Visual-Servo-Based Line-Grasping Control for Power Transmission Line Inspection Robot
WANG Lu-dan1,2, WANG Hong-guang1,2, FANG Li-jin1, ZHAO Ming-yang1
1. Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Graduate School of the Chinese Academy of Sciences, Beijing 100049, China
王鲁单, 王洪光, 房立金, 赵明扬. 基于视觉伺服的输电线巡检机器人抓线控制[J]. 机器人, 2007, 29(5): 451-455..
WANG Lu-dan, WANG Hong-guang, FANG Li-jin, ZHAO Ming-yang. Visual-Servo-Based Line-Grasping Control for Power Transmission Line Inspection Robot. ROBOT, 2007, 29(5): 451-455..
Abstract：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.
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