Application of a virtual environment model to field work planning and the control of distribution line work by robots

We have been carrying out research into the development of new methods of distribution line work conducted by the electric power company, in order to improve the working conditions and work efficiency and to reduce operation costs. One area of research is aimed at the development of a method of controlling robots which automatically perform field work which is, at present, carried out by human labour. This research involves the application of the latest computer graphics (CG) and virtual reality technologies to a machine-use electronic system. This paper describes the first phase of the research. In the first phase, we developed the basic system including a visual model for making up work plans based on the CG technology to create a virtual environment. The field work is simulated by adjusting the images generated by CG and real images. The resultant simulation data is used in the robot control commands