Meter offline deployment method based on inspection map
A map and meter technology, applied in the field of offline meter deployment based on inspection maps, can solve the problems of cumbersome process and low efficiency, and achieve the effect of accelerating the deployment process
Pending Publication Date: 2022-07-15
深圳市千乘机器人有限公司
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Such a method requires on-site deployment, which is cumbersome and inefficient.
Method used
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[0021] The present invention will be further described below with reference to the embodiments, which are only a part of the embodiments of the present invention, and these embodiments are only used to explain the present invention, and do not constitute any limitation to the scope of the present invention.
[0022] The present invention provides a method for offline deployment of meters based on an inspection map, comprising the following steps:
[0023] S1: select the target meter in the inspection map; preferably, select the target meter by selecting a frame in the inspection map
[0024] S2: Obtain the point cloud information of the target meter, and calculate the orientation information of the dial based on the point cloud information. The orientation information of the dial includes the three-dimensional vector v (vx, vy, vz) of the meter and the center point A of the dial (ax, ay, az).
[0025] In S2, do the following steps:
[0026] S21: The point cloud set P extract...
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The invention provides a meter offline deployment method based on an inspection map. The method comprises the following steps: selecting a target meter in the inspection map; obtaining point cloud information of a target meter, and calculating orientation information of a dial plate based on the point cloud information, including a three-dimensional vector v (vx, vy, vz) of the meter and a center A point (ax, ay, az) of the dial plate; s3, in the inspection map, all inspection paths of the robot are obtained, and all inspection paths and the A point are firstly projected to a plane with z = 0 in the three-dimensional coordinate graph; a ray of a (ax, ay, 0) coordinate point and a ray of a (vx, by, 0) coordinate point are fitted on a plane, an intersection point B (bx, by, 0) is solved by combining all inspection paths, the height bz of the point B is solved according to path information, and position coordinates (bx, by, bz) of the dial plate are obtained; calculating a vector w = AB, and calculating an included angle between w and the xoy plane and an included angle between w and the zox plane; and selecting a left upper corner point A1 and a right lower corner point of a point of the dial plate and a ratio c of the dial plate to the whole image, and calculating the focal length K of the holder according to a linear function relation c = f (K, A1, A2).
Description
technical field [0001] The invention relates to an offline deployment method of meters based on an inspection map. Background technique [0002] Inspection-type mobile robots carry PTZ equipment and are used to inspect the equipment of outdoor substations. The inspection work in the industry is divided into the deployment process and the actual execution process. In order to complete the deployment work in the prior art, usually first The robot manually drives to a certain position, and then manually controls the gimbal to align with the position to be inspected, and then collects template pictures to obtain the pose of the robot and the gimbal. Such a method requires on-site deployment, which is cumbersome and inefficient. SUMMARY OF THE INVENTION [0003] In order to solve the above technical problems, the present invention provides an offline deployment method of meters based on an inspection map, which is implemented through the following solutions. [0004] An offli...
Claims
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Patent Timeline
Login to View More IPC IPC(8): G01C21/00G06T7/66G06T7/60G06T7/70
CPCG01C21/00G06T7/66G06T7/60G06T7/70G06T2207/10028
Inventor 张义杰梁超高鹏威栗玉雄
Owner 深圳市千乘机器人有限公司