Design And Implementation Of Visual System For Live Working Robot

In order to ensure the timeliness and reliability of the national power supply,the maintenance operation of the distribution line usually adopts the way of live operation.With the rapid development of industrial robot technology,industrial robots have also begun to be connected with power systems.Different types of professional robots for power systems have emerged and they assist in the maintenance and replacement of charged lines manually.This paper designs and develops the visual system of the live-line operation robot,based on the 10KV live-line replacement robot for overhead distribution lines developed by the Intelligence Technology Research Institute Co.,Ltd.My focuses of the research are the binocular stereoscopic display function,the target insulator identification and positioning function.This paper main study shutter stereo display.I use the VS2015 platform and the OPENCV to obtain binocular camera images.Then binocular camera images will be devide into the left and right buffer by OpenGL.In this way,the cross-display of left and right images is realized.Finally,configure NVIDIA graphics card and set up compiler to support 3D vision.This enables the human eye to view stereoscopic images through a shutter stereo display device.This paper uses MATLAB2012a to do camera calibration for binocular camera.First,collect a large number of target insulator images to product data set.Through the data set image preprocessing,use hog to extract the characteristics of the sample and then use SVM classifier training model.When the insulator is identified in the left and right eye imaging screen of binocular camera used the trained model,extract the pixel coordinates of a certain feature point on the target.According to the principle of spatial coordinate conversion and triangulation,the spatial coordinates of the identified feature points are calculated relative to the left eye of the binocular camera.At the end of this paper,design the GUI interface of vision system and build the experiment field.The experimenter,assisted by the visual system,controls the hand system of the charged Operation robot to grab the target insulator.In this way to complete the design and implementation of this topic.