In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-ey...In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-eye visual servo.On the basis of the transmission line's geometrical characteristics and the camera's imaging principle,a line recognition and extraction method based on structure constraint is designed.The line's intercept and inclination are defined in an imaging space to represent the robot's change of pose and a law governing the pose decoupling servo control is developed.Under the integrated consideration of the influence of light intensity and background change,noise(from the camera itself and electromagnetic field)as well as the robot's kinetic inertia on the robot's imaging quality in the course of motion and the grasping control precision,a servo controller for grasping the line of the robot's off-line arm is designed with the method of fuzzy control.An experiment is conducted on a 1:1 simulation line using an inspection robot and the robot is put into on-line operation on a real overhead transmission line,where the robot can grasp the line within 18 s in the case of autonomous obstacle-crossing.The robot's autonomous line-grasping function is realized without manual intervention and the robot can grasp the line in a precise,reliable and efficient manner,thus the need of actual operation can be satisfied.展开更多
The technology of knowledge base remote design of the smart fuzzy controllers with the application of the"Soft/quantum computing optimizer"toolkit software developed.The possibility of the transmission...The technology of knowledge base remote design of the smart fuzzy controllers with the application of the"Soft/quantum computing optimizer"toolkit software developed.The possibility of the transmission and communication the knowledge base using remote connection to the control object considered.Transmission and communication of the fuzzy controller’s knowledge bases implemented through the remote connection with the control object in the online mode apply the Bluetooth or WiFi technologies.Remote transmission of knowledge bases allows designing many different built-in intelligent controllers to implement a variety of control strategies under conditions of uncertainty and risk.As examples,two different models of robots described(mobile manipulator and(“cart-pole”system)inverted pendulum).A comparison of the control quality between fuzzy controllers and quantum fuzzy controller in various control modes is presented.The ability to connect and work with a physical model of control object without using than mathematical model demonstrated.The implemented technology of knowledge base design sharing in a swarm of intelligent robots with quantum controllers.It allows to achieve the goal of control and to gain additional knowledge by creating a new quantum hidden information source based on the synergetic effect of combining knowledge.Development and implementation of intelligent robust controller’s prototype for the intelligent quantum control system of mega-science project NICA(at the first stage for the cooling system of superconducted magnets)is discussed.The results of the experiments demonstrate the possibility of the ensured achievement of the control goal of a group of robots using soft/quantum computing technologies in the design of knowledge bases of smart fuzzy controllers in quantum intelligent control systems.The developed software toolkit allows to design and setup complex ill-defined and weakly formalized technical systems on line.展开更多
基金Project(2006AA04Z202)supported by the National High Technology Research and Development Program of ChinaProject(51105281)supported by the National Natural Science Foundation of China
文摘In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-eye visual servo.On the basis of the transmission line's geometrical characteristics and the camera's imaging principle,a line recognition and extraction method based on structure constraint is designed.The line's intercept and inclination are defined in an imaging space to represent the robot's change of pose and a law governing the pose decoupling servo control is developed.Under the integrated consideration of the influence of light intensity and background change,noise(from the camera itself and electromagnetic field)as well as the robot's kinetic inertia on the robot's imaging quality in the course of motion and the grasping control precision,a servo controller for grasping the line of the robot's off-line arm is designed with the method of fuzzy control.An experiment is conducted on a 1:1 simulation line using an inspection robot and the robot is put into on-line operation on a real overhead transmission line,where the robot can grasp the line within 18 s in the case of autonomous obstacle-crossing.The robot's autonomous line-grasping function is realized without manual intervention and the robot can grasp the line in a precise,reliable and efficient manner,thus the need of actual operation can be satisfied.
文摘The technology of knowledge base remote design of the smart fuzzy controllers with the application of the"Soft/quantum computing optimizer"toolkit software developed.The possibility of the transmission and communication the knowledge base using remote connection to the control object considered.Transmission and communication of the fuzzy controller’s knowledge bases implemented through the remote connection with the control object in the online mode apply the Bluetooth or WiFi technologies.Remote transmission of knowledge bases allows designing many different built-in intelligent controllers to implement a variety of control strategies under conditions of uncertainty and risk.As examples,two different models of robots described(mobile manipulator and(“cart-pole”system)inverted pendulum).A comparison of the control quality between fuzzy controllers and quantum fuzzy controller in various control modes is presented.The ability to connect and work with a physical model of control object without using than mathematical model demonstrated.The implemented technology of knowledge base design sharing in a swarm of intelligent robots with quantum controllers.It allows to achieve the goal of control and to gain additional knowledge by creating a new quantum hidden information source based on the synergetic effect of combining knowledge.Development and implementation of intelligent robust controller’s prototype for the intelligent quantum control system of mega-science project NICA(at the first stage for the cooling system of superconducted magnets)is discussed.The results of the experiments demonstrate the possibility of the ensured achievement of the control goal of a group of robots using soft/quantum computing technologies in the design of knowledge bases of smart fuzzy controllers in quantum intelligent control systems.The developed software toolkit allows to design and setup complex ill-defined and weakly formalized technical systems on line.
