CN115171237A - 3D formation of image tours record appearance - Google Patents

3D formation of image tours record appearance Download PDF

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Publication number
CN115171237A
CN115171237A CN202210819119.6A CN202210819119A CN115171237A CN 115171237 A CN115171237 A CN 115171237A CN 202210819119 A CN202210819119 A CN 202210819119A CN 115171237 A CN115171237 A CN 115171237A
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CN
China
Prior art keywords
module
laser radar
monitoring platform
image acquisition
image
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Pending
Application number
CN202210819119.6A
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Chinese (zh)
Inventor
华慧兵
张立朋
曾建生
宋彦军
赵智龙
王东辉
赵腾飞
段延博
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Super High Voltage Co of State Grid Hebei Electric Power Co Ltd
State Grid Corp of China SGCC
Original Assignee
Super High Voltage Co of State Grid Hebei Electric Power Co Ltd
State Grid Corp of China SGCC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Super High Voltage Co of State Grid Hebei Electric Power Co Ltd, State Grid Corp of China SGCC filed Critical Super High Voltage Co of State Grid Hebei Electric Power Co Ltd
Priority to CN202210819119.6A priority Critical patent/CN115171237A/en
Publication of CN115171237A publication Critical patent/CN115171237A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
    • G07C1/20—Checking timed patrols, e.g. of watchman
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/491—Details of non-pulse systems
    • G01S7/4911—Transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/491—Details of non-pulse systems
    • G01S7/4912—Receivers
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three-dimensional [3D] modelling for computer graphics
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/275—Image signal generators from three-dimensional [3D] object models, e.g. computer-generated stereoscopic image signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Remote Sensing (AREA)
  • Signal Processing (AREA)
  • Multimedia (AREA)
  • Computer Graphics (AREA)
  • Geometry (AREA)
  • Software Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

本发明涉及一种3D成像巡视记录仪，包括控制模块、图像采集模块、存储模块、驱动模块以及监测平台；所述图像采集模块用于采集图像信号并且将图像信号传送至监测平台；所述监测平台通过图像采集模块对巡视现场进行监测；所述控制模块用于对驱动模块进行控制，所述控制模块与驱动模块电连接；所述控制模块、图像采集模块以及存储模块分别与监测平台电连接；所述监测平台通过控制模块对对驱动模块进行控制。

Figure 202210819119

The invention relates to a 3D imaging patrol recorder, comprising a control module, an image acquisition module, a storage module, a drive module and a monitoring platform; the image acquisition module is used for collecting image signals and transmitting the image signals to the monitoring platform; the monitoring The platform monitors the inspection site through the image acquisition module; the control module is used to control the drive module, and the control module is electrically connected with the drive module; the control module, the image acquisition module and the storage module are respectively electrically connected with the monitoring platform ; The monitoring platform controls the drive module through the control module.

Figure 202210819119

Description

3D formation of image tours record appearance
Technical Field
The invention relates to a 3D imaging patrol recorder.
Background
In the power grid maintenance process, staff often can patrol the transformer substation regularly.
Present file CN210244119U, an intelligence inspection device that tours, including the detection device body, the detection device body is including removing the seat, be equipped with navigation head, communication device, drive arrangement and controlling means in removing the seat, the top of removing the seat is equipped with two and tours the test table, two tours the test table all with controlling means electric connection, the top fixed mounting who removes the seat has the mount pad, and the mounting hole has been seted up at the top of mount pad, and the fixed cover is equipped with the bracing piece in the mounting hole, the bottom of bracing piece and the top fixed connection who removes the seat.
The prior document CN216201864U is a substation patrol device, belongs to the technical field of fixed installation of substation patrol devices, and comprises a fixed framework, wherein the fixed framework comprises a side fixed plate for installing the patrol device; the side fixing plate is provided with a stabilizing installation groove and a bearing groove for containing an installation lug of the inspection device, and the top of the stabilizing installation groove is provided with a blocking edge; the fixed frame inner wall on still the activity be provided with the activity stable seat, the activity stable seat with the fixed frame inner wall sliding connection from top to bottom, tour the device and install fixed frame in, the activity stable seat butt is in tour device bottom, in addition, activity stable seat bottom still is provided with adjusting part, adjusting part orders about the activity stable seat and reciprocates.
By adopting the two modes, 3D images or 3D modeling is not involved, and the recording and archiving of the current equipment state are not facilitated.
Disclosure of Invention
The invention aims to provide a 3D imaging patrol recorder which is convenient for automatically recording and archiving the current equipment state.
The invention adopts the following technical scheme:
the device comprises a control module, an image acquisition module, a storage module, a driving module and a monitoring platform;
the image acquisition module is used for acquiring image signals and transmitting the image signals to the monitoring platform;
the monitoring platform monitors the inspection scene through an image acquisition module;
the control module is used for controlling the driving module and is electrically connected with the driving module;
the control module, the image acquisition module and the storage module are respectively electrically connected with the monitoring platform;
the monitoring platform controls the driving module through the control module.
The image acquisition module comprises a laser radar transmitting end, a laser radar receiving end, an electric support, an image processing unit and a microcontroller, wherein the laser radar transmitting end, the laser radar receiving end and the image processing unit are respectively connected with the microcontroller, the electric support is electrically connected with a driving module, the laser radar transmitting end and the laser radar receiving end are both arranged on the electric support, and the microcontroller is connected with a monitoring platform through Bluetooth.
The laser radar transmitting end is a linear laser, the laser radar receiving end is a first camera, the image processing unit is a DSP image processing module, and the microcontroller is a single chip microcomputer.
The image acquisition module of the invention models the acquired image signal through a vision-based SLAM algorithm and stores the image signal on the storage module.
The image acquisition module is modeled and then is demonstrated in real time on a monitoring platform.
The electric bracket is provided with a second camera which is in signal connection with the monitoring platform and is used for monitoring the inspection site.
The patrol video of the second camera is stored on the storage module.
The laser radar transmitting end and the laser radar receiving end are respectively two and are arranged on two sides of the electric bracket in pairs.
The second camera is arranged at the top end of the electric bracket.
The top end of the electric support is provided with an electric rotating frame, the electric rotating frame is electrically connected with the control module, and the second camera is arranged on the electric rotating frame.
The invention has the following positive effects:
according to the invention, the external structure information of the patrol field equipment is obtained through the laser radar transmitting end, the laser radar receiving end and the image processing unit, and the collected image signals are modeled through the vision-based SLAM algorithm, so that 3D images and 3D models are obtained, the current equipment state is conveniently and automatically recorded and filed, the patrol manual recording burden of operation and maintenance personnel is reduced, and the operation and maintenance patrol quality is improved. The monitoring platform can also form a 2D image through the second camera, and then monitors the patrol site.
Drawings
FIG. 1 is a schematic diagram of the present invention;
FIG. 2 is a schematic diagram of an image acquisition module of the present invention;
FIG. 3 is a front view of an image acquisition module of the present invention;
fig. 4 is a side view of an image acquisition module of the present invention.
In the drawings:
1. a laser radar transmitting end;
2. a laser radar receiving end;
3. an electric stand;
4. a second camera;
5. an electric rotating frame.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the application, its application, or uses.
All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise.
Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting.
Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present application, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the case of not making a reverse description, these directional terms do not indicate and imply that the device or element being referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the scope of the present application; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
For ease of description, spatially relative terms such as "over … …", "over … …", "over … …", "over", etc. may be used herein to describe the spatial positional relationship of one device or feature to another device or feature as shown in the figures.
It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …".
The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of protection of the present application is not to be construed as being limited.
Example 1
As shown in fig. 1-4, the present invention comprises a control module, an image acquisition module, a storage module, a driving module and a monitoring platform;
the image acquisition module is used for acquiring image signals and transmitting the image signals to the monitoring platform;
the monitoring platform monitors the inspection scene through an image acquisition module;
the control module is used for controlling the driving module and is electrically connected with the driving module;
the control module, the image acquisition module and the storage module are respectively and electrically connected with the monitoring platform;
the monitoring platform controls the driving module through the control module.
The image acquisition module comprises a laser radar transmitting end 1, a laser radar receiving end 2, an electric bracket 3, an image processing unit and a microcontroller;
the laser radar transmitting end 1, the laser radar receiving end 2 and the image processing unit are respectively connected with the microcontroller;
the electric bracket 3 is electrically connected with the driving module, and the laser radar transmitting end 1 and the laser radar receiving end 2 are both arranged on the electric bracket 3;
the microcontroller is connected with the monitoring platform through Bluetooth. The laser radar transmitting end 1 and the laser radar receiving end 2 can continuously obtain the external structure of the patrol field device through ranging.
The laser radar transmitting end 1 is a linear laser, the laser radar receiving end 2 is a first camera, the image processing unit is a DSP image processing module, and the microcontroller is a single chip microcomputer.
The image acquisition module models the acquired image signals through a vision-based SLAM algorithm and stores the image signals on the storage module, so that the current equipment state can be conveniently and automatically recorded and archived.
And the image acquisition module performs real-time demonstration on the monitoring platform after modeling.
The electric bracket 3 is provided with a second camera 4, and the second camera 4 is in signal connection with a monitoring platform and used for monitoring the inspection site.
The patrol video of the second camera 4 is stored in the storage module, so that the current equipment state can be conveniently and automatically recorded and archived.
Example 2
As shown in fig. 1 to 4, the present embodiment is based on embodiment 1, and the same as embodiment 1:
the device comprises a control module, an image acquisition module, a storage module, a driving module and a monitoring platform;
the image acquisition module is used for acquiring image signals and transmitting the image signals to the monitoring platform;
the monitoring platform monitors the inspection scene through an image acquisition module;
the control module is used for controlling the driving module and is electrically connected with the driving module;
the control module, the image acquisition module and the storage module are respectively and electrically connected with the monitoring platform;
the monitoring platform controls the driving module through the control module.
The image acquisition module comprises a laser radar transmitting end 1, a laser radar receiving end 2, an electric bracket 3, an image processing unit and a microcontroller;
the laser radar transmitting end 1, the laser radar receiving end 2 and the image processing unit are respectively connected with the microcontroller;
the electric bracket 3 is electrically connected with the driving module, and the laser radar transmitting end 1 and the laser radar receiving end 2 are both arranged on the electric bracket 3;
the microcontroller is connected with the monitoring platform through Bluetooth. The laser radar transmitting end 1 and the laser radar receiving end 2 can continuously obtain the external structure of the patrol field device through ranging.
The laser radar transmitting end 1 is a linear laser, the laser radar receiving end 2 is a first camera, the image processing unit is a DSP image processing module, and the microcontroller is a single chip microcomputer.
The image acquisition module models the acquired image signals through a vision-based SLAM algorithm and stores the image signals on the storage module, so that the current equipment state can be conveniently and automatically recorded and archived.
And the image acquisition module performs real-time demonstration on the monitoring platform after modeling.
The electric bracket 3 is provided with a second camera 4, and the second camera 4 is in signal connection with a monitoring platform and is used for monitoring the inspection site.
The patrol video of the second camera 4 is stored in the storage module, so that the current equipment state can be conveniently and automatically recorded and archived.
The difference from example 1 is:
the laser radar transmitting end 1 and the laser radar receiving end 2 are respectively two and are arranged on two sides of the electric bracket 3 in pairs. The modeling can be performed on the devices on the two sides of the electric bracket 3 to form a 3D image.
Example 3
As shown in fig. 1 to 4, the present embodiment is based on embodiment 2, and the same as embodiment 2 is:
this example is based on example 1, the same as example 1 being:
the device comprises a control module, an image acquisition module, a storage module, a driving module and a monitoring platform;
the image acquisition module is used for acquiring image signals and transmitting the image signals to the monitoring platform;
the monitoring platform monitors the inspection scene through an image acquisition module;
the control module is used for controlling the driving module and is electrically connected with the driving module;
the control module, the image acquisition module and the storage module are respectively and electrically connected with the monitoring platform;
the monitoring platform controls the driving module through the control module.
The image acquisition module comprises a laser radar transmitting end 1, a laser radar receiving end 2, an electric bracket 3, an image processing unit and a microcontroller;
the laser radar transmitting end 1, the laser radar receiving end 2 and the image processing unit are respectively connected with the microcontroller;
the electric bracket 3 is electrically connected with the driving module, and the laser radar transmitting end 1 and the laser radar receiving end 2 are both arranged on the electric bracket 3;
the microcontroller is connected with the monitoring platform through Bluetooth. The laser radar transmitting end 1 and the laser radar receiving end 2 can continuously obtain the external structure of the patrol field device through ranging.
The laser radar transmitting end 1 is a linear laser, the laser radar receiving end 2 is a first camera, the image processing unit is a DSP image processing module, and the microcontroller is a single chip microcomputer.
The image acquisition module models the acquired image signals through a vision-based SLAM algorithm and stores the image signals on the storage module, so that the current equipment state can be conveniently and automatically recorded and archived.
And the image acquisition module performs real-time demonstration on the monitoring platform after modeling.
The electric bracket 3 is provided with a second camera 4, and the second camera 4 is in signal connection with a monitoring platform and used for monitoring the inspection site.
The patrol video of the second camera 4 is stored in the storage module, so that the current equipment state can be conveniently and automatically recorded and archived.
The laser radar transmitting end 1 and the laser radar receiving end 2 are respectively two and are arranged on two sides of the electric bracket 3 in pairs. The modeling can be performed on the devices on the two sides of the electric bracket 3 to form a 3D image.
The difference from example 2 is:
the second camera 4 is arranged at the top end of the electric bracket 3.
Example 4
As shown in fig. 1 to 4, the present embodiment is based on embodiment 3, and the same as embodiment 3:
the device comprises a control module, an image acquisition module, a storage module, a driving module and a monitoring platform;
the image acquisition module is used for acquiring image signals and transmitting the image signals to the monitoring platform;
the monitoring platform monitors the inspection scene through an image acquisition module;
the control module is used for controlling the driving module and is electrically connected with the driving module;
the control module, the image acquisition module and the storage module are respectively and electrically connected with the monitoring platform;
the monitoring platform controls the driving module through the control module.
The image acquisition module comprises a laser radar transmitting end 1, a laser radar receiving end 2, an electric bracket 3, an image processing unit and a microcontroller;
the laser radar transmitting end 1, the laser radar receiving end 2 and the image processing unit are respectively connected with the microcontroller;
the electric bracket 3 is electrically connected with the driving module, and the laser radar transmitting end 1 and the laser radar receiving end 2 are both arranged on the electric bracket 3;
the microcontroller is connected with the monitoring platform through Bluetooth. The laser radar transmitting end 1 and the laser radar receiving end 2 can continuously obtain the external structure of the patrol field device through ranging.
The laser radar transmitting end 1 is a linear laser, the laser radar receiving end 2 is a first camera, the image processing unit is a DSP image processing module, and the microcontroller is a single chip microcomputer.
The image acquisition module models the acquired image signals through a vision-based SLAM algorithm and stores the image signals on the storage module, so that the current equipment state can be conveniently and automatically recorded and archived.
And the image acquisition module performs real-time demonstration on the monitoring platform after modeling.
The electric bracket 3 is provided with a second camera 4, and the second camera 4 is in signal connection with a monitoring platform and used for monitoring the inspection site.
The patrol video of the second camera 4 is stored in the storage module, so that the current equipment state can be conveniently and automatically recorded and archived.
The laser radar transmitting end 1 and the laser radar receiving end 2 are respectively two and are arranged on two sides of the electric bracket 3 in pairs. The modeling can be performed on the devices on the two sides of the electric bracket 3 to form a 3D image.
The second camera 4 is arranged at the top end of the electric bracket 3.
The difference from example 3 is:
the top of electric bracket 3 is provided with electric swivel mount 5, electric swivel mount 5 is connected with the control module electricity, second camera 4 sets up on electric swivel mount 5. The monitoring platform can form a 2D image through the second camera, and then monitors the patrol site.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a ROM, a RAM, etc.
At present, the technical scheme of the application has been subjected to pilot plant test, namely small-scale experiment before large-scale mass production of products; after the pilot plant test is finished, user use investigation is developed in a small range, and the investigation result shows that the user satisfaction is high; the preparation of products for formal production for industrialization (including intellectual property risk early warning research) has been set forth.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims (10)

1. The utility model provides a 3D formation of image tour record appearance which characterized in that: the monitoring system comprises a control module, an image acquisition module, a storage module, a driving module and a monitoring platform;
the image acquisition module is used for acquiring image signals and transmitting the image signals to the monitoring platform;
the monitoring platform monitors the inspection scene through an image acquisition module;
the control module is used for controlling the driving module and is electrically connected with the driving module;
the control module, the image acquisition module and the storage module are respectively and electrically connected with the monitoring platform;
the monitoring platform controls the driving module through the control module.
2. The 3D imaging patrol recorder according to claim 1, characterized in that: the image acquisition module includes laser radar transmitting terminal, laser radar receiving terminal, electric bracket, image processing unit and microcontroller, laser radar transmitting terminal, laser radar receiving terminal and image processing unit respectively with microcontroller connects, electric bracket is connected with the drive module electricity, laser radar transmitting terminal and laser radar receiving terminal all set up on the electric bracket, microcontroller with monitoring platform passes through the bluetooth and connects.
3. The 3D imaging patrol recorder according to claim 2, characterized in that: the laser radar transmitting end is a linear laser, the laser radar receiving end is a first camera, the image processing unit is a DSP image processing module, and the microcontroller is a single chip microcomputer.
4. The 3D imaging patrol recorder according to claim 3, characterized in that: the image acquisition module models the acquired image signals by a vision-based SLAM algorithm and stores them on a storage module.
5. The 3D imaging patrol recorder of claim 4, wherein: and the image acquisition module performs real-time demonstration on the monitoring platform after modeling.
6. The 3D imaging patrol recorder according to claim 5, wherein: the electric support is provided with a second camera which is in signal connection with the monitoring platform and used for monitoring the inspection site.
7. The 3D imaging patrol recorder according to claim 6, wherein: and the patrol video of the second camera is stored on the storage module.
8. The 3D imaging patrol recorder according to claim 7, wherein: the laser radar transmitting end and the laser radar receiving end are respectively two and are arranged on two sides of the electric bracket in pairs.
9. The 3D imaging patrol recorder according to claim 8, wherein: the second camera is arranged at the top end of the electric bracket.
10. The 3D imaging patrol recorder according to claim 9, wherein: the top end of the electric support is provided with an electric rotating frame, the electric rotating frame is electrically connected with the control module, and the second camera is arranged on the electric rotating frame.
CN202210819119.6A 2022-07-12 2022-07-12 3D formation of image tours record appearance Pending CN115171237A (en)

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Application publication date: 20221011