A method and device for accurate reading of a virtual instrument-based meter

Abstract

The application discloses a kind of instrument accurate reading method and device based on virtual instrument, and wherein method is as follows steps: S1, the image of instrument panel to be read is photographed;S2, pointer image is separated from the image of instrument panel obtained by photographing;S3, whether the corresponding virtual pointer information of the instrument panel has been pre-stored is judged, if yes, directly enter step S8, otherwise enter step S4;S4, obtain the virtual instrument image without pointer;S5, the position of the rotation center of pointer and the position of both ends of scale area are determined from the virtual instrument image, and a plurality of scale value positions are generated;S6, a plurality of virtual pointers are generated in the virtual instrument image;S7, the RGB histogram of each virtual pointer is obtained, and stored as the corresponding virtual pointer information of the instrument panel;S8, the RGB histogram of each pointer in the pointer image obtained in step S2 is obtained;S9, the virtual pointer with the greatest similarity is found, and the scale value corresponding to the virtual pointer is the reading result of the pointer.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of instrument reading, in particular to an instrument accurate reading method and device based on virtual instrument. BACKGROUND

[0002] Outdoor instrument panel field reading is an important function in the process of robot industrial inspection. The conventional outdoor instrument reading method usually adopts machine vision reading. However, when reading outdoors, the navigation error of the robot is relatively large, and the reading error is also large, so that the visual imaging of instrument reading needs to be processed through deformation, scaling, etc. After processing, it has better recognition ability. In addition to navigation error, outdoor light, instrument panel pollution and other interference factors will also cause the reading accuracy to have certain deviation, and even there is no reading situation.

[0003] The traditional technical thinking is to reduce the reading error rate by enhancing the image recognition ability, so the instrument panel visual processing technology such as deep learning and neural network is favored by researchers. However, deep learning and neural network need a large amount of original data as the basis, and also need certain edge computing power, and the algorithm complexity is high. SUMMARY

[0004] To solve the problems raised in the background art, the technical scheme adopted by the present application is as follows:

[0005] An instrument accurate reading method based on virtual instrument, comprising the following steps:

[0006] S1, photographing the image of the instrument panel to be read, and making the camera face the instrument panel, be at a preset height and be at a preset distance from the instrument panel during photographing;

[0007] S2, separating the pointer image from the photographed instrument panel image;

[0008] S3, judging whether the instrument panel has pre-stored corresponding virtual pointer information, if yes, directly entering step S8, otherwise entering step S4;

[0009] S4, obtaining a pointer-free instrument panel image, called a virtual instrument image, according to the photographed instrument panel image and the separated pointer image;

[0010] S5, determining the rotation center position of the pointer and the positions of the two ends of the scale region from the virtual instrument image, and combining the preset range and accuracy requirements of the instrument panel, generating a plurality of scale value positions by equally dividing the scale region in the instrument panel image by angle;

[0011] S6, a plurality of virtual pointers are generated in the virtual instrument image corresponding to a plurality of scale value positions, one end of each virtual pointer is the rotation center position of the pointer, and the other end respectively points to the corresponding scale value position;

[0012] S7, an RGB histogram of each virtual pointer is obtained, and the RGB histogram is stored as virtual pointer information corresponding to the instrument panel;

[0013] S8, an RGB histogram of each pointer in the pointer image obtained in step S2 is obtained;

[0014] S9, for the RGB histogram of any one pointer obtained in step S8, the RGB histogram is compared with the RGB histogram of each virtual pointer in the stored virtual pointer information respectively, and the virtual pointer with the maximum similarity is found. The scale value corresponding to the virtual pointer is the reading result of the pointer.

[0015] In some embodiments, in step S2, the pointer image is an image of a separated pointer region in the original instrument panel image;

[0016] In step S4, the virtual instrument image is an image obtained by filling the separated part through a pixel filling algorithm after separating the pointer region from the original instrument panel image.

[0017] In some embodiments, in step S1, a robot is used to shoot the instrument panel image to be read, and the robot includes a mobile platform, a positioning and shooting system, and a mechanical arm;

[0018] The mechanical arm is installed on the mobile platform;

[0019] The positioning and shooting system is installed at the end of the mechanical arm;

[0020] The positioning and shooting system includes a camera, a gyroscope, and a laser ranging sensor;

[0021] In step S1, before shooting, the motion of the mobile platform and the mechanical arm is controlled, the azimuth angle is obtained through the gyroscope, and the distance is measured through the laser ranging sensor, so that the camera is finally directed at the instrument panel, at a preset height and a preset distance from the instrument panel.

[0022] In some embodiments, the positioning and shooting system further includes a shell, a light shield, and a light supplement lamp; one side of the light shield is fixedly installed at the end of the mechanical arm, and the shell, the gyroscope, the camera, the laser ranging sensor, and the light supplement lamp are fixedly installed on the other side of the light shield; and the gyroscope, the camera, and the laser ranging sensor are located in the shell, and a plurality of openings are formed at the outer end of the shell; the light supplement lamp is located at the outer periphery of the shell.

[0023] In some embodiments, in step S1, the following steps are specifically included:

[0024] S11, first make the mobile platform move to a preset coordinate position, and adjust the angle of the positioning and shooting system to a preset value a0, so that the angle of the laser emitted by the laser ranging sensor is perpendicular to the disc surface of the instrument panel;

[0025] S12, adjust the position of the positioning and shooting system so that the laser spots on the instrument panel reach the left and right edge positions of the instrument panel respectively, and record the azimuth angles a1 and a2 when the laser spots reach the left and right edge positions of the instrument panel through the gyroscope;

[0026] S13, adjust the horizontal position of the positioning and shooting system so that the azimuth angle is (a1+a2) / 2, and then adjust the height of the positioning and shooting system so that the laser spot reaches the center of rotation of the instrument panel;

[0027] S14, according to the current parameters of the mechanical arm, the gyroscope and the ranging result, calculate the required running track of the mechanical arm, and run according to the track, so that the position of the laser spot remains unchanged during the running, the angle of the positioning and shooting system returns to the preset value a0, and the distance between the positioning and shooting system and the instrument panel also reaches the preset value.

[0028] Another aspect of the present application provides an instrument accurate reading device based on a virtual instrument, which comprises a robot, the robot comprising a mobile platform, a positioning and shooting system and a mechanical arm, and the instrument reading is realized according to the above-mentioned instrument accurate reading method based on a virtual instrument.

[0029] Compared with the prior art, the present application has the following beneficial effects:

[0030] The instrument accurate reading method and device based on a virtual instrument provided by the present application do not need to perform depth vision processing such as edge extraction on the visual image of the instrument panel, nor need to perform deformation and scaling processing on the visual image, but adopt a virtual instrument mode to perform image similarity judgment on the specified region of the instrument image after visual imaging, so as to realize fast and accurate reading of the instrument scale; the device reading is accurate, can prevent outdoor light interference, and has strong anti-interference ability to outdoor instrument surface stains; and can solve the reading failure problem caused by outdoor instrument surface stain pollution and light interference. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 The flowchart of the instrument accurate reading method based on a virtual instrument provided by the present application is shown in the figure;

[0032] Figure 2 The schematic diagram of the instrument accurate reading device based on a virtual instrument provided by the present application is shown in the figure.

[0033] Explanation of reference signs:

[0034] 1, mobile platform; 2, mechanical arm; 3, shell; 4, light shield; 5, light supplement lamp. DETAILED DESCRIPTION

[0035] In order to make the technical means, creative features, purposes and effects of the present application easy to understand, the following will further illustrate how the present application is implemented in combination with the drawings and specific embodiments.

[0036] Referring to Figure 1 The present application provides an instrument accurate reading method based on virtual instrument, comprising the following steps:

[0037] S1, shooting the instrument panel image to be read, making the camera directly face the instrument panel, at a preset height and a preset distance from the instrument panel;

[0038] S2, separating the pointer image from the instrument panel image obtained by shooting;

[0039] S3, judging whether the instrument panel has pre-stored corresponding virtual pointer information, if yes, directly entering step S8, otherwise entering step S4;

[0040] S4, obtaining the instrument panel image without pointer, called virtual instrument image, according to the instrument panel image obtained by shooting and the separated pointer image;

[0041] S5, determining the rotation center position of the pointer and the positions of both ends of the scale region in the virtual instrument image, and combining the preset range and accuracy requirements of the instrument panel, generating a plurality of scale value positions by equally dividing the scale region in the instrument panel image by angle;

[0042] S6, corresponding to the plurality of scale value positions, generating a plurality of virtual pointers in the virtual instrument image, one end of each virtual pointer is the rotation center position of the pointer, and the other end respectively points to the corresponding scale value position;

[0043] S7, obtaining the RGB histogram of each virtual pointer and storing it as the virtual pointer information corresponding to the instrument panel;

[0044] S8, obtaining the RGB histogram of each pointer in the pointer image obtained in step S2;

[0045] S9, for the RGB histogram of any one pointer obtained in step S8, comparing it with the RGB histogram of each virtual pointer in the stored virtual pointer information respectively, finding the virtual pointer with the largest similarity, and the scale value corresponding to the virtual pointer is the reading result of the pointer.

[0046] The application does not need to perform depth vision processing such as edge extraction on the dashboard visual image, does not need to perform deformation and scaling processing on the visual image, adopts a virtual instrument mode to perform image similarity judgment on the specified region of the instrument image after visual imaging, and realizes fast and accurate reading of the instrument scale; the device reading is accurate, outdoor light interference can be prevented, and the anti-interference ability to outdoor instrument surface stains is strong; the reading failure problem caused by outdoor instrument surface stain pollution and light interference can be solved.

[0047] Further, in step S2, the pointer image is an image of a separated pointer region in the original dashboard image; in step S4, the virtual instrument image is an image obtained by filling the separated part through a pixel filling algorithm after the pointer region is separated from the original dashboard image.

[0048] In specific operation, in step S2, the pointer image can be separated from the original dashboard image through manual calibration and smoothing; in step S4, the separated part is filled with adjacent pixels, and thus the virtual instrument image without the pointer can be obtained.

[0049] Further referring to Figure 2 As shown in the figure, in step S1, a robot is adopted to shoot the dashboard image to be read, and the robot comprises a moving platform 1, a positioning and shooting system, and a mechanical arm 2; the mechanical arm 2 is installed on the moving platform 1; the positioning and shooting system is installed at the end of the mechanical arm 2; the positioning and shooting system comprises a camera, a gyroscope, and a laser ranging sensor.

[0050] In step S1, before shooting, the movement of the moving platform 1 and the mechanical arm 2 is controlled, the azimuth angle is obtained through the gyroscope, and the distance is measured through the laser ranging sensor, so that the camera is finally directed at the dashboard, at a preset height and a preset distance from the dashboard.

[0051] Further, the positioning and shooting system further comprises a shell 3, a light shield plate 4, and a light supplement lamp 5; one side of the light shield plate 4 is fixedly installed at the end of the mechanical arm 2, and the shell 3, the gyroscope, the camera, the laser ranging sensor, and the light supplement lamp 5 are fixedly installed on the other side of the light shield plate 4; and the gyroscope, the camera, and the laser ranging sensor are located in the shell 3, and a plurality of openings are formed in the outer end of the shell 3; the light supplement lamp 5 is located at the outer periphery of the shell 3.

[0052] Further, in step S1, the following steps are specifically included:

[0053] S11, first move the moving platform 1 to a preset coordinate position, and adjust the angle of the positioning and shooting system to a preset value a0, so that the laser angle emitted by the laser ranging sensor is perpendicular to the disc surface of the dashboard;

[0054] S12, adjust the position of the positioning and shooting system, so that the laser spots on the instrument panel reach the left and right edge positions of the instrument panel respectively, and record the azimuth angles a1 and a2 when the laser spots reach the left and right edge positions of the instrument panel through the gyroscope;

[0055] S13, adjust the horizontal position of the positioning and shooting system, so that the azimuth angle is (a1+a2) / 2, and then adjust the height of the positioning and shooting system, so that the laser spot reaches the rotation center of the instrument panel;

[0056] S14, according to the parameters of the current mechanical arm 2 and the gyroscope and the ranging result, calculate the required running track of the mechanical arm 2, and run according to the track, so that the position of the laser spot remains unchanged during the running, the angle of the positioning and shooting system returns to the preset value a0, and the distance between the positioning and shooting system and the instrument panel also reaches the preset value.

[0057] It can be understood that before reading, the position coordinates and angle of the instrument panel can be determined first, so that the camera is directly calculated to the required reading position coordinates and angle of the positioning and shooting system when shooting, and then the robot is moved to the position. However, the navigation error of the robot is relatively large, resulting in large reading error.

[0058] To solve the problem, the mobile platform 1 is moved to the preset coordinate position and the angle of the positioning and shooting system is adjusted to the preset value a0 in step S11 through wireless navigation and azimuth instrument. Due to the existence of the gyroscope, the angle a0 can be considered accurate, and the angle of the laser ranging sensor emitted under the angle is perpendicular to the panel surface. However, due to the positioning error, the position of the mobile platform 1 is not accurate enough, and the positioning and shooting system may not be at the required reading position. Therefore, subsequent steps S12-S14 are used to perform secondary accurate positioning on the positioning and shooting system, so that the camera is finally perpendicular to the instrument panel, at the preset height and at the preset distance from the instrument panel during shooting; the preset height is the height when the laser spot is just at the rotation center of the instrument panel, and the preset distance can be 50 cm.

[0059] Through the above steps, the reading position of the positioning and shooting system is corrected, accurate positioning is realized, the position during each shooting is ensured to be the same, and subsequent reading is more accurate.

[0060] Another aspect of the present application provides an instrument accurate reading device based on virtual instrument, which comprises a robot, the robot comprising a mobile platform 1, a positioning and shooting system and a mechanical arm 2, and the instrument reading is realized according to the above-mentioned instrument accurate reading method based on virtual instrument.

[0061] In addition, it can be understood that a controller can be installed on the mobile platform 1 to control the movement of the wheels, the mechanical arm 2 and other structures of the robot; a wireless module can also be combined to realize remote control of the robot by the user. The control principle belongs to the conventional technical means in the art, and will not be described here. The mechanical arm 2 can be a six-degree-of-freedom mechanical arm to control the free movement of the positioning and shooting system in a large range. The light shield 4 can be a square plate as shown, and the material can be aluminum alloy. The shell 3 is used to protect the internal gyroscope, camera, laser ranging sensor and other structures. The fill light 5 can be a ring-shaped lamp tube installed on the outer periphery of the shell 3.

[0062] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present application and not to limit it. Although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced equivalently without departing from the purpose and scope of the technical solutions of the present application, and they should be covered in the scope of the claims of the present application.

Claims

1. A method for accurate reading of a meter based on virtual meter, the method comprising the steps of: The method comprises the following steps: S1, shooting the dashboard image to be read, making the camera face the dashboard, be at a preset height and be at a preset distance from the dashboard when shooting; S2, separating the pointer image from the dashboard image obtained by shooting; S3, judging whether the dashboard has pre-stored corresponding virtual pointer information, if yes, directly entering step S8, otherwise entering step S4; S4, obtaining a dashboard image without a pointer from the dashboard image obtained by shooting and the separated pointer image, referred to as a virtual dashboard image; S5, determining the rotation center position of the pointer and the positions of both ends of the scale region in the virtual dashboard image, and generating a plurality of scale value positions by equally dividing the scale region in the dashboard image according to the angle, the range and the accuracy requirement of the preset dashboard; S6, generating a plurality of virtual pointers in the virtual dashboard image corresponding to the plurality of scale value positions, one end of each virtual pointer being the rotation center position of the pointer, and the other end pointing to the corresponding scale value position; S7, obtaining the RGB histogram of each virtual pointer and storing it as the virtual pointer information corresponding to the dashboard; S8, obtaining the RGB histogram of each pointer in the pointer image obtained in step S2; S9, for the RGB histogram of any one pointer obtained in step S8, comparing the RGB histogram with the RGB histogram of each virtual pointer in the stored virtual pointer information respectively, finding the virtual pointer with the maximum similarity, and the scale value corresponding to the virtual pointer being the reading result of the pointer.

2. The virtual instrument based instrument precision reading method as claimed in claim 1, wherein, In step S2, the pointer image is the image of the separated pointer region in the original dashboard image; In step S4, the virtual dashboard image is the image obtained by filling the separated part through a pixel filling algorithm after separating the pointer region from the original dashboard image.

3. The virtual instrument based instrument precision reading method as claimed in claim 1, wherein, In step S1, a robot is used to shoot the dashboard image to be read, the robot comprising a moving platform (1), a positioning and shooting system and a mechanical arm (2); The mechanical arm (2) is installed on the moving platform (1); The positioning and shooting system is installed at the end of the mechanical arm (2); The positioning and shooting system comprises a camera, a gyroscope and a laser ranging sensor; In step S1, before shooting, the motion of the moving platform (1) and the mechanical arm (2) is controlled, the azimuth angle is obtained through the gyroscope, and the distance is measured through the laser ranging sensor, so that the camera faces the dashboard, is at a preset height and is at a preset distance from the dashboard when shooting.

4. The virtual instrument based instrument precision reading method as claimed in claim 3, wherein, The positioning and shooting system further comprises a shell (3), a light shield plate (4) and a fill light (5); one side of the light shield plate (4) is fixedly installed at the end of the mechanical arm (2), the shell (3), the gyroscope, the camera, the laser ranging sensor and the fill light (5) are all fixedly installed on the other side of the light shield plate (4); and the gyroscope, the camera and the laser ranging sensor are all located in the shell (3), a plurality of openings are formed in the outer end of the shell (3); the fill light (5) is located at the outer periphery of the shell (3).

5. The virtual instrument based instrument precision reading method as claimed in claim 3, wherein, In step S1, the method specifically comprises the following steps: S11, first make the mobile platform (1) move to the preset coordinate position, and adjust the angle of the positioning and shooting system to the preset value α0, so that the angle of the laser emitted by the laser ranging sensor is perpendicular to the surface of the instrument panel; S12, adjust the position of the positioning and shooting system, so that the laser spots on the instrument panel reach the left and right edge positions of the instrument panel respectively, and record the azimuth angles α1 and α2 when the laser spots reach the left and right edge positions of the instrument panel through the gyroscope; S13, adjust the horizontal position of the positioning and shooting system so that the azimuth angle is (α1+α2) / 2, and then adjust the height of the positioning and shooting system so that the laser spot reaches the center of rotation of the instrument panel; S14, according to the current parameters of the mechanical arm (2) and the gyroscope and the ranging result, calculate the required running track of the mechanical arm (2), and run according to the track, so that the position of the laser spot remains unchanged during the running, the angle of the positioning and shooting system is adjusted back to the preset value α0, and the distance between the positioning and shooting system and the instrument panel also reaches the preset value.

6. A virtual instrument based instrument precision reading device, comprising: The method comprises a robot, the robot comprises a mobile platform (1), a positioning and shooting system and a mechanical arm (2), and the instrument reading is realized according to the instrument reading method based on the virtual instrument according to any one of claims 3-5.

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