基于视觉伺服的输电线巡检机器人抓线控制

巡检机器人在越障时,需要完成机器人手臂的准确抓线控制.结合输电线的几何特征和摄像机成像原理,提出了一种基于单摄像机的立体视觉方法来确定输电线的位置和姿态.基于该定位方法及视觉伺服理论,建立机械手抓线伺服控制模型.利用自行研制的巡检机器人进行了视觉伺服抓线实验;实验结果验证了该方法的有效性.

In the process of obstacle navigation,the inspection robot arm needs to grasp the power line exactly.According to the geometrical characteristics of the transmission line and the theory of perspective projection,a stereo vision method based on single camera is presented to detect the orientation and position vector of the power transmission line.Based on the presented localization algorithm and visual servoing theory,a servo model for line grasping is built up.Visual servo line-grasping experiments have been made with our self-developed inspection robot,and the results verify the validity of the proposed method.

国家863计划资助项目(2002AA420110)