We are developing a conceptual design for a power distribution line maintenance robot system using a CG (computer graphics) simulator and an experimental robot system. This system is a semi-autonomous robot system that performs tasks using task-level instructions. An operator directs the tasks, for example inserting a bolt into a hole, and clicks the work objects "Bolt" and "Hole" in the picture on the display with a mouse.

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shown Fig.3. Software is consisted of seven agents and This paper describes two methods to input work three data base. Seven agents are man-machine interface, environments around an electric pole by a vision system for a task planner, motion planner, vision, arm controller, CG power distribution line maintenance robot. One is to display and tool controller. Three data base are task superimpose 3D frame models on images of components in the knowledge data base, work environment data base and environments by an operation. Other is to superimpose 3D robot model. Man-machine interface lists works which is frame models on images of components in the environments automatically. We can make the work environment input by able to work by task knowledge data base. Task planner the manual and automatical superimposing method. generates task table by task knowledge data base, work environment data base when receives work instruction from 1. INTRODUCTION man-machine interface. Motion planner generates motion table when receives work command from task planner. This paper describes two methods to input work environments Vision inputs the work environment around an electric around an electric pole by a vision system for a power distribution pole, and saves to work environment data base it. Arm line maintenance robot. controller is to control a robot arm. CG display geometrics Today human workers perform power distribution line transformation of 3D model, and displays of links and work maintenance tasks as shown in Fig. 1. The workers have to environments. Toll controller is to control of tools. Task work in high position over the ground and near high knowledge data base has basic motion commands voltage lines. This work is very hard for them, so we beforehand to have move variously a robot. Work investigate a practical semi-autonomous power distribution environment data base has the work environment around an line maintenance robot system which performs jobs using electric pole by vision. Robot model has robot's form, task level directions to improve the safety and efficiency position and posture. and to ease the operator's load. Maintenance tasks are, for Vision is one of the sub systems of the power distribution example "Installing a switch gear," "Removing the high line maintenance robot. Input of work environment is one voltage insulator," "Peeling the coating off a cable." The of the functions of the vision, and the robot works based on robot semi-autonomously performs the power distribution these data. 3D models of work environment around an line maintenance tasks by task level robot language like a electric pole are necessary in order for the power human language. distribution line maintenance robot to work autonomously. We were experimenting a power distribution line Below is explained briefly the program flow. 1)3D position maintenance in CG(computer Graphics) at first. A CG of measurements of work object by stereo vision. (Based on the robot system is shown in Fig.2. This robot system has a world coordinate.) 2) Transf...

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