Relative position measurement method for a live-line work robot

The path of a robot can be preprogrammed for the live-line work of a distributed power line since the procedure for such of a task is predefined. But the reference coordinate of a robot is deviated according to the position of the vehicle and boom it is mounted on. The reference position of a robot should be measured and modified for the planned path in order to preform preprogrammed tasks for a live-line work. In this paper, we propose a relative position measurement method for a robot by using a single image of a camera which is attached to the base of a robot. The intrinsic parameters and extrinsic parameters of the camera can be found since the dimensions of the pin type insulator are known in advance from this image. The validity of the proposed method was tested by a simulation.