Hot-line work robot bolt identification method based on random Hough transform and SVM (Support Vector Machine)

Abstract

The invention puts forward a hot-line work robot bolt identification method based on random Hough transform and a SVM (Support Vector Machine). The hot-line work robot bolt identification method comprises the following steps that using a binocular camera to collect an operation scene binocular image including bolts; according to the image, judging whether haze is in the presence or not, if the haze is in the presence, adopting a multiscale Retinex method with color restoration to carry out enhancement and restoration on the image, and then, extracting image edges; if the haze is not in the presence, further judging whether a highlight phenomenon is in the presence in the image or not, if the highlight phenomenon is in the presence, adopting a homomorphic filtering method to enhance the image, then, extracting the image edges, and if the highlight phenomenon is not in the presence, directly extracting the image edges; adopting a method based on random Hough transform to carry out ellipse fitting on image edge information; and if a plurality of ellipses are fit, adopting a target identification method based on the SVM to carry out classification identification on a plurality of ellipse fitting results. By use of the method, bolts can be quickly and accurately identified under a complex background.

Description

technical field [0001] The invention belongs to the field of electric power technology, and in particular relates to a method for identifying bolts of a live working robot based on random Hough transformation and SVM under a complex background. Background technique [0002] At present, my country's high-voltage live work mainly uses the insulating glove method, requiring operators to climb high-voltage iron towers or use insulating bucket trucks to carry out non-stop work, that is, manual live work is required. However, manual live work means that the operator must be in a dangerous environment of high altitude, high voltage, and strong electromagnetic field. The labor intensity is high, and the human body posture is not easy to control. If you are not careful, you will easily experience personal injury and death accidents, which will bring serious losses to the family and society. [0003] Although live working robots have been developed in China, operators still need to b...

AI Technical Summary

Problems solved by technology

[0005] The live working robot works in an outdoor unstructured environment, and the working environment may have smog, strong light, etc., so that the edge information of the target image collected by the camera is not prominent, which makes it difficult to identify

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