Drop type switch replacing control system and method based on high-voltage live working robot

Abstract

The invention discloses a drop type switch replacing control system and method based on a high-voltage electric power live working robot. The system is characterized in that a control unit of the high-voltage electric power live working robot is connected with an image data processing center and a mechanical arm control unit, and the image data processing center is connected with a vision module and a target tracking module; the vision module is connected with the target tracking module. The system and method have the advantages that the top end of a bolt is conical so as to go deep into a bolt hole conveniently, even if the locating of the bolt has an error of several millimeters, the bolt still can go deep into the bolt fixing hole, and the difficulty of making the bolt go deep into the bolt hole is reduced. By additionally setting color marks at the two ends of the bolt, the bolt can be highlighted in the background, the position of the bolt can be tracked out according to the color information, and the length of the bolt can be determined according to the color information of the marks at the two ends.

Description

technical field [0001] The invention relates to the field of machine vision, in particular to a drop switch replacement control system and method based on a high-voltage live working robot. Background technique [0002] Traditional power equipment maintenance requires manual close contact with equipment, which not only threatens the personal safety of construction personnel, but also is inefficient. With the development of artificial intelligence, machine vision and other related technologies, operations in various high-risk environments have begun to be replaced by robots, and equipment maintenance on high-voltage transmission lines can also be completed by high-voltage live working robots. [0003] The drop switch is an indispensable device in the high-voltage transmission line. When the current in the line is too large, the fuse in the drop switch will be heated and blown due to the excessive current, so as to achieve the purpose of protecting the line. Usually, after th...

AI Technical Summary

Problems solved by technology

[0007] (1) The gray scale of the bolt clamped by the mechanical arm in the image captured by the camera is very similar to that of other electrical equipment and brackets around it, which makes the control system unsuitable for target tracking

[0008] (2) The bolt is relatively small in the image acquired by the camera, and the texture information formed by its own thread will be lost, which increases the difficulty of the control system to track and locate the bolt

[0009] (3) The outer diameter of the bolt is very close to the inner diameter of the bolt hole, and it is difficult to accurately control the bolt extending into the bolt hole

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