CN113954099B - Electric power inspection robot and adjustment method of positioning device of cradle head camera - Google Patents
Electric power inspection robot and adjustment method of positioning device of cradle head camera Download PDFInfo
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- CN113954099B CN113954099B CN202111450357.6A CN202111450357A CN113954099B CN 113954099 B CN113954099 B CN 113954099B CN 202111450357 A CN202111450357 A CN 202111450357A CN 113954099 B CN113954099 B CN 113954099B
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- 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
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- 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 positioning device adjusting method of an electric power inspection robot and a cradle head camera, wherein the electric power inspection robot comprises the following components: the inspection robot and the cradle head camera are arranged above the inspection robot; the inspection robot is used for realizing power inspection work of a target transformer substation; the pan-tilt camera includes: the camera is used for acquiring real-time equipment images 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 equipment coordinates in the real-time equipment image; the rotating mechanism is rigidly connected with the radar; the rotating mechanism is used for realizing the rotating motion of the camera and the radar; and the cradle head base is arranged right below the rotating mechanism. The equipment coordinates in the real-time equipment images acquired by the radar are matched with the rotary motion of the rotating mechanism on the camera and the radar, so that the positioning adjustment of the cradle head camera in the electric power inspection robot is simply and rapidly realized.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to an electric power inspection robot and a positioning device adjusting method of a cradle head camera.
Background
At present, a large number of inspection robots used in transformer substations control the alignment and identification of targets by prerecording inspection points of the robots and the gestures of the cameras of the cloud deck so as to finish automatic inspection. Due to positioning and mechanical errors of the holder, secondary alignment is also required after the robot and the holder are controlled according to prerecorded inspection points and holder postures.
At present, a secondary alignment mode of a pan-tilt camera is usually to record a template image in a target pair in advance, zoom the image for multiple times, shoot the image and match the image with the template image, so as to adjust the posture of the camera to finish the accurate alignment of the pan-tilt camera.
In general, the existing secondary alignment technology uses a zoom camera, the camera has a narrow field angle at the maximum focal length, cannot tolerate the initial pose of large errors, can only start matching alignment from a small focal length, and has low alignment precision of the small focal length because the consistency of the optical axis of the zoom camera is poor, so that repeated zooming, photographing and adjusting are required, 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 affected by illumination, and feature matching failure is easily caused at night and in backlight, so that normal alignment cannot be realized.
Disclosure of Invention
The invention provides a positioning device adjusting method of a power inspection robot and a cradle head camera, which is used for solving the problems that the existing power inspection robot is low in alignment precision, complex in process and easy to be influenced by illumination when being subjected to secondary alignment.
In a first aspect, the present invention provides a power inspection robot, including: the inspection robot and the cradle head camera are arranged above the inspection robot; the inspection robot is used for realizing power inspection work of a target transformer substation; the pan-tilt camera includes:
the camera is used for acquiring real-time equipment images 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 equipment coordinates in the real-time equipment image;
the rotating mechanism is arranged right below the radar and is rigidly connected with the radar; the rotating mechanism is used for realizing the rotating motion of the camera and the radar;
and the cradle head base is arranged right below 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 includes: a vertical rotation structure rigidly connected with the radar, and a horizontal rotation mechanism rigidly connected with 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 clouds of equipment in the real-time equipment image under an area array laser radar coordinate system.
Optionally, the detection distance 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 the pan-tilt camera, and the pan-tilt camera is provided with an area array laser radar; the method comprises the following steps:
according to the position of the inspection robot recorded in advance, fixing the positions of the electric inspection robot and the target equipment through the inspection robot;
acquiring a 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 posture and focal length of the holder camera;
according to the real-time laser point cloud and the preset laser point cloud, adjusting the cradle head camera; the preset laser point cloud is recorded under the pre-recorded posture and focal length of the cradle head camera.
Optionally, 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 pan-tilt camera;
and adjusting the pan-tilt 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 the 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 pre-recorded positions of the inspection robot;
the acquisition module is used for acquiring a 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 posture and focal length of the holder camera;
the adjusting module is used for adjusting the cradle head camera according to the real-time laser point cloud and the preset laser point cloud; the preset laser point cloud is obtained by recording under the pre-recorded holder camera gesture and focal length
The technical scheme of the invention relates to an electric power inspection robot, which comprises the following components: the inspection robot and the cradle head camera are arranged above the inspection robot; the inspection robot is used for realizing power inspection work of a target transformer substation; the pan-tilt camera includes: the camera is used for acquiring real-time equipment images 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 equipment coordinates in the real-time equipment image; the rotating mechanism is arranged right below the radar and is rigidly connected with the radar; the rotating mechanism is used for realizing the rotating motion of the camera and the radar; and the cradle head base is arranged right below the rotating mechanism.
The equipment coordinates in the real-time equipment images acquired by the radar are matched with the rotary motion of the rotating mechanism on the camera and the radar, so that the positioning adjustment of the cradle head camera in the electric power inspection robot is simply and rapidly realized.
Second, since the power inspection robot of the present invention does not use the visual feature matching method, it is protected from light.
Drawings
For a clearer description of embodiments of the invention or of the solutions of the prior art, the drawings that are necessary for the description of the embodiments or of the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, from which, without inventive faculty, other drawings can be obtained for a person skilled in the art;
FIG. 1 is a schematic 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 camera according to the present invention;
FIG. 3 is a schematic diagram illustrating a deployment phase of an embodiment of a method for adjusting a positioning device of a pan-tilt camera according to the present invention;
fig. 4 is a schematic inspection diagram of an embodiment of a method for adjusting a positioning device of a pan-tilt camera according to the present invention;
FIG. 5 is a schematic diagram illustrating an adjustment method of a positioning device of a pan-tilt camera according to an embodiment of the present invention;
fig. 6 is a block diagram illustrating an embodiment of a positioning device adjusting device for a pan-tilt 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. and a cradle head base.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
The embodiment of the invention provides a positioning device adjusting method of an electric power inspection robot and a cradle head camera.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of an electric power inspection robot according to the present invention, and the electric power inspection robot according to the present invention includes: the inspection robot and the cradle head camera are arranged above the inspection robot; the inspection robot is used for realizing power inspection work of a target transformer substation; the pan-tilt camera includes:
the camera is used for acquiring real-time equipment images 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 equipment coordinates in the real-time equipment image;
the rotating mechanism is arranged right below the radar and is rigidly connected with the radar; the rotating mechanism is used for realizing the rotating motion of the camera and the radar;
the cradle head 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 mechanism 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 clouds of equipment in the real-time equipment image under the coordinate system of the area array laser radar 2.
Specifically, the detection distance of the area array lidar 2 is [0m,200m ].
Specifically, the positioning device is a depth sensor.
Specifically, the measurement accuracy of the area array laser radar 2 is ±2cm.
The invention provides a power inspection robot, which comprises: the inspection robot and the cradle head camera are arranged above the inspection robot; the inspection robot is used for realizing power inspection work of a target transformer substation; the pan-tilt camera includes: the camera is used for acquiring real-time equipment images 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 equipment coordinates in the real-time equipment image; the rotating mechanism is arranged right below the radar and is rigidly connected with the radar; the rotating mechanism is used for realizing the rotating motion of the camera and the radar; the cradle head base 6 is arranged right below the rotating mechanism.
The equipment coordinates in the real-time equipment images acquired by the radar are matched with the rotary motion of the rotating mechanism on the camera and the radar, so that the positioning adjustment of the cradle head camera in the electric power inspection robot is simply and rapidly realized.
Second, since the power inspection robot of the present invention does not use the visual feature matching method, it is protected from light.
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, which is applied to an electric inspection robot, wherein the electric inspection robot comprises an inspection robot and a pan-tilt camera, and the pan-tilt camera is mounted 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 position of the inspection robot recorded in advance;
s2, acquiring a 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 posture and focal length of the holder camera;
s3, adjusting the pan-tilt camera according to the real-time laser point cloud and the preset laser point cloud; the preset laser point cloud is recorded under the pre-recorded posture and focal length of the cradle head camera.
In an alternative 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 pan-tilt camera;
and adjusting the pan-tilt 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 illustrating a deployment stage of an embodiment of a positioning device adjustment method for a pan-tilt camera according to the present invention, wherein T is a target device, and in the deployment stage, a patrol robot is controlled to a suitable position, the pan-tilt camera is controlled to a suitable posture and a suitable focal length, so that the target device is clearly presented in an image of the pan-tilt camera, the posture and the focal length of the pan-tilt camera at the moment are recorded, and a laser point cloud under a current front array laser radar coordinate system is recorded;
(2) A patrol stage; referring to fig. 4, fig. 4 is a schematic view illustrating an inspection of an embodiment of a positioning device adjusting method for a pan-tilt camera according to the present invention, in an inspection stage, according to the position of the inspection robot, the pose and the focal length of the pan-tilt camera, and the laser point cloud under the planar array laser radar coordinate system in the step (1), a real-time laser point cloud corresponding to a real-time image of a target device is obtained;
(3) A matching stage; referring to fig. 5, the real-time laser point cloud is matched with the preset laser point cloud, an angle difference of the pan-tilt camera is calculated, and the pan-tilt 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 through the inspection robot according to the pre-recorded positions of the inspection robot; acquiring a 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 posture and focal length of the holder camera; according to the real-time laser point cloud and the preset laser point cloud, adjusting the cradle head camera; the preset laser point cloud is recorded under the pre-recorded posture and focal length of the cradle head camera. The problems that the existing power inspection robot is low in alignment precision, complex in process and easy to be influenced by illumination in secondary alignment are solved.
Referring to fig. 6, fig. 6 is a block diagram of an embodiment of a positioning device adjusting device of a pan-tilt camera, which is applied to a power inspection robot, wherein the power inspection robot comprises an inspection robot and a pan-tilt camera, and the pan-tilt camera is mounted with an area array laser radar; the device comprises:
a fixing module 401, configured to fix, according to a pre-recorded position of the inspection robot, a position of the power inspection robot and the target device through the inspection robot;
the acquiring module 402 is configured to acquire, 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 adjustment module 403, configured to adjust the pan-tilt camera according to the real-time laser point cloud and a preset laser point cloud; the preset laser point cloud is recorded under the pre-recorded posture and focal length of the cradle head camera.
In an alternative embodiment, the adjustment module 403 includes:
the matching sub-module is used for matching the real-time laser point cloud with the preset laser point cloud, and calculating to obtain the angle difference of the cradle head camera;
and the adjusting sub-module is used for adjusting the cradle head camera according to the angle difference.
It will be clear to those skilled in the art that, for convenience and brevity of description, reference may be made to the corresponding process in the foregoing method embodiment for the specific working process of the apparatus described above, which is not described herein again.
In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown 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 may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform 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, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. The utility model provides a power inspection robot which characterized in that includes: the inspection robot and the cradle head camera are arranged above the inspection robot; the inspection robot is used for fixing the positions of the power inspection robot and a target transformer substation according to the position of the inspection robot recorded in advance and is used for realizing power inspection work of the target transformer substation; the pan-tilt camera includes:
the camera is used for acquiring real-time equipment images of the target transformer substation;
the positioning device is adjacently connected with the camera on the same horizontal line; the positioning device is an area array laser radar and is used for acquiring equipment coordinates in the real-time equipment image;
the area array laser radar is also used for acquiring real-time laser point clouds of equipment in the real-time equipment image under an area array laser radar coordinate system according to the pre-recorded posture and focal length of the cradle head camera;
the rotating mechanism is arranged right below the area array laser radar and is rigidly connected with the area array laser radar; the rotating mechanism is used for calculating the angle difference of the cradle head camera based on the real-time laser point cloud and the preset laser point cloud, and is used for realizing the rotating motion of the camera and the area array laser radar; the preset laser point cloud is recorded under the pre-recorded posture and focal length of the cradle head camera;
the cradle head base is arranged right below the rotating mechanism;
the camera includes: the area array laser radar is arranged between 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;
the rotation mechanism includes: the vertical rotating structure is rigidly connected with the area array laser radar, and the horizontal rotating mechanism is rigidly connected with the vertical rotating structure.
2. The power inspection robot of claim 1, wherein the area array lidar has a detection distance [0m,200m ].
3. The power inspection robot of claim 1, wherein the positioning device is a depth sensor.
4. The power inspection robot of claim 2, wherein the area array lidar has a measurement accuracy of ±2cm.
5. The method for adjusting the positioning device of the pan-tilt camera is characterized by being applied to the power inspection robot disclosed in claim 1, wherein the power inspection robot consists of an inspection robot and the pan-tilt camera, and the pan-tilt camera is provided with an area array laser radar; the method comprises the following steps:
according to the position of the inspection robot recorded in advance, fixing the positions of the power inspection robot and the target equipment through the inspection robot;
acquiring a 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 posture and focal length of the holder camera;
and adjusting the cradle head camera according to the real-time laser point cloud and the preset laser point cloud.
6. The method for adjusting a positioning device of a pan-tilt camera according to claim 5, wherein adjusting the pan-tilt 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 pan-tilt camera;
and adjusting the pan-tilt camera according to the angle difference.
7. The positioning device adjusting device of the pan-tilt camera is characterized by being applied to the electric power inspection robot disclosed in claim 1, wherein the electric power inspection robot consists of an inspection robot and the 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 pre-recorded positions of the inspection robot;
the acquisition module is used for acquiring a 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 posture and focal length of the holder camera;
and the adjusting module is used for adjusting the pan-tilt camera according to the real-time laser point cloud and the preset laser point cloud.
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