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

안경관 (울산대학교 기계자동차공학부)
Publication Information
Journal of the Korean Society for Precision Engineering / v.20, no.1, 2003 , pp. 99-106 More about this Journal
Abstract
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.
Keywords
Hough Transform; Automatic Assembly; Active Electric line; Vision System;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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