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Visual servo line-grasping control method for electric transmission line inspection robot

An inspection robot and visual servo technology, applied in the direction of manipulators, manufacturing tools, etc., to achieve the effect of favorable design, stable and reliable feature deviation, and intuitive data

Inactive Publication Date: 2017-06-13
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI +1
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

[0004] In order to overcome the problems of the existing robot servo line grasping control method and improve the automation degree and accuracy of the robot line grasp

Method used

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  • Visual servo line-grasping control method for electric transmission line inspection robot
  • Visual servo line-grasping control method for electric transmission line inspection robot
  • Visual servo line-grasping control method for electric transmission line inspection robot

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Embodiment Construction

[0042] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0043] The present invention collects line images through visual sensors, obtains characteristic deviations through image processing technology, and based on this, combines the kinematics model of the robot and the hand-eye model of the line-grabbing movement to design a visual servo line-grabbing controller to realize transmission line inspection and control. Maintain the autonomous line grasping of the robot. This method overcomes the shortcomings of the existing artificially controlled robots, and improves the automation of transmission line inspection and maintenance robots, such as figure 1 As shown, the specific process is as follows:

[0044] (1) Robot kinematics modeling:

[0045] Establish a joint coordinate system at each joint of the robot, such as figure 2 As shown, obtain the D-H parameters at each joint; use the robot's onlin...

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Abstract

The invention discloses a visual servo line-grasping control method for an electric transmission line inspection robot, belonging to the field of automation control. The visual servo line-grasping control method aims to overcome the defects of the traditional method for grasping a line by manually controlling the robot, improving the degree of autonomization of the electric transmission line inspection and operation robot, and expanding the application range of robot inspection and operation. The visual servo line-grasping control method is used for the robot to autonomously grasp the line on the basis of identifying an electric transmission line. The visual servo line-grasping control method comprises the steps: (1) conducting kinematical modeling of a robot body; (2) building a hand-eye model of line-grasping movement; (3) building a visual servo controller framework; (4) designing a visual servo controller. The visual servo line-grasping control method introduces a digital picture processing technique to autonomous control of the robot, and utilizes the picture information collected by the robot to obtain the relative pose relation of the line and the robot. By the design of the visual servo controller, the robot can autonomously complete the line falling action. An intelligent technical means is provided for the robot developing autonomous inspection and operation on the line.

Description

technical field [0001] The invention belongs to the field of automation control, and in particular relates to a visual servo line grasping control method for a power transmission line inspection robot, which is used for a power transmission line inspection and maintenance robot to autonomously servo line grasping based on visual images. Background technique [0002] As of the end of 2014, the length of 220kV and above transmission circuits in my country has exceeded 600,000 kilometers, and the transmission network needs regular inspection and maintenance. At present, this work is mainly done by manually using a telescope to observe the line on the ground. If necessary, workers also have to climb the tower to carry out inspection operations. The work is labor-intensive, dangerous, and high in maintenance costs. [0003] In order to solve the above problems and improve the refinement and automation level of line detection and maintenance, transmission line inspection robots ha...

Claims

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Application Information

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IPC IPC(8): B25J13/00
CPCB25J13/00
Inventor 王洪光李瀚儒宋屹峰许继葵姜勇张钰郭伟斌孙鹏张成巍罗红伍衡宁宇
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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