基于视觉的变压器取油机器人的设计与应用
Design and Application of Vision-Based Transformer Oil Pickup Robot
李齐齐1
作者信息
- 1. 武汉纺织大学,湖北 武汉 430200
- 折叠
摘要
在机器视觉和机器人技术的不断更新迭代下,为了提高变电站智能化检测作业水准,通过采用3D深度相机、六轴工业机器人、移动底盘等搭建了变压器取油机器人.利用深度相机可以直接读出物体深度信息的特点,通过三维点云配准算法实现对阀门的识别与定位;利用手眼标定和工具坐标系标定,得到相机坐标系和末端执行器坐标系之间的转换关系;最后通过工控机与机器人的TCP/IP通信实现位姿信息传输,最终完成自主取油流程.
Abstract
Under the continuous updating and iteration of machine vision and robot technology,in order to improve the intelligent inspection operation level of substation[1].By using 3D depth camera,six-axis industrial robot,mobile chassis and so on to build a transformer oil extraction robot.Using the depth camera can directly read out the characteristics of the object depth information,through the three-dimensional point cloud alignment algorithm to achieve the identification and localization of the valve;the use of hand-eye calibration and tool coordinate system calibration,to get the conversion relationship between the camera coordinate system and the end of the actuator coordinate system;and finally,through the industrial control computer and the robot's TCP/IP communication to achieve the position information transmission,and ultimately complete the process of autonomous oil extraction.
关键词
机器人/模块设计/三维点云Key words
robot/module design/3D point cloud引用本文复制引用
出版年
2024
NETL
NSTL
万方数据