Control method for automatic replacement control system of high-voltage line drop switch

Abstract

The invention discloses an automatic replacement control system for a high-voltage line drop switch and a control method. The automatic replacement control system comprises a robot control unit, a mechanical arm control unit, a vision module, a target tracking module and an image data treatment center, wherein the robot control unit is respectively connected with the image data treatment center and the mechanical arm control unit; the image data treatment center is connected with the vision module and the target tracking module respectively; the vision module is connected with the target tracking module. The automatic replacement control system has the benefits as follows: by arranging the top end of a bolt to be conical, the top end of the bolt can stretch into a bolt hole conveniently, and even if the difference of a few millimeters exists in positioning of the bolt, the bolt can still stretch into the bolt fixing hole, so that difficulty of stretching the bolt into the bolt hole is reduced. By additionally arranging color marks at the two ends of the bolt, the bolt can be highlighted in the background, so that the bolt can be tracked conveniently through color information, and meanwhile, the length of the bolt can be determined through 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 binocular vision-based automatic replacement control system and control method for drop switches in high-voltage lines. 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 of high-voltage transmission lines can also be completed by 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...

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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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