The Method of High Precision Self localization of Transmission Line Bolts by Lightweight Maintenance Robot

Abstract

AbstractThe conventional high-precision autonomous positioning method of transmission line bolts mainly focuses on image detection and positioning. Affected by the weather environment, it is difficult to take real-time images of transmission lines, which affects the accuracy of bolt positioning. Therefore, a method of high precision and autonomous positioning of transmission line bolts by the lightweight maintenance robot is designed. Extracting the contour features of the connected area of the bolt cross arm of the transmission line, and marking the connected area of the bolt, it is easier to locate the target bolt. Build a high-precision self positioning model for the transmission line bolts of the lightweight maintenance robot, compensate for the self positioning joint error of the lightweight maintenance robot, and maximize the bolt positioning accuracy. The simulation experiment verifies that the positioning method has higher accuracy and can be applied in real life.