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

A technology for inspecting robots and transmission lines, applied in instruments, computer parts, biological neural network models, etc., to avoid cost problems, solve singleness, and reduce labor intensity

Inactive Publication Date: 2018-11-02
江苏迪伦智能科技有限公司
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  • Abstract
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  • Application Information

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

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Embodiment Construction

[0043] The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0044] A binocular vision-based online detection method for transmission lines of inspection robots, such as figure 1 shown, including the following steps;

[0045] Step 1: Create a data sample set of transmission line components: collect the original images taken by the inspection robot, mark the position of the transmission line components in the collected original images and add label information, and mark the upper and lower parts of the transmission line components with a rectangular frame The left and right boundaries, the label of the transmission line component is recorded as the name of the corresponding component, and the coordinates of the upper left corner and the lower right corner of the rectangle are respectively recorded as X min , Y min , X max , Y max , and write the information to the file.

[0046] Step 2: Pe...

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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 ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/34G06N3/04
CPCG06V20/38G06V10/267G06N3/045
Inventor 王文斐余宗杰马文辉耿沛文
Owner 江苏迪伦智能科技有限公司
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