Substation equipment appearance abnormality recognition method based on substation inspection robot

The invention relates to a substation equipment appearance abnormality recognition method based on a substation inspection robot. In the method, based on a power inspection robot platform (with a model number of LER-3000), relative technologies such as an image processing technology, a mode recognition technology and the like are utilized to detect images collected by power equipment, judge whether the equipment is in abnormal conditions of fouling, damage, foreign bodies and the like or not, find out a corresponding defect recognition method by analyzing the collected images, accurately and rapidly detect the abnormality of the equipment, timely report and eliminate safety hidden dangers. The substation equipment appearance abnormality recognition method based on the substation inspection robot comprises the following steps of, firstly, collecting an image of each equipment on an inspection route by the power inspection robot; secondly, carrying out registration on a processed image and a corresponding equipment reference image stored in advance; thirdly, after image registration, detecting a region with the abnormality according to a difference of the two images; and fourthly, classifying the abnormality according to characteristic parameters of the detected abnormal region.