CN113954099A - Power inspection robot and method for adjusting positioning device of holder camera - Google Patents
Power inspection robot and method for adjusting positioning device of holder camera Download PDFInfo
- Publication number
- CN113954099A CN113954099A CN202111450357.6A CN202111450357A CN113954099A CN 113954099 A CN113954099 A CN 113954099A CN 202111450357 A CN202111450357 A CN 202111450357A CN 113954099 A CN113954099 A CN 113954099A
- Authority
- CN
- China
- Prior art keywords
- camera
- inspection robot
- pan
- radar
- real
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
Abstract
The invention discloses a power inspection robot and a method for adjusting a positioning device of a pan-tilt camera, wherein the power inspection robot comprises: the cloud platform camera is arranged above the inspection robot; the inspection robot is used for realizing power inspection work of the target transformer substation; the pan-tilt camera includes: the camera is used for acquiring a real-time equipment image of the target transformer substation; the positioning device is adjacently connected with the camera on the same horizontal line; the radar is used for acquiring the equipment coordinates in the real-time equipment image; a rotation mechanism rigidly connected to the radar; the rotating mechanism is used for realizing the rotating motion of the camera and the radar; and the holder base is arranged under the rotating mechanism. The device coordinates in the real-time device image acquired by the radar are matched with the rotating mechanism to rotate the camera and the radar, and the positioning adjustment of the pan-tilt camera in the power inspection robot is simply and quickly realized.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to an electric power inspection robot and a method for adjusting a positioning device of a pan-tilt camera.
Background
At present, inspection robots widely used by transformer substations control a robot and a cloud deck camera to align with a recognized target by recording inspection points of the robot and postures of the cloud deck camera in advance, so that automatic inspection is completed. Due to positioning and mechanical errors of the pan/tilt head, the robot and the pan/tilt head need to be aligned for the second time after being controlled according to the prerecorded patrol inspection point and the pan/tilt head posture.
At present, the secondary alignment of the pan/tilt/zoom camera usually records a template image in a target pair in advance, and then zooms, shoots the image and matches the template image for multiple times, so as to adjust the posture of the camera to complete the precise alignment of the pan/tilt/zoom camera.
Generally, the existing secondary alignment technology uses a zoom camera, the field angle of the camera at the maximum focal length is narrow, the initial pose of a large error cannot be tolerated, the camera can only be aligned in a matching way from the small focal length, and the zoom camera has poor consistency of the optical axis and low alignment precision of the small focal length, so that the zoom camera needs to be repeatedly zoomed, photographed and adjusted, the process is complex, and the efficiency is low. Meanwhile, the existing secondary alignment technology obtains the adjustment angle difference in a visual feature matching mode, the technology is easily influenced by illumination, and the feature matching is easily failed at night and is prone to being aligned abnormally due to backlight.
Disclosure of Invention
The invention provides an electric power inspection robot and a method for adjusting a positioning device of a pan-tilt camera, which are used for solving the problems of low alignment precision, complex process and easy influence of illumination in the secondary alignment of the conventional electric power inspection robot.
In a first aspect, the present invention provides a power inspection robot, including: the cloud platform camera is arranged above the inspection robot; the inspection robot is used for realizing power inspection work of the target transformer substation; the pan-tilt camera includes:
the camera is used for acquiring a real-time equipment image of the target transformer substation;
the positioning device is adjacently connected with the camera on the same horizontal line; the radar is used for acquiring the equipment coordinates in the real-time equipment image;
the rotating mechanism is arranged right below the radar and is in rigid connection with the radar; the rotating mechanism is used for realizing the rotating motion of the camera and the radar;
and the holder base is arranged under the rotating mechanism.
Optionally, the camera comprises: a visible light camera and an infrared thermal imaging camera; the radar is installed in the middle of the visible light camera and the infrared thermal imaging camera and is rigidly connected with the visible light camera and the infrared thermal imaging camera.
Optionally, the rotation mechanism comprises: a vertical rotation structure rigidly connected to the radar, and a horizontal rotation structure rigidly connected to the vertical rotation structure.
Optionally, the positioning device is an area array laser radar; the area array laser radar is used for acquiring laser point cloud of the equipment in the real-time equipment image under an area array laser radar coordinate system.
Optionally, the detection range of the area array laser radar is [0m, 200m ].
Optionally, the positioning device is a depth sensor.
Optionally, the measurement accuracy of the area array laser radar is ± 2 cm.
In a second aspect, the invention provides a method for adjusting a positioning device of a pan-tilt camera, which is applied to an electric power inspection robot, wherein the electric power inspection robot consists of an inspection robot and a pan-tilt camera, and the pan-tilt camera is loaded with an area array laser radar; the method comprises the following steps:
fixing the positions of the power inspection robot and the target equipment through the inspection robot according to the pre-recorded position of the inspection robot;
acquiring real-time laser point cloud corresponding to the real-time image of the target equipment through the area array laser radar according to the pre-recorded attitude and focal length of the pan-tilt camera;
adjusting the holder camera according to the real-time laser point cloud and a preset laser point cloud; and the preset laser point cloud is obtained by recording the pre-recorded posture and focal length of the pan-tilt camera.
Optionally, adjusting the pan-tilt camera according to the real-time laser point cloud and the preset laser point cloud, including:
matching the real-time laser point cloud with the preset laser point cloud, and calculating to obtain the angle difference of the holder camera;
and adjusting the holder camera according to the angle difference.
The invention provides a positioning device adjusting device of a pan-tilt camera, which is applied to an electric power inspection robot, wherein the electric power inspection robot consists of an inspection robot and a pan-tilt camera, and the pan-tilt camera is loaded with an area array laser radar; the device comprises:
the fixing module is used for fixing the positions of the power inspection robot and the target equipment through the inspection robot according to the position of the inspection robot recorded in advance;
the acquisition module is used for acquiring real-time laser point cloud corresponding to the real-time image of the target equipment through the area array laser radar according to the pre-recorded attitude and focal length of the pan-tilt camera;
the adjusting module is used for adjusting the holder camera according to the real-time laser point cloud and a preset laser point cloud; the preset laser point cloud is obtained by recording the pre-recorded attitude and focal length of the pan-tilt camera
The technical scheme of the invention provides an electric power inspection robot, which comprises: the cloud platform camera is arranged above the inspection robot; the inspection robot is used for realizing power inspection work of the target transformer substation; the pan-tilt camera includes: the camera is used for acquiring a real-time equipment image of the target transformer substation; the positioning device is adjacently connected with the camera on the same horizontal line; the radar is used for acquiring the equipment coordinates in the real-time equipment image; the rotating mechanism is arranged right below the radar and is in rigid connection with the radar; the rotating mechanism is used for realizing the rotating motion of the camera and the radar; and the holder base is arranged under the rotating mechanism.
The device coordinates in the real-time device image acquired by the radar are matched with the rotating mechanism to rotate the camera and the radar, and the positioning adjustment of the pan-tilt camera in the power inspection robot is simply and quickly realized.
Secondly, the power inspection robot provided by the invention is free from the influence of illumination because the power inspection robot does not use a visual feature matching mode.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts;
FIG. 1 is a schematic structural diagram of an embodiment of a power inspection robot according to the present invention;
FIG. 2 is a flowchart illustrating steps of an embodiment of a method for adjusting a positioning device of a pan/tilt/zoom camera according to the present invention;
fig. 3 is a schematic diagram of a deployment phase of an embodiment of a method for adjusting a positioning device of a pan/tilt head camera according to the present invention;
FIG. 4 is a schematic diagram of inspection according to an embodiment of a method for adjusting a positioning device of a pan/tilt/zoom camera according to the present invention;
FIG. 5 is a schematic diagram illustrating an embodiment of an adjusting method for a positioning device of a pan/tilt/zoom camera according to the present invention;
fig. 6 is a block diagram of an embodiment of an adjusting device of a positioning device of a pan/tilt head camera according to the present invention.
In the figure: 1. a visible light camera; 2. an area array laser radar; 3. an infrared thermal imaging camera; 4. a vertical rotation mechanism; 5. a horizontal rotation mechanism; 6. cloud platform base.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The embodiment of the invention provides an electric power inspection robot and a method for adjusting a positioning device of a pan-tilt camera.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of a power inspection robot of the present invention, and the power inspection robot of the present invention includes: the cloud platform camera is arranged above the inspection robot; the inspection robot is used for realizing power inspection work of the target transformer substation; the pan-tilt camera includes:
the camera is used for acquiring a real-time equipment image of the target transformer substation;
the positioning device is adjacently connected with the camera on the same horizontal line; the radar is used for acquiring the equipment coordinates in the real-time equipment image;
the rotating mechanism is arranged right below the radar and is in rigid connection with the radar; the rotating mechanism is used for realizing the rotating motion of the camera and the radar;
and the holder base 6 is arranged right below the rotating mechanism.
Specifically, the camera includes: a visible light camera 1 and an infrared thermal imaging camera 3; the radar is installed in the middle of the visible light camera 1 and the infrared thermal imaging camera 3, and is rigidly connected with the visible light camera 1 and the infrared thermal imaging camera 3.
Specifically, the rotation mechanism includes: a vertical rotation structure 4 rigidly connected to the radar, and a horizontal rotation structure 5 rigidly connected to the vertical rotation structure 4.
Specifically, the positioning device is an area array laser radar 2; the area array laser radar 2 is used for acquiring laser point cloud of the equipment in the real-time equipment image under the coordinate system of the area array laser radar 2.
Specifically, the detection range of the area array laser radar 2 is [0m, 200m ].
In particular, the positioning means is a depth sensor.
Specifically, the measurement accuracy of the area array laser radar 2 is ± 2 cm.
The invention provides a power inspection robot, which comprises: the cloud platform camera is arranged above the inspection robot; the inspection robot is used for realizing power inspection work of the target transformer substation; the pan-tilt camera includes: the camera is used for acquiring a real-time equipment image of the target transformer substation; the positioning device is adjacently connected with the camera on the same horizontal line; the radar is used for acquiring the equipment coordinates in the real-time equipment image; the rotating mechanism is arranged right below the radar and is in rigid connection with the radar; the rotating mechanism is used for realizing the rotating motion of the camera and the radar; and the holder base 6 is arranged right below the rotating mechanism.
The device coordinates in the real-time device image acquired by the radar are matched with the rotating mechanism to rotate the camera and the radar, and the positioning adjustment of the pan-tilt camera in the power inspection robot is simply and quickly realized.
Secondly, the power inspection robot provided by the invention is free from the influence of illumination because the power inspection robot does not use a visual feature matching mode.
Referring to fig. 2, fig. 2 is a flowchart illustrating steps of an embodiment of a method for adjusting a positioning device of a pan-tilt camera according to the present invention, and the method is applied to an electric inspection robot, where the electric inspection robot is composed of an inspection robot and a pan-tilt camera, and the pan-tilt camera is equipped with an area array laser radar; the method comprises the following steps:
s1, fixing the positions of the power inspection robot and the target equipment through the inspection robot according to the pre-recorded position of the inspection robot;
s2, acquiring real-time laser point cloud corresponding to the real-time image of the target equipment through the area array laser radar according to the pre-recorded attitude and focal length of the pan-tilt camera;
s3, adjusting the pan-tilt camera according to the real-time laser point cloud and a preset laser point cloud; and the preset laser point cloud is obtained by recording the pre-recorded posture and focal length of the pan-tilt camera.
In an optional embodiment, adjusting the pan-tilt camera according to the real-time laser point cloud and the preset laser point cloud includes:
matching the real-time laser point cloud with the preset laser point cloud, and calculating to obtain the angle difference of the holder camera;
and adjusting the holder camera according to the angle difference.
In the embodiment of the invention, the alignment step of the pan-tilt laser radar comprises the following steps:
(1) a deployment stage; referring to fig. 3, fig. 3 is a schematic diagram of a deployment stage of an embodiment of an adjusting method of a pan-tilt camera according to the present invention, where T is a target device, and in the deployment stage, an inspection robot is first controlled to a proper position, and a pan-tilt camera is first controlled to a proper attitude and a proper focal length, so that the target device is clearly presented in a pan-tilt camera image, and the attitude and the focal length of the pan-tilt camera at this time, and a laser point cloud under a current area-array laser radar coordinate system are recorded;
(2) a routing inspection stage; referring to fig. 4, fig. 4 is a schematic diagram of inspection according to an embodiment of the adjustment method of the positioning device of the pan-tilt camera of the present invention, and in the inspection stage, a real-time laser point cloud corresponding to a real-time image of a target device is obtained according to the position of the inspection robot, the attitude and the focal length of the pan-tilt camera in step (1) and the laser point cloud under the area-array laser radar coordinate system;
(3) a matching stage; referring to fig. 5, the real-time laser point cloud and the preset laser point cloud are matched, an angle difference of the pan/tilt/zoom camera is obtained through calculation, and the pan/tilt/zoom camera is adjusted according to the angle difference.
According to the embodiment of the invention, the positions of the power inspection robot and the target equipment are fixed by the inspection robot according to the pre-recorded position of the inspection robot; acquiring real-time laser point cloud corresponding to the real-time image of the target equipment through the area array laser radar according to the pre-recorded attitude and focal length of the pan-tilt camera; adjusting the holder camera according to the real-time laser point cloud and a preset laser point cloud; and the preset laser point cloud is obtained by recording the pre-recorded posture and focal length of the pan-tilt camera. The problem of current electric power inspection robot alignment precision that exists when the secondary is aimed at is not high, the process is complicated to and be influenced by the illumination easily is solved.
Referring to fig. 6, fig. 6 is a block diagram of an embodiment of an adjusting device of a positioning device of a pan-tilt camera according to the present invention, which is applied to an electric inspection robot, where the electric inspection robot is composed of an inspection robot and a pan-tilt camera, and the pan-tilt camera is equipped with an area array laser radar; the device comprises:
the fixing module 401 is configured to fix the positions of the power inspection robot and the target device through the inspection robot according to a pre-recorded position of the inspection robot;
an obtaining module 402, configured to obtain, according to a pre-recorded pan-tilt camera pose and a pre-recorded focal length, a real-time laser point cloud corresponding to a real-time image of the target device through the area-array laser radar;
an adjusting module 403, configured to adjust the pan-tilt camera according to the real-time laser point cloud and a preset laser point cloud; and the preset laser point cloud is obtained by recording the pre-recorded posture and focal length of the pan-tilt camera.
In an alternative embodiment, the adjustment module 403 includes:
the matching sub-module is used for matching the real-time laser point cloud and the preset laser point cloud and calculating to obtain the angle difference of the holder camera;
and the adjusting submodule is used for adjusting the holder camera according to the angle difference.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working process of the apparatus described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides a robot is patrolled and examined to electric power which characterized in that includes: the cloud platform camera is arranged above the inspection robot; the inspection robot is used for realizing power inspection work of the target transformer substation; the pan-tilt camera includes:
the camera is used for acquiring a real-time equipment image of the target transformer substation;
the positioning device is adjacently connected with the camera on the same horizontal line; the radar is used for acquiring the equipment coordinates in the real-time equipment image;
the rotating mechanism is arranged right below the radar and is in rigid connection with the radar; the rotating mechanism is used for realizing the rotating motion of the camera and the radar;
and the holder base is arranged under the rotating mechanism.
2. The power inspection robot according to claim 1, wherein the camera includes: a visible light camera and an infrared thermal imaging camera; the radar is installed in the middle of the visible light camera and the infrared thermal imaging camera and is rigidly connected with the visible light camera and the infrared thermal imaging camera.
3. The power inspection robot according to claim 1, wherein the rotating mechanism includes: a vertical rotation structure rigidly connected to the radar, and a horizontal rotation structure rigidly connected to the vertical rotation structure.
4. The power inspection robot according to claim 1, wherein the positioning device is an area array lidar; the area array laser radar is used for acquiring laser point cloud of the equipment in the real-time equipment image under an area array laser radar coordinate system.
5. The power inspection robot according to claim 4, wherein the area array lidar has a detection range of [0m, 200m ].
6. The power inspection robot according to claim 1, wherein the positioning device is a depth sensor.
7. The power inspection robot according to claim 5, wherein the area array lidar has a measurement accuracy of ± 2 cm.
8. A method for adjusting a positioning device of a pan-tilt camera is characterized by being applied to an electric power inspection robot, wherein the electric power inspection robot consists of an inspection robot and a pan-tilt camera, and the pan-tilt camera is provided with an area-array laser radar; the method comprises the following steps:
fixing the positions of the power inspection robot and the target equipment through the inspection robot according to the pre-recorded position of the inspection robot;
acquiring real-time laser point cloud corresponding to the real-time image of the target equipment through the area array laser radar according to the pre-recorded attitude and focal length of the pan-tilt camera;
adjusting the holder camera according to the real-time laser point cloud and a preset laser point cloud; and the preset laser point cloud is obtained by recording the pre-recorded posture and focal length of the pan-tilt camera.
9. The method for adjusting a positioning device of a pan/tilt/zoom camera according to claim 8, wherein adjusting the pan/tilt/zoom camera according to the real-time laser point cloud and the preset laser point cloud comprises:
matching the real-time laser point cloud with the preset laser point cloud, and calculating to obtain the angle difference of the holder camera;
and adjusting the holder camera according to the angle difference.
10. A positioning device adjusting device of a pan-tilt camera is characterized by being applied to an electric power inspection robot, wherein the electric power inspection robot consists of an inspection robot and a pan-tilt camera, and the pan-tilt camera is provided with an area array laser radar; the device comprises:
the fixing module is used for fixing the positions of the power inspection robot and the target equipment through the inspection robot according to the position of the inspection robot recorded in advance;
the acquisition module is used for acquiring real-time laser point cloud corresponding to the real-time image of the target equipment through the area array laser radar according to the pre-recorded attitude and focal length of the pan-tilt camera;
the adjusting module is used for adjusting the holder camera according to the real-time laser point cloud and a preset laser point cloud; and the preset laser point cloud is obtained by recording the pre-recorded posture and focal length of the pan-tilt camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111450357.6A CN113954099B (en) | 2021-11-30 | 2021-11-30 | Electric power inspection robot and adjustment method of positioning device of cradle head camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111450357.6A CN113954099B (en) | 2021-11-30 | 2021-11-30 | Electric power inspection robot and adjustment method of positioning device of cradle head camera |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113954099A true CN113954099A (en) | 2022-01-21 |
| CN113954099B CN113954099B (en) | 2023-10-20 |
Family
ID=79472843
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111450357.6A Active CN113954099B (en) | 2021-11-30 | 2021-11-30 | Electric power inspection robot and adjustment method of positioning device of cradle head camera |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113954099B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009017480A (en) * | 2007-07-09 | 2009-01-22 | Nippon Hoso Kyokai <Nhk> | Camera calibration device and program thereof |
| CN105513072A (en) * | 2015-12-05 | 2016-04-20 | 中国航空工业集团公司洛阳电光设备研究所 | PTZ correction method |
| CN110076748A (en) * | 2019-05-15 | 2019-08-02 | 沈阳航空航天大学 | A kind of autonomous patrol robot in campus based on Beidou positioning |
| CN111897331A (en) * | 2020-07-28 | 2020-11-06 | 北京恒通智控机器人科技有限公司 | Inspection robot holder alignment method and device and inspection robot |
| CN112365537A (en) * | 2020-10-13 | 2021-02-12 | 天津大学 | Active camera repositioning method based on three-dimensional point cloud alignment |
| US20210063577A1 (en) * | 2019-08-26 | 2021-03-04 | Ubtech Robotics Corp Ltd | Robot relocalization method and apparatus and robot using the same |
| CN112949478A (en) * | 2021-03-01 | 2021-06-11 | 浙江国自机器人技术股份有限公司 | Target detection method based on holder camera |
| CN213938118U (en) * | 2021-02-05 | 2021-08-10 | 厦门交安建设工程有限公司 | Electronic intelligent road monitoring probe |
-
2021
- 2021-11-30 CN CN202111450357.6A patent/CN113954099B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009017480A (en) * | 2007-07-09 | 2009-01-22 | Nippon Hoso Kyokai <Nhk> | Camera calibration device and program thereof |
| CN105513072A (en) * | 2015-12-05 | 2016-04-20 | 中国航空工业集团公司洛阳电光设备研究所 | PTZ correction method |
| CN110076748A (en) * | 2019-05-15 | 2019-08-02 | 沈阳航空航天大学 | A kind of autonomous patrol robot in campus based on Beidou positioning |
| US20210063577A1 (en) * | 2019-08-26 | 2021-03-04 | Ubtech Robotics Corp Ltd | Robot relocalization method and apparatus and robot using the same |
| CN111897331A (en) * | 2020-07-28 | 2020-11-06 | 北京恒通智控机器人科技有限公司 | Inspection robot holder alignment method and device and inspection robot |
| CN112365537A (en) * | 2020-10-13 | 2021-02-12 | 天津大学 | Active camera repositioning method based on three-dimensional point cloud alignment |
| CN213938118U (en) * | 2021-02-05 | 2021-08-10 | 厦门交安建设工程有限公司 | Electronic intelligent road monitoring probe |
| CN112949478A (en) * | 2021-03-01 | 2021-06-11 | 浙江国自机器人技术股份有限公司 | Target detection method based on holder camera |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113954099B (en) | 2023-10-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107707810B (en) | Thermal infrared imager-based heat source tracking method, device and system | |
| CN108050928B (en) | Visual measuring instrument and visual measuring method | |
| CN112949478A (en) | Target detection method based on holder camera | |
| CN112840374A (en) | Image processing method, image acquisition device, unmanned aerial vehicle system and storage medium | |
| CN109727291A (en) | A kind of high-precision online calibration method of zoom camera | |
| CN106403900A (en) | Flyer tracking and locating system and method | |
| CN104748860A (en) | Optical machine structure based on infrared area array detector scanning and imaging | |
| CN110749311B (en) | Positioning method, positioning device and storage medium | |
| CN114071008A (en) | Image acquisition device and image acquisition method | |
| CN112907647B (en) | Three-dimensional space size measurement method based on fixed monocular camera | |
| CN110533728A (en) | Scaling method, device and the medium of binocular stereo vision camera based on Zhang Zhengyou calibration | |
| CN110977970B (en) | Recognition method of image recognition system | |
| CN113954099A (en) | Power inspection robot and method for adjusting positioning device of holder camera | |
| CN110971791A (en) | Method for adjusting consistency of optical axis of camera zoom optical system and display instrument | |
| CN111928774A (en) | Target tracking, positioning and measuring method based on combination of camera and range finder | |
| CN110602376A (en) | Snapshot method and device and camera | |
| CN116228888B (en) | Conversion method and system for geographic coordinates and PTZ camera coordinates | |
| CN111982061A (en) | Distance measurement method based on different focal lengths of binocular fixed-focus cameras | |
| CN111741210A (en) | Fast automatic focusing method and device based on fixed scene | |
| JP2009086471A (en) | Overhead wire photographing system and method | |
| CN102826209A (en) | Method for realizing stereo shooting of ship draft image by using one-armed wall-climbing robot | |
| CN114095657B (en) | Automatic calibration method and system based on newly added camera | |
| CN109033164A (en) | A kind of panoramic map data acquisition system and its moving gathering termination | |
| CN112272272B (en) | Imaging method and device | |
| CN212695608U (en) | Overhead transmission line inspection operation system and flight operation platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |