The Visual Positioning Method of Substation Robot Busbars fittings This paper analyzes the disassembly and installation of busbar fittings bolts for substation robots in 110 kv environment, and proposes image selfcorrection, template segmentation fitting arc and panel pose correction for visual positioning of busbar fittings. The image selfcorrection solves the quality problem of the fitting image acquisition of the complex illumination condition by rectifying the overall of dark images and the local of bright images. The template segmentation fitting arc method performs multiple segmentation and arc fitting techniques on the fitting template image to accurately calculate the centroid of the fitting, thereby completing the visual positioning of installing bolt. The panel pose is solved by disparity map. Through the panel pose correction, the binocular camera can take photo vertically and use template segmentation to locate the bolt, thereby completing the visual positioning of removing bolt. The appeal method is based on the specific conditions of the disassembly and assembly of the busbar fittings, which solves the problem of large changes in ambient illumination during the visual positioning of the busbar fittings and the uncertainty of the shooting pose.

A visual selfpositioning method for inspection robot based on symmetrical tangential artificial landmarks The artificial landmark positioning technology is one of the visual positioning methods of the inspection robot. Although this technology has simple algorithm and low maintenance cost, it is difficult to be widely used due to the limitations in some special environment. For example, people are not allowed to set a large number of landmarks on the ground in some workshops. In this paper, we propose a visual selfpositioning method based on the symmetrical tangential artificial landmarks. The basic idea of this method is: firstly, a small number of tangential artificial landmarks are set on the walls or machine tools on both sides, secondly, the perspective model and triangulation method are used to realize the selfpositioning of the inspection robot. The experimental results show that the method is simple to operate and has high positioning accuracy, which can meet the needs of the inspection robot.