Robotic Visual Inspection and Positioning Method for Flexible Wire Coating Operation

Overhead bare wire is not protected by insulating sheaths, and is prone to safety accidents. It is of great practical significance to use coating robots to insulate bare wires. During the robotic coating operation, the flexible wire is much deformed due to the robot gravity, this paper proposes a robot vision inspection and positioning method for flexible wire coating operation. The offset distance of the calibration plate is defined in the image space to characterize the change in the robot's working posture, and the target position tracking control law based on the PID method is designed. Since the target in the flexible wire environment will change with the flexible wire, the technical means of hand-eye calibration and camera calibration are used to locate and track the dynamically changing target in real-time. The experimental results show that the method can effectively inspect and locate the target, and adapt to the semi-structural environment.