Vision-Based Autonomous Landing of a Hybrid Robot on a Powerline
文献类型:期刊论文
作者 | Zhishuo Li; Yunong Tian; Guodong Yang; En Li; Yanfeng Zhang; Minghao Chen; Zize Liang; Min Tan |
刊名 | IEEE Transactions on Instrumentation and Measurement |
出版日期 | 2023 |
卷号 | 72页码:1-11 |
英文摘要 | In recent years, various types of inspection robots have been developed to automate powerline inspection. The hybrid robot combines the advantages of climbing and flying robots and has a promising prospect in powerline inspection. But landing a hybrid robot on the target powerline among multiple ones is challenging. Flights require robust detection of powerlines and stable tracking of the target powerline. We propose a complete solution for the autonomous landing of a hybrid robot on a powerline. First, a special feature extraction operator and the corresponding density-based feature recognition algorithm are designed to detect multiscale powerlines. Second, a binocular vision-based depth estimation method for the landing point in the powerline is described. Third, two spatio-temporal dictionaries are established to track the target one in multiple powerlines. Meanwhile, landing strategies and control methods are presented to achieve a stable landing task. Finally, a hybrid robot is designed to validate the proposed method. The experiment results demonstrate the accuracy of the powerline detection and depth estimation algorithm, as well as the effectiveness of the robot in tracking and landing tasks. |
源URL | [http://ir.ia.ac.cn/handle/173211/51589] |
专题 | 中科院工业视觉智能装备工程实验室 |
通讯作者 | Guodong Yang |
推荐引用方式 GB/T 7714 | Zhishuo Li,Yunong Tian,Guodong Yang,et al. Vision-Based Autonomous Landing of a Hybrid Robot on a Powerline[J]. IEEE Transactions on Instrumentation and Measurement,2023,72:1-11. |
APA | Zhishuo Li.,Yunong Tian.,Guodong Yang.,En Li.,Yanfeng Zhang.,...&Min Tan.(2023).Vision-Based Autonomous Landing of a Hybrid Robot on a Powerline.IEEE Transactions on Instrumentation and Measurement,72,1-11. |
MLA | Zhishuo Li,et al."Vision-Based Autonomous Landing of a Hybrid Robot on a Powerline".IEEE Transactions on Instrumentation and Measurement 72(2023):1-11. |
入库方式: OAI收割
来源:自动化研究所
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