周开河,杨跃平,叶夏明,朱艳伟,黄晓明.架空线路绝缘喷涂异物检测识别及机器人运动轨迹规划[J].电测与仪表,2023,60(6):32-39. Zhou Kaihe,Yang Yueping,ye Xiaming,Zhu Yanwei,Huang Xiaoming.Detection and identification of foreign matters in overhead line insulation spraying and robot trajectory planning[J].Electrical Measurement & Instrumentation,2023,60(6):32-39.
Detection and identification of foreign matters in overhead line insulation spraying and robot trajectory planning
Foreign matter intrusion will not only affect the spraying of insulation paint for transmission and distribution network, but also affect the safe operation of power grid. Therefore, the intelligent scheme of detection, identification and removal of foreign matters in insulation spraying of transmission overhead lines is studied. Firstly, a foreign object detection, recognition and tracking scheme,which based on segmented mapping histogram image enhancement preprocessing, image region feature separation and extraction based on optical flow method and dynamic foreign object tracking and recognition based on improved CAMSHIFT algorithm,is constructed. Then, the D-H kinematics model of the manipulator based on joint space is constructed, and the pentanomial interpolation method is used to plan the spatial trajectory of the manipulator. Finally, a visual servo control scheme for foreign object high-precision control based on double-layer structure model predictive control (MPC) is constructed to realize the high-precision control of foreign object grasping. The experimental results show that the foreign object detection, recognition and tracking algorithm has high robustness, can effectively enhance the image, extract the characteristic rectangular region in complex environment, and realize dynamic foreign object tracking under occlusion; The spatial trajectory algorithm of multi joint manipulator has good continuity and stability, which can effectively meet the requirement that the manipulator always points to the center of the foreign object to be grasped; Visual servo control based on MPC can meet the high-precision control of foreign object grasping of manipulator.