输电线路巡检机器人越障控制研究  

Obstacle-navigation Control of Inspection Robot for Power Transmission Lines

作　　者：王鲁单[1] 王洪光[1] 房立金[1] 赵明扬[1] 

机构地区：[1]中国科学院沈阳自动化研究所

出　　处：《中国机械工程》2007年第22期2652-2655,共4页China Mechanical Engineering

基　　金：国家863高技术研究发展计划资助项目(2002AA420110)

摘　　要：介绍了超高压输电线路巡检机器人越障控制方法。根据巡检作业任务的要求,采用遥控与局部自主控制相结合的方法,实现了巡检机器人沿线行走及跨越障碍的功能。采用基于单目摄像头定位和视觉伺服的方法,实现了巡检机器人的自主越障控制。实验结果表明,该机器人可沿线行走并自主跨越障碍,从而验证了控制系统设计的有效性与合理性。The obstacle--navigation method of a mobile robot control system for extra high power transmission lines inspection was presented. According to the inspection task requirements, a control mode which combined remote--control with local autonomy was applied for the robot to travel along the wires and navigate obstacles. Localization method and visual servoing arithmetic based on single camera was adopt to achieve the automative obstacle--navigation control. The experimental results show that the robot can travel along the wires, and navigate obstacles autonomously and prove that the control system design is valid and reasonable.

关 键 词：巡检机器人 越障控制 单目视觉 视觉伺服 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]