基于Qt的遥操作GIS维护机器人监控系统设计与实现OACSTPCD

In the power system,gas insulated switchgear(GIS)maintenance robot monitoring system is developed for better and more convenient remote-operated robot to clean up the screws,nuts and other foreign matters in GIS cavity.Qt platform was used for development.Combined with FFMPEG and OpenCV acquisition RTMP network video stream and image processing,the detection and identification of foreign bodies in the cavity and precise location was realized.SLAM point cloud was used for environment perception to restore the actual scene of robot in the cavity.The test results show that in wireless environment,the system can effectively realize data interaction with the robot and effective real-time monitoring,and can better complete the identification and cleaning of the residue in GIS cavity.