陈亮, 杨汝清, 谢霄鹏. 基于视觉的高压带电清扫机器人瓷瓶自动定位伺服系统[J]. 机器人, 2004, 26(2): 161-165.
引用本文: 陈亮, 杨汝清, 谢霄鹏. 基于视觉的高压带电清扫机器人瓷瓶自动定位伺服系统[J]. 机器人, 2004, 26(2): 161-165.
CHEN Liang, YANG Ruqing, XIE Xiaopeng. An Automatic Vision based Insulator Positioning Servo System of Cleaning Robot Working under High Voltage Condition[J]. ROBOT, 2004, 26(2): 161-165.
Citation: CHEN Liang, YANG Ruqing, XIE Xiaopeng. An Automatic Vision based Insulator Positioning Servo System of Cleaning Robot Working under High Voltage Condition[J]. ROBOT, 2004, 26(2): 161-165.

基于视觉的高压带电清扫机器人瓷瓶自动定位伺服系统

An Automatic Vision based Insulator Positioning Servo System of Cleaning Robot Working under High Voltage Condition

  • 摘要: 介绍了高压带电清扫机器人的自动化视觉瓷瓶检测定位子系统.根据全局搜索与区域细分检验相结合的原理,设计了一套新的吸取了投影变换、阈值迭代、哈夫变换等优点,适用于高压带电清扫的混合算法,大大地提高了系统速度和可靠性,成功地分离出了瓷瓶图像,实现了全自动瓷瓶精确对中定位伺服.

     

    Abstract: In this paper,the vision subsystem of a cleaning robot working under high voltage conditions is presented. Utilizing both general and detail image information,various difficulties resulting from online high voltage cleaning and complicated outdoor background are successfully overcome,and a new hybrid method is designed,which has the advantages of iterative threshold,projection transform,Hough Transform and other algorithms. With the above method,the speed and reliability of the system is greatly improved and automatic insulator positioning and manipulator servoing is achieved.

     

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