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Overhead line robot obstacle recognition method

A technology for obstacle identification and overhead lines, which is applied in the field of electrical equipment, can solve the problems of consuming large processor operating memory and calculation amount, affecting the rapid update of convolutional neural network models, and affecting the efficiency of overhead line robots for obstacle recognition.

Pending Publication Date: 2021-01-08
YUNNAN POWER GRID CO LTD ELECTRIC POWER RES INST
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Problems solved by technology

[0005] This application provides an obstacle identification method for overhead line robots to solve the problem that the existing convolutional neural network model for identifying obstacles on high-voltage overhead transmission lines consumes a large amount of processor running memory and calculations during the training process. Amount, affecting the rapid update of the convolutional neural network model, thus affecting the identification efficiency of the overhead line robot to obstacles

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  • Overhead line robot obstacle recognition method

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Embodiment Construction

[0039]The present application provides an obstacle recognition method for an overhead line robot, which is used for an overhead line robot to recognize an obstacle on a high-voltage overhead transmission line.figure 1This is a flowchart of the method for identifying obstacles for overhead line robots in this application. The method for identifying obstacles for overhead line robots includes:

[0040]Step S100, construct a convolutional neural network recognition model.

[0041]Step S200: Obtain a training set, which is an obstacle image sample on a high-voltage overhead transmission line.

[0042]In this application, the process of obtaining an obstacle image sample is: the obstacle recognition positioning camera on the overhead line robot obtains the obstacle image sample. The obstacles of high-voltage overhead transmission lines include anti-vibration hammers, tensile clamps, insulators, and suspension clamps.

[0043]In step S300, a low-level decomposition learning method with knowledge tran...

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Abstract

The invention discloses an overhead line robot obstacle identification method, wherein the method comprises the steps: performing deployment based on an interlayer compression formula with strict closed form guarantee, and performing re-learning to keep responses between an original network and a compression network consistent. According to the method, a new compression scheme based on low-order decomposition is provided, a convolution layer is accelerated at the same time, and a completely connected layer is decompressed through accurate closing. For further reducing precision loss caused bythe compression scheme of order decomposition under a high compression rate, the invention further provides an effective knowledge transfer scheme, and output and intermediate response of an originalnetwork are aligned with explicit expression of the compression network. The proposed knowledge transfer scheme format operates non-linear transformation functions within and between all layers and minimizes 'local' and 'global' reconstruction errors in a unified manner.

Description

Technical field[0001]This application relates to the technical field of electrical equipment, and in particular to an obstacle recognition method for an overhead line robot.Background technique[0002]The operating status of high-voltage overhead transmission lines directly affects the distribution status of the power system and plays a key role in the safe and stable operation of the power system. Therefore, regular inspections of the operating conditions of high-voltage overhead transmission lines are required. In recent years, the development of mobile robot technology has provided new ideas for the inspection of overhead power lines. The inspection method of high-voltage overhead transmission lines has been transformed from manual inspection to special robot inspection.[0003]Overhead line inspection robots (hereinafter referred to as overhead line robots) are used to detect and repair line defects. In actual use, when overhead line robots crawl along transmission lines at a certai...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/46G06N3/04G06N3/08
CPCG06N3/08G06V20/10G06V20/58G06V10/454G06N3/045Y04S10/50
Inventor 刘荣海郑欣郭新良蔡晓斌杨迎春许宏伟周静波虞鸿江陈国坤焦宗寒代克顺何运华孔旭晖
Owner YUNNAN POWER GRID CO LTD ELECTRIC POWER RES INST
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