Aimed at the requirement of automatic cleaning of insulators in substations,an insulator pose estimation system based on point cloud processing is designed to solve the problem of poor performance of traditional visual methods.Based on the 3D point cloud information required for insulator location,a 2D lidar pitch point cloud scanning system driven by a steering engine is constructed.The insulator shape is fitted by a random sample consensus(RANSAC)algorithm,so as to obtain the key pose parameters of the insulator.The validity of the scheme is verified by experiments.
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