吉林大学学报(工学版) ›› 2015, Vol. 45 ›› Issue (5): 1519-1526.doi: 10.13229/j.cnki.jdxbgxb201505021

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Line-grasping control for a power transmission line inspection robot

LI Zhen-hui1, 2, WANG Hong-guang1, WANG Yue-chao1, JIANG Yong1, YUE Xiang1, 2   

  1. 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
    2.University of the Chinese Academy of Sciences, Beijing 100049, China
  • Received:2014-01-03 Online:2015-09-01 Published:2015-09-01

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Abstract: To solve the problem of line-grasping control when an inspection robot crosses obstacles automatically, this paper presents an automatic line-grasping control method. First, a pose estimation method for transmission line is designed based on its textural features and integral projection algorithm. Then, based on the pose error of the transmission line, a human simulating intelligent controller is designed. Using the offset distance, declination, width of the line, and combing with the obliquity of the robot, the automatic line-grasping control is realized. Experiment results with different backgrounds and illuminations show that the poses of the transmission lines can be estimated availably by the proposed method, and the automatic line-grasping task can be achieved reliably and precisely.

Key words: automatic control technology, automatic line-grasping control, inspection robot, line detection, pose estimation for transmission line

CLC Number: 

  • TP242
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