Pointer-type instrument identification method based on patrol inspection robot

A technology of an inspection robot and an identification method, which is applied in the field of electric inspection robots, can solve the problems of unstable indications, different shooting angles of inspection robots, and large deviations, and achieves the effect of improving the accuracy of identification.

Inactive Publication Date: 2019-03-08
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most of the pointer instruments are outdoors, the lighting conditions are complex, and the shooting angles of the inspection robots are also different. When using traditional image processing methods for detection and identification, the detected readings are unstable, and the deviation from the actual readings is also large.

Method used

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  • Pointer-type instrument identification method based on patrol inspection robot
  • Pointer-type instrument identification method based on patrol inspection robot
  • Pointer-type instrument identification method based on patrol inspection robot

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Embodiment Construction

[0011] The solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0012] Such as figure 1 As shown, the pointer instrument recognition method based on the inspection robot includes the following steps:

[0013] Step 1. Classifier training: Use the instrument image dataset to train the Adaboost classifier, and select an image centered on the instrument as a template image for each inspection point. Since the instrument image dataset contains instrument images under different lighting and attitude conditions, the instrument can be accurately extracted no matter how the instrument detection environment changes.

[0014] Step 2. Instrument area positioning: Obtain the image of the instrument to be inspected at the specified inspection point, combine the Adaboost classifier and the template image for rough positioning and precise positioning, and filter out the dial area. The specific method is: ...

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Abstract

The invention discloses a pointer-type instrument identification method based on a patrol inspection robot, which comprises the steps of training an Adaboost classifier by utilizing instrument image data set and selecting an image centered by the instrument as a template image for each patrol inspection point; obtaining the pictures of the instruments to be detected at the designated patrol points, combining the Adaboost classifier and template images for rough positioning and accurate positioning, and screening out the dial area; according to the pointer color of the dial area, using different image preprocessing operations and pointer extraction operations to extract the pointer contour; according to the extracted pointer contour, calculating the direction of pointer rotation and the pointing reading by using the cosine theorem. The method of the invention utilizes machine learning, and can detect and identify the number of instrument representations under various illumination and robot attitude changes.

Description

technical field [0001] The invention relates to the field of electric inspection robots, in particular to a method for identifying pointer meters based on inspection robots. Background technique [0002] The power inspection robot needs to realize basic functions such as autonomous positioning and navigation in the substation, on-site instrument display number recognition, and automatic charging. Among them, detecting the instrument display number of on-site power equipment is the core function of the power inspection robot. Due to cost and historical reasons, most pointer meters do not have the remote transmission function of smart meters, and inspection robots can only be used to read the meter indications through computer vision. In order to accurately recognize the indication of the pointer gauge, it is necessary to accurately detect the position of the liquid level gauge in the visual image. Most of the pointer instruments are outdoors, the lighting conditions are comp...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/32G06K9/34G06K9/46G06K9/62
CPCG06V10/25G06V10/267G06V10/56G06V2201/02G06F18/2148G06F18/24
Inventor 郭健黄紫霄李胜吴益飞宋恺袁佳泉施佳伟朱禹璇危海明王艳琴
Owner NANJING UNIV OF SCI & TECH
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