Reading device and method for fine pointer instrument of electric power inspection vehicle

Abstract

The invention discloses an electric power inspection vehicle fine pointer instrument reading device and method.The device comprises a UWB positioning system, the UWB positioning system comprises a positioning base station, a data radio station and a positioning slave station, the positioning base station is installed and fixed through a first supporting rod, the positioning slave station is installed and fixed through a second supporting rod, and a central processor is installed on an electric power inspection walking vehicle; the rotation adjusting mechanism comprises a horizontal rotating table installed on the central processor and a pitching platform arranged on the horizontal rotating table, the number of the positioning label assemblies is two, and the two positioning label assemblies are symmetrically installed on the side edge of the pitching platform. The measuring assembly is installed on the pitching platform and used for measuring the included angle between the electric power inspection vehicle and the datum line determined by the positioning base station and the positioning slave station so that the advancing direction of the electric power inspection vehicle can be adjusted, the image collecting assembly is installed on the pitching platform and used for collecting images of the thin pointer instrument, and the pointer position and reading of the thin pointer instrument can be accurately obtained.

Description

Technical Field

[0001] The present invention relates to the technical field of power inspection, and particularly to a reading device and method for a slender pointer instrument of a power inspection vehicle. Background Art

[0002] The outdoor instrument reading of power inspection vehicles is relatively mature, but it is difficult to control the imaging and pointer identification of slender pointer instruments at a relatively long distance. The navigation methods of power inspection vehicles mainly include rail type, visual navigation, and radar navigation. During the movement of the power inspection vehicle, it is relatively easy to obtain a rough positioning ability within a precision range of 100 mm, but it is difficult to obtain the running azimuth angle in a substation with dense obstacles. Therefore, the overlap and similarity of long-distance visual imaging are insufficient. For image processing, similarity search is relatively accurate and easy. Lidar navigation applies the similar features of radar scanning in three dimensions, but the data volume is relatively large, and the data volume of radar three-dimensional scanning is even larger. Therefore, making full use of the three-dimensional features of the reference object to perform secondary precise positioning on the reading instrument, especially the reading angle positioning, is very beneficial to the accurate reading of the instrument, especially the reading of slender pointer instruments. Summary of the Invention

[0003] The purpose of this part is to outline some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Simplifications or omissions may be made in this part, as well as in the abstract and title of the present application, to avoid obscuring the purpose of this part, the abstract, and the title, but such simplifications or omissions shall not be used to limit the scope of the present invention.

[0004] Therefore, the purpose of the present invention is to provide a reading device and method for a slender pointer instrument of a power inspection vehicle, which can accurately obtain the pointer position and reading of the slender pointer instrument through rough positioning combined with secondary precise positioning.

[0005] To solve the above technical problems, according to one aspect of the present invention, the following technical solutions are provided:

[0006] A reading device for a slender pointer instrument of a power inspection vehicle, comprising:

[0007] A UWB positioning system, including a positioning base station fixedly installed through a first support rod, a data radio station, and a positioning slave station fixedly installed through a second support rod;

[0008] A central processor, installed on the power inspection vehicle and communicating with the data radio station;

[0009] A rotation adjustment mechanism, including a horizontal rotating table installed on the central processor and a pitching platform arranged on the horizontal rotating table;

[0010] The positioning label components, there are two of them, and they are symmetrically installed on the sides of the pitching platform, used to measure the angle between the power inspection vehicle and the reference line determined by the positioning base station and the positioning slave station, so that the traveling direction of the power inspection vehicle can be adjusted;

[0011] The image acquisition component is installed on the pitching platform and is used to acquire images of the slender pointer instrument.

[0012] As a preferred solution of a slender pointer instrument reading device for a power inspection vehicle according to the present invention, wherein the data radio station exchanges data with the positioning base station through TTL.

[0013] As a preferred solution of a slender pointer instrument reading device for a power inspection vehicle according to the present invention, wherein the central processor includes a processor body and a receiving module. The processor body and the receiving module communicate through MODBUS RTU, and the receiving module communicates with the data radio station through the Zigbee protocol.

[0014] As a preferred solution of a slender pointer instrument reading device for a power inspection vehicle according to the present invention, wherein the pitching platform includes a base, a top seat, and a plurality of telescopic components located between the base and the top seat (320b). A plurality of first cross joints are provided at the top of the base, and a plurality of second cross joints are provided at the bottom of the top seat. The first cross joints are respectively hinged to one end of the telescopic components, and the second cross joints are respectively hinged to the other end of the telescopic components.

[0015] As a preferred solution of a slender pointer instrument reading device for a power inspection vehicle according to the present invention, wherein the positioning label component includes a support rod perpendicular to the base and a positioning label installed on the support rod.

[0016] As a preferred solution of a slender pointer instrument reading device for a power inspection vehicle according to the present invention, wherein the image acquisition component includes a camera and a fill light, and a laser locator is installed at the top of the fill light.

[0017] A method for reading the slender pointer instrument of a power inspection vehicle is as follows:

[0018] S1. Coarse positioning before instrument reading and power inspection vehicle coordinate control: The positioning base station and the positioning slave station are respectively defined as B0 and B1, and the two positioning label tags are defined as T0 and T1. By controlling the forward, backward, left, and right rotation of the power inspection vehicle during travel, adjust the distances of B0T0 and B1T0 to be consistent with the set distance. At this time, the positioning deviation is within 100 mm;

[0019] S2. Coarse positioning before instrument reading and angle control of the power inspection vehicle: When calibrating the moving azimuth, obtain four distance values of B0T0, B0T1, B1T0, and B1T1;

[0020] a1 = arccos((B0T1 2 + D2 2 - B0T0 2 ) / (2 * B0T1 * D2)) (1)

[0021] a2 = arccos((B0T1 2 + D1 2 - B1T1 2 ) / (2 * B0T1 * D1)) (2)

[0022] Adjust the rotating platform of the horizontal rotating adjustment mechanism so that a1 = a2;

[0023] According to the difference between the rotation angle at of the rotating adjustment mechanism and the initial angle a0 of the pan-tilt, adjust the angle of the power inspection vehicle until, when the rotating adjustment mechanism is at the initial angle, a1 = a2, or when the rotating adjustment mechanism is at the specified angle, a1 = a2, and at this time, the angle adjustment deviation is within 2 dec;

[0024] S3. Distance scanning of the instrument panel before instrument reading: Fine-tune the rotation angle of the horizontal rotating platform of the rotating adjustment mechanism to the a5 angle. When the distance measurement changes suddenly from large to small and enters the dial, obtain the laser distance D3 value. Rotate to the a6 angle. When the distance measurement changes suddenly from small to large and exits the dial, compare |D3 - D4|. Then move the vehicle forward and backward and repeat the laser scanning so that |D3 - D4| < 10 mm;

[0025] S4. Instrument panel imaging: Adjust the pitch angle of the rotating adjustment mechanism to the preset angle, turn on the fill light, and obtain a clear image of the instrument panel through the camera. Ensure that the imaging distance deviation ≤ 5 mm and the angle deviation ≤ 0.2°. After the visual center adjustment is completed, perform the instrument panel imaging;

[0026] S5. Adopt the standard correlation matching algorithm Search for the arrester leakage ammeter template with a matching degree R ≥ 0.8 in the target image;

[0027] S6. Scale finding: Taking the center of the dial as the origin, generate 90 rotating line segments with an interval of 4°. Calculate the gray-scale cumulative deviation of each line segment

[0028]

[0029] The one with the smallest cumulative deviation value is the pointer;

[0030] Among them, each line segment has N pixel points, and the gray value of each pixel point is Hij, where i = 1,..., 90 and j = 1,..., N.

[0031] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention makes full use of the 2mm precision of the front and rear adjustment deviation of the power inspection vehicle and the 0.2° adjustment radian precision of the pan-tilt, and adopts the 2mm precision error of laser ranging to realize the adjustment of the visual center of the car for the dashboard reading in the UWB rough positioning state, so that the actual imaging distance deviation of the dashboard is within 5mm. And through the template matching algorithm, the dial is accurately found and the center of the pointer is positioned. After the visual center of the car is adjusted, the fine pointer reading of the blurred imaging dial is accurately read through the characteristic point of the cumulative deviation of the pixel gray value of the pointer rotation. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail below with reference to the drawings and specific embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. Among them:

[0033] Figure 1 It is a schematic diagram of the overall structure of a slender pointer instrument reading device for a power inspection vehicle of the present invention;

[0034] Figure 2 It is a schematic diagram of the connection structure of the pitching platform and the positioning label assembly of a slender pointer instrument reading device for a power inspection vehicle of the present invention;

[0035] Figure 3 It is a schematic diagram of rough positioning before instrument reading and angle control of a power inspection vehicle provided by the present invention;

[0036] Figure 4 It is a schematic diagram of the angle adjustment of the horizontal rotating table of the fine-tuning rotation adjustment mechanism provided by the present invention

[0037] Figure 5 It is a template for retrieving the dial of a leakage ammeter provided by the present invention;

[0038] Figure 6 It is a schematic diagram of finding a leakage ammeter provided by the present invention;

[0039] Figure 7 It is a schematic diagram of finding scales provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0040] In order to make the above objects, features, and advantages of the present invention more obvious and understandable, the following detailed description of the specific embodiments of the present invention will be made with reference to the drawings.

[0041] The present invention provides a reading device and method for the slender pointer instrument of a power inspection vehicle, which can accurately obtain the pointer position and reading of the slender pointer instrument through rough positioning combined with secondary precise positioning.

[0042] Figure 1 - Figure 2 Shown is a schematic structural diagram of an embodiment of a reading device for the slender pointer instrument of a power inspection vehicle according to the present invention. Please refer to Figure 1 - Figure 2 For a reading device for the slender pointer instrument of a power inspection vehicle in this embodiment, its main part includes a UWB positioning system 100, a central processor 200, a rotation adjustment mechanism 300, a positioning tag assembly 400, and an image acquisition assembly 500.

[0043] As a rough navigation method, the UWB positioning system 100 can provide a rough positioning ability within an accuracy range of 100 mm for the power inspection vehicle. In this embodiment, the UWB positioning system 100 includes a positioning base station 110 fixedly installed through a first support rod, a data radio station 120, and a positioning slave station 130 fixedly installed through a second support rod. The positioning base station 110 and the positioning slave station 130 are respectively deployed on both sides of the traveling road of the power inspection vehicle. Their installation height is 2000 mm from the positioning tag, and the installation distance is 20000 mm. The data radio station 120 exchanges data with the positioning base station 110 through TTL and then transmits it to the receiving module 220 through the Zigbee protocol.

[0044] The central processor 200 is installed on the power inspection vehicle and communicates with the data radio station 120. The central processor 200 includes a processor body 210 and a receiving module 220. The processor body 210 and the receiving module 220 communicate through MODBUS RTU.

[0045] The rotation adjustment mechanism 300 includes a horizontal rotating platform 310 installed on the central processor 200 and a pitching platform 320 arranged on the horizontal rotating platform 310. In this embodiment, the pitching platform 320 includes a base 320a, a top seat 320b, and a plurality of telescopic components 320c located between the base 320a and the top seat 320b. A plurality of first cross joints 320a-1 are arranged at the top of the base 320a, and a plurality of second cross joints 320a-2 are arranged at the bottom of the top seat 320b. The first cross joints 320a-1 are respectively hinged to one end of the telescopic components 320c, and the second cross joints 320a-2 are respectively hinged to the other end of the telescopic components 320c.

[0046] The positioning tag component 400 has two and is symmetrically installed on the sides of the pitching platform 320 for measuring the angle between the power inspection vehicle and the reference line determined by the positioning base station 110 and the positioning slave station 130, so that the traveling direction of the power inspection vehicle can be adjusted. Specifically, the positioning tag component 400 includes a support rod 410 perpendicular to the base 320a and a positioning tag 420 installed on the support rod 410.

[0047] The image acquisition component 500 is installed on the pitching platform 320 for acquiring images of slender pointer instruments. Specifically, the image acquisition component 500 includes a camera 510 and a fill light 520, and a laser locator is installed on the top of the fill light 520.

[0048] Combined Figure 1 - Figure 7 , a reading device for slender pointer instruments of a power inspection vehicle in this embodiment is specifically used as follows:

[0049] S1. Coarse positioning before instrument reading and power inspection vehicle coordinate control: The positioning base station 110 and the positioning slave station 130 are respectively defined as B0 and B1, and the two positioning tags 420 are defined as T0 and T1. By controlling the forward, backward, left, and right rotation of the power inspection vehicle, the distances between B0T0 and B1T0 are adjusted to be consistent with the set distances, and at this time, the positioning deviation is within 100 mm.

[0050] S2. Coarse positioning before instrument reading and power inspection vehicle angle control: When calibrating the movement orientation, four distance values of B0T0, B0T1, B1T0, and B1T1 are obtained.

[0051] a1 = arccos(B 0T1 2 +D2 2 -B 0T0 2 ) / 2*B 0T1*D2 (1)

[0052] a2 = arccos(B 0T1 2 +D1 2 -B 1T1 2 ) / 2B 0T1*D1 (2)

[0053] Adjust the horizontal rotating platform 310 of the rotation adjustment mechanism 300 to make a1 = a2;

[0054] According to the difference between the rotation angle at of the rotation adjustment mechanism 300 and the initial angle a0 of the pan-tilt, adjust the angle of the power inspection vehicle until a1 = a2 when the rotation adjustment mechanism 300 is at the initial angle, or a1 = a2 when the rotation adjustment mechanism 300 is at the specified angle. At this time, the angle adjustment deviation is within 2 dec.

[0055] S3. Dashboard distance scanning before instrument reading: Fine-tune the rotation angle of the horizontal turntable 310 of the rotation adjustment mechanism 300 to the a5 angle. When the ranging suddenly changes from large to small and enters the dial, obtain the laser distance D3 value. Rotate to the a6 angle. When the ranging suddenly changes from small to large and exits the dial, compare |D3 - D4|. Then move the trolley back and forth and repeat the laser scanning until |D3 - D4| < 10 mm;

[0056] S4. Dashboard imaging: Adjust the pitch angle of the rotation adjustment mechanism 300 to the preset angle, turn on the fill light 520, and obtain a clear image of the dashboard through the camera 510. Ensure that the imaging distance deviation ≤ 5 mm and the angle deviation ≤ 0.2°. After the visual center adjustment is completed, perform dashboard imaging;

[0057] S5. Adopt the standard correlation matching algorithm Search for the arrester leakage ammeter template with a matching degree R ≥ 0.8 in the target image. The arrester leakage ammeter template is as Figure 5 shown, and the search for the leakage ammeter is as Figure 6 shown;

[0058] S6. Scale search: As Figure 7 shown, with the center of the dial as the origin, generate 90 rotating line segments with an interval of 4°. Calculate the gray-scale cumulative deviation of each line segment

[0059]

[0060] The one with the smallest cumulative deviation value is the pointer;

[0061] Among them, each line segment has N pixel points, and the gray-scale value of each pixel point is Hij, where i = 1,..., 90 and j = 1,..., N.

[0062] Although the present invention has been described above with reference to the embodiments, various improvements can be made to it and its components can be replaced with equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the various features in the embodiments disclosed in the present invention can be combined with each other in any way. The reason for not exhaustively describing the situations of these combinations in this specification is only to save space and resources. Therefore, the present invention is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

Claims

1. A slim pointer instrument reading device for an electric power inspection vehicle, characterized in that: include: A UWB positioning system (100) comprises a positioning base station (110) fixedly mounted on a first support pole, a data radio station (120), and a positioning slave station (130) fixedly mounted on a second support pole; A central processor (200) is installed on the power inspection vehicle and communicates interactively with the data radio station (120); A rotation adjustment mechanism (300) comprising a horizontal rotation platform (310) mounted on the central processor (200) and a pitch platform (320) arranged on the horizontal rotation platform (310); The positioning tag assembly (400) has two components and is symmetrically mounted on the sides of the pitch platform (320), and is used to measure the angle between the power inspection vehicle and the reference line determined by the positioning base station (110) and the positioning slave station (130), so as to adjust the travel direction of the power inspection vehicle; An image acquisition component (500) is installed on the pitch platform (320) and is used to acquire images of a slender pointer instrument.

2. According to claim 1, a slim pointer instrument reading device for an electric inspection vehicle is characterized in that: The data radio station (120) exchanges data with the positioning base station (110) via TTL.

3. The slim pointer instrument reading device for electric inspection vehicle according to claim 1 is characterized in that: The central processor (200) comprises a processor body (210) and a receiving module (220); the processor body (210) and the receiving module (220) communicate via MODBUS RTU, and the receiving module (220) communicates with a data radio station (120) via a Zigbee protocol.

4. The slim pointer instrument reading device for electric inspection vehicle according to claim 1 is characterized in that: The pitch platform (320) comprises a base (320a), a top seat (320b) and a plurality of telescopic components (320c) located between the base (320a) and the top seat (320b), wherein a plurality of first decanters (320a-1) are arranged on the top of the base (320a), and a plurality of twentieth decanters (320a-2) are arranged on the bottom of the top seat (320b), wherein the first decanters (320a-1) are hingedly connected to one end of the telescopic components (320c) in a one-to-one correspondence, and the second decanters (320a-2) are hingedly connected to the other end of the telescopic components (320c) in a one-to-one correspondence.

5. The slim pointer instrument reading device for electric inspection vehicle according to claim 4 is characterized in that: The positioning label assembly (400) comprises a support rod (410) vertically arranged with respect to the base (320a) and a positioning label (420) mounted on the support rod (410).

6. The slim pointer instrument reading device for electric inspection vehicle according to claim 1 is characterized in that: The image acquisition component (500) comprises a camera (510) and a fill light (520), and a laser locator is installed on the top of the fill light (520).

7. A reading method for a slim pointer instrument reading device for an electric inspection vehicle as claimed in any one of claims 1 to 6, characterized in that: Here are the steps: S1. Coarse positioning before meter reading and coordinate control of the power inspection vehicle: the positioning base station (110) and the positioning slave station (130) are defined as B0 and B1 respectively, and the two positioning tags (420) are defined as T0 and T1. Through the forward and backward rotation control of the power inspection vehicle, the distances of B0T0 and B1T0 are adjusted to be consistent with the set distance. At this time, the positioning deviation is within 100 mm; S2. Rough positioning before instrument reading and angle control of the power inspection vehicle: During motion azimuth calibration, obtain four distance values ​​of B0T0, B0T1, B1T0, and B1T1; a1=arccos(B 0T1 2 +D2 2 -B 0T0 2 ) / 2*B 0T1*D2 (1) a2=arccos(B 0T1 2 +D1 2 -B 1T1 2 ) / 2B 0T1*D1 (2) Adjusting the rotating platform of the horizontal rotating table (310) of the rotating adjusting mechanism (300) so that a1=a2; According to the difference between the rotation angle at of the adjustment rotation adjustment mechanism (300) and the initial angle a0 of the pan / tilt, the angle of the electric power inspection vehicle is adjusted until when the adjustment rotation adjustment mechanism (300) is at the initial angle, a1=a2, or when the adjustment rotation adjustment mechanism (300) is at the specified angle, a1=a2, and the angle adjustment deviation is within 2dec; S3, instrument panel distance scanning before instrument reading: fine-tune the rotation angle of the horizontal rotating table (310) of the rotating adjustment mechanism (300) to angle a5, measure the distance from large to small suddenly, enter the dial, obtain the laser distance D3 value, rotate to angle a6, measure the distance from small to large suddenly, exit the dial, compare |D3-D4|, then move the trolley back and forth, repeat the laser scanning, so that |D3-D4|<10mm; S4, instrument panel imaging: adjusting the pitch angle of the rotating adjustment mechanism (300) to a preset angle, starting the fill light (520), obtaining a clear image of the instrument panel through the camera (510), ensuring that the imaging distance deviation is ≤5mm and the angle deviation is ≤0.2°. After the visual center adjustment is completed, instrument panel imaging is performed; S5. Use standard correlation matching algorithm Search for a lightning arrester leakage current meter template with a matching degree R ≥ 0.8 in the target image; S6. Scale search: With the center of the dial as the origin, generate 90 rotating line segments with an interval of 4°, and calculate the grayscale cumulative deviation of each line segment. The pointer with the smallest cumulative deviation value is the pointer; Each line segment has N pixels, and the grayscale value of each pixel is Hij, where i=1,...,90 and j=1,...,N.

Images