Patent ID: 11909182
Assignee: STATE GRID JIANGSU ELECTRIC POWER CO., LTD., CHANGZHOU BRANCH
Field: Measurement (Instruments)
Classification: CPC H  G | IPC G  H

Claim 2:
3. The overhead line detection method based on a cable inspection robot according to claim 2, wherein acquiring the fitting model comprises:
controlling the laser emission unit to emit K groups of parallel laser beams to an overhead line without abnormality to form K parallel laser lines on the overhead line, wherein K is a positive integer;
controlling the imaging unit to shoot the overhead line and the K parallel laser lines to acquire a sample image;
extracting a light strip with a width of a single pixel from each of the K parallel laser lines by using the thinning algorithm to acquire light strip centerlines corresponding to the K parallel laser lines;
acquiring a pixel set of each of the light strip centerlines in the sample image, and performing least-square circle fitting on the pixel set of the each of the light strip centerlines in the sample image to acquire K to-be-trained laser line diameters corresponding to the K parallel laser lines;
calculating distances between all pixels of the each of the light strip centerlines and the imaging unit by using the laser triangulation method, and selecting a second distance between a lowest pixel of the each of the light strip centerlines and the imaging unit; and
obtaining the fitting model by training a fitting algorithm according to a to-be-trained laser line diameter of the K to-be-trained laser line diameters corresponding to the each of the K parallel laser lines and the second distance.