架線上移動機構を搭載したマルチロータUAVのためのケーブル位置姿勢計測

抄録

We proposed a method for measuring the position and orientation of cable using an RGB-D camera aiming to enable the automatic control of a multi-rotor flying robot equipped with a power line docking capability and active translatory drive system. In cable detection, a trigger signal for starting to perform UAV ascent and yaw rotation movementsis generated when the detected cable, characterized by the maximum area of black color, meets specific conditions regarding their position and orientation. Through image processing experiments, the feasibility of estimating the position and orientation of the power lines was confirmed.