Inspection robot instrument recognition method based on specular reflection removal

Abstract

The invention relates to an inspection robot instrument recognition method based on mirror reflection removal. The method comprises the following steps: (1) acquiring an instrument image to be identified; (2) detecting the area of a specular reflection region in the instrument image to be identified, identifying the reading in the image if the area is smaller than a threshold value, otherwise, executing the step (3); (3) controlling the inspection robot to move and continuously shooting a target instrument image; (4) mirror reflection area detection is carried out on the target instrument image after the inspection robot stops moving, if the mirror reflection area is smaller than a threshold value, readings in the image are recognized, and if not, the step (5) is executed; (5) processing the target instrument image in the moving process of the inspection robot to remove specular reflection light spots; and (6) taking the image of which the speckle reflected by the mirror surface is removed as a new instrument image to be identified, and returning to the step (1). Compared with the prior art, mirror reflection can be effectively removed, and the inspection robot can read instrumentdata in a severe illumination environment.

Description

technical field [0001] The invention relates to an instrument identification method, in particular to an inspection robot instrument identification method based on specular reflection removal. Background technique [0002] With the development of industry and the acceleration of urbanization, electricity plays a vital role in human society. The substation is an important part of the power system, and its smooth operation is very important. But because it is located in an outdoor environment, in addition to the natural loss of the power equipment itself, it also has to endure the impact of bad weather such as rain and snow. These will accelerate the aging of power equipment, so we need regular inspections of substations to ensure safety. At present, due to the anti-interference and stability of pointer instruments, most of the instruments in my country's substations are pointer instruments. These instruments cannot directly output digital signals. At present, most of them u...

AI Technical Summary

Problems solved by technology

In the actual application of the substation inspection robot, the image acquisition environment is very complex, there are uneven lighting, obstructions, rain cover and other harsh conditions, the obtained pointer instrument dial image will still have the interference of the surrounding environment, so the quality of the image It will bring a lot of interference to the later image preprocessing and instrument reading, which will lead to inaccurate readings and other problems

In particular, the strong specular reflection will cover part of the pointer, which will greatly affect the accuracy of recognition

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