CN106826873A - A kind of transmission line polling robot visual servo grabs line control method - Google Patents
A kind of transmission line polling robot visual servo grabs line control method Download PDFInfo
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
Abstract
Line control method is grabbed the invention discloses a kind of transmission line polling robot visual servo belong to automation control area, aim to overcome that the shortcoming of line is grabbed by existing artificial control robot, the autonomy-oriented degree of polling transmission line and Work robot is improved, expansion robot patrols and examines the range of application with operation.The present invention carries out mainlying grasp line certainly for robot on the basis of transmission line of electricity is recognized.Grab line traffic control flow as follows：(1) robot body Kinematic Model；(2) the trick model for grabbing line motion is set up；(3) build servo and grab lane controller framework；(4) Visual servoing control device is designed.Digital image processing techniques are incorporated into robot autonomous control by the present invention, the image information acquisition circuit and the relative pose relation of robot gathered using robot, by the design of Visual servoing control device, allow robot independently to complete the line of fall to act, carry out autonomy-oriented on the line for robot and patrol and examine providing a kind of intelligentized technological means with operation.
Description
Technical field
The invention belongs to automation control area, and in particular to a kind of transmission line polling robot visual servo
Line control method is grabbed, line is grabbed from main servo for polling transmission line and maintaining robot view-based access control model image.
Background technology
Ended for the end of the year 2014, China 220kV and above transmitting loop length already exceed 600,000 kms, defeated
Electric network needs periodical inspection to safeguard.At present, this work is main uses telescope on ground by by artificial
Circuit is observed, workman will also step on tower cabling and carry out detection operation if necessary, labor intensity is big,
Dangerous high, maintenance cost is high.
Become more meticulous and automatization level with what is safeguarded to solve problem above, and improving wireline inspection, transmitted electricity
Line crusing robot turns into study hotspot.For the gold utensil obstacle such as damper, suspension clamp in span line,
Robot needs to hide obstacle by road wheel off-line, and it is the pass in crossing obstacle automatically that the road wheel after obstacle detouring grabs line
Key link, the accuracy and reliability for grabbing line is the main points of research.Have literature research and be based on optoelectronic switch
Power transmission line positioning [a kind of improved inspection robot for ultra-high voltage power transmission lines of the such as Sun Cuilian is got over line grabbing method
Barrier method robots, 2006,28 (4)：379-384.] and robot arm and phase based on electromagnetic sensor
Line pose determination methods [such as Chen Zhongwei Electromagnetic sensor navigation system of robot for high-voltage transmission line inspection sensors with it is micro-
System, 2006,25 (9)：33-35,39.], and these methods are all to utilize local message, reliability is easily received
The interference of external environment, may produce the information of truth and false, and lack intuitive.It is another to have document using in Fu
Leaf description constructs the profile shape characteristic vector with consistency, identification robot driving wheel, and then extracts
Characteristics of image and estimation driving wheel-phase line relative pose in image space, and devise the ratio with dead band
Example control law come realize driving wheel-phase line " centering " control [the transmission line inspection robots such as Zhang Yunchu
Obstacle detouring Visual servoing control robots, 2007,29 (2)：111-116.].And the method is only to road wheel
Position is controlled, and does not account for attitude for grabbing the influence of line.
The content of the invention
In order to overcome existing robot servo to grab the problem of line control method, the automation that line is grabbed by robot is improved
Degree and accuracy, the technical problem to be solved in the present invention are to provide a kind of transmission line polling robot vision
Servo grabs line control method.
The technical scheme that is used to achieve the above object of the present invention is：A kind of transmission line polling robot is regarded
Feel that servo grabs line control method, comprise the following steps：
(1) robot kinematics' modeling：According to robot body design feature, joint of robot coordinate is set up
System, obtains the kinematical equation of robot；
(2) the trick model for grabbing line motion is set up：Using robot camera acquisition comprising transmission line of electricity and machine
The image of device human arm, sets up the relativeness of collection image coordinate system and world coordinate system, describes robot
The relation that rotary joint angle changes with power transmission line characteristics of image；
(3) build servo and grab lane controller：According to robot kinematics' model and the trick model for grabbing line motion,
The control closed loop of double-deck closed loop framework is set up, control inspection machine human body constitutes by robot servo's controller
Ground floor closed loop, analyzes image and automatically generates control instruction, and send machine to by Visual servoing control device
People's servo controller, constitutes second layer closed loop.
(4) Visual servoing control device is designed：The feature deviation for grabbing line image, design are calculated by image procossing
Servo controller.
Robot kinematics' modeling is comprised the following steps：
Joint coordinate system is set up in each joint of robot, each joint D-H parameters are obtained；
Using the online arm of robot as pedestal, the kinematical equation of calculating robot's off-line arm obtains de-
The end pose of line arm：
Wherein, α and β is respectively circuit inclination angle and casing inclination angle, Cα+βWith Sα+βRepresent respectively cos (alpha+beta) with
Sin (alpha+beta), dmIt is both arms spacing, CijWith SijCos (θ are represented respectivelyi+θj) and sin (θi+θj), barycenter is moved
Move apart from dac=l6+l4-l3-l2+d4-d3, l2With l5It is upper arm lengths, l3With l4It is lower arm lengths,
l6With l7It is camera distance, d3With d4It is linear joint stroke, θ3With θ4It is rotary joint amount of spin, rwTo drive
Driving wheel wheel footpath.
The robot grab line motion trick model be：
Grab line motion perspective projection relation model be：
If it is some impact point to set on transmission line of electricity, u and v is coordinate of the impact point in image coordinate system, sxWith sy
It is the sample frequency on X and Y-direction；F is camera focus, fx=fsxWith fy=fsyIt is equivalent focal length,
u0With v0It is coordinate of the image physical coordinates system origin in image coordinate system, (xc, yc, zc) it is that impact point is being imaged
Coordinate in machine coordinate system；
If impact point P on power transmission line, the coordinate in base coordinate system and camera coordinate system is respectively LPWith
CP, can be obtained according to the kinematics model set up：
Wherein,It is camera coordinates to the homogeneous transform matrix of base coordinate system；
With reference to more than simultaneous two equations, and derived function is carried out, obtain robot rotary articulation angle θ3And θ4Lead
Number and the relation of power transmission line characteristics of image change, that is, grab the trick model of line motion：
Wherein,J is refined gram of image
Than the relation that matrix, description robot rotary articulation angle change with power transmission line characteristics of image.
The design Visual servoing control device is comprised the following steps：
(1) circuit image to robot collection is pre-processed, using Ostu methods by pretreated ash
Degree image segmentation is bianry image, then carries out morphologic filtering, is used to weaken the influence of background；
(2) linear feature in image is extracted, the edge of line image is grabbed using sobel operator extractions, passed through
Hough transformation extracts two maximum straight lines of brightness, used as the two edges of transmission line of electricity；
(3) the feature deviation of image is calculated, deviation coordinate system is set up, deviation coordinate origin is in driving wheel
Heart point, x-axis y-axis is respectively driving wheel race and axis direction；According in deviation coordinate origin and power transmission line
Axis centre point calculates offset deviation value, defines the pixel that power transmission line central point deviates road wheel cross central line
It is λd；Mean value calculation attitude misalignment value according to the edge slope of power transmission line two, defines the relative walking of power transmission line
The angle of wheel cross central line deflection is θd, by [λd θd]TTo define the change of feature in image space；
(4) servo controller of the design based on image jacobian matrix J, defining characteristics of image error is
E=fd- f (t)=[λd θd]T, wherein, fd=[λ0 θ0]TIt is desired pose characteristic value, λ0It is driving wheel
Power transmission line central point deviates the pixel count of road wheel cross central line, θ during in optimal line of fall state0It is to drive
Wheel in the optimal line of fall state when power transmission line with respect to the angle that road wheel cross central line is deflected,
F (t)=[λ (t) θ (t)]TIt is the pose characteristic value of visual feedback, if Pose Control variable is u (t)=Δ q, if
Meter controller u=KJ+E, wherein K are direct proportion coefficient, J+It is the inverse matrix of image jacobian matrix；Definition
The tolerance of characteristics of image error is [εd δd]T, εdPower transmission line central point deviates road wheel transverse direction when being the safe line of fall
The maximum allowable pixel count of center line, δdPower transmission line is with respect to road wheel cross central line when being safe line of fall state
The maximum allowable angle of deflection, using controller from main regulation robot ambulation wheel and the relative pose of power transmission line,
Make λd＜ εd, θd＜ δd, so as to ensure that robotically-driven wheel is adapted to line of fall position in circuit top, complete
Acted from line is mainlyed grasp.
The present invention has advantages below and beneficial effect：
1. the visual servo based on image that the present invention is provided grabs line control method, overcomes existing using artificial
The shortcoming of robot is controlled, power transmission line is improve and is patrolled and examined automaticity with maintaining robot.
2. the present invention carries out IMAQ using the self-contained camera of robot to circuit, by collection
Patrol and examine the steps such as image is pre-processed, extraction of straight line, feature deviation are calculated and obtain pose deviation, phase
Than in other sensors, the information that vision sensor is obtained has the advantages that data are directly perceived, anti-interference strong, adopts
The feature deviation obtained with this method is reliable and stable, is conducive to the design of controller.
3. the present invention is tested in power transmission line robot, and result of the test shows, using machine of the invention
Device people system can be with the realization of fast and stable from line is mainlyed grasp, and the visual servo for embodying design grabs lane controller
Accuracy and robustness.
Brief description of the drawings
Fig. 1 is schematic flow sheet of the invention；
Fig. 2 is robot kinematics' model；
Fig. 3 is that line motion principle figure is grabbed by robot；
Fig. 4 is that line trick model is grabbed by robot；
Fig. 5 is that robot servo grabs line traffic control closed loop configuration；
Fig. 6 is processing result image；
Fig. 7 is that vision grabs line traffic control principle；
Fig. 8 is Visual servoing control device block diagram.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment the present invention is described in further detail.
The present invention gathers circuit image by vision sensor, and feature deviation is obtained by image processing techniques,
And based on this, trick model is moved with line is grabbed with reference to the kinematics model of robot, design visual servo
Lane controller is grabbed, that realizes polling transmission line and maintaining robot mainlys grasp line certainly.The method overcome existing
Using the shortcoming of artificial control robot, improve power transmission line and patrol and examine automaticity with maintaining robot,
As shown in figure 1, idiographic flow is as follows：
(1) robot kinematics' modeling：
In robot, each joint sets up joint coordinate system, as shown in Fig. 2 obtaining each joint D-H parameters；
Using the online arm of robot as pedestal, the kinematical equation of calculating robot's off-line arm obtains off-line hand
The end pose of arm.
(2) the trick model for grabbing line motion is set up：
(2.1) as shown in figure 3, according to mechanism model and sensor information, making to treat line of fall road wheel coarse alignment
Power transmission line adjusts the rotary joint of two arms according to robot obstacle detouring position orientation relation, it is ensured that power transmission line is being waited to grab
In the camera coverage of line arm.
(2.2) as shown in figure 4, including transmission line of electricity and robot arm according to robot camera acquisition
Image, foundation grab line motion perspective projection relation model be：
If impact point P on power transmission line, the coordinate in base coordinate system with camera coordinate system is respectivelyLP andcP, can obtain according to the kinematics model set up：
Wherein,It is camera coordinates to the homogeneous transform matrix of base coordinate system；
With reference to more than simultaneous two equations, and derived function is carried out, robot rotary articulation angle θ can be obtained3And θ4
Derivative and the relation of power transmission line characteristics of image change, that is, grab the trick model of line motion：
Wherein, J is image jacobian matrix, describes robot rotary articulation angle and transmission line of electricity characteristics of image
The relation of change.
(3) build servo and grab lane controller：According to robot kinematics' model and trick relational model, set up
Servo grabs lane controller framework, design control closed loop configuration, as shown in figure 5, control closed loop is closed using bilayer
Hoop truss, controls inspection machine human body's stroke ground floor closed loop, by vision by robot servo's controller
Servo controller analysis image automatically generates control instruction, and sends robot servo's controller to, composition the
Two layers of closed loop.
(4) Visual servoing control device is designed：
(4.1) as shown in fig. 6, carrying out a series for the treatment of to the circuit image of robot collection, feature is obtained
Deviation and reference center.During pretreatment, pretreated gray level image is divided into using Ostu inventive methods
Bianry image, then carries out morphologic filtering, has weakened the influence of background.Straight line is obtained using sobel operators
The edge of line image is grabbed in feature extraction, extracts two maximum straight lines of brightness by Hough transformation, it is believed that be defeated
The two edges of electric line.The feature deviation of image is calculated, according to reference center point and power transmission line axis center
Point calculates offset deviation value, the mean value calculation attitude misalignment value according to the edge slope of power transmission line two.
(4.2) as shown in fig. 7, setting up deviation coordinate system, define power transmission line central point and deviate road wheel transverse direction
The pixel of center line is λd, power transmission line is θ with respect to the angle that road wheel cross central line is deflectedd, by [λd θd]T
To define the change of feature in image space, its tolerance is defined for [εd δd]T.
(5) as shown in figure 8, servo controller of the design based on image jacobian matrix J, defines image special
Error is levied for e=fd- f (t)=[λd θd]T, wherein, fd=[λ0 θ0]TIt is desired pose characteristic value,
F (t)=[λ (t) θ (t)]TIt is the pose characteristic value of visual feedback, if Pose Control variable is u (t)=Δ q, if
Meter controller u=KJ+E, wherein K are direct proportion coefficient, J+It is the inverse matrix of image jacobian matrix.Utilize
Controller makes λ from main regulation robot ambulation wheel and the relative pose of power transmission lined＜ εd, θd＜ δd, it is ensured that
Robotically-driven wheel is in circuit top and is adapted to line of fall position, and then completion is acted from line is mainlyed grasp.
Claims (4)
1. a kind of transmission line polling robot visual servo grabs line control method, it is characterised in that including with
Lower step：
(1) robot kinematics' modeling：According to robot body design feature, joint of robot coordinate is set up
System, obtains the kinematical equation of robot；
(2) the trick model for grabbing line motion is set up：Using robot camera acquisition comprising transmission line of electricity and machine
The image of device human arm, sets up the relativeness of collection image coordinate system and world coordinate system, describes robot
The relation that rotary joint angle changes with power transmission line characteristics of image；
(3) build servo and grab lane controller：According to robot kinematics' model and the trick model for grabbing line motion,
The control closed loop of double-deck closed loop framework is set up, control inspection machine human body constitutes by robot servo's controller
Ground floor closed loop, analyzes image and automatically generates control instruction, and send machine to by Visual servoing control device
People's servo controller, constitutes second layer closed loop.
(4) Visual servoing control device is designed：The feature deviation for grabbing line image, design are calculated by image procossing
Servo controller.
2. a kind of transmission line polling robot visual servo according to claim 1 grabs line control method,
Characterized in that, robot kinematics' modeling is comprised the following steps：
Joint coordinate system is set up in each joint of robot, each joint D-H parameters are obtained；
Using the online arm of robot as pedestal, the kinematical equation of calculating robot's off-line arm obtains de-
The end pose of line arm：
Wherein, α and β is respectively circuit inclination angle and casing inclination angle, Cα+βWith Sα+βRepresent respectively cos (alpha+beta) with
Sin (alpha+beta), dmIt is both arms spacing, CijWith SijCos (θ are represented respectivelyi+θj) and sin (θi+θj), barycenter is moved
Move apart from dac=l6+l4-l3-l2+d4-d3, l2With l5It is upper arm lengths, l3With l4It is lower arm lengths,
l6With l7It is camera distance, d3With d4It is linear joint stroke, θ3With θ4It is rotary joint amount of spin, rwTo drive
Driving wheel wheel footpath.
3. a kind of transmission line polling robot visual servo according to claim 1 grabs line control method,
Characterized in that, the trick model that line motion is grabbed by the robot is：
Grab line motion perspective projection relation model be：
If it is some impact point to set on transmission line of electricity, u and v is coordinate of the impact point in image coordinate system, sxWith sy
It is the sample frequency on X and Y-direction；F is camera focus, fx=fsxWith fu=fsyIt is equivalent focal length,
u0With v0It is coordinate of the image physical coordinates system origin in image coordinate system, (xc, yc, zc) it is that impact point is being imaged
Coordinate in machine coordinate system；
If impact point P on power transmission line, the coordinate in base coordinate system and camera coordinate system is respectively LPWith
CP, can be obtained according to the kinematics model set up：
Wherein,It is camera coordinates to the homogeneous transform matrix of base coordinate system；
With reference to more than simultaneous two equations, and derived function is carried out, obtain robot rotary articulation angle θ3And θ4Lead
Number and the relation of power transmission line characteristics of image change, that is, grab the trick model of line motion：
Wherein, J is refined gram of image
Than the relation that matrix, description robot rotary articulation angle change with power transmission line characteristics of image.
4. a kind of transmission line polling robot visual servo according to claim 1 grabs line control method,
Characterized in that, the design Visual servoing control device is comprised the following steps：
(1) circuit image to robot collection is pre-processed, using Ostu methods by pretreated ash
Degree image segmentation is bianry image, then carries out morphologic filtering, is used to weaken the influence of background；
(2) linear feature in image is extracted, the edge of line image is grabbed using sobel operator extractions, passed through
Hough transformation extracts two maximum straight lines of brightness, used as the two edges of transmission line of electricity；
(3) the feature deviation of image is calculated, deviation coordinate system is set up, deviation coordinate origin is in driving wheel
Heart point, x-axis y-axis is respectively driving wheel race and axis direction；According in deviation coordinate origin and power transmission line
Axis centre point calculates offset deviation value, defines the pixel that power transmission line central point deviates road wheel cross central line
It is λd；Mean value calculation attitude misalignment value according to the edge slope of power transmission line two, defines the relative walking of power transmission line
The angle of wheel cross central line deflection is θd, by [λd θd]TTo define the change of feature in image space；
(4) servo controller of the design based on image jacobian matrix J, defining characteristics of image error is
E=fd- f (t)=[λd θd]T, wherein, fd=[λ0 θ0]TIt is desired pose characteristic value, λ0It is driving wheel
Power transmission line central point deviates the pixel count of road wheel cross central line, θ during in optimal line of fall state0It is to drive
Wheel in the optimal line of fall state when power transmission line with respect to the angle that road wheel cross central line is deflected,
F (t)=[λ (t) θ (t)]TIt is the pose characteristic value of visual feedback, if Pose Control variable is u (t)=Δ q, if
Meter controller u=KJ+E, wherein K are direct proportion coefficient, J+It is the inverse matrix of image jacobian matrix；Definition
The tolerance of characteristics of image error is [εd δd]T, εdPower transmission line central point deviates road wheel transverse direction when being the safe line of fall
The maximum allowable pixel count of center line, δdPower transmission line is with respect to road wheel cross central line when being safe line of fall state
The maximum allowable angle of deflection, using controller from main regulation robot ambulation wheel and the relative pose of power transmission line,
Make λd＜ εd, θd＜ δd, so as to ensure that robotically-driven wheel is adapted to line of fall position in circuit top, complete
Acted from line is mainlyed grasp.
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