Robot inspection point calibration method and apparatus, and storage medium and electronic device

Abstract

A robot inspection point calibration method, comprising: acquiring first image information collected by a first camera and radar information collected by a radar at the same time; when a target to be inspected is identified from the first image information, a robot stopping moving, so as to determine, on the basis of the first image information and the radar information, three-dimensional coordinates of said target; on the basis of the three-dimensional coordinates of said target and three-dimensional coordinates of the robot, adjusting an attitude angle of the robot and PTZ coordinates of a gimbal camera, so as to control the gimbal camera to collect second image information on the basis of the adjusted attitude angle of the robot and the adjusted PTZ coordinates of the gimbal camera; and when said target is identified from the second image information, determining, on the basis of the three-dimensional coordinates of the robot and the adjusted PTZ coordinates of the gimbal camera, an inspection point parameter corresponding to said target. The method realizes the automation of a robot inspection point calibration process by means of setting a first camera, a radar and a gimbal camera. Further provided are a robot inspection point calibration apparatus, an inspection robot, a non-volatile computer-readable storage medium and an electronic device.

Description

Robot inspection point calibration methods, devices, storage media and electronic equipment Technical Field

[0001] This 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 Technology

[0002] Inspection robots are often used in industries such as substations, industrial manufacturing, and transportation to perform tasks such as equipment inspection, hazardous substance detection and early warning, and safety patrols.

[0003] The inventors of this application discovered that before a robot can be deployed for inspection, inspection personnel need to manually set the configuration parameters for all inspection points of the targets to be inspected. They also need to manually control the robot to reach the inspection area or route. After the robot reaches the vicinity of the target location, the personnel need to manually adjust the robot's attitude angle and the PTZ coordinates of the robot's gimbal camera to improve the imaging effect of the target in the gimbal camera. The entire process relies on manual operation, resulting in low inspection efficiency and low calibration accuracy.

[0004] The content in the background section is merely technology known to the public and does not necessarily represent existing technology in this field. Summary of the Invention

[0005] This application aims to provide a method, apparatus, storage medium, and electronic device for calibrating robot inspection points to solve at least one of the above-mentioned technical problems.

[0006] According to one aspect of this application, a method for calibrating robot inspection points is provided. The robot is equipped with a first camera, a radar, and a gimbal camera. The calibration method includes: a step of determining the three-dimensional coordinates of a target to be inspected, including: acquiring first image information collected by the first camera and radar information collected by the radar at the same time while the robot moves along a set inspection path; if 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 based on 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's attitude angle and the gimbal camera's PTZ coordinates based on the three-dimensional coordinates of the target to be inspected and the robot's three-dimensional coordinates, to control the gimbal camera to collect second image information based on the adjusted robot attitude angle and the gimbal camera's PTZ coordinates; if the target to be inspected is identified from the second image information, determining the inspection point parameters corresponding to the target to be inspected based on the robot's three-dimensional coordinates and the adjusted gimbal camera's PTZ coordinates.

[0007] Optionally, this 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 acquires first image information and radar information simultaneously captured by a first camera and radar during the robot's movement along a set inspection path. The identification module, upon identifying the target to be inspected from the first image information, determines the three-dimensional coordinates of the target based on the first image information and the radar information. The adjustment module adjusts the robot's attitude angle and the PTZ coordinates of the gimbal camera based on the three-dimensional coordinates of the target and the robot, thereby controlling the gimbal camera to acquire second image information based on the adjusted robot attitude angle and the gimbal camera's PTZ coordinates. When the target to be inspected is identified from the gimbal camera image information, the inspection point parameters corresponding to the target are determined based on the robot's current position information and the gimbal camera's current PTZ coordinates.

[0008] Optionally, this application also provides an inspection robot, including a calibration device for the robot's inspection points.

[0009] Optionally, this 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 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 this application.

[0010] Optionally, this application provides a non-volatile computer-readable storage medium. A computer program is stored on the storage medium. This computer program can implement the robot inspection point calibration method of this application.

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

[0012] The robot inspection point calibration method provided in this application initially identifies the target using a first camera; confirms the three-dimensional coordinates of the target using radar equipment; improves the imaging effect of the target in the gimbal camera by adjusting the PTZ coordinates; and determines the inspection point parameters corresponding to the target using the robot's three-dimensional coordinates and the adjusted PTZ coordinates of the gimbal camera. This method is executed without human intervention, thus automating the inspection point calibration process. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 shows a flowchart of the robot inspection point calibration method 1000 according to an embodiment of this application;

[0015] Figure 2 shows a flowchart of step S120 in an embodiment of this application;

[0016] Figure 3 shows a flowchart of step S140 in an embodiment of this application;

[0017] Figure 4 shows a flowchart of the robot inspection point calibration method 2000 according to an embodiment of this application;

[0018] Figure 5 shows a flowchart of the robot inspection point calibration method 3000 according to an embodiment of this application;

[0019] Figure 6 shows a schematic diagram of the calibration device according to an embodiment of this application.

[0020] Explanation of reference numerals in the attached drawings: Calibration device 1; Data acquisition module 11; Identification module 12; Adjustment module 13. Detailed Implementation

[0021] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this application will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0022] The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced without one or more of these specific details, or other methods, components, materials, apparatuses, etc. In these cases, well-known structures, methods, apparatuses, implementations, materials, or operations will not be shown or described in detail.

[0023] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus.

[0024] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order.

[0025] The technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0026] The robot described in this application can be equipped with at least one first camera, at least one radar device, and at least one gimbal 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 its three-dimensional coordinates using GPS, RTK (Real-time Kinematic) positioning, and point cloud maps.

[0027] The present application will be described in detail below with reference to the accompanying drawings.

[0028] Figure 1 shows a flowchart of a robot inspection point calibration method 1000 according to an embodiment of this application. The method includes a step of determining the three-dimensional coordinates of the target to be inspected, and a step of determining the inspection point parameters corresponding to the target to be inspected.

[0029] First, the steps for determining the three-dimensional coordinates of the target to be inspected are described. These steps include steps S110 and S120.

[0030] For example, an inspection robot can determine the three-dimensional coordinates of the target to be inspected. The target to be inspected can be equipment within the inspection area. For example, the target to be inspected can be a circuit breaker, isolating switch, surge arrester, CT, PT, meter, etc.

[0031] In step S110, as the robot moves along the set inspection path, it acquires the first image information captured by the first camera and the radar information captured by the radar at the same time.

[0032] For example, during the process of the robot scanning the area to be inspected, it will inspect the target according to all the set feasible paths. After the inspection starts, the first camera will acquire first image information. This first image information may contain the 2D coordinate bounding box of the target to be inspected. At the same time that the first camera acquires the first image information, the radar acquires radar information. This radar information contains a 3D point cloud map corresponding to the target to be inspected. In step S110, the robot acquires the first image information and the radar information.

[0033] 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 based on the first image information and radar information.

[0034] For example, the target to be inspected identified in step S120 can be a circuit breaker. The 2D coordinate frame of the circuit breaker obtained in the first image information in step S110 can be mapped and aligned with the 3D point cloud blocks in the 3D point cloud image of the circuit breaker. The radar device can obtain the center coordinates of the 3D point cloud block corresponding to the 2D coordinate frame based on the sparsity of the point cloud contained in the 3D point cloud block, and then obtain the three-dimensional coordinates of the circuit breaker.

[0035] The following describes the steps for determining the inspection point parameters corresponding to the target to be inspected. The steps for determining the inspection point parameters corresponding to the target to be inspected include steps S130 and S140.

[0036] In step S130, the robot's posture angle and the PTZ coordinates of the gimbal 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 gimbal camera to acquire second image information based on the adjusted robot posture angle and the PTZ coordinates of the gimbal camera.

[0037] 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.

[0038] For example, the second image information can be the image information corresponding to the circuit breaker collected by the gimbal camera based on the adjusted robot posture angle and the gimbal camera PTZ coordinates.

[0039] In step S140, if 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 based on the robot's three-dimensional coordinates and the adjusted PTZ coordinates of the gimbal camera.

[0040] For example, the inspection point parameters may include the target type of the target to be inspected, the robot's docking point information, the robot's attitude angle, and the PTZ coordinates of the gimbal camera. The robot's docking point information can be the robot's three-dimensional coordinates at the time of docking and the inspection path it belongs to.

[0041] According to the above embodiments, the robot inspection point calibration method initially identifies the target using a first camera; confirms the three-dimensional coordinates of the target using radar equipment; obtains detailed image information of the target by adjusting the PTZ coordinates of the gimbal camera; and determines the inspection point parameters corresponding to the target using the robot's three-dimensional coordinates and the adjusted PTZ coordinates of the gimbal camera. This method is executed without human intervention, thus automating the inspection point calibration process.

[0042] Figure 2 shows a flowchart of step S120 in the above embodiment. As shown in Figure 2, step S120 includes steps S121 and S122.

[0043] In step S121, the target to be inspected is identified based on the first image information and the first preset conditions.

[0044] For example, the first preset condition is the preset target type of the target to be inspected, which is the target type of all targets to be inspected in the inspection area. If a target matching the preset target type appears in the first image information, that target is confirmed as the target to be inspected. For example, if targets such as circuit breakers, isolating switches, surge arresters, current transformers (CTs), power supply devices (PTs), and meters are identified in the first image information, then the identified targets are confirmed as the targets to be inspected.

[0045] In step S122, the robot stops moving and determines the three-dimensional coordinates of the target to be inspected based on the first image information and radar information.

[0046] 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 mapped and aligned with the 3D point cloud blocks in the 3D point cloud image. The method by which the radar device obtains the three-dimensional coordinates corresponding to the circuit breaker is as described in step S120, and will not be repeated here.

[0047] According to the above embodiments, the robot inspection point calibration method determines the target to be inspected based on first image information and first preset conditions. The three-dimensional coordinates of the target to be inspected are determined based on the first image information and radar information.

[0048] Figure 3 shows a flowchart of step S140 in the above embodiment.

[0049] As shown in Figure 3, step S140 includes steps S141-S143.

[0050] In step S141, if 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 the second preset condition.

[0051] For example, the identified target to be inspected is a circuit breaker. The second preset condition can be set such that the position and size proportion of the circuit breaker's 2D coordinate frame in the second image information meet requirements. For example, the circuit breaker's 2D coordinate frame is located in the middle of the second image information. Another example is that the circuit breaker's 2D coordinate frame occupies 70% of the second image information.

[0052] If the judgment result of step S141 is yes, then proceed to step S142. In step S142, the inspection point parameters corresponding to the target to be inspected are determined based on the robot's three-dimensional coordinates and the PTZ coordinates of the gimbal camera.

[0053] If the judgment result is negative in step S141, proceed to step S143. In step S143, the PTZ coordinates of the gimbal camera are readjusted according to the second preset condition to control the gimbal camera to acquire third image information until the image information of the target to be inspected in the acquired third image information meets the second preset condition. This third image information is the image information of the target to be inspected acquired by the gimbal camera based on the readjusted PTZ coordinates of the gimbal camera.

[0054] After step S143, step S142 is executed again.

[0055] According to the above embodiments, the robot inspection point calibration method is based on a second preset condition. When the image information of the target to be inspected captured by the gimbal camera does not meet the condition, the PTZ coordinates of the gimbal camera are readjusted until image information of the target to be inspected that meets the second preset condition is acquired. This method can improve the accuracy of calibration by improving the imaging effect of the image.

[0056] Figure 4 shows a flowchart of the robot inspection point calibration method 2000 according to an embodiment of this application. 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 described again here.

[0057] In step S250, the robot continues to move along the inspection path from the current position and executes steps S210-S240 again until the robot has completed the inspection path, and determines the parameters of all candidate inspection points for all targets to be inspected in the inspection path.

[0058] For example, taking the circuit breaker as the target to be inspected mentioned in step S120, the target initially identified by the robot can be a circuit breaker. The inspection point parameters determined during the first execution of steps S210-S240 can be identified as candidate inspection point parameters corresponding to that circuit breaker. For example, if the circuit breaker is identified again during the re-execution of steps S210-S240, a second candidate inspection point parameter corresponding to that circuit breaker can be determined. After the robot completes the inspection path, each inspection target can correspond to at least one candidate inspection point parameter.

[0059] According to the above embodiment, by repeatedly executing steps S210-S240, the candidate inspection point parameters for all targets to be inspected in the inspection path can be determined. This method can inspect every target to be inspected in the inspection area, thereby improving the completeness of the inspection process.

[0060] Figure 5 shows a flowchart of the robot inspection point calibration method 3000 according to an embodiment of this application. 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 described again here.

[0061] In step S360, based on the third preset condition, the unique inspection point parameters of each target to be inspected are determined from the candidate inspection point parameters corresponding to each target to be inspected.

[0062] For example, the third preset condition can be set differently for different types and shapes of targets to be inspected. For example, for long, narrow targets such as surge arresters and power supply devices, the robot can use a height-to-width ratio of 20:1 as the third preset condition. For example, for round or square targets such as meters, the robot can use a width-to-height ratio of 1:1 as the third preset condition. The inspection point parameters that meet the above third preset conditions can be determined as unique inspection point parameters.

[0063] According to the above embodiments, by setting a third preset condition, the unique inspection point parameters of each target to be inspected in the inspection path are determined, thereby improving the calibration accuracy.

[0064] Figure 6 shows a schematic diagram of the structure of the robot inspection point calibration device 1 according to an embodiment of this application. As shown in Figure 6, the calibration device includes a data acquisition module 11, an identification module 12, and an adjustment module 13.

[0065] As the robot moves along the set inspection path, the data acquisition module 11 collects first image information and radar information acquired simultaneously by the first camera and radar. If the target to be inspected is identified from the first image information, the identification module 12 determines the three-dimensional coordinates of the target based on the first image information and the radar information.

[0066] The adjustment module 13 adjusts the robot's posture angle and the gimbal camera's PTZ coordinates based on the three-dimensional coordinates of the target to be inspected and the robot's three-dimensional coordinates, thereby controlling the gimbal camera to acquire second image information based on the adjusted robot posture angle and gimbal camera PTZ coordinates. 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 based on the robot's current position information and the gimbal camera's current PTZ coordinates.

[0067] According to the above embodiment, the calibration device initially identifies the target using a first camera; confirms the three-dimensional coordinates of the target to be inspected using radar equipment; improves the imaging effect of the target in the gimbal camera by adjusting the PTZ coordinates of the gimbal camera; and determines the inspection point parameters corresponding to the target to be inspected using the robot's three-dimensional coordinates and the adjusted PTZ coordinates of the gimbal camera. The calibration process for the inspection point parameters corresponding to the target to be inspected is completely automated, without human intervention.

[0068] According to another embodiment of this application, this application provides an inspection robot, including the above-mentioned robot inspection point calibration device 1.

[0069] According to another embodiment of this application, an electronic device is provided. The electronic device includes one or more processors and a storage device. The storage device is used to store one or more programs. When one or more programs are executed by one or more processors, the one or more processors can implement the above-described robot inspection point calibration method.

[0070] According to another embodiment of this application, a non-volatile computer-readable storage medium is provided. A computer program is stored on the storage medium. This computer program can implement the above-described robot inspection point calibration method.

[0071] In the 1990s, improvements to a technology could be clearly distinguished as either hardware improvements (e.g., improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the methodology). However, with technological advancements, many improvements to the methodology today can be considered direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved methodology into the hardware circuit. Therefore, it cannot be said that an improvement to the methodology cannot be implemented using hardware physical modules. For example, a Programmable Logic Device (PLD) (such as a Field Programmable Gate Array (FPGA)) is an integrated circuit whose logic function is determined by the user programming the device. Designers program a digital system onto a PLD themselves, eliminating the need for chip manufacturers to design and fabricate dedicated integrated circuit chips. Furthermore, instead of manually fabricating integrated circuit chips, this programming is now mostly implemented using "logic compiler" software, similar to the software compiler used in program development. The source code before compilation must be written in a specific programming language called a Hardware Description Language (HDL). There are many HDLs, 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, and RHDL (Ruby Hardware Description Language). Among languages, the most commonly used are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also understand that by simply performing some logic programming on the method flow using one of these hardware description languages ​​and then programming it into an integrated circuit, the hardware circuit implementing the logic method flow can be easily obtained.

[0072] The controller can be implemented in any suitable manner. For example, it can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicon Labs C8051F320. A memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also recognize that, in addition to implementing the controller in purely computer-readable program code form, the same functionality can be achieved by logically programming the method steps to make the controller take the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the means included therein for implementing various functions can also be considered as structures within the hardware component. Alternatively, the means for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0073] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, a computer can be, for example, a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any combination of these devices.

[0074] For ease of description, the above system is described by dividing it into functional units. Of course, in implementing this specification, the functions of each unit can be implemented in one or more software and / or hardware components.

[0075] Those skilled in the art will understand that embodiments of this application can provide methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied 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.

[0076] This application is described with reference to flowchart illustrations and / or block diagrams of methods, systems (apparatus), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0077] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0078] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0079] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0080] Memory can take the form of non-persistent storage in computer-readable media, random access memory (RAM), and / or non-volatile memory such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0081] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0082] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0083] This specification can be described in the general context of computer-executable instructions that are executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This specification can also be practiced in distributed computing environments, where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0084] Finally, it should be noted that the above description is merely a preferred embodiment of this application and is not intended to limit this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions of the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for calibrating robot inspection points, characterized in that, The robot is equipped with a first camera, radar, and a gimbal camera. The calibration method includes: The steps to determine the three-dimensional coordinates of the target to be inspected include: During the process of the robot moving along the set inspection path, the first image information captured by the first camera and the radar information captured by the radar are acquired at the same time. If 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 based on the first image information and the radar information. The steps for determining the inspection point parameters corresponding to the target to be inspected include: The robot's attitude angle and the PTZ coordinates of the gimbal 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 gimbal camera to acquire second image information based on the adjusted robot attitude angle and the PTZ coordinates of the gimbal camera. 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 based on the robot's three-dimensional coordinates and the adjusted PTZ coordinates of the gimbal 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 based on the first image information and the radar information, including: The target to be inspected is determined based on the first image information and the first preset conditions; The robot stops moving to determine the three-dimensional coordinates of the target to be inspected based on 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 based on the robot's three-dimensional coordinates and the adjusted PTZ coordinates of the gimbal camera, including: If the target to be inspected is identified from the second image information, determine whether the image information of the target to be inspected in the second image information meets the second preset condition; If so, determine the inspection point parameters corresponding to the target to be inspected based on the robot's three-dimensional coordinates and the PTZ coordinates of the gimbal camera; If not, the PTZ coordinates of the gimbal camera are adjusted again according to the second preset condition to control the gimbal camera to acquire third image information until the image information of the target to be inspected in the acquired third image information meets the second preset condition.

4. 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, after determining the inspection point parameters corresponding to the target to be inspected based on the robot's three-dimensional coordinates and the adjusted PTZ coordinates of the gimbal camera, the method further includes: Continue moving along the inspection path from the current position, and execute the steps of determining the three-dimensional coordinates of the target to be inspected and determining the inspection point parameters corresponding to the target to be inspected again, until the robot has completed the inspection path, so as to determine the candidate inspection point parameters of all targets to be inspected in the inspection path.

5. The robot inspection point calibration method according to claim 4, characterized in that, The method further includes the steps of continuing to move along the inspection path from the current position, re-executing the steps of determining the three-dimensional coordinates of the target to be inspected and determining the inspection point parameters corresponding to the target to be inspected, until the robot has completed the inspection path. After determining the candidate inspection point parameters of all targets to be inspected in the inspection path, the method further includes: Based on the third preset condition, the unique inspection point parameters of each target to be inspected are 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, which acquires the first image information.

7. A calibration device for robot inspection points, characterized in that, include: The data acquisition module acquires first image information and radar information simultaneously captured by the first camera and the radar during the robot's movement along the set inspection path. The identification module, upon identifying the target to be inspected from the first image information, determines the three-dimensional coordinates of the target to be inspected based on the first image information and the radar information. The adjustment module adjusts the robot's posture angle and the gimbal camera's PTZ coordinates based on the three-dimensional coordinates of the target to be inspected and the robot's three-dimensional coordinates. This controls the gimbal camera to acquire second image information based on the adjusted robot posture angle and the gimbal camera's PTZ coordinates. If the target to be inspected is identified from the second image information, the module determines the inspection point parameters corresponding to the target to be inspected based on the robot's current position information and the gimbal camera's current PTZ coordinates.

8. An inspection robot, comprising the calibration device for robot inspection points as described 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; 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.

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