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.
机巡作业是当前电力巡检的主要发展方向,但与直升机、无人机以及变电站机器人相比,我国输电线路机器人巡检尚未达到实用化水平。为此,对输电线路机器人实用化巡检关键技术开展了研究,建立了机器人典型作业模式,研发了穿越式、跨越式两类巡检机器人,提出了机器人行走路径改造方法,首次设计了机器人自动上下线装置,并完成了机器人全自主巡检系统的研制。机器人通过了多种复杂自然环境和电磁环境工况的试验考核,以及户外真型线路试验段的功能测试,在500 k V带电运行线路开展示范应用,对线路设备同时进行可见光和红外检测。巡检中暴露了巡检系统存在的问题并进行分析解决,提出了机器人异常情况下的紧急救援措施并成功开展带电救援作业。机器人单次巡检里程达到10 km以上,巡检应用取得良好效果,机器人巡检系统达到一定的实用化水平。
