Power distribution operation robot wire clamp pose tracking and matching method based on model

Abstract

The invention discloses a power distribution operation robot wire clamp pose tracking and matching method based on a model. The method comprises the following steps: initializing monocular camera parameters; modeling is carried out on the wire clamp; training the model to obtain a wire clamp pose database; acquiring a wire clamp graph A; acquiring a wire clamp pose and a wire clamp bounding box area B; initializing nuclear correlation filter parameters by using the region B; acquiring a wire clamp graph C again; detecting the position of the wire clamp in the graph C by adopting a nuclear correlation filter to obtain a wire clamp bounding box region D; matching the area D with a database to obtain the pose of the wire clamp; acquiring a bounding box area E of the wire clamp again accordingto the pose; updating the kernel correlation filter by using the region E; and repeating the seventh step to the eleventh step to complete real-time rapid matching of the pose of the wire clamp. Theposture of the wire clamp under a complex background can be rapidly and accurately measured, effective data are provided for posture control over the tail end of the mechanical arm, and lead connection and lap joint operation of a hot-line work robot is facilitated.

Description

technical field [0001] The invention belongs to the field of wire clamp pose detection, in particular to a model-based wire clip pose tracking and matching method for a power distribution operation robot. Background technique [0002] Connecting lead wires is one of the main work items of live work on the distribution network side in China. At present, this kind of work is mostly carried out directly with insulating gloves. Therefore, before power distribution work, it is necessary to prepare various safety measures, clarify the operation method, and Good handling tool. Live work largely avoids the negative impact of line power outages, greatly reduces power outage time, improves power supply reliability, and alleviates power complaints. Compared with the transmission network, although the distribution network has a lower voltage, it has the characteristics of dense equipment, complex lines, narrow space, and small distance to the ground, which increases the difficulty of l...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a method for tracking and matching the position and posture of the wire clamp of a power distribution robot, so as to solve the alignment problem between the clamping jaw at the end of the mechanical arm and the wire clamp, and realize the rapid completion of the lead wire connection operation

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