测控技术2026，Vol.45Issue(9)：9-17,9.DOI:10.19708/j.ckjs.2026.06.222
基于DBSCAN的避雷针缺陷视觉检测机器人
Visual Defect Detection Robot for Lightning Rods Based on DBSCAN
摘要
Abstract
To address the problem that lightning rods are prone to defects during long-term outdoor operation,a climbing robot specifically for the visual defect detection of lightning rods is designed.In terms of mechanical structure,the robot adopts a clamping mechanism based on a force amplification structure,which utilizes the mechanical gain effect to significantly improve adhesion stability,achieving a payload capacity of 50 kg with a self-weight of only 40 kg,thereby ensuring the safety and reliability of high-altitude operations.In terms of visu-al algorithms,the robot integrates a visual detection system based on the density-based spatial clustering of ap-plications with noise(DBSCAN)algorithm.It captures images of the lightning rod surface using a high-resolu-tion industrial camera,utilizes a sparse reconstruction method to enhance the defect feature response,and then combines the DBSCAN algorithm to achieve accurate recognition of irregular defects such as holes and cracks.Experimental results demonstrate that the robot can achieve stable climbing and precise positioning on lightning rods,whose visual system can efficiently detect various types of surface defects,providing a new technical ap-proach for the intelligent inspection of high-altitude power facilities.关键词
避雷针/攀爬机器人/基于密度的噪声应用空间聚类算法/视觉检测Key words
lightning rod/climbing robot/DBSCAN algorithm/vision inspection分类
信息技术与安全科学引用本文复制引用
吴如祥,魏凌枫,彭湘霖,郭子聪..基于DBSCAN的避雷针缺陷视觉检测机器人[J].测控技术,2026,45(9):9-17,9.基金项目
南方电网资助科技项目(031900KC24010007(GDKJXM20240107)) （031900KC24010007(GDKJXM20240107）
