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Instrument positioning method applicable to substation patrol inspection robot

An inspection robot and positioning method technology, applied in the field of image recognition, can solve problems such as inability to locate instruments, reducing system scalability, and failure of affine transformation.

Inactive Publication Date: 2017-07-14
HANGZHOU SHENHAO TECH
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  • Summary
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  • Application Information

AI Technical Summary

Problems solved by technology

However, using this positioning method, there are still two problems: on the one hand, this method has high requirements for feature points, and when the captured image has a large blurred image or there are few feature points in the image, it is prone to mismatching; when shooting When there are similar feature points in the background of the image, the affine transformation will fail and the meter cannot be located
This not only increases the manual operation but also greatly reduces the scalability of the system.

Method used

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  • Instrument positioning method applicable to substation patrol inspection robot
  • Instrument positioning method applicable to substation patrol inspection robot
  • Instrument positioning method applicable to substation patrol inspection robot

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Embodiment Construction

[0054] See attached picture. In this embodiment, an Adaboost classifier and an SVM classifier are used to form a two-stage instrument location system for instrument location. First, in order to train the Adaboost classifier, a large number of samples need to be collected, including positive sample images containing only the dashboard and negative sample images containing only the background. Then, in order to reduce the probability of instrument missed detection, a higher detection rate is set, and these samples are used to train an Adaboost classifier with a high detection rate; the training process includes feature selection, weak classifier training, strong classifier training. The image to be processed uses this classifier with a high detection rate to detect the instrument once, and can locate one or more instrument areas; use the SVM-based binary classifier as the classifier for the secondary detection, and perform secondary detection on the candidate area Detect and f...

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Abstract

The invention discloses an instrument positioning method applicable to a substation patrol inspection robot, which is characterized in that firstly preliminary positioning is performed on an image to be detected by using an Adaboost classifier, then secondary positioning is performed on a plurality of candidate regions acquired by positioning by using an SVM classifier, and a region which is judged to be an instruction in the two times of positioning is the regional location of the instrument in the image. According to the invention, regions similar to the instrument are positioned by using the Adaboost classifier, so that the detection rate of the instrument is greatly improved; deficiencies of the Adaboost classifier are made up by using the SVM classifier, color features and textural features are fused, and finally the candidate regions are accurately classified. The instrument positioning method not only improves the detection rate, but also increases the expandability of the system, and meets requirements of a substation for instrument positioning.

Description

technical field [0001] The invention belongs to the technical field of image recognition, in particular to an instrument positioning method suitable for substation inspection robots. Background technique [0002] The substation is the hub of the power system for power transmission, and there are a large number of secondary equipment such as instruments, switches, and oil level gauges inside. In order to ensure the safety of the power system, it is necessary to regularly inspect and record the equipment in the substation. At present, my country's substation inspection method is transitioning from traditional manual inspection on foot to automatic inspection. Substation inspection robot is an automatic inspection equipment specially serving substations. One of its main functions is to complete instrument inspections in substations. [0003] Meter inspection includes taking pictures, meter positioning, camera parameter adjustment, and meter reading recognition. Among them, t...

Claims

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Application Information

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IPC IPC(8): G06K9/62G06K9/46
CPCG06V10/443G06V10/56G06F18/2411
Inventor 李真陈如申黎勇跃
Owner HANGZHOU SHENHAO TECH
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