CN201998168U - Visual servo-based accurate tripod head positioning system for movable robot - Google Patents
Visual servo-based accurate tripod head positioning system for movable robot Download PDFInfo
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- CN201998168U CN201998168U CN2010206856357U CN201020685635U CN201998168U CN 201998168 U CN201998168 U CN 201998168U CN 2010206856357 U CN2010206856357 U CN 2010206856357U CN 201020685635 U CN201020685635 U CN 201020685635U CN 201998168 U CN201998168 U CN 201998168U
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Abstract
The utility model discloses a visual servo-based accurate tripod head positioning system for a movable robot. The system comprises a self-driven trolley, a computer, a tripod head and information acquisition equipment, wherein the trolley is provided with a vehicle-mounted power supply; the computer, the tripod head and the information acquisition equipment are arranged on the trolley; the tripod head serves as the carrier for the information acquisition equipment; the information acquisition equipment at least comprises video information acquisition equipment; the computer is equipped with a memorizer in which a preset tripod head position and an orientation image are stored; the computer is connected with a driving device of the trolley and the tripod head so as to perform inspection according to an established process; meanwhile, the computer is connected with the information acquisition equipment, so as to form a feedback loop for the tripod head position, the computer and the information acquisition equipment to register the image information acquired at the current stop with the orientation image and then adjust the tripod head according to image deviation. Due to the adoption of the system provided by the utility model, the tripod head can be positioned accurately.
Description
Technical field
The utility model relates to a kind of industrial mobile robot, the robot that patrols and examines automatically especially for distribution equipment.
Background technology
Along with developing rapidly of high voltage, big capacity, big electrical network, the automaticity of power system is more and more higher, and many transformer stations have all realized unmanned.In order to grasp the working order of distribution equipment at any time, the defective and the hidden danger of discovery and abatement apparatus existence are in time guaranteed the safe operation of power equipment, and automatic crusing robot more and more is applied to patrolling and examining automatically of distribution equipment.Wherein State Intellectual Property Office is in the patent No. 200410024231.2 of bulletin on December 14th, 2005, name is called and has proposed the technical scheme that an employing robot patrols and examines the distribution equipment operation conditions automatically in the patent documentation of " distribution equipment intelligence automatic crusing robot ", and the presetting bit The Cloud Terrace that it carries obtains image information to remote equipment by the optical zoom video camera.
This scheme has solved the problem of patrolling and examining automatically to a certain extent, but when dolly when fixing point is stopped, because mechanical movement and external interference etc. can't be avoided the existence of factor, cause robot deviation generally can occur stopping, because robot parking precision, the influence of car body attitude, often cause the situation that video camera can't be aimed at the equipment of being observed under bigger optics becomes doubly, thereby make the equipment image information that collects complete or lose, this has had a strong impact on the data acquisition quality, follow-up data analysis and processing are produced considerable influence, restricting the raising of systematic function.
Summary of the invention
Therefore, parking precision and car body attitude can't be guaranteed and make the defective that the facility information collect is complete or lose when the utility model fixed a point to patrol and examine at present outdoor portable crusing robot, provide a kind of, the accurate positioning cradle head of the mobile robot that The Cloud Terrace can accurately be located system based on visual feedback.
The technical solution adopted in the utility model is:
The utility model is based on the accurate positioning cradle head of the mobile robot of visual servo system, comprise the self-driven dolly that has vehicle power, and be arranged on computer on the dolly, The Cloud Terrace and be the information gathering equipment of carrier with this The Cloud Terrace, wherein information gathering equipment comprises the video information collecting device at least, described computer is furnished with the memory device that stores cradle head preset positions and uncalibrated image, this computer connects the drive unit of described dolly and described The Cloud Terrace to patrol and examine according to set flow process, this computer connects described information gathering equipment simultaneously, constitute the The Cloud Terrace position, the backfeed loop of computer and information gathering equipment, carry out registration with the image information that collects according to current anchor point with corresponding uncalibrated image, and then adjust The Cloud Terrace according to image deviations.
The accurate positioning cradle head of the mobile robot based on visual servo system according to technical solutions of the utility model, the location of equipment is decided by the presetting bit information of The Cloud Terrace and the position in the image of current device place, and then adjusts the purpose that The Cloud Terrace reaches accurate positioning equipment.(it is less that the equipment that is observed this moment accounts for the ratio of entire image low the change doubly down, but can not deflect away from view) calibrate the position of equipment and save as template, after mobile robot's arrival is patrolled and examined the observation station of this equipment and is called cradle head preset positions, doubly capture the image of target device earlier down in little change, template image with this equipment, just described uncalibrated image carries out image registration, calculate and capture image and template image device location central point side-play amount, change and the The Cloud Terrace attitude by image difference, relation equation between the motion, obtain the side-play amount of The Cloud Terrace, by horizontally rotate and up and down pitching The Cloud Terrace is adjusted, guarantee the centre of the equipment that is observed at image, zoom to hypermutation more doubly down, obtain the image of target device.The deviation of image is remedied by adjusting The Cloud Terrace, reach the pinpoint purpose of control The Cloud Terrace.
The accurate positioning cradle head of above-mentioned mobile robot based on visual servo system, described video information collecting device is a visible light camera.
The accurate positioning cradle head of above-mentioned mobile robot based on visual servo system, described information gathering equipment also comprises thermal infrared imager.
The accurate positioning cradle head of above-mentioned mobile robot based on visual servo system, described information gathering equipment is installed in the protective cover that is arranged on the described The Cloud Terrace.
The accurate positioning cradle head of above-mentioned mobile robot based on visual servo system also comprises being arranged on the dolly and the navigation positional device that links to each other with described computer.
The accurate positioning cradle head of above-mentioned mobile robot based on visual servo system also comprises being arranged on the dolly and the distribution equipment that links to each other with described vehicle power; And on dolly, also be provided with the power circuit checkout gear.
Description of drawings
Fig. 1 is the accurate positioning cradle head system architecture of a kind of mobile robot based on the visual servo schematic diagram according to technical solutions of the utility model.
Among the figure: 1, thermal infrared imager, 2, visible light camera, 3, The Cloud Terrace, 4, dolly, 5, computer, 6, vehicle power, 7, the dolly driver.
The specific embodiment
With reference to explanation accompanying drawing 1, it shows the accurate positioning cradle head of a kind of mobile robot based on visual servo system, comprise the self-driven dolly 4 that has vehicle power 6, and be arranged on computer 5 on the dolly, The Cloud Terrace 3 and be the information gathering equipment of carrier with this The Cloud Terrace, wherein information gathering equipment comprises the video information collecting device at least, described computer is furnished with the memory device that stores cradle head preset positions and uncalibrated image, this computer connects the drive unit of described dolly and described The Cloud Terrace to patrol and examine according to set flow process, this computer connects described information gathering equipment simultaneously, constitute the The Cloud Terrace position, the backfeed loop of computer and information gathering equipment, carry out registration with the image information that collects according to current anchor point with corresponding uncalibrated image, and then adjust The Cloud Terrace according to image deviations.
Vehicle power adopts one group of lithium battery, the reliability and stability that keep dolly to drive, and he especially requires than higher equipment power quality to the power supply of consumers such as dolly driver, computer.
Preferably, described video information collecting device is a visible light camera 2.
Preferably, described information gathering equipment also comprises thermal infrared imager 1, can monitor zone or bad thermal source that connection resistance such as some circuit tie points change, better to detect.
Preferably, described information gathering equipment is installed in the protective cover that is arranged on the described The Cloud Terrace, protects with the information gathering equipment to the price comparison costliness.
Further, also comprise being arranged on the dolly and the navigation positional device that links to each other with described computer, so that navigation information accurately to be provided.
In order to improve flying power, also comprise being arranged on the dolly and the distribution equipment that links to each other with described vehicle power; And on dolly, also be provided with the power circuit checkout gear.
Claims (6)
1. the accurate positioning cradle head of the mobile robot based on visual servo system, comprise the self-driven dolly (4) that has vehicle power (6), and be arranged on computer (5) on the dolly, The Cloud Terrace (3) and be the information gathering equipment of carrier with this The Cloud Terrace, wherein information gathering equipment comprises the video information collecting device at least, it is characterized in that: described computer is furnished with the memory device that stores cradle head preset positions and uncalibrated image, this computer connects the drive unit of described dolly and described The Cloud Terrace to patrol and examine according to set flow process, this computer connects described information gathering equipment simultaneously, constitute the The Cloud Terrace position, the backfeed loop of computer and information gathering equipment, carry out registration with the image information that collects according to current anchor point with corresponding uncalibrated image, and then adjust The Cloud Terrace according to image deviations.
2. the accurate positioning cradle head of the mobile robot based on visual servo according to claim 1 system is characterized in that: described video information collecting device is visible light camera (2).
3. the accurate positioning cradle head of the mobile robot based on visual servo according to claim 2 system, it is characterized in that: described information gathering equipment also comprises thermal infrared imager (1).
4. according to the accurate positioning cradle head of the arbitrary described mobile robot based on visual servo of claim 1 to 3 system, it is characterized in that: described information gathering equipment is installed in the protective cover that is arranged on the described The Cloud Terrace.
5. the accurate positioning cradle head of the mobile robot based on visual servo according to claim 1 system is characterized in that: also comprise being arranged on the dolly and the navigation positional device that links to each other with described computer.
6. the accurate positioning cradle head of the mobile robot based on visual servo according to claim 1 system is characterized in that: also comprise being arranged on the dolly and the distribution equipment that links to each other with described vehicle power; And on dolly, also be provided with the power circuit checkout gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206856357U CN201998168U (en) | 2010-12-29 | 2010-12-29 | Visual servo-based accurate tripod head positioning system for movable robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206856357U CN201998168U (en) | 2010-12-29 | 2010-12-29 | Visual servo-based accurate tripod head positioning system for movable robot |
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| Publication Number | Publication Date |
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| CN201998168U true CN201998168U (en) | 2011-10-05 |
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| CN2010206856357U Expired - Lifetime CN201998168U (en) | 2010-12-29 | 2010-12-29 | Visual servo-based accurate tripod head positioning system for movable robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102497507A (en) * | 2011-12-12 | 2012-06-13 | 山西奥克斯电子系统工程中心 | Image-analysis-based pan/tilt/zoom (PTZ) camera preset position control method |
| CN102722166A (en) * | 2012-06-29 | 2012-10-10 | 山东电力集团公司电力科学研究院 | Intelligent vision detection system and state detection method of transformer substation device |
| CN103455038A (en) * | 2012-06-01 | 2013-12-18 | 联想(北京)有限公司 | Electronic equipment and method for adjusting direction |
| CN104460699A (en) * | 2014-11-04 | 2015-03-25 | 广东电网有限责任公司佛山供电局 | Infrared mobile monitoring vehicle control system |
| CN105607652A (en) * | 2015-12-25 | 2016-05-25 | 四川理工学院 | Substation inspection robot detection target automatic positioning device |
| CN105930837A (en) * | 2016-05-17 | 2016-09-07 | 杭州申昊科技股份有限公司 | Transformer station instrument equipment image recognition method based on autonomous routing inspection robot |
| CN106125744A (en) * | 2016-06-22 | 2016-11-16 | 山东鲁能智能技术有限公司 | The Intelligent Mobile Robot cloud platform control method of view-based access control model servo |
| CN107042511A (en) * | 2017-03-27 | 2017-08-15 | 国机智能科技有限公司 | The inspecting robot head method of adjustment of view-based access control model feedback |
| CN108994834A (en) * | 2018-08-13 | 2018-12-14 | 上海理工大学 | Unmanned fortune object system based on machine vision |
| CN109760006A (en) * | 2019-01-17 | 2019-05-17 | 西南科技大学 | A kind of atomic power robot and method for rapidly positioning of view-based access control model reference member |
| CN113920612A (en) * | 2021-10-13 | 2022-01-11 | 国网山西省电力公司输电检修分公司 | Intelligent drilling and crossing inspection device and method |
-
2010
- 2010-12-29 CN CN2010206856357U patent/CN201998168U/en not_active Expired - Lifetime
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102497507A (en) * | 2011-12-12 | 2012-06-13 | 山西奥克斯电子系统工程中心 | Image-analysis-based pan/tilt/zoom (PTZ) camera preset position control method |
| CN103455038B (en) * | 2012-06-01 | 2016-12-14 | 联想(北京)有限公司 | A kind of electronic equipment and the method for adjustment direction |
| CN103455038A (en) * | 2012-06-01 | 2013-12-18 | 联想(北京)有限公司 | Electronic equipment and method for adjusting direction |
| CN102722166A (en) * | 2012-06-29 | 2012-10-10 | 山东电力集团公司电力科学研究院 | Intelligent vision detection system and state detection method of transformer substation device |
| CN104460699B (en) * | 2014-11-04 | 2017-12-22 | 广东电网有限责任公司佛山供电局 | Infrared mobile monitoring vehicle control |
| CN104460699A (en) * | 2014-11-04 | 2015-03-25 | 广东电网有限责任公司佛山供电局 | Infrared mobile monitoring vehicle control system |
| CN105607652A (en) * | 2015-12-25 | 2016-05-25 | 四川理工学院 | Substation inspection robot detection target automatic positioning device |
| CN105930837A (en) * | 2016-05-17 | 2016-09-07 | 杭州申昊科技股份有限公司 | Transformer station instrument equipment image recognition method based on autonomous routing inspection robot |
| CN106125744A (en) * | 2016-06-22 | 2016-11-16 | 山东鲁能智能技术有限公司 | The Intelligent Mobile Robot cloud platform control method of view-based access control model servo |
| CN107042511A (en) * | 2017-03-27 | 2017-08-15 | 国机智能科技有限公司 | The inspecting robot head method of adjustment of view-based access control model feedback |
| CN108994834A (en) * | 2018-08-13 | 2018-12-14 | 上海理工大学 | Unmanned fortune object system based on machine vision |
| CN109760006A (en) * | 2019-01-17 | 2019-05-17 | 西南科技大学 | A kind of atomic power robot and method for rapidly positioning of view-based access control model reference member |
| CN113920612A (en) * | 2021-10-13 | 2022-01-11 | 国网山西省电力公司输电检修分公司 | Intelligent drilling and crossing inspection device and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 310007 No. 2 Jin Nan Road, Hangzhou, Zhejiang, Xihu District Co-patentee after: JINHUA POWER SUPPLY COMPANY OF STATE GRID ZHEJIANG ELECTRIC POWER Co.,Ltd. Patentee after: STATE GRID ZHEJIANG ELECTRIC POWER Co.,Ltd. Co-patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 310007 Huanglong Road, Zhejiang, Hangzhou, No. 8 Co-patentee before: STATE GRID ZHEJIANG ELECTRIC POWER COMPANY JINHUA POWER SUPPLY Co. Patentee before: STATE GRID ZHEJIANG ELECTRIC POWER Co. Co-patentee before: National Network Intelligent Technology Co.,Ltd. Address after: 310007 Huanglong Road, Zhejiang, Hangzhou, No. 8 Co-patentee after: STATE GRID ZHEJIANG ELECTRIC POWER COMPANY JINHUA POWER SUPPLY Co. Patentee after: STATE GRID ZHEJIANG ELECTRIC POWER Co. Co-patentee after: National Network Intelligent Technology Co.,Ltd. Address before: No. 2, Jinzhu South Road, Xihu District, Hangzhou City, Zhejiang Province Co-patentee before: Jinhua Electric Power Bureau Patentee before: ZHEJIANG ELECTRIC POWER Corp. Co-patentee before: SHANDONG LUNENG INTELLIGENCE TECHNOLOGY Co.,Ltd. |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20111005 |