输电线巡检机器人自主抓线的控制  

Line-grasping control for a power transmission line inspection robot

作　　者：李贞辉[1,2] 王洪光[1] 王越超[1] 姜勇[1] 岳湘 

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016 [2]中国科学院大学,北京100049

出　　处：《吉林大学学报（工学版）》2015年第5期1519-1526,共8页Journal of Jilin University:Engineering and Technology Edition

基　　金：'863'国家高技术研究发展计划项目(2006AA04Z203);国家自然科学基金项目(61179049)

摘　　要：针对一种双臂巡检机器人越障过程中脱线手臂的自主抓线问题,提出了一种自主抓线控制方法。首先,基于输电导线纹理特征和积分投影方法估计导线的位姿(偏距、偏角)。然后,基于输电导线的位姿偏差设计自主抓线的仿人智能控制器,利用偏角、偏距和线宽的估计值并结合机器人的倾角信息对机器人进行自主抓线控制。实验表明,该方法能在不同光照和背景下有效估计输电导线的位姿,可靠控制脱线手臂自动落线。To solve the problem of line-grasping control when an inspection robot crosses obstacles automatically,this paper presents an automatic line-grasping control method.First,apose estimation method for transmission line is designed based on its textural features and integral projection algorithm.Then,based on the pose error of the transmission line,a human simulating intelligent controller is designed.Using the offset distance,declination,width of the line,and combing with the obliquity of the robot,the automatic line-grasping control is realized.Experiment results with different backgrounds and illuminations show that the poses of the transmission lines can be estimated availably by the proposed method,and the automatic line-grasping task can be achieved reliably and precisely.

关 键 词：自动控制技术 自主抓线 巡检机器人 直线检测 输电线位姿估计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]