Camera angle self-adaptive adjustment method for intelligent inspection robot

Abstract

The invention discloses a camera angle self-adaptive adjustment method for an intelligent inspection robot. The camera angle self-adaptive adjustment method comprises the following steps: establishinga monocular mobile vision measurement model; acquiring internal reference calibration data of the camera; according to a target point position of the robot initial image, determining image target points acquired by the robot at different subsequent moments; and solving a homography matrix, searching an image matching point corresponding to the target point in the initial image, realizing three-dimensional pose information of the same target point in a camera coordinate system acquired by the robot at different moments by utilizing a triangulation principle, and finally obtaining a deflectionangle of the camera. The camera angle self-adaptive adjustment method solves the problem that the target deviates from the visual field center of the robot camera when the intelligent inspection robotworks, can adjust the angle of the camera in a self-adaptive mode under the condition that robot positioning errors and pan-tilt rotation errors exist, can realize accurate positioning and accurate recognition of a target, and can complete intelligent inspection, fault diagnosis, recognition and early warning of the robot target.

Description

technical field [0001] The invention belongs to the technical field of machine vision measurement, and in particular relates to a camera angle self-adaptive adjustment method of an intelligent inspection robot. Background technique [0002] Intelligent inspection robots replace manual inspections in special environments, which not only improves the efficiency of on-site inspections, reduces on-site maintenance costs, but also reduces the limitations of manual inspections, expanding the application of artificial intelligence technology in special environments. During the operation of the intelligent inspection robot, the information of the equipment to be detected and the surrounding environment are obtained by carrying the pan / tilt and the camera, and the analysis and judgment of the target state of the special environment are realized by using image processing and pattern recognition technology. In special environments such as substations and important machine rooms, intell...

AI Technical Summary

Problems solved by technology

[0004] Purpose of the invention: In view of the defect that the pan / tilt carried by the intelligent inspection robot has a certain rotation error in the prior art, the present invention discloses an adaptive adjustment method for the camera angle of the intelligent inspection robot, which solves the problem of the intelligent inspection robot The problem that the target deviates from the center of the robot's camera's field of view during work helps the robot to image the same target point at a fixed position in the image captured by the camera to achieve precise positioning and recognition of the target

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