在线式绝缘子图像采集与实时处理系统设计

Design of on-line insulator image acquisition and real-time processing system

已有的基于机器人视觉的图像采集处理系统需计算机辅助完成图像处理,数据传输量大且自动化程度低。为了提高输电线机器人对绝缘子的作业效率和智能化水平,设计了一种在线式绝缘子图像采集与实时处理系统。系统以STM32F429微处理器、OV2640图像传感器为核心,不仅有图像采集、显示和存储功能,而且集成了一种用于硬件实现的在线式绝缘子图像处理算法,在大大减少数据传输量的同时避免了人工参与。实验结果表明,设计的系统能够获取清晰的绝缘子图像并自动完成处理任务,该算法的硬件处理时间约为1s,为输电线机器人实现自动化绝缘子处理作业打下了坚实的基础。

The existing robot vision-based image acquisition and processing systems require the assistance of computer to realize image processing, which cause large amount of data transmission and the low automation of onqine insulator robot. In order to improve the working efficiency and the intelligence of on-line insulator robot, an on-line insulator image acquisition and real-time processing system is designed. Based on STM32F429 microprocessor and OV2640 image sensor, the system designed not only has the {unctions of image acquisition, display and storage, but also integrates an on-line insulator image processing algorithm in the hardware platform for real-time processing. The system can greatly reduce the amount of data transferred and avoided manual operation. Experiment results show that the designed system can obtain clear insulator image and complete image processing task automatically and the hardware processing time of this algorithm is about 1 seconds, which provides an important basis for the automatic processing iobs of on-llno insulator rohnt