Simulation of Working Position Tracking for Insulating Paint Spraying Robot on Distribution Line
The insulation paint spraying robot applied on elevated distribution lines cannot maintain a uniform speed of operation under the influence of natural factors,making it difficult to track its position.Therefore,a new robot job position tracking method is proposed.Gaussian filtering on the collected target image was completed to maximize the enhancement of target image details.And then,the salient region of the image was detected to find the region of interest where the target may exist.Meanwhile,the features in original image were extracted correspondingly to com-plete the location recognition.Moreover,Bouguet algorithm was introduced to correct the target image.Furthermore,the parallax with binocular stereo matching was employed to obtain the working position of robot.Finally,the tracking for the working position of insulating paint spraying robot was realized.Simulation results show that the proposed method can accurately track the working position of robot,the recognition error is less than 0.5cm;In addition,the av-erage time consumption is 43.6s.This method improves the efficiency of the robot.
Distribution linesInsulating paint spraying robotOperation trackingGaussian filterWindow size