Binocular vision-based power transmission line online detection method for patrol robot

Abstract

The invention provides a binocular vision-based power transmission line online detection method for a patrol robot. The method comprises the steps of establishing a data sample set of a power transmission line component by utilizing an acquired original image, and then performing convolutional neural network and feature pyramid network training according to the established data sample set; and fora to-be-detected image shot by the patrol robot, performing detection by utilizing a trained power transmission line detection model; performing detection segmentation on a power transmission line, the component and the like in the image; through connected domain analysis of pixel-by-pixel segmentation, judging whether a foreign matter exists on the power transmission line or not; and obtaining adistance between the component and the foreign matter in combination with images in a left camera and a right camera. The method has high accuracy and high robustness, has high accuracy for various power transmission line components including the power transmission line, an insulator, a vibration-proof hammer and a tower, and has an extremely good detection effect for the foreign matter; and themeasured distance between the component and the foreign matter is accurate.

Description

technical field [0001] The invention relates to the fields of image processing and machine learning, in particular to an on-line detection method of a power transmission line based on binocular vision of an inspection robot. Background technique [0002] The transmission line is responsible for the important responsibility of power transmission. The regular inspection of the transmission line is a basic work to effectively ensure the safe operation of the transmission line and its equipment. With the rapid development of my country's economy, ultra-high voltage, large capacity, long-distance The more and more transmission lines are built, the existing transmission line channel resources are becoming increasingly tight, the transmission lines are getting farther and farther away from cities and main arterial roads, and the geographical environment through which line corridors cross is more complex. The traditional manual inspection operation method is more and more restricted ...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a binocular vision-based on-line inspection method for transmission lines of inspection robots, which can solve the problem of detection and detection of transmission line components and foreign objects through binocular cameras when intelligent inspection robots perform high-voltage line inspection tasks. Problems with target distance calculation

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