Dynamic target identifying, positioning and grabbing method for distribution network hot-line work robot

Abstract

The invention discloses a dynamic target identifying, positioning and grabbing method for a distribution network hot-line work robot. The method comprises the following steps: acquiring an image of a distribution network fitting; obtaining a distribution network fitting target image according to the distribution network fitting identification model; determining position coordinates of the distribution network fitting according to a binocular positioning method; controlling the robot to move to the vicinity of the distribution network fitting based on a binocular positioning control strategy, and realizing accurate positioning of the distribution network fitting by combining a PID control method based on visual servo; and controlling a gripper at the tail end of a mechanical arm of the robot to grab the hardware fitting. Through the combined application of the neural network model, the binocular positioning method and the visual servo-based PID control method, the target distribution network fitting is obtained, the position information of the target distribution network fitting in the image is framed, the position relation between the target distribution network fitting and the gripper at the tail end of the mechanical arm is obtained, automatic identification and accurate positioning of the dynamic distribution network fitting can be achieved, and the accuracy of the dynamic distribution network fitting is improved. The workload of visual identification is reduced, the labor cost is reduced, and the automatic identification accuracy and efficiency are improved.

Description

technical field [0001] The invention relates to a dynamic target identification, positioning and grasping method of a distribution network live working robot, belonging to the technical field of identification, positioning and control grasping of distribution network hardware. Background technique [0002] With the growth of the national economy, the power industry has developed rapidly. At present, the State Grid Corporation of China operates more than 400,000 distribution lines with a length of more than 3 million kilometers, of which overhead lines are still the main grid of the distribution network. When the power distribution network is manually energized for maintenance, the maintenance personnel usually need to wear airtight insulating clothing, carry various equipment and tools, and work at high altitudes for a long time, with high safety risks and low work efficiency. If it is in bad weather or geographical conditions , the work is more difficult and risky. Distri...

AI Technical Summary

Problems solved by technology

However, with this new type of operation method, the image data collected by the video terminal is huge and highly repetitive, and the massive distribution network image data still needs to be checked by the staff with the naked eye, so the workload is huge, and misjudgments or omissions are prone to occur. However, it is still impossible to locate the distribution network fittings in a timely and accurate manner

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