Robot inspection point position calibration method and device, storage medium and electronic equipment

Abstract

The invention provides a robot inspection point position calibration method. The robot inspection point position calibration method comprises the steps that first image information collected by a first camera and radar information collected by a radar at the same moment are acquired; under the condition that the to-be-inspected target is recognized from the first image information, the robot stops moving, and three-dimensional coordinates of the to-be-inspected target are determined according to the first image information and the radar information; according to the three-dimensional coordinate of the to-be-inspected target and the three-dimensional coordinate of the robot, adjusting the posture angle of the robot and the PTZ coordinate of the pan-tilt camera so as to control the pan-tilt camera to collect second image information based on the adjusted posture angle of the robot and the adjusted PTZ coordinate of the pan-tilt camera; and under the condition that the to-be-inspected target is recognized from the second image information, inspection point position parameters corresponding to the to-be-inspected target are determined according to the three-dimensional coordinates of the robot and the adjusted PTZ coordinates of the PTZ camera. According to the technical scheme, automation of the robot inspection point calibration process is achieved by setting the first camera, the radar and the pan-tilt camera.

Description

Technical Field

[0001] The present application relates to the field of robot inspection technology, and more specifically, to a robot inspection point calibration method, device, storage medium and electronic device. Background Art

[0002] Inspection robots are often used in substations, industrial manufacturing, transportation and other industries to perform equipment inspections, hazardous material detection and early warning, security patrols and other operations.

[0003] The inventor of this application discovered that before the robot is put into inspection operation, the inspection personnel need to manually set the inspection point configuration parameters of all the inspection targets. The inspection personnel need to manually control the robot to reach the inspection area or inspection route. After the robot arrives near the location of the inspection target, the inspection personnel need to manually adjust the robot posture angle and the robot's PTZ camera PTZ coordinates and other configuration parameters to improve the imaging effect of the inspection target in the PTZ camera. The entire process relies on manual operation, with low inspection efficiency and low calibration accuracy.

[0004] The contents of the background technology section are merely the technologies known to the public and do not necessarily represent the existing technologies in the field. Summary of the invention

[0005] The present application aims to provide a robot inspection point calibration method, device, storage medium and electronic device to solve at least one of the above technical problems.

[0006] According to one aspect of the present application, the present application provides a method for calibrating inspection points of a robot. The robot is provided with a first camera, a radar and a pan-tilt camera. The calibration method includes: a step of determining the three-dimensional coordinates of the target to be inspected, including: in the process of the robot moving according to the set inspection path, obtaining the first image information collected by the first camera and the radar information collected by the radar at the same time; when the target to be inspected is identified from the first image information, the robot stops moving to determine the three-dimensional coordinates of the target to be inspected according to the first image information and the radar information; a step of determining the inspection point parameters corresponding to the target to be inspected, including: adjusting the robot posture angle and the pan-tilt camera PTZ coordinates according to the three-dimensional coordinates of the target to be inspected and the three-dimensional coordinates of the robot, so as to control the pan-tilt camera to collect the second image information based on the adjusted robot posture angle and the pan-tilt camera PTZ coordinates; when the target to be inspected is identified from the second image information, the inspection point parameters corresponding to the target to be inspected are determined according to the three-dimensional coordinates of the robot and the adjusted pan-tilt camera PTZ coordinates.

[0007] Optionally, the present application also provides a calibration device for robot inspection points, including: a data acquisition module, an identification module and an adjustment module. The data acquisition module collects first image information and radar information collected by the first camera and the radar at the same time when the robot moves along the set inspection path. When the identification module identifies the target to be inspected from the first image information, it determines the three-dimensional coordinates of the target to be inspected according to the first image information and the radar information. The adjustment module adjusts the robot posture angle and the PTZ coordinates of the gimbal camera according to the three-dimensional coordinates of the target to be inspected and the three-dimensional coordinates of the robot, so as to control the gimbal camera to collect second image information based on the adjusted robot posture angle and the PTZ coordinates of the gimbal camera. When the target to be inspected is identified from the gimbal camera image information, the inspection point parameters corresponding to the target to be inspected are determined according to the current position information of the robot and the current PTZ coordinates of the gimbal camera.

[0008] Optionally, the present application also provides an inspection robot, including a calibration device for the robot inspection points of the present application.

[0009] Optionally, the present application provides an electronic device. The electronic device includes one or more processors and a storage device. The storage device is used to store one or more programs. When the one or more programs are executed by one or more processors, the one or more processors can implement the robot inspection point calibration method of the present application.

[0010] Optionally, the present application provides a non-volatile computer-readable storage medium having a computer program stored thereon. The computer program can implement the robot inspection point calibration method of the present application.

[0011] The beneficial effects of this application are as follows.

[0012] The robot inspection point calibration method provided by the present application preliminarily identifies the target through the first camera; confirms the three-dimensional coordinates of the target to be inspected through the radar device; adjusts the PTZ coordinates through the pan-tilt camera to improve the imaging effect of the target to be inspected in the pan-tilt camera; and determines the inspection point parameters corresponding to the target to be inspected through the three-dimensional coordinates of the robot and the adjusted PTZ coordinates of the pan-tilt camera. The execution process of this method is unmanned, thereby realizing the automation of the inspection point calibration process. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] 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.

[0014] Figure 1 A schematic diagram showing a flow chart of a robot inspection point calibration method 1000 according to an embodiment of the present application;

[0015] Figure 2 A schematic diagram showing the process of step S120 of an embodiment of the present application is shown;

[0016] Figure 3 A schematic diagram showing the process of step S140 of an embodiment of the present application is shown;

[0017] Figure 4 A schematic diagram showing a flow chart of a robot inspection point calibration method 2000 according to an embodiment of the present application;

[0018] Figure 5 A schematic diagram showing a flow chart of a robot inspection point calibration method 3000 according to an embodiment of the present application;

[0019] Figure 6 A schematic structural diagram of a calibration device according to an embodiment of the present application is shown.

[0020] Description of reference numerals:

[0021] Calibration device 1; data acquisition module 11; identification module 12; adjustment module 13. DETAILED DESCRIPTION

[0022] 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.

[0023] 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.

[0024] 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.

[0025] The terms "first", "second", etc. in the specification, claims and the above-mentioned drawings of this application are used to distinguish different objects rather than to describe a specific order.

[0026] 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.

[0027] The robot mentioned in the technical solution of the present application can be provided with at least one first camera, at least one radar device and at least one PTZ camera. The at least one first camera and the at least one radar device can be integrated together. For example, the first camera can be a wide-angle camera. The robot can determine the three-dimensional coordinates of the robot through GPS, RTK (Real time kinematic, real-time dynamic positioning) and point cloud map.

[0028] The present application will be described in detail below in conjunction with the accompanying drawings.

[0029] Figure 1 The flowchart of the robot inspection point calibration method 1000 according to the embodiment of the present application is shown. The method includes the steps of determining the three-dimensional coordinates of the object to be inspected and determining the inspection point parameters corresponding to the object to be inspected.

[0030] First, the step of determining the three-dimensional coordinates of the target to be inspected is described. The step of determining the three-dimensional coordinates of the target to be inspected includes step S110 and step S120.

[0031] For example, the inspection robot determines the three-dimensional coordinates of the target to be inspected. For example, the target to be inspected may be a device to be inspected in the inspection area. For example, the target to be inspected may be a circuit breaker, a disconnector, a lightning arrester, a CT, a PT, a meter, etc.

[0032] In step S110, while the robot is moving along a set inspection path, first image information collected by the first camera and radar information collected by the radar at the same time are obtained.

[0033] For example, when the robot scans the area to be inspected, it will inspect the target to be inspected according to all the feasible paths set. After the inspection starts, the first camera will collect the first image information. The first image information may include the 2D coordinate frame of the target to be inspected. At the same time when the first camera collects the first image information, the radar collects radar information. The radar information includes a 3D point cloud map corresponding to the target to be inspected. In step S110, the robot obtains the first image information and the radar information.

[0034] In step S120, when the target to be inspected is identified from the first image information, the robot stops moving to determine the three-dimensional coordinates of the target to be inspected according to the first image information and the radar information.

[0035] For example, the target to be inspected identified in step S120 may be a circuit breaker. The 2D coordinate frame of the circuit breaker in the first image information obtained in step S110 may be aligned with the 3D point cloud block mapping in the 3D point cloud image of the circuit breaker. The radar device may obtain the center coordinates of the 3D point cloud block corresponding to the 2D coordinate frame according to the sparsity of the point cloud contained in the 3D point cloud block, and then obtain the three-dimensional coordinates of the circuit breaker.

[0036] The following describes the step of determining the inspection point parameters corresponding to the target to be inspected. The step of determining the inspection point parameters corresponding to the target to be inspected includes step S130 and step S140.

[0037] In step S130, the robot posture angle and the pan-tilt camera PTZ coordinates are adjusted according to the three-dimensional coordinates of the inspection target and the three-dimensional coordinates of the robot, so as to control the pan-tilt camera to collect second image information based on the adjusted robot posture angle and pan-tilt camera PTZ coordinates.

[0038] For example, for a gimbal camera, P (Pan, abbreviated as P) represents the horizontal rotation angle of the gimbal camera, T (Tilt, abbreviated as T) represents the vertical rotation angle of the gimbal camera, and Z (Zoom, abbreviated as Z) represents the observation magnification of the gimbal camera.

[0039] For example, the second image information may be image information corresponding to the circuit breaker collected by the pan-tilt camera based on the adjusted robot posture angle and the PTZ coordinates of the pan-tilt camera.

[0040] In step S140, when the target to be inspected is identified from the second image information, the inspection point parameters corresponding to the target to be inspected are determined according to the three-dimensional coordinates of the robot and the adjusted PTZ coordinates of the pan-tilt camera.

[0041] For example, the inspection point parameters may include the target type of the target to be inspected, the robot docking point information, the robot attitude angle and the PTZ coordinates of the pan-tilt camera. The robot docking point information may be the three-dimensional coordinates of the robot when the robot is docked and the inspection path to which it belongs.

[0042] According to the above embodiment, the robot inspection point calibration method preliminarily identifies the target through the first camera; confirms the three-dimensional coordinates of the target to be inspected through the radar device; obtains detailed image information of the target to be inspected by adjusting the PTZ coordinates of the pan-tilt camera; and determines the inspection point parameters corresponding to the target to be inspected through the three-dimensional coordinates of the robot and the adjusted PTZ coordinates of the pan-tilt camera. The execution process of this method is unmanned, thereby realizing the automation of the inspection point calibration process.

[0043] Figure 2 FIG. 4 shows a flow chart of step S120 in the above embodiment. Figure 2 As shown, step S120 includes step S121 and step S122.

[0044] In step S121, a target to be inspected is identified according to the first image information and the first preset condition.

[0045] For example, the first preset condition is a preset target type of the target to be inspected, and the preset target type is the target type of all targets to be inspected in the inspection area. When a target that meets the preset target type appears in the first image information, the target is confirmed as the target to be inspected. For example, if targets such as circuit breakers, disconnectors, lightning arresters, CTs, PTs, and meters are identified in the first image information, the identified targets are confirmed as the targets to be inspected.

[0046] In step S122, the robot stops moving and determines the three-dimensional coordinates of the target to be inspected according to the first image information and the radar information.

[0047] For example, the target to be inspected in the first image information is a circuit breaker. The 2D coordinate frame of the circuit breaker can be aligned with the 3D point cloud block mapping in the 3D point cloud image. The radar device obtains the three-dimensional coordinates corresponding to the circuit breaker as described in step S120, which will not be repeated here.

[0048] According to the above embodiment, the robot inspection point calibration method determines the target to be inspected based on the first image information and the first preset condition, and determines the three-dimensional coordinates of the target to be inspected based on the first image information and the radar information.

[0049] Figure 3 A schematic flow chart of step S140 in the above embodiment is shown.

[0050] like Figure 3 As shown, step S140 includes steps S141-S143.

[0051] In step S141, when the target to be inspected is identified from the second image information, it is determined whether the image information of the target to be inspected in the second image information meets a second preset condition.

[0052] For example, the identified inspection target is a circuit breaker. The second preset condition can be set as the position and size ratio of the circuit breaker 2D coordinate frame in the second image information meet the requirements. For example, the circuit breaker 2D coordinate frame is in the middle of the second image information. For another example, the proportion of the circuit breaker 2D coordinate frame in the second image information is 70%.

[0053] If the judgment result of step S141 is yes, then go to step S142. In step S142, the inspection point parameters corresponding to the inspection target are determined according to the three-dimensional coordinates of the robot and the PTZ coordinates of the pan-tilt camera.

[0054] In step S141, if the result of the judgment is no, then proceed to step S143. In step S143, the PTZ coordinates of the pan-tilt camera are adjusted again according to the second preset condition to control the pan-tilt camera to collect the third image information until the image information of the target to be inspected in the collected third image information meets the second preset condition. The third image information is the image information of the target to be inspected collected by the pan-tilt camera based on the re-adjusted PTZ coordinates of the pan-tilt camera.

[0055] After step S143, step S142 is executed again.

[0056] According to the above embodiment, the robot inspection point calibration method is based on the second preset condition. When the image information of the inspection target captured by the PTZ camera does not meet the condition, the PTZ coordinates of the PTZ camera are adjusted again until the image information of the inspection target that meets the second preset condition is captured. This method can improve the accuracy of calibration by improving the imaging effect of the picture.

[0057] Figure 4 The flowchart of the robot inspection point calibration method 2000 of the embodiment of the present application is shown. The robot inspection point calibration method 2000 includes steps S210-S250. Steps S210-S240 are the same as steps S110-S140 mentioned above, and will not be repeated here.

[0058] In step S250, the robot continues to move along the inspection path from the current position, and steps S210-S240 are executed again until the robot completes the inspection path, and all candidate inspection point parameters of all targets to be inspected in the inspection path are determined.

[0059] For example, take the circuit breaker as the target to be inspected mentioned in step S120. The target recognized by the robot for the first time may be a circuit breaker. The inspection point parameters determined by the first execution of steps S210-S240 may be determined as candidate inspection point parameters corresponding to the circuit breaker. For example, the circuit breaker is recognized again during the execution of steps S210-S240 again, and the second candidate inspection point parameters corresponding to the circuit breaker are determined. After the robot completes the inspection path, each inspection target may correspond to at least one candidate inspection point parameter.

[0060] According to the above embodiment, the candidate inspection point parameters of all the objects to be inspected in the inspection path can be determined by repeatedly executing steps S210-S240. This method can inspect every object to be inspected in the inspection area, thereby improving the integrity of the inspection process.

[0061] Figure 5 The flowchart of the robot inspection point calibration method 3000 of the embodiment of the present application is shown. The robot inspection point calibration method 3000 includes steps S310-S360. Steps S310-S350 are the same as steps S210-S250 mentioned above, and will not be repeated here.

[0062] In step S360, according to the third preset condition, a unique inspection point parameter of each target to be inspected is determined from the candidate inspection point parameters corresponding to each target to be inspected.

[0063] For example, the third preset condition can be set to set different preset conditions for different types and shapes of inspection targets. For example, for long strip inspection targets such as lightning arresters and PTs, the robot can use a height-to-width ratio of 20:1 as the third preset condition. For example, for round or square inspection targets such as meters, the robot can use a height-to-width ratio of 1:1 as the third preset condition. The inspection point parameters that meet the above third preset conditions can be determined as the only inspection point parameters.

[0064] According to the above embodiment, the third preset condition is set to determine the unique inspection point parameters of each target to be inspected in the inspection path, thereby improving the calibration accuracy.

[0065] Figure 6 The schematic diagram of the structure of the robot inspection point calibration device 1 according to the embodiment of the present application is shown. Figure 6 As shown, the calibration device includes a data acquisition module 11 , an identification module 12 and an adjustment module 13 .

[0066] When the robot moves along the set inspection path, the data acquisition module 11 acquires the first image information and radar information acquired by the first camera and the radar at the same time. When the object to be inspected is identified from the first image information, the recognition module 12 determines the three-dimensional coordinates of the object to be inspected based on the first image information and the radar information.

[0067] The adjustment module 13 adjusts the robot posture angle and the PTZ coordinates of the pan-tilt camera according to the three-dimensional coordinates of the target to be inspected and the three-dimensional coordinates of the robot, so as to control the pan-tilt camera to collect the second image information based on the adjusted robot posture angle and the PTZ coordinates of the pan-tilt camera. When the target to be inspected is identified from the second image information, the adjustment module 13 determines the inspection point parameters corresponding to the target to be inspected according to the current position information of the robot and the current PTZ coordinates of the pan-tilt camera.

[0068] According to the above embodiment, the calibration device preliminarily identifies the target through the first camera; confirms the three-dimensional coordinates of the target to be inspected through the radar device; adjusts the PTZ coordinates through the pan-tilt camera to improve the imaging effect of the target to be inspected in the pan-tilt camera; and determines the inspection point parameters corresponding to the target to be inspected through the three-dimensional coordinates of the robot and the adjusted pan-tilt camera PTZ coordinates. The process of calibrating the inspection point parameters corresponding to the target to be inspected by the device is unmanned, realizing the automation of the inspection point calibration process.

[0069] According to another embodiment of the present application, the present application provides an inspection robot, including the above-mentioned robot inspection point calibration device 1.

[0070] According to another embodiment of the present application, the present application provides an electronic device. The electronic device includes one or more processors and a storage device. The storage device is used to store one or more programs. When the one or more programs are executed by one or more processors, the one or more processors can implement the above-mentioned robot inspection point calibration method.

[0071] According to another embodiment of the present application, the present application provides a non-volatile computer-readable storage medium having a computer program stored therein. The computer program can implement the above-mentioned robot inspection point calibration method.

[0072] In the 1990s, improvements to a technology could be clearly distinguished as hardware improvements (for example, improvements to circuit structures such as diodes, transistors, switches, etc.) or software improvements (improvements to method flows). However, with the development of technology, many improvements to method flows today can be regarded as direct improvements to hardware circuit structures. Designers almost always obtain the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that an improvement to a method flow cannot be implemented using hardware entity modules. For example, a programmable logic device (PLD) (such as a field programmable gate array (FPGA)) is such an integrated circuit whose logic function is determined by the user's programming of the device. Designers can "integrate" a digital system on a PLD by programming themselves, without having to ask a chip manufacturer to design and produce a dedicated integrated circuit chip. Moreover, nowadays, instead of manually making integrated circuit chips, this programming is mostly implemented using "logic compiler" software, which is similar to the software compiler used when writing program development. The original code before compilation must also be written in a specific programming language, which is called Hardware Description Language (HDL). There is not only one HDL, but many types, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language) Language), etc., and the most commonly used ones are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also know that by simply programming the method flow in the above-mentioned hardware description languages ​​and programming it into the integrated circuit, it is easy to obtain the hardware circuit that implements the logic method flow.

[0073] The controller can be implemented in any appropriate manner, for example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing a computer-readable program code (such as software or firmware) that can be executed by the (micro)processor, a logic gate, a switch, an application-specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of controllers include, but are not limited to, the following microcontrollers: ARC625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in a purely computer-readable program code manner, the controller can be implemented in the form of a logic gate, a switch, an application-specific integrated circuit, a programmable logic controller, and an embedded microcontroller by logically programming the method steps. Therefore, this controller can be considered as a hardware component, and the devices included therein for implementing various functions can also be regarded as structures within the hardware component. Or even, the devices for implementing various functions can be regarded as both software modules for implementing the method and structures within the hardware component.

[0074] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0075] For the convenience of description, the above system is described by dividing each unit into functional units. Of course, when implementing this specification, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0076] Those skilled in the art will appreciate that the embodiments of the present application may provide methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0077] The present application is described with reference to flowcharts and / or block diagrams of methods, systems (devices) and computer program products according to embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the process in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0078] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the instructions in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0079] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0080] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0081] The memory may be in the form of non-permanent memory, random access memory (RAM) and / or non-volatile memory including computer-readable media, such as read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0082] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0083] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device that includes the elements.

[0084] This specification may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. This specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0085] 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 robot inspection point calibration method, characterized in that: The robot is provided with a first camera, a radar and a pan / tilt camera, and the calibration method comprises: The steps of determining the three-dimensional coordinates of the target to be inspected include: In the process of the robot moving along the set inspection path, obtaining first image information collected by the first camera and radar information collected by the radar at the same time; When the target to be inspected is identified from the first image information, the robot stops moving to determine the three-dimensional coordinates of the target to be inspected according to the first image information and the radar information; The step of determining the inspection point parameters corresponding to the target to be inspected includes: The robot posture angle and the PTZ coordinates of the pan-tilt camera are adjusted according to the three-dimensional coordinates of the target to be inspected and the three-dimensional coordinates of the robot, so as to control the pan-tilt camera based on the adjusted robot posture angle and the pan-tilt camera PTZ coordinates, collecting second image information; When the target to be inspected is identified from the second image information, the inspection point parameters corresponding to the target to be inspected are determined according to the three-dimensional coordinates of the robot and the adjusted PTZ coordinates of the pan-tilt camera.

2. The robot inspection point calibration method according to claim 1, characterized in that: When the target to be inspected is identified from the first image information, the robot stops moving to determine the three-dimensional coordinates of the target to be inspected according to the first image information and the radar information, including: Determine the target to be inspected according to the first image information and the first preset condition; The robot stops moving to determine the three-dimensional coordinates of the target to be inspected according to the first image information and the radar information.

3. The robot inspection point calibration method according to claim 1, characterized in that: When the target to be inspected is identified from the second image information, the inspection point parameters corresponding to the target to be inspected are determined according to the three-dimensional coordinates of the robot and the adjusted PTZ coordinates of the pan-tilt camera, including: When the target to be inspected is identified from the second image information, determining whether the image information of the target to be inspected in the second image information meets a second preset condition; If yes, determine the inspection point parameters corresponding to the inspection target according to the three-dimensional coordinates of the robot and the PTZ coordinates of the pan-tilt camera; If not, adjust the PTZ coordinates of the pan-tilt camera again according to the second preset condition to control the pan-tilt camera to collect the third image information until the image information of the target to be inspected in the collected third image information meets the second preset condition.

4. The robot inspection point calibration method according to claim 1, characterized in that: In the case where the target to be inspected is identified from the second image information, after determining the inspection point parameters corresponding to the target to be inspected according to the three-dimensional coordinates of the robot and the adjusted PTZ coordinates of the pan-tilt camera, the method further includes: Continue to move along the inspection path from the current position, and execute again the step of determining the three-dimensional coordinates of the target to be inspected and the step of determining the inspection point parameters corresponding to the target to be inspected, until the robot completes the inspection path, so as to determine the candidate inspection point parameters of all the targets to be inspected in the inspection path.

5. The robot inspection point calibration method according to claim 4, characterized in that: The robot continues to move along the inspection path from the current position, and executes the step of determining the three-dimensional coordinates of the target to be inspected and the step of determining the inspection point parameters corresponding to the target to be inspected again, until the robot completes the inspection path to determine the candidate inspection point parameters of all the targets to be inspected in the inspection path, the method further includes: According to the third preset condition, a unique inspection point parameter of each target to be inspected is determined from the candidate inspection point parameters corresponding to each target to be inspected.

6. The robot inspection point calibration method according to claim 1, characterized in that: The first camera is a wide-angle camera, and the wide-angle camera collects the first image information.

7. A robot inspection point calibration device, characterized in that: include: A data acquisition module, which collects first image information and radar information collected by the first camera and the radar at the same time when the robot moves along a set inspection path; an identification module, which, when an object to be inspected is identified from the first image information, determines the three-dimensional coordinates of the object to be inspected according to the first image information and the radar information; An adjustment module adjusts the robot posture angle and the PTZ coordinates of the pan-tilt camera according to the three-dimensional coordinates of the target to be inspected and the three-dimensional coordinates of the robot, so as to control the pan-tilt camera to collect second image information based on the adjusted robot posture angle and the PTZ coordinates of the pan-tilt camera, and when the target to be inspected is identified from the second image information, the inspection point parameters corresponding to the target to be inspected are determined according to the current position information of the robot and the current PTZ coordinates of the pan-tilt camera.

8. An inspection robot, comprising the robot inspection point calibration device as claimed in claim 7.

9. A non-volatile computer-readable storage medium having a computer program stored thereon, characterized in that: The computer program implements the inspection point calibration method as described in any one of claims 1-6.

10. 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 robot inspection point calibration method as described in any one of claims 1-6.

Images