Intelligent perception recognition and positioning method of distribution network drainage line

Due to the serious interference of illumination and background on the camera during the live operation of the distribution network robot, it is difficult to match, identify, and locate the feature points of the target image, such as the drainage line. This paper proposes the intelligent perception recognition and positioning method of the distribution network drainage line. First, YOLOv4 is used to identify and classify the typical parts of the distribution network and determine the two-dimensional position of the operation point. Subsequently, the Res-Unet segmentation network was improved to perform image segmentation of drainage lines and wires to avoid complex background interference. Finally, binocular vision is used to extract the center line of the wire through the image geometric moment and determine the image line of the wire and the center of the double eyes. The intersection line of the wire is the spatial three-dimensional coordinates of the wire. After the target detection, wire segmentation, and operation point positioning experiments, this method can achieve a positioning accuracy of 1 mm in the x and y directions and 3 mm in the z direction under the camera coordinate system, which provides a guarantee for accurate perception and recognition and reliable operation control of the power distribution robot operation.