Visual navigation inspection and obstacle avoidance method for line patrol robot

Abstract

The invention discloses a visual navigation inspection and obstacle avoidance method for a line patrol robot. The line patrol robot is provided with a motion control system, a visual navigation systemand an inspection visual system. The method comprises the following steps that: (1) an inspection visual system judges and identifies the type of a tower according to an inspection image for inspection; (2) a visual navigation system captures a visual navigation image in real time to obtain the type of a target object; (3) coarse positioning is performed; (4) accurate positioning is performed; (5) the visual navigation system sends a corresponding obstacle crossing strategy to the motion control system according to the tower type and the target object type, so that the inspection robot completes obstacle crossing. The inspection and obstacle crossing method is real-time and efficient.

Description

technical field

[0001] The invention relates to the technical field of line inspection robots, in particular to a visual navigation inspection and obstacle avoidance method for a line inspection robot. Background technique

[0002] The traditional transmission line inspection method is mainly based on manual inspection. The inspection efficiency is low, the labor intensity is high, the workers often work in the field, the working environment is harsh, and the inspection of the transmission line stalls across mountains, dense forests, and large rivers is difficult. bigger. The efficiency of helicopter inspection is higher, but its economic benefit is poor, and it is easy to ignore the slight damage of the transmission line. Line inspection robot is a special robot used to inspect high-voltage transmission lines. It can be used to replace manual inspection. It has high inspection efficiency and good imaging effect. It is an inevitable trend of the combination of robot technol...

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