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Optimal data acquisition method and system for substation inspection equipment
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A data acquisition system and data acquisition technology, applied in the field of substation inspection, can solve the problems of large workload of manual configuration of inspection points, deviation of inspection points, and influence of image quality of inspection and acquisition, so as to overcome the deviation of inspection points and avoid the impact. , the effect of reducing workload
Pending Publication Date: 2020-11-13
STATE GRID INTELLIGENCE TECH CO LTD
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[0004] In order to solve the above-mentioned problems of heavy workload of manually configuring inspection points, detection point deviation caused by long-term operation, and the influence of light on the image quality of inspection collection, the present invention provides an optimal data acquisition method and system for substation inspection equipment
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Embodiment 1
[0033] like figure 1 As shown, the optimal data acquisition method for substation inspection equipment in this embodiment includes:
[0034] S101: According to the information of the equipment to be inspected included in the inspection task, combined with the three-dimensional semantic electronic map of the substation and the calculation of the robot pose, to realize the control of the best relative pose relationship between the robot and the equipment to be inspected during data collection.
[0035] The optimal relative pose relationship between the robot and the equipment to be inspected during data collection is:
[0036] max[|n x (x-x r )+n y (y-y r )+n z (z-z r )|+|n x *n xr +n y *n yr +n z *n zr |]
[0037] In the formula: n x ,n y ,n z It is the normal vector of the detection surface of the equipment to be inspected (such as the dial surface of the marking reading), x, y, z are the space coordinates of the equipment to be inspected, and x r ,y r ,z r ...
Embodiment 2
[0069] This embodiment provides an optimal data acquisition system for substation inspection equipment, including:
[0070] (1) The relative pose control module, which is used to combine the three-dimensional semantic electronic map of the substation and the pose calculation of the robot based on the information of the equipment to be inspected contained in the inspection task, so as to achieve the best relative position between the robot and the equipment to be inspected during data collection Posture control.
[0071] The optimal relative pose relationship between the robot and the equipment to be inspected during data collection is:
[0072] max[|n x (x-x r )+n y (y-y r )+n z (z-z r )|+|n x *n xr +n y *n yr +n z *n zr |]
[0073] In the formula: n x ,n y ,n z It is the normal vector of the detection surface of the equipment to be inspected (such as the dial surface of the marking reading), x, y, z are the space coordinates of the equipment to be inspected, a...
Embodiment 3
[0105] This embodiment provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps in the method for collecting optimal data of a substation inspection device as described in the first embodiment above are implemented.
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Abstract
The invention provides an optimal data acquisition method and system for substation inspection equipment. The optimal data acquisition method for the substation inspection equipment comprises the steps that according to to-be-inspected equipment information contained in an inspection task, a transformer substation three-dimensional semantic electronic map and robotpose calculation are combined toachieve control over the optimal relative pose relation between a robot and to-be-inspected equipment during data acquisition; when the robot reaches the optimal observation pose of the to-be-inspected equipment and enters the range of the inspection data acquisition device, the position of the equipment in the image is identified and acquired by using a deep learningalgorithm, and the spatial pose control of the acquisition device carried at the tail end of the mechanical arm is realized in combination with the relative pose relationship between the robot and the to-be-inspected equipment;the quality of the acquired data is evaluated and optimized so as to realize optimal acquisition of the inspection data of the to-be-inspected equipment.
Description
technical field [0001] The invention belongs to the field of substation inspection, in particular to a method and system for collecting optimal data of substation inspection equipment. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] At present, before the inspection robot performs the inspection task in the substation, the on-site personnel need to manually set the inspection point of the inspection robot according to the inspection task. When setting the detection point, the on-site personnel first remotely control the robot to run along the inspection route, and then stop when it runs to the periphery of the power equipment to be inspected; then remotely adjust the attitude of the robot on the pan / tilt, so that the pan / tilt can drive the visible light camera and infrared thermal image Instruments and other non-contact detection sensors ...
Claims
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Application Information
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