电力学报2025，Vol.40Issue(5)：329-338,10.DOI:10.13357/j.dlxb.2025.036
配网带电作业机器人的引流线识别与定位方法研究
Research on the Identification and Localization Method of Jumper Wires for Distribution Network Electric Work Robots
摘要
Abstract
In order to realize the accurate segmentation and positioning of the jumper wires during the process of automatic lapping operation of the jumper wires by the distribution network with power operation robot,and to address the identification and positioning problems caused by high voltage strong electromagnetic interference,complex background and slender and weak texture of the jumper wires,in this paper,a method based on Deep-LabV3+is proposed to segment jumper wires,and opsition jumper wires combined with binocular camera.Firstly,three improvements are made for the DeepLabV3+model:the original backbone network is replaced by MobileNetV3,which significantly reduces the computational complexity of the model;convolutional block attention module(CBAM)is inserted into the atrous spatial pyramid pooling(ASPP)module,which enhances the model's ability to focus on the key areas of the jumper wires;morphological processing is added to the mod-el output,which reduces the interference of noise on the segmentation results by corrosion and expansion.Sec-ondly,the stereo vision technology of binocular camera is utilized to extract the key points of the jumper wire in combination with the segmentation results,and the localization is realized by stereo matching algorithm.The ex-perimental results show that the method in this paper achieves high accuracy(MIoU reaches 84.48％)in the task of segmentation of jumper wire,and realizes the localization error less than 2 cm in 3D localization.This re-search provides reliable technical support for the the intelligent operation of distribution network with power op-eration robots,and lays a foundation for the accuration identification of jumper wires.关键词
配网带电作业机器人/引流线分割/DeepLabV3+/双目相机/定位Key words
distribution network with power operation robot/jumper wire segmentation/DeepLabV3+/binocu-lar camera/localization分类
信息技术与安全科学引用本文复制引用
陈乐,樊绍胜,彭音音..配网带电作业机器人的引流线识别与定位方法研究[J].电力学报,2025,40(5):329-338,10.基金项目
国家自然科学基金(62473065) （62473065）
国家重点基础研究发展计划项目(973计划)(2006CB200303,2006CB2003056). （973计划）
