Method for vision aiming system of substation water washing robot

Abstract

The invention discloses a substation water flushing robot visual targeting system and method. The substation water flushing robot visual targeting system includes a network camera and a range finder. An industrial control computer receives signals acquired by the network camera and the range finder; the range finder marks a position above an observation equipment with a red spot, wherein the position of the red spot is a water flushing position; the network camera acquires field images; the red spot is automatically identified through a color identification algorithm, so that the coordinate information of the red spot in an image space can be obtained, and therefore, a hydraulic giant striking position can be determined; obtained hydraulic giant striking position information is fed back to a robot controller; the robot controller controls the robot to move; the hydraulic giant striking position can be located at a specified location under control; and therefore, visual servo control of a substation water flushing robot can be realized. Vision guided control of an electrified water flushing system is realized through related algorithms of machine vision, and therefore, the autonomy of the robot can be effectively improved, and improvement of flushing efficiency of the robot can be greatly facilitated.

Description

technical field [0001] The invention relates to the field of substation automation control, in particular to a vision aiming system and method for a substation water washing robot. Background technique [0002] Because substation insulators are located outdoors, due to the current environmental governance is not perfect and other reasons, the industrial pollution and natural pollution permeating the air are easy to deposit on the surface of the insulator to form a pollution layer. These pollutions containing salt, acid, and alkaline components encounter humid weather conditions such as fog and rain, and the pollution layer on the surface of the insulator will be wetted, the conductivity will increase, the insulation performance will decrease, the leakage current will increase sharply, and its flashover voltage will be greatly reduced. At this time, pollution flashover may occur, which will seriously affect the stable operation of the power grid system. Therefore, it is very...

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Problems solved by technology

[0007] 1. During the water washing process, due to the high working height of the working end (about 7-8 meters), it is difficult for the operator to observe which equipment the robot is currently washing and the washing position of the equipment to be washed with the naked eye. This severely restricts the practicality of the system

[0008] 2. Although the above-mentioned water flushing device or system has introduced a certain degree of automation, the water flushing operation still requires the entire operation of the operator, and its intelligence level is low, which cannot meet the intelligent requirements of the water flushing operation

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