Target prediction method based on reflection-type laser foreign matter removing device

Abstract

The invention discloses a target prediction method based on a reflection-type laser foreign matter removing device. The method comprises the steps: for a high-voltage cable, carrying out kinematics modeling through kinetic analysis to obtain a motion track with unfixed parameters; projecting the motion track to a camera plane coordinate system to obtain a corresponding track in the camera plane coordinate system; solving model parameters through foreign matter position data acquired through data acquisition, performing the fitting of a track of the foreign matter winding point in a camera plane at the current moment, predicting and tracking a tracking object within image recognition time, and compensating for the image recognition time delay. According to the invention, the real-time performance of tracking in the operation process of the reflection-type laser foreign matter removing device can be improved, so the tracking is more accurate and timely, the laser cutting points are moreaccurate, and the equipment cutting efficiency is effectively improved.

Description

technical field [0001] The invention belongs to the field of foreign matter removal and tracking of power transmission cables, and in particular relates to a target prediction method based on a reflective laser foreign matter removal device. Background technique [0002] In the actual visual servo system, due to the low sampling rate of most cameras, there is a delay in the image transmission from the camera to the image processing device; and due to the complexity of the sense of vision, the extraction of visual information requires complex algorithms to support, and The processing of these image algorithms usually requires a lot of computing time, which makes it difficult to satisfy the real-time performance of the system, that is to say, the acquisition of visual information will cause time delay, which will have a great impact on the visual servo control task, such as reducing the control cost. accuracy, and even cause the failure of the control task. [0003] The most ...

AI Technical Summary

Problems solved by technology

[0002] In the actual visual servo system, due to the low sampling rate of most cameras, there is a delay in image transmission from the camera to the image processing device; and due to the complexity of the sense of vision, the extraction of visual information requires complex algorithms to support, and The processing of these image algorithms usually requires a lot of computing time, which makes the real-time performance of the system difficult to satisfy, that is to say, the acquisition of visual information will cause time delay, which will have a great impact on the visual servo control task, such as reducing the control cost. accuracy, even causing the failure of the control task

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