Design and application of QR code positioning for orbital inspection robot in high-voltage substations

机器人 计算机科学 开关设备 编码(集合论) 电压 实时计算 定位系统 GSM演进的增强数据速率 计算机硬件 计算机视觉 点(几何) 模拟 嵌入式系统 工程类 人工智能 电气工程 数学 集合(抽象数据类型) 程序设计语言 几何学
作者
Lan-xi Shi,Hong-yu Ni,Jinpeng Zhang,Zu-rong Lin,Wenxu Yan
标识
DOI:10.1109/ichve53725.2022.9961460
摘要

Gas Insulated Switchgear (GIS) is more and more widely used in high voltage power system. In the past, the observation of SF6 gas in substation equipment was mostly done manually. However, when the leakage concentration of SF6 gas is too high, it will pose a threat to the health of inspectors. Therefore, it is necessary to consider the robot equipped with SF6 detection sensor as the carrier to complete the detection of SF6 gas leakage in the substation. In this paper, an observation point positioning method for GIS orbital inspection robot is designed. Firstly, the application scenarios of high-voltage substations and GIS are analyzed, and actual usage requirements of orbital inspection robots in the positioning of observation points are obtained. In the actual use requirements, the angle and distance are within the controllable range. When locating observation points, assign a Quick Response (QR) code to each observation point. Secondly, a method to identify the location information of QR code is designed. QR code positioning has the advantages of high positioning accuracy, good flexibility, low cost, and small cumulative error. The method is based on OpenCV and Zbar library. The method does not need to read the distance data directly, and only obtains the position of the QR code in the coordinate system by calculating the plane angle and edge of the QR code representing the position of the observation point, thereby realizing the robot positioning. Since this method is less demanding on the camera, the cost is reduced. In the experimental verification, the hardware uses Intel realsense D455, the scene simulates the actual use scene, and multiple groups of experiments are carried out using the control variable method. Finally, the position measurement error is 1.5%, and the recognition speed is 30 frames per second. Therefore, it is proved that the method has high positioning accuracy and can solve the problem of GIS orbital inspection robot detecting and positioning observation points.
最长约 10秒,即可获得该文献文件

科研通智能强力驱动
Strongly Powered by AbleSci AI
更新
PDF的下载单位、IP信息已删除 (2025-6-4)

科研通是完全免费的文献互助平台,具备全网最快的应助速度,最高的求助完成率。 对每一个文献求助,科研通都将尽心尽力,给求助人一个满意的交代。
实时播报
1秒前
潇湘雪月发布了新的文献求助10
2秒前
5秒前
酷波er应助hello采纳,获得10
5秒前
5秒前
啦啦发布了新的文献求助10
5秒前
唯美发布了新的文献求助10
9秒前
hnlgdx发布了新的文献求助10
13秒前
一根完成签到,获得积分20
13秒前
七月完成签到 ,获得积分10
15秒前
xiaojiahuo完成签到,获得积分10
16秒前
17秒前
猪猪hero发布了新的文献求助10
17秒前
自信不愁完成签到,获得积分10
18秒前
潇湘雪月发布了新的文献求助10
19秒前
Arthur完成签到,获得积分10
20秒前
20秒前
量子星尘发布了新的文献求助10
21秒前
芋孟齐完成签到,获得积分20
21秒前
猪猪hero发布了新的文献求助10
23秒前
24秒前
高手发布了新的文献求助10
24秒前
24秒前
WN发布了新的文献求助10
24秒前
超级的鹅发布了新的文献求助10
27秒前
FashionBoy应助axin采纳,获得10
28秒前
胡霖完成签到,获得积分10
29秒前
流飒完成签到,获得积分10
29秒前
香蕉觅云应助牛马码字员采纳,获得10
30秒前
猪猪hero发布了新的文献求助10
30秒前
CAOHOU应助林sir采纳,获得10
30秒前
30秒前
甜甜亦巧完成签到,获得积分10
31秒前
栗惠发布了新的文献求助20
32秒前
32秒前
33秒前
35秒前
小二郎应助高手采纳,获得10
35秒前
36秒前
民科王聪发布了新的文献求助10
36秒前
高分求助中
A new approach to the extrapolation of accelerated life test data 1000
ACSM’s Guidelines for Exercise Testing and Prescription, 12th edition 500
‘Unruly’ Children: Historical Fieldnotes and Learning Morality in a Taiwan Village (New Departures in Anthropology) 400
Indomethacinのヒトにおける経皮吸収 400
Phylogenetic study of the order Polydesmida (Myriapoda: Diplopoda) 370
基于可调谐半导体激光吸收光谱技术泄漏气体检测系统的研究 350
Robot-supported joining of reinforcement textiles with one-sided sewing heads 320
热门求助领域 (近24小时)
化学 材料科学 医学 生物 工程类 有机化学 生物化学 物理 内科学 纳米技术 计算机科学 化学工程 复合材料 遗传学 基因 物理化学 催化作用 冶金 细胞生物学 免疫学
热门帖子
关注 科研通微信公众号,转发送积分 3989242
求助须知:如何正确求助?哪些是违规求助? 3531393
关于积分的说明 11253753
捐赠科研通 3270010
什么是DOI,文献DOI怎么找? 1804868
邀请新用户注册赠送积分活动 882084
科研通“疑难数据库(出版商)”最低求助积分说明 809136