基于视觉定位的带电作业锁杆无线遥控操作技术

Wireless Remote Control Operation Technology of Live Working Lock Bar Based on Visual Positioning

利用视觉定位能精确转换图像坐标为真实位置的能力,结合机器人技术,提出基于视觉定位的带电作业锁杆无线遥控操作技术。根据视觉定位原理,使用VisionHAWK智能相机采集带电作业锁杆图像,运用Visionscape软件分析及处理获取的图像,采用像素网格划分法计算所得图像坐标,通过摄像机标定方法,利用Visionscape软件将图像坐标转换为锁杆真实坐标信息,并传送至KUKA机械手;无线遥控操作技术将空间鼠标当作输入机械手控制命令的设备,以控制锁杆运动及路径规划,实现带电作业锁杆无线遥控操作。实验结果表明:该技术将图像坐标转换为真实坐标的平均误差约为0.82mm;该技术使用后的定位区域中心和实际操作中心之间的像素距离较小,定位效果显著;该技术引导机械手控制锁杆运动的轨迹和设定路径基本一致,遥控操作性能良好。

Using the ability of vision positioning to accurately convert image coordinates to real position,combined with robot technology,a wireless remote control operation technology of live working lock bar based on vision positioning is proposed.According to the principle of visual positioning,VisionHAWK intelligent camera is used to collect the lock bar image of live working,and Visionscape is used to analyze and process the image.The pixel grid method is used to calculate the image coordinates.Through camera calibration method,Visionscape is used to convert the image coordinates into the real coordinate information of the lock bar,which is transmitted to KUKA manipulator.Wireless remote control technology takes the space mouse as a device to input the control command of the manipulator,so as to control the movement and path planning of the lock bar,and realize the wireless remote control operation of the lock bar in live working.The experimental results show that the average error of transforming image coordinates into real coordinates is about 0.82mm;After using this technology,the pixel distance between the center of the positioning area and the actual operation center is small,and the positioning effect is remarkable;The trajectory of the manipulator controlled by this technology is basically consistent with the set path,and the remote control operation performance is good.