Detección, localización y sujeción de una línea de media tensión por medio de técnicas de visión artificial
Ilustraciones
- Autores:
-
Lopez Castaño, Alay Camilo
- Tipo de recurso:
- Fecha de publicación:
- 2024
- Institución:
- Universidad Nacional de Colombia
- Repositorio:
- Universidad Nacional de Colombia
- Idioma:
- spa
- OAI Identifier:
- oai:repositorio.unal.edu.co:unal/86335
- Palabra clave:
- 000 - Ciencias de la computación, información y obras generales::004 - Procesamiento de datos Ciencia de los computadores
600 - Tecnología (Ciencias aplicadas)::607 - Educación, investigación, temas relacionados
620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingeniería
Líneas eléctricas
Robótica
Líneas eléctricas - Automatización
Líneas eléctricas - Mantenimiento
Detección de Líneas Eléctricas Compactas
Robótica Autónoma
Segmentación de Instancias
Visión por Computadora
SGBM
YOLOv8
Compact Power Line Detection
Autonomous Robotics
Instance Segmentation
Computer Vision
- Rights
- openAccess
- License
- Atribución-NoComercial 4.0 Internacional
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| dc.title.spa.fl_str_mv |
Detección, localización y sujeción de una línea de media tensión por medio de técnicas de visión artificial |
| dc.title.translated.eng.fl_str_mv |
Detection, localization and clamping of a medium voltage line by means of artificial vision techniques |
| title |
Detección, localización y sujeción de una línea de media tensión por medio de técnicas de visión artificial |
| spellingShingle |
Detección, localización y sujeción de una línea de media tensión por medio de técnicas de visión artificial 000 - Ciencias de la computación, información y obras generales::004 - Procesamiento de datos Ciencia de los computadores 600 - Tecnología (Ciencias aplicadas)::607 - Educación, investigación, temas relacionados 620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingeniería Líneas eléctricas Robótica Líneas eléctricas - Automatización Líneas eléctricas - Mantenimiento Detección de Líneas Eléctricas Compactas Robótica Autónoma Segmentación de Instancias Visión por Computadora SGBM YOLOv8 Compact Power Line Detection Autonomous Robotics Instance Segmentation Computer Vision |
| title_short |
Detección, localización y sujeción de una línea de media tensión por medio de técnicas de visión artificial |
| title_full |
Detección, localización y sujeción de una línea de media tensión por medio de técnicas de visión artificial |
| title_fullStr |
Detección, localización y sujeción de una línea de media tensión por medio de técnicas de visión artificial |
| title_full_unstemmed |
Detección, localización y sujeción de una línea de media tensión por medio de técnicas de visión artificial |
| title_sort |
Detección, localización y sujeción de una línea de media tensión por medio de técnicas de visión artificial |
| dc.creator.fl_str_mv |
Lopez Castaño, Alay Camilo |
| dc.contributor.advisor.none.fl_str_mv |
Bolaños Martínez, Freddy Zapata Madrigal, German Darío |
| dc.contributor.author.none.fl_str_mv |
Lopez Castaño, Alay Camilo |
| dc.contributor.researchgroup.spa.fl_str_mv |
Grupo Teleinformatica y Teleautomatica |
| dc.contributor.orcid.spa.fl_str_mv |
Lopez Castaño, Alay Camilo [0009-0007-4283-5531] |
| dc.contributor.cvlac.spa.fl_str_mv |
https://scienti.minciencias.gov.co/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0001997474 |
| dc.subject.ddc.spa.fl_str_mv |
000 - Ciencias de la computación, información y obras generales::004 - Procesamiento de datos Ciencia de los computadores 600 - Tecnología (Ciencias aplicadas)::607 - Educación, investigación, temas relacionados 620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingeniería |
| topic |
000 - Ciencias de la computación, información y obras generales::004 - Procesamiento de datos Ciencia de los computadores 600 - Tecnología (Ciencias aplicadas)::607 - Educación, investigación, temas relacionados 620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingeniería Líneas eléctricas Robótica Líneas eléctricas - Automatización Líneas eléctricas - Mantenimiento Detección de Líneas Eléctricas Compactas Robótica Autónoma Segmentación de Instancias Visión por Computadora SGBM YOLOv8 Compact Power Line Detection Autonomous Robotics Instance Segmentation Computer Vision |
| dc.subject.lemb.none.fl_str_mv |
Líneas eléctricas Robótica Líneas eléctricas - Automatización Líneas eléctricas - Mantenimiento |
| dc.subject.proposal.spa.fl_str_mv |
Detección de Líneas Eléctricas Compactas Robótica Autónoma Segmentación de Instancias Visión por Computadora |
| dc.subject.proposal.eng.fl_str_mv |
SGBM YOLOv8 Compact Power Line Detection Autonomous Robotics Instance Segmentation Computer Vision |
| description |
Ilustraciones |
| publishDate |
2024 |
| dc.date.accessioned.none.fl_str_mv |
2024-07-02T13:39:16Z |
| dc.date.available.none.fl_str_mv |
2024-07-02T13:39:16Z |
| dc.date.issued.none.fl_str_mv |
2024 |
| dc.type.spa.fl_str_mv |
Trabajo de grado - Maestría |
| dc.type.driver.spa.fl_str_mv |
info:eu-repo/semantics/masterThesis |
| dc.type.version.spa.fl_str_mv |
info:eu-repo/semantics/acceptedVersion |
| dc.type.content.spa.fl_str_mv |
Text |
| dc.type.redcol.spa.fl_str_mv |
http://purl.org/redcol/resource_type/TM |
| status_str |
acceptedVersion |
| dc.identifier.uri.none.fl_str_mv |
https://repositorio.unal.edu.co/handle/unal/86335 |
| dc.identifier.instname.spa.fl_str_mv |
Universidad Nacional de Colombia |
| dc.identifier.reponame.spa.fl_str_mv |
Repositorio Institucional Universidad Nacional de Colombia |
| dc.identifier.repourl.spa.fl_str_mv |
https://repositorio.unal.edu.co/ |
| url |
https://repositorio.unal.edu.co/handle/unal/86335 https://repositorio.unal.edu.co/ |
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Universidad Nacional de Colombia Repositorio Institucional Universidad Nacional de Colombia |
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spa |
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spa |
| dc.relation.indexed.spa.fl_str_mv |
LaReferencia |
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Atribución-NoComercial 4.0 Internacionalhttp://creativecommons.org/licenses/by-nc/4.0/info:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Bolaños Martínez, Freddybbb8602f0b5a36926e8031d8001ea92eZapata Madrigal, German Darío5c11c330ccb2d626c0d9aaa566364953Lopez Castaño, Alay Camilo3f5b8dcc9192fc6312a626b457c16dddGrupo Teleinformatica y TeleautomaticaLopez Castaño, Alay Camilo [0009-0007-4283-5531]https://scienti.minciencias.gov.co/cvlac/visualizador/generarCurriculoCv.do?cod_rh=00019974742024-07-02T13:39:16Z2024-07-02T13:39:16Z2024https://repositorio.unal.edu.co/handle/unal/86335Universidad Nacional de ColombiaRepositorio Institucional Universidad Nacional de Colombiahttps://repositorio.unal.edu.co/IlustracionesEsta tesis presenta una metodología para la detección, segmentación y sujeción de líneas eléctricas de media tensión compactas, orientada a mejorar la autonomía de los robots en tareas de mantenimiento e inspección. Utilizando un enfoque que combina umbrales de profundidad y color para la segmentación y localización de las líneas, el algoritmo propuesto ofrece una solución específica para la identificación de líneas eléctricas compactas en diversos entornos, este enfoque se combina con la detección de contornos para realizar segmentación de instancia, lo que permite discriminar cada una de las líneas eléctricas. Para la sujeción se aborda el problema de planificación de trayectoria, primero, estimando la posición y orientación de la línea eléctrica en el espacio, luego, moviendo el robot a través de tres puntos 3D que dependen de las condiciones iniciales del robot, y la orientación y posición de la línea. El algoritmo propuesto para la detección y segmentación de la línea resulta ser comparable en términos de precisión y desempeño con la de YOLOv8 nano. Además, se evalúa la eficacia del algoritmo para la estimación de la posición de la línea en un entorno práctico mediante el análisis de la precisión de la metodología para estimar la posición 3D del efector final de un robot, obteniendo un error promedio de 3 cm, basado en la medición de cien puntos distintos. Los resultados indican una precisión aceptable en el contexto de este trabajo. Esta investigación no solo destaca la viabilidad del algoritmo propuesto para la automatización en el sector eléctrico, además, establece un marco para futuras mejoras y aplicaciones en el campo de la robótica y el mantenimiento de líneas eléctricas. (Tomado de la fuente)This thesis presents a methodology for the detection, segmentation and gripping of compact medium voltage power lines, oriented to improve the autonomy of robots in maintenance and inspection tasks. Using an approach that combines depth and color thresholds for the segmentation and localization of the lines, the proposed algorithm offers a specific solution for the identification of compact power lines in various environments, this approach is combined with contour detection to perform instance segmentation, which allows to discriminate each of the power lines. For gripping, the path planning problem is addressed by first, estimating the position and orientation of the power line in space, then, moving the robot through three 3D points that depend on the initial conditions of the robot, and the orientation and position of the line. The proposed algorithm for line detection and segmentation turns out to be comparable in terms of accuracy and performance with that of YOLOv8 nano. In addition, the effectiveness of the algorithm for line position estimation in a practical environment is evaluated by analyzing the accuracy of the methodology for estimating the 3D position of the end-effector of a robot, obtaining an average error of 3 cm, based on the measurement of one hundred different points. The results indicate an acceptable accuracy in the context of this work. This research not only highlights the feasibility of the proposed algorithm for automation in the electrical sector, but also establishes a framework for future improvements and applications in the field of robotics and power line maintenance.MaestríaMagíster en Ingeniería - Automatización IndustrialAutomatización robóticaIngeniería Eléctrica E Ingeniería De Control.Sede Medellín78 páginasapplication/pdfspaUniversidad Nacional de ColombiaMedellín - Minas - Maestría en Ingeniería - Automatización IndustrialFacultad de MinasMedellín, ColombiaUniversidad Nacional de Colombia - Sede Medellín000 - Ciencias de la computación, información y obras generales::004 - Procesamiento de datos Ciencia de los computadores600 - Tecnología (Ciencias aplicadas)::607 - Educación, investigación, temas relacionados620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingenieríaLíneas eléctricasRobóticaLíneas eléctricas - AutomatizaciónLíneas eléctricas - MantenimientoDetección de Líneas Eléctricas CompactasRobótica AutónomaSegmentación de InstanciasVisión por ComputadoraSGBMYOLOv8Compact Power Line DetectionAutonomous RoboticsInstance SegmentationComputer VisionDetección, localización y sujeción de una línea de media tensión por medio de técnicas de visión artificialDetection, localization and clamping of a medium voltage line by means of artificial vision techniquesTrabajo de grado - Maestríainfo:eu-repo/semantics/masterThesisinfo:eu-repo/semantics/acceptedVersionTexthttp://purl.org/redcol/resource_type/TMLaReferencia[1] J. 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Hennessy, Computer Organization and Design: Elsevier, 2016. doi: 10.1016/C2013-0-08305-3.Enel ColombiaEstudiantesInvestigadoresMaestrosPúblico generalLICENSElicense.txtlicense.txttext/plain; charset=utf-85879https://repositorio.unal.edu.co/bitstream/unal/86335/1/license.txteb34b1cf90b7e1103fc9dfd26be24b4aMD51ORIGINAL1193584210.2024.pdf1193584210.2024.pdfTesis de Maestría en Ingeniería - Automatización Industrialapplication/pdf2591758https://repositorio.unal.edu.co/bitstream/unal/86335/2/1193584210.2024.pdf8b4ae14d5b1a8b5391f5935a7218637aMD52THUMBNAIL1193584210.2024.pdf.jpg1193584210.2024.pdf.jpgGenerated Thumbnailimage/jpeg4771https://repositorio.unal.edu.co/bitstream/unal/86335/3/1193584210.2024.pdf.jpg2503439b102dd148e1a22c83ff853dd5MD53unal/86335oai:repositorio.unal.edu.co:unal/863352024-07-02 23:05:04.821Repositorio Institucional Universidad Nacional de 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