| 摘要 |
<p>PROBLEM TO BE SOLVED: To enable an accurate measurement on the position and direction of electric wire with a simple structure by image picking up an aerial distribution wire by means of several TV cameras installed on a manupulator, image processing the image, and thereafter measuring a distance to the aerial distribution wier by use of triangle measurement principle and the direction of the aerial distribution wire. SOLUTION: A manupulator 1 is supported by a telescopical boom, a TV cameras 3, 4 with an auto iris lens is fixed at the front surface of the manupilator 1 and a bendable arm 5 with tools attached right and left thereto is set. A luminousity signal taken in from each camera 4, 5 is VD converted and data of black and while level is stored on an image memory, then computation process is carried out at a computer. Then, after the position of electric wire at a specified position is thought to the computer, the distribution of luminousity is traced in the left and right directions with the point of position being the center, and finally the detection is made as one electric wire. Thereafter, by use of the principal of triangle measurement, the distance to the aerial distribution wire and the direction thereof are measured.</p> |
