Intelligent control system for substation automatic grounding wire operation robot

Abstract

This paper proposes an intelligent control system for the development of substation automatic grounding wire working robot. The system consists of two parts: robot motion control subsystem and robot visual servo subsystem. The system realizes autonomous control algorithm of robot operation process through robot vision servo technology, which combines stereo vision algorithm with equipment tracking algorithm. The object tracking algorithm and Kalman filter algorithm are used to extract and track the equipment area, and the binocular stereo vision algorithm is used to obtain the three-dimensional information of the equipment accurately, and the position information is fed back to the robot control system, which forms a servo control system. The system can realize unmanned operation of live working in the unattended situation, and improve the automation level and work efficiency of the operation.