Visual Servo Method for Power Distribution Live-line Operation Robot Based on Hand-eye System

Aiming at the process of automatically disassembling the lightning arrester by the power distribution live-line operation robot, this paper proposes a visual servo method based on the hand-eye system, which solves the problem of accurate identification and positioning of small targets. This paper proposes a lightning arrester nut image segmentation method based on the new network model of VGG16-UNet and a target positioning algorithm based on hand-eye system information fusion, which improves the accuracy of visual servo positioning. Finally, the method is applied to the indoor experimental environment and outdoor environment of the power distribution Live-line operation robot, and the experimental results verify the effectiveness and engineering practicability of the method.