An image acquisition method for a patrol robot

Abstract

The invention discloses an image acquisition method of a patrol robot. In the method, the patrol robot first extracts the position information of a target image in the camera field of view, and then takes the geometric center of the patrol robot as the origin, and the forward direction of the patrol robot is X The positive direction of the axis, the vertical upward is the positive direction of the Z axis, and the world coordinate system is established. Obtain the motion information of the inspection robot, and finally determine the relative motion of the target image relative to the center of the camera field of view. And according to the offset between the center coordinates of the target image and the center coordinates of the camera field of view, adjust the angle of the gimbal camera until the center coordinates of the target image coincide with the center coordinates of the camera field of view, collect and save the target image, and then the inspection robot continues to perform inspections. The image acquisition method provided by the present invention ensures that the inspection robot performs image acquisition during the motion process without frequent start and stop calls to preset positions for shooting, thereby improving the inspection efficiency.

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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