Pan-tilt calibration method and device of valve hall equipment inspection robot and storage medium

A technology for inspection robots and equipment, which is applied in the direction of instruments, computer components, and use feedback control. It can solve the problem of easily losing the target equipment in the field of vision, and achieve the effect of eliminating adverse effects

Pending Publication Date: 2020-11-13
GUANGZHOU KEII ELECTRO OPTICS TECH
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  • Claims
  • Application Information

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Problems solved by technology

In practice, it is found that when the valve hall equipment inspection robot is used for automatic inspection of the valve hall equipment, the pan/tilt carrying the robot will accumulate mechanical...

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  • Pan-tilt calibration method and device of valve hall equipment inspection robot and storage medium
  • Pan-tilt calibration method and device of valve hall equipment inspection robot and storage medium
  • Pan-tilt calibration method and device of valve hall equipment inspection robot and storage medium

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Embodiment Construction

[0055] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0056] It should be noted that the terms "comprising" and "having" and any variations thereof in the embodiments of the present application are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or process that includes a series of steps or units. The apparatus is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to the pro...

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Abstract

The invention discloses a pan-tilt calibration method and device for a valve hall equipment inspection robot and a storage medium, and the method comprises the steps: obtaining a target image photographed by a target inspection robot through a camera when a pan-tilt connected with the target inspection robot reaches a preset position and the pan-tilt is in a preset posture; identifying the valve hall equipment in the target image to obtain identified target equipment; determining image coordinates of the target device in the target image; acquiring a preset coordinate corresponding to the target equipment from a database, and calculating a coordinate offset according to the preset coordinate and the image coordinate; calculating a position adjustment amount and an attitude adjustment amount for the pan-tilt according to the coordinate offset; and adjusting the preset position according to the position adjustment amount, and/or adjusting the preset posture according to the posture adjustment amount. By implementing the embodiment of the invention, the position and posture of the robot pan-tilt can be calibrated, and the adverse effect of accumulated offset on shooting target equipment is eliminated.

Description

technical field [0001] The present application relates to the technical field of electric power equipment, in particular to a pan-tilt calibration method and device, and a storage medium of a valve hall equipment inspection robot. Background technique [0002] As an important part of the national grid, the ultra-high voltage direct current transmission system plays a strategic role in the deployment of power resources across regions, and the inspection and maintenance of the valve hall equipment is the core task to ensure the normal operation of the ultra-high voltage direct current transmission system. In practice, it is found that when the valve hall equipment inspection robot is used for automatic inspection of the valve hall equipment, the pan / tilt carrying the robot will accumulate mechanical deviation with the increase of running time, which will cause the robot to move in accordance with the preset position. During the inspection, it is easy to lose the target device ...

Claims

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Application Information

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IPC IPC(8): G06T7/70G06K9/00G06K9/62G05D3/12
CPCG06T7/70G05D3/12G06V20/10G06F18/22
Inventor 吴宇翔蔡敏权伍小图吴奇文
Owner GUANGZHOU KEII ELECTRO OPTICS TECH
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