Image acquisition method of inspection robot

Abstract

The invention discloses an image acquisition method for an inspection robot, and the method comprises the steps: firstly the inspection robot extracting the position information of a target image in the visual field of a camera, and building a world coordinate system through employing the geometric center of the inspection robot as an original point, the forward direction of the inspection robot as an X-axis positive direction, and the vertical direction as a Z-axis positive direction; acquiring motion information of the inspection robot, and finally determining relative motion of the target image relative to the view center of the camera; and according to the offset between the target image center coordinate and the camera view center coordinate, adjusting the angle of the pan-tilt camerauntil the target image center coordinate coincides with the camera view center coordinate, performing target image acquisition and storage, and then the inspection robot continuing to carry out inspection operation. According to the image acquisition method provided by the invention, the inspection robot is ensured to perform image acquisition in the moving process without frequently starting andstopping to call the preset position for shooting, so that the inspection efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of inspection equipment, in particular to a substation inspection robot, and in particular to an image acquisition method for an inspection robot. Background technique [0002] The development of my country's power grid has provided a strong power guarantee for my country's economic development. The operating level of substations is getting higher and higher, and the requirements for safe operating environments are becoming more and more stringent. As the core hub of the power grid, substations, even a small Small safety accidents will also cause irreparable losses to economic development. To ensure the normal operation of the substation, it is necessary to carry out regular inspection work on the substation equipment. How to improve the efficiency of the inspection work is a topic of great research significance. [0003] The existing developed inspection robot adopts the pan-tilt preset position mode in the...

AI Technical Summary

Problems solved by technology

There are mainly the following problems: 1. The inspection robot needs to start and stop frequently, the inspection time is too long, and the inspection efficiency is low; 2. The image quality of the preset position mode cannot be guaranteed, which is affected by factors such as robot positioning accuracy and external interference , For example, there is a deviation between the actual positioning of the robot and the target positioning, which causes the lens to shift and cannot capture the target image, the weather changes make the light uneven and the collected photos are not clear, and the original preset shooting angle cannot obtain clear images, etc.; 3. Preset needs Professionals do the setting, and the setting quality of each preset position cannot be guaranteed

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