Obstacle Recognition and Location of Inspection Robot for High-Voltage Transmission Lines

doi:10.11930/j.issn.1004-9649.201805103

Abstract

Abstract: According to the geometric shape and structural characteristics of the obstacles on the ground wire of high-voltage transmission lines, a method based on monocular visual recognition for the recognition and location of obstacles on multi-sensor high-voltage lines is proposed. Use the camera on the robot body to obtain the image, and then determine the type of the obstacle based on the geometry features of the obstacle. A distance measuring geometric model is established based on the recognized positional relationship between the obstacle feature point and the camera, thereby calculating the distance from the robot to the obstacle. When the robot is very close to obstacles or is passing through obstacles, the camera positioning method is not applicable. In this case, photoelectric sensors and dynamic inclinometers installed on the robot can be used in combination with the robot's running speed and the sensor's acquisition signal. The changes can identify the key points of the obstacle and calculate the specific position that has reached the obstacle.

Key words: robot, sensor, high-voltage transmission line, recognition and location of obstacles, visual identity

CLC Number:

TM755

ZHANG Feng, GUO Rui, LU Shibin, LI Zhenyu, YANG Bo, SUN Xiaobin. Obstacle Recognition and Location of Inspection Robot for High-Voltage Transmission Lines[J]. Electric Power, 2019, 52(4): 111-118.

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URL: https://www.electricpower.com.cn/EN/10.11930/j.issn.1004-9649.201805103

https://www.electricpower.com.cn/EN/Y2019/V52/I4/111

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