CN106780494A - A kind of electrical verification hanging ground-wire robot visual orientation method - Google Patents
A kind of electrical verification hanging ground-wire robot visual orientation method Download PDFInfo
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Abstract
This application discloses a kind of electrical verification hanging ground-wire robot visual orientation method：Obtain target image pair；Calibration for cameras, determines the position of camera；Pretreatment goal image pair, obtains pretreatment goal image pair；Extract the target signature of pretreatment goal image pair；According to the position of camera, to target signature Stereo matching, anaglyph is obtained；According to anaglyph, depth image is determined, recover the information of three-dimensional scenic；According to depth image and information, the position positioning to needing construction.Robot completes circuit electrical verification and the operation of ground wire according to location information.Using the method for the embodiment of the present application to 3 D scene rebuilding, measurement and identification, operating personnel is substituted with robot, realize carrying out electrical verification and the operation of installing ground wire during high-tension distributing line power construction, operating personnel's personal safety and the stable operation of equipment is protected.
Description
Technical field
The application is related to technical field of electric power construction, more particularly to a kind of electrical verification hanging ground-wire robot visual orientation method.
Background technology
In recent years, developing rapidly with China's economy, while also increasing the demand for electric power.Power distribution network is born
The important task of reasonable distribution electric energy, with need for electricity abruptly increase, high-tension distributing line in China's power network development more and more by
Use, have become the mainstay of China's economic development.
With increasing that high-tension distributing line is used, its power construction, maintenance and the operation safeguarded also gradually increase, and electric
Power construction, maintenance and the process safeguarded all are accomplished manually by operating personnel, and just operating personnel must be adopted in operating process
Take safety measure, it is ensured that the personal safety of operating personnel and the stable operation of equipment.Have a power failure, electrical verification and installing ground wire are electric power
Ensure the technical safety measures of electric operating personnel in construction, maintenance and maintenance.
However, electrical verification and the measure of installing ground wire are by operating personnel during current high-tension distributing line power construction
Complete, while in field operation have distribution T and connect and situations such as scissors crossing more, some operation fields need operating personnel to climb up
Operation Van completes electrical verification and the operation of installing ground wire, so not only operating efficiency, and the feelings of faulty operation easily occurs
Condition, so as to cause major safety risks, operating personnel's personal safety and the stable operation of equipment to ensure.
The content of the invention
The purpose of the application is to provide a kind of electrical verification hanging ground-wire robot visual orientation method, is tested using robot
The operation of electricity and ground wire, cannot be ensured with the stable operation for solving the problems, such as operating personnel's personal safety and equipment.
According to embodiments herein, there is provided a kind of electrical verification hanging ground-wire robot visual orientation method, including：
Obtain target image pair, the target image to including same target synchronization the first image and the second figure
Picture；
Calibration for cameras, determines the position of the camera；
The target image pair is pre-processed, pretreatment goal image pair is obtained, the pretreatment includes：Strengthen the target
The contrast of image pair, the random noise for removing the target image pair and to the target image to pseudo-color enhancement；
Extract the target signature of the pretreatment goal image pair；
According to the position of the camera, to the target signature Stereo matching, anaglyph is obtained；
According to the anaglyph, depth image is determined, recover the information of three-dimensional scenic；
According to the depth image and described information, the position positioning to needing construction.
Optionally, using Zhang Shi standardization calibration for cameras, the position of the camera is determined.
Optionally, the calibration for cameras, determining the method for the position of the camera includes：
By the Zhang Shi standardizations, using the object point in the three-dimensional scenic and the object point in the target figure
As to the corresponding points in plane, determining homography matrix；
The camera internal parameter is tried to achieve using the homography matrix；
The camera external parameter is tried to achieve using the homography matrix and the camera internal parameter；
According to the camera internal parameter and the camera external parameter, the position of the camera is determined.
Optionally, the calibration for cameras, determines in the method for position of the camera, after the calibration for cameras, goes back
Including：
Optimize the camera internal parameter and the camera external parameter, obtain accurate parameter value；
According to the accurate parameter value, the position of the camera is determined.
Optionally, in the method for the target signature for extracting the pretreatment goal image pair, the target signature
Including：Point-like character, line feature or provincial characteristics.
Optionally, the position according to camera, to the target signature Stereo matching, obtains the method bag of anaglyph
Include：
First object feature is chosen in described first image；
Second mesh corresponding with the first object feature in described first image is chosen in second image
Mark feature；
Determine the relative position between the first object feature and second target signature, obtain anaglyph.
Optionally, it is described according to the anaglyph, determine depth image, in the method for the information for recovering three-dimensional scenic,
Described information is coordinate information of the target signature of the target image centering in the three-dimensional scenic.
From above technical scheme, the embodiment of the present application provides a kind of electrical verification hanging ground-wire robot visual orientation method,
Obtain target image pair；Calibration for cameras, determines the position of the camera；The target image pair is pre-processed, obtains pre-processing mesh
Logo image pair；Extract the target signature of the pretreatment goal image pair；It is special to the target according to the position of the camera
Stereo matching is levied, anaglyph is obtained；According to the anaglyph, depth image is determined, recover the information of three-dimensional scenic；According to
The depth image and described information, the position positioning to needing construction.Robot according to location information complete circuit electrical verification and
The operation of ground wire.Using the method for the embodiment of the present application to 3 D scene rebuilding, measurement and identification, substituted with robot and made
Industry personnel, realize carrying out electrical verification and the operation of installing ground wire during high-tension distributing line power construction, make operating personnel people
The stable operation of body safety and equipment is protected.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme of the application, letter will be made to the accompanying drawing to be used needed for embodiment below
Singly introduce, it should be apparent that, for those of ordinary skills, without having to pay creative labor,
Other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of flow chart of the electrical verification hanging ground-wire robot visual orientation method according to the embodiment of the present application；
Fig. 2 is the method flow diagram of the position of the determination camera according to the embodiment of the present application；
Fig. 3 is the method flow diagram for obtaining anaglyph according to the embodiment of the present application.
Specific embodiment
As shown in figure 1, a kind of flow of the electrical verification hanging ground-wire robot visual orientation method provided for the embodiment of the present application
Figure, methods described comprises the following steps：
S101, obtain target image pair, the target image to including same target synchronization the first image and
Second image.The camera used in the embodiment of the present application is a kind of numerous suitable for intelligent transportation, public security bayonet, industrial detection etc.
The high-resolution color digital camera in field.It has that transmission speed is fast, color reducibility is good, imaging clearly the features such as, no
But it is convenient to shoot micro-image, and the series of parameters such as length, angle, the area of subject can be measured.
Optionally, the target image to be by two cameras in same three-dimensional scenic simultaneously obtain it is same
The two images of target.During single camera is imaged, spot projection in three-dimensional scenic to the process of camera image is only
One, however, because in imaging process depth information loss, when the pixel point coordinates of image is reduced into three-dimensional coordinate, no
Unique Three-Dimensional Solution can be extrapolated, therefore, typically cannot be from the real three-dimensional scenic of single camera image restoring.If using picture
Individual camera shoots the image of same three-dimensional scenic simultaneously, then uniquely can calculate the three of pixel by principle of triangulation
Dimension coordinate, so as to realize image to the three-dimensional reconstruction of real world.
S102, calibration for cameras determines the position of the camera.Described image is demarcated, is to determine shooting
During per piece image, orientation and parameter of each camera for three-dimensional scenic.
S103, pre-processes the target image pair, obtains pretreatment goal image pair, and the pretreatment includes：Enhancing institute
The contrast of stating target image pair, the random noise for removing the target image pair and to the target image to pseudo- color at
Reason.Described image is pre-processed, the image for more conforming to require is obtained, so that the last depth image for obtaining is more accurate
Really, the three-dimensional information of reconstruction is more accurate, makes robot when being operated, and vision positioning is more accurate, reduces potential safety hazard,
Ensure the stable operation of power equipment.
S104, extracts the target signature of the pretreatment goal image pair.
S105, according to the position of the camera, to the target signature Stereo matching, obtains anaglyph.
S106, according to the anaglyph, determines depth image, recovers the information of three-dimensional scenic.
S107, according to the depth image and described information, the position positioning to needing construction.
Mechanical arm according to robot installs phase to circuit electrical verification and the mission requirements of ground wire in the end of motion arm
Machine, according to camera shoot image information and to robotic vision control, realize robot arm carry instrument complete circuit
Electrical verification and the operation of ground wire.
From above technical scheme, the embodiment of the present application provides a kind of electrical verification hanging ground-wire robot visual orientation method,
Obtain target image pair；Calibration for cameras, determines the position of the camera；The target image pair is pre-processed, obtains pre-processing mesh
Logo image pair；Extract the target signature of the pretreatment goal image pair；It is special to the target according to the position of the camera
Stereo matching is levied, anaglyph is obtained；According to the anaglyph, depth image is determined, recover the information of three-dimensional scenic；According to
The depth image and described information, the position positioning to needing construction.Robot according to location information complete circuit electrical verification and
The operation of ground wire.Using the method for the embodiment of the present application to 3 D scene rebuilding, measurement and identification, substituted with robot and made
Industry personnel, realize carrying out electrical verification and the operation of installing ground wire during high-tension distributing line power construction, make operating personnel people
The stable operation of body safety and equipment is protected.
Using Zhang Shi standardization calibration for cameras, the position of the camera is determined.Zhang Shi standardizations also known as Zhang Zhengyou standardizations,
It is that Zhang Zhengyou professors proposed but the tessellated camera marking method of plane in 1998.
Optionally, as shown in Fig. 2 described to calibration for cameras, determining the method for the position of the camera includes：
S201, by the Zhang Shi standardizations, using the object point in three-dimensional scenic and the object point in the target
Image determines homography matrix to the corresponding points in plane；
S202, the camera internal parameter is tried to achieve using the homography matrix；
S203, the camera external parameter is tried to achieve using the homography matrix and the camera internal parameter；
S204, according to the camera internal parameter and the camera external parameter, determines the position of the camera.
Using Zhang Shi standardizations, according to video camera pin-hole imaging model, following equation can be obtained：
Wherein, u and v are the coordinate of space coordinates object point corresponding points in the picture, XW, YWAnd ZWIt is object point in sky
Between coordinate in coordinate system, A is internal reference matrix, and R is spin matrix, and s is Arbitrary Digit, and t is translation matrix, riIt is spin matrix R
The i-th column vector.
The method of the embodiment of the present application when in use, ZW=0.Then above formula can be changed into following form：
OrderThen above formula can be abbreviated as：
Wherein：H is homography matrix.
Then according to the homography matrix for obtaining, camera internal parameter is further solved.Finally further according to homography square
Battle array and camera internal parametric solution camera external parameter.
Optionally, the calibration for cameras, determines in the method for position of the camera, after the calibration for cameras, goes back
Including：
Optimize the camera internal parameter and the camera external parameter, obtain accurate parameter value；
According to the accurate parameter value, the position of the camera is determined.
The camera internal parameter and the camera external parameter are optimized, using the method for maximal possibility estimation,
It is exactly the parameter after optimization to obtain optimal solution, recycles camera internal parameter and camera external parameter after optimization, tries to achieve two phases
Position relationship between machine, determines two positions of camera.
Optionally, in the method for the target signature for extracting the pretreatment goal image pair, the target signature
Including：Point-like character, line feature or provincial characteristics.Point-like character typically refers to the violent point of grey scale change, including object
Point (angle point or flex point), focus of straight line of Curvature varying maximum on profile etc..Line feature refers to the edge line of image
Section, curve etc..Provincial characteristics refers to a UNICOM, consistent pixel set.By feature from the pretreatment image
In extract after, image is processed using specific feature, more accurately and quickly determine depth image, rebuild three
Dimension information.
Optionally, as shown in figure 3, the position according to camera, to the target signature Stereo matching, obtains disparity map
The method of picture includes：
S301, chooses first object feature in described first image；
S302, chooses corresponding with the first object feature in described first image the in second image
Two target signatures；
S303, determines the relative position between the first object feature and second target signature, obtains disparity map
Picture.
Corresponding target signature is chosen in two corresponding images, by determining between corresponding two target signatures
Relative position, can obtain anaglyph, further, can obtain the three-dimensional seat of the object with the target signature
Mark.This method is complete point-to-point computing, as long as any point on first plane of delineation can be in the plane of the second image
On find corresponding match point, it is possible to determine the three-dimensional coordinate of the point.
For example, it is f, the same characteristic point P of two cameras object in synchronization shoots three-dimensional scenic to set camera focus
(xc, yc, zc), the image of point P is obtained on First and second camera respectively, their coordinates on image are respectively P1
=(X1, Y1), P2=(X2, Y2).The image of present two cameras in approximately the same plane, then on the image of characteristic point P coordinate Y
Coordinate is identical, i.e. Y1=Y2=Y, then obtained by triangle geometrical relationship：
Then parallax D=X1-X2.It is possible thereby to calculate three-dimensional coordinates of the characteristic point P under camera coordinates system：
Wherein B is baseline distance, represents two distances of the projection centre line of camera.
Optionally, it is described according to the anaglyph, determine depth image, in the method for the information for recovering three-dimensional scenic,
Described information is coordinate information of the target signature of the target image centering in the three-dimensional scenic.Regarding in anaglyph
Inversely, relation is as follows for depth in difference and depth image：
Wherein d is depth.
It follows that after anaglyph is obtained, depth can be tried to achieve by above formula, depth map can be further obtained
Picture, and coordinate information of the target signature in three-dimensional scenic can be recovered, rebuilding after three-dimensional scenic, robot is according to information
Position positioning to needing construction, after positioning, carries out electrical verification and the operation of installing ground wire, it is not necessary to which operating personnel manually enters
Row operation, makes operating personnel's personal safety and the stable operation of equipment be protected.
From above technical scheme, the embodiment of the present application provides a kind of electrical verification hanging ground-wire robot visual orientation method,
Obtain target image pair；Calibration for cameras, determines the position of the camera；The target image pair is pre-processed, obtains pre-processing mesh
Logo image pair；Extract the target signature of the pretreatment goal image pair；It is special to the target according to the position of the camera
Stereo matching is levied, anaglyph is obtained；According to the anaglyph, depth image is determined, recover the information of three-dimensional scenic；According to
The depth image and described information, the position positioning to needing construction.Robot according to location information complete circuit electrical verification and
The operation of ground wire.Using the method for the embodiment of the present application to 3 D scene rebuilding, measurement and identification, substituted with robot and made
Industry personnel, realize carrying out electrical verification and the operation of installing ground wire during high-tension distributing line power construction, make operating personnel people
The stable operation of body safety and equipment is protected.
Those skilled in the art will readily occur to its of the application after considering specification and putting into practice invention disclosed herein
Its embodiment.The application is intended to any modification, purposes or the adaptations of the application, these modifications, purposes or
Person's adaptations follow the general principle of the application and including the undocumented common knowledge in the art of the application
Or conventional techniques.Description and embodiments are considered only as exemplary, and the true scope of the application and spirit are by following
Claim is pointed out.
It should be appreciated that the application is not limited to the precision architecture for being described above and being shown in the drawings, and
And can without departing from the scope carry out various modifications and changes.Scope of the present application is only limited by appended claim.
Claims (7)
1. a kind of electrical verification hanging ground-wire robot visual orientation method, it is characterised in that methods described includes：
Obtain target image pair, the target image to including same target synchronization the first image and the second image；
Calibration for cameras, determines the position of the camera；
The target image pair is pre-processed, pretreatment goal image pair is obtained, the pretreatment includes：Strengthen the target image
To contrast, remove the random noise of the target image pair and to the target image to pseudo-color enhancement；
Extract the target signature of the pretreatment goal image pair；
According to the position of the camera, to the target signature Stereo matching, anaglyph is obtained；
According to the anaglyph, depth image is determined, recover the information of three-dimensional scenic；
According to the depth image and described information, the position positioning to needing construction.
2. method according to claim 1, it is characterised in that use Zhang Shi standardization calibration for cameras, determine the camera
Position.
3. method according to claim 2, it is characterised in that the calibration for cameras, determines the side of the position of the camera
Method includes：
By the Zhang Shi standardizations, using the object point in three-dimensional scenic and the object point in the target image to plane
On corresponding points, determine homography matrix；
The camera internal parameter is tried to achieve using the homography matrix；
The camera external parameter is tried to achieve using the homography matrix and the camera internal parameter；
According to the camera internal parameter and the camera external parameter, the position of the camera is determined.
4. method according to claim 3, it is characterised in that the calibration for cameras, determines the side of the position of the camera
In method, after the calibration for cameras, also include：
Optimize the camera internal parameter and the camera external parameter, obtain accurate parameter value；
According to the accurate parameter value, the position of the camera is determined.
5. method according to claim 4, it is characterised in that the target of the extraction pretreatment goal image pair
In the method for feature, the target signature includes：Point-like character, line feature or provincial characteristics.
6. method according to claim 5, it is characterised in that the position according to camera, it is vertical to the target signature
Body is matched, and the method for obtaining anaglyph includes：
First object feature is chosen in described first image；
Second target corresponding with the first object feature in described first image is chosen in second image special
Levy；
Determine the relative position between the first object feature and second target signature, obtain anaglyph.
7. method according to claim 6, it is characterised in that described according to the anaglyph, determines depth image, extensive
In the method for the information of multiple three-dimensional scenic, described information is the target signature of the target image centering in the three dimensional field
Coordinate information in scape.
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Application publication date: 20170531 |