A meter offline deployment method based on inspection map

Abstract

The present invention provides a meter offline deployment method based on an inspection map, comprising the following steps: selecting a target meter in the inspection map; obtaining point cloud information of the target meter, and calculating the orientation information of the meter dial based on the point cloud information, wherein the meter three-dimensional vector v (vx, vy, vz) and the center point A of the dial (ax, ay, az); S3: obtaining all inspection paths of the robot in the inspection map, and projecting all inspection paths and point A onto the plane of z = 0 in the three-dimensional coordinate map; fitting (ax, The following example uses the ray from the coordinate point (ay, 0) and the coordinate point (vx, vy, 0) in conjunction with all inspection paths to find the intersection point B (bx, by, 0). The height bz of point B is calculated based on the path information to obtain the position coordinates (bx, by, bz) of the dial. The following example uses the ray from the coordinate point (ay, 0) and the coordinate point (vx, vy, 0) in conjunction with all inspection paths to obtain the intersection point B (bx, by, 0). The following example uses the ray from the coordinate point (bx, by, 0) in conjunction with all inspection paths to obtain the height bz of point B, to obtain the position coordinates (bx, by, bz) of the dial. The following example uses the ray from the coordinate point (ay, 0) and the coordinate point (vx, vy, 0) in conjunction with all inspection paths to obtain the intersection point B (bx, by, 0). ...c = f(K, A1, A2)) to calculate the focal length K of the pan / tilt head.

Description

Technical Field

[0001] The invention relates to an off-line meter deployment method based on an inspection map. Background Art

[0002] Mobile inspection robots equipped with a pan-tilt device are used to inspect equipment in outdoor substations. The industry typically completes inspections through a deployment phase and an actual execution phase. To accomplish this, deployment typically involves manually moving the robot to a specific location, manually aligning the pan-tilt device with the location to be inspected, and then capturing a template image to determine the position of the robot and pan-tilt device. This method requires on-site deployment, resulting in a cumbersome and inefficient process. Summary of the Invention

[0003] In order to solve the above technical problems, the present invention provides a meter offline deployment method based on inspection map, which is achieved through the following scheme.

[0004] A method for offline meter deployment based on an inspection map includes the following steps:

[0005] S1: Select the target meter in the inspection map;

[0006] S2: Obtain the point cloud information of the target meter and calculate the dial orientation information based on the point cloud information, including the meter's three-dimensional vector v (vx, vy, vz) and the center point A of the dial (ax, ay, az);

[0007] S3: In the inspection map, obtain all inspection paths of the robot, and project all inspection paths and point A onto the plane z=0 in the three-dimensional coordinate map;

[0008] S4: Fit the rays between the coordinate points (ax, ay, 0) and (vx, vy, 0) on the plane, and calculate the intersection point B (bx, by, 0) by combining all inspection paths. Calculate the height bz of point B based on the path information to obtain the position coordinates (bx, by, bz) of the dial.

[0009] S5: Calculate vector w=AB, calculate the angle between w and the xoy plane, and the angle between w and the zox plane;

[0010] S6: Calculate the focal length K of the gimbal. Select the upper left corner point A1 (a1_x, a1_y, a1_z) and the lower right corner point A2 (a2_x, a2_y, a2_z) of the dial. Select the ratio of the dial to the entire image as c. According to the linear function relationship c = f(K, A1, A2), the focal length K of the gimbal is obtained.

[0011] Furthermore, the target meter can be selected by selecting a frame in the inspection map.

[0012] Furthermore, c takes an empirical value of 0.5.

[0013] In S2, the following steps are performed:

[0014] S21: Extract the point cloud set P of the dial and arrange the points into a matrix form

[0015]

[0016] S22: Construct the plane equation: Ax+By+Cz+D=0,

[0017]

[0018] S23: Use the least square method to solve the equation MN=0, and get the orientation of the plane as the normal vector (i.e. the three-dimensional vector of the meter)

[0019] S24: Take the average of the xyz values ​​of all point clouds to obtain the center point A of the dial.

[0020] The beneficial effect of this invention lies in that it directly selects the meter to be photographed based on a high-precision map, automatically estimates the dial orientation, and then finds the optimal intersection with the road network to automatically calculate the position of the robot and the gimbal. This achieves offline deployment and greatly accelerates the deployment process. DETAILED DESCRIPTION

[0021] The present invention will be further described below with reference to the following examples. The examples are only part of the present invention and 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 meter offline deployment method 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 box in the inspection map.

[0024] S2: Obtain the point cloud information of the target meter and calculate the dial orientation information based on the point cloud information. The dial orientation information includes the meter's three-dimensional vector v (vx, vy, vz) and the center point A of the dial (ax, ay, az).

[0025] In S2, the following steps are performed:

[0026] S21: Extract the point cloud set P of the dial and arrange the points into a matrix form

[0027]

[0028] S22: Construct the plane equation: Ax+By+Cz+D=0,

[0029]

[0030] S23: Use the least square method to solve the equation MN=0, and get the orientation of the plane as the normal vector (i.e. the three-dimensional vector of the meter)

[0031] S24: Take the average of the xyz values ​​of all point clouds to obtain the center point A of the dial.

[0032] S3: In the inspection map, obtain all inspection paths of the robot, and project all inspection paths and point A onto the plane z=0 in the three-dimensional coordinate map;

[0033] S4: Fit a ray on the plane between the coordinate points (ax, ay, 0) and (vx, vy, 0), and calculate the intersection point B (bx, by, 0) by combining all inspection paths. Calculate the height bz of point B based on the path information to obtain the position coordinates (bx, by, bz) of the dial. In this invention, the ray fitting process is the subtraction of the two coordinate points. Point B is obtained by traversing all paths and determining whether they intersect with the ray. If so, point B is obtained. Bz is obtained by linear interpolation based on the heights of the two endpoints of the path where point B is located.

[0034] S5: Calculate vector w = AB, calculate the angle between w and the xoy plane (i.e., the pitch angle of the gimbal), and the angle between w and the zox plane (i.e., the yaw angle of the gimbal);

[0035] S6: Calculate the focal length of the gimbal (i.e., the gimbal's intrinsic parameter matrix K); specifically, select the upper left corner point A1 (a1_x, a1_y, a1_z) and the lower right corner point A2 (a2_x, a2_y, a2_z) of the dial, select the ratio of the dial to the entire image as c, and based on the pinhole imaging principle, use the linear function relationship c = f(K, A1, A2) to obtain the gimbal's intrinsic parameter matrix K. Preferably, c takes the empirical value of 0.5. The principle of the present invention is that after target selection is performed based on the dense point cloud map of the scene, the algorithm is responsible for selecting an optimal deployment point from the robot's drivable path.

[0036] In this method, the meter to be photographed is selected directly based on a high-precision map. The meter's orientation is then automatically estimated, and the optimal intersection with the road network is determined. This automatically calculates the position of the robot and the gimbal. This allows for offline deployment, significantly accelerating the deployment process.

[0037] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment, it is not intended to limit the present invention. Any technician familiar with the present profession can make some changes or modifications to equivalent embodiments of equivalent changes using the technical contents disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A meter offline deployment method based on inspection map, characterized in that: The following steps are involved: S1: Select the target meter in the inspection map; S2: Obtain the point cloud information of the target meter and calculate the dial orientation information based on the point cloud information, including the meter's three-dimensional vector v (vx, vy, vz) and the center point A of the dial (ax, ay, az); S3: In the inspection map, obtain all inspection paths of the robot, and project all inspection paths and point A onto the plane z=0 in the three-dimensional coordinate map; S4: Fit the ray between the coordinate point (ax, ay, 0) and the coordinate point (vx, vy, 0) on the plane, and calculate the intersection point B (bx, by, 0) by combining all inspection paths. Calculate the height bz of point B according to the path information to obtain the position coordinates (bx, by, bz) of the dial. The ray fitting process is to subtract the coordinate point (ax, ay, 0) from the coordinate point (vx, vy, 0). The process of obtaining point B is to traverse all paths and determine whether they intersect with the ray. If they intersect, point B is obtained. bz is obtained by linear interpolation based on the heights of the two endpoints of the path where point B is located. S5: Calculate vector w=AB, calculate the angle between w and the xoy plane, and the angle between w and the zox plane; S6: Calculate the focal length K of the gimbal. Select the upper left corner point A1 (a1_x, a1_y, a1_z) and the lower right corner point A2 (a2_x, a2_y, a2_z) of the dial. Select the ratio of the dial to the entire image as c. According to the linear function relationship c = f(K, A1, A2), the focal length K of the gimbal is obtained.

2. The method for offline meter deployment based on inspection map according to claim 1, characterized in that: Select the target meter by selecting a box on the inspection map.

3. The method for offline meter deployment based on inspection map according to claim 1, characterized in that: c takes the empirical value of 0.

5.

4. The method for offline meter deployment based on inspection map according to claim 1, characterized in that: In S2, the following steps are performed: In S2, the following steps are performed: S21: Extract the point cloud set P of the dial and arrange the points into a matrix form ； S22: Construct the plane equation: Ax+By+Cz+D = 0, ； S23: Use least squares to solve the equation MN=0, and get the orientation of the plane as the normal vector ； S24: Take the average of the xyz values ​​of all point clouds to obtain the center point A of the dial.

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