Method for removing shadows and halos under weak light through indoor polling robot

A technology of inspection robots and robots, applied in the fields of instruments, image data processing, computing, etc.

Active Publication Date: 2016-07-06
STATE GRID INTELLIGENCE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the above problems, the present invention proposes a method for removing shadows and halos under low light conditions for indoor inspection robots. Use image enhancement algorithm to reduce or remove the influence of halo and shadow on image processing under low brightness

Method used

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  • Method for removing shadows and halos under weak light through indoor polling robot
  • Method for removing shadows and halos under weak light through indoor polling robot
  • Method for removing shadows and halos under weak light through indoor polling robot

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Embodiment Construction

[0033] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0034] Due to the closedness of the indoor environment of the substation, the illumination of light and light is not sufficient in many cases. In addition, considering the influence between different devices, the indoor robot needs to identify or deal with low-light and shadowed sites during the inspection process. photo.

[0035] Such as figure 1 As shown in the figure, the common pressure plate switch for indoor equipment identification is shown. It can be seen that under low light, both the naked eye and the computer vision processing will encounter difficulties. Manual processing of such a situation will take more energy, while computer processing commonly used In order to do binary processing after it is grayscaled, such as figure 2 As shown, using OSTU to segment the image to obtain the result of binarization, it can be seen that due to the low...

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Abstract

The invention discloses a method for removing shadows and halos under weak light through an indoor polling robot. The method comprises the following steps: carrying out multiscale Retinex strengthening on a picture collected by the robot; carrying out limited times of iteration on pixel points of the strengthened image through mean shift filtration; eliminating the noise points; smoothing the image; removing the low-light shadow areas by utilizing an illumination normalizing method; and carrying out image segmentation through an OTSU threshold segmentation method so as to obtain a binary result. According to the method, the shadows of equipment in weak light environment can be effectively removed, the influences of the halos can be eliminated, and the effective information required by the later-period mode recognition can be kept.

Description

technical field [0001] The invention relates to a method for removing shadows and halos of an indoor inspection robot under weak light. Background technique [0002] In the power system, due to the continuity of power generation and transmission and distribution stages, there are extremely high requirements for the reliable operation of each equipment unit in the entire system, so the reliability inspection of power equipment is very important. As the most important part of power transmission and distribution, the substation's indoor equipment is the core of the entire substation, including various monitoring screens, power cabinets and background equipment. The original manual detection and processing method requires the on-duty personnel to enter the room periodically to carry out equipment-by-equipment inspections. Inspect and record. Due to the long-term and repetitive nature of the work, the personnel on duty often miss or misjudge due to fatigue when inspecting equipme...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T5/00G06T5/40G06T7/00
CPCG06T5/002G06T5/40
Inventor 房桦周昊李健付崇光张斌韩磊王志敏于晓斌
Owner STATE GRID INTELLIGENCE TECH CO LTD
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