Monocular and binocular combined type high-voltage transmission line hardware fitting online identification and positioning system and method

Abstract

The invention discloses a monocular and binocular combined type high-voltage transmission line hardware fitting online recognition and positioning system and method, and belongs to the technical fieldof robots in the power industry. In the prior art, researches on line patrol robot hardware fitting identification are focused on a monocular identification ranging system, and the method is too tedious in algorithm, poor in real-time performance and low in positioning precision. The implementation of the system comprises the following steps: collecting images along a high-voltage power transmission line; carrying out SVM model training by utilizing the acquired images; establishing an obstacle hardware preset measurement point database by using an obstacle real-time distance measurement technology based on target characteristics; building a visual processing platform by adopting a binocular camera, and carrying out image acquisition along a line; recognizing an obstacle through an SVM multi-cycle multi-classification obstacle recognition method based on a binocular camera; according to the obstacle type, calling a corresponding measurement point from a preset measurement point library to carry out binocular vision distance measurement. Therefore, movement of the line patrol robot is controlled by combining the obstacle type and the distance measurement result, and obstacle crossing is accurate.

Description

technical field [0001] The invention relates to an on-line identification and positioning system and method for high-voltage transmission line fittings combined with single and binocular eyes, and belongs to the technical field of robots in the electric power industry. Background technique [0002] High-voltage overhead transmission lines have been exposed for a long time, and are vulnerable to natural disasters, bird damage, continuous tension, etc., resulting in damage such as wear, corrosion, and even broken strands. Once the damage occurs, if it is not discovered and eliminated in time, it will cause large-scale power outages and huge economic losses. Using line inspection robots instead of manual inspections of overhead high-voltage transmission lines can avoid the impact of manual inspections on inspection accuracy, eliminate inspection blind spots, improve inspection efficiency and inspection accuracy, ensure line maintenance quality, and greatly reduce The intensity...

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to provide a system and method for online identification and positioning of high-voltage transmission line fittings combined with single and binocular eyes, so as to solve the problems of fitting identification and distance measurement during the operation of the empty high-voltage transmission line inspection robot

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