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.
维普
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