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Alternative TitleVision Based Transmission Line Broken Strand Detection and Robot Behaviour Planning
宋屹峰; 王洪光; 李贞辉; 姜勇
Source Publication机器人
Volume37Issue:2Pages:204-211, 223
Indexed ByEI ; CSCD
EI Accession number20152300924823
Contribution Rank1
Funding Organization国家自然科学基金资助项目(61179049) ; 辽宁省自然科学基金资助项目(2013020054)
Keyword电力机器人 断股检测 行为规划 支持向量机
Other AbstractPower line maintenance robots are used to replace workers due to the dangerous maintenance operation, and the robot maintenance effect is much related with accurate fault detection and rational behavior planning. With those requirements in mind, a visual method is presented to detect the broken strand fault based on the classification of an image feature. In the visual detection method, image edge gradient histogram is firstly extracted as the image feature, and broken strand detection can be accomplished by the classification of the image feature with support vector machine (SVM) method. On this basis, several robot state vectors are established by combining the broken strand detection result and the information of robot sensors. Based on the current state vector and robotic broken strand repair process, a behavior planning method for broken strand repair is proposed toward complex operations of broken strand return and clamps installation. Experiments are carried out in the laboratory, and results demonstrate the effectiveness of the proposed broken strand detection method and the behavior planning method.
Citation statistics
Cited Times:7[CSCD]   [CSCD Record]
Document Type期刊论文
Recommended Citation
GB/T 7714
宋屹峰,王洪光,李贞辉,等. 基于视觉方法的输电线断股检测与机器人行为规划[J]. 机器人,2015,37(2):204-211, 223.
APA 宋屹峰,王洪光,李贞辉,&姜勇.(2015).基于视觉方法的输电线断股检测与机器人行为规划.机器人,37(2),204-211, 223.
MLA 宋屹峰,et al."基于视觉方法的输电线断股检测与机器人行为规划".机器人 37.2(2015):204-211, 223.
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