Visual Servo Control Based Method for Hooking up Drain Wire Clip

During the operation and maintenance of power distribution grid, it is necessary to use the drain wire to ensure the stability and continuity of the power supply. The accurate identification, positioning and wire-hanging clip operation are directly crucial to the drain wire connection. In this paper, a method of hooking up drain wire clip based on visual servo control is proposed, which is applied to the live working robot to fulfil the operation of connecting drain wire. Firstly, a cable is identified by the improved YOLOX-S object detection algorithm. Then, a binocular camera is used to obtain the accurate three-dimensional coordinate information of the cable, and the coordinate system is converted to obtain the cable position in the coordinate system where the clip is viewed as the origin. Finally, based on the clip size model, the optimal initial hanging height and appropriate hanging path are analyzed, and a fuzzy controller is used to precisely control the robot’s operation of hooking up drain wire clip. Experiments show that the method proposed in this paper can quickly and accurately identify and locate power distribution grid cable, and precisely control the robot’s operation of connecting the drain wire clip.