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Simultaneous recognition method of multi-instrument with variable viewing angle for inspection robot

The technology of an inspection robot and an identification method is applied in the field of automatic interpretation of meter readings, which can solve problems such as missed reading and ellipse feature identification, and achieve the effects of reducing human resources, improving work efficiency, and meeting accuracy requirements.

Active Publication Date: 2021-09-24
大连航佳机器人科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method has certain limitations. The ellipse feature of the dial in the image under the condition of not facing the dial directly cannot be recognized by the Hough circle detection, and it is very likely to miss readings.

Method used

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  • Simultaneous recognition method of multi-instrument with variable viewing angle for inspection robot
  • Simultaneous recognition method of multi-instrument with variable viewing angle for inspection robot
  • Simultaneous recognition method of multi-instrument with variable viewing angle for inspection robot

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Embodiment Construction

[0046] The multi-instrument simultaneous recognition method with variable viewing angle for the inspection robot of the present invention, such as figure 1 As shown, follow the steps below:

[0047] Step 1: Get the multi-meter image:

[0048] The inspection robot is equipped with an arm-mounted vision system. After moving to the designated position, the vision system is used to collect image data and obtain multi-instrument images.

[0049] The image used in the embodiment of the present invention is as image 3 Shown is the image obtained by stitching together the instruments from two different viewing angles.

[0050] Step 2: Directly preprocess a single image:

[0051] Use the formula (1) to transform the color image into a grayscale image for processing:

[0052] f(x,y)=0.3R(x,y)+0.59G(x,y)+0.11B(x,y) (1)

[0053] In formula (1), f(x, y) is the pixel value at (x, y) of the image after grayscale transformation, R(x, y) is the pixel value at (x, y) of the red component ...

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Abstract

The invention discloses a multi-meter simultaneous recognition method with variable viewing angles for inspection robots. The steps are as follows: acquiring multi-meter images or video data; directly preprocessing each frame of video data or a single image; preprocessing the preprocessed image The data is edge detected; the edge is tracked and encoded by the improved Freeman coding method; the obtained chain code is calculated, and the dial edge of each instrument is screened out; the dial edge and the chain code information are used to locate the dial and make Orthogonalization processing; perform circle contrast stretching on all obtained dial images; use fast probabilistic Hough transform in the orthonormalized dial image to realize pointer recognition; perform edge extraction again in the orthonormalized dial image to filter out the interference of the lower sector Then use the radius reduction method to calculate and analyze the reference scale; finally use the identified pointer and reference scale to calculate the deflection angle and combine the range to get the final reading.

Description

technical field [0001] The invention belongs to the field of automatic interpretation of instrument readings, and relates to a method for identifying instrument readings under the condition of variable viewing angles, in particular to a simultaneous recognition method for multiple instruments with variable viewing angles for inspection robots. Background technique [0002] Meters are divided into pointer meters and digital meters according to their display methods. Among them, pointer meters are one of the more traditional measuring instruments in the industrial field and are still widely used in industrial production. And due to the advantages of dustproof, waterproof and anti-interference of pointer meters, pointer meters are still the first choice in many domestic industries, especially in some places where flammable and explosive substances are strictly prohibited in electric power, chemical, petroleum and other industries. [0003] For enterprises, the identification of...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/00G06K9/46G06K9/62
CPCG06V20/40G06V10/44G06F18/22
Inventor 闫飞饶源庄严何国建
Owner 大连航佳机器人科技有限公司