高压输电线路除冰机器人抓线运动控制  

Line-grasping Control for the Deicing Robot on High Voltage Transmission Line

作　　者：王聪[1] 孙炜[1] 

机构地区：[1]湖南大学电气与信息工程学院,长沙410082

出　　处：《机械工程学报》2011年第9期8-15,共8页Journal of Mechanical Engineering

基　　金：国家科技支撑计划重点(2008BAF36B01);教育部新世纪优秀人才计划(教技函[2007]70号);国家自然科学基金重点(60835004)资助项目

摘　　要：针对高压输电线路除冰机器人越障抓线过程中存在的对输电线缆定位困难的问题,提出一种基于输电线缆几何特征的单目立体视觉定位方法。该方法根据输电线缆成像的边缘、输电线缆半径和摄像机成像模型,可以计算输电线缆中轴线在摄像机坐标系下的数学表达式,从而对任意位姿的高压输电线缆进行精确的三维定位。在输电线缆准确定位的基础上,为了快速地确定抓取输电线缆的准确位置并提高除冰机器人抓线运动控制实时性,提出一种基于除冰机器人机械臂结构特征的除冰机器人抓线运动控制策略,该控制策略通过在机器人基坐标系下计算机械臂末端夹持器工作空间曲面与输电线缆轴线的交点来确定抓取点,并同时计算抓取线缆时机械臂各个关节的期望位置。试验结果验证了所提视觉定位方法及抓线控制策略的有效性。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.

关 键 词：除冰机器人 视觉定位 抓线控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]