339results about How to "With anti-interference ability" patented technology

The invention discloses an aero-engine distributed control system multi-performance robust tracking control method. The method comprises the steps of building an engine state variable model; building an engine distributed control system dynamic model containing network time delay and uncertainty; building an augmented system model containing a tracking error; and designing a multi-performance robust tracking controller. The method overcomes the limitation that a traditional control method for time delay and uncertainty in an engine distributed control system can only realize performance guarantee or interference resistance, and a time delay containing engine distributed control uncertainty dynamic system is ensured not only to have good static and dynamic performance and limited input cost, but also have given robustness for the system uncertainty and external interference.

The embodiment of the invention discloses an insulated gate bipolar transistor-driven protective circuit which comprises a signal transmission circuit, a gate pole driving circuit, a voltage detecting circuit and a blocking time setting circuit, wherein the signal transmission circuit is used for transmitting a driving signal to the gate pole driving circuit; the gate pole driving circuit is used for amplifying the driving signal from the signal transmission circuit, and then driving an insulated gate bipolar transistor to act through the amplified driving signal; the voltage detecting circuit is used for transmitting a fault indicator signal to the blocking time setting circuit once the voltage between a collecting electrode and an emitting electrode of the insulated gate bipolar transistor is detected over a set voltage threshold, wherein the voltage threshold is more than the driving voltage of the insulated gate bipolar transistor; the blocking time setting circuit is used for transmitting a locking signal to the signal transmission circuit after receiving the fault indicator signal from the voltage detecting circuit; and the signal transmission circuit also can be used for blocking and outputting the driving signal to the gate pole driving circuit after receiving the locking signal from the blocking time setting circuit. With adoption of the insulated gate bipolar transistor-driven protective circuit, misinformation of a short circuit fault can be avoided.

The invention provides a motion blurring and defocusing composite blurring image restoration method. By the method, parameter estimation and image restoration can be performed on a motion blurring and defocusing image, and the method comprises the following steps of: (1) establishing a gauss white noise template, and convoluting a degraded image and the white noise template to fulfill the aim of removing noise; (2) estimating a main blurring direction and a secondary blurring direction of the image through an image energy spectrum; (3) calculating a main directional derivative matrix and a secondary directional derivative matrix of the image; (4) performing self-correlation operation and directional accumulation operation on the main directional derivative matrix and the secondary directional derivative matrix respectively; (5) estimating a main direction blurring length and a secondary direction blurring length according to the self-correlated accumulation curve of a main directional derivative and the self-correlated accumulation curve of a secondary directional derivative; (6) establishing a composite blurring model according to the obtained main direction blurring length and secondary direction blurring length; and (7) restoring the degraded image by using wiener filtering.

The invention discloses a lane line detection method based on a deep segmentation network. The method comprises the steps of 1, obtaining a normalized original image set and a lane line instance segmentation gray level image set; 2, constructing a multi-layer depth segmentation network, and training to obtain an optimal multi-layer depth segmentation network; 3, obtaining a lane line binary imageand a background binary image; 4, obtaining a feature map of the to-be-predicted road image; 5, obtaining a feature map of the to-be-predicted road image; 6, obtaining a lane line instance segmented image; And 7, obtaining a detection result map of the lane line. The method can effectively solve the problem of lane line change, can be suitable for lane line detection under various complex road conditions, and improves the robustness and real-time performance of detection.

A full-eye optical coherence tomography imager comprises a frequency sweeping light source, an optical fiber polarizer, a first optical circulator, a second optical circulator, a first broadband polarization splitting prism, a second broadband polarization splitting prism, an ocular anterior segment scanning imaging light path, an eye ground scanning imaging light path, a third broadband polarization splitting prism, two reference mirrors, a fourth broadband polarization splitting prism, a fifth broadband polarization splitting prism, a second polarized light protecting coupler, a third polarized light protecting coupler, a first balance detector, a second balance detector, a function generation card, a data acquisition card, a computer and the like, wherein the first broadband polarization splitting prism, the second broadband polarization splitting prism, the ocular anterior segment scanning imaging light path and the eye ground scanning imaging light path are arranged in a sample arm; the third broadband polarization splitting prism and the two reference mirrors are arranged in a reference arm; the fourth broadband polarization splitting prism, the fifth broadband polarization splitting prism, the second polarized light protecting coupler, the third polarized light protecting coupler, the first balance detector and the second balance detector are arranged at a detecting end. The imager is based on a frequency sweeping optical coherence tomography technology, a component p and a component s of a polarized beam are used for conducting imaging on an eye ground and an ocular anterior segment respectively, and thus three-dimensional high resolution real-time imaging can be conducted on an full eye structure at the same time on the same system without any device for conversion. By means of the full-eye optical coherence tomography imager, optical path length and dispersion matching and scan setting can respectively be carried out on ocular anterior segment imaging and eye ground imaging, and thus the optimal imaging quality and the view field size of ocular anterior segment imaging and eye ground imaging can be obtained at the same time.

The invention relates to a binocular stereovision measuring device and method for the attitude angle of a triaxial air floating platform. The measuring device is composed of two cameras, camera bases, a measuring target, light sources and a computer, wherein the two black and white digital CCD (charge coupled device) cameras are arranged above the triaxial air floating platform and are arranged on the camera bases, the artificial light sources are installed on the neighborhood of the cameras, and the stereoscopic measurement target is installed on an air floating ball bearing platform surface. The method comprises the following steps of: establishing a coordinate system, respectively collecting a digital image of the target through stereoscopic measurement by the two cameras, and transferring the images to the computer; and integrating projection matrixes between the two cameras and the measure target as well as positioning information of a measuring illuminating mark, calculating the three-dimensional coordinate of each marking point in a world coordinate system according to a stereovision measuring theory, and resolving absolute attitude angle information of an air floating ball bearing through coordinate conversion. In the mode, the non-contact, non-disturbance and high-frequency measurement of a triaxial air floating platform can be realized.

The invention relates to a two-foot robot track generating and modulating method based on the certified program generator (CPG) mechanism. The method comprises the following steps: building up a gravity center track generator of a two-foot robot by utilization of a CPG unit; designing a mapping function, and mapping output signals of a CPG into a three-dimensional gravity center track of the robot; modulating a working space track of the robot by utilization of the on-line generated three-dimensional gravity center track, and further obtaining robot tail end track signals with adaptability due to the fact that the CPG has rich dynamic characteristics and can produce gravity center track signals with adaptability; and designing a motion engine to map dynamic characteristics of the tail end of the robot to a joint space of the robot so as to realize adaptable walking of the robot. Compared with the prior art, the method starts from the gravity center and the tail end track of the two-foot robot, explores to improve a bionic method of walking capacity of the two-foot robot, improves walking adaptable capacity of the two-foot robot to a certain extent, and enables the robot to have certain robustness.

The invention discloses a visual drug management device which comprises a drug cabinet and a plurality of drug storage boxes. Magnetic devices are arranged on one inner side wall of the drug cabinet and peripheral side walls of each drug storage box, a power interface and a communication interface are formed in each magnetic device, two adjacent drug storage boxes are sucked through the magnetic devices on the adjacent surfaces of the drug storage boxes, so that the power interfaces and the communication interfaces of the drug storage boxes are connected, the drug storage box at a starting position and the magnetic device on the drug cabinet are sucked through the corresponding magnetic device, a power supply provided by the drug cabinet is received, and the drug cabinet is communicated with data communication links of the drug storage boxes. The drug management device reminds the aged of taking which drug at what time by sound and light warning modes, the drug management device is visual in instruction and does not easily make mistakes, data and electric power between the drug storage boxes are connected by the aid of a net structure, normal operation of the other drug storage boxes cannot be affected even if one drug storage box is faulted and cannot work, and maintenance complexity is simplified.

The invention relates to a non-intervention resident load identification method, comprising the following steps: 1) Obtaining load characteristic indexes of all resident electrical appliances in a resident family, and constructing a resident family load characteristic database; Identify the load and perform voltage and current sampling, and preprocess the sampled data; 3) judge whether the residential load switching event occurs according to the passed voltage and current sampling values, if so, proceed to step 4), if not, return to step 2 ); 4) Extract the characteristic index of the load to be identified according to the sampled values ​​of the passing voltage and current; 5) According to the established database of residents’ household load characteristics and the characteristic index of the load to be identified, determine the load type where the switching event occurs, and obtain the Working status information of home appliances in the home. Compared with the prior art, the present invention has the advantages of simplicity, convenience, accuracy, strong anti-interference and the like.

The invention relates to a mechanical arm motion control method and system based on visual real-time teaching and self-adaptive DMPS. The method comprises the steps that a teaching object is set, theteaching object is controlled to do demonstration motion, Kinect is used for obtaining a depth map and cooperated with a PnP algorithm to carry out three-dimensional pose positioning and tracking on the teaching object, a space mapping system is built to map the pose of the teaching object to the tail end of a mechanical arm, control information of all joints of the mechanical arm is calculated according to inverse kinematics and sent in real time so as to indirectly control the mechanical arm to move, finally, the demonstration motion information is recorded on line, and the self DMPS algorithm is applied to carry out local linear optimization and learning on the information. Constraint of hardware structures of a mechanical arm and dependency to a complex sensor in a traditional teachingmode are omitted, the teaching hardware cost and teaching difficulty are lowered, safety of the teaching process is improved due to the non-contact characteristic, meanwhile, applicability is high, and the self-adaptive DMPS method enables the whole system to have good anti-interference performance.

The invention discloses a steel wire rope twist direction climbing robot. The steel wire rope twist direction climbing robot includes a plurality of modules, wherein climbing devices are arranged in outer shells of the modules, the climbing devices include tensioning supports, rolling wheels are mounted in tensioning supports, rubber sheets are arranged on the circumferences of the outer edges ofthe rolling wheels, shafts are arranged on the back sides of the tensioning supports, holes are formed in the outer shells close to the shafts, linear bearings are mounted at the positions of the holes, the shafts of the tensioning supports penetrate through the linear bearings and the holes, limiting anti-loose nuts are mounted on shafts outside the outer shells, and springs are further arrangedbetween the back sides of the tensioning supports and the inner walls of the outer shells. Compared with the prior art, the steel wire rope twist direction climbing robot can roll in the direction ofa spiral line twisted in a steel wire rope, the needed driving force is smaller and stable, and the bearing capacity is high; and the climbing robot can work under a special environment and can meet the requirement of anti-explosion; and the shafts of the tensioning supports move telescopically relative to the linear bearings, and the certain buffering obstacle crossing ability and the disturbanceresistant capacity are achieved.

The invention discloses a method for preparing a composite material of polypyrrole granules and a titanium dioxide nanotube array. The method comprises the following steps of: (1) synthesizing a titanium dioxide nanotube array and roasting to obtain an anatase type titanium dioxide nanotube array; and (2) electrochemically polymerizing the roasted titanium dioxide nanotube array as a working electrode and a platinum electrode as an auxiliary electrode for 15-120 min under the condition of controlling the voltage to be 0.8-1.0V in an aqueous solution consisting of sodium dodecyl benzene sulfonate and pyrrole monomers to obtain a finished product of the composite material of the polypyrrole granules and the titanium dioxide nanotube array. In the invention, the nano polypyrrole granules are loaded on the titanium dioxide nanotube array by utilizing a constant potential, an implementation method is simple and convenient with the characteristics of low cost and is easy for operation, and the prepared composite material has important application in many high-tech fields such as high-performance catalysts, solar batteries, photoelectrocatalysis, and the like.

The invention discloses a method for diagnosing mechanical states of a distribution switch on the basis of empirical mode decomposition (EMD) sample entropy and fuzzy c-means clustering (FCM). The method comprises the following steps that a piezoelectric accelerometer is mounted near to a main shaft of a switch operating mechanism, and the vibration signals of the distribution switch of different mechanical states at the off and on moments are collected through a data acquisition card and a waveform display storage platform; EMD time frequency decomposition is carried out on the collected vibration signals to obtain the limited number of intrinsic mode components of different frequency and unequal bandwidths and residual error components; the sample entropies of intrinsic mode functions (IMFs) of all orders of the vibration signals of different mechanical states are calculated, and a sample entropy array is formed as the characteristic quantity of the mechanical states of the distribution switch; the sample entropy array is used as the input of the FCM, and the mechanical states of the distribution switch are diagnosed through a fuzzy clustering method.

The invention discloses a numerical control machine tool motion control card based on WIFI communication. The motion control card uses an ARM chip as a main controller and uses an FPGA chip as a hardware architectural structure of a coprocessor. A peripheral circuit of the ARM chip includes a reset circuit, a real-time clock circuit, an SDRAM, a FLASH storage module and various communication interfaces, needs to complete a communication task with a host computer, calculates motion codes and instructions transmitted by the host computer and finally process and form interpolation data and IO logic data to transmit to an FPGA for execution. According to the numerical control machine tool motion control card based on the WIFI communication, the advantages of a novel numerical control system mode are compared with that of a traditional numerical control system mode, the feasibility of using a WIFI wireless communication mode is analyzed from the perspective of real-time control and safety reliability, the wireless communication data frame format design and detailed semantic definition are achieved, and the data verification is based on reliable hardware CRC in order to improve the real-time communication.

The invention discloses a battery screen printing quality detecting method based on block template matching. Original images of batteries are acquired to build a template data set; images of the batteries are corrected; the corrected images of the batteries are tailored; detecting areas are extracted to reduce information redundancy; battery screen printing images are cut from battery backgrounds;a battery screen printing position is determined; block matching is performed on images to be detected by using block template images in the template data set to judge the matching degree between images of the batteries to be detected and templates; block sub images of the batteries to be detected are compared with built template sub images one by one; difference results are analyzed to obtain battery screen printing defect information; aberration quantitative analysis is performed on each sub image to obtain aberration conditions of each part in global images; and meanwhile, average processing is performed to observe global aberration conditions to finish the battery screen printing quality detection. The method needs no manual intervention, and can realize quick high-precision battery screen printing quality detection.

The invention provides a spatial light reception demodulation device comprising a four-quadrant photodetector, pre-transimpedance amplifier, a low pass filter, a low noise amplifier circuit, a sampling clock PLL circuit, a high-speed analog-to-digital conversion circuit, an FPGA processing circuit, an output interface circuit, and a photoelectric detector power supply and temperature compensation circuit. The spatial light reception demodulation device provided by the invention adopts the integrated design of precise tracking signals of spatial light positions and light communication signals, integrates spatial light position error tracking calculation with light reception demodulation, thereby simplifying an optical front end of spatial light communication; by means of the amplification of a low noise amplifier and FPGA amplitude detection and control, high sensitivity, wide dynamic range reception and amplification, and precise tracking position error information extraction of spatial light are realized; and meanwhile, by means of the software radio idea, high speed A / D collection and FPGA full digital processing are adopted to realize reception and collection, demodulation and recovery and position error control of the spatial light, and the temperature compensation of the detector.

A synthetic aperture radar system using chaos signal comprises base band chaos signal generator, orthogonal modulator, the first and the second intermediate band-pass filter and amplifier, the first and the second mixer, power amplifier, low noise amplifier, coherent rectifier, A / D converter, data recorder, imaging processor, timer, frequency source, duplexer and antenna for easily clearing off noise signal and raising width of mapping belt.

The invention relates to a frequency-selective broadband waveguide slot antenna array which solves the problem that the existing waveguide slot antenna has poor capacity of resisting out-of-band interference. The frequency-selective broadband waveguide slot antenna array comprises a radiating waveguide, a feeding waveguide, a coaxial connector and a radiating slot. Both the radiating waveguide andthe feeding waveguide are rectangular metal ridge waveguide tubes with a ridge inside and terminals closed and the metal ridges are respectively positioned at the central line of the bottom edge; thecoaxial connector is positioned in the center of the lower edge of the feeding waveguide; the metal ridge of the feeding ridge waveguide between the coaxial connector and coupled slots at both sidesis symmetrically provided with more than three grooves and the overall structure of the grooves is battlement-shaped and forms two waveguide evanescent-mode filters; and the two waveguide evanescent-mode filters have the same structure and are respectively positioned on the straight waveguide sections of the two output arms of a 3dB power splitter. The frequency-selective broadband waveguide slotantenna array protects the antenna from the interference of signals out of the work frequency band and has the advantages of low loss, reduced weight, no additional equipment, high reliability and compact structure.

The invention discloses a method and a device for detecting the concentration of a multi-component trace gas by using a laser absorption spectrum technique. The method comprises the following steps: selecting a tunable laser emitter as a light source; according to characteristic absorption spectrum lines of target gas molecules, selecting a measurement waveband; comparing measured data with an HITRAN standard database; performing inversion on a measured concentration by using absorption spectrum signals. The device is simple in structure, simple and convenient to operate and short in responsetime. A total reflective mirror is arranged behind an absorption tank, laser projected through a resonant cavity is reflected and enters the resonant cavity to act with a gas inside the resonant cavity, and the system sensitivity is improved. By changing the emission wavelengths of the laser emitter, various trace gases in a multi-component gas can be precisely detected.

The invention relates to a binocular vision-based synchronous operation lifting system detection system and a method. The system comprises a synchronous operation lifting system, two CCD (Charge Coupled Device) cameras, bases of the CCD cameras, a plurality of artificial target points, two auxiliary light sources and a computer, the two CCD cameras are mounted over the synchronous operation lifting system, the artificial target points are respectively mounted at different positions on the synchronous operation lifting system, and the two CCD cameras can continuously acquire and transmit the images of the artificial target points to the computer. The method includes the following steps: a coordinate system is established, the two cameras respectively acquire and transmit a digital image of the artificial target points to the computer, the image information of the two cameras are integrated, the binocular vision imaging theory is utilized to calculate the three-dimensional coordinates of each artificial target point under the world coordinate system, and linear operation is then utilized to work out the synchronism and verticality error of each lifting axis of the synchronous operation lifting system. The non-contact, disturbance-less and high-frequency measurement of the synchronous operation lifting system is realized.

The invention relates to a method for preparing a non-enzymatic glucose sensor from a nickel nano-particle / carbon nano-fiber composite material, and belongs to the technical field of electrochemical sensors. The nickel nano-particle / carbon nano-fiber composite material is synthesized through electrospinning technology, and is used to prepare the non-enzymatic glucose sensor. The preparation method has low cost, and is simple and quick without intervention of any enzyme. The prepared sensor has high sensitivity, quick response, good stability and certain interference resistance, has a linear range of between 2.0 mu meters and 2.5 millimeters for detecting glucose with limit of detection of 1.0 mu meter. The non-enzymatic glucose sensor prepared by the method has wide application to diabetes mellitus diagnosis and food technology monitoring.

The invention discloses an upper computer with a real-time transmission function in the Ethernet and an Ethernet system, and the upper computer comprises: a global timing system module which determines a main clock of global equipment, and achieves the clock synchronization based on a clock synchronization mechanism; an application layer module whichgenerates a scheduling table and analyzes the scheduling table, downloads the message to the kernel driving module at the moment when the application layer module downloads the time triggering message, and receives the time triggering message fromthe kernel driving module; the kernel driving module which receives a time triggering message from the application layer module, downloads the message to the first hardware FPGA module, receives the time triggering message from the first hardware FPGA module and uploads the message to the application layer module; and a first hardware FPGA module which downloads the scheduling table, receives thetime trigger message from the kernel driving module according to the scheduling table, sends the message to the target switch at the sending moment, receives the time trigger message from the switch according to the scheduling table, and uploads the message to the kernel driving module at the uplink moment.

The invention discloses a ground fault line selection method based on high-frequency component correlation. The method comprises the following steps: S1) monitoring a zero sequence voltage value of an exit of each power distribution line in real time, and if the zero sequence voltage value is larger than a limit value, judging a power distribution network has a ground fault, and collecting zero sequence current of each line; S2) carrying out denoising processing on the zero sequence current of each line to obtain a pure fault component ; S3) carrying out EMD decomposition on the pure fault component to obtain various transient frequency components, and then, through instantaneous frequency analysis, removing a power frequency component and extracting a corresponding high-frequency transient component; and S4) carrying out pairwise correlation analysis on the high-frequency transient component of each line to obtain a correlative coefficient matrix M, and solving integrated correlation coefficient [rho]i of each line. The ground fault line selection method has the advantages of simple principle, high anti-interference capability and high protection precision and the like.

The invention discloses a satellite air-floated platform two-dimensional moving posture parameter measurement device which comprises a satellite air-floated bearing platform surface, an air-floated bearing and a marble base. The satellite air-floated platform two-dimensional moving posture parameter measurement device further comprises a digital charge coupled device (CCD) camera, artificially-marked points, artificial light sources and a computer. The digital CCD camera and a plurality of artificial light sources are arranged above the satellite air-floated bearing platform surface. Ray axis of each artificial light source is perpendicular to the satellite air-floated bearing platform surface. A plurality of artificially-marked points are pasted on the satellite air-floated bearing platform surface. The digital CCD camera is used for continuously collecting images of the artificially-marked points and transmitting the images to the computer. The computer is used for analyzing and processing the information of the images. After pixel coordinates of the artificially-marked points are determined, two-dimensional moving parameters of a satellite air-floated platform are figured out by means of the computer vision theory. The two-dimensional moving posture parameters include displacement, speed, rotation angles and angular velocity. In this way, a non-contact, no-disturbance and high-frequency measurement to the satellite air-floated platform is achieved. The satellite air-floated platform two-dimensional moving posture parameter measurement device is concise in computational process, high in accuracy and quick in speed.

The invention discloses a fluorescence molecular probe and application thereof in hydrogen sulfide detection. The structure of the fluorescence molecular probe is R1-N3, wherein R1 is a gene with aggregated and induced luminescence property. The principle is as follows: the molecule containing a nitrine functional group does not shine in a solution or an aggregation state due to the quenching effect of nitrine while the molecule containing amino generated after reduction of the nitrine functional group by using hydrogen sulfide displays the characteristics of an adaptive image enhancer (AIE). Thus, detection of the hydrogen sulfide concentration in the aggregation state is achieved. The principle is as follows: the fluorescence quenching of the overall aggregation is caused by azide groups left in the aggregation state. Therefore, luminescence of the probe molecule just can be opened after most of azide groups are reduced. Thus, the detection limit and the effective detection range are regulated and controlled by regulating and controlling the concentration of the probe molecule.

The invention relates to a flexible mechanical arm sliding-mode control designing method based on a singular perturbation theory. The method includes four steps that (1) dynamics modeling of a flexible mechanical arm is performed; (2) partial differential equation (PDE) model decomposition is performed; (3) a control law is designed; (4) designing is finished. According to the flexible mechanical arm sliding-mode control designing method based on the singular perturbation theory, firstly, a Hamilton principle is utilized, and a PDE model of a whole system is determined; the original PDE model is decomposed into a concentrating slow subsystem which represents whole rigidity movement and a quick subsystem which describes system vibration by means of the singular perturbation theory; then a sliding-mode control law is designed by respectively aiming at the quick and slow subsystems, the designed control law is subjected to convergence analysis by the aid of a lyapunov function, and reasonability and stability of the control law are verified. Finally, a compound control law is obtained according to the singular perturbation theory.

The invention discloses a tongue crack feature extraction method based on wavelet transformation, which comprises the following steps of: acting median filtering on an original tongue image to smoothnoise interference factors in the original tongue image; segmenting the smoothed tongue image by using a Canny edge detection operator; performing wavelet decomposition on the segmented tongue image to obtain a high-frequency tongue image component graph and a low-frequency tongue image component graph; fusing the high-frequency component graph and the low-frequency component graph by using a wavelet fusion technology; and reconstructing clear tongue crack characteristics through wavelet inverse transformation. The wavelet function is decomposed and reconstructed, and the wavelet function is applied to tongue crack image processing, including tongue image denoising; And by adding a wavelet transformation processing technology, the feature extraction and matching of the tongue crack image can be more accurate.

The invention discloses a traffic lane detection method based on an equidistant curve modle. The method can be used for recognizing multiple traffic lanes in an image obtained by an on-board camera, is large in recognition range, ensures that the recognition result is not confined to simple curves of straight lines, arcs and the like, also can be used for recognizing traffic lanes with variable curvature radius, recognizing the type of each traffic lane and discriminating real lines from dashed lines and is high in recognition accuracy. The method disclosed by the invention comprises the following steps: performing reversed projection conversion on a panoramic image of the front part of a vehicle, wherein the panoramic image is obtained by the on-board camera; performing filtration and binarization pretreatment on a ground overhead view; performing Hough conversion on the image subjected binarization pretreatment; recognizing the traffic lanes and types thereof in a Hough space.

The invention discloses an intelligent cable inspection robot. The intelligent cable inspection robot comprises a shell and aircrafts and is characterized in that the aircrafts are fixedly connected to the outer side of the shell through connecting mechanisms from longitudinal and horizontal four directions; mechanical arms and a camera are arranged on the connecting mechanism in the transverse axis direction of the shell, and the camera and the mechanical arms are connected with the corresponding aircraft; a photography instrument is arranged on the connecting mechanism in the longitudinal axis of the shell, wherein the photography instrument is connected with the aircrafts; the shell comprises a top functional cabin which is internally provided with a GPS (Global Positioning System) position indicator, a power device, a gyroscope and a target searcher respectively. The intelligent cable inspection robot is simple in structure and convenient to operate, and is not only capable of lightening the labor intensity of workers, reducing the working danger and shortening the ultra-high-voltage line outage time, but also greatly facilitating fault monitoring and detection of a power supply line.