GIS超声局放检测机器人的探头贴合标记物识别与定位方法研究

Research on Identification and Positioning Method of Probe Fitting Marker of GIS Ultrasonic Partial Discharge Detection Robot

面向变电站气体绝缘金属封闭开关设备(GIS)的超声局放检测智能化需求,在设计的GIS超声局放检测机器人基础上,进一步针对超声局放探头的精准贴合,设计提出了一种探头贴合标记物识别与定位方法。设计的标记物为外矩形内椭圆形状,标记物的颜色比对度大,将标记物粘贴或喷涂于GIS设备的待检测位置。机器人首先对标记物的矩形和椭圆进行视觉识别,然后使用双目立体视觉获取标记物的三维空间坐标,从而为携带超声局放探头的机器人提供检测位置信息。

A method for identifying and position of probe fitting markers is designed for the precise fitting of ultrasonic partial discharge probe,based on the designed GIS ultrasonic partial discharge detection robot.The designed markers are in the shape of an outer rectangle and an inner ellipse,and the color ratio of the marker is large.Paste or spray the markers on the GIS equipment to be tested.The robot first visually recognizes the rectangle and ellipse of the marker,and then uses binocular stereo vision to obtain the three-dimensional space coordinates of the marker,thereby providing detection position information for the robot carrying the ultrasonic partial discharge probe.