Vision System Design Of The Power Line Inspection Robot Based On DSP

The security and stability of power system is crucial for national development.Power inspection workers may feel powerless due to the high voltage transmission line installation position higher off the ground and in a harsh environment.To improve the inspection efficiency,aiming at high-pressure patrol robot visual inspection system for research,completed the design of vision system based on DSP,including the hardware design and system of high-voltage insulator image processing algorithm for high voltage transmission line recognition based on visual system of the robot,and build the system hardware and software platform,verify the reliability of the hardware system and software algorithm.Specific research as follows:Firstly,according to the requirements of the system,the TMS320DM6437 is chosen as the core processor of the system,and the overall hardware scheme of the high-pressure patrol robot visual inspection system based on DSP is proposed.The hardware part mainly includes the peripheral circuit of DM6437,the image acquisition and processing and display circuit,the image data storage circuit and the design and Realization of the program solidifying circuit.In the design of the system hardware platform,focusing on power integrity,crosstalk,reflection suppression and termination matching and other aspects of analysis,applied in the circuit board design,and ensure the integrity of the system signal.Secondly,in the robot vision system software design,according to the robot working environment characteristics of the target image motion deblurring,image smoothing,enhancement,edge extraction pretreatment operation,in order to obtain the target image with high quality.On this basis,according to the characteristics of high voltage line,a high voltage line identification algorithm based on Freeman chain code is proposed,and the effectiveness of the method is verified by simulation.Aiming at the problem of robot patrol inspection line insulator,through the analysis of the insulator contour,the study of regional extension insulator contour recognition algorithm based on the simulation experimental results show this method can effectively and quickly identify insulator.Finally,on the foundation of the above analysis and research,a vision system hardware test platform is set up,and the hardware platform of robot vision system patrol line power module,DDR2 SDRAM memory,Flash memory and image acquisition and display modules to test,verify the correctness and stability of thesystem hardware platform.And then,on the hardware platform of the system,combined with the visual system software design,the identification of the high-voltage line and insulator in the high-voltage transmission line model is carried out to verify the feasibility of the proposed algorithm.In summary,the research results show the effectiveness and feasibility of the proposed design.