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Recognition of the Center Position of Bolt Hole in the Stand of Insulator Using Multilayer Neural Network

다층 뉴럴네트워크를 이용한 애자 스탠드에서의 볼트 구멍의 중심위치 인식

  • 안경관 (울산대학교 기계자동차공학부) ;
  • 표성만 (울산대학교 기계자동차공학부)
  • Published : 2003.04.01

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 three dimensional position of target object such as electric line and the stand of insulator must be recognized accurately and rapidly. The approaching of an insulator and the wrenching of a nut task is selected as the typical task of the maintenance of active electric power distribution lines in this paper. Image recognition by multilayer neural network and optimal target position calculation method are newly proposed in order to recognize the center 3 dimensional position of the bolt hole in the stand of insulator. By the proposed image recognition method, it is proved that the center 3 dimensional position of the bolt hole can be recognized rapidly and accurately without regard to the pose of the stand of insulator. Finally the approaching and wrenching task is automatically realized using 6-link electro-hydraulic manipulators.

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