Substation inspection robot image semantic analysis system and method

A patrol inspection robot and semantic analysis technology, applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as heavy workload, subjective judgment of inspection and detection points, and data analysis delay, etc., to improve operation safe effect

Active Publication Date: 2020-11-20
STATE GRID INTELLIGENCE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The above inspection method has at least the following problems: (1) The existing substation inspection robot has weak front-end video and image processing capabilities, and most of the image and video data is currently analyzed and processed by the back-end server through the network, which is affected by the bandwidth of the transmission network , there is a certain delay in data analysis, which cannot meet the needs of application scenarios with high real-time requirements such as robot navigation, visual servoing, and timely defect detection; When docking at a fixed detection point and then collecting inspecti

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  • Substation inspection robot image semantic analysis system and method
  • Substation inspection robot image semantic analysis system and method

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Example Embodiment

[0055] Example 1

[0056] This embodiment discloses a robot image semantic analysis system based on embedded AI technology, including: an embedded AI analysis module, and a multi-degree-of-freedom robotic arm, an inspection camera, a binocular, and a multi-degree-of-freedom robotic arm connected to the embedded AI analysis module. Vision cameras, 3D lidars, inertial navigation sensors, robotic industrial computers, and multi-degree-of-freedom camera platforms; among them, the binocular vision camera is located at the front end of the robot, and the inspection camera is located at the end of the robotic arm through the multi-degree-of-freedom camera platform. The industrial computer is connected to the robot motion platform. It can realize the data access and synchronous acquisition of multiple sensors such as vision, laser, GPS, inertial navigation, etc., so as to realize the panoramic perception of the robot itself and the surrounding environment. Among them, the binocular v...

Example Embodiment

[0098] Embodiment 2

[0099] This embodiment provides a method for analyzing image semantics of a substation inspection robot, and the method includes the following steps:

[0100] Real-time acquisition of binocular image data, inspection image data and 3D point cloud data of the current environment;

[0101] Obtain the spatial distribution of objects in the current environment based on binocular image data and 3D point cloud data;

[0102] According to the spatial distribution of objects in the current environment, determine whether there is a passable unknown area, if so, control the robot to move to the passable unknown area, and execute the map construction; if not, the map construction ends;

[0103] The performing map construction includes: obtaining spatial distribution of objects in the current environment based on binocular image data; obtaining semantic information of objects in the current environment based on inspection image data; according to the spatial locatio...

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Abstract

The invention discloses a substation inspection robot image semantic analysis system and method. The system comprises an embedded AI analysis module, a binocular vision camera, an inspection camera, and a three-dimensional laser radar multi-degree-of-freedom mechanical arm, wherein the binocular vision camera, the inspection camera and the three-dimensional laser radar multi-degree-of-freedom mechanical arm are connected with the embedded AI analysis module, and the embedded AI analysis module comprises a roaming semantic map construction module; and the embedded AI analysis module is configured to be acquiring binocular image data, inspection image data and three-dimensional point cloud data of a current environment in real time; acquiring spatial distribution of objects in the current environment based on the binocular image data and the three-dimensional point cloud data; and achieving automatic recognition of the passable unknown region around the robot, achieving the motion planning of the robot in the unknown region through a local path planning technology, and executing the map construction of the unknown environment till the construction of the whole in-station environmentsemantic map is completed. According to the system, real-time and efficient identification of the inspection video is realized, and the accuracy of substation equipment identification is improved.

Description

technical field [0001] The invention belongs to the technical field of substation inspection robots, and in particular relates to an image semantic analysis system and method for substation inspection robots. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art. [0003] At present, the inspection points of substation inspection robots are usually manually set by on-site personnel according to the inspection tasks. When setting, the on-site personnel first remotely control the robot to run along the inspection route, and stop when it runs to the periphery of the power equipment to be inspected; Adjust the posture of the robot pan / tilt, so that the pan / tilt drives the visible light camera, infrared thermal imager and other non-contact detection sensors to align with each device to be inspected around the robot in turn and record the corresponding pan / til...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J19/02
CPCB25J9/1664B25J9/1697B25J19/023
Inventor 王万国李建祥肖鹏慕世友王振利韩克存郝永鑫郭锐王海鹏
Owner STATE GRID INTELLIGENCE TECH CO LTD
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