Visual navigation inspection and obstacle avoidance method for line inspection robot

A visual navigation inspection and obstacle avoidance method for a line inspection robot, the line inspection robot being provided with a motion control system, a visual navigation system, and a visual inspection system, wherein both the motion control system and the visual navigation system establish a communication connection with the visual inspection system;

• the method comprising:
• Step (1) capturing an inspection image in real time by an inspection camera of the visual inspection system, determining and recognizing a type of a pole and tower according to the inspection image, carrying out an inspection on conductors between the poles and towers and an accessory structure thereof, and carrying out an inspection on an insulator string and metal fittings of the pole and tower;
• Step (2) photographing a visual navigation image in front of the line inspection robot in real time and preprocessing the visual navigation image by the visual navigation system;
• extracting and recognizing a feature of a target object in the preprocessed visual navigation image to obtain a type of the target object;
• Step (3) measuring, by the visual navigation system, a distance between the target object and a body of the line inspection robot by means of monocular vision distance measurement after determining the type of the target object to achieve coarse positioning;
• Step (4) adjusting, by the motion control system, a travel speed of the line inspection robot according to a coarse positioning distance, to achieve accurate positioning of a collision detection at a safety speed;
• and
• Step (5) transmitting, by the visual navigation system, a corresponding obstacle crossing strategy to the motion control system according to the type of the pole and tower and the type of the target object, such that the line inspection robot completes obstacle crossing.