Abstract
This paper proposes an intelligent control system for the development of substation automatic grounding wire working robot. The system consists of two parts: robot motion control subsystem and robot visual servo subsystem. The system realizes autonomous control algorithm of robot operation process through robot vision servo technology, which combines stereo vision algorithm with equipment tracking algorithm. The object tracking algorithm and Kalman filter algorithm are used to extract and track the equipment area, and the binocular stereo vision algorithm is used to obtain the three-dimensional information of the equipment accurately, and the position information is fed back to the robot control system, which forms a servo control system. The system can realize unmanned operation of live working in the unattended situation, and improve the automation level and work efficiency of the operation.
The paper is supported by Shandong province key R&D program (2017CXGC0905, 2017CXGC0918 and 2017CXGC1505).
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Fu, Y., Tan, R., Lu, J., Tian, Y., Lu, S. (2019). Intelligent Control System for Substation Automatic Grounding Wire Operation Robot. In: Knight, K., Zhang, C., Holmes, G., Zhang, ML. (eds) Artificial Intelligence. ICAI 2019. Communications in Computer and Information Science, vol 1001. Springer, Singapore. https://doi.org/10.1007/978-981-32-9298-7_22
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DOI: https://doi.org/10.1007/978-981-32-9298-7_22
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