| 输电线路巡检机器人越障控制研究 |
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| 引用本文： | 王鲁单,王洪光,房立金,赵明扬. 输电线路巡检机器人越障控制研究[J]. 中国机械工程, 2007, 18(22): 0-2654 |
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| 作者姓名： | 王鲁单 王洪光 房立金 赵明扬 |
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| 作者单位： | 1. 中国科学院沈阳自动化研究所,沈阳,110016;中国科学院研究生院,北京,100039
2. 中国科学院沈阳自动化研究所,沈阳,110016 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 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。
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| 关 键 词： | 巡检机器人；越障控制；单目视觉；视觉伺服 |
| 文章编号： | 1004-132X（2007）22-2652-04 |
| 修稿时间： | 2006-09-25 |
Obstacle-navigation Control of Inspection Robot for Power Transmission Lines |
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| Wang Ludan,Wang Hongguang,Fang Lijin,Zhao Mingyang. Obstacle-navigation Control of Inspection Robot for Power Transmission Lines[J]. China Mechanical Engineering, 2007, 18(22): 0-2654 |
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| Authors: | Wang Ludan Wang Hongguang Fang Lijin Zhao Mingyang |
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| Affiliation: | 1. Shenyang Institute o{ Automation, The Chinese Academy o{ Sciences, Shenyang, 110016 2. Graduate School of The Chinese Academy of Sciences,Beijing, 100039 |
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| Abstract: | 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. |
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| Keywords: | robot for inspection obstacle-navigation control vision based on single camera visual-servoing |
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