CN102609712A - Reading method of round-like pointer instrument used for mobile robot - Google Patents
Reading method of round-like pointer instrument used for mobile robot Download PDFInfo
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- CN102609712A CN102609712A CN2012100434158A CN201210043415A CN102609712A CN 102609712 A CN102609712 A CN 102609712A CN 2012100434158 A CN2012100434158 A CN 2012100434158A CN 201210043415 A CN201210043415 A CN 201210043415A CN 102609712 A CN102609712 A CN 102609712A
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Abstract
The invention discloses a reading method of a round-like pointer instrument used for a mobile robot. A target instrument template is extracted manually, and the reading method comprises the following steps: A. carrying out graying and binaryzation on a target image collected by the mobile robot; B. firstly extracting a dial area of the image obtained in the step A, extracting a boundary image of an equipment by utilizing a Canny algorithm, taking a boundary point to fit an oval, filtering the obtained oval, and rejecting a non-oval image which is fitted into the oval so as to obtain the dial image; C. extracting a pointer in an area obtaining the dial image, so as to obtain the angle of the pointer; and D. extracting the relation of a pointer angle and a reading corresponding to the target instrument in a database, and calculating the reading corresponding to the angle obtained in the step C. The method provided by the invention has robustness in the positioning precision of the robot, can be used for accurately reading the instrument, is small in calculation amount, and is simple in constructing a prophase database.
Description
Technical field
The present invention relates to a kind of Computer Image Processing method, specifically be, relate to a kind of method of the pointer instrument automatic reading based on mobile robot's IMAQ; Similar round is by the circular and oval set of forming.
Background technology
In transformer station, instrument is in occupation of important effect, and is particularly important to the reading of all kinds of instrument, how to realize that the reading to all kinds of instrument concerns the accuracy of data acquisition, gathers the key factor that difficulty is little and cost is low.In present stage; The collection of all kinds of meter diagram pictures and identification rely on fixing camera collection mostly, the stationkeeping of dial plate zone in institute's images acquired in this acquisition mode; Identification easily; But a large amount of equipment that is used for fixing camera need to be installed, and this not only receives the bigger influence of capital consumption, and receive the substation equipment safe distance restriction.
And the substation inspection robot; Can address the above problem effectively, but compare, because robot motion's the stop precision and the influence of The Cloud Terrace rotation error with fixing camera; Make the position of instrument in the image that collects unfixing; Need further to improve, through to the extraction of dial plate addressing this problem effectively, thereby extended the application of image recognition technology on commercial production.
Image recognition technology has a very wide range of applications in commercial production especially operation power, in producing, and is its important use direction in electric system based on the meter reading of Flame Image Process.The communications equipment room of electric system and transformer station are provided with a lot of equipment instrument, as: conservator table, oil thermometer, SF6 switch tensimeter, voltage table, reometer etc.At present; Monitoring to these instrument utilizes long-range fixed video supervisory system to realize mostly; Instrument numerical value can be distinguished though do like this through gauge pointer being monitored in real time and the intercepting image scene is fetched realization through the manual read accurately, and install and the substation safety distance problem foregoing position; The manpower support that especially need add makes this scheme no longer advocated by current.
Utilize mobile robot and image processing techniques, instrument is independently taken, and definite pointer position; Automatically calculate total indicator reading; The state of real time record equipment, this has important practical sense to the production safety of guaranteeing electric power enterprise, also is the trend of unattended operation transformer station in future
Oval as an important shape facility, in actual life, exist in a large number, requirement can detect the elliptic contour in the image apace in a lot of fields.The perspective projection of voluminous object is ellipse in the actual life, and ellipse fitting is the condition precedent of follow-up object identification and measurement, and oval robust accurately is extracted in the meaning that particular importance is arranged in image recognition and the computer vision.
China CN1581209A application for a patent for invention has openly proposed a kind of based on circle/ellipse in the transformer station of contour of object/square instrument monitoring method; Its basic scheme is that overhead control end computer based is in having the circle/ellipse/rectangular search based on contour of object, the long-range table detection/read module of detection algorithm; Through the crusing robot in the WLAN control transformer station; According to the predefined route of patrolling and examining; In the search volume scope of setting,, obtain the instrument several picture with the visible image capturing head then, beam back the overhead control end through WLAN and carry out data processing to reach the purpose of remote monitoring through the locus of search subroutine locking instrument.This method still need accurately be controlled the accurate location of crusing robot, just depends on the location of crusing robot under the perfect condition, guaranteeing the accuracy of IMAQ, the searching of dial plate is not had robustness, and too high to systematically controlling cost.
As further improvement, Chinese CN101620682A application has openly proposed a kind of readings of pointer type meters method, and this method is set up the scale question blank of different instrument, forms database; The acquisition instrument image is imported the meter diagram picture and it is carried out pre-service, to extract effective identified region of instrument dial plate; From effective identified region of instrument dial plate, utilize pointer and scale mark stroke feature, extract the pointer and the scale mark of instrument; According to the pointer and the scale mark that extract, corresponding scale question blank in the scale mark that extracts and the scale lookup table database is mated, carry out reading and discern automatically.This scheme has bigger improvement with respect to aforesaid CN1581209A, but this method can only be adapted to fixedly control point, and the searching of dial plate is not had robustness, under complicated outdoor environment, can't realize the accurate location to instrument.Especially will set up loaded down with trivial details database, the previous work amount is very big.
Summary of the invention
Therefore, the object of the present invention is to provide a kind of mobile robot's of being used for similar round readings of pointer type meters method, the bearing accuracy of robot is had robustness, can realize the accurate reading to instrument, and calculated amount is little, early stage, database was set up simple.
In order to realize goal of the invention of the present invention, the technical scheme that is adopted is:
A kind of similar round readings of pointer type meters method that is used for the mobile robot of this invention, manual extraction target instrument template, the corresponding relation of target-marking meter dial and angle deposits database in, and then this number reading method may further comprise the steps:
A. the target image gray processing of gathering the mobile robot, binaryzation;
The dial plate zone of B. first extraction step image that A generates: utilize the Canny algorithm to extract the equipment boundary image; Get frontier point, and then fitted ellipse; Ellipse to obtaining filters, and weeds out to be fitted to oval non-oval image, obtains the dial plate image;
C. in obtaining the dial plate image-region, extract pointer, and then obtain the angle of pointer;
D. concern the corresponding registration of calculation procedure C gained angle between the pointer angle of extracting corresponding target instrument in the database and the registration.
The invention has the beneficial effects as follows that previous work just adds ATL through robot individual equipment drawing picture of collection; Corresponding meter diagram picture is by manual extraction; And look like to carry out manual identification and sign according to the meter diagram that obtains; And can be through being that benchmark is set the relevant readings parameter with it, the previous work amount is very little.Stop precision under the robot manipulating task condition is little to gauge pointer reading influence on the template ellipse; Only robot is very high not in place far away; To such an extent as to ellipticity is too little, the stop precision of robot can satisfy the application of this method in theory, and instrument is not fairly obvious in the morphological differences that robot obtains in the image; Template that previous work obtains can satisfy reading automatically of registration, and the precision that robot is stopped has robustness.
Than existing mobile robot's meter reading method, the reading accuracy of this programme has kept higher reading accuracy under the situation that calculated amount reduces.
The above-mentioned similar round readings of pointer type meters method that is used for the mobile robot is when getting frontier point, if the frontier point number that can be extracted is greater than threshold value
T c , then utilize least square fitting oval; Otherwise, reselect the border, can leach some like this and should do not reduced calculated amount by the figure of match.
The above-mentioned similar round readings of pointer type meters method that is used for the mobile robot, the method that the ellipse that obtains is filtered are at first to calculate the frontier point of extraction and the distance of institute's fitted ellipse, and set a threshold value
T d Frontier point less than this threshold value is a match point; The ratio of all match points and the frontier point that extracts is defined as qualified rates of fitting, and calculates the oval ellipticity of gained, thereby is being filtered oval ellipticity greater than the ellipticity threshold value of setting and qualified rates of fitting during greater than the qualified rates of fitting threshold value of setting; The record gained is oval, in view of the above can the most noise of filtering.
The above-mentioned similar round readings of pointer type meters method that is used for the mobile robot; In order to obtain more accurate dial plate image; The step B that carries out repeatedly obtains a plurality of dial plate images; A plurality of dial plate images to gained carry out the optimum oval step of selecting then, and are optimum oval as final dial plate image what obtain.
The above-mentioned similar round readings of pointer type meters method that is used for the mobile robot; The optimum oval step of selecting does; At first calculating the area of the corresponding fitted ellipse of all gained dial plate images, is desirable ellipse area with the ellipse area of the corresponding manual extraction of the target instrument template of correspondence, travels through the absolute value of the difference of all gained dial plate images and desirable ellipse area; Be defined as difference in areas, get the minimum fitted ellipse of difference in areas as optimum oval.
The above-mentioned similar round readings of pointer type meters method that is used for the mobile robot, said ellipticity threshold value is 0.85, the qualified rates of fitting threshold value is 0.8.
The above-mentioned similar round readings of pointer type meters method that is used for the mobile robot; Also comprise the testing procedure of parameter before mobile robot's operation to a certain target instrument template and number reading method; Through in the test ellipse, sneaking into other figures; Can checking divide to detect tests ellipse, and this can be used for some threshold value is debugged.
Description of drawings
Fig. 1 is the ellipse in the two dimensional surface.
Fig. 2 is according to a kind of similar round readings of pointer type meters method flow diagram that is used for the mobile robot of the present invention.
Embodiment
A kind of method that is used for the pointer instrument automatic reading on the mobile robot; At first should set up ATL; According to mobile robot's the object of patrolling and examining, set and patrol and examine route, and add ATL to individual equipment drawing picture of object pointer formula instrument to collect of patrolling and examining on the object.Manual extraction target instrument template, the corresponding relation of target-marking meter dial and angle deposits database in, further, can represent evenly and the instrument of non-homogeneous scale type, to mate the different pointer angles and the relation of reading.
Generating after the template just can be that instrument is carried out reading and operated to the pointer of correspondence, and the reading operation steps is following:
Step1: import image to be identified, promptly gather associated picture and send into corresponding recognition means, obtain the dial plate zone of image to be identified through ellipse fitting algorithm through the mobile robot;
Step2: his-and-hers watches disk area image realizes that through the image Preprocessing Algorithm pointer detects then;
Step3: the pointer angle is inquired about, obtain the registration of instrument.
The step of ellipse fitting algorithm is following among the said step1:
A1. oval method for expressing:
Referring to Figure of description 1, in the two dimensional surface coordinate system, ellipse can represent that generally a kind of general algebra form of elliptic curve equation is represented, suc as formula (1) with two kinds of forms
A kind of in addition more intuitive mode is to represent with the geometric parameter of plane coordinate system; Be elliptical center position
; Major semi-axis and minor semi-axis
; The corner of major axis
; α; Arbitrary ellipse in the β two dimensional surface can use these 5 parameters unique definite, and the geometric meaning of parameter is as shown in Figure 1.The parameter of two kinds of representations can be used formula (2)-Shi (5) conversion.
A2. least square fitting is oval
The elliptic equation of supposing general type is listed suc as formula (1), is the implicit equation of two multiplication of vectors with ellipse representation
（7）；
Wherein
is (A; B; C; D; E; F); It is coefficient vector;
; Because error;
is non-vanishing at point
;
thought point
arrives the algebraically distance of implicit equation
; According to the principle of least square, curve fit problem can through with the algebraically square distance with
Minimize and realize.By extremum principle, desire to make f (A, B, C, D, E) value must have for minimum
Can get a system of linear equations thus, use the algorithm (like the complete pivot Gaussian elimination) of finding the solution system of linear equations then, in conjunction with constraint condition, just can be in the hope of equation coefficient A, B, C, D, E, the value of F finally obtains elliptic equation.
A3. based on the ellipse fitting and the screening on border:
When carrying out ellipse fitting, only can obtain having the ellipse of least error through least square method, do not consider gained oval with original edge fitting degree, the ellipse that causes obtaining and actual has than large deviation, arithmetic result is often also unsatisfactory.In the case, estimating screening through the ellipse that match is obtained is necessary.This programme has proposed a kind of least square ellipse fitting algorithm based on the border.
Border of being adopted during match and the matching degree that obtains ellipse, we are called qualified rates of fitting, are the important indicators of weighing the gained fitted ellipse.At first traversal needs borderline all sample points of match, asks for each and puts the distance between the ellipse that match obtains, if less than certain threshold value
T d , claim that this sample point is match point (match_points), and count that traversal finishes with num_matchPt, ask for total number (num_edgePt) for the match point of this fitted ellipse, then qualified rates of fitting does
Describe an ellipse and it is highly important that parameter is its major semi-axis (a) and minor semi-axis (b), it is oval to screen the match gained through definition ellipticity (ellipseRatio) and elliptical area product moment.
The ellipticity definition:
The condition of ellipticity has been described match gained ellipse and has been trended towards round degree, through can confirm oval size to the restriction of major and minor axis.
The definition of difference in areas:
Wherein,
is desirable ellipse area,
be match gained ellipse area.The final ellipse of selecting the difference in areas minimum if do not specify oval size, then selects the big ellipse of area as optimum oval.
Threshold value
T d Can select according to test, under the situation of distinguishing undesired fitted ellipse and required fitted ellipse, those skilled in the art obtains in view of the above easily.
Desirable ellipse area shows in the template that the pointer instrument in the template is carried out manual extraction, and this accuracy is indubitable, is reference ellipsoid with this ellipse area that obtains, and promptly desirable oval, corresponding area is desirable ellipse area.
More specifically, concrete operations are following:
The target image that the mobile robot is gathered carries out gray processing, and binaryzation utilizes the Canny algorithm to extract boundary image;
Get the border to the boundary image that obtains then, the sample that obtains, promptly if the number of frontier point is greater than threshold value
T C , then utilize least square fitting oval; Otherwise, reselect the border, until obtaining required fitted ellipse;
Then just can be with calculating qualified rates of fitting and ellipticity according to the fitted ellipse that obtains.Calculate qualified rates of fitting and ellipticity according to formula (10) (11).
If satisfy ellipticity greater than the ellipticity threshold value, qualified rates of fitting writes down the oval E of gained greater than the qualified rates of fitting threshold value;
Calculate oval E and desirable elliptical area product moment again.Poor according to formula (12) reference area;
Fitted ellipse circulation execution in step 2 according to original acquisition) ~ and step 5), it is optimum oval selecting the minimum ellipse of difference in areas.
Above-mentioned concrete operations are shown in Figure of description 2.
Referring to Figure of description 2, it is a kind of scheme shown in Figure 2 that said method characterizes more accurately, and condition judgment shows among Fig. 2, possibly just can obtain needed optimum ellipse by an ellipse fitting, also possibly have many times and just can hit.Certainly, the possibility of once hitting is smaller, so; Therefore; The frontier point that has repeatedly extracts, and also has qualified rates of fitting checking repeatedly, in the flow process shown in Figure 2 more in theory; Step after the set of border shows as the execution number of times of the step of front from front to back, usually can be more than the execution number of times of later step.
Gauge pointer is depended in the pre-service of image among the said step Step2; Gauge pointer is different from like the wall clock pointer; Emphasical ornamental, have linear distinguishing feature, therefore; Extraction those skilled in the art by means of at present popular rectilinear figure element obtains pointer easily under the situation that obtains dial plate, main step is following:
B. straight line morphology algorithm is carried out in the dial plate zone through the target image of gray scale chemical combination binaryzation, realize the angle extraction of pointer after the refinement, the extraction of straight line key element is fairly simple, repeats no more at this.
The ellipse fitting experiment is to be platform with VS2005, at Pentium (R) 2.66GHz, realizes on the PC of 1G internal memory.Through more synthetic images, mainly be oval and other images of being sneaked into, through the ellipse fitting experiment, can simulate the reasonable ellipse of effect then, do not disturbed by other image, can access all ellipse figures.
Experiment showed, in addition that if do not filter robot is gathered in the transformer station possibly contain the image that other have garden or similar round border in the conservator chart picture, such as the conservator edge, also can simulate corresponding ellipse.Through to ellipticity, qualified rates of fitting, conditions such as oval size are carried out controlled filter, and the fitted ellipse zone after obtaining screening just in time is the image of the conservator table section extracted.
In composograph, it is less that ellipticity is selected, and can detect more flat ellipse, and qualified rates of fitting is bigger, all elliptical shapes in then can detected image.To robot take the meter diagram picture, the ellipticity threshold value is general selects 0.85, the qualified rates of fitting threshold value selects 0.8, has reasonable recognition capability.The method elapsed time satisfies the requirement of real-time between 10-25ms.
Though the above-mentioned accompanying drawing specific embodiments of the invention that combines is described; But be not restriction to protection domain of the present invention; One of ordinary skill in the art should be understood that; On the basis of technical scheme of the present invention, those skilled in the art need not pay various modifications that creative work can make or distortion still in protection scope of the present invention.
Claims (7)
1. a similar round readings of pointer type meters method that is used for the mobile robot is characterized in that, manual extraction target instrument template, and the corresponding relation of target-marking meter dial and angle deposits database in, and then this number reading method may further comprise the steps:
A. the target image gray processing of gathering the mobile robot, binaryzation;
The dial plate zone of B. first extraction step image that A generates: utilize the Canny algorithm to extract the equipment boundary image; Get frontier point, and then fitted ellipse; Ellipse to obtaining filters, and weeds out to be fitted to oval non-oval image, obtains the dial plate image;
C. in obtaining the dial plate image-region, extract pointer, and then obtain the angle of pointer;
D. concern the corresponding registration of calculation procedure C gained angle between the pointer angle of extracting corresponding target instrument in the database and the registration.
2. the similar round readings of pointer type meters method that is used for the mobile robot according to claim 1 is characterized in that, when getting frontier point, if the frontier point number that can be extracted is greater than threshold value
T C , then utilize least square fitting oval; Otherwise, reselect the border.
3. the similar round readings of pointer type meters method that is used for the mobile robot according to claim 2 is characterized in that, the method that the ellipse that obtains is filtered is at first to calculate the frontier point of extraction and the distance of institute's fitted ellipse, and set a threshold value
T d Frontier point less than this threshold value is a match point; All match points are defined as qualified rates of fitting with the ratio of the frontier point that extracts; And calculate the oval ellipticity of gained, thus being filtered oval ellipticity greater than the ellipticity threshold value of setting and qualified rates of fitting during greater than the qualified rates of fitting threshold value set, the record gained is oval.
4. the similar round readings of pointer type meters method that is used for the mobile robot according to claim 3; It is characterized in that; The step B that carries out repeatedly obtains a plurality of dial plate images; A plurality of dial plate images to gained carry out the optimum oval step of selecting then, and are optimum oval as final dial plate image what obtain.
5. the similar round readings of pointer type meters method that is used for the mobile robot according to claim 4; It is characterized in that the optimum oval step of selecting is at first to calculate the area of the corresponding fitted ellipse of all gained dial plate images; Ellipse area with the corresponding manual extraction of the target instrument template of correspondence is desirable ellipse area; Travel through the absolute value of the difference of all gained dial plate images and desirable ellipse area, be defined as difference in areas, get the minimum fitted ellipse of difference in areas as optimum oval.
6. according to the arbitrary described similar round readings of pointer type meters method that is used for the mobile robot of claim 3 to 5, it is characterized in that said ellipticity threshold value is 0.85, the qualified rates of fitting threshold value is 0.8.
7. according to the arbitrary described similar round readings of pointer type meters method that is used for the mobile robot of claim 1 to 6; It is characterized in that; Also comprise the testing procedure of parameter before mobile robot's operation to a certain target instrument template and number reading method; Through in the test ellipse, sneaking into other figures, can checking divide to detect tests ellipse.
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| CN103148881A (en) * | 2013-02-06 | 2013-06-12 | 广东电网公司电力科学研究院 | Method and device for automatically reading pointer instrument by video frequency |
| CN103810488A (en) * | 2012-11-09 | 2014-05-21 | 阿里巴巴集团控股有限公司 | Image feature extraction method, image searching method, server, terminal and system |
| CN106228161A (en) * | 2016-07-18 | 2016-12-14 | 电子科技大学 | A kind of pointer-type dial plate automatic reading method |
| CN106446903A (en) * | 2016-09-20 | 2017-02-22 | 山东省计量科学研究院 | Recognition method for position of wave-band switch of instrument |
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| CN103810488B (en) * | 2012-11-09 | 2017-08-08 | 阿里巴巴集团控股有限公司 | Image characteristic extracting method, image search method, server, terminal and system |
| CN103810488A (en) * | 2012-11-09 | 2014-05-21 | 阿里巴巴集团控股有限公司 | Image feature extraction method, image searching method, server, terminal and system |
| CN103148881B (en) * | 2013-02-06 | 2015-05-13 | 广东电网公司电力科学研究院 | Method and device for automatically reading pointer instrument by video frequency |
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| CN106228161A (en) * | 2016-07-18 | 2016-12-14 | 电子科技大学 | A kind of pointer-type dial plate automatic reading method |
| CN106228161B (en) * | 2016-07-18 | 2019-04-19 | 电子科技大学 | A kind of pointer-type dial plate automatic reading method |
| CN106446903A (en) * | 2016-09-20 | 2017-02-22 | 山东省计量科学研究院 | Recognition method for position of wave-band switch of instrument |
| CN106446903B (en) * | 2016-09-20 | 2019-04-23 | 山东省计量科学研究院 | A kind of instrument band switch location recognition method |
| CN106650697A (en) * | 2016-12-30 | 2017-05-10 | 亿嘉和科技股份有限公司 | Instrument scale recognition method |
| CN106650697B (en) * | 2016-12-30 | 2019-11-15 | 亿嘉和科技股份有限公司 | A kind of meter dial recognition methods |
| CN107388988A (en) * | 2017-07-27 | 2017-11-24 | 成都畅达通检测技术股份有限公司 | Tunnel oval-shaped degree determination method and system |
| CN109034170A (en) * | 2018-07-18 | 2018-12-18 | 东南大学 | A kind of round readings of pointer type meters method of switch cubicle detection device |
| CN109359604A (en) * | 2018-10-23 | 2019-02-19 | 大连航佳机器人科技有限公司 | Meter recognition method under shadow interference towards crusing robot |
| CN109359604B (en) * | 2018-10-23 | 2022-03-11 | 大连航佳机器人科技有限公司 | Method for identifying instrument under shadow interference facing inspection robot |
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| CN109910610A (en) * | 2019-02-18 | 2019-06-21 | 武汉格瑞恩电子仪表有限公司 | Combination instrument |
| CN109993154B (en) * | 2019-04-19 | 2020-02-07 | 山东大学 | Intelligent identification method for single-pointer sulfur hexafluoride instrument of transformer substation |
| CN109993154A (en) * | 2019-04-19 | 2019-07-09 | 山东大学 | The lithium sulfur type instrument intelligent identification Method of substation's simple pointer formula |
| CN110097062A (en) * | 2019-04-26 | 2019-08-06 | 亿嘉和科技股份有限公司 | A kind of pointer recognition methods using pointer central point |
| CN110084251A (en) * | 2019-04-29 | 2019-08-02 | 北京史河科技有限公司 | A kind of Meter recognition method, apparatus and storage medium |
| CN111598097A (en) * | 2020-05-08 | 2020-08-28 | 福建省海峡智汇科技有限公司 | Instrument position and reading identification method and system based on robot vision |
| CN111598097B (en) * | 2020-05-08 | 2023-03-24 | 福建省海峡智汇科技有限公司 | Instrument position and reading identification method and system based on robot vision |
| CN114332077A (en) * | 2022-03-02 | 2022-04-12 | 国网江西省电力有限公司电力科学研究院 | RANSAC-based light dial plate identification method |
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