Paper Info
Title
Structure-Constrained Obstacles Recognition For Power Transmission Line Inspection Robot
Abstract
Inspection robot must plan its behavior to detect the obstacles from the complex background according to their types when it is crawling along the power transmission line in order to negotiate reliably. However, in most instances, detecting the obstacles from the complex background is a hard task. For this purpose, a novel and fast visual obstacle recognition algorithm is designed based on the structure of the 220KV power transmission line. Basic principle and architecture of the algorithm are given. By this approach, three typical obstacles on the power transmission line such as insulator strings, counterweights and suspension clamps can be recognized with high accuracy. Experiments in the real power transmission line show its effectiveness. This method can contribute to the process of the mobile robot negotiating obstacles.
Year
DOI
Venue
2006
10.1109/IROS.2006.282513
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12
Keywords
Field
DocType
mobile robots,mobile robot,insulators,inspection,power transmission lines
Robot control,Computer vision,Crawling,Computer science,Obstacle recognition,Electric power transmission,Artificial intelligence,Power transmission,Robot,Insulator (electricity),Mobile robot
Conference
Citations 
PageRank 
References 
11
1.65
4
Authors
9
Name
Order
Citations
PageRank
Siyao Fu110314.95
Weiming Li2112.66
Yun-Chu Zhang3284.41
Zi-ze Liang410619.61
Zeng-Guang Hou52293167.18
Min Tan62342201.12
Wenbo Ye7152.32
Lian Bo8152.32
Qi Zuo9122.06