Abstract: To solve the visual positioning problem of the deicing robot working on high voltage transmission line, a monocular stereoscopic visual positioning method based on the geometrical feature of the transmission cable is presented. On the basis of the edge of transmission cable image, the radius of transmission cable and the camera imaging model, this method deduces the mathematic formula of transmission cable axis under the camera coordinate system, so that the precision 3D positioning of the HV transmission cable in arbitrary pose can be realized. In order to solve the difficulty of calculating the line-grasping point and meet the real time requirement of line-grasping control, a line-grasping control scheme based on the mechanical structure of the deicing robot manipulator is developed. By calculating the intersection point of the transmission cable axis and the end-effector workspace of the deicing robot under deicing robot base coordinate system, this control scheme determines the coordinate of the line-gasping point and the desired joint-angles of the deicing robot manipulator. Both of the visual positioning method and the line-grasping control scheme are verified by experimental results.

Key words: Deicing robot, Line-grasping control, Visual positioning