基于CANNY算子的输电线路移动作业机器人视觉定位控制

设计一种双臂、双机械手的输电线路引流板螺栓紧固带电作业机器人,针对在螺栓拧紧作业过程中机器人机械手作业末端与螺栓头、螺母难以自动对准对接的问题,基于双作业末端输出的四路视频图像信息提出一种基于改进Canny算子图像边缘检测的机器人作业末端与螺栓螺母的对准定位控制方法,给出了Canny算子的改进方法和改进Canny算子图像边缘检测的流程。对常规Canny算子及其改进在套筒边缘检测及中心点的提取效果进行了比较分析,验证了改进算法的有效性,最后在实际线路上进行带电作业试验,试验结果表明本文所提出的改进Canny算子图像边缘检测机器人作业末端与螺栓螺母的对准定位控制具有较强的工程实用性,较常规算法而言进一步提高了作业效率。

The CANNY Operator based Mobile Operation Robot Vision Location Control for High Voltage Transmission Line

This paper presents an double arm,double manipulator transmission line drainage board bolt tighten live working robot.In response to the difficulty of align and dock automatically for manipulator end with bolt and nut in the process of bolt tighten.An improved Canny operator edge detection robot work ends with bolt and nut align position control method is proposed based on four video image information from two double work ends.An improved Canny operator and improved Canny operator edge detection process are given.Then,a comparative analysis of conventional Canny operator is made,which shows its improvements in sleeve edge detection and center point extraction which verify the validity of the improved algorithm.Finally,live working test on the actual line,test results show that the proposed improved Canny operator edge detection robot work ends and the bolt and nut alignment control has a strong engineering practicality,compared with conventional algorithms further improving operational efficiency.