Inspection point calibration method, device, equipment, robot, medium and program

Abstract

The invention relates to an inspection point calibration method, device and equipment, a robot, a medium and a program. The inspection point position calibration method comprises the following steps: establishing a regional three-dimensional model of an inspection region according to point cloud data of the inspection region, equipment data of the inspection region and inspection point position data of the inspection region; and determining a robot inspection path corresponding to each inspection point according to the regional three-dimensional model. And determining a robot stop point corresponding to the to-be-calibrated inspection point according to the regional three-dimensional model and the target robot inspection path under the condition that a calibration instruction of the user for the to-be-calibrated inspection point according to the regional three-dimensional model is received. The target robot inspection path is a robot inspection path corresponding to the to-be-calibrated inspection point. According to the robot stop point and the to-be-calibrated inspection point, the inspection posture of the robot corresponding to the to-be-calibrated inspection point is determined, and calibration of the to-be-calibrated inspection point is completed.

Description

Technical Field

[0001] The present application relates to the field of robot inspection, and in particular to a method, device, equipment, robot, medium and program for calibrating inspection points. Background Art

[0002] Robots are used in a variety of inspection scenarios. For example, in a substation, the inspection robot needs to inspect all equipment in the entire substation. In the substation, the inspection robot needs to detect the temperature of key parts of the transformer, detect whether the circuit breaker is in the correct open or closed position, and detect whether the switch contacts of the disconnector are hot.

[0003] Each device in the substation has a different inspection point. During the inspection process, the robot needs to go to the vicinity of each device to perform the corresponding inspection task at each inspection point.

[0004] In order for the robot to automatically perform inspection tasks, the staff needs to calibrate each inspection point in advance. That is, the staff needs to determine the robot docking position corresponding to each inspection point in advance, as well as the robot's orientation, gimbal orientation, gimbal pitch angle and other posture parameters at the robot's docking position. After that, the staff can input information such as the coordinates of the robot's docking position and posture parameters into the robot. During the actual inspection process, the robot can go to each robot docking position and adjust its posture to perform the corresponding inspection tasks for each inspection point.

[0005] The inventor of the present application found that in the process of calibrating the inspection point in the prior art, the staff first moved the robot to the vicinity of the equipment corresponding to the inspection point at the inspection site (e.g., in the substation). After that, the staff continuously adjusted the position of the robot, the robot's orientation, the pan-tilt orientation, the pan-tilt pitch angle, etc., so that the robot's pan-tilt can observe the inspection point, so as to find the best docking position and the pan-tilt pitch angle, robot orientation, pan-tilt orientation, etc. at the best docking position, thereby completing the calibration of the inspection point. Summary of the invention

[0006] According to one aspect of the present application, a calibration method for inspection points is proposed. The calibration method includes establishing a regional three-dimensional model of the inspection area based on point cloud data of the inspection area, equipment data of the inspection area, and inspection point data of the inspection area. According to the regional three-dimensional model, the robot inspection paths corresponding to each inspection point are determined. When a calibration instruction for the inspection point to be calibrated is received from the user according to the regional three-dimensional model, the robot stop point corresponding to the inspection point to be calibrated is determined according to the regional three-dimensional model and the target robot inspection path, wherein the target robot inspection path is the robot inspection path corresponding to the inspection point to be calibrated. According to the robot stop point and the inspection point to be calibrated, the inspection posture of the robot corresponding to the inspection point to be calibrated is determined to complete the calibration of the inspection point to be calibrated.

[0007] According to another aspect of the present application, a calibration device for inspection points is proposed. The calibration device for inspection points includes a three-dimensional model building module, a path planning module, a stop point determination module and a posture determination module. The three-dimensional model building module builds a regional three-dimensional model of the inspection area based on the point cloud data of the inspection area, the equipment data of the inspection area and the inspection point data of the inspection area. The path planning module determines the robot inspection paths corresponding to each inspection point according to the regional three-dimensional model. When the stop point determination module receives the calibration instruction from the user for the inspection point to be calibrated, it determines the robot stop point corresponding to the inspection point to be calibrated according to the regional three-dimensional model and the target robot inspection path. Among them, the target robot inspection path is the robot inspection path corresponding to the inspection point to be calibrated. The posture determination module is used to determine the inspection posture of the robot corresponding to the inspection point to be calibrated according to the robot stop point and the inspection point to be calibrated, so as to complete the calibration of the inspection point to be calibrated.

[0008] According to another aspect of the present application, a four-legged inspection robot is proposed. The four-legged inspection robot inspects each inspection point according to each inspection point, the robot stop point corresponding to each inspection point, and the inspection posture corresponding to each inspection point. The robot stop point and the inspection posture are determined according to a preset determination method. The preset determination method includes establishing a regional three-dimensional model of the inspection area according to the point cloud data of the inspection area, the equipment data of the inspection area, and the inspection point data of the inspection area. According to the regional three-dimensional model, the robot inspection path corresponding to each inspection point is determined. In the case of receiving a calibration instruction from the user for the inspection point to be calibrated according to the regional three-dimensional model, the robot stop point corresponding to the inspection point to be calibrated is determined according to the regional three-dimensional model and the target robot inspection path, wherein the target robot inspection path is the robot inspection path corresponding to the inspection point to be calibrated. According to the robot stop point and the inspection point to be calibrated, the inspection posture of the robot corresponding to the inspection point to be calibrated is determined.

[0009] According to another aspect of the present application, an electronic device is proposed, which includes: one or more processors; a storage device for storing one or more programs; when the one or more programs are executed by one or more processors, the one or more processors implement the calibration method as described above.

[0010] According to another aspect of the present application, a non-volatile computer-readable medium is provided, on which a computer program is stored, and when the program is executed by a processor, the calibration method as described above is implemented.

[0011] According to another aspect of the present application, a computer program product is provided, which includes a computer program stored on a computer-readable storage medium, wherein the computer program includes program instructions, and when the program instructions are executed by a computer, the calibration method described above is implemented.

[0012] Beneficial Effects

[0013] The present application can establish a regional three-dimensional model of the inspection area based on the point cloud data, equipment data and inspection point data of the inspection area. The present application also determines the robot inspection paths corresponding to each inspection point based on the regional three-dimensional model, and the present application also responds to user instructions to automatically determine the robot stop points and robot inspection postures corresponding to each inspection point.

[0014] In this way, users can perform offline calibration directly in the regional 3D model, without having to go to the site to perform online calibration for each inspection point to be calibrated. In addition, users do not need to adjust the position and posture of the robot on site. Users only need to perform corresponding operations on the regional 3D model to automatically calibrate the inspection points, which improves the calibration efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 This is a method flow chart of the inspection point calibration method of the embodiment of the present application;

[0017] Figure 2 This is a flow chart of step S110 of the embodiment of the present application;

[0018] Figure 3 A schematic diagram of the process of generating a grid map and coordinate conversion relationship for an embodiment of the present application;

[0019] Figure 4This is a flow chart of step S130 of the embodiment of the present application;

[0020] Figure 5 This is a flow chart of step S131 of the embodiment of the present application;

[0021] Figure 6 An example diagram of calculating the gimbal parking range in an embodiment of the present application;

[0022] Figure 7 This is a flow chart of step S133 of the embodiment of the present application;

[0023] Figure 8 A schematic diagram of the process of merging adjacent robot stop points in an embodiment of the present application;

[0024] Fig. 9 This is a block diagram of a patrol point calibration device according to an embodiment of the present application;

[0025] Fig.10 A schematic diagram of an electronic device according to an embodiment of the present application.

[0026] Description of reference numerals:

[0027] 1001, three-dimensional model building module; 1002, path planning module; 1003, stop point determination module; 1004, posture determination module; 1100, electronic device; 1101, processor; 1102, bus; 1103, memory; 1104, transceiver. DETAILED DESCRIPTION

[0028] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be comprehensive and complete and will fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar parts, and thus their repeated description will be omitted.

[0029] The described features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of these specific details, or other modes, components, materials, devices, etc. may be adopted. In these cases, known structures, methods, devices, implementations, materials or operations will not be shown or described in detail.

[0030] In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0031] The terms "first", "second" and the like in the specification and claims of this application and the above drawings are used to distinguish different objects rather than to describe a specific order.

[0032] The following is a clear and complete description of the technical solution of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0033] According to one aspect of the present application, an embodiment of the present application provides a method for calibrating inspection points. The method for calibrating inspection points is executed by an electronic device.

[0034] Figure 1 The flow chart of the calibration method of the inspection point is shown in FIG. Figure 1 The inspection point calibration method includes steps S110 to S140.

[0035] In step S110, the electronic device establishes a regional three-dimensional model of the inspection area according to the point cloud data of the inspection area, the equipment data of the inspection area, and the inspection point data of the inspection area.

[0036] According to an example embodiment, point cloud data is a data set consisting of a large number of three-dimensional coordinate points. Each point in the data set has a unique three-dimensional coordinate and may also contain other attribute information, such as color, reflectivity, intensity, etc. When these points are combined together, a point cloud is formed. That is, the point cloud is a collection of data points representing a 3D shape or object in space. In other words, the point cloud data records the three-dimensional shape and position information of the inspection area.

[0037] According to the example embodiment, the point cloud data can be obtained by scanning the inspection area in advance using a high-precision scanner. For example, the substation staff (i.e., the user) uses a scanner equipped with RTK (Real-time kinematic) to scan the substation in advance to obtain the point cloud data of the substation. RTK technology is a real-time dynamic positioning technology based on carrier phase observation values. It can provide real-time three-dimensional positioning results of the measuring station in a specified coordinate system and achieve centimeter-level accuracy.

[0038] According to an example embodiment, the equipment data may specifically be an equipment tree. The equipment tree is data in a tree structure formed by dividing all equipment covered by the inspection area according to the levels of area, interval, equipment, and components. For example, a substation may be divided into two areas, area A and area B. Three circuit breakers and three transformers are arranged in area A of the substation, namely, circuit breaker a1, circuit breaker a2, circuit breaker a3, transformer a4, transformer a5, and transformer a6. Transformer a4 is arranged between circuit breaker a1 and circuit breaker a2, transformer a5 is arranged between circuit breaker a2 and circuit breaker a3, and transformer a6 is arranged after circuit breaker a3.

[0039] The trunk of the equipment tree is connected to two branches, which correspond to area A and area B. Three branches are set on the branch corresponding to area A, namely circuit breaker a1, circuit breaker a2 and circuit breaker a3. A small branch is set on the branch of circuit breaker a1, which is transformer a4. A small branch is set on the branch of circuit breaker a2, which corresponds to transformer a5. A small branch is set on the branch of circuit breaker a3, which corresponds to transformer a6.

[0040] Small branches are also provided on the branches of equipment (such as transformers), corresponding to the various components of the equipment respectively. Smaller branches are also provided on the branches of each component, corresponding to the various inspection points on the part respectively.

[0041] According to an example embodiment, the inspection point data may specifically be a point list. The point list is a list including the inspection point ID, collection point name, and status of each inspection point. For example, the inspection point ID is 1466, and the corresponding collection point name is 500KV arrester body on the side of the No. 1 main transformer_A phase arrester, which is in an uncalibrated state.

[0042] According to an example embodiment, the point cloud data, inspection point data, and device data may be pre-imported into the electronic device by a user, which will not be described in detail herein.

[0043] According to an example embodiment, in step S110, the electronic device can establish a regional three-dimensional model corresponding to the inspection area based on the point cloud data, the inspection point data, and the equipment data. The user can view the equipment distribution of the entire inspection area through the regional three-dimensional model, and can view the status and specific information of each inspection point through the inspection point list of the regional three-dimensional model.

[0044] In step S120, the electronic device determines the robot inspection paths corresponding to the respective inspection points according to the regional three-dimensional model.

[0045] According to the example embodiment, in step S120, the user can input the coordinates of each inspection point on each device into the electronic device, and then the electronic device can display the inspection point in the regional three-dimensional model according to the coordinates of the inspection point. Then, in step S120, the robot inspection path corresponding to each inspection point can be determined respectively.

[0046] It is worth noting that, for each inspection point, the electronic device can determine a robot inspection path corresponding to the inspection point, or can determine multiple robot inspection paths corresponding to the inspection point, which is not limited here.

[0047] In one implementation, in step S120, when the electronic device determines the robot inspection path corresponding to the inspection point, the electronic device can respond to the user's path selection instruction to generate the robot inspection path. The path selection instruction is a path selection instruction generated by the user selecting the inspection point and the path point in the regional three-dimensional model. The electronic device can sequentially connect the path points according to the inspection point and the path point selected by the user to obtain the robot inspection path corresponding to the inspection point.

[0048] It is worth noting that after generating the robot inspection path, the user can also click on the path point in the regional three-dimensional model and drag the path point to adjust the robot inspection path, which is not limited here.

[0049] In another possible implementation, in step S120, the electronic device may also respond to the user's inspection point selection instruction, and automatically generate a robot inspection path corresponding to the inspection point according to the inspection point selection instruction. The inspection point selection instruction is generated by the user clicking on the inspection point in the three-dimensional model of the area. The electronic device may automatically plan the robot inspection path corresponding to the inspection point according to the inspection point selection instruction.

[0050] In step S130, upon receiving a calibration instruction from the user for the inspection point to be calibrated according to the regional three-dimensional model, the electronic device determines the robot stop point corresponding to the inspection point to be calibrated according to the regional three-dimensional model and the target robot inspection path.

[0051] According to an example embodiment, the target robot inspection path is the robot inspection path corresponding to the inspection point to be calibrated.

[0052] For example, the robot inspection path of the inspection point x1 determined by the electronic device in step S120 includes the robot inspection path x11, the robot inspection path x12, and the robot inspection path x13. In step S130, when the user selects the inspection point x1 in the regional three-dimensional model and generates a calibration instruction for the inspection point x1, the target robot inspection path includes the robot inspection path x11, the robot inspection path x12, and the robot inspection path x13.

[0053] According to an example embodiment, in step S130, the electronic device may determine any target stop point on the inspection path of the target robot, and determine the target stop point as the robot stop point corresponding to the inspection point to be calibrated. The robot at the target stop point can observe the stop point of the inspection point.

[0054] In step S140, the electronic device determines the robot inspection posture corresponding to the inspection point to be calibrated according to the robot stop point and the inspection point to be calibrated, so as to complete the calibration of the inspection point to be calibrated.

[0055] According to an example embodiment, the robot inspection posture includes a pan-tilt pitch angle, and may also include a pan-tilt orientation, a robot orientation, and the like.

[0056] According to an exemplary embodiment, a pan-tilt platform is provided on the robot. The pan-tilt platform is a device for supporting and adjusting an observation device. The observation device is a device for inspecting a patrol point to measure relevant parameters of the patrol point. The orientation and pitch angle of the pan-tilt platform determine the orientation and pitch angle of the observation device.

[0057] According to an example embodiment, after the electronic device determines the robot's stopping point, in step S140, the electronic device can determine the robot's orientation, the gimbal orientation, and the robot's gimbal pitch angle in the regional three-dimensional model based on the relative positions of the robot's stopping point and the inspection point to be calibrated.

[0058] For example, in step S140, the electronic device can determine the pitch angle of the gimbal according to the height of the gimbal on the robot and the height of the inspection point to be calibrated in the regional three-dimensional model, so that the observation device on the gimbal can observe the inspection point to be calibrated.

[0059] For example, the electronic device can determine the orientation of the robot and the pan-tilt head according to the relative positions of the robot's stop point and the inspection point to be calibrated, so that the pan-tilt head and the observation device on the pan-tilt head can face the inspection point to be calibrated to observe the inspection point to be calibrated.

[0060] Through the above embodiments, the electronic device can establish a regional three-dimensional model of the inspection area based on the point cloud data, equipment data and inspection point data of the inspection area. The electronic device also determines the robot inspection path corresponding to each inspection point according to the regional three-dimensional model, and then determines the robot stop point and robot inspection posture corresponding to each inspection point.

[0061] In this way, users can perform offline calibration directly in the regional 3D model, without having to go to the site to perform online calibration for each inspection point to be calibrated. In addition, users do not need to adjust the position and posture of the robot on site. Users only need to perform corresponding operations on the regional 3D model to automatically calibrate the inspection points, which improves the calibration efficiency.

[0062] According to some embodiments, reference Figure 2 In the above step S110, the electronic device establishes a regional three-dimensional model of the inspection area based on the point cloud data of the inspection area, the equipment data of the inspection area and the inspection point data of the inspection area, which can be specifically achieved through the following steps S111 and S112.

[0063] In step S111, the electronic device performs slicing processing on the point cloud data of the inspection area.

[0064] In step S112, the electronic device loads the three-dimensional point cloud service according to the sliced ​​point cloud data, the equipment data of the inspection area, and the inspection point data of the inspection area to obtain a three-dimensional model of the area.

[0065] According to the example embodiment, the point cloud data may be data based on the UTM (Universal Transverse Mercator Grid System) coordinate system. That is, the coordinates corresponding to each point in the point cloud data are based on the UTM coordinate system. The point cloud data may also be data based on other coordinate systems, such as the WGS84 (World Geodetic System 1984) coordinate system, which is not limited here.

[0066] The user may input the preset slicing level and the coordinate system corresponding to the point cloud data as slicing parameters into the preset slicing tool. In step S111, the electronic device may perform slicing processing on the point cloud data according to the slicing parameters.

[0067] In step S111, after the electronic device divides the point cloud data according to the preset slicing levels, the divided files corresponding to each level contain all the data under the level, and then each divided file is compressed separately to generate a discrete file in 3dtiles format.

[0068] It is worth noting that the preset slicing level is a slicing level predetermined by the user. The slicing level refers to dividing the point cloud data according to different levels of detail, and each level contains data representations of different precisions. In other words, the size of the slicing level reflects the precision of the point cloud data after slicing. The larger the slicing level, the higher the precision.

[0069] In the embodiment of the present application, the preset slice level can be determined by the user according to actual conditions. For example, the user can set the preset slice level to 21.

[0070] According to the example embodiment, in step S111, after the electronic device slices the point cloud data, the huge amount of point cloud data can be sliced ​​into multiple discrete files. In this way, when the point cloud data is subsequently processed to generate a regional three-dimensional model, each sliced ​​point cloud data can be processed separately. This can improve the rendering efficiency of the regional three-dimensional model, reduce memory and bandwidth consumption, and also facilitate the management of the point cloud data.

[0071] According to the example embodiment, in step S112, after the slicing process, the user can deploy a web (World Wide Web) container in the electronic device, and use the web container to reversely proxy the discrete file obtained in step S111. After that, the user can use the map engine tool in the web browser to load the three-dimensional point cloud service (that is, load the sliced ​​point cloud data), and load the device tree (that is, device data) and the point list (that is, inspection point data). After that, the electronic device can build a regional three-dimensional model based on the sliced ​​point cloud data, device tree and inspection point data to realize the three-dimensional scene visualization.

[0072] When the user clicks on a level in the device tree, the electronic device can respond to the user's request and display the information under the level in the device tree in a table on the display interface. The content of the table can specifically include the point identification, name, calibration status, inspection point coordinates and associated stop point coordinates of the inspection point.

[0073] Through step S111 and step S112, the point cloud data is sliced ​​and processed, and the sliced ​​point cloud data, equipment data and inspection point data are used to load the three-dimensional point cloud service to obtain a regional three-dimensional model. In this way, the user can intuitively see the regional three-dimensional model of the inspection area.

[0074] Users can also quickly locate specific inspection points and view their detailed information by clicking on the levels in the device tree. In this way, users can plan the robot inspection path more efficiently by combining the 3D model of the area and the device tree.

[0075] According to some embodiments, reference Figure 3 After step S111, the calibration method further includes step S113, step S114, step S115, step S116, step S117 and step S118.

[0076] In step S113, the electronic device preprocesses the point cloud data to obtain preprocessed point cloud data.

[0077] According to an example embodiment, in step S113, the electronic device may specifically translate or rotate the point cloud data so as to adjust the point cloud data to a position that is more convenient for observation and analysis.

[0078] For example, the electronic device can control the position of the point cloud data in the vertical direction (height) to remain unchanged, and only operate in the horizontal direction (ie, the XY plane). For example, the electronic device moves the point cloud data in the horizontal direction, or rotates the XY plane in the horizontal direction, thereby adjusting the position and orientation of the point cloud data in the XY plane, so that the point cloud data can better display the inspection area.

[0079] According to an example embodiment, the electronic device may also perform thinning processing on the point cloud data, that is, reduce the number of points in the point cloud data to reduce the amount of data and improve the processing speed of the point cloud data.

[0080] In step S114, the electronic device selects a point cloud plane of a preset height according to the preprocessed point cloud data, and generates a grid map corresponding to the point cloud plane.

[0081] According to an example embodiment, after preprocessing the point cloud data, the electronic device can select a point cloud plane of a preset height in the preprocessed point cloud data and convert the point cloud plane into a grid map (also called a grid map or a bitmap). The preset height is input to the electronic device by a user, for example, the preset height can be 1m.

[0082] It is worth noting that, in step S114, the electronic device may also record parameters such as the image length, width, resolution, and coordinate origin of the grid image into a parameter file.

[0083] In step S115 , the electronic device establishes an inertial coordinate system corresponding to the grid image.

[0084] This inertial coordinate system is also the coordinate system used by the robot.

[0085] Exemplarily, in step S115, the electronic device can take the substation robot charging room in the grid map as the origin, establish an x-axis in the horizontal direction of the grid map, and establish a y-axis in the vertical direction of the grid map to establish an inertial coordinate system of the grid map.

[0086] In step S116, the electronic device adjusts the preprocessed point cloud data so that the point cloud coordinate system of the preset processed point cloud data is adjusted to an inertial coordinate system.

[0087] In step S117, the electronic device determines a coordinate transformation relationship between the preprocessed point cloud data and a preset inertial coordinate system according to an adjustment amount of the preprocessed point cloud data.

[0088] According to an example embodiment, the origin, x-axis, and y-axis of the point cloud coordinate system of the point cloud data are different from the origin, x-axis, and y-axis of the inertial coordinate system.

[0089] In order to establish a coordinate conversion relationship between the point cloud coordinate system and the inertial coordinate system, in step S116, the electronic device can adjust the preprocessed point cloud data so that the point cloud coordinate system of the preprocessed point cloud data is adjusted to the inertial coordinate system. Then in step S117, the electronic device can establish a coordinate conversion relationship between the point cloud coordinate system and the inertial coordinate system according to the adjustment amount.

[0090] In step S116 and step S117, the electronic device establishes the coordinate transformation relationship between the point cloud coordinate system and the inertial coordinate system in a manner that specifically includes keeping each point in the preprocessed point cloud data unchanged on the z-axis, and translating a unit in the positive direction of the x-axis and b units in the positive direction of the y-axis until the origin after translation is the substation robot charging room. This is equivalent to adding a fixed offset to the original coordinates. The horizontal and vertical coordinates of the translated point cloud data become (x+a, y+b). Then, the translated point is rotated counterclockwise by θ degrees around the translated origin so that the rotated point cloud coordinate system coincides with the inertial coordinate system.

[0091] The coordinate transformation relationship is shown in the following formula.

[0092] X′=(x+a)*cos(θ)-(y+b)*sin(θ);

[0093] Y′=(x+a)*sin(θ)+(y+b)*cos(θ)

[0094] x, y are the coordinates of the original point cloud in the point cloud coordinate system; X', Y' are the coordinates in the inertial coordinate system.

[0095] The coordinate transformation relationship is used to transform the coordinates of the point cloud coordinate system of the robot's stop point into the coordinates of the inertial coordinate system.

[0096] According to the exemplary embodiment, in the above step S130, the electronic device determines the robot's docking point in the regional three-dimensional model, and the coordinates of the robot's docking point are coordinates in the point cloud coordinate system. However, the robot can only accept and output the coordinate values ​​of its inertial coordinate system. That is, the robot actually moves and navigates only in the inertial coordinate system.

[0097] Therefore, after the electronic device determines the coordinates of the robot's docking point in the point cloud coordinate system in the above step S130, the coordinates of the robot's docking point in the inertial coordinate system can be determined based on the coordinates of the point cloud coordinate system of the robot's docking point and the coordinate conversion relationship. After the calibration is completed, the electronic device can output the coordinates in the inertial coordinate system to the robot under the user's operation, so that the robot can go to the robot's docking point according to the coordinates in the inertial coordinate system, thereby inspecting the corresponding inspection point.

[0098] According to some embodiments, in the above step S120, when the electronic device determines the robot inspection paths corresponding to each inspection point according to the three-dimensional model of the area, the user needs to input the coordinates corresponding to each inspection point into the electronic device one by one, so that each inspection point can be displayed in the three-dimensional model of the area under the processing of the electronic device.

[0099] Since there are many devices in the inspection area and the number of inspection points on each device is also large, the user's workload is relatively large, which will also affect the calibration efficiency. Therefore, in order to improve the calibration efficiency, in the embodiment of the present application, the calibration method may also include:

[0100] The electronic device finds two devices (respectively a first target device and a second target device) having similar structures from the area.

[0101] Since the devices have similar structures, the positions of the inspection points on the devices are also similar. Therefore, the electronic device can shift each inspection point on the first target device to the second target device to obtain each inspection point on the second target device. Conversely, the electronic device can also shift each inspection point on the second target device to the first target device.

[0102] For example, when the electronic device detects that the user inputs the inspection point coordinates of the first target device into the electronic device, the electronic device can select a target inspection point from the various inspection points of the first target device. Then, the electronic device can determine the associated inspection point of the second target device corresponding to the target inspection point based on the relative position of the target inspection point on the first target device.

[0103] Then, the electronic device determines the inspection point offset relationship according to the relative position relationship between the target inspection point and the associated inspection point. Then, the electronic device can offset the other inspection points on the first target device to the second target device according to the inspection point offset relationship, so as to automatically obtain the coordinates of each inspection point on the second target device.

[0104] Exemplarily, the inspection point offset relationship may specifically be a coordinate conversion relationship calculated based on the associated inspection point and the target inspection point.

[0105] According to some embodiments, reference Figure 4 In the above step S130, the electronic device determines the robot stop point corresponding to the inspection point to be calibrated according to the regional three-dimensional model and the inspection path of the target robot, which may specifically include step S131, step S132, step S133 and step S134.

[0106] In step S131, the electronic device determines the robot's pan-tilt platform parking range in the regional three-dimensional model according to the inspection points to be calibrated.

[0107] According to an example embodiment, the parking range of the pan-tilt platform is a range within which the pan-tilt platform of the robot can be parked when the robot can observe the inspection point to be calibrated.

[0108] For example, the robot's gimbal is limited by its mechanical structure and often has a pitch angle limit. Therefore, the robot's gimbal has a maximum downward angle and a maximum upward angle. For example, the robot's gimbal has a maximum downward angle of 60° and a maximum upward angle of 60°, which means that the robot's gimbal can only look up within the range of 0° to 60°, and look down within the range of 0° to 60°.

[0109] When the robot is very close to the inspection point to be calibrated, the robot's pan / tilt may need to look down or up at the inspection point at a 70° angle. However, the robot's pan / tilt cannot meet the requirements of this situation, and the location of the robot's pan / tilt does not belong to the pan / tilt docking range.

[0110] Therefore, in step S131 of the embodiment of the present application, the electronic device can determine the robot's gimbal parking range in the regional three-dimensional model based on the inspection point to be calibrated, combined with the maximum pitch angle of the robot's gimbal and the height of the robot's gimbal.

[0111] Optionally, refer to Figure 5 In step S131, the electronic device determines the PTZ parking range in the regional three-dimensional model according to the inspection points to be calibrated, which can be specifically implemented through steps S1311, S1312, S1313 and S1314.

[0112] In step S1311, the electronic device determines the projection point of the inspection point to be calibrated on the reference plane in the regional three-dimensional model.

[0113] According to an exemplary embodiment, the reference plane is a horizontal plane where the robot's pan-tilt platform is located when the robot is placed on the ground. That is, the reference plane is parallel to the ground. And the height of the reference plane relative to the ground is the height of the robot's pan-tilt platform relative to the ground.

[0114] For example, the robot's pan-tilt platform is located at the robot's head, and when the robot is placed on the ground, the robot's pan-tilt platform is 1 meter away from the ground. The reference plane is a horizontal plane 1 meter away from the ground. The height of the reference plane is 1 meter.

[0115] According to an example embodiment, in step S1311, the electronic device may draw a perpendicular line from the inspection point to be calibrated to the reference plane in the regional three-dimensional model, and the intersection point (i.e., the perpendicular point) of the perpendicular line and the reference plane is the projection point of the inspection point to be calibrated on the reference plane. Figure 6 As shown, Figure 6 Point C in the figure is the inspection point to be calibrated, the plane where OD is located is the reference plane, and point O is the projection point of the inspection point to be calibrated on the reference plane.

[0116] In step S1312, the electronic device determines the maximum limit angle corresponding to the inspection point to be calibrated according to the relative height of the inspection point to be calibrated and the reference plane.

[0117] The maximum limit angle is the maximum angle at which the robot's gimbal can look down or up.

[0118] For example, the height of the inspection point to be calibrated is 2m (that is, the distance from the ground is 2m). When the robot is placed on the ground, the height of the robot's pan / tilt is 1m above the ground. In this case, the height of the inspection point to be calibrated is greater than the height of the reference plane (that is, the inspection point to be calibrated is above the reference plane).

[0119] When the height of the inspection point to be calibrated is greater than the height of the reference plane, it means that the robot's pan / tilt needs to look up to observe the inspection point to be calibrated. Therefore, the maximum limiting angle of the inspection point to be calibrated is the maximum upward viewing angle.

[0120] Similarly, when the height of the inspection point to be calibrated is less than the height of the reference plane, the maximum limiting angle of the inspection point to be calibrated is the maximum overlooking angle.

[0121] For example Figure 6 As shown, the inspection point C to be calibrated is located above the reference plane, and the height of the inspection point C to be calibrated is greater than the height of the reference plane. Therefore, the maximum limit angle of the inspection point C to be calibrated is the maximum upward viewing angle, for example, 60°.

[0122] In step S1313, the electronic device determines a boundary radius and a boundary area on the reference plane according to the inspection point to be calibrated, the projection point and the maximum limit angle.

[0123] The boundary area is a circular area with the projection point as the center and the radius as the boundary radius. The boundary point of the boundary area, the inspection point to be calibrated and the projection point connected in sequence form a right triangle that meets the preset restriction conditions. The preset restriction conditions include that the angle of the inner angle formed by the boundary point is the maximum restriction angle.

[0124] For example, refer to Figure 6 , point D is a boundary point of the boundary area. Point D (boundary point), point O (projection point) and point C (inspection point to be calibrated) form a right triangle. ∠COD is 90°. ∠ODC is the maximum limit angle. The length of the side CO is the distance between the inspection point to be calibrated and point O, that is, the relative value of the difference between the height of the inspection point to be calibrated and the height of the reference plane.

[0125] In step S1313, the electronic device can calculate the value of OD according to the values ​​of ∠COD, ∠ODC and the side length CO, and the OD is the boundary radius. Then the electronic device constructs a circular area on the reference plane with point O as the center and OD as the boundary radius, such as Figure 6 The circular area is the boundary area corresponding to the inspection point to be calibrated.

[0126] In step S1314, the electronic device determines the gimbal parking range according to the boundary area.

[0127] The pan / tilt stop range is a range on the reference plane that is not in the boundary area. For example, the pan / tilt stop range includes the boundary of the boundary area and the range outside the boundary area.

[0128] like Figure 6 As shown, for each position within the circular area, when the robot's pan-tilt head is located at any position within the circular area, if the pan-tilt head is adjusted to be able to observe the inspection point to be calibrated, the upward viewing angle (or downward viewing angle) of the pan-tilt head will exceed the maximum upward viewing angle (or maximum downward viewing angle).

[0129] For the boundary of the circular area and each position outside the circular area, the robot's gimbal can observe the inspection point to be calibrated while satisfying the maximum pitch angle limit.

[0130] Therefore, in step S1314, the electronic device can determine the boundary of the circular area and the range outside the circular area as the pan / tilt docking range. After that, the electronic device can determine the pan / tilt docking point from the pan / tilt docking range.

[0131] In step S132, the electronic device determines the pan-tilt inspection path according to the target robot inspection path, the three-dimensional model of the area, and the pan-tilt height of the robot.

[0132] For example, the inspection path of the target robot is the walking path of the robot on the ground, and the robot's pan / tilt is usually located at the head of the robot.

[0133] Therefore, in step S132, the electronic device can add a preset height value to the z-axis coordinate of each position point on the target robot's inspection path based on the preset height value of the robot's pan-tilt head relative to the ground, while keeping the x and y coordinates unchanged, so as to obtain the pan-tilt head inspection path in the three-dimensional model of the area.

[0134] In step S133, the electronic device determines the pan-tilt head stop point according to the pan-tilt head inspection path and the pan-tilt head stop range.

[0135] In a possible implementation, in step S133, the electronic device may select any position point located within the pan-tilt stop range from each pan-tilt inspection path corresponding to the inspection point to be calibrated, and use the position point as the pan-tilt stop point.

[0136] In another possible implementation, referring to Figure 7 In step S133, the electronic device may determine the gimbal stop point according to steps S1331, S1332, S1333, and S1334.

[0137] In step S1331, the electronic device determines a target PTZ inspection path from the PTZ inspection paths.

[0138] According to an example embodiment, the target PTZ inspection path is a path in the PTZ inspection path that is closest to the inspection point to be calibrated.

[0139] Exemplarily, when the inspection point to be calibrated (for example, the inspection point a to be calibrated) corresponds to three robot inspection paths (for example, robot inspection path a1, robot inspection path a2, and robot inspection path a3), the pan-tilt inspection paths corresponding to the inspection point to be calibrated include pan-tilt inspection path a1, pan-tilt inspection path a2, and pan-tilt inspection path a3.

[0140] The electronic device can determine the pan-tilt inspection path closest to the inspection point a to be calibrated from the pan-tilt inspection paths a1, a2 and a3, for example, the pan-tilt inspection path a1, and the pan-tilt inspection path a1 is the target pan-tilt inspection path.

[0141] According to an example embodiment, in step S1331, the electronic device may use the projection point corresponding to the inspection point to be calibrated and use the spatial calculation analysis library to calculate the distance from the projection point to each pan-tilt inspection path. And the electronic device may determine the pan-tilt inspection path with the smallest distance as the target inspection path.

[0142] Spatial Analysis Libraries is a software library specifically used for spatial data processing in Geographic Information System (GIS). It provides a series of tools and algorithms to process spatial data.

[0143] In step S1332, the electronic device determines whether there is a target position in the target PTZ inspection path.

[0144] According to an example embodiment, the target position is a position in the target PTZ inspection path that is within the PTZ parking range.

[0145] For example, Figure 6 As shown in the figure, AB is the target PTZ inspection path, and points D and E are the intersections of the target PTZ inspection path and the boundary of the circular area. The DA path segment and the EB path segment are both located within the PTZ parking range, so the positions on the DA path segment and the EB path segment belong to the target position.

[0146] In step S1333, when there is a target position in the target PTZ inspection path, the electronic device determines a PTZ stop point from the target position.

[0147] According to an example embodiment, in step S1333, the electronic device may determine, from the target position, the position closest to the inspection point to be calibrated, and determine the pan / tilt stop point according to the closest position.

[0148] That is, the electronic device may determine the position point in the pan / tilt stop range that is closest to the inspection point to be calibrated as the pan / tilt stop point.

[0149] For example, Figure 6 As shown, point D can be determined as the gimbal stop point.

[0150] In step S1334, if the target position does not exist in the target gimbal inspection path, the electronic device deletes the target gimbal inspection path, and loops through the above steps S1331, S1332, and S1333 until the electronic device determines the gimbal stop point, or the target position does not exist in any gimbal inspection path.

[0151] Exemplarily, when there is no target position in the target PTZ inspection path (for example, the target PTZ inspection path is entirely within a circular area), it indicates that each PTZ position in the target PTZ inspection path cannot observe the inspection point to be calibrated. Therefore, the electronic device can delete the target PTZ inspection path from the PTZ inspection path and re-execute step S1331.

[0152] Exemplarily, when the target position does not exist in the pan-tilt inspection path a1, the electronic device deletes the pan-tilt inspection path a1, and the pan-tilt inspection paths corresponding to the inspection points to be calibrated include the pan-tilt inspection paths a2 and a3.

[0153] Then the electronic device executes step S1331 to select a target pan-tilt inspection path (e.g., pan-tilt inspection path a2) from pan-tilt inspection path a2 and pan-tilt inspection path a3. The electronic device then executes step S1332 to determine whether the pan-tilt inspection path a2 has a target position. If the target position does not exist in the pan-tilt inspection path a2, the electronic device then executes step S1334 to delete the pan-tilt inspection path a2.

[0154] The electronic device then re-executes step S1331 to re-determine the target pan-tilt inspection path (pan-tilt inspection path a3), and continues to execute step S1332 to determine whether the pan-tilt inspection path a3 has a target position.

[0155] Afterwards, when there is a target position in the pan-tilt inspection path a3, the electronic device can execute step S1333 to determine the pan-tilt stop point and end the loop.

[0156] If the target position does not exist in the pan-tilt inspection path a3, the electronic device determines that the target position does not exist in each pan-tilt inspection path, ends the loop, and outputs the result information that there is no suitable stop point. The user can manually determine the pan-tilt stop point based on the result information to complete the calibration of the inspection point to be calibrated.

[0157] The electronic device determines the pan-tilt platform stop point in the above step S133, and then determines the robot stop point based on the pan-tilt platform stop point.

[0158] In step S134, the electronic device determines the robot's stopping point based on the pan-tilt stop point.

[0159] For example, in step S134, the electronic device can obtain the coordinates of the robot's stop point by subtracting a preset height value from the z-axis coordinate of the pan-tilt stop point, while the x- and y-axis coordinates remain unchanged, thereby determining the robot's stop point. The preset height value is the height of the robot's pan-tilt when the robot is placed on the ground.

[0160] Through the above steps S131 to S134, the electronic device can determine the gimbal stop range, determine the gimbal stop point from the gimbal inspection path, and then determine the robot stop point of the inspection point to be calibrated.

[0161] According to some embodiments, reference Figure 8 In step S134, after the electronic device determines the robot's stopping point based on the pan-tilt stop point, the electronic device may also execute steps S910, S920, S930, and S940.

[0162] In step S910, the electronic device determines a target robot stop point corresponding to the calibrated inspection point.

[0163] According to an example embodiment, before calibrating the inspection point to be calibrated, the electronic device may have completed the calibration of the calibrated inspection point, that is, determined the target robot stop point corresponding to the calibrated inspection point.

[0164] Therefore, in step S910, the electronic device can directly read the robot stop point corresponding to each calibrated inspection point from the internal storage, that is, read the target robot stop point.

[0165] It is worth noting that, when the inspection point to be calibrated is the first inspection point for electronic equipment calibration, the target robot stop point is an empty set.

[0166] In step S920, the electronic device determines whether the distance between the robot's stop point and the target robot's stop point is less than a preset distance threshold.

[0167] In step S930, the electronic device determines whether the target robot docking point meets the preset docking conditions.

[0168] According to an example embodiment, the preset docking condition includes that a target pan-tilt platform docking point corresponding to a target robot docking point is located within a pan-tilt platform docking range.

[0169] According to an example embodiment, in step S930, the electronic device can calculate the corresponding target pan-tilt platform stop point according to the target robot stop point, and determine whether the target pan-tilt platform stop point is located in the pan-tilt platform stop range corresponding to the inspection point to be calibrated.

[0170] When the target pan-tilt stop point is located within the pan-tilt stop range, that is, when the pan-tilt is located at the target pan-tilt stop point, the robot can observe the inspection point to be calibrated.

[0171] When the target pan-tilt stop point is not within the pan-tilt stop range, that is, when the pan-tilt is located at the target pan-tilt stop point, the robot cannot observe the inspection point to be calibrated.

[0172] In step S940, when there is a target robot stop point that meets the preset merging condition among the target robot stop points, the electronic device re-determines a new robot stop point corresponding to the inspection point to be calibrated based on the target robot stop point that meets the preset merging condition.

[0173] According to an example embodiment, the preset merging condition includes that a distance between a target robot stop point and a robot stop point is less than a preset distance threshold, and the target robot stop point satisfies a preset stop condition.

[0174] That is, the target robot stop point that meets the preset merging condition is close to the currently determined robot stop point, and the target robot stop point can also meet the inspection requirements of the robot.

[0175] Therefore, the electronic device can re-determine the robot stop point corresponding to the inspection point to be calibrated according to the target robot stop point that meets the preset merging condition. For example, the electronic device can directly re-determine the target robot stop point as the robot stop point corresponding to the inspection point to be calibrated.

[0176] After step S940, the electronic device executes the above step S140 to determine the robot inspection posture corresponding to the inspection point to be calibrated according to the re-determined robot stop point (target robot stop point) and the inspection point to be calibrated.

[0177] According to some embodiments, when there is no stop point that meets the preset merging conditions among the target robot stop points, the electronic device can directly execute step S140 to determine the robot inspection posture corresponding to the inspection point to be calibrated based on the robot stop point and the inspection point to be calibrated.

[0178] It is worth noting that when the target robot's stop points are an empty set, after the electronic device executes steps S920 and S930, it can be determined that there are no stop points in the target robot's stop points that meet the preset merging conditions, and the process goes to step S140.

[0179] Through the above embodiment, the electronic device can merge two adjacent robot stop points so that multiple inspection points can be inspected at one robot stop point. In the actual inspection process, the robot can inspect multiple inspection points at one robot stop point, which is conducive to improving the inspection efficiency of the robot.

[0180] According to some embodiments, the robot in the present application may specifically be a four-legged inspection robot used in the field of substation inspection.

[0181] According to some embodiments, in the embodiments of the present application, when the electronic device determines the robot's stop point, the user can also drag the robot's stop point in the regional three-dimensional model to adjust the position of the robot's stop point by himself, which is not limited here.

[0182] It should be clearly understood that the present application describes how to form and use specific examples, but the present application is not limited to any details of these examples. On the contrary, based on the teaching of the content disclosed in the present application, these principles can be applied to many other embodiments.

[0183] According to another aspect of the present application, an embodiment of the present application provides a calibration device for inspection points.

[0184] like Fig. 9 As shown, the inspection point calibration device may include a three-dimensional model building module 1001, a path planning module 1002, a stop point determination module 1003 and a posture determination module 1004.

[0185] The three-dimensional model building module 1001 builds a regional three-dimensional model of the inspection area based on the point cloud data of the inspection area, the equipment data of the inspection area, and the inspection point data of the inspection area. The path planning module 1002 determines the robot inspection paths corresponding to each inspection point based on the regional three-dimensional model. Upon receiving the user's calibration instruction for the inspection point to be calibrated, the stop point determination module 1003 determines the robot stop point corresponding to the inspection point to be calibrated based on the regional three-dimensional model and the target robot inspection path. The posture determination module 1004 determines the robot inspection posture corresponding to the inspection point to be calibrated based on the robot stop point and the inspection point to be calibrated, so as to complete the calibration of the inspection point to be calibrated. The target robot inspection path is the robot inspection path corresponding to the inspection point to be calibrated.

[0186] Through the above-mentioned embodiments, the three-dimensional model building module 1001 builds a regional three-dimensional model of the inspection area according to the point cloud data, equipment data and inspection point data of the inspection area. The path planning module 1002, the stop point determination module 1003 and the posture determination module 1004 respectively determine the robot inspection paths corresponding to each inspection point according to the regional three-dimensional model, and determine the robot stop points and robot inspection postures corresponding to each inspection point. In this way, the user can directly perform offline calibration in the regional three-dimensional model without going to the site to perform online calibration on each inspection point to be calibrated. In addition, the user does not need to adjust the position and posture of the robot back and forth on site. The user only needs to perform corresponding operations on the regional three-dimensional model to automatically calibrate the inspection points, thereby improving the calibration efficiency.

[0187] The device performs functions similar to the method provided above. For other functions, please refer to the previous description and will not be repeated here.

[0188] According to another aspect of the present application, a four-legged inspection robot is proposed. The four-legged inspection robot inspects each inspection point according to each inspection point, the robot stop point corresponding to each inspection point, and the inspection posture corresponding to each inspection point. The robot stop point and the inspection posture are determined according to the following preset determination method. That is, a regional three-dimensional model of the inspection area is established according to the point cloud data of the inspection area, the equipment data of the inspection area, and the inspection point data of the inspection area. According to the regional three-dimensional model, the robot inspection path corresponding to each inspection point is determined. When a calibration instruction for the inspection point to be calibrated is received from the user according to the regional three-dimensional model, the robot stop point corresponding to the inspection point to be calibrated is determined according to the regional three-dimensional model and the target robot inspection path, wherein the target robot inspection path is the robot inspection path corresponding to the inspection point to be calibrated. According to the robot stop point and the inspection point to be calibrated, the inspection posture of the robot corresponding to the inspection point to be calibrated is determined.

[0189] According to some embodiments, the quadruped inspection robot is a robot used in the field of substation inspection.

[0190] The present application also introduces an electronic device from the perspective of a physical device. Fig.10 , Fig.10 The electronic device 1100 shown includes: a processor 1101 and a memory 1103. The processor 1101 and the memory 1103 are connected, such as through a bus 1102. Optionally, the electronic device 1100 may also include a transceiver 1104. It should be noted that in actual applications, the transceiver 1104 is not limited to one, and the structure of the electronic device 1100 does not constitute a limitation on the embodiments of the present application.

[0191] Processor 1101 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. Processor 1101 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0192] The bus 1102 may include a path to transmit information between the above components. The bus 1102 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 1102 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.10 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0193] The memory 1103 can be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to these.

[0194] The memory 1103 is used to store the application code for executing the solution of the present application, and the execution is controlled by the processor 1101. The processor 1101 is used to execute the application code stored in the memory 1103 to implement the contents shown in the above method embodiment.

[0195] According to another aspect of the present application, an embodiment of the present application provides a non-volatile computer-readable medium, on which a computer program is stored, and when the computer-readable medium is run on a computer, the computer can execute the corresponding content in the aforementioned method embodiment. The storage medium can be a read-only memory, a disk or an optical disk, etc.

[0196] According to another aspect of the present application, an embodiment of the present application provides a computer program product. The computer program product includes a computer program stored on a computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the corresponding content in the aforementioned method embodiment.

[0197] Finally, it should be noted that the above is only a preferred embodiment of the present application and is not intended to limit the present application. Although the present application is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions of the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for calibrating inspection points, characterized in that: The calibration method comprises: Establishing a regional three-dimensional model of the inspection area according to the point cloud data of the inspection area, the equipment data of the inspection area and the inspection point data of the inspection area; Determine the robot inspection paths corresponding to the respective inspection points according to the three-dimensional model of the area; Upon receiving a calibration instruction from a user for a patrol point to be calibrated according to the three-dimensional model of the area, determining a robot stop point corresponding to the patrol point to be calibrated according to the three-dimensional model of the area and a target robot patrol path, wherein the target robot patrol path is a robot patrol path corresponding to the patrol point to be calibrated; According to the robot stop point and the inspection point to be calibrated, the inspection posture of the robot corresponding to the inspection point to be calibrated is determined to complete the calibration of the inspection point to be calibrated.

2. The calibration method according to claim 1, characterized in that: The step of determining the robot stop point corresponding to the inspection point to be calibrated according to the regional three-dimensional model and the inspection path of the target robot includes: According to the inspection point to be calibrated, determining the robot's pan-tilt platform parking range in the regional three-dimensional model, wherein the pan-tilt platform parking range is a range within which the robot's pan-tilt platform can be parked when the robot's pan-tilt platform can observe the inspection point to be calibrated; Determine a pan-tilt inspection path according to the target robot inspection path, the three-dimensional model of the area, and the pan-tilt height of the robot; Determine a pan / tilt stop point according to the pan / tilt inspection path and the pan / tilt stop range; Based on the pan / tilt stop point, the robot stop point is determined.

3. The calibration method according to claim 2, characterized in that: The step of determining the robot's pan / tilt platform parking range in the regional three-dimensional model according to the inspection point to be calibrated includes: Determine the projection point of the inspection point to be calibrated on the reference plane in the regional three-dimensional model, wherein the reference plane is the horizontal plane on which the pan / tilt platform of the robot is located; Determine the maximum limit angle corresponding to the inspection point to be calibrated according to the relative height between the inspection point to be calibrated and the reference plane, wherein the maximum limit angle is the maximum angle at which the robot's pan / tilt can look down or up; According to the inspection point to be calibrated, the projection point and the maximum limit angle, a boundary radius and a boundary area are determined on the reference plane, wherein the boundary area is a circular area with the projection point as the center and a radius equal to the boundary radius; Determine a gimbal stop range according to the boundary area, wherein the gimbal stop range is a range on the reference plane that is not within the boundary area; The right triangle formed by connecting the boundary point of the boundary area, the inspection point to be calibrated and the projection point in sequence satisfies the preset restriction condition; The preset restriction condition includes that the angle of the inner angle formed at the boundary point is the maximum restriction angle.

4. The calibration method according to claim 2, characterized in that: The step of determining the pan / tilt stop point according to the pan / tilt inspection path and the pan / tilt stop range includes: Determine a target PTZ inspection path from the PTZ inspection paths; Determine whether there is a target position in the inspection path of the target PTZ, wherein the target position is a position in the inspection path of the target PTZ that is within the PTZ parking range; When the target position exists in the inspection path of the target PTZ, a PTZ stop point is determined from the target position; In the case that the target position does not exist in the target PTZ inspection path, deleting the target PTZ inspection path, and re-performing the step of determining the target PTZ inspection path from the PTZ inspection path; The target PTZ inspection path is the path in the PTZ inspection path that is closest to the inspection point to be calibrated.

5. The calibration method according to claim 2, characterized in that: The step of determining the robot stop point based on the pan / tilt stop point further comprises: Determine the target robot stop point corresponding to the calibrated inspection point; Determine whether the distance between the robot's stop point and the target robot's stop point is less than a preset distance threshold; Determining whether the target robot's docking point meets a preset docking condition; In the case that there is a target robot stop point that meets the preset merging condition among the target robot stop points, re-determining the robot stop point corresponding to the inspection point to be calibrated according to the target robot stop point that meets the preset merging condition; Wherein, the preset docking condition includes that the target pan-tilt platform docking point corresponding to the target robot docking point is located in the pan-tilt platform docking range; The preset merging condition includes that the distance between the target robot stop point and the robot stop point is less than a preset distance threshold, and the target robot stop point satisfies the preset stop condition.

6. The calibration method according to claim 1, characterized in that: The step of establishing a regional three-dimensional model of the inspection area according to the point cloud data of the inspection area, the equipment data of the inspection area, and the inspection point data of the inspection area comprises: Slice the point cloud data of the inspection area; According to the sliced ​​point cloud data, the equipment data of the inspection area and the inspection point data of the inspection area, a three-dimensional point cloud service is loaded to obtain a three-dimensional model of the area.

7. The calibration method according to claim 6, characterized in that: The calibration method further comprises: Preprocessing the point cloud data to obtain preprocessed point cloud data; According to the preprocessed point cloud data, a point cloud plane of a preset height is selected, and a grid map corresponding to the point cloud plane is generated; Establishing an inertial coordinate system corresponding to the grid image, wherein the inertial coordinate system is a coordinate system used by the robot; Adjusting the preprocessed point cloud data so that the point cloud coordinate system of the preset processed point cloud data is adjusted to the inertial coordinate system; According to the adjustment amount of the preprocessed point cloud data, the coordinate transformation relationship between the preprocessed point cloud data and the inertial coordinate system is determined; wherein the coordinate transformation relationship is used to transform the coordinates of the point cloud coordinate system of the robot stop point into the coordinates of the inertial coordinate system.

8. The calibration method according to any one of claims 1 to 7, characterized in that: The robot is a four-legged inspection robot used in the field of substation inspection.

9. A calibration device for inspection points, characterized in that: include: A three-dimensional model building module, used to build a regional three-dimensional model of the inspection area according to the point cloud data of the inspection area, the equipment data of the inspection area and the inspection point data of the inspection area; A path planning module, used to determine the robot inspection paths corresponding to the respective inspection points according to the three-dimensional model of the area; A stop point determination module, for determining the robot stop point corresponding to the inspection point to be calibrated according to the three-dimensional model of the area and the target robot inspection path, upon receiving a calibration instruction from a user for the inspection point to be calibrated, wherein the target robot inspection path is the robot inspection path corresponding to the inspection point to be calibrated; The posture determination module is used to determine the inspection posture of the robot corresponding to the inspection point to be calibrated according to the robot stop point and the inspection point to be calibrated, so as to complete the calibration of the inspection point to be calibrated.

10. A four-legged inspection robot, characterized in that: The quadruped inspection robot inspects each inspection point according to each inspection point, the robot stop point corresponding to each inspection point, and the corresponding inspection posture; Wherein, the robot stop point and the inspection posture are determined according to a preset determination method; The preset determination method includes: Establishing a regional three-dimensional model of the inspection area according to the point cloud data of the inspection area, the equipment data of the inspection area and the inspection point data of the inspection area; Determine the robot inspection paths corresponding to the respective inspection points according to the three-dimensional model of the area; Upon receiving a calibration instruction from a user for a patrol point to be calibrated according to the three-dimensional model of the area, determining a robot stop point corresponding to the patrol point to be calibrated according to the three-dimensional model of the area and a target robot patrol path, wherein the target robot patrol path is a robot patrol path corresponding to the patrol point to be calibrated; According to the robot stop point and the inspection point to be calibrated, the inspection posture of the robot corresponding to the inspection point to be calibrated is determined.

11. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the calibration method as described in any one of claims 1-8.

12. A non-volatile computer readable medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the calibration method according to any one of claims 1 to 8 is implemented.

13. A computer program product, characterized in that The method comprises a computer program stored on a computer-readable storage medium, wherein the computer program comprises program instructions, and when the program instructions are executed by a computer, the computer is caused to execute the calibration method according to any one of claims 1 to 8.

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