架空输电线路巡线机器人越障视觉伺服控制

Visual Servo Control of Obstacle Negotiation for Overhead Power Line Inspection Robot

为解决巡线机器人越障问题,设计了基于图像的越障视觉伺服控制方案.采用傅里叶描述子构造了具有平移、旋转、尺度缩放及起始点不变性的轮廓形状特征向量,实现了驱动轮的识别;进而抽取图像特征和估计驱动轮—相线在图像空间中的相对位姿,并设计了带有死区的比例控制律来实现驱动轮—相线“对中”视觉伺服控制.模拟线路实验结果表明,该方案能可靠地完成巡线机器人驱动轮—相线“对中”控制任务.

An image-based visual servo control scheme is designed to guide the inspection robot to negotiate obstacles. Based on Fourier descriptors, the feature vector of the driving wheel contour is constructed, which is an invariant to rotation, scaling, translation and starting point, then the recognition of driving wheel is realized. The image features are extracted and the driving wheel-powerline relative pose is estimated. A proportional control law with dead zone is given to achieve the driving wheel-powerline alignment operation. The experimental results with simulation power line show that the visual servo control scheme can achieve the driving wheel-powerline alignment reliably.