Inspection robots and inspection UAVs (Unmanned Aerial Vehicle) have a bright future in the field of high voltage transmission lines inspection. However, the practical application of these two inspection units has largely affected by lacks of autonomous inspection. The major factor influencing the autonomous inspection of inspection UAVs is the deficiency of exact recognition and automatic tracking of transmission lines. While for inspection robots, the key factor is the bottleneck existing in the obstacle-crossing mechanism and automatic obstacle-crossing function. Although the factors for them are different, vision technology plays a crucial role in the implementations of autonomous inspection. To solve the problems of autonomous inspection for these two inspection units, this paper makes a study of the vision technology in the high voltage transmission lines inspection, and gives the solutions for the above questions. Firstly, the significance of high voltage transmission lines inspection is expatiated and the current situation of research on the inspection methods is introduced. The existing problems in the inspection methods are summarized. The factors influencing the autonomous inspection are analyzed. Moreover, the important role of vision technology in implementation for their autonomous inspection is elaborated. Secondly, a complete management and maintenance system is developed to meet the need of processing mass data, which includes remote maintenance system and database system. The CDMA network is used as the communication mode. To overcome the restriction of intranet IP address in CDMA network, a networking method for CDMA wireless public network is presented based on SMS notification. To read/store quickly and smoothly, an embedded database system based on SQLite is developed. At the same time, the E-R model of the database system is designed to fulfill the requirement of database system and inspection task. Thirdly, a vision servo control method for automatic line-grasping in the obstacle-crossing procedure is designed to assist the obstacle-crossing of our developed inspection robot. The control model of the robot and vision model are established, and the camera is configured by eye-in-hand model. According to the traits of servo image and the requirements of control, the corresponding feature extraction method is proposed. Furthermore, the position and width of transmission lines in image are considered as the feature i...
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