CN105931233A - Bolt search and identification method for transmission line bolt tightening robot - Google Patents
Bolt search and identification method for transmission line bolt tightening robot Download PDFInfo
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- CN105931233A CN105931233A CN201610242982.4A CN201610242982A CN105931233A CN 105931233 A CN105931233 A CN 105931233A CN 201610242982 A CN201610242982 A CN 201610242982A CN 105931233 A CN105931233 A CN 105931233A
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- bolt
- transmission line
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- peak
- drainage thread
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000005540 biological transmission Effects 0.000 title claims abstract description 27
- 230000005611 electricity Effects 0.000 claims description 22
- 239000012636 effector Substances 0.000 claims description 15
- 239000011159 matrix material Substances 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 238000000605 extraction Methods 0.000 claims description 3
- 238000009740 moulding (composite fabrication) Methods 0.000 claims description 3
- 230000006872 improvement Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
Abstract
The invention discloses a bolt search and identification method for a transmission line bolt tightening robot. The method comprises the steps of (S1) automatically searching the position of a bolt, and searching the bolt with the direction of a drainage line, and (S2) identifying the bolt. According to the method, the bolt can be efficiently searched, the precise identification degree is high, and thus the efficiency of transmission line bolt tightening work is improved.
Description
Technical field
Present invention relates generally to power system transmission line automated job apparatus field, refer in particular to one and be applicable to transmission line of electricity spiral shell
The bolt search recognition methods of bolt tightening machine people.
Background technology
Along with China's expanding economy, it is ensured that power system safety and stability runs and becomes more and more important, how to strengthen electrical network daily
Safeguard, prevent trouble before it happens, and timely repairing when going wrong, build power system security defence framework, tackle various choosing
War, becomes problem demanding prompt solution.Complying with the demand building intelligent grid, automated job equipment is gradually used, is wherein carried
Electricity Work robot arises at the historic moment.
Transmission line of electricity Screw Tightening Machines device people is the one of hot line robot, but due to existing Screw Tightening Machines device people one
As be all to reproduce scene by transmission of video, more just can complete bolt fastening work by manual operation, ripe to operated by personnel
White silk degree requires higher, and efficiency is the lowest.This be owing to prior art lacking efficiently, accuracy rate is high and view-based access control model defeated
Electric line bolt detection method, major part hot line robot cannot complete search automatically and the identification of bolt on transmission line of electricity,
Even if part hot line robot possesses transmission of video function, also automatic bolt cannot be carried out by vision, it is necessary to add people
Work is intervened, and the most seriously hinders the development of livewire work field automatization.
Summary of the invention
The technical problem to be solved in the present invention is that the technical problem existed for prior art, and the present invention provides the one can
Effective search bolt, accurate resolution are high and then improve the tight for transmission line of electricity bolt of transmission line of electricity bolt fastening work efficiency
Gu the bolt search recognition methods of robot.
For solve above-mentioned technical problem, the present invention by the following technical solutions:
Recognition methods searched for by a kind of bolt for transmission line of electricity Screw Tightening Machines device people, the steps include:
S1: automatically search for the position of bolt, i.e. with the search walking always to carry out bolt of drainage thread；
S2: bolt is identified.
Further improvement as the inventive method: the flow process of described step S1 is:
S101: judge the locus of drainage thread；
S102: the trend of drainage thread is planned to the path of bolt search；
S103: control bolt terminal operation executor and upwards carry out the search of bolt along this path planning.
Further improvement as the inventive method: in step S101, performs when above-mentioned drainage thread occurs in bolt fastening end
The when of in camera view provisioned in device, bolt fastening end effector is finely adjusted.
Further improvement as the inventive method: the process of described fine setting is: by measuring drainage thread two-end-point width in the picture
Degree L1、L2Contrast judge now whether drainage thread offsets with to card device；If L1＞ L2, then drainage thread is from L1End is relatively
Closely, from L2End farther out, now adjusts joint 13 slowly to rotate, until meeting condition L near far-end, principle away from near-end1
≈L2；If L1＜ L2, then rightabout fine setting is performed until meeting condition L1≈L2。
Further improvement as the inventive method: described step S2 includes: first the image collected is carried out pretreatment, is obtaining
After taking the edge image of bolt, then carry out the identification of bolt.
Further improvement as the inventive method: the idiographic flow of described step S2 is:
The extraction of S201: bolt six limit straight line group；
First, Hough space is found the peak point peak that ballot value is the highest, with this peak point peak place angular regions
On the basis of, take 60 ° of regions of before and after and current region, then seek two maximums in each region, thus will obtain one group
Six side informations；Next round the second largest peak value place angular regions in a Hough space, ask three according still further to said method
Six peak values in region, by that analogy, ask for organizing hexagon information more, then add up the summation of often six peak point ballots of group,
One group of six side information taking ballot summation the highest is the hexagon information finally determined；
S202: hexagonal centre matching；
Obtain six peak point peak in Hough space corresponding to six lines in image space, the most hexagonal six limits,
Next the intersection point two-by-two on six limits is calculated, it is hereby achieved that 12 points；Then these 12 points are appointed to take three points be one group,
Form a triangle, seek the perpendicular bisector on any two limits of triangle, and calculate the intersection point of two perpendicular bisectors, be in hexagon
Heart position that may be present；12 points appoint take 3 points to have 220 kinds of combinations, by these 220 trianglees combining each self-formings
Calculate perpendicular bisector intersection point according to above-mentioned steps, carry out the judgement of central point.
Further improvement as the inventive method: be one after rounding up by the perpendicular bisector position of intersecting point calculated
Pixel accurately, now uses Gauss square to add up in this position and neighborhood thereof, obtains accumulated matrix.
Compared with prior art, it is an advantage of the current invention that:
1, recognition methods searched for by the bolt for transmission line of electricity Screw Tightening Machines device people of the present invention, it is possible to real realization is turned into automatically
Industry, high-risk livewire work of having installed machines to replace manual labor works, will manually free from high-risk livewire work；The present invention
Screw Tightening Machines device task efficiency can be significantly increased, reduce the input of manpower and materials.
2, recognition methods searched for by the bolt for transmission line of electricity Screw Tightening Machines device people of the present invention, it is possible to on ultra-high-tension power transmission line
Bolt scan for and identify, with high accuracy, high discrimination bolt, and can stably coordinate and sent out from host computer
The each bar instruction action come is to complete bolt fastening work.
3, recognition methods searched for by the bolt for transmission line of electricity Screw Tightening Machines device people of the present invention, and principle is simple, operate steadily,
The most reliable, can be widely used in automatization's popularization of high-voltage hot-line work, improve the efficiency of high-voltage hot-line work.
Accompanying drawing explanation
Fig. 1 is present invention principle schematic in concrete application example.
Fig. 2 is present invention principle schematic of photographic head fine setting in concrete application example.
Fig. 3 is present invention schematic flow sheet of bolt search in concrete application example.
Fig. 4 is present invention schematic flow sheet of bolt identification in concrete application example.
Fig. 5 is the schematic diagram that the present invention carries out Hough transform space in concrete application example.
Fig. 6 is the schematic diagram that the present invention carries out that in concrete application example six limit straight line groups are chosen.
Fig. 7 is the schematic diagram that the present invention carries out hexagonal centre point calculating in concrete application example
Fig. 8 is the schematic diagram that the present invention carries out hexagonal centre matching temporal voting strategy in concrete application example.
Fig. 9 is present invention structural representation of bolt terminal operation robot in concrete application example.
Figure 10 is present invention structural representation of bolt terminal operation end effector in concrete application example.
Figure 11 is present invention schematic diagram of 5 × 5 Gauss square templates employed in concrete application example.
Detailed description of the invention
Below with reference to Figure of description and specific embodiment, the present invention is described in further details.
As shown in Figure 1, Figure 2 with shown in Fig. 9, the method for the present invention is mainly used in transmission line of electricity Screw Tightening Machines device people, this machine
People generally comprises robot body and bolt terminal operation executor.Wherein robot body includes casing, and this casing possesses permissible
The road wheel 94 of walking on wire 96, the locking folder 95 being arranged on road wheel side can lock wire 96 to ensure robot
Move the most smoothly.
Bolt terminal operation executor includes multi-degree-of-freemechanical mechanical arm and bolt fastening end effector, wherein multi-degree-of-freemechanical mechanical arm
It is made up of 3 joints, multi-joint combination collaborative work, bolt operation end effector can be driven to optional position.Such as Figure 10
Shown in, bolt fastening end effector includes electric rotating machine, to the nearly burnt photographic head of telescope motor, 2 wrench sockets and 2.
Transmission line of electricity Screw Tightening Machines device people fastens end effector by multi-degree-of-freemechanical mechanical arm connecting bolt, coordinates charged work machine
All kinds of instructions that human organism sends, can complete the assigned work.2 nearly burnt photographic head are installed on the rear end central authorities position of wrench socket
Putting, two wrench sockets of bolt fastening end effector are driven by electric rotating machine and rotate, and are driven to shifting by to telescope motor
Dynamic, location, finely tuned after, i.e. bolt occur in image Centromedian time, telescope motor drive sleeve head is to snapping in spiral shell
Bolt 11, electric rotating machine drives wrench socket to rotate the fastening work of bolt 11.
In general, when specifically applying, in the bolt fastening end effector of bolt fastening belt electricity apparatus for work, 2 shootings
Head is nearly burnt photographic head, while obtaining the close-in target image that definition is higher, and can be by the unrelated certain journey of complex background
The virtualization of degree, searches for for later stage bolt 11, identifies that work provides advantage.2 nearly burnt photographic head are installed on wrench socket
Middle position, rear end, location, finely tuned after, i.e. bolt 11 occur in image Centromedian time, electric rotating machine actuating sleeve
Cylinder head, to snapping in bolt 11, drives wrench socket to rotate the fastening work of bolt 11 to telescope motor.
Recognition methods searched for by the bolt for transmission line of electricity Screw Tightening Machines device people of the present invention, it is possible to search automatically, identification drain
Bolt on plate, the steps include:
S1: automatically search for the position of bolt 11, i.e. with the search walking always to carry out bolt 11 of drainage thread 12；
Aforesaid way is by judging to realize to the preliminary of drainage thread position.The part being connected with drainage thread 12 due to drainage plate
It is similar to straight line, then record locus and its trend of this straight line, it is possible to this straight line trend searched as bolt 11
The predicted path of rope.Such search strategy, while reducing the complexity of system, also improves the accuracy of bolt 11 search.
S2: bolt 11 is identified.
In concrete application example, the idiographic flow of step S1 is:
S101: judge the locus of drainage thread 12；
S102: the trend of drainage thread 12 is planned to the path that bolt 11 is searched for；
S103: control bolt terminal operation executor and upwards carry out the search of bolt 11 along this path planning.
See Fig. 2, in above process, when drainage thread 12 occurs in the camera view provisioned in bolt terminal operation executor
Time middle, by measuring drainage thread 12 two-end-point width (L in the picture1、L2) contrast judge now drainage thread 12 with to card
Device whether run-off the straight, then carries out corresponding small adjustment so that drainage thread 12 is positioned at bolt fastening end effector centre
And do not tilt, it is to avoid collide during subsequent searches bolt 11.
That is, when in the camera view provisioned in drainage thread 12 occurs in bolt terminal operation executor, operation end is finely tuned,
Make drainage thread 12 be presented on the photographic head central authorities of bolt fastening end effector, preserve the position that now coding motor is recorded；That is,
Save now a bit (x on drainage thread 121, y1) relative to the position of robot body；Then adjust mechanical arm, make bolt
Fastening end effector snaps in the other two point (x on drainage thread 12 the most again2, y2)、(x3, y3) position.Then, then
Calculating slope between any two:
Owing to the drainage thread 12 near drainage plate part is approximately straight line, if try to achieve above two slopes meet condition
|k12-k13| < ε, wherein ε is a positive number the least, it is believed that these 3 approximation conllinear, then may determine that now institute
Three points taken are positioned on the above-mentioned part drainage thread 12 being approximately straight line.If the condition of being unsatisfactory for | k12-k13| < ε then sentences
Point measured by off line mechanical arm is positioned at the part that drainage thread 12 lower end more bends, and now drive bolt fastening end is held by mechanical arm
Row device continues to take a little, and, the more last some position taken of point next taken is on the upper side, to accelerate to tend to close to drainage plate portion
The drainage thread 12 divided, it is to avoid blindly take a little.Until meeting condition | k12-k13| < ε then can simulate this part drainage thread
12 relative to the position of robot body and trend thereof, and as the motion reference of bolt fastening end effector search bolt
Path, searches for the bolt 11 on drainage plate 12 with this.
From the foregoing, it will be observed that when in the camera view that above-mentioned drainage thread 12 occurs in provisioned in bolt fastening end effector when,
The strategy finely tuning operation end in the present invention is as follows:
By measuring drainage thread 12 two-end-point width (L in the picture1、L2) contrast judge now drainage thread 12 with to card
Whether device offsets, as shown in Figure 2.If L1＞ L2, then drainage thread is from L1End is relatively near, from L2End farther out, now adjusts
Joint 13 is slowly to rotate, until meeting condition L near far-end, principle away from near-end1≈L2；If L1＜ L2, then perform
Rightabout fine setting is until meeting condition L1≈L2。
As shown in Figure 4, in concrete application example, above-mentioned steps S2 includes: first the image collected is carried out pretreatment,
After obtaining the edge image of bolt 11, then carry out the identification of bolt 11.Detailed process is:
The extraction of S201: bolt 11 6 limit straight line group.
The feature of 60 ° is differed two-by-two, the some Selection Strategy at peak in Improved Hough Transform: first for three groups of opposite side inclination angles of hexagon
First, Hough space is found the peak (peak point) that ballot value is the highest, on the basis of this peak place angular regions, takes
60 ° of regions and current region front and back, then seeks two maximums in each region, thus will obtain one group of six side information,
As shown in Figure 5.Next round the second largest peak value place angular regions in a Hough space, ask three according still further to said method
Six peak values in individual region, by that analogy, ask for organizing hexagon information more, then add up the total of often six peak point ballots of group
With, one group of six side information taking ballot summation the highest is the hexagon information finally determined, second group of straight line group as shown in Figure 6.
S202: hexagonal centre matching.
Obtain six peaks in Hough space and correspond to six lines in image space, the most hexagonal six limits, connect down
Calculate the intersection point two-by-two on six limits, it is hereby achieved that 12 points, as shown in (a) in Fig. 7.Then these 12 points are appointed
Taking three points is one group, forms a triangle, seeks the perpendicular bisector on any two limits of triangle, and calculate the friendship of two perpendicular bisectors
Point, is hexagonal centre position that may be present, as shown in (b) in Fig. 7.12 points appoint take 3 points to have 220
Planting combination, the triangle combining each self-formings by these 220 calculates perpendicular bisector intersection point according to above-mentioned steps.
When specifically applying, the perpendicular bisector position of intersecting point calculated can be a pixel accurately after rounding up, example
As, perpendicular bisector intersection point is (52,33), if (52, the 33) location of pixels only in voting space adds one, then if by by mistake
The perpendicular bisector intersection point (53,34) that difference is formed can be considered as then another center, reduces the accuracy made the final vote.Therefore the present invention
Using Gauss square to add up further, accumulation result is as shown in Figure 8.That is: if the perpendicular bisector intersection point calculated
For (52,33), then a little square region in accumulated matrix (being initialized as full null matrix), centered by (52,33)
Territory, adds an equal-sized Gauss square, such as, is superimposed with matrix as shown in the figure in 50～54,31～35 these square areas,
That is,
A (x, y)=A (x, y)+G (i, j)
Wherein, A (x, y) be in accumulated matrix with point (x, y) centered by, part of the same size with template G；Being a dimensional Gaussian template, σ is corresponding variance, and σ is the biggest, and template is more
Diffusion, σ is the least, and template is more concentrated, and should determine the value of σ according to the size of template.As shown in figure 11, it is 5 sized by
The Gauss square template of × 5.
The said method using the present invention just can reduce the center add up error that slight error is brought, the position that prominent intersection point is concentrated,
It is easy to the judgement of central point.
Below being only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment, all belongs to
Technical scheme under thinking of the present invention belongs to protection scope of the present invention.It should be pointed out that, the ordinary skill for the art
For personnel, some improvements and modifications without departing from the principles of the present invention, should be regarded as protection scope of the present invention.
Claims (7)
1. the bolt search recognition methods for transmission line of electricity Screw Tightening Machines device people, it is characterised in that step is:
S1: automatically search for the position of bolt, i.e. with the search walking always to carry out bolt of drainage thread；
S2: bolt is identified.
Recognition methods searched for by bolt for transmission line of electricity Screw Tightening Machines device people the most according to claim 1, and its feature exists
In, the flow process of described step S1 is:
S101: judge the locus of drainage thread；
S102: the trend of drainage thread is planned to the path of bolt search；
S103: control bolt terminal operation executor and upwards carry out the search of bolt along this path planning.
Recognition methods searched for by bolt for transmission line of electricity Screw Tightening Machines device people the most according to claim 2, and its feature exists
In, in step S101, when in the camera view that above-mentioned drainage thread occurs in provisioned in bolt fastening end effector when,
Bolt fastening end effector is finely adjusted.
Recognition methods searched for by bolt for transmission line of electricity Screw Tightening Machines device people the most according to claim 3, and its feature exists
In, the process of described fine setting is: by measuring drainage thread two-end-point width L in the picture1、L2Contrast judge now drain
Whether line offsets with to card device；If L1＞ L2, then drainage thread is from L1End is relatively near, from L2End farther out, now adjusts joint
13 slowly to rotate, until meeting condition L near far-end, principle away from near-end1≈L2；If L1＜ L2, then phase negative side is performed
To fine setting until meeting condition L1≈L2。
5. search for according to the bolt for transmission line of electricity Screw Tightening Machines device people described in any one in Claims 1 to 4 and identify
Method, it is characterised in that described step S2 includes: first the image collected is carried out pretreatment, at the edge graph obtaining bolt
As afterwards, then carry out the identification of bolt.
Recognition methods searched for by bolt for transmission line of electricity Screw Tightening Machines device people the most according to claim 5, and its feature exists
In, the idiographic flow of described step S2 is:
The extraction of S201: bolt six limit straight line group；
First, Hough space is found the peak point peak that ballot value is the highest, with this peak point peak place angular regions
On the basis of, take 60 ° of regions of before and after and current region, then seek two maximums in each region, thus will obtain one group
Six side informations；Next round the second largest peak value place angular regions in a Hough space, ask three according still further to said method
Six peak values in region, by that analogy, ask for organizing hexagon information more, then add up the summation of often six peak point ballots of group,
One group of six side information taking ballot summation the highest is the hexagon information finally determined；
S202: hexagonal centre matching；
Obtain six peak point peak in Hough space corresponding to six lines in image space, the most hexagonal six limits,
Next the intersection point two-by-two on six limits is calculated, it is hereby achieved that 12 points；Then these 12 points are appointed to take three points be one group,
Form a triangle, seek the perpendicular bisector on any two limits of triangle, and calculate the intersection point of two perpendicular bisectors, be in hexagon
Heart position that may be present；12 points appoint take 3 points to have 220 kinds of combinations, by these 220 trianglees combining each self-formings
Calculate perpendicular bisector intersection point according to above-mentioned steps, carry out the judgement of central point.
Recognition methods searched for by bolt for transmission line of electricity Screw Tightening Machines device people the most according to claim 6, and its feature exists
In, be a pixel accurately after rounding up by the perpendicular bisector position of intersecting point calculated, now in this position and
Its neighborhood uses Gauss square to add up, and obtains accumulated matrix.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610242982.4A CN105931233B (en) | 2016-04-19 | 2016-04-19 | Bolt for transmission line of electricity bolt fastening machine people searches for recognition methods |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610242982.4A CN105931233B (en) | 2016-04-19 | 2016-04-19 | Bolt for transmission line of electricity bolt fastening machine people searches for recognition methods |
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| CN106602470A (en) * | 2016-11-01 | 2017-04-26 | 广东电网有限责任公司电力科学研究院 | Bolt fastening robot for transmission line and control method thereof |
| CN107067018A (en) * | 2016-12-09 | 2017-08-18 | 南京理工大学 | A kind of hot line robot bolt recognition methods based on random Hough transformation and SVM |
| CN108961288A (en) * | 2018-07-10 | 2018-12-07 | 中国铁路上海局集团有限公司科学技术研究所 | A kind of web of the rail plug pin pin and lead detection image intelligent identification Method |
| CN109117521A (en) * | 2018-07-21 | 2019-01-01 | 中铁十八局集团有限公司 | A kind of steel truss rod piece splice plate bolt auxiliary assembly system |
| CN109599787A (en) * | 2018-11-21 | 2019-04-09 | 宁波恒晨电力建设有限公司 | Transmission line of electricity bolt tightening method and system and computer readable storage medium |
| CN109712116A (en) * | 2018-12-04 | 2019-05-03 | 华南理工大学 | The fault recognition method of transmission line of electricity and its attachment |
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| CN106602470A (en) * | 2016-11-01 | 2017-04-26 | 广东电网有限责任公司电力科学研究院 | Bolt fastening robot for transmission line and control method thereof |
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| CN108961288A (en) * | 2018-07-10 | 2018-12-07 | 中国铁路上海局集团有限公司科学技术研究所 | A kind of web of the rail plug pin pin and lead detection image intelligent identification Method |
| CN108961288B (en) * | 2018-07-10 | 2022-03-01 | 中国铁路上海局集团有限公司科学技术研究所 | Intelligent identification method for rail web plug pin and lead detection image |
| CN109117521A (en) * | 2018-07-21 | 2019-01-01 | 中铁十八局集团有限公司 | A kind of steel truss rod piece splice plate bolt auxiliary assembly system |
| CN109599787A (en) * | 2018-11-21 | 2019-04-09 | 宁波恒晨电力建设有限公司 | Transmission line of electricity bolt tightening method and system and computer readable storage medium |
| CN109712116A (en) * | 2018-12-04 | 2019-05-03 | 华南理工大学 | The fault recognition method of transmission line of electricity and its attachment |
| CN109712116B (en) * | 2018-12-04 | 2023-03-28 | 华南理工大学 | Fault identification method for power transmission line and accessories thereof |
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| CN105931233B (en) | 2019-01-18 |
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