|
|
输电线路巡检机器人越障控制研究
Obstacle-navigation Control of Inspection Robot for Power Transmission Lines
查看参考文献8篇
|
文摘
|
介绍了超高压输电线路巡检机器人越障控制方法.根据巡检作业任务的要求,采用遥控与局部自主控制相结合的方法,实现了巡检机器人沿线行走及跨越障碍的功能.采用基于单目摄像头定位和视觉伺服的方法,实现了巡检机器人的自主越障控制.实验结果表明,该机器人可沿线行走并自主跨越障碍,从而验证了控制系统设计的有效性与合理性. |
|
其他语种文摘
|
The obstacle-navigation method of a mobile robot control system for extra high power transmission lines inspection was presented.According to the inspection task requirements,a control mode which combined remote-control with local autonomy was applied for the robot to travel along the wires and navigate obstacles.Localization method and visual servoing arithmetic based on single camera was adopt to achieve the automative obstacle-navigation control.The experimental results show that the robot can travel along the wires,and navigate obstacles autonomously and prove that the control system design is valid and reasonable. |
|
来源
|
中国机械工程
,2007,18(22):2652-2655 【核心库】
|
|
关键词
|
巡检机器人
;
越障控制
;
单目视觉
;
视觉伺服
|
|
地址
|
中国科学院沈阳自动化研究所, 沈阳, 110016
|
|
语种
|
中文 |
|
文献类型
|
研究性论文 |
|
ISSN
|
1004-132X |
|
学科
|
自动化技术、计算机技术 |
|
基金
|
国家863计划
|
|
文献收藏号
|
CSCD:3002969
|
参考文献 共
8
共1页
|
|
1.
Sawada J. A Mobile Robot for Inspection of Power Transmission Lines.
IEEE Transactions on Power Delivery,1991,6(1):309-315
|
被引
64
次
|
|
|
|
|
2.
Aoshima S. A Wire Mobile Robot with Multi-unit Structure//IEEE/RSJ International Workshop on Intelligent Robots and Systems Apos.
IEEE/RSJ International Workshop on Intelligent Robots and Systems Apos,the Autonomous Mobile Robots and Its Applications Apos Tsukuba,1989:414-421
|
被引
1
次
|
|
|
|
|
3.
Higuchi M. Development of a Mobile Inspection Robot for Power Transmission Lines.
Journal of the Robotics Society of Japan,1991,9(4):457-463
|
被引
15
次
|
|
|
|
|
4.
吴功平. 架空高压输电线自动爬行机器人的研制.
中国机械工程,2006,17(3):237-240
|
被引
7
次
|
|
|
|
|
5.
付双飞. 超高压输电线路巡检机器人越障控制问题的研究.
机器人,2005(4):341-345
|
被引
14
次
|
|
|
|
|
6.
Tang L. Development of An Inspection Robot Control System for 500kV Extrahigh Voltage Power Transmission Lines//.
SICE 2004 Annual Conference,2004:1819-1824
|
被引
1
次
|
|
|
|
|
7.
Kelly R. Stable Visual Servoing of Camera-in-hand Robotic Systems.
IEEE/ASME Transaction on Mechatronics,2000,5(1):39-48
|
被引
6
次
|
|
|
|
|
8.
Raquel F. Visual Servoing and Appearance for Navigation.
Robotics and Autonomous Systems,2000,31(1):87-97
|
被引
1
次
|
|
|
|
|
|
了解气象卫星更多信息，请访问