&lt;title&gt;Teleoperated system for live power lines maintenance&lt;/title&gt;

Aracil, Rafaél; Peñín, Luis F.; Ferré, Manuel; Jiménez, Luis M.; Barrientos, Antonio

doi:10.1117/12.227946

Cited by 4 publications

(1 citation statement)

References 9 publications

(6 reference statements)

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“…Communication between the different modules is performed via ethernet, whereas the exchange established between the TIC and SPC is made on a VME bus. A more detailed information about the architecture of the project may be found in 2,4,5 . Figure 1.…”

Section: General System Descriptionmentioning

confidence: 99%

<title>Vergence control system for stereo depth recovery</title>

et al. 1999

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This paper describes a vergence control algorithm for a 3D stereo recovery system. This work has been developed within framework of the project ROBTET. This project has the purpose of designing a Teleoperated Robotic System for live power lines maintenance. The tasks involved suppose the automatic calculation of path for standard tasks, collision detection to avoid electrical shocks, force feedback and accurate visual data, and the generation of collision free real paths. To accomplish these tasks the system needs an exact model of the environment that is acquired through an active stereoscopic head. A cooperative algorithm using vergence and stereo correlation is shown. The proposed system is carried out through an algorithm based on the phase correlation, trying to keep the vergence on the interest object. The sharp vergence changes produced by the variation of the interest objects are controlled through an estimation of the depth distance generated by a stereo correspondence system. In some elements of the scene, those aligned with the epipolar plane, large errors in the depth estimation as well as in the phase correlation, are produced. To minimize these errors a laser lighting system is used to help fixation, assuring an adequate vergence and depth extraction .

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Section: General System Descriptionmentioning

confidence: 99%

<title>Vergence control system for stereo depth recovery</title>

et al. 1999

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A climbing autonomous robot for inspection applications in 3D complex environments

Balaguer¹,

Giménez²,

Pastor³

et al. 2000

Robotica

143

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SUMMARYOften inspection and maintenance work involve a large number of highly dangerous manual operations, especially within industrial fields such as shipbuilding and construction. This paper deals with the autonomous climbing robot which uses the "caterpillar" concept to climb in complex 3D metallic-based structures. During its motion the robot generates in real-time the path and grasp planning in order to ensure stable self-support to avoid the environment obstacles, and to optimise the robot consumption during the inspection. The control and monitoring of the robot is achieved through an advanced Graphical User Interface to allow an effective and user friendly operation of the robot. The experiments confirm its advantages in executing the inspection operations.

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Ground operated teleoperation system for live power line maintenance

Faucher

Lessard²,

Rondot³

et al.

1996 IEEE International Conference on Systems, Man and Cybernetics. Information Intelligence and Systems (Cat. No.96CH35929)

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This paper discusses work executed for the development of a Ground Operated Teleoperation System for live-line maintenance of Hydro-QuCbec's overhead distribution network. It covers the system's development, engineering and implementation as well as forecasted research with the prototype. Related research conducted in conjunction with the system's development is explained further along. Finally, some other fields to which the technology can be applied are described.The operator, along with the control interfaces, was brought to the ground and put in a cabin electrically insulated from the power lines. The task scene information is given to the operator by a stereoscopic monitor coupled to a stereo camera mounted on a high speed pan & tilt unit. A set of auxiliary CCD cameras, on either sides of the platform, supplement the visual feedback to the operator. A series of sensors provide positional feedback of the different components on the platform. Figure 1 below shows the main constituents of the system. MANIPULATION PLATFORM

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<title>Teleoperated system for live power lines maintenance</title>

Cited by 4 publications

References 9 publications

<title>Vergence control system for stereo depth recovery</title>

<title>Vergence control system for stereo depth recovery</title>

A climbing autonomous robot for inspection applications in 3D complex environments

Ground operated teleoperation system for live power line maintenance

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