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Substation robot inspection target automatic tracking method and system

An automatic tracking and robot technology, which is applied in the field of automatic tracking method and system for robot inspection targets in substations, can solve problems such as inaccurate positioning, loss, and inspection target deviation, and achieves expansion of training data, reduction of occupancy rate, and increase of diversity. sexual effect

Pending Publication Date: 2022-08-05
TAIAN POWER SUPPLY CO OF STATE GRID SHANDONG ELECTRIC POWER CO
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Due to the positioning error of the robot and the error of the degree of freedom of the robot body, the inspection target will be shifted or even lost when the robot goes to a fixed point to take images
[0005] The existing technology uses the traditional machine learning algorithm to locate the target in the inspection image. The recognition error rate is high and the positioning is not accurate. extract

Method used

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  • Substation robot inspection target automatic tracking method and system
  • Substation robot inspection target automatic tracking method and system

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Embodiment 1

[0037] In one or more embodiments, an automatic tracking method for inspection targets of a substation robot is disclosed. First, the substation inspection robot collects inspection videos through a mounted visible light camera, decomposes the video frames into multiple images, and uses the images to predict The processing technology processes the image to filter the interference of the background and other stray light on the device identification; then uses the deep learning-based multi-target detection algorithm YOLO to locate the inspection target; finally, through the visual servo method, combined with the inspection target The position coordinates in the image calculate the deflection direction of the camera, so that the inspection target is always in the middle area of ​​the video.

[0038] As a specific implementation manner, the present embodiment is an automatic tracking method for a robot inspection target in a substation, which combines figure 1 , which includes the...

Embodiment 2

[0058] In one or more embodiments, an automatic tracking system for robot inspection targets in substations is disclosed, including:

[0059] The data acquisition module is used to acquire the robot inspection video data and preprocess it;

[0060] The inspection target recognition module is used to identify the target image position of the robot inspection equipment based on the preprocessed video image data and the trained target detection model;

[0061] The target tracking module is used to determine the distance and relative position between the center point of the inspection equipment and the center point of the image, and calculate the deflection direction of the camera mounted on the inspection robot, so that the target image is always in the center of the image.

[0062] It should be noted that the specific implementation of the above modules has been described in the first embodiment, and will not be described in detail here.

Embodiment 3

[0064] In one or more embodiments, a terminal device is disclosed, including a server, the server including a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor executing the During the program, the automatic tracking method for the inspection target of the substation robot in the first embodiment is realized. For brevity, details are not repeated here.

[0065] It should be understood that, in this embodiment, the processor may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors, DSPs, application-specific integrated circuits (ASICs), off-the-shelf programmable gate arrays (FPGAs), or other programmable logic devices. , discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

[0066] The memory may include...

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Abstract

The invention discloses a substation robot inspection target automatic tracking method and system, and the method comprises the steps: obtaining robot inspection video data, and carrying out the preprocessing; based on the preprocessed video image data and a trained target detection model, identifying and obtaining a target image position of the robot inspection equipment; and determining the distance and the relative position relation between the central point of the inspection equipment and the central point of the image, and calculating the deflection direction of a camera carried by the inspection robot, so that the target image is always in the central area of the image. The invention creatively provides the automatic tracking method for the inspection target, target detection and automatic tracking can be accurately carried out on the inspection equipment in real time, so that the target image is always in the central area of the image, the problem of inaccurate identification of the inspection target in the prior art is solved, and the accuracy of target identification and positioning is improved.

Description

technical field [0001] The invention relates to the technical field of robot inspection, in particular to a method and system for automatic tracking of robot inspection targets in substations. 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] The substation inspection robot system is a complex system integrating mechatronics, multi-sensor fusion, navigation and behavior planning, robot vision, and wireless transmission. The inspection robot carries a CCD camera, an infrared thermal imager, a pickup, and an ultrasonic wave. It conducts autonomous or remote inspection of outdoor high-voltage equipment through navigation and positioning, and plans the optimal path. Automatically identify thermal defects, switch or knife switch status of equipment, and generate unified and standardized alarm items and inspection reports. [0004] Due to the po...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06V20/40G06V10/24G06V10/50G06N3/04G06N3/08
CPCG06N3/08G06N3/045Y04S10/50
Inventor 宫德锋武同宝亓鹏邹浩杨雷杨坤谢雨濛
Owner TAIAN POWER SUPPLY CO OF STATE GRID SHANDONG ELECTRIC POWER CO
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