Power Transmission Line Broken Strand Repair Robot and Visual Control Method

摘要

Abstract This paper proposes a design of machine vision based broken strand repair robot on power transmission line. Through the analysis of the task and process of repairing the broken strands, the design scheme of the broken strand repair robot mechanical structure based on the clamp block repair method is proposed. Aiming at the disadvantages of traditional visual detection methods under the influence of complex object background and strong light, a visual inspection method based on deep learning is proposed to identify the conductor, vibration damper and broken strand, and automatically locate the bifurcation point of the broken strand. Using visual measurement and control technology, control the operation manipulator to straighten, reset, reinforce and repair the forked aluminum wire. Developed a robot experimental prototype, the experimental results verify the feasibility of the robot structure design and the effectiveness of the visual control algorithm.