巡线机器人视觉导航研究

发布时间：2018-09-10 16:42

【摘要】：巡线机器人作为替代传统人工巡检和航测巡检的新型输电线路巡检技术,可提高输电线路的巡检效率和质量,保证输电线路的稳定工作。作为机器人领域的热门研究课题之一,巡线机器人具有较高的使用价值和应用前景。本文主要研究了立体视觉导航技术在巡线机器人中的应用方案,结合巡线机器人的运动模型,验证了视觉导航的可行性和稳定性,并对相关关键技术进行了分析和研究,具体研究内容包括:双目立体视觉系统、巡线机器人运动学模型建模、巡线机器人的视觉导航方案、稳定性控制与立体视觉推算跟踪。双目立体视觉系统是实现立体视觉导航的基础。论文研究了双目立体视觉系统的成像模式及立体测量原理,并分析了双目立体视觉系统的标定方法,最后实验得出了标定结果。巡线机器人运动模型是实现巡线机器人运动控制的基础。论文在分析了巡线机器人的运行环境的基础上,讨论了越障行为方式,设计了一种新的越障结构及方式,并研究了其运动模型以及双目立体视觉子系统在该结构中的作用方式。视觉导航是巡线机器人实现沿线巡检功能的基本保障。论文在研究了常用的机器人视觉导航方式的基础上,提出了一种应用于本文设计的巡线机器人的视觉导航方式,并讨论了该巡线机器人的越障行为规划方案,通过实验验证了该导航方式在越障过程中的可行性与稳定性。稳定性控制与立体视觉推算跟踪作为视觉导航控制的辅助控制关键技术,有利于实现巡线机器人的稳定巡航和越障。论文依据巡线机器人的运动模型,分析了重心调整机构在巡线机器人稳定性控制中的应用,并分析了俯仰式双目立体视觉系统在视觉导航中的跟踪应用。综上所述,研究结果表明了本文所提出的巡线机器人的视觉导航方案能够实现巡线机器人运动模型辅助立体视觉导航,方案可行稳定;所设计的前视觉俯仰系统及重心调整机构能够提高视觉导航稳定性。本文所做工作对巡线机器人的进一步研究有一定的推进作用,为后续的机器人巡线探损工作奠定了基础。
[Abstract]:As a new type of transmission line patrol technology, line patrol robot can improve the efficiency and quality of transmission line patrol and ensure the stability of transmission line. As one of the hot research topics in the field of robot, line patrol robot has high application value and application prospect. The application scheme of stereo vision navigation technology in line-patrolling robot is introduced. The feasibility and stability of visual navigation are verified by combining the motion model of line-patrolling robot. The key technologies are analyzed and studied. The specific research contents include: binocular stereo vision system, kinematics model modeling of line-patrolling robot, line-patrolling robot. Binocular stereo vision system is the basis of stereo vision navigation. This paper studies the imaging mode and stereo measurement principle of binocular stereo vision system, and analyzes the calibration method of binocular stereo vision system. Finally, the calibration result is obtained by experiment. The robot motion model is the basis of realizing the motion control of the line-patrolling robot.Based on the analysis of the running environment of the line-patrolling robot,this paper discusses the obstacle-surmounting behavior,designs a new obstacle-surmounting structure and mode,and studies its motion model and the function of the binocular stereo vision subsystem in this structure. It is the basic guarantee for the patrol robot to realize the patrol function along the line. On the basis of studying the common robot visual navigation methods, this paper proposes a visual navigation method for the patrol robot designed in this paper, and discusses the obstacle-crossing behavior planning scheme of the patrol robot. The experimental results show that the navigation method is feasible. Stability control and stereo vision predictive tracking are the key technologies of visual navigation control, which are helpful to realize the stable cruising and obstacle surmounting of the line-patrolling robot. Based on the motion model of the line-patrolling robot, this paper analyzes the center of gravity adjustment mechanism in the stability control of the line-patrolling robot. In summary, the research results show that the vision navigation scheme of the line-patrolling robot proposed in this paper can realize the motion model-aided stereo vision navigation of the line-patrolling robot, and the scheme is feasible and stable; the pre-vision pitching system and the center of gravity are designed. The adjusting mechanism can improve the stability of visual navigation. The work done in this paper can promote the further research of the line-patrolling robot and lay a foundation for the follow-up work of robot line-patrolling inspection.
【学位授予单位】：安徽工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242

【相似文献】