Transformer substation inspection robot holder control method based on visual servo
A patrol inspection robot and visual servo technology, applied in the direction of non-electric variable control, attitude control, control/adjustment system, etc., can solve the problems of inspection collection image deviation, equipment area deviation, short movement distance, etc., to save labor Effects of labor resources, ensuring safe operation, and improving accuracy
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[0058] The present invention will be further limited in combination with the drawings and specific embodiments.
[0059] A visual servo-based substation inspection robot pan-tilt control method. First, the configuration of the inspection robot includes the need to save the equipment images of each preset position of the substation taken by the robot to the template library, and the equipment area to be inspected It is presented in the center of the image with an appropriate size, and the equipment area to be detected is manually calibrated in the template image. The equipment image in the template library corresponds to the equipment position of the substation. When assigning inspection tasks to the robot, it is necessary to clearly point out the various parameters of the template image taken at each preset parking space (such as pan-tilt angle, camera focal length, etc.), and the inspection robot travels to this preset parking space After that, the posture adjustment is performe...
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