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Variable angle multi-meter simultaneous identification method for patrol robot

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

Active Publication Date: 2019-01-29
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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  • Variable angle multi-meter simultaneous identification method for patrol robot
  • Variable angle multi-meter simultaneous identification method for patrol robot
  • Variable angle multi-meter simultaneous identification method for patrol robot

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Experimental program
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Embodiment Construction

[0048] 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:

[0049] Step 1: Get the multi-meter image:

[0050] 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.

[0051] 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.

[0052] Step 2: Directly preprocess a single image:

[0053] Use the formula (1) to transform the color image into a grayscale image for processing:

[0054] (1)

[0055] In formula (1), is the pixel value of the image (x, y) after the grayscale transformation, is the pixel value at the red component image (x, y), is the pixel value at the green componen...

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Abstract

The invention discloses a variable angle multi-meter simultaneous identification method for patrol robot, which comprises the following steps: obtaining multi-meter image or video data; each frame ora single image of the video data is directly preprocessed; edge detection is performed on the preprocessed image data. An improved Freeman coding method is used to trace the edges. Calculate the chaincode and select the edge of dial of each instrument. Using the selected edge and chain code information of the dial, the dial is positioned and processed by emmetrization. All the obtained dial images are respectively stretched in a circle contrast ratio; Fast Probabilistic Hough Transform for Pointer Recognition in Embodied Dial Image; in the emmetropic dial image, the edge is extracted again, and the radius reduction method is used to calculate and analyze the benchmark scale after the interference of lower sector is filtered out. Finally, the deflection angle is calculated by using the identified pointer and reference scale, and the final reading is obtained by combining the range.

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 Applications(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
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