Research on Visual Servo System of Robot for Substation

摘要

Robot replace human inspecting substation equipment,it carries a CCD camera and an infrared imaging device to detect the status of the target device at fixed points.As errors of location and body degrees of freedom cause that the robot take images with target offset or even lost at fixed points.Using an adaboost classification image recognition and optical imaging theory composite a visual servo control system,it can adjust the robot gesture so that inspection goals stay at the center of the image.Experimental results show that the robot visual servo system can effectively avoid the target offset and lost which caused by the errors of location and the robot degrees of freedom.