Inspection point automatic configuration system and method, storage medium, equipment and robot

Abstract

The invention provides an inspection point automatic configuration system and method, a storage medium, equipment and a robot, and the method comprises the steps: obtaining a three-dimensional model of an inspection place, and preprocessing the three-dimensional model; configuring a reference coordinate system fora preprocessed model, identifying a target object in the inspection place, acquiringpose and size information of the target object, and extracting a passable path in the inspection place; configuring constraint conditions of a distance range between the inspection point and the target object and a plane normal deviation angle range of the target object; traversing the target object, and calculating a legal configuration area according to the pose, the size and the passable path information of the single target object; and carrying out global optimization on the legal configuration area of the single target object, and solving the coordinates of the optimal inspection point under constraint conditions for the public intersection area and the non-intersection area so as to obtain inspection point information. According to the invention, automatic, accurate and efficient configuration of inspection points can be realized.

Description

technical field [0001] The invention belongs to the technical field of intelligent inspection, and in particular relates to an automatic configuration system, method, storage medium, equipment and robot of an inspection point. 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, many places that require inspections will use robots and other mobile mechanisms to perform inspection tasks, such as substations, substations, tunnels, etc. In order to realize the autonomous inspection of the robot in the designated place, most of them use the map construction of the inspection place. After the map is built, the robot loads the map model for real-time positioning; then controls the robot to detect various types of inspection targets distributed in the inspection place. Carry out manual configuration. The manual configuration refers to man...

AI Technical Summary

Problems solved by technology

[0004] There are high requirements for the professional level and experience of the configuration personnel, which cannot be met by ordinary technical personnel, and the configuration personnel are highly subjective and have inconsistent standards ; For many complex scenarios, manual configuration takes a long time, is low in efficiency, and has low accuracy. It requires high labor and time costs, and requires review or there are great safety hazards. device security

[0005] Therefore, many R&D personnel turned to research on the automatic configuration of inspection points, but as far as the inventor knows, the current automatic configuration of inspection points cannot realize the recognition of direction constraints Objects, inspection point reuse of multiple inspection objects cannot be realized, inspection task execution efficiency is low, and many research methods cannot be linked with robots, or applied to robot inspections

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