Isomorphic positioning method for working point of inspection robot
A technology of an inspection robot and a positioning method, applied in the field of inspection robots, can solve the problems of lack of multi-working point calibration and fast calibration methods for automatic inspection of substations, and achieve the effects of reducing manual work time, speeding up rapid deployment, and reducing workload.
Active Publication Date: 2020-05-19
ZHEJIANG GUOZI ROBOT TECH
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Problems solved by technology
[0004]
The technical problem to be solved by the present invention is: there is a lack of a fast calibration method for multiple working points in the current substation automatic inspection
Method used
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Embodiment 1
[0016] An isomorphic positioning method for the working point of an inspection robot, which is used for positioning the working point of an inspection robot with several equipment areas. The relative positions of the working points contained in the several equipment areas are basically the same. figure 1 It is a flow chart of the isomorphic positioning method for the working point of the inspection robot in Embodiment 1. This embodiment includes the following steps: A) Set a reference point in each equipment area, and the reference point is relative to the working point of the corresponding equipment area. The position is the same; B) All the working points in the first equipment area are manually calibrated, including the docking position of the inspection robot, the position of the pan / tilt, the camera multiple and the focal length of the camera, and the docking position of the working point is relative to the reference point. Calibration; C) Make the inspection robot move to...
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The invention relates to the technical field of inspection robots, in particular to an isomorphic positioning method for a working point of an inspection robot, which comprises the following steps: A)setting a reference point; B) manually calibrating a working point position in a first equipment area; C) the inspection robot moves to the reference point of the next equipment area; D) according tothe working point positions obtained in the step B), enabling the inspection robot to execute the working point positions, shooting a target picture on the working point positions, performing fine adjustment on the working point positions according to the target picture, and traversing each working point position; and E) repeating the steps C to D until all equipment areas are completed. The method has the substantive effects that only the working point position of one equipment area needs to be manually calibrated in a plurality of similar equipment areas by setting the reference point, themanual working time is shortened, and the workload of subsequent manual fine adjustment is reduced through automatic fine adjustment, so that the rapid deployment of the patrol working point positionsof the transformer substation is accelerated.
Description
technical field [0001] The invention relates to the technical field of inspection robots, in particular to a method for isomorphic positioning of working points of an inspection robot. Background technique [0002] In the implementation stage of the inspection robot before it is officially put into operation, the implementers need to set the meters that need to be photographed in the substation and the joints that need to measure temperature, etc. in the control system of the robot. Each equipment point corresponds to a point information, mainly It consists of robot docking point, gimbal position, camera multiplier and camera focal length. There are equipment areas in a substation with similarities between them. Specifically, each area of the substation is usually divided into n intervals that are the same except for the device name. When the inspection robot calibrates these equipment points, it is too cumbersome to punctuate one by one. Considering the similarity of t...
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IPC IPC(8): G06T7/80G05D1/02
CPCG06T7/80G05D1/0246
Inventor 刘游龙王瑞陈跃伟付陈庄宗情礼
Owner ZHEJIANG GUOZI ROBOT TECH