飞机表面检查机器人系统研究

研究了飞机表面检查机器人系统结构及相关关键技术，提出了针对非对称异型飞机表面爬行机器人的总体结构和关键部件，对机器人作业过程中的吸附、运动及检测功能进行了分析，并给出了解决方案。研究了基于轨迹线性化理论的机器人路径跟踪控制算法，并对基于视觉的飞机铆钉裂纹缺陷检测与识别方法。试验结果验证了算法的有效性，为飞机蒙皮铆钉缺陷的自动在线检测提供了可行的途径。     

Vessel Inspection: A Micro-Aerial Vehicle-based Approach

Vessel maintenance entails periodic visual inspections of the internal and external parts of the hull in order to detect the typical defective situations affecting metallic structures, such as coating breakdown, corrosion, cracks, etc. The main goal of project MINOAS is the automation of the inspection process, currently undertaken by human surveyors, by means of a fleet of robotic agents. This paper overviews an approach to the inspection problem based on an autonomous Micro Aerial Vehicle (MAV) which, as part of this fleet, is in charge of regularly supplying images that can teleport the surveyor from a base station to the areas of the hull to be inspected. The control software approach adopted for the MAV is fully described, with a special emphasis on the self-localization capabilities of the vehicle. Experimental results showing the suitability of the platform to the application are as well reported and discussed.     

车底检查机器人导航控制研究

针对采用履带式行驶机构的车底检查机器人,提出了一种基于模糊控制的航向纠偏算法,算法在实时嵌入式多任务控制系统中得到了具体实现,解决了机器人在行走过程中偏离航向以及误差累积的问题。通过试验验证了该算法的有效性,保障了航向纠偏的实时性。文中给出了模糊控制器的详细设计过程,并且给出了在不同行驶速度时,应用航向纠偏算法的机器人与无航向纠偏算法的机器人之间的航向数据对比曲线。     

A Sensor Placement Algorithm for a Mobile Robot Inspection Planning

In this paper, we address the inspection planning problem to ??see?? the whole area of the given workspace by a mobile robot. The problem is decoupled into the sensor placement problem and the multi-goal path planning problem to visit found sensing locations. However the decoupled approach provides a feasible solution, its overall quality can be poor, because the sub-problems are solved independently. We propose a new randomized approach that considers the path planning problem during solution process of the sensor placement problem. The proposed algorithm is based on a guiding of the randomization process according to prior knowledge about the environment. The algorithm is compared with two algorithms already used in the inspection planning. Performance of the algorithms is evaluated in several real environments and for a set of visibility ranges. The proposed algorithm provides better solutions in both evaluated criterions: a number of sensing locations and a length of the inspection path.     

电缆管道巡检机器人远程测控系统的研究与实现

采用图形化编程语言LabVIEW,通过构建多循环应用程序框架,开发了一种用于电缆管道巡检遥操作机器人的新型远程测控系统.该系统能够远程控制机器人在电缆管道内的运动并实时监测机器人沿管内行进时的位置和姿态,能通过机器人获取管内视频信息并进行Canny算子边缘处理以及对管内敷设电缆的温度监测.实际运行结果表明,该测控系统设计新颖、运行可靠、功能实用,对类似遥操作机器人的远程监测与控制系统开发有较好的参考作用.     

一种适用于变电站巡检机器人的仪表识别算法

该文提出一种改进的适合智能变电站巡检机器人室外工作环境的变电站仪表设备的读数识别算法.首先针对各个不同种类的仪表设备图像,进行设备模板化处理,并在模板库中建立各仪表的min刻度和max刻度的位置信息.对于机器人实时采集的仪表设备图像,在后台服务中调取相应设备的模板图,利用尺度不变特征变换(SIFT)算法,在输入图像中匹配提取仪表表盘区域子图像.而后对表盘子图像进行二值化、仪表指针骨干化处理,利用快速霍夫变换(fast Hough transform)检测指针直线去除噪音干扰,定位指针精确位置和指向角度,完成指针读数.此算法经过国内某500 kV智能变电站巡检机器人实地测试,各种仪表综合识别率超过99.2％,对仪表的读数具有高精度高鲁棒性,完全满足该智能变电站推进无人值守的仪表设备读数自动检测识别的要求.     

基于结构约束的架空输电线路巡线机器人障碍识别

巡线机器人沿相线行走时必须探测识别各种障碍，并根据障碍类型规划越障行为．针对220 kV架空输电线路的结构特点，利用视觉传感器，设计了基于结构约束的障碍识别算法．算法利用图像的边缘信息，采用改进的基于存在概率图的圆/椭圆检测方法和分层决策机制，以减少自然环境中光线变化和机器人运动对识别质量的影响，满足了巡线机器人的实时越障要求．实验室模拟线路和实际线路实验结果表明，算法能可靠地识别出复杂背景中的防震锤、悬垂线夹和耐张线夹等障碍物．     

巡线机器人越障行为的模糊控制研究

本文针对欠驱动巡线机器人提出分级行为控制器的结构,同时设计一类模糊控制器,来实现其中的机体提升运动,最后分析了该模糊控制系统的稳定性.实验结果证实了其有效性,满足了越障控制系统的要求.     

变电站自动化维护巡检机器人设计

传统方法在进行变电站维护时,存在变电站运维工作量大,人工操作依赖较强等问题.为此,本文设计变电站运行自动化维护巡检机器人.依据VFH(Vector Field Histogram)算法完成机器人避障控制,以无线网络作为通信通道,利用自动化维护模块完成变电站运行自动化.结果表明,本文方法具有较高的准确性,处理效率高,能有...     

输电线路巡检机器人远程测控系统的研究与实现

开发了一种针对输电线路巡检机器人的新型远程测控系统.该系统通过与机器人本地控制器的实时通信和多线程技术实现机器人姿态监控和机器视觉检测.通过对机器人控制器发送命令和接收数据实现对机器人的人工遥操作;采用Matlab Script节点实现Matlab与LabVIEW混合编程,完成机器人质心和多关节姿态的计算,采用共享数据库方式调用基于Visual Prolog开发的机器人行为规划应用程序,实现机器人姿态自主控制.实验结果表明,该远程测控系统运行可靠,实时性强,具有良好的人机交互能力.     

Navigating a Miniature Crawler Robot for Engineered Structure Inspection

This paper addresses the problem of how to navigate a miniature Crawler robot in a typical engineered structure inspection application-aircraft rivet inspection. First, a novel vision-assisted localization algorithm is developed to find the heading and position of the Crawler robot. Second, a new algorithm is developed to solve the path planning problem so that the Crawler robot can navigate through all the rivets. Experimental results validate the localization and path planning algorithms. This inspection system can be extended to other similar engineered structure inspection applications.     

基于视觉伺服的输电线巡检机器人抓线控制

巡检机器人在自动越障时,需要完成机器人手臂的准确抓线控制。结合输电线的几何特征和摄像机成像原理,提出了一种基于单摄像机的立体视觉方法来确定输电线的位置和姿态。结合该定位方法及视觉伺服理论建立机械手抓线伺服控制模型。在自行研制的巡检机器人进行了视觉伺服抓线实验。实验结果验证了该方法的有效性。     

基于Adaboost的架空输电线路巡线机器人障碍识别

巡线机器人沿电力线行走时必须探测和识别各种障碍物,同时根据障碍类型规划越障行为。文章提出了一种基于Adaboost算法的架空输电线路巡线机器人障碍物识别方法。Adaboost是一个构造准确分类器的学习方法,它把一簇弱分类器通过一定的规则结合成为一个强分类器,再把这些强分类器级联成为一个快速、准确的分类器。实验结果证明了该方法的可行性。     

Quasi-Omnidirectional Fuzzy Control of a Climbing Robot for Inspection Tasks

This work presents a novel method to quasi-omnidirectional control of an intelligent inspection robot designed to work inside and outside spherical storage tanks. The main objective is to promote a stable and smooth navigation during inspection tasks, ensuring the safety motion under adhesion and kinematic constraints. The robot is designed with four independent steerable magnetic wheels and a mechanical topology that allows the correct adjustment of adhesion system. A scheduled Fuzzy control is developed to achieve an optimal behavior and maximize the robot’s maneuverability, considering the magnetic restrictions of adhesion system and kinematic constraints of the inspection robot. The high adaptability of its mechanical topology (i.e., wheel misalignment, magnetic adhesion system, wheel camber and flexibilities in mechanical structure) and gravitational disturbance introduce many nonlinear characteristics in dynamic behavior that cannot be neglected, making the determination of its dynamic model a complex task. The Fuzzy approach allows to project a control system without a depth knowledge of its dynamic properties, to minimize the dynamic disturbances found in robot structure. Thus, the proposed motion control works according to the robot specific characteristics to ensure the quasi-omnidirectional motion over a reliable adhesion to tank surface and to minimize the effects of wheels kinematic constraints.     

面向变电站机器人巡检路径规划中的算法研究

针对目前在变电站中应用广泛的巡检机器人,探讨了其巡检路径的问题,依据离散数学理论中的哈密顿回路方法和路径的常规规划算法,研究了一种变电站的巡检路径为矩形分布时的机器人巡检路径问题。针对不同巡检方式,分别提出：全局巡检方式,采用新提出的哈密顿算法,当巡视起点被设定后,其他被巡视的任何点均可被归类,从而找出其巡检路径的哈密顿回路;重点设备巡检方式,采用Dijkstra算法和遗传算法相结合的方法;固定点巡检方式,采用Dijkstra算法。其中,三种巡检方式分别针对电量充足、低电量返回及充电完毕继续巡视等方面给出仿真结果,并将其在某变电站进行了试用。研究结果表明,三种巡检方式下的算法均有效可行,新提出的哈密顿回路算法巡视的路径比常规方法相对要短,算法的运算速度相对更快。     

Development of an Autonomous Robot for Gas Storage Spheres Inspection

Inspection for corrosion of gas storage spheres at the welding seam lines must be done periodically. Until now this inspection is being done manually and has a high cost associated to it and a high risk of inspection personel injuries. The Brazilian Petroleum Company, Petrobras, is seeking cost reduction and personel safety by the use of autonomous robot technology. This paper presents the development of a robot capable of autonomously follow a welding line and transporting corrosion measurement sensors. The robot uses a pair of sensors each composed of a laser source and a video camera that allows the estimation of the center of the welding line. The mechanical robot uses four magnetic wheels to adhere to the sphere’s surface and was constructed in a way that always three wheels are in contact with the sphere’s metallic surface which guarantees enough magnetic atraction to hold the robot in the sphere’s surface all the time. Additionally, an independently actuated table for attaching the corrosion inspection sensors was included for small position corrections. Tests were conducted at the laboratory and in a real sphere showing the validity of the proposed approach and implementation.     

一种输电线路巡检机器人越障规划方法

针对输电线路巡检机器人的局部自主与远程控制方式,提出了一种基于有限状态机的越障规划方法.将巡检机器人的越障运动过程分解成若干离散化的关键状态,建立了运动规划的有限状态机模型.采用一种基于模糊方法的产生式系统用于推理越障模式,并产生运动序列.仿真与现场实验验证了越障规划方法的正确性和有效性,该方法可应用于输电线路巡检机器人运动控制.     

面向病房巡视的服务机器人目标搜寻

为了解决现阶段病房巡视任务中出现的巡护不及时等问题,利用服务机器人进行病房巡视,完成病人的基本信息验证、病人治疗信息获取等巡视任务.提出了基于贝叶斯理论的面向巡视任务的机器人控制策略,该策略利用机器人的当前位姿、规划的路径,与当前的视觉图像相结合,进行机器人控制;提出了由粗到细的多模式目标表示方法,融合RFID、特征和...     

管道内腐蚀缺陷超声在线检测机器人设计

针对管道内腐蚀缺陷超声在线检测数据量大、灵敏度低的难题,采用超声反射单脉冲距离检测法,设计制造了一种新型长输管道缺陷检测机器人.设计了满足检测精度的探头阵列、机器人结构以及检测数据处理系统;进行了标准模拟缺陷检测实验,校准了阵列探头的性能.实验表明,所设计机器人检测数据量小,其检测灵敏度可达到检测10 mm×10 mm×1 mm(长×宽×深)的缺陷.