CN115509225A - Position correction method, position correction device, computer equipment and storage medium - Google Patents
Position correction method, position correction device, computer equipment and storage medium Download PDFInfo
- Publication number
- CN115509225A CN115509225A CN202211108891.3A CN202211108891A CN115509225A CN 115509225 A CN115509225 A CN 115509225A CN 202211108891 A CN202211108891 A CN 202211108891A CN 115509225 A CN115509225 A CN 115509225A
- Authority
- CN
- China
- Prior art keywords
- image
- target
- image block
- pixel value
- registered
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 61
- 238000012937 correction Methods 0.000 title claims abstract description 58
- 238000006243 chemical reaction Methods 0.000 claims abstract description 53
- 238000007689 inspection Methods 0.000 claims abstract description 21
- 239000003550 marker Substances 0.000 claims description 19
- 238000004590 computer program Methods 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000005457 optimization Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 1
- 230000002354 daily effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20021—Dividing image into blocks, subimages or windows
Abstract
The invention belongs to the technical field of operation optimization of nuclear power plants, and discloses a position correction method, a position correction device, computer equipment and a storage medium, wherein the position correction method comprises the following steps: in the track robot inspection process, acquiring an image to be registered, which is obtained by shooting a target image at a preset position by a track robot; acquiring a standard image corresponding to a preset position, wherein the standard image comprises at least one marked image block; searching an image block which has the similarity meeting the similarity condition with the mark image block from the image to be registered to obtain a target image block corresponding to the mark image block; acquiring the position difference between a marked image block and a target image block to obtain a target offset pixel value; acquiring a conversion parameter between a pre-determined movement distance and an offset pixel value, and converting a target offset pixel value based on the conversion parameter to obtain a movement distance error of the track robot; and correcting the preset position of the track robot based on the movement distance error.
Description
Technical Field
The invention belongs to the technical field of operation optimization of nuclear power plants, and particularly relates to a position correction method, a position correction device, computer equipment and a storage medium.
Background
The main switching station and the extra-high voltage distribution device (GEW) of the nuclear power plant are mainly used for distributing and transmitting power generated by a nuclear power unit to a power grid, and when the nuclear power unit is stopped or started, external power grid power is supplied to power plant equipment. The GEW system is provided with the following secondary protection and control equipment: the system comprises a line protection device, a T-zone protection device, a bus protection device, a circuit breaker protection device, a transformer protection device, a stability control device, a telecontrol device, a measurement and control device, a PMU device, a fault recorder, a letter protection substation and the like. In order to realize secondary protection and controlgear state monitoring system technical field, need adopt high definition camera automatic identification to judge secondary protection and controlgear table count value and switch position state through patrolling and examining the robot, the step that the track robot set up operating condition as follows:
1) And the inspection personnel control the robot to move to a screen cabinet to be inspected along the track.
2) And controlling a robot lifting mechanism to lower the inspection task module (the holder with the high-definition camera) to the inspection height.
3) And controlling the holder to rotate the high-definition camera to be aligned to the equipment (a certain meter) to be monitored.
4) The patrol personnel record the current robot position (track position, lifting rod position and holder position) and set the current robot position as a current working preset position.
5) During daily inspection, the robot system automatically operates to the preset position every day according to an inspection task, and automatically reads the working state of the equipment at the position (reads a certain meter counting value).
According to the steps, whether the meter counting value can be read correctly or not is extremely dependent on the precision of the preset position of the robot, and if the precision of the preset position is large in error, the equipment (a certain meter) needing to be monitored in advance cannot be positioned, and the working state of the equipment cannot be read naturally. In the related art, in order to ensure the accuracy of the preset position, the preset position needs to be manually corrected, so that the efficiency is low, and the correction accuracy is low.
Disclosure of Invention
The invention aims to: technical problems in the prior art are overcome, and a position correction method, a position correction device, computer equipment and a storage medium capable of improving correction efficiency and accuracy are provided.
In order to achieve the above object of the present invention, the present invention provides a position correction method including the steps of:
in the track robot inspection process, acquiring an image to be registered, which is obtained by shooting a target image at a preset position by a track robot;
acquiring a standard image corresponding to the preset position, wherein the standard image is obtained by shooting a target image at the preset position under a normal operation state of the track robot, and comprises at least one mark image block;
searching an image block of which the similarity with the mark image block meets the similarity condition from the image to be registered to obtain a target image block corresponding to the mark image block;
acquiring the position difference between the mark image block and the target image block to obtain a target offset pixel value of the image to be registered relative to the standard image;
acquiring a conversion parameter between a pre-determined movement distance and an offset pixel value, and converting the target offset pixel value based on the conversion parameter to obtain a movement distance error of the track robot; and correcting the preset position of the track robot based on the movement distance error.
According to an embodiment of the position correction method of the present invention, the searching for an image block whose similarity with the marker image block satisfies a similarity condition from the image to be registered to obtain a target image block corresponding to the marker image block includes: carrying out global search on the image to be registered to obtain a plurality of candidate image blocks with the same size as the marked image blocks; performing cross-correlation calculation between the candidate image blocks and the mark image blocks aiming at each candidate image block to obtain the correlation degree between the candidate image blocks and the mark image blocks; calculating a similarity between the candidate image block and the labeled image block based on the correlation; and selecting the candidate image block with the maximum similarity from the candidate image blocks as a target image block corresponding to the marked image block.
According to an embodiment of the position correction method of the present invention, the standard image includes a plurality of marked image blocks; the searching an image block of which the similarity with the marked image block meets the similarity condition from the image to be registered to obtain a target image block comprises the following steps: searching image blocks with the highest similarity with the mark image blocks from the image to be registered respectively to obtain target image blocks corresponding to the mark image blocks respectively; the acquiring the position difference between the marked image block and the target image block comprises: determining a target mark image block from the plurality of mark image blocks, and calculating a distance between the target mark image block and at least one other mark image block to obtain a first distance; calculating the distance between a target image block corresponding to the target mark image and at least one other target image block to obtain a second distance; when the distance difference between the first distance and the second distance is larger than a preset threshold value, giving an alarm prompt; and when the distance difference between the first distance and the second distance is smaller than a preset threshold, acquiring the position difference between the target mark image block and the corresponding target image block.
According to one embodiment of the position correction method of the present invention, the conversion parameter between the movement distance and the offset pixel value in the horizontal direction is determined by: acquiring a first target position of the orbital robot when a left edge of the target image is located at a left edge of a camera field of view of the orbital robot; acquiring a second target position of the orbital robot when the left edge of the target image is located at the right edge of the camera field of view of the orbital robot; a first target position difference is determined based on the first target position and the second target position, and a conversion parameter between a horizontal movement distance and an offset pixel value is obtained based on the first target position difference and a horizontal resolution of a camera of the orbital robot.
According to an embodiment of the position correction method of the present invention, the obtaining a position difference between the mark image block and the target image block to obtain a target offset pixel value of the to-be-registered image with respect to the standard image includes: acquiring a horizontal coordinate difference value between the marked image block and the target image block to obtain a target offset pixel value of the image to be registered relative to the standard image; the converting the target offset pixel value based on the conversion parameter to obtain the moving distance error of the track robot includes: and multiplying the horizontal coordinate difference value by a conversion parameter between the horizontal movement distance and the offset pixel value to obtain the horizontal movement distance error of the track robot.
According to an embodiment of the position correction method of the present invention, the conversion parameter between the movement distance and the offset pixel value in the vertical direction is determined by: acquiring a first target position of the orbital robot when a left edge of the target image is located at an upper edge of a camera field of view of the orbital robot; acquiring a second target position of the track robot when the left edge of the target image is located at the lower edge of the camera field of view of the track robot; determining a first target position difference based on the first target position and the second target position, and obtaining a conversion parameter between a vertical movement distance and an offset pixel value based on the first target position difference and a vertical resolution of a camera of the orbital robot.
According to an embodiment of the position correction method of the present invention, the obtaining a position difference between the mark image block and the target image block to obtain a target offset pixel value of the to-be-registered image with respect to the standard image includes: acquiring a vertical coordinate difference value between the mark image block and the target image block to obtain a target offset pixel value of the image to be registered relative to the standard image; the converting the target offset pixel value based on the conversion parameter to obtain the moving distance error of the track robot includes: and multiplying the vertical coordinate difference value by a conversion parameter between the vertical motion distance and the offset pixel value to obtain the vertical motion distance error of the track robot.
In order to achieve the above object of the invention, the present invention provides a position correction device including:
the system comprises a to-be-registered image acquisition module, a target image acquisition module and a target registration module, wherein the to-be-registered image acquisition module is used for acquiring a to-be-registered image which is obtained by shooting a target image at a preset position by a track robot in the track robot inspection process;
the standard image acquisition module is used for acquiring a standard image corresponding to the preset position, the standard image is obtained by shooting a target image at the preset position under a normal operation state of the track robot, and the standard image comprises at least one mark image block;
the target image block determining module is used for searching image blocks, the similarity of which with the mark image block meets the similarity condition, from the image to be registered to obtain a target image block corresponding to the mark image block;
the offset pixel value determining module is used for acquiring the position difference between the mark image block and the target image block to obtain a target offset pixel value of the image to be registered relative to the standard image;
the distance error determining module is used for acquiring a conversion parameter between a pre-measured movement distance and an offset pixel value, and converting the target offset pixel value based on the conversion parameter to obtain a movement distance error of the track robot;
and the position correction module is used for correcting the preset position of the track robot based on the movement distance error.
In order to achieve the above object, the present invention also provides a computer device including a memory storing a computer program and a processor implementing the steps of the above position correction method when the processor executes the computer program.
In order to achieve the above object of the present invention, the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the above position correcting method.
The invention relates to a position correction method, a device, computer equipment and a storage medium, wherein in the process of inspecting a track robot, a to-be-registered image obtained by shooting a target image at a preset position by the track robot is obtained, a standard image corresponding to the preset position is obtained, the standard image is an image obtained by shooting the target image at the preset position by the track robot in a normal operation state, the standard image comprises at least one mark image block, an image block with the similarity meeting the similarity condition with the mark image block is searched from the to-be-registered image, a target image block corresponding to the mark image block is obtained, the position difference between the mark image block and the target image block is obtained, a target offset pixel value of the to-be-registered image relative to the standard image is obtained, a conversion parameter between a predetermined motion distance and the offset pixel value is obtained, the target offset pixel value is converted based on the conversion parameter, and the motion distance error of the track robot is corrected on the basis of the motion distance error of the track robot, so that the position correction can be automatically performed, the correction efficiency is improved, and the correction accuracy is improved.
Drawings
The position correction method, apparatus, computer device and storage medium of the present invention are described in detail below with reference to the accompanying drawings and detailed description, wherein:
FIG. 1 is a diagram of an application environment of a location correction method according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating a position correction method according to an embodiment of the present invention;
FIG. 3 is a schematic external view of a track robot according to an embodiment of the present invention;
FIG. 4 is an example of a target image in accordance with an embodiment of the present invention;
FIG. 5 is an example of a standard image in one embodiment of the invention;
FIG. 6 is a block diagram of a position calibration apparatus according to an embodiment of the present invention;
FIG. 7 is a diagram of the internal structure of a computer device in accordance with one embodiment of the present invention.
Detailed Description
In order to make the object, technical solution and technical effect of the present invention more clear, the present invention will be further described in detail with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are given by way of illustration only.
The position correction method provided by the invention can be applied to the application environment shown in figure 1. Wherein the orbital robot 102 can communicate with the computer device 104 through a network, wherein the network can be a wired network or a wireless network. The traditional method for adjusting the positioning error of the track robot can be completed only by periodically and manually correcting preset positions one by operation and maintenance personnel, and a large amount of manpower is consumed for periodic maintenance. The invention solves the problem of robot walking positioning errors caused by mechanical operation accumulated errors, rail abrasion errors or other various system errors after a rail robot system runs for a long time, ensures that the robot can shoot a detection target every time, lays a solid foundation for accurately identifying the meter counting value, effectively improves the automatic inspection identification rate of the secondary protection and control equipment of the nuclear power plant switching station, and reduces the workload of manual maintenance.
According to an embodiment of the present invention, as shown in fig. 2, a position correction method is provided, which is described by taking the method as an example applied to the computer device in fig. 1, it is understood that the position correction method of the present invention may also be performed by an inspection robot. Specifically, in this embodiment, the position correction method includes the following steps:
step 202, in the process of inspecting the track robot, acquiring an image to be registered, which is obtained by shooting a target image at a preset position by the track robot.
The orbital robot refers to a robot that can move horizontally or vertically along an orbit. Fig. 3 is a schematic diagram showing the appearance of the track robot in a specific application. The target image may be any image, as shown in fig. 4, which is an example of a target image in a practical application. The preset position refers to a position point selected in a certain motion direction of the robot, and the preset positions can be one or more, wherein the plurality refers to at least two. In a specific application, the preset position may be a middle position point when the robot runs along a certain direction.
Specifically, the target image is pasted at a preset position, and in the inspection process of the track robot, when the inspection robot moves to the preset position, the target image can be shot through a camera to obtain an image to be registered, and then the image is sent to the computer device.
And 204, acquiring a standard image corresponding to the preset position, wherein the standard image is obtained by shooting the target image at the preset position under the normal operation state of the track robot, and the standard image comprises at least one mark image block.
The normal operation state refers to a state in which the track robot does not generate a position error at the preset position, and may be, for example, a state in which the track robot is located after the preset position of the track robot is corrected manually.
Specifically, the computer device can send an instruction to the track robot, so that the robot is located at an initial position (initial position), that is, the starting position of each inspection is generally that the robot is located at the initial position of the track, the lifting mechanism is located at the uppermost position, the pan-tilt is located at the position after the self-inspection is finished, and the high-definition camera is located at the closest focal length position (the position with the largest field of view). Assuming that the effective travel distance of the track robot in the horizontal direction is L, 1 preset position for correction can be set at a position of L/2 in the horizontal direction. And pasting a target image in the preset position picture to enable the image to be positioned at the center of the camera picture of the inspection robot, and shooting the target image through the camera of the inspection robot to obtain a standard image. One or more image areas are marked on the standard image, resulting in marked image blocks. In a specific embodiment, as shown in fig. 5, which is a schematic diagram of a standard image, it can be seen that there are four marked image blocks in the standard image.
And step 206, searching image blocks with the similarity meeting the similarity condition with the marked image block from the image to be registered to obtain a target image block corresponding to the marked image block.
The similarity condition may be that the similarity is greater than a preset similarity threshold, or the similarity is maximum.
Specifically, for each marker image, the computer device may traverse each image block of the image to be registered that matches the size and shape of the marker image, then calculate the similarity, and find an image block whose similarity satisfies the similarity condition as the target image block of the marker image block.
According to an embodiment of the present invention, searching an image block, whose similarity with a labeled image block satisfies a similarity condition, from an image to be registered to obtain a target image block corresponding to the labeled image block, includes: carrying out global search on the image to be registered to obtain a plurality of candidate image blocks with the same size as the marked image blocks; performing cross-correlation calculation between the candidate image blocks and the mark image blocks aiming at each candidate image block to obtain the correlation degree between the candidate image blocks and the mark image blocks; calculating the similarity between the candidate image block and the marked image block based on the correlation; and selecting the candidate image block with the maximum similarity from the candidate image blocks as a target image block corresponding to the marked image block.
Specifically, assume that the standard image is S, the image to be registered is T, the width of the image to be registered is WT, and the height is HT; and converting the standard image S and the image T to be registered into 256-color gray level images. And calculating a target image block with the highest similarity with each mark image block in the image T to be registered by adopting a global search method, wherein the calculation formula is as follows:
wherein, T ij And representing the image block with length W and height H in the image to be registered by taking the position of the coordinate (i, j) as the center, wherein the value range of i is (W/2) to (WT-W/2), the value range of j is (H/2) to (HT-H/2), and R (i, j) is the similarity of the image block by taking the position of the coordinate (i, j) as the center. And counting the maximum value of all R (i, j), wherein the image block corresponding to the maximum value is the target image block.
According to one embodiment of the present invention, a standard image includes a plurality of marked image blocks; searching image blocks with the similarity meeting the similarity condition with the marked image block from the image to be registered to obtain a target image block, wherein the method comprises the following steps of: searching image blocks with the highest similarity between the image blocks and each mark image block from the image to be registered respectively to obtain target image blocks corresponding to each mark image block; acquiring the position difference between the mark image block and the target image block includes: determining a target mark image block from the plurality of mark image blocks, and calculating a distance between the target mark image block and at least one other mark image block to obtain a first distance; calculating the distance between a target image block corresponding to the target mark image and at least one other target image block to obtain a second distance; when the distance difference between the first distance and the second distance is larger than a preset threshold value, giving an alarm prompt; and when the distance difference between the first distance and the second distance is smaller than a preset threshold, acquiring the position difference between the target mark image block and the corresponding target image block.
Specifically, the positional difference between the marker image blocks may be the distance between the feature position points of the marker image blocks. Assuming that the standard image includes 4 marked image blocks, the feature point positions of the 4 marked image blocks are taken, and the feature point positions may be, for example, the center point positions of the image blocks, and it is assumed that the feature point positions of the four marked image blocks are: s1, S2, S3, S4, the distance between the first marked image block and the second marked image block may be the distance between S1 and S2. The distance between the target image blocks may be a distance between position points in the target image blocks that match the feature position points in the marker image blocks, the position points in the target image blocks that match the feature position points in the marker image blocks, that is, the position points with coordinates (i, j), are also the center position points, and assuming that the position points that match S1, S2, S3, and S4 are T1, T2, T3, and T4, respectively, the distance between the first target image block and the second target image block may be a distance between T1 and T2.
The computer device may calculate distances between the target marker image block and at least one other marker image block, respectively, then average to obtain a first distance, calculate distances between the target image block corresponding to the target marker image and the other target image blocks, respectively, then average to obtain a second distance. When the distance difference between the first distance and the second distance is smaller than the preset threshold, the current meter conforms to the meter type and model in the template, namely all modeling parameters needing to be marked are consistent, the position difference between the target mark image block and the corresponding target image block can be obtained, the position verification is continued, when the distance difference between the first distance and the second distance is larger than the preset threshold, the process is executed again, and the alarm prompt is carried out when the distance difference between the first distance and the second distance is continuously and repeatedly larger than the preset threshold. The alarm prompt may be one or more of an audible prompt, a textual prompt, or a light-emitting prompt.
And 208, acquiring the position difference between the mark image block and the target image block to obtain a target offset pixel value of the to-be-registered image relative to the standard image.
The position difference comprises the number of pixel points with phase difference in the horizontal direction between the mark image block and the target image block and the number of pixel points with phase difference in the vertical direction between the mark image block and the target image block.
Specifically, the computer device may obtain the number of pixels of the marked image block and the target image block that are different in the horizontal direction and the vertical direction, respectively, to obtain respective target offset pixel values in the horizontal direction and the vertical direction.
And step 210, acquiring a conversion parameter between the pre-measured movement distance and the offset pixel value, and converting the target offset pixel value based on the conversion parameter to obtain the movement distance error of the track robot.
Specifically, the target offset pixel value obtained by the above calculation is an offset on an image pixel, and the image offset needs to be converted into a distance offset in an actual motion process, so that the computer device here may obtain a conversion parameter between a motion distance measured in advance and the offset pixel value, and then convert the pixel offset value to obtain a motion distance error.
According to one embodiment of the invention, the conversion parameter between the movement distance and the offset pixel value in the horizontal direction is determined by: acquiring a first target position of the track robot when the left edge of the target image is positioned at the left edge of the camera view field of the track robot; acquiring a second target position of the rail robot when the left edge of the target image is positioned at the right edge of the camera view field of the rail robot; a first target position difference is determined based on the first target position and the second target position, and a conversion parameter between the horizontal movement distance and the offset pixel value is obtained based on the first target position difference and the horizontal resolution of the camera of the orbital robot.
Specifically, the track robot is controlled to move horizontally so that the left edge of the target image is positioned at the left edge of the camera view field (i.e., just see all of the target images), and the current robot operating position z1 (in millimeters) is recorded. And controlling the track robot to move horizontally, enabling the left edge of the target image to be positioned at the right edge of a high-definition camera view field (namely, not seeing all the target images), recording the current robot operation position Z2 (unit millimeter), and if the resolution of the camera is X Y, enabling a conversion parameter between the horizontal movement distance and the offset pixel value to be (Z2-Z1)/X. For example, assuming that the camera sets a resolution of acquisition of 1080P (1920 × 1080), the conversion parameter between the horizontal movement distance and the offset pixel value is (Z2-Z1)/1920.
According to one embodiment of the invention, the conversion parameter between the movement distance and the offset pixel value in the vertical direction is determined by: acquiring a first target position of the track robot when the left edge of the target image is positioned at the upper edge of a camera view field of the track robot; acquiring a second target position of the rail robot when the left edge of the target image is positioned at the lower edge of the camera view field of the rail robot; a first target position difference is determined based on the first target position and the second target position, and a conversion parameter between a vertical movement distance and an offset pixel value is obtained based on the first target position difference and a vertical resolution of a camera of the orbital robot.
Specifically, the vertical lifting mechanism is controlled to move up and down, so that the upper edge of the target image is positioned at the upper edge of the field of view of the high-definition camera (namely, all the target images are just seen), and the current position z1 (unit millimeter) of the lifting mechanism is recorded. And controlling the vertical lifting mechanism to move up and down, enabling the upper edge of the target image to be positioned at the lower edge of the field of view of the high-definition camera (namely, not seeing all the target images), and recording the current position z2 (unit millimeter) of the lifting mechanism. If the resolution of the camera is X Y, the conversion parameter between the vertical movement distance and the offset pixel value is (Z2-Z1)/Y. For example, assuming that the camera setting has a resolution of collection of 1080P resolution (1920 × 1080), the conversion parameter between the vertical movement distance and the offset pixel value is (Z2-Z1)/1080.
And 212, correcting the preset position of the track robot based on the movement distance error.
In the position correction method, in the inspection process of the track robot, a to-be-registered image which is obtained by shooting a target image at a preset position by the track robot is obtained, a standard image corresponding to the preset position is obtained, the standard image is an image which is obtained by shooting the target image at the preset position by the track robot in a normal operation state, the standard image comprises at least one mark image block, an image block of which the similarity with the mark image block meets the similarity condition is searched from the to-be-registered image, a target image block corresponding to the mark image block is obtained, the position difference between the mark image block and the target image block is obtained, a target offset pixel value of the to-be-registered image relative to the standard image is obtained, a conversion parameter between a predetermined movement distance and the offset pixel value is obtained, the target offset pixel value is converted based on the conversion parameter, and the preset position of the track robot is corrected based on the movement distance error, so that automatic position correction can be realized, the correction efficiency is improved, and the correction accuracy is improved.
According to an embodiment of the present invention, obtaining a position difference between a mark image block and a target image block to obtain a target offset pixel value of an image to be registered relative to a standard image includes: acquiring a horizontal coordinate difference value between a mark image block and a target image block to obtain a target offset pixel value of the to-be-registered image relative to a standard image; converting the target offset pixel value based on the conversion parameter to obtain the motion distance error of the track robot, comprising: and multiplying the horizontal coordinate difference value by a conversion parameter between the horizontal movement distance and the offset pixel value to obtain the horizontal movement distance error of the track robot.
Specifically, the horizontal movement distance error is an error in the horizontal movement process of the robot on the horizontal rail. Assuming that the characteristic position point in the marked image block is S1 and the position point matched with the characteristic position point in the target image block is T1, calculating the difference value between the horizontal coordinate X of the S1 point and the horizontal coordinate X of the T1 point, and then calculating to obtain the horizontal movement distance error of the robot as follows:
Q1＝(T1X-S1X)*((Z2-Z1)/X)
and if the absolute value of Q1 is larger than a preset distance threshold (the value is according to the requirement of the robot orbit operation precision), correcting the horizontal orbit position of the orbital robot at the preset position according to Q1.
It can be understood that if there are a plurality of marker images, the Q1 calculated from the plurality of marker images is averaged, and it is determined whether the average value is greater than a preset distance threshold, and if so, the horizontal orbit position of the orbital robot at the preset position is corrected.
According to an embodiment of the present invention, obtaining a position difference between a mark image block and a target image block to obtain a target offset pixel value of an image to be registered relative to a standard image includes: acquiring a vertical coordinate difference value between a mark image block and a target image block to obtain a target offset pixel value of the image to be registered relative to a standard image; converting the target offset pixel value based on the conversion parameter to obtain the motion distance error of the orbit robot, comprising: and multiplying the vertical coordinate difference by a conversion parameter between the vertical motion distance and the offset pixel value to obtain the vertical motion distance error of the track robot.
Specifically, the vertical movement distance error is an error of the lifting mechanism of the robot in the up-and-down movement process. Assuming that the characteristic position point in the marked image block is S1 and the position point matched with the characteristic position point in the target image block is T1, calculating the difference between the horizontal coordinate Y of the point S1 and the horizontal coordinate Y of the point T1, and then calculating to obtain the vertical movement distance error of the lifting mechanism as follows:
Q2＝(T1Y-S1Y)*((Z2-Z1)/Y)
and if the absolute value of the Q2 is larger than a preset distance threshold value (the value is according to the running precision requirement of the robot track), correcting the vertical position of the lifting mechanism at the preset position according to the Q2.
It can be understood that if there are a plurality of mark images, the Q2 calculated from the plurality of mark images is averaged, and whether the average value is greater than the preset distance threshold is determined, and if so, the vertical position of the lifting mechanism at the preset position is corrected.
It should be understood that, although the steps in the above-described flowcharts are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not limited to being performed in the exact order illustrated and, unless explicitly stated herein, may be performed in other orders. Moreover, at least a part of the steps in the above flowcharts may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a part of the steps or stages in other steps.
According to an embodiment of the present invention, as shown in fig. 6, there is provided a position correction apparatus 600 including:
the to-be-registered image acquisition module 602 is configured to acquire an image to be registered, which is obtained by shooting a target image at a preset position by a track robot, in the track robot inspection process;
a standard image obtaining module 604, configured to obtain a standard image corresponding to a preset position, where the standard image is an image obtained by shooting a target image at the preset position in a normal operation state of the track robot, and the standard image includes at least one mark image block;
the target image block determining module 606 is configured to search an image block, of which similarity with the marker image block satisfies a similarity condition, from the to-be-registered image to obtain a target image block corresponding to the marker image block;
an offset pixel value determining module 608, configured to obtain a position difference between the mark image block and the target image block, to obtain a target offset pixel value of the to-be-registered image relative to the standard image;
a distance error determination module 610, configured to obtain a conversion parameter between a predetermined motion distance and an offset pixel value, and convert the target offset pixel value based on the conversion parameter to obtain a motion distance error of the track robot;
and a position correction module 612, configured to correct the preset position of the track robot based on the movement distance error.
According to the position correction device, in the process of the inspection of the track robot, the to-be-registered image which is obtained by shooting the target image at the preset position by the track robot is obtained, the standard image corresponding to the preset position is obtained, the standard image is the image which is obtained by shooting the target image at the preset position by the track robot in the normal operation state, the standard image comprises at least one mark image block, an image block of which the similarity with the mark image block meets the similarity condition is searched from the to-be-registered image, a target image block corresponding to the mark image block is obtained, the position difference between the mark image block and the target image block is obtained, the target offset pixel value of the to-be-registered image relative to the standard image is obtained, the conversion parameter between the pre-determined motion distance and the offset pixel value is obtained, the target offset pixel value is converted based on the conversion parameter, the preset position of the track robot is corrected based on the motion distance error, and therefore the automatic position correction can be realized, the correction efficiency is improved, and the correction accuracy is improved.
According to an embodiment of the present invention, the target image block determining module is further configured to perform global search on the image to be registered, so as to obtain a plurality of candidate image blocks having the same size as the marker image block; performing cross-correlation calculation between the candidate image blocks and the mark image blocks aiming at each candidate image block to obtain the correlation degree between the candidate image blocks and the mark image blocks; calculating the similarity between the candidate image block and the marked image block based on the correlation; and selecting the candidate image block with the maximum similarity from the candidate image blocks as a target image block corresponding to the marked image block.
According to one embodiment of the present invention, a standard image includes a plurality of marked image blocks; the target image block determining module is further used for searching the image block with the highest similarity with each mark image block from the image to be registered respectively to obtain the target image block corresponding to each mark image block; the offset pixel value determining module is further used for determining a target mark image block from the plurality of mark image blocks and calculating the distance between the target mark image block and at least one other mark image block to obtain a first distance; calculating the distance between a target image block corresponding to the target marker image and at least one other target image block to obtain a second distance; when the distance difference between the first distance and the second distance is larger than a preset threshold value, giving an alarm prompt; and when the distance difference between the first distance and the second distance is smaller than a preset threshold, acquiring the position difference between the target mark image block and the corresponding target image block.
According to an embodiment of the present invention, the position correction device further includes: the first measuring module is used for acquiring a first target position of the track robot when the left edge of the target image is positioned at the left edge of the camera view field of the track robot; acquiring a second target position of the rail robot when the left edge of the target image is positioned at the right edge of the camera view field of the rail robot; a first target position difference is determined based on the first target position and the second target position, and a conversion parameter between the horizontal movement distance and the offset pixel value is obtained based on the first target position difference and the horizontal resolution of the camera of the orbital robot.
According to an embodiment of the invention, the offset pixel value determining module is used for obtaining a horizontal coordinate difference value between a mark image block and a target image block to obtain a target offset pixel value of an image to be registered relative to a standard image; and the distance error determination module is also used for multiplying the horizontal coordinate difference value by a conversion parameter between the horizontal movement distance and the offset pixel value to obtain the horizontal movement distance error of the track robot.
According to an embodiment of the present invention, the position correction apparatus further includes: the second measuring module is used for acquiring a first target position of the track robot when the left edge of the target image is positioned at the upper edge of the camera view field of the track robot; acquiring a second target position of the track robot when the left edge of the target image is positioned at the lower edge of the camera view field of the track robot; a first target position difference is determined based on the first target position and the second target position, and a conversion parameter between a vertical movement distance and an offset pixel value is obtained based on the first target position difference and a vertical resolution of a camera of the orbital robot.
According to an embodiment of the present invention, the offset pixel value determining module is further configured to obtain a vertical coordinate difference between the marked image block and the target image block, so as to obtain a target offset pixel value of the to-be-registered image relative to the standard image; and the distance error determination module is also used for multiplying the vertical coordinate difference value by a conversion parameter between the vertical motion distance and the offset pixel value to obtain the vertical motion distance error of the track robot.
For the specific definition of the position correction device, reference may be made to the above definition of the position correction method, which is not described herein again. The respective modules in the position correcting apparatus described above may be implemented in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent of a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
According to an embodiment of the present invention, the present invention provides a computer device, the internal structure of which can be shown in fig. 7. The computer device comprises a processor, a memory, an Input/Output (I/O) interface and a communication interface. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface is connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The nonvolatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program to run on the non-volatile storage medium. The input/output interface of the computer device is used for exchanging information between the processor and an external device. The communication interface of the computer device is used for connecting and communicating with an external terminal through a network. The computer program is executed by a processor to implement a position correction method.
Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the inventive arrangements and is not intended to limit the computing devices to which the inventive arrangements may be applied, as a particular computing device may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
According to an embodiment of the present invention, there is provided a computer apparatus including a memory in which a computer program is stored and a processor that implements the steps of the above-described position correction method when the processor executes the computer program.
According to an embodiment of the present invention, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the above-described position correction method.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features. The above examples only show several embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A position correction method, characterized in that the method comprises the steps of:
in the track robot inspection process, acquiring an image to be registered, which is obtained by shooting a target image at a preset position by a track robot;
acquiring a standard image corresponding to the preset position, wherein the standard image is obtained by shooting a target image at the preset position under a normal operation state of the track robot, and comprises at least one mark image block;
searching image blocks with the similarity meeting the similarity condition between the image blocks to be registered and the marked image blocks from the image to be registered to obtain target image blocks corresponding to the marked image blocks;
acquiring the position difference between the mark image block and the target image block to obtain a target offset pixel value of the image to be registered relative to the standard image;
acquiring a conversion parameter between a pre-determined movement distance and an offset pixel value, and converting the target offset pixel value based on the conversion parameter to obtain a movement distance error of the track robot;
and correcting the preset position of the track robot based on the movement distance error.
2. The method according to claim 1, wherein the step of searching for an image block from the image to be registered, where a similarity between the image block and the marked image block satisfies a similarity condition, to obtain a target image block corresponding to the marked image block comprises:
carrying out global search on the image to be registered to obtain a plurality of candidate image blocks with the same size as the marked image blocks;
performing cross-correlation calculation between the candidate image block and the marked image block aiming at each candidate image block to obtain the correlation between the candidate image block and the marked image block;
calculating the similarity between the candidate image block and the marked image block based on the correlation degree;
and selecting the candidate image block with the maximum similarity from the candidate image blocks as a target image block corresponding to the marked image block.
3. The position correction method according to claim 1, characterized in that the standard image includes a plurality of mark image blocks; searching image blocks with similarity meeting the similarity condition between the image blocks to be registered and the marked image blocks from the image to be registered to obtain target image blocks, wherein the target image blocks comprise:
searching an image block with the highest similarity with each mark image block from the image to be registered respectively to obtain a target image block corresponding to each mark image block;
the acquiring the position difference between the marked image block and the target image block comprises:
determining a target mark image block from the plurality of mark image blocks, and calculating a distance between the target mark image block and at least one other mark image block to obtain a first distance;
calculating the distance between a target image block corresponding to the target marker image and at least one other target image block to obtain a second distance;
when the distance difference between the first distance and the second distance is larger than a preset threshold value, giving an alarm prompt;
and when the distance difference between the first distance and the second distance is smaller than a preset threshold, acquiring the position difference between the target mark image block and the corresponding target image block.
4. The position correction method according to claim 1, characterized in that the conversion parameter between the movement distance and the offset pixel value in the horizontal direction is determined by:
acquiring a first target position of the orbital robot when a left edge of the target image is located at a left edge of a camera field of view of the orbital robot;
acquiring a second target position of the orbital robot when the left edge of the target image is located at the right edge of the camera field of view of the orbital robot;
determining a first target position difference based on the first target position and the second target position, and obtaining a conversion parameter between a horizontal movement distance and an offset pixel value based on the first target position difference and a horizontal resolution of a camera of the orbital robot.
5. The method according to claim 4, wherein the obtaining of the position difference between the mark image block and the target image block to obtain the target offset pixel value of the to-be-registered image relative to the standard image comprises:
acquiring a horizontal coordinate difference value between the marked image block and the target image block to obtain a target offset pixel value of the image to be registered relative to the standard image;
the converting the target offset pixel value based on the conversion parameter to obtain the moving distance error of the track robot includes:
and multiplying the horizontal coordinate difference value by a conversion parameter between the horizontal movement distance and the offset pixel value to obtain the horizontal movement distance error of the track robot.
6. The position correction method according to claim 1, characterized in that the conversion parameter between the movement distance and the offset pixel value in the vertical direction is determined by:
acquiring a first target position of the orbital robot when a left edge of the target image is located at an upper edge of a camera field of view of the orbital robot;
acquiring a second target position of the track robot when the left edge of the target image is located at the lower edge of the camera field of view of the track robot;
determining a first target position difference based on the first target position and the second target position, and obtaining a conversion parameter between a vertical movement distance and an offset pixel value based on the first target position difference and a vertical resolution of a camera of the orbital robot.
7. The method according to claim 6, wherein the obtaining of the position difference between the mark image block and the target image block to obtain a target offset pixel value of the image to be registered relative to the standard image comprises:
acquiring a vertical coordinate difference value between the mark image block and the target image block to obtain a target offset pixel value of the image to be registered relative to the standard image;
the converting the target offset pixel value based on the conversion parameter to obtain the motion distance error of the track robot includes:
and multiplying the vertical coordinate difference value by a conversion parameter between the vertical motion distance and the offset pixel value to obtain a vertical motion distance error of the track robot.
8. A position correction apparatus, characterized in that the apparatus comprises:
the target image registration system comprises a to-be-registered image acquisition module, a target image registration module and a target image registration module, wherein the to-be-registered image acquisition module is used for acquiring an image to be registered, which is obtained by shooting a target image at a preset position by a track robot, in the track robot inspection process;
the standard image acquisition module is used for acquiring a standard image corresponding to the preset position, the standard image is obtained by shooting a target image at the preset position under a normal operation state of the track robot, and the standard image comprises at least one mark image block;
the target image block determining module is used for searching image blocks, the similarity of which with the mark image block meets the similarity condition, from the image to be registered to obtain a target image block corresponding to the mark image block;
the offset pixel value determining module is used for acquiring the position difference between the mark image block and the target image block to obtain a target offset pixel value of the image to be registered relative to the standard image;
the distance error determining module is used for acquiring a conversion parameter between a pre-measured movement distance and an offset pixel value, and converting the target offset pixel value based on the conversion parameter to obtain a movement distance error of the track robot;
and the position correction module is used for correcting the preset position of the track robot based on the movement distance error.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211108891.3A CN115509225A (en) | 2022-09-13 | 2022-09-13 | Position correction method, position correction device, computer equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211108891.3A CN115509225A (en) | 2022-09-13 | 2022-09-13 | Position correction method, position correction device, computer equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115509225A true CN115509225A (en) | 2022-12-23 |
Family
ID=84504128
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211108891.3A Pending CN115509225A (en) | 2022-09-13 | 2022-09-13 | Position correction method, position correction device, computer equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115509225A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115760856A (en) * | 2023-01-10 | 2023-03-07 | 惟众信(湖北)科技有限公司 | Part spacing measuring method and system based on image recognition and storage medium |
| CN116149339A (en) * | 2023-04-21 | 2023-05-23 | 武汉奋进智能机器有限公司 | Walking deviation correcting method and device for track equipment, medium and track equipment system |
-
2022
- 2022-09-13 CN CN202211108891.3A patent/CN115509225A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115760856A (en) * | 2023-01-10 | 2023-03-07 | 惟众信(湖北)科技有限公司 | Part spacing measuring method and system based on image recognition and storage medium |
| CN115760856B (en) * | 2023-01-10 | 2023-04-28 | 惟众信(湖北)科技有限公司 | Image recognition-based part spacing measurement method, system and storage medium |
| CN116149339A (en) * | 2023-04-21 | 2023-05-23 | 武汉奋进智能机器有限公司 | Walking deviation correcting method and device for track equipment, medium and track equipment system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115509225A (en) | Position correction method, position correction device, computer equipment and storage medium | |
| CN106125744B (en) | The Intelligent Mobile Robot cloud platform control method of view-based access control model servo | |
| CN102506705B (en) | Method and device for obtaining coordinates of positioning mark on PCB (Printed Circuit Board) and patch device | |
| CN106840110B (en) | A kind of motion measuring method and device applied to large-scale more Lamb wave wave simulation systems | |
| CN105574897A (en) | Crop growth situation monitoring Internet of Things system based on visual inspection | |
| CN105513072A (en) | PTZ correction method | |
| EP3771198A1 (en) | Target tracking method and device, movable platform and storage medium | |
| CN112013830B (en) | Accurate positioning method for inspection image detection defects of unmanned aerial vehicle of power transmission line | |
| CN113033835B (en) | Intelligent patrol method, system and storage medium based on transformer substation | |
| CN111399517B (en) | Following monitoring method of track type inspection robot based on UWB positioning system | |
| CN105262994A (en) | Instrument identification device and method based on intelligent track video camera | |
| CN111561943A (en) | Robot inspection method and system | |
| CN113269671A (en) | Bridge apparent panorama generation method based on local and global features | |
| CN114202819B (en) | Substation inspection method, system and computer based on robot | |
| CN110487199A (en) | A kind of Tunnel week DEFORMATION MONITORING SYSTEM and method | |
| JP2019109200A (en) | Data generation device for calibration, data generation method for calibration, calibration system, and control program | |
| CN113627400B (en) | Industrial instrument video identification system | |
| CN115922697A (en) | Intelligent robot automatic inspection method based on transformer substation digital twinning technology | |
| CN112260402B (en) | Monitoring method for state of intelligent substation inspection robot based on video monitoring | |
| CN114092882A (en) | Method and system for positioning operating personnel based on multiple cameras at any positions | |
| CN114754695A (en) | Multi-view-field bridge deflection measuring device and method and storage medium | |
| CN115100245A (en) | High-altitude parabola-based tracing system and tracing method thereof | |
| CN114241257A (en) | Power transmission line inspection method and system based on image recognition | |
| CN111432334B (en) | Following monitoring method and system for rail-mounted inspection robot | |
| CN110717061B (en) | Transformer substation equipment positioning method and system based on camera and associated mapping |
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 |