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Autonomous Removing Foreign Objects for Power Transmission Line by Using a Vision-Guided Unmanned Aerial Manipulator
Journal of Intelligent & Robotic Systems ( IF 3.3 ) Pub Date : 2021-09-06 , DOI: 10.1007/s10846-021-01482-3
Ling Li 1 , Tianlin Zhang 2 , Hongwen Li 2 , Shaosheng Fan 2 , Yijia Cao 2 , Hang Zhong 3 , Hui Zhang 3
Affiliation  

This paper considers a problem that visual servo control for an aerial manipulator removes foreign objects of power transmission lines. A position-based visual servoing (PBVS) combing a foreign objects locating method based on the point cloud with a hierarchical task-priority control method is employed to drive the aerial manipulator to remove the foreign object. Firstly, the RGB-D camera mounted on the drone obtains the point cloud of the environment, and the foreign object will be localized by the detection and localization algorithm. Then, a new visual servo error is proposed to decouple linear speed and angular speed, allowing the aerial manipulator to grasp accurately in the dangerous environment. In addition, the redundant characteristics of the aerial manipulator will be fully used by the hierarchical task priority control scheme. Finally, experimental results of a drone equipped with a 4-DOF delta manipulator removing foreign objects of power transmission line are provided to demonstrate the effectiveness of the control method.



中文翻译:

视觉引导无人空中机械手自主清除输电线路异物

本文考虑了空中机械手视觉伺服控制去除输电线路异物的问题。采用基于点云的异物定位方法与分层任务优先级控制方法相结合的基于位置的视觉伺服(PBVS)驱动空中机械手去除异物。首先,无人机搭载的RGB-D摄像头获取环境的点云,通过检测定位算法对异物进行定位。然后,提出了一种新的视觉伺服误差来解耦线速度和角速度,使空中机械手能够在危险环境中准确抓取。此外,分层任务优先级控制方案将充分利用空中机械手的冗余特性。最后,

更新日期:2021-09-07
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