accuracy of visual navigation,including strategies for enhancing localization accuracy and practices of high-precision navigation methods;introduces the application of visual navigation technology in intelligent inspection robots,unmanned aerial vehicles(UAVs),and robots in substations;and finally summarizes the research conclusions and provides an outlook on future research directions,such as the integration of multi-sensor technology,the enhancement of deep learning algorithms,the improvement of autonomous decision-making capabilities,the expansion of application scenarios,and the strengthening of research on reliability and stability.
关键词
电力高压线巡检/视觉导航技术/目标检测与定位Key words
power high-voltage line inspection/visual navigation technology/target detection and localization引用本文复制引用
出版年
2024
NETL
NSTL
万方数据