Hand-eye-vision based control for an inspection robot's autonomous line grasping  

作　　者：王伟 吴功平 白玉成 肖华 杨智勇 严宇 何缘 徐显金 苏帆 

机构地区：[1]College of Power and Mechanical Engineering,Wuhan University [2]College of Mechanical Engineering,Hubei University of Technology

出　　处：《Journal of Central South University》2014年第6期2216-2227,共12页中南大学学报（英文版）

基　　金：Project(2006AA04Z202)supported by the National High Technology Research and Development Program of China;Project(51105281)supported by the National Natural Science Foundation of China

摘　　要：In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-eye visual servo.On the basis of the transmission line's geometrical characteristics and the camera's imaging principle,a line recognition and extraction method based on structure constraint is designed.The line's intercept and inclination are defined in an imaging space to represent the robot's change of pose and a law governing the pose decoupling servo control is developed.Under the integrated consideration of the influence of light intensity and background change,noise(from the camera itself and electromagnetic field)as well as the robot's kinetic inertia on the robot's imaging quality in the course of motion and the grasping control precision,a servo controller for grasping the line of the robot's off-line arm is designed with the method of fuzzy control.An experiment is conducted on a 1:1 simulation line using an inspection robot and the robot is put into on-line operation on a real overhead transmission line,where the robot can grasp the line within 18 s in the case of autonomous obstacle-crossing.The robot's autonomous line-grasping function is realized without manual intervention and the robot can grasp the line in a precise,reliable and efficient manner,thus the need of actual operation can be satisfied.In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing, a control method is proposed for line grasping based on hand-eye visual servo. On the basis of the transmission line＇s geometrical characteristics and the camera＇s imaging principle, a line recognition and extraction method based on structure constraint is designed. The line＇s intercept and inclination are defined in an imaging space to represent the robot＇s change of pose and a law governing the pose decoupling servo control is developed. Under the integrated consideration of the influence of light intensity and background change, noise （from the camera itself and electromagnetic field） as well as the robot＇s kinetic inertia on the robot＇s imaging quality in the course of motion and the grasping control precision, a servo controller for grasping the line of the robot＇s off-line arm is designed with the method of fuzzy control. An experiment is conducted on a 1：1 simulation line using an inspection robot and the robot is put into on-line operation on a real overhead transmission line, where the robot can grasp the line within 18 s in the case of autonomous obstacle-crossing. The robot＇s autonomous line-grasping function is realized without manual intervention and the robot can grasp the line in a precise, reliable and efficient manner, thus the need of actual operation can be satisfied.

关 键 词：inspection robot line grasping control visual servo overhead transmission line autonomous obstacle-crossing 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TS262.5[自动化与计算机技术—控制科学与工程]