한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제20권1호
  • /
  • Pages.99-106
  • /
  • 2003
  • /
  • 1225-9071(pISSN)
  • /
  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

수정 하후변환을 이용한 전선의 중심위치의 인식

Recognition of the Center Position of Electric Line Using Modified Hough Transform

  • 안경관 (울산대학교 기계자동차공학부)
  • 발행 : 2003.01.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

Uninterrupted power supply has become indispensable during the maintenance task of active electric power lines as a result of today's highly information-oriented society and increasing demand of electric utilities. The maintenance task has the risk of electric shock and the danger of falling from high place. Therefore it is necessary to realize an autonomous robot system. In order to realize these tasks autonomously, the there dimensional position of target object such as electric line and the stand of insulator must be recognized accurately and rapidly. The insertion task of an electric line into a sleeve is selected as the typical task of the maintenance of active electric power distribution lines in this paper. A modified hough transform is applied to the recognition of the center of electric line and optimal target position calculation method is newly derived in order to recognize the center 3 dimensional position of the electric line. By the proposed method, it is proved that the center position of the electric line can be recognized without respect to the noise of image and the shape of electric lines and the insertion task of an electric tine is realized.

키워드

참고문헌

  1. M. Nakashima, H. Yakabe, Y. Maruyama, K. Yano, K. Morita, H. Nakagaki, Application of Semi-Automatic Robot Technology on Hot-Line Maintenance Task, Proc. of the 1995 IEEE Int. Conf. on R&A, pp. 843-850, 1995 https://doi.org/10.1109/ROBOT.1995.525388
  2. M. Boyer, System Integration in Telerobotics Case Study: Maintenance of Electric Power Lines, Proc. of the 1996 IEEE Int. Conf. on Robotics and Automation, pp. 1042-1047, 1996 https://doi.org/10.1109/ROBOT.1996.506846
  3. S. Tanaka, Y. Maruyama, K. Yano, Work Automation with the Hot-Line Work Robot System-Phase II, Proc. of the 1996 IEEE Int. Conf. on R&A, pp. 1261-1267, 1996
  4. L. Penin, R. Aracil, M. Ferre, E. Pinto, M. Hernando, A. Barrientos, Telerobotic System for Live Power Lines Maintenance(ROBET), Proc. of the 1998 IEEE Int. Conf. on R&A, pp. 2110-2115, 1998
  5. K.K. Ahn, S. Yokota, T. Yamamoto, 'On Robust Impedance Force Control to a 6-Link Electrohydraulic Manipulator,' 14th World Congress of IFAC, Vol. G, pp. 73-78, 1998 https://doi.org/10.1109/KORUS.2000.866063
  6. K.K. Ahn, S. Yokota, H. Furuta, 'Force Control of to 6-Link Electro-hydraulic Manipulator(Application to the approaching of a bolt and the wrenching of a nut task),' JSME(C), Vol. 65, No. 637, pp. 3672-3677, 1999 https://doi.org/10.1299/kikaic.65.3672
  7. 안경관, 조용래, 이병룡, 양순용, '전기 유압 매니퓰레이터의 강건 힘 제어,' 한국정밀공학회지, Vol. 19, No. 4, pp. 202-208, 2002
  8. K.K. Ahn, S. Yokota, H. Furuta, 'Coordinative control of a 6-link electro-hydraulic manipulator with dual arm (Application of discrete event control to the task of insertion of electric line to the sleeve),' JSME(C), Vol. 66, No. 645, pp. 1567-1573, 2000 https://doi.org/10.1299/kikaic.66.1567
  9. P.V.C.Hough, 'Method and means for recognizing complex patterns,' U.S. Patent 3069654, 1962
  10. R. Yip, P. Tam, D. Leung, 'Modification of Hough Transform for circles and ellipses detection using 2-dimensional array,' Pattern Recognition, Vol. 25, No. 9, pp. 1007-1022, 1992 https://doi.org/10.1016/0031-3203(92)90064-P