摘要：The electric fire-exchanging operation is basically used to implement operation such as Wire stripping, drainage wire through the fastening wire clip, clamp bolt fastening, etc. Manual operation is time-consuming and laborious and has very high safety risks, so the automatic electrified ignition robot emerges as The Times require; The automatic operation method should accurately identify the position of wire and drainage line, so as to guide the robot to move and carry out the corresponding operation. Based on this, an intelligent binocular vision guidance method is proposed in this paper. The image data in the working space is collected by the binocular camera in real time, the wire is identified by the image segmentation technology, the wire is separated from the background, and the spatial pose of the wire is solved by the PNP and binocular stereo vision technology. Through YOLOV5 target detection, the position identification and positioning of the thread and clamp of the drainage line are realized, and the automatic fire ignition operation is finally guided by the manipulator. Experiments show that this method has the advantages of high accuracy, good stability and fast speed.
