Substation Inspection Robot PTZ Camera Alignment Method for High Zoom Scenes

Affected by factors such as navigation error and mechanical wear, the parking pose of substation inspection robot deviates from the preset pose during autonomous inspection, which causes issues such as the target equipment not in the image and focusing failure when capturing images with high zoom by using its Pan-Tilt-Zoom (PTZ) camera. Therefore, a substation inspection robot PTZ camera alignment method for high zoom scenes is proposed in this paper, which accurately aligns the inspection robot camera pose to the preset pose to capture high-quality inspection images that are consistent with the template images. First, a relationship model between pose and pixel error of the inspection robot is established. Next, an approximate solution method of the robot camera pose error is proposed based on the construction of the assumed conditions for the spatial layout of substations. Finally, the camera pose error is orthogonally decoupled and rectified by the proposed bisection control method. The camera alignment experimental results developed on the real-world inspection robot platform show that the proposed method performed higher inspection coverage, accuracy, and lower pixel errors of inspection images, compared with the traditional camera alignment methods that only adjust the PTZ pose. ©2024 Chin.Soc.for Elec.Eng.