Acquisition Algorithm of Spatial Control Parameter Tilt Angle for On-line Insulator

Most vision control of the existing power-line insulator robot system needs to be realized indirectly through the remote computer. The vision system itself does not have the ability of vision control, and the level of automation is low. In order to improve the visual control ability and automation level of the power-line insulator robot, an on-line spatial control parameter acquisition algorithm for insulator is presented based on target extraction. The algorithm can be embedded in the hardware platform of visual system to automatically measure tilt angle of insulators. The results of hardware implementation show that the proposed algorithm can measure tilt angle parameters relatively accurately on the hardware platform of visual system. The error of tilt angle measurement is 0.4°~4°, which achieves the desired effect and design requirements.