期刊论文

Vision-based tracing,recognition and positioning strategy for bolt tightening live working robot on power transmission line

中文

电子测量与仪器学报

1000-7105

2017

31

9

1514-1523

10.13382/j.jemi.2017.09.024

国家自然科学基金

本校为第一机构

在输电线路采用机器人进行螺栓的全自动带电紧固作业是一项非常有挑战性的工作,螺栓的自动紧固首先必须解决螺栓的自动搜索、识别与定位,由于线路环境复杂,这些工作变得十分困难,为此,提出一种新的螺栓视觉搜索识别定位方法,该方法分为两部分,基于参考物的螺栓追踪,通过设定引流线为参考物,先对引流线进行定位,然后沿着引流线方向来搜索螺栓,从而简化螺栓搜索过程,降低螺栓识别难度;基于改进Hough变换的螺栓识别算法,通过对经典Hough变换的峰值选择策略进行改进来实现螺栓的精确识别,然后利用螺栓头部圆形特征来完成螺栓中心的验证,并通过HOG和SVM技术来实现目标物体的识别分类,消除外界不相关物...

Autonomous bolt tightening is a challenging task for maintenance robot on power transmission lines,because bolts could hardly be traced and recognized without manual command. In this paper,a structure of bolt tightening robot and its bolt tracing,recognition and positioning strategy utilizing vision detection are proposed. The bolt tightening robot is equipped with a camera-installed bolt tightening unit which is connected by an arm with three joints,the proposed bolt detecting strategy consists of two steps. First is bolt tracing in which the drainage wire is used as a reference,through the v...