Visual navigation inspection and obstacle avoidance method for line patrol robot

The invention discloses a visual navigation inspection and obstacle avoidance method for a line patrol robot. The line patrol robot is provided with a motion control system, a visual navigation systemand an inspection visual system. The method comprises the following steps that: (1) an inspection visual system judges and identifies the type of a tower according to an inspection image for inspection; (2) a visual navigation system captures a visual navigation image in real time to obtain the type of a target object; (3) coarse positioning is performed; (4) accurate positioning is performed; (5) the visual navigation system sends a corresponding obstacle crossing strategy to the motion control system according to the tower type and the target object type, so that the inspection robot completes obstacle crossing. The inspection and obstacle crossing method is real-time and efficient. 本发明公开了一种巡线机器人视觉导航巡检和避障方法，巡线机器人设置有运动控制系统、视觉导航系统和巡检视觉系统；该方法包括以下步骤：（1）巡检视觉系统根据巡检图像判断识别杆塔类型进行巡检；（2）视觉导航系统实时拍摄视觉导航图像，得出目标对象的种类；（3）粗定位；（