A method, device, equipment and storage medium for obtaining coordinates of transmission line breakpoints

Abstract

The present invention discloses a method, device, equipment and storage medium for acquiring the coordinates of a transmission line breakpoint, the method comprising: establishing a robot coordinate system, a left camera coordinate system and a right camera coordinate system; establishing a normalized left image coordinate system and a right image coordinate system; acquiring the coordinates of the imaging point of the breakpoint in the left image coordinate system and the right image coordinate system; acquiring the coordinates of the breakpoint in the left camera coordinate system or the right camera coordinate system; acquiring the coordinates of the breakpoint in the robot coordinate system. The present invention solves the technical problem in the prior art that the coordinates of the transmission line breakpoint cannot be accurately identified, resulting in the inability to correctly implement the breakpoint repair.

Description

Technical Field

[0001] The present invention relates to the technical field of wire repair, and in particular to a method, device, equipment and storage medium for acquiring coordinates of a transmission wire breakpoint. Background Art

[0002] Transmission lines are mainly responsible for the transmission of electric energy and are an important part of the national power grid. Due to the large area where transmission lines are installed and the complex and changeable terrain and climate of the areas they pass through, transmission lines are prone to wire breakage, wire damage and other faults under the long-term influence of the external environment.

[0003] At present, with the development of drone technology, drones are generally used to identify the breakpoints of transmission lines, and then the breakpoints are repaired manually. This repair method not only has low work efficiency but also low safety. Although there is also a method of using wire repair robots to automatically repair breakpoints, the wire repair robots cannot accurately identify the coordinates of the breakpoints of the transmission wires, which often leads to the failure to correctly repair the breakpoints. Summary of the invention

[0004] The purpose of the present invention is to overcome the above-mentioned technical deficiencies and provide a method, device, equipment and storage medium for obtaining the coordinates of the breakpoints of the transmission line, so as to solve the technical problem in the prior art that the coordinates of the breakpoints of the transmission line cannot be accurately identified, resulting in the inability to correctly implement breakpoint repair.

[0005] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0006] In a first aspect, the present invention provides a method for obtaining the coordinates of a transmission line breakpoint, comprising the following steps:

[0007] Establish the robot coordinate system, the left camera coordinate system and the right camera coordinate system;

[0008] Establishing a normalized left image coordinate system and a right image coordinate system according to the left camera coordinate system and the focal length of the left camera and the right camera coordinate system and the focal length of the right camera respectively;

[0009] Obtaining coordinates of an imaging point of the breakpoint in the left image coordinate system and the right image coordinate system according to the coordinates of the breakpoint in the left camera coordinate system and the right camera coordinate system respectively;

[0010] Acquire the coordinates of the breakpoint in the left camera coordinate system or the right camera coordinate system according to the intrinsic parameters of the left camera and the intrinsic parameters of the right camera and the coordinates of the imaging point of the breakpoint in the left image coordinate system and the right image coordinate system;

[0011] The coordinates of the breakpoint in the robot coordinate system are acquired according to the intrinsic parameters of the left camera and the coordinates of the breakpoint in the left camera coordinate system or the intrinsic parameters of the right camera and the coordinates of the breakpoint in the right camera coordinate system.

[0012] Preferably, in the method for acquiring the coordinates of the breakpoints of the transmission line, the origin of the robot coordinate system is the center of the worm gear of the longitudinal rotating joint connecting the working arm of the robot and the main body moving mechanism, the origin of the left camera coordinate system is the optical center of the left camera, and the origin of the right camera coordinate system is the optical center of the right camera, and the optical axes of the left camera and the right camera are parallel to the transmission line.

[0013] Preferably, in the method for acquiring the coordinates of the breakpoint of the transmission line, the method for acquiring the coordinates of the imaging point of the breakpoint in the left image coordinate system is:

[0014]

[0015] Among them, (u l ,v l ) are the coordinates of the breakpoint in the left image coordinate system, is the coordinate of the imaging point of the breakpoint in the left image coordinate system, (u lo ,v lo ) is the coordinate of the intersection of the optical axis of the left camera on the imaging plane of the left image coordinate system, k l is the first magnification factor;

[0016] The method for obtaining the coordinates of the imaging point of the breakpoint in the right image coordinate system is:

[0017]

[0018] Among them, (u r ,v r ) are the coordinates of the breakpoint in the right image coordinate system, is the coordinate of the imaging point of the breakpoint in the right image coordinate system, (u ro ,v ro ) is the coordinate of the intersection of the optical axis of the right camera on the imaging plane where the right image coordinate system is located, k r is the second magnification factor.

[0019] Preferably, in the method for acquiring the coordinates of a transmission line breakpoint, acquiring the coordinates of the breakpoint in the left camera coordinate system or the right camera coordinate system according to the intrinsic parameters of the left camera and the intrinsic parameters of the right camera and the coordinates of the imaging point of the breakpoint in the left image coordinate system and the right image coordinate system comprises:

[0020] Obtaining intrinsic parameters of the left camera and the right camera;

[0021] Based on the intrinsic parameters of the left camera and the intrinsic parameters of the right camera, the coordinates of the imaging point of the breakpoint in the right image coordinate system are converted into conversion coordinates in the left image coordinate system;

[0022] The coordinates of the breakpoint in the left camera coordinate system are acquired according to the coordinates of the imaging point of the breakpoint in the left image coordinate system and the converted coordinates.

[0023] Preferably, in the method for acquiring the coordinates of the transmission line breakpoint, the method for acquiring the conversion coordinates is:

[0024]

[0025] in, To transform the coordinates, is the position vector of the center point of the optical axis of the right camera in the left camera coordinate system.

[0026] Preferably, in the method for acquiring the coordinates of the breakpoint of the transmission line, the coordinates of the breakpoint in the left camera coordinate system are:

[0027]

[0028] Wherein, (x, y, z) is the coordinate of the breakpoint in the left camera coordinate system, and d is the position offset of the center point of the optical axis of the right camera in the left camera coordinate system.

[0029] Preferably, in the method for acquiring the coordinates of the breakpoint of the transmission line, the coordinates of the breakpoint in the robot coordinate system are:

[0030]

[0031] Among them, (x w ,y w ,z w ) are the coordinates of the breakpoint in the robot coordinate system, and R and P are the extrinsic parameters of the left camera.

[0032] In a second aspect, the present invention further provides a transmission line breakpoint coordinate acquisition device, comprising:

[0033] A first coordinate system establishment module, used to establish a robot coordinate system, a left camera coordinate system, and a right camera coordinate system;

[0034] A second coordinate system establishing module, used to establish a normalized left image coordinate system and a right image coordinate system according to the left camera coordinate system and the focal length of the left camera and the right camera coordinate system and the focal length of the right camera respectively;

[0035] A first coordinate acquisition module, used for acquiring the coordinates of the imaging point of the breakpoint in the left image coordinate system and the right image coordinate system according to the coordinates of the breakpoint in the left camera coordinate system and the right camera coordinate system respectively;

[0036] A second coordinate acquisition module, used to acquire the coordinates of the breakpoint in the left camera coordinate system or the right camera coordinate system according to the intrinsic parameters of the left camera and the right camera and the coordinates of the imaging point of the breakpoint in the left image coordinate system and the right image coordinate system;

[0037] The third coordinate acquisition module is used to obtain the coordinates of the breakpoint in the robot coordinate system according to the intrinsic parameters of the left camera and the coordinates of the breakpoint in the left camera coordinate system or the intrinsic parameters of the right camera and the coordinates of the breakpoint in the right camera coordinate system.

[0038] In a third aspect, the present invention further provides a transmission line breakpoint coordinate acquisition device, comprising: a processor and a memory;

[0039] The memory stores a computer-readable program executable by the processor;

[0040] When the processor executes the computer-readable program, the steps in the method for acquiring the coordinates of the transmission line breakpoints as described above are implemented.

[0041] In a fourth aspect, the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the method for acquiring the coordinates of the transmission line breakpoint as described above.

[0042] Compared with the prior art, in the transmission line breakpoint coordinate acquisition method, device, equipment and storage medium provided by the present invention, after the wire break repair robot moves along the line and locates the broken strand bifurcation position, it stops moving and uses the wire clamp to lock the robot body moving mechanism and the transmission line. In order to control the operating robot arm to straighten, reset and wrap the broken strand bifurcation aluminum wire, the present invention constructs a parallel binocular vision measurement system, combines the camera's internal and external parameter transformation matrix, calculates the three-dimensional coordinates of the line breakpoint in the robot coordinate system, and the relative position with the end effector, so that the coordinates of the transmission line breakpoint can be accurately identified, so that the robot can correctly repair the breakpoint. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is the principle diagram of pinhole imaging;

[0044] Figure 2 It is a schematic diagram of the coordinates of different space points corresponding to the image points;

[0045] Figure 3 It is a flow chart of a preferred embodiment of the method for obtaining the coordinates of the transmission line breakpoints provided by the present invention;

[0046] Figure 4 It is a schematic diagram of a model of binocular vision system distance measurement of the present invention;

[0047] Figure 5 It is a schematic diagram of a preferred embodiment of the transmission line breakpoint coordinate acquisition device provided by the present invention;

[0048] Figure 6 It is a schematic diagram of the operating environment of a preferred embodiment of the transmission line breakpoint coordinate acquisition program of the present invention. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0050] Camera imaging generally uses the pinhole imaging principle, such as Figure 1 As shown. C is the center point of the camera optical axis, and the optical axis is perpendicular to the target point plane E1, the imaging plane F′1, and the mapping plane F1 of the same proportion and opposite direction as F′1. Photosensitive devices are distributed on F′1, which convert the light signal irradiated to the plane into an electrical signal output, but it is opposite to the up-down and left-right directions of the real target point plane, so the actual output signal of the camera is the mapping plane F1 of the real image of the imaging plane. The camera coordinate system is established with the center point of the camera optical axis, the camera optical axis is set as the Z axis, and the camera to the target point is the positive direction, and the X axis direction is the same as the image coordinate system (that is, the imaging plane F′1). Let the coordinates of the target point P2 be (x2, y2, z2), and the coordinates of the point P1 of P2 under the imaging plane F1 be (x1, y1, z1).

[0051] According to the triangle similarity theorem, we have:

[0052]

[0053] Formula (1) is the relationship between the target point in Cartesian space and the camera imaging point, where f is the focal length of the camera and f=z1.

[0054] The camera intrinsic parameters describe the relationship between the image coordinate system and the camera coordinate system. The imaging point (x1, y1) on the imaging plane is magnified and converted into a point (u, v) in the image coordinate system, and the intersection of the camera optical axis on the imaging plane is recorded as the image coordinate (u0, v0), then:

[0055]

[0056] Where: a x and a y are the magnification factors from the imaging plane to the image coordinate plane in the X-axis and Y-axis directions, respectively.

[0057] Substituting formula (2) into formula (1), we get:

[0058]

[0059] Rewrite equation (3) into matrix form, then we have:

[0060]

[0061] Where: k x =a x f is the magnification factor in the X-axis direction; k y =a y f is the magnification factor in the Y-axis direction; M in It is called the intrinsic parameter matrix, (x2, y2, z2) is the coordinate of the target point in the camera coordinate system.

[0062] Generally, the coordinates of the target point in the camera coordinate system are expressed as (x c ,y c ,z c ), that is, formula (4) is changed to:

[0063]

[0064] like Figure 2 From the geometric principle shown, it can be seen that all points on the straight line OP have the same image coordinates, that is, a point in the image coordinate system can correspond to several different spatial points.

[0065] When z = f, the point (x c ,y c ,z c ) is the imaging point coordinate of the image point on the imaging plane. According to the intrinsic parameters of the camera, the imaging point coordinate of the image point on the focal length normalized imaging plane can be calculated:

[0066]

[0067] By using the focal length to normalize the coordinates of the imaging point on the imaging plane and the center point of the optical axis, the spatial straight line where the scene point is located can be determined.

[0068] The camera external parameters describe the conversion relationship between the robot's physical working scene coordinate system and the camera coordinate system. Figure 1 As shown, the camera external parameter matrix is ​​formed, and the coordinate system O W X W Y W Z WIn the coordinate system O C X C Y C Z C It shows:

[0069]

[0070] Where: (x c ,y c ,z c ) represents the scene point in the camera coordinate system O C X C Y C Z C The coordinates in (x w ,y w ,z w ) is the scene point in the robot coordinate system O W X W Y W Z W The coordinates in ; c M w is the external parameter matrix; n = [n x n y n z ] T Yes X W Axis in the camera coordinate system O C X C Y C Z C The direction vector of x o y o z ] T Yes W Axis in the camera coordinate system O C X C Y C Z C The direction vector of x a y a z ] T It's Z W Axis in the camera coordinate system O C X C Y C Z C The direction vector of x p y p z ] T Yes W X W Y W Z W The origin of the coordinate system is in the camera coordinate system O C X C YC Z C location.

[0071] Based on the above analysis, an embodiment of the present invention provides a method for obtaining the coordinates of a transmission line breakpoint, comprising the following steps:

[0072] S100, establishing a robot coordinate system, a left camera coordinate system, and a right camera coordinate system;

[0073] S200, establishing a normalized left image coordinate system and a right image coordinate system according to the left camera coordinate system and the focal length of the left camera and the right camera coordinate system and the focal length of the right camera respectively;

[0074] S300, acquiring coordinates of an imaging point of the breakpoint in the left image coordinate system and the right image coordinate system according to the coordinates of the breakpoint in the left camera coordinate system and the right camera coordinate system respectively;

[0075] S400, acquiring the coordinates of the breakpoint in the left camera coordinate system or the right camera coordinate system according to the intrinsic parameters of the left camera and the intrinsic parameters of the right camera and the coordinates of the imaging point of the breakpoint in the left image coordinate system and the right image coordinate system;

[0076] S500. Obtain the coordinates of the breakpoint in the robot coordinate system according to the intrinsic parameters of the left camera and the coordinates of the breakpoint in the left camera coordinate system or the intrinsic parameters of the right camera and the coordinates of the breakpoint in the right camera coordinate system.

[0077] In this embodiment, after the wire break repair robot moves along the line and locates the broken strand bifurcation position, it stops moving and uses the wire clamp to lock the robot body moving mechanism and the power transmission line. In order to control the operating robot arm to straighten, reset and wrap the broken strand bifurcation aluminum wire, the present invention constructs a parallel binocular vision measurement system, combines the camera's internal and external parameter transformation matrix, calculates the three-dimensional coordinates of the line breakpoint in the robot coordinate system, and the relative position with the end effector, so that the coordinates of the power transmission line breakpoint can be accurately identified, so that the robot can correctly repair the breakpoint.

[0078] like Figure 4 As shown, in this embodiment, the origin of the robot coordinate system is the center of the worm gear of the longitudinal rotating joint connecting the working arm of the robot and the main moving mechanism, the origin of the left camera coordinate system is the optical center of the left camera, and the origin of the right camera coordinate system is the optical center of the right camera, and the optical axes of the left camera and the right camera are parallel to the transmission wire.

[0079] Specifically, in the embodiment of the present invention, the center of the worm gear of the longitudinal rotation joint connecting the working robot arm and the body moving mechanism is used as the robot coordinate system of the binocular vision system. w-x w y w z w The origin, O cl -x cl y cl z cl , O cr -x cr y cr z cr is the left and right camera coordinate system, O l -x l y l , O r -x r y r is the left and right image coordinate system after focal length normalization.

[0080] Optical center of left and right camera O cl and O cr The distance between them is d, and the optical axis of the camera is parallel to the wire. cl O l and O cr O r The distance between them is the normalized focal length f = 1. Point P is a target point in the robot coordinate system. l and P r They are the imaging points of point P on the left and right images after focal length normalization.

[0081] In some embodiments, the coordinates of the imaging point of the breakpoint in the left image coordinate system are obtained by:

[0082]

[0083] Among them, (u l ,v l ) are the coordinates of the breakpoint in the left image coordinate system, is the coordinate of the imaging point of the breakpoint in the left image coordinate system, (u lo ,v lo ) is the coordinate of the intersection of the optical axis of the left camera on the imaging plane of the left image coordinate system, k l is the first magnification factor;

[0084] The method for obtaining the coordinates of the imaging point of the breakpoint in the right image coordinate system is:

[0085]

[0086] Among them, (u r ,v r ) are the coordinates of the breakpoint in the right image coordinate system, is the coordinate of the imaging point of the breakpoint in the right image coordinate system, (u ro ,v ro ) is the coordinate of the intersection of the optical axis of the right camera on the imaging plane where the right image coordinate system is located, k r is the second magnification factor.

[0087] In this embodiment, the space point P is located at the camera c l The image coordinates (u l ,v l ), we can calculate the point P at camera c l The focal length of the imaging point in the normalized imaging plane The coordinates of the space point P at the camera c l The optical axis center point and point The straight line formed by , that is, meets the equation:

[0088]

[0089] Similarly, from the space point P on the camera c r The image coordinates (u r ,v r ), we can calculate the point P at camera c r The focal length of the imaging point in the normalized imaging plane The coordinates of the space point P are also in the camera c r The optical axis center point and point On the straight line formed.

[0090] In some embodiments, the step S400 specifically includes:

[0091] Obtaining intrinsic parameters of the left camera and the right camera;

[0092] Based on the intrinsic parameters of the left camera and the intrinsic parameters of the right camera, the coordinates of the imaging point of the breakpoint in the right image coordinate system are converted into conversion coordinates in the left image coordinate system;

[0093] The coordinates of the breakpoint in the left camera coordinate system are acquired according to the coordinates of the imaging point of the breakpoint in the left image coordinate system and the converted coordinates.

[0094] Specifically, the method for obtaining the conversion coordinates is:

[0095]

[0096] in, To transform the coordinates, is the position vector of the optical axis center point of the right camera in the left camera coordinate system, which can be obtained based on the intrinsic parameters of the two cameras: Figure 4The geometric relationship of binocular vision shows that only the coordinate value become Therefore, the straight line equation can be expressed as formula (12):

[0097]

[0098] Where: p x 、p y and p z constitute The position offset, p x =d, p y and p z is equal to 0, because the two cameras have the same t r =t l .

[0099] The intersection of the two straight lines is the spatial point P. Therefore, we can solve the spatial point P at the camera c l Three-dimensional coordinates in the coordinate system. Figure 4 The binocular vision model can calculate the target point P at the camera c l The coordinates (x, y, z) in the coordinate system are:

[0100]

[0101] Wherein, (x, y, z) is the coordinate of the breakpoint in the left camera coordinate system, and d is the position offset of the center point of the optical axis of the right camera in the left camera coordinate system.

[0102] Furthermore, using the external parameters between the camera coordinate system and the robot coordinate system, we can get the coordinate system of point P at the camera c l The three-dimensional coordinates in the coordinate system and the matrix transformation of formula (7) calculate the three-dimensional coordinates of point P in the robot coordinate system:

[0103]

[0104] Among them, (x w ,y w ,z w ) are the coordinates of the breakpoint in the robot coordinate system, and R and P are the extrinsic parameters of the left camera.

[0105] After the coordinates of the breakpoint in the robot coordinate system are obtained, the end repair operation robot arm can be driven to start winding and wrapping the broken wire, thereby ensuring the accuracy of wire repair.

[0106] Based on the above transmission line breakpoint coordinate acquisition method, please refer to Figure 5 The embodiment of the present invention also provides a transmission line breakpoint coordinate acquisition device 600, comprising:

[0107] A first coordinate system establishing module 610, used to establish a robot coordinate system, a left camera coordinate system, and a right camera coordinate system;

[0108] A second coordinate system establishing module 620, configured to establish a normalized left image coordinate system and a right image coordinate system according to the left camera coordinate system and the focal length of the left camera and the right camera coordinate system and the focal length of the right camera respectively;

[0109] A first coordinate acquisition module 630, configured to acquire coordinates of an imaging point of the breakpoint in the left image coordinate system and the right image coordinate system according to the coordinates of the breakpoint in the left camera coordinate system and the right camera coordinate system respectively;

[0110] A second coordinate acquisition module 640 is used to acquire the coordinates of the breakpoint in the left camera coordinate system or the right camera coordinate system according to the intrinsic parameters of the left camera and the intrinsic parameters of the right camera and the coordinates of the imaging point of the breakpoint in the left image coordinate system and the right image coordinate system;

[0111] The third coordinate acquisition module 650 is used to obtain the coordinates of the breakpoint in the robot coordinate system according to the intrinsic parameters of the left camera and the coordinates of the breakpoint in the left camera coordinate system or the intrinsic parameters of the right camera and the coordinates of the breakpoint in the right camera coordinate system.

[0112] In this embodiment, after the wire break repair robot moves along the line and locates the broken strand bifurcation position, it stops moving and uses the wire clamp to lock the robot body moving mechanism and the power transmission line. In order to control the operating robot arm to straighten, reset and wrap the broken strand bifurcation aluminum wire, the present invention constructs a parallel binocular vision measurement system, combines the camera's internal and external parameter transformation matrix, calculates the three-dimensional coordinates of the line breakpoint in the robot coordinate system, and the relative position with the end effector, so that the coordinates of the power transmission line breakpoint can be accurately identified, so that the robot can correctly repair the breakpoint.

[0113] Since the method for obtaining the coordinates of the transmission line breakpoints has been described in detail above, it will not be repeated here.

[0114] like Figure 6 As shown, based on the above transmission line breakpoint coordinate acquisition method, the present invention also provides a transmission line breakpoint coordinate acquisition device, which can be a computing device such as a mobile terminal, a desktop computer, a notebook, a palm computer, and a server. The transmission line breakpoint coordinate acquisition device includes a processor 10, a memory 20, and a display 30. Figure 6 Only some components of the transmission line breakpoint coordinate acquisition device are shown, but it should be understood that it is not required to implement all the shown components, and more or fewer components may be implemented instead.

[0115] In some embodiments, the memory 20 may be an internal storage unit of the transmission line breakpoint coordinate acquisition device, such as a hard disk or memory of the transmission line breakpoint coordinate acquisition device. In other embodiments, the memory 20 may also be an external storage device of the transmission line breakpoint coordinate acquisition device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the transmission line breakpoint coordinate acquisition device. Further, the memory 20 may also include both an internal storage unit and an external storage device of the transmission line breakpoint coordinate acquisition device. The memory 20 is used to store application software and various types of data installed in the transmission line breakpoint coordinate acquisition device, such as the program code of the transmission line breakpoint coordinate acquisition device. The memory 20 may also be used to temporarily store data that has been output or is to be output. In one embodiment, the memory 20 stores a transmission line breakpoint coordinate acquisition program 40, which can be executed by the processor 10, thereby realizing the transmission line breakpoint coordinate acquisition method of each embodiment of the present application.

[0116] In some embodiments, the processor 10 may be a central processing unit (CPU), a microprocessor or other data processing chip, used to run the program code or process data stored in the memory 20, such as executing the method for acquiring the coordinates of the transmission line breakpoint.

[0117] In some embodiments, the display 30 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 30 is used to display information on the transmission line breakpoint coordinate acquisition device and to display a visual user interface. The components 10-30 of the transmission line breakpoint coordinate acquisition device communicate with each other via a system bus.

[0118] In one embodiment, when the processor 10 executes the transmission line breakpoint coordinate acquisition program 40 in the memory 20, the steps in the transmission line breakpoint coordinate acquisition method described above are implemented.

[0119] In summary, in the transmission line breakpoint coordinate acquisition method, device, equipment and storage medium provided by the present invention, after the wire break repair robot moves along the line and locates the broken strand bifurcation position, it stops moving and uses the wire clamp to lock the robot body moving mechanism and the transmission line. In order to control the operating robot arm to straighten, reset and wrap the broken strand bifurcation aluminum wire, the present invention constructs a parallel binocular vision measurement system, combines the camera's internal and external parameter transformation matrix, calculates the three-dimensional coordinates of the line breakpoint in the robot coordinate system, and the relative position with the end effector, so that the coordinates of the transmission line breakpoint can be accurately identified, so that the robot can correctly repair the breakpoint.

[0120] Of course, those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing related hardware (such as a processor, a controller, etc.) through a computer program, and the program can be stored in a computer-readable storage medium, and the program can include the processes of the above-mentioned method embodiments when executed. The storage medium can be a memory, a disk, an optical disk, etc.

[0121] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A method for obtaining the coordinates of a transmission line breakpoint, characterized in that: The steps include: Establish the robot coordinate system, the left camera coordinate system and the right camera coordinate system; Establishing a normalized left image coordinate system and a right image coordinate system according to the left camera coordinate system and the focal length of the left camera and the right camera coordinate system and the focal length of the right camera respectively; Acquire coordinates of an imaging point of the breakpoint in the left image coordinate system and the right image coordinate system according to the coordinates of the breakpoint in the left camera coordinate system and the right camera coordinate system respectively; Acquire the coordinates of the breakpoint in the left camera coordinate system or the right camera coordinate system according to the intrinsic parameters of the left camera and the intrinsic parameters of the right camera and the coordinates of the imaging point of the breakpoint in the left image coordinate system and the right image coordinate system; The coordinates of the breakpoint in the robot coordinate system are acquired according to the intrinsic parameters of the left camera and the coordinates of the breakpoint in the left camera coordinate system or the intrinsic parameters of the right camera and the coordinates of the breakpoint in the right camera coordinate system.

2. The method for obtaining the coordinates of the transmission line breakpoint according to claim 1, characterized in that: The origin of the robot coordinate system is the center of the worm gear of the longitudinal rotating joint connecting the robot's operating arm and the main body moving mechanism, the origin of the left camera coordinate system is the optical center of the left camera, and the origin of the right camera coordinate system is the optical center of the right camera, and the optical axes of the left camera and the right camera are parallel to the transmission line.

3. The method for obtaining the coordinates of the transmission line breakpoint according to claim 1, characterized in that: The method for obtaining the coordinates of the imaging point of the breakpoint in the left image coordinate system is: Among them, (u l ,v l ) are the coordinates of the breakpoint in the left image coordinate system, is the coordinate of the imaging point of the breakpoint in the left image coordinate system, (u lo ,v lo ) is the coordinate of the intersection of the optical axis of the left camera on the imaging plane of the left image coordinate system, k l is the first magnification factor; The method for obtaining the coordinates of the imaging point of the breakpoint in the right image coordinate system is: Among them, (u r ,v r ) are the coordinates of the breakpoint in the right image coordinate system, is the coordinate of the imaging point of the breakpoint in the right image coordinate system, (u ro ,v ro ) is the coordinate of the intersection of the optical axis of the right camera on the imaging plane where the right image coordinate system is located, k r is the second magnification factor.

4. The method for acquiring the coordinates of the transmission line breakpoint according to claim 3, characterized in that: The acquiring the coordinates of the breakpoint in the left camera coordinate system or the right camera coordinate system according to the intrinsic parameters of the left camera and the intrinsic parameters of the right camera and the coordinates of the imaging point of the breakpoint in the left image coordinate system and the right image coordinate system comprises: Obtaining intrinsic parameters of the left camera and the right camera; Based on the intrinsic parameters of the left camera and the intrinsic parameters of the right camera, the coordinates of the imaging point of the breakpoint in the right image coordinate system are converted into conversion coordinates in the left image coordinate system; The coordinates of the breakpoint in the left camera coordinate system are acquired according to the coordinates of the imaging point of the breakpoint in the left image coordinate system and the converted coordinates.

5. The method for acquiring the coordinates of the transmission line breakpoint according to claim 4, characterized in that: The method for obtaining the conversion coordinates is: in, To transform the coordinates, is the position vector of the center point of the optical axis of the right camera in the left camera coordinate system.

6. The method for acquiring the coordinates of the transmission line breakpoint according to claim 5, characterized in that: The coordinates of the breakpoint in the left camera coordinate system are: Wherein, (x, y, z) is the coordinate of the breakpoint in the left camera coordinate system, and d is the position offset of the center point of the optical axis of the right camera in the left camera coordinate system.

7. The method for acquiring the coordinates of the transmission line breakpoint according to claim 6, characterized in that: The coordinates of the breakpoint in the robot coordinate system are: Among them, (x w ,y w ,z w ) are the coordinates of the breakpoint in the robot coordinate system, and R and P are the extrinsic parameters of the left camera.

8. A device for acquiring coordinates of transmission line breakpoints, characterized in that: include: A first coordinate system establishment module, used to establish a robot coordinate system, a left camera coordinate system, and a right camera coordinate system; A second coordinate system establishing module, used to establish a normalized left image coordinate system and a right image coordinate system according to the left camera coordinate system and the focal length of the left camera and the right camera coordinate system and the focal length of the right camera respectively; A first coordinate acquisition module, used for acquiring the coordinates of the imaging point of the breakpoint in the left image coordinate system and the right image coordinate system according to the coordinates of the breakpoint in the left camera coordinate system and the right camera coordinate system respectively; A second coordinate acquisition module, used to acquire the coordinates of the breakpoint in the left camera coordinate system or the right camera coordinate system according to the intrinsic parameters of the left camera and the right camera and the coordinates of the imaging point of the breakpoint in the left image coordinate system and the right image coordinate system; The third coordinate acquisition module is used to obtain the coordinates of the breakpoint in the robot coordinate system according to the intrinsic parameters of the left camera and the coordinates of the breakpoint in the left camera coordinate system or the intrinsic parameters of the right camera and the coordinates of the breakpoint in the right camera coordinate system.

9. A transmission line breakpoint coordinate acquisition device, characterized in that: include: Processor and memory; The memory stores a computer-readable program executable by the processor; When the processor executes the computer-readable program, the steps in the method for obtaining the coordinates of the transmission line breakpoints as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the method for acquiring the coordinates of the transmission line breakpoint as described in any one of claims 1-7.

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