US 11,909,182 B1
Overhead line detection method and system based on cable inspection robot
Jiazhen Duan, Jiangsu (CN); Zheng Lu, Jiangsu (CN); Hongtao Liu, Jiangsu (CN); Ruxin Shi, Jiangsu (CN); Wei Zhang, Jiangsu (CN); Yuqin Shu, Changzhou (CN); Zhiwei Kan, Jiangsu (CN); Yannan Chen, Jiangsu (CN); Xiaoqiang Chen, Jiangsu (CN); and Xianming Ren, Jiangsu (CN)
Assigned to State Grid Jiangsu Electric Power Co., Ltd., Changzhou Branch, Jiangsu (CN); State Grid Jiangsu Electric Power Co., Ltd., Innovation Center, Jiangsu (CN); State Grid Jiangsu Electric Power Co., Ltd., Jiangsu (CN); and State Grid Corporation of China, Beijing (CN)
Appl. No. 18/548,069
Filed by State Grid Jiangsu Electric Power Co., Ltd., Changzhou Branch, Jiangsu (CN); State Grid Jiangsu Electric Power Co., Ltd., Innovation Center, Jiangsu (CN); State Grid Jiangsu Electric Power Co., Ltd., Jiangsu (CN); and State Grid Corporation of China, Beijing (CN)
PCT Filed Nov. 28, 2022, PCT No. PCT/CN2022/134818
§ 371(c)(1), (2) Date Aug. 25, 2023,
.
Claims priority of application No. 202210695441.2 (CN), filed on Jun. 20, 2022.
Int. Cl. H02G 1/02 (2006.01); G01N 21/88 (2006.01)
CPC H02G 1/02 (2013.01) [G01N 21/8851 (2013.01)] 9 Claims
OG exemplary drawing
 
1. An overhead line detection method based on a cable inspection robot, wherein the cable inspection robot is suspended on an overhead line, an imaging unit and a laser emission unit are disposed at a front end of the cable inspection robot, an optical axis of the imaging unit is at a first angle to the overhead line, an optical axis of the laser emission unit is at a second angle to the overhead line, and the overhead line detection method comprises following steps:
controlling the laser emission unit to emit N groups of parallel laser beams to the overhead line to form N parallel laser lines on the overhead line, wherein N is a positive integer;
controlling the imaging unit to shoot the overhead line and the N parallel laser lines to acquire a target detection image;
performing image recognition on the target detection image to acquire N laser line diameters corresponding to the N parallel laser lines on the overhead line, wherein performing image recognition on the target detection image to acquire the N laser line diameters corresponding to the N parallel laser lines on the overhead line specifically comprises:
extracting a light strip with a width of a single pixel from a j-th parallel laser line of the N parallel laser lines by using a thinning algorithm to acquire a j-th light strip centerline, wherein 1≤j≤N, and j is a positive integer;
acquiring a pixel set of the j-th light strip centerline in the target detection image; and
performing least-square circle fitting on the pixel set to acquire a j-th laser line diameter corresponding to the j-th parallel laser line; and
comparing the N laser line diameters with theoretical line diameters at corresponding positions to determine whether the overhead line is abnormal, wherein comparing the N laser line diameters with the theoretical line diameters at corresponding positions to determine whether the overhead line is abnormal specifically comprises:
calculating a distances between all pixels of the j-th light strip centerline and the imaging unit by using a laser triangulation method, and selecting a first distance between a lowest pixel of the j-th light strip centerline and the imaging unit;
acquiring a fitting model, and acquiring a theoretical line diameter corresponding to the j-th laser line diameter according to the first distance by using the fitting model;
comparing the j-th laser line diameter with the theoretical line diameter corresponding to the j-th laser line diameter to determine whether the j-th laser line diameter matches the theoretical line diameter corresponding to the j-th laser line diameter; and
in response to the j-th laser line diameter not matching the theoretical line diameter corresponding to the j-th laser line diameter, determining that the overhead line is abnormal.