高压配电线路验电及装设接地线作业机器人末端夹爪定位技术

Research on the Positioning Technology of the end Clamping of the Robot at the end of the Operation Robot of the High Voltage Distribution Line and the Grounding Line

针对高压配电线路验电及装设接地线作业机器人机械臂末端夹爪定位困难、定位精度不高等问题,本文提出一种基于多线性结构光测量法的视觉子系统,来实现机器人夹爪末端的准确定位。主要介绍了基于多线性结构光测量法的图像采集方法、激光中心提取以及激光条纹拟合,在此基础上研究了基于图像特征的图像识别技术。

For high voltage power distribution circuit test installed grounding line homework robot manipulator end grip positioning difcult, positioning accuracy is not high, this paper presents a linear structure light measurement method based on vision subsystem, to achieve accurate positioning of the end of robot clip claw.This article mainly introduced based on the linear structured light measurement center extract image acquisition method, laser and the laser stripe fitting, on the basis of the image recognition technology based on image characteristics is studied.