Detección, localización y sujeción de una línea de media tensión por medio de técnicas de visión artificial

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dc.contributor.advisorBolaños Martínez, Freddy
dc.contributor.advisorZapata Madrigal, German Darío
dc.contributor.authorLopez Castaño, Alay Camilo
dc.contributor.cvlachttps://scienti.minciencias.gov.co/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0001997474spa
dc.contributor.orcidLopez Castaño, Alay Camilo [0009-0007-4283-5531]spa
dc.contributor.researchgroupGrupo Teleinformatica y Teleautomaticaspa
dc.date.accessioned2024-07-02T13:39:16Z
dc.date.available2024-07-02T13:39:16Z
dc.date.issued2024
dc.descriptionIlustracionesspa
dc.description.abstractEsta 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)spa
dc.description.abstractThis 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.eng
dc.description.curricularareaIngeniería Eléctrica E Ingeniería De Control.Sede Medellínspa
dc.description.degreelevelMaestríaspa
dc.description.degreenameMagíster en Ingeniería - Automatización Industrialspa
dc.description.researchareaAutomatización robóticaspa
dc.format.extent78 páginasspa
dc.format.mimetypeapplication/pdfspa
dc.identifier.instnameUniversidad Nacional de Colombiaspa
dc.identifier.reponameRepositorio Institucional Universidad Nacional de Colombiaspa
dc.identifier.repourlhttps://repositorio.unal.edu.co/spa
dc.identifier.urihttps://repositorio.unal.edu.co/handle/unal/86335
dc.language.isospaspa
dc.publisherUniversidad Nacional de Colombiaspa
dc.publisher.branchUniversidad Nacional de Colombia - Sede Medellínspa
dc.publisher.facultyFacultad de Minasspa
dc.publisher.placeMedellín, Colombiaspa
dc.publisher.programMedellín - Minas - Maestría en Ingeniería - Automatización Industrialspa
dc.relation.indexedLaReferenciaspa
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dc.rights.accessrightsinfo:eu-repo/semantics/openAccessspa
dc.rights.licenseAtribución-NoComercial 4.0 Internacionalspa
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/spa
dc.subject.ddc000 - Ciencias de la computación, información y obras generales::004 - Procesamiento de datos Ciencia de los computadoresspa
dc.subject.ddc600 - Tecnología (Ciencias aplicadas)::607 - Educación, investigación, temas relacionadosspa
dc.subject.ddc620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingenieríaspa
dc.subject.lembLíneas eléctricas
dc.subject.lembRobótica
dc.subject.lembLíneas eléctricas - Automatización
dc.subject.lembLíneas eléctricas - Mantenimiento
dc.subject.proposalDetección de Líneas Eléctricas Compactasspa
dc.subject.proposalRobótica Autónomaspa
dc.subject.proposalSGBMeng
dc.subject.proposalSegmentación de Instanciasspa
dc.subject.proposalYOLOv8eng
dc.subject.proposalVisión por Computadoraspa
dc.subject.proposalCompact Power Line Detectioneng
dc.subject.proposalAutonomous Roboticseng
dc.subject.proposalInstance Segmentationeng
dc.subject.proposalComputer Visioneng
dc.titleDetección, localización y sujeción de una línea de media tensión por medio de técnicas de visión artificialspa
dc.title.translatedDetection, localization and clamping of a medium voltage line by means of artificial vision techniqueseng
dc.typeTrabajo de grado - Maestríaspa
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