Research on the Location Method of Opening Switch Based on Monocular Visual Perception
Aiming at the problem that the positioning accuracy of intelligent substation robot is too low when it is opening,the po-sitioning method based on monocular vision perception is studied,and a monocular vision positioning scheme is established.Firstly,a threshold segmentation algorithm based on image brightness equalization enhancement is designed for the complex in-door imaging environment of substation,which can accurately extract the contour edge information of the switch from the image;Then an ellipse fitting algorithm based on RANSAC is designed to fit the edge information of the contour to obtain the position in-formation of the switch;Finally,a fast matching algorithm based on gray features is designed,and the pyramid matching strat-egy is integrated to improve the matching speed and anti-interference ability.The experimental results show that the switch posi-tion positioning accuracy of this method is±0.8mm,the angle positioning accuracy is±0.9°,and the positioning efficiency is high and the robustness is good,meeting the requirements of the opening operation of the substation robot.
万方数据
维普
