Development of Traverse Target Positioning System Based on Pole and Tower Operation Robot

Robots can replace manual work and need to solve two problems. One is autonomous walking, and the other is executing task units, both of which are indispensable. As a robot for specific environmental applications, tower operation robots also need to address these two issues. A utility pole is a cylindrical body with a thick bottom and a thin top. The research object is a fixed diameter cylindrical body that moves up and down spirally around the cylinder. The wire target positioning of tower operation robots is a solution to the problem of effective task execution. This project is based on the wire target positioning system of tower operation robots, and image frames are collected through high-definition cameras installed on the robotic arm. Under the VS2010 compiler, write and implement the OpenCV image processing function library in C language. The size of the video frame is 1280 * 720. For experimental videos, the average processing time for each image is 0.2s. Extract the foreground image of the original cable using a Gaussian mixture model, and determine the position of each pole from the edge image. Target positioning is achieved through pole position robotic arms. Fix one end of the lightning conductor accurately on the cable. Thus, automatic installation of lightning arresters for tower operation robots can be achieved.