Title :
Image recognition of a bolt in power distribution line maintenance tasks for an autonomous robot
Author :
Xianjing Yang ; Hida, Minoru ; Suzuki, Yuya ; Emoto, Kengo ; Tatsuno, Kyoichi
Author_Institution :
Dept. of Electr. & Electron. Eng., Meijo Univ., Nagoya, Japan
Abstract :
We are developing an autonomous robot system for the power distribution line maintenance tasks. The robot autonomously performs the tasks by task level instructions, for example, “grip the bolt”. We aim to make up a fully-closed visual feedback control system to align the gripper tip to the bolt head in the images of two cameras. By the visual feedback control system, the alignment is immune to camera calibration and armcalibration. We added a bolt recognition function to the autonomous robot system for the visual feedback control.
Keywords :
calibration; cameras; dexterous manipulators; electrical maintenance; fasteners; feedback; grippers; image recognition; industrial manipulators; power distribution lines; arm calibration; autonomous robot system; bolt head; bolt image recognition function; camera calibration; camera images; fully-closed visual feedback control system; gripper tip alignment; power distribution line maintenance tasks; task level instructions; Cameras; Fasteners; Image color analysis; Maintenance engineering; Power distribution lines; Robot vision systems;
Conference_Titel :
Micro-NanoMechatronics and Human Science (MHS), 2013 International Symposium on
Conference_Location :
Nagoya
Print_ISBN :
978-1-4799-1527-9
DOI :
10.1109/MHS.2013.6710438
