Obstacle Detection Approach of Power Transmission Line Inspection Robot: A Survey

摘要

Power transmission line inspection robot must realtimely detect the types of obstacles and distance information when crawling along the power transmission lines, controlling the crawling speed to avoid collision according to the negotiating rules of types of obstacles and distance information.A comprehensive research on the technologies of obstacle recognition for power transmission line inspection robot has been done in this paper.Firstly, it summarized the research progress in inspection robot indoors and outdoors;Secondly, it made a study on classification of the obstacle recognition methods from the aspects of multi-sensor-based navigation, single-frame image processing, binocular vision and active learning;Finally, through a variety of comparisons of the obstacle recognition methods, it reaches that the obstacle recognition based on multisensor fusion technologies and binocular vision is a much hotter topic, as well as researches on more intelligent and automated obstacle recognition technologies will be an important direction.