智能化视觉系统在配电网带电接火上的应用

Application of Intelligent Visual System in Live Fire Connection of Distribution Network

配电网带电接火要解决导线剥皮、引流线穿入紧固线夹、线夹螺栓紧固等基本操作。人工带电接火方式费时、费力且易造成安全隐患;采用自动化带电接火方式必须解决导线以及引流线穿线位置的准确定位。基于此提出一种智能化单目视觉引导的方法,由单目相机实时采集图像数据,通过图像二值化方法将导线从背景中分离,依据多视图几何关系求解导线的空间位姿;通过YOLOv4目标检测,实现引流线穿线位置的识别与定位;最终引导机械手完成智能化带电接火任务。

The live connection of the distribution network requires some basic operations such as stripping of the wire,wire passing through the clamp,and clamp fasten.The manual live connection method is time-consuming and easy to cause danger while for automatic one some basic problems like accurate positioning of the wire and the clamp must be solved.Based on this,an intelligent monocular vision guidance method was proposed,by which image data in real time by a monocular camera was collected,the wire and background through image binarization was devided,and the spatial pose of the wire according to the multi-view geometric relationshipwas abtained.Through YOLOv4 target detection,the identification and positioning of the threading position of the line was achieveded,which led to the realization ofthe intelligent live connection task by mapipulator.