Automatic string landing method and system for flight online and offline insulator string detection robot

Abstract

The invention provides an automatic string landing method and system for a flight online and offline insulator string detection robot. The flight online and offline insulator string detection robot iscontrolled to fly to a position above an insulator string, and insulator string images are acquired vertically and downwards by using a carried camera; the position of each insulator in the acquiredimages is automatically identified by utilizing a trained deep learning neural network model; according to the obtained insulator sheet identification results, the center of each insulator is calculated, and the middle lines of the two insulator strings are fitted; and the horizontal and vertical distances and the angle deviation of the robot relative to the middle line of the insulator string arecalculated, the position and attitude of the robot are corrected in real time, the robot moves to the position just above the middle line of the two insulator strings, the robot is controlled to landvertically, the height difference between the robot and the insulator string is determined in real time, and the autonomous string landing is realized.

Description

technical field [0001] The disclosure belongs to the technical field of robot control, and relates to a method and a system for autonomously dropping insulator strings of a flying on and off line insulator string detection robot. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art. [0003] The flying insulator string detection robot is a robot with a flying mechanism, which can control the flight through the flight control system and detect the insulator strings of overhead transmission lines. The premise of the robot detection is to land on the insulator string. Since the surrounding environment of the insulator string is relatively complicated and it is in the high altitude, the reliability of the manual control method of dropping the string is low. If the operator makes an operation error, it is easy to cause a safety accident. [0004] To achieve...

AI Technical Summary

Problems solved by technology

The premise of robot detection is to land on the insulator string. Since the surrounding environment of the insulator string is relatively complicated and it is in the sky, the reliability of the manual control method of dropping the string is low. If the operator makes an operation error, it is easy to cause a safety accident.

[0004] And if you want to realize autonomous string dropping, the first thing is to identify and locate the insulator strings, but according to the inventor's understanding, traditional sensors such as ranging can't identify and classify the target, and the sensing range is limited

Images