Image-based visual servoing for power transmission line inspection robot
Image-based visual servoing for power transmission line inspection robot
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DOI：
10.1504/ijmic.2009.024464
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发表时间：
2009-04
期刊：
影响因子：
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通讯作者：
Si-Yao Fu;Z. Hou;Zi-ze Liang;M. Tan;Fengshui Jing;Qi Zuo;Yun-Chu Zhang
中科院分区：
文献类型：
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作者：
Si-Yao Fu;Z. Hou;Zi-ze Liang;M. Tan;Fengshui Jing;Qi Zuo;Yun-Chu Zhang
本文介绍了一种基于视觉的电力巡线机器人系统。本文的主要重点是基于图像的视觉伺服策略，驱动机器人手臂朝向所需的配置，以掌握线。该方法跳过了将图像特征转换回机器人位姿的步骤，从而直接在图像平面中进行驱动臂运动规划，为夹持器提供图像平面中的“视觉”轨迹以跟踪和定位相线和相关障碍物，从而使机器人本体与相线对准。提出了一种带死区的比例控制律，实现了驱动轮和电源线的定位操作。使用检测机器人平台的实验结果，显示出良好的伺服可以实现使用所提出的控制器的视觉系统。
This paper describes a vision-based system for a powerline inspection robot. The main emphasis of this paper is on an image-based visual servoing strategy for driving the robot arm toward a desired configuration in order to grasp the line. The method skips the step of transferring image features back to robot pose, and hence makes driving arm motion plans directly in the image plane, providing a 'visual' trajectory in the image plane for the gripper to track and locate the phase line and related obstacles in an effort to make the robot body to align with the phase line. A proportional control law with a dead zone is given to achieve the driving wheel and powerline alignment operation. Experimental results using an inspection robot platform are presented, showing that good servoing can be achieved using the proposed controller of the vision system.