Research on Application of Machine Vision in Robots for Live-Power Lines

The electric fire-exchanging operation is basically used to implement operation such as Wire stripping, drainage wire through the fastening wire clip, clamp bolt fastening, etc. Manual operation is time-consuming and laborious and has very high safety risks, so the automatic electrified ignition robot emerges as The Times require; The automatic operation method should accurately identify the position of wire and drainage line, so as to guide the robot to move and carry out the corresponding operation. Based on this, an intelligent binocular vision guidance method is proposed in this paper. The image data in the working space is collected by the binocular camera in real time, the wire is identified by the image segmentation technology, the wire is separated from the background, and the spatial pose of the wire is solved by the PNP and binocular stereo vision technology. Through YOLOV5 target detection, the position identification and positioning of the thread and clamp of the drainage line are realized, and the automatic fire ignition operation is finally guided by the manipulator. Experiments show that this method has the advantages of high accuracy, good stability and fast speed.

Receding-Horizon Vision Guidance with Smooth Trajectory Blending in the Field of View of Mobile Robots

Applying computer vision to mobile robot navigation has been studied for over two decades. One of the most challenging problems for a vision-based mobile robot involves accurately and stably tracking a guide path in the robot limited field of view under high-speed manoeuvres. Pure pursuit controllers are a prevalent class of path tracking algorithms for mobile robots, while their performance is rather limited to relatively low speeds. In order to cope with the demands of high-speed manoeuvres, a multi-loop receding-horizon control framework, including path tracking, robot control, and drive control, is proposed in this paper. This is done within the vision guidance of differential-driving wheeled mobile robots (DWMRs). Lamé curves are used to synthesize a trajectory with G 2 -continuity in the field of view of the mobile robot for path tracking, from its current posture towards the guide path. The platform twist—point velocity and angular velocity—is calculated according to the curvature of the Lamé-curve trajectory, then transformed into actuated joint rates by means of the inverse-kinematics model; finally, the motor torques needed by the driving wheels are obtained based on the inverse-dynamics model. The whole multi-loop control process, initiated from Lamé-curve blending to computational torque control, is conducted iteratively by means of receding-horizon guidance to robustly drive the mobile robot manoeuvring close to the guide path. The results of numerical simulation show the effectiveness of our approach.