Design and Application of Vision-Based Transformer Oil Pickup Robot
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.
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