Water washing robot aiming system and method based on laser ranging and image recognition

Abstract

The invention discloses a water washing robot aiming system and method based on laser ranging and image recognition. The system comprises a network camera and an on-line laser rangefinder, wherein an industrial control computer receives signals collected by the network camera and the on-line laser rangefinder; the on-line laser rangefinder makes a red light spot above an observation apparatus; the red light spot position is a water washing position; the network camera collects an on-site image; the red light spot is automatically identified through a color recognition algorithm, so that coordinate information of the red light spot in the image space can be obtained, and then a water gun aiming position can be determined; the information of the water gun aiming position is fed back to a robot controller; the robot is controlled to move and the water gun aiming position is controlled to be in an appointed position. According to the system and the method, visual guidance control of an electrified water washing system is realized through a robot vision related algorithm, so the automation degree of the robot is effectively improved and a relatively high effect on improving the robot washing efficiency is realized.

Description

technical field [0001] The invention relates to the field of substation automation control, in particular to a water washing robot aiming system and method based on laser ranging and image recognition. 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. ...

AI Technical Summary

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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