Hand-eye-vision based control for an inspection robot’s autonomous line grasping

Wang, Wei; Wu, Guojun; Yucheng, Bai; Hua, Xian-Sheng; Yang, Zhiyong; Yu, Yan; He, Yuan; Xu, Xiaolong; Fan, Shicai

doi:10.1007/s11771-014-2173-3

Cited by 25 publications

(20 citation statements)

References 7 publications

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“…The final deflection error of a grasping line was within two degrees, and the time was less than forty seconds. Wang et al [104] presented a line-grasping control based on handeye-vision. This method used a 2D fuzzy controller as shown in Figure 7.…”

Section: Visual Servo Of Ptl Inspectionmentioning

confidence: 99%

Environment Perception Technologies for Power Transmission Line Inspection Robots

et al. 2021

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With the fast development of the power system, traditional manual inspection methods of a power transmission line (PTL) cannot supply the demand for high quality and dependability for power grid maintenance. Consequently, the automatic PTL inspection technology becomes one of the key research focuses. For the purpose of summarizing related studies on environment perception and control technologies of PTL inspection, technologies of three-dimensional (3D) reconstruction, object detection, and visual servo of PTL inspection are reviewed, respectively. Firstly, 3D reconstruction of PTL inspection is reviewed and analyzed, especially for the technology of LiDAR-based reconstruction of power lines. Secondly, the technology of typical object detection, including pylons, insulators, and power line accessories, is classified as traditional and deep learning-based methods. After that, their merits and demerits are considered. Thirdly, the progress and issues of visual servo control of inspection robots are also concisely addressed. For improving the automation degree of PTL robots, current problems of key techniques, such as multisensor fusion and the establishment of datasets, are discussed and the prospect of inspection robots is presented.

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Section: Visual Servo Of Ptl Inspectionmentioning

confidence: 99%

Environment Perception Technologies for Power Transmission Line Inspection Robots

et al. 2021

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“…Using the feature points extracted by SURF and BRIEF, the Hamming distance between the two key points is calculated, and the nearest neighbour distance is used to measure the similarity [21]. The descriptors of the two feature points are derived from the feature descriptors obtained by (8) and the Hamming distance between the two feature descriptors can be expressed as…”

Section: Feature Point Matchingmentioning

confidence: 99%

A Novel Information Fusion Method for Vision Perception and Location of Intelligent Industrial Robots

Jin

Lin²,

Yang

et al. 2019

ELEKTRON ELEKTROTECH

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An improved SURF (Speeded-Up Robust Feature） algorithm is proposed to deal with the time-consuming and low precision of positioning of industrial robot. Hessian matrix determinant is used to extract feature points from the target image and a multi-scale spatial pyramid is constructed. The location and scale value of feature points are determined by neighbourhood non-maximum suppression method. The direction of feature points is defined as directional feature descriptors by the binary robust independent elementary feature (BRIEF). The progressive sample consensus (PROSAC) is used to carry out second precise matching and remove mismatching points based on the Hamming distance. Then, an affine transformation model is established to describe the relationship between the template and target images. Centroid coordinates of the target can be obtained based on the affine transformation. Comparative tests were carried out to demonstrate that the proposed method can effectively improve the recognition rate and positioning accuracy of the industrial robots. The average time consuming is less than 0.2 s, the matching accuracy is 96 %, and the positioning error of the robot is less than 1.5 mm. Therefore, the proposed method has practical application importance.

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“…GIS inspection robot mainly relies on its climbing ability on the GIS equipment surface; in foreign countries, the research on wall-climbing robots can be divided into three categories [9][10][11]. e first category is the negative pressurebased wall-climbing robot developed by Miyazaki University in Japan in 1966; the robot is very huge and heavy; after 1990, the wall-climbing robot based on the negative pressure adsorption mechanism was developed rapidly.…”

Section: Introductionmentioning

confidence: 99%

System Optimization and Robustness Stability Control for GIS Inspection Robot in Complex Microgrid Networks

Jiang

Zhi-ping

et al. 2021

Complexity

Self Cite

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GIS (gas-insulated switchgear) is important equipment in the substation system in a complex microgrid network. Due to the long-term service in harsh operation environments, the electrical performance of GIS equipment will be seriously affected. Therefore, the regular maintenance of GIS equipment in the substation system is a routine task so as to ensure the normal operation of the microgrid networks. The traditional method relies on manual labor, where not only with the low operation efficiency but also regarding some maintenance, labors cannot reach the inside of the GIS equipment, which seriously restricted the completion of GIS equipment maintenance operation. Based on the above analysis, a basic configuration of a GIS equipment maintenance robot with smart structure, convenient control, and stable motion characteristic has been proposed in this paper. Through the optimization design of the chassis adsorption system, the GIS inspection robot can achieve hanging and vertical adsorption inside the GIS equipment and some special motion status. In this way, the entire GIS equipment can be inspected without blind spots. Through establishing the mechanical model of the GIS inspection robot under the hanging and vertical motion state, the robustness and stability of the GIS inspection robot in the special status have been analyzed, and the corresponding GIS inspection robot robust stability motion control method has also been proposed. Finally, through the integrated design of mechanical system and hardware and software control system, the GIS inspection robot physical prototype system has been developed and the maintenance operation experiment has been carried out in Hunan Electric Power Company Maintenance Company through simulating the internal GIS equipment. The physical prototype can realize the basic movement and special movement in internal GIS equipment without any blind spots and complete the inspection task of GIS equipment operation; the movement of GIS robot is dexterous and stable in the whole operation process, which has strong robust stability. The research of GIS inspection robot in the complex microgrid networks has important theoretical significance and practical application value for the intelligent operation and maintenance management of substation system in complex microgrid networks.

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Hand-eye-vision based control for an inspection robot’s autonomous line grasping

Cited by 25 publications

References 7 publications

Environment Perception Technologies for Power Transmission Line Inspection Robots

Environment Perception Technologies for Power Transmission Line Inspection Robots

A Novel Information Fusion Method for Vision Perception and Location of Intelligent Industrial Robots

System Optimization and Robustness Stability Control for GIS Inspection Robot in Complex Microgrid Networks

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