CN104777836B - Outdoor electric energy meter meter reading method - Google Patents
Outdoor electric energy meter meter reading method Download PDFInfo
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- CN104777836B CN104777836B CN201510152733.1A CN201510152733A CN104777836B CN 104777836 B CN104777836 B CN 104777836B CN 201510152733 A CN201510152733 A CN 201510152733A CN 104777836 B CN104777836 B CN 104777836B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- G06V10/751—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The present invention relates to a kind of outdoor electric energy meter meter reading method, it carries out outdoor electric energy meter meter reading using the traveling of robot, automatic shooting, image procossing and automatic meter reading function, wherein the robot includes the Big Dipper omniselector, mobile hard disk, CMOS vision sensors, Recognition of Reading device and master controller.Methods described also performs the step of going haze to process using sharpening processor to electric energy meter image.By the present invention, even if under haze weather, it is also possible to control robot to be accurate to up to target meter reading position, and realize the high accuracy meter reading to various outdoor electric energy meters.
Description
Technical field
The present invention relates to electric energy meter monitoring field, more particularly to a kind of outdoor electric energy meter meter reading method.
Background technology
Being widely used for electric energy meter, is the important referential data of power supply department charge and allotment electric power resource, each use
What electric unit or individual were required for installing an electric energy meter of oneself monitoring oneself uses power consumption.
Meter reading positioned at the electric energy meter of the use electric unit with high-tension line is always a problem, due to these electric energy meters
Near high-tension line, it is impossible to arrange personnel using manual patrol, the meter reading pattern of hand-kept, and the usual position of these electric energy meters
In outdoor, if carrying out remote meter reading using electronics meter reading pattern, it is necessary to have some image processing equipments, mist can be overcome
Influence of the haze weather to meter reading image, otherwise, the meter reading data precision for obtaining is very low.
The meter reading scheme of the electric energy meter of high voltage electric unit of the prior art uses the artificial meter reading mould after power-off
Formula, this mode disturbs the normal work for using electric unit, or using the remote electronic pattern based on image procossing, this
The mode of kind depends on the readability of electric energy meter image, and under serious haze weather, electric energy meter image is not clear enough, correspondingly,
The electric energy meter reading accuracy of reading is poor, influences the regular fee work of power supply department.
Accordingly, it would be desirable to a kind of new method that meter reading is carried out to outdoor electric energy meter, being capable of alternative cost artificial meter reading high
Mode, and transform existing remote electronics meter reading mode so that the meter reading operation to the outdoor electric energy meter of high voltage electric unit
Highly efficient and real-time, the meter reading data of acquisition are not affected by the weather.
The content of the invention
In order to solve the above problems, the invention provides a kind of outdoor electric energy meter meter reading method, it is using robot
Traveling, automatic shooting, image procossing and automatic meter reading function carry out outdoor electric energy meter meter reading, wherein the robot includes north
Bucket star omniselector, mobile hard disk, CMOS vision sensors, Recognition of Reading device and master controller, wherein the Big Dipper omniselector
There is provided for receiving the Big Dipper aeronautical satellite, the current Big Dipper sing data of the robot；The mobile hard disk is used for advance
All kinds of electric energy meter templates are stored, and for prestoring maximum scale, minimum scale and the pointer of each class electric energy meter template
Model；The CMOS vision sensors are used to shoot electric energy meter image；The Recognition of Reading device and the CMOS vision sensors
Connection performs image procossing with to the electric energy meter image；The master controller is connected to control with the Big Dipper omniselector
The advanced positions of robot are stated, is also connected respectively with the mobile hard disk and the Recognition of Reading device, for controlling the machine
The automatic meter reading of people.
Preferably, described image treatment includes carrying out the electric energy meter image haze treatment to obtain haze electric energy
The step of table image.
More specifically, the robot also includes：
Power supply, including solar powered device, battery, switching switch and electric pressure converter, the switching switch
It is connected respectively with the solar powered device and the battery, according to battery dump energy decides whether to be switched to
Solar powered device is powered with by the solar powered device, and the electric pressure converter is connected with the switching switch, with
To be 3.3V voltages by switching the 5V voltage conversions of switch input；
Speech recognition device, for the voice of site administrator to be converted into electric signal, and based on electric signal generation
Phonetic control command；Wireless communication interface, the power supply management platform wireless connection with distal end, is referred to wireless receiving remote control
Order, the remote control commands include the Big Dipper control instruction；
Robot driving mechanism, is connected with the master controller, described under the control of the master controller, driving
The behavior act of robot, the behavior act includes advancing, retreat, turn to and crossing over；
Sharpening processor, it is described for receiving between the CMOS vision sensors and the Recognition of Reading device
Electric energy meter image, haze treatment is carried out to the electric energy meter image to obtain haze electric energy meter image, and haze is removed by described
Electric energy meter image is input into the Recognition of Reading device to replace the electric energy meter image by image procossing.
More specifically, the sharpening processor also includes：
Sub- equipment is stored, for prestoring sky upper limit gray threshold and sky lower limit gray threshold, on the sky
Limit gray threshold and the sky lower limit gray threshold are used to isolate sky areas in image, are additionally operable to prestore default
Pixel value threshold value, the presetted pixel value threshold value value is between 0 to 255；
The sub- equipment of haze Concentration Testing, in air, for the haze concentration of real-time detection electric energy meter position, and
Determine that haze removes intensity according to haze concentration, the haze removes intensity value between 0 to 1；
The sub- equipment of region division, connects the CMOS vision sensors to receive the electric energy meter image, to the electric energy
Table image carries out gray processing treatment to obtain gray processing electric energy meter image, is also connected with the sub- equipment of storage, by gray processing electricity
Pixel of the gray value between the sky upper limit gray threshold and the sky lower limit gray threshold is recognized simultaneously in energy table image
Composition gray processing sky sub-pattern, the gray processing sky sub-pattern is gone out to obtain ash from the gray processing electric energy meter image segmentation
The non-sky subgraph of degreeization, based on the non-sky subgraph of the gray processing position in the electric energy meter image obtain with it is described
The corresponding colored non-sky subgraph of the non-sky subgraph of gray processing；
Black channel obtains sub- equipment, is connected to obtain the colored non-day null subgraph with the sub- equipment of the region division
Picture, for each pixel in the colored non-sky subgraph, calculates its R, the Color Channel pixel value of G, B tri-, in the coloured silk
The R of all pixels in the non-sky subgraph of color, extracts the minimum Color Channel picture of a numerical value in the Color Channel pixel value of G, B tri-
Color Channel where element value is used as black channel；
Overall air light value obtains sub- equipment, is connected to obtain the presetted pixel value threshold value with sub- equipment is stored, also with
The sub- equipment of region division and the black channel obtain sub- equipment and connect to obtain the electric energy meter image and described respectively
Black channel, black channel pixel value in the electric energy meter image is constituted more than or equal to multiple pixels of presetted pixel value threshold value
Set of pixels to be tested, using the gray value of the pixel with maximum gradation value in the set of pixels to be tested as overall atmosphere light
Value；
Atmospheric scattering light value obtains sub- equipment, with the sub- equipment of the region division and the sub- equipment of haze Concentration Testing point
Do not connect, to each pixel of the electric energy meter image, extract its R, minimum value is used as mesh in the Color Channel pixel value of G, B tri-
Mark pixel value, using keeping, the Gaussian filter EPGF (edge-preserving gaussian filter) at edge is right
The target pixel value is filtered treatment to obtain filtered target pixel value, and target pixel value is subtracted into filtered target pixel value
To obtain object pixel difference, treatment is filtered to object pixel difference using EPGF and obtains filtered target pixel value difference,
Filtered target pixel value is subtracted into filtered target pixel value difference to obtain haze removal a reference value, haze removal intensity is multiplied by mist
Haze removes a reference value to obtain haze removal threshold value, takes the minimum value in haze removal threshold value and target pixel value as comparing ginseng
Value is examined, atmospheric scattering light value of the maximum in comparison reference and 0 as each pixel is taken；
Medium transfer rate obtains sub- equipment, obtains sub- equipment with the overall air light value and the atmospheric scattering light value is obtained
Take sub- equipment to connect respectively, the atmospheric scattering light value of each pixel is subtracted with obtaining except value divided by overall air light value by 1
It is described except value is obtaining the medium transfer rate of each pixel；
Sharpening image obtains sub- equipment, and sub- equipment is obtained with the sub- equipment of the region division, the overall air light value
Sub- equipment is obtained with the medium transfer rate to connect respectively, the medium transfer rate of each pixel is subtracted to obtain the first difference by 1
Value, is multiplied by overall air light value to obtain product value, by each pixel in the electric energy meter image by first difference
Pixel value subtracts the product value to obtain the second difference, by second difference divided by each pixel medium transfer rate with
The sharpening pixel value of each pixel is obtained, the pixel value of each pixel includes the electric energy meter in the electric energy meter image
The R of each pixel in image, G, B tri- Color Channel pixel value, correspondingly, the sharpening pixel value of each pixel of acquisition
The Color Channel sharpening pixel value of R including each pixel, G, B tri-, the sharpening pixel value composition of all pixels removes haze
Electric energy meter image.
More specifically, the mobile hard disk is additionally operable to store electric energy meter upper limit gray threshold and electric energy meter lower limit gray scale threshold
Value, the electric energy meter upper limit gray threshold and the electric energy meter lower limit gray threshold are used for the electric energy meter dial plate in image and the back of the body
Scape is separated.
More specifically, the Recognition of Reading device also includes median filter unit, pretreatment unit, object-recognition unit, mould
Plate matching unit and pointer position determining unit, the median filter unit are connected with the sharpening processing equipment, for right
It is described to go haze electric energy meter image filtering to export filtering image；The pretreatment unit is connected with the median filter unit,
For carrying out gray processing treatment to the filtering image with output gray level image；The object-recognition unit and the pretreatment
Unit and the mobile hard disk are connected respectively, by gray value in the gray level image in the electric energy meter upper limit gray threshold and
Pixel between the electric energy meter lower limit gray threshold is recognized and constitutes electric energy meter plate image；The template matches unit with
The object-recognition unit and the mobile hard disk are connected respectively, based on the electric energy meter plate image in the mobile hard disk
The target electric energy meter template of match query in all kinds of electric energy meter templates of storage, provides the maximum quarter of the target electric energy meter template
Degree, minimum scale and pointer model；The pointer position determining unit and the object-recognition unit and the template matches list
Unit connect respectively, based in electric energy meter plate image described in the electric energy meter plate image recognition with the pointer model
The gauge pointer matched somebody with somebody, the pointer angle of the gauge pointer that recognizes of calculating and horizontal direction, calculate respectively the maximum scale and
The maximum scale angle and minimum scale angle of the minimum scale and horizontal direction, according to pointer angle in maximum scale angle
And the numerical value position between minimum scale angle, it is determined that outdoor electric energy meter reading.
More specifically, the master controller and institute speech recognizer, the wireless communication interface, described robotically-driven
Mechanism, the Big Dipper omniselector, the mobile hard disk and the Recognition of Reading device are connected respectively, are referred to according to the Voice command
Order or the remote control commands control the robot driving mechanism, the master controller to receive the Recognition of Reading device and send
Outdoor electric energy meter reading, and the outdoor electric energy meter reading is forwarded to the power supply management by the wireless communication interface
Platform, the data storage of mobile hard disk described in the main controller controls, the remote control commands are used for machine described in coarse adjustment
People advances to target meter reading position, and the phonetic control command advances to target meter reading position for robot described in fine tuning；Its
In, the Big Dipper control instruction in the remote control commands that power supply management platform described in the master controller wireless receiving sends,
The Big Dipper control instruction includes target Big Dipper sing data, and robot driving mechanism described in the main controller controls is advanced to
The position of target Big Dipper sing data described in current the Big Dipper Data Matching that the Big Dipper omniselector sends.
More specifically, the master controller receive the power supply management platform of wireless communication interface forwarding into
When work(receives the return instruction of outdoor electric energy meter reading, control the relay indicating light of the robot predetermined by preset frequency flicker
Number of times, to point out site administrator.
More specifically, institute's speech recognizer includes sound sensor unit and voice recognition chip, the sound sensor list
Unit is used to for site administrator's voice to be converted to electric signal, and the voice recognition chip connects the sound sensor unit, uses
In based on electric signal generation phonetic control command.
More specifically, LD3320 chip of the voice recognition chip using ICRoute companies.
More specifically, the median filter unit, the pretreatment unit, the object-recognition unit, the template
Different fpga chips are respectively adopted with unit and the pointer position determining unit to realize.
The method for carrying out meter reading to outdoor electric energy meter using robot of the invention, introduces distal end remote control commands and near
The robot traveling control model that end phonetic control command is combined, the remote control commands for first passing through Remote feeding management platform are thick
Adjust the robot to advance to target meter reading position, then fine tuning institute is used for by the phonetic control command of near-end site administrator
State robot and advance to target meter reading position, improve the automaticity of meter reading, at the same prestore all kinds of electric energy meter templates with
And the maximum scale of each class electric energy meter template, minimum scale and pointer model, to improve the accuracy of meter reading, finally, clearly
The introducing for changing processor overcomes adverse effect of the haze weather to meter reading data.
Brief description of the drawings
Embodiment of the present invention is described below with reference to accompanying drawing, wherein：
Fig. 1 is the block diagram of the robot one embodiment for implementing outdoor electric energy meter meter reading method of the invention.
Fig. 2 is the structure square frame of another embodiment of the robot for implementing outdoor electric energy meter meter reading method of the invention
Figure.
Specific embodiment
The embodiment for implementing the robot of outdoor electric energy meter meter reading method of the invention is carried out below with reference to accompanying drawings
Describe in detail.
With the development of robot technology and artificial intelligence technology, replace manually being set using outdoor movable robot
Standby operation has been possibly realized.
Robot belongs to electric power specialized robot research category, and he collects electromechanical integration, Multi-sensor Fusion, navigates and determine
Position, path planning, machine vision, Based Intelligent Control, and be wirelessly transferred, the technology such as electromagnetic compatibility is in one.
Robot carries the sensors such as visible camera, thermal infrared imager, sound pick-up, ultrasonic wave, using magnetic tracks
Navigation, can carry out autonomous or remote control inspection to outdoor high-tension apparatus by optimum path planning.By machine vision, infrared measurement of temperature,
The methods such as sound detection, robot can collect the information such as infrared chart, image and the audio of equipment, and automatic identification equipment
Position, meter reading, oil level indicator position of thermal defect, abnormal appearance, switch or disconnecting link etc., generate the alarm item of unified standard
With patrol and examine report, send warning information to operations staff, and for equipment state overhauling provides basic data.
Robot system also can access the fixed video monitoring point in electricity consumption place, and the observation that covering robot cannot be reached is dead
Angle, realize the whole audience video surveillance.In unattended, few man on duty electricity consumption place or intelligent power place, especially plateau,
Under the geographical conditions such as cold or severe weather conditions, robot can replace or the monitoring of indirect labor's completion electricity consumption Premises Equipment is made
Industry.After monitor task is completed, robot is returned to accumulator plant's automatic charging.
Outdoor electric energy meter meter reading method of the invention, the difficult people's part work and part study of meter reading is replaced using robot electronics meter reading mode
Table mode, by way of being combined using the distal end coarse adjustment of robot meter reading position and near-end fine tuning, can accurately control robot
Target meter reading position is reached, while using more intelligent automatic meter reading mode, and haze pair is determined according to atmospheric attenuation model
The influence factor of image with realize it is high-precision remove haze image procossing, ensured various outdoor electric energy meters in high voltage electric place
The correct reading of reading.
Fig. 1 is the block diagram of the one embodiment for the robot for implementing outdoor electric energy meter meter reading method of the invention,
The robot includes the Big Dipper omniselector 1, mobile hard disk 2, CMOS vision sensors 3, Recognition of Reading device 4 and master controller 5,
The mobile hard disk 2 is used to prestore all kinds of electric energy meter templates, and for prestoring each class electric energy meter template most
High range, minimum scale and pointer model, the CMOS vision sensors 3 are used to shoot electric energy meter image, the Recognition of Reading
Device 4 is connected with the CMOS vision sensors 3 and performs image procossing, the master controller 5 and institute with to the electric energy meter image
State the Big Dipper omniselector 1 to connect to control the advanced positions of the robot, also with the mobile hard disk 2 and the Recognition of Reading
Device 4 is connected respectively, the automatic meter reading for controlling the robot.
Fig. 2 is the structure square frame of another embodiment of the robot for implementing outdoor electric energy meter meter reading method of the invention
Figure, it can be seen that from unlike Fig. 1, sharpening processor 6 is increased in the embodiment, positioned at the He of CMOS vision sensors 3
Between Recognition of Reading device 4.
Then, continue to be further detailed the concrete structure of the robot of Fig. 2.
The robot also includes：Power supply, including solar powered device, battery, switching switch and voltage turn
Parallel operation, the switching switch is connected respectively with the solar powered device and the battery, according to battery dump energy
Decide whether that be switched to the solar powered device powers with by the solar powered device, the electric pressure converter and institute
Switching switch connection is stated, that will be 3.3V voltages by switching the 5V voltage conversions of switch input.
The robot also includes：Speech recognition device, for the voice of site administrator to be converted into electric signal, and base
Phonetic control command is generated in the electric signal.
The robot also includes：Wireless communication interface, the power supply management platform wireless connection with distal end, with wireless receiving
Remote control commands, the remote control commands include the Big Dipper control instruction.
The robot also includes：Robot driving mechanism, is connected with the master controller 5, in the main control
Under the control of device 5, the behavior act of the robot, the behavior act is driven to include advancing, retreat, turn to and crossing over.
The robot also includes：Sharpening processor 6, positioned at the CMOS vision sensors 3 and the Recognition of Reading
Between device 4, for receiving the electric energy meter image, haze treatment is carried out to the electric energy meter image to obtain haze electric energy
Table image, goes haze electric energy meter image to be input into the Recognition of Reading device 4 to replace the electric energy meter image by image by described
Reason.
The sharpening processor 6 also includes with lower component：
Sub- equipment is stored, for prestoring sky upper limit gray threshold and sky lower limit gray threshold, on the sky
Limit gray threshold and the sky lower limit gray threshold are used to isolate sky areas in image, are additionally operable to prestore default
Pixel value threshold value, the presetted pixel value threshold value value is between 0 to 255；
The sub- equipment of haze Concentration Testing, in air, for the haze concentration of real-time detection electric energy meter position, and
Determine that haze removes intensity according to haze concentration, the haze removes intensity value between 0 to 1；
The sub- equipment of region division, connects the CMOS vision sensors 3 to receive the electric energy meter image, to the electric energy
Table image carries out gray processing treatment to obtain gray processing electric energy meter image, is also connected with the sub- equipment of storage, by gray processing electricity
Pixel of the gray value between the sky upper limit gray threshold and the sky lower limit gray threshold is recognized simultaneously in energy table image
Composition gray processing sky sub-pattern, the gray processing sky sub-pattern is gone out to obtain ash from the gray processing electric energy meter image segmentation
The non-sky subgraph of degreeization, based on the non-sky subgraph of the gray processing position in the electric energy meter image obtain with it is described
The corresponding colored non-sky subgraph of the non-sky subgraph of gray processing；
Black channel obtains sub- equipment, is connected to obtain the colored non-day null subgraph with the sub- equipment of the region division
Picture, for each pixel in the colored non-sky subgraph, calculates its R, the Color Channel pixel value of G, B tri-, in the coloured silk
The R of all pixels in the non-sky subgraph of color, extracts the minimum Color Channel picture of a numerical value in the Color Channel pixel value of G, B tri-
Color Channel where element value is used as black channel；
Overall air light value obtains sub- equipment, is connected to obtain the presetted pixel value threshold value with sub- equipment is stored, also with
The sub- equipment of region division and the black channel obtain sub- equipment and connect to obtain the electric energy meter image and described respectively
Black channel, black channel pixel value in the electric energy meter image is constituted more than or equal to multiple pixels of presetted pixel value threshold value
Set of pixels to be tested, using the gray value of the pixel with maximum gradation value in the set of pixels to be tested as overall atmosphere light
Value；
Atmospheric scattering light value obtains sub- equipment, with the sub- equipment of the region division and the sub- equipment of haze Concentration Testing point
Do not connect, to each pixel of the electric energy meter image, extract its R, minimum value is used as mesh in the Color Channel pixel value of G, B tri-
Mark pixel value, using keeping, the Gaussian filter EPGF (edge-preserving gaussian filter) at edge is right
The target pixel value is filtered treatment to obtain filtered target pixel value, and target pixel value is subtracted into filtered target pixel value
To obtain object pixel difference, treatment is filtered to object pixel difference using EPGF and obtains filtered target pixel value difference,
Filtered target pixel value is subtracted into filtered target pixel value difference to obtain haze removal a reference value, haze removal intensity is multiplied by mist
Haze removes a reference value to obtain haze removal threshold value, takes the minimum value in haze removal threshold value and target pixel value as comparing ginseng
Value is examined, atmospheric scattering light value of the maximum in comparison reference and 0 as each pixel is taken；
Medium transfer rate obtains sub- equipment, obtains sub- equipment with the overall air light value and the atmospheric scattering light value is obtained
Take sub- equipment to connect respectively, the atmospheric scattering light value of each pixel is subtracted with obtaining except value divided by overall air light value by 1
It is described except value is obtaining the medium transfer rate of each pixel；
Sharpening image obtains sub- equipment, and sub- equipment is obtained with the sub- equipment of the region division, the overall air light value
Sub- equipment is obtained with the medium transfer rate to connect respectively, the medium transfer rate of each pixel is subtracted to obtain the first difference by 1
Value, is multiplied by overall air light value to obtain product value, by each pixel in the electric energy meter image by first difference
Pixel value subtracts the product value to obtain the second difference, by second difference divided by each pixel medium transfer rate with
The sharpening pixel value of each pixel is obtained, the pixel value of each pixel includes the electric energy meter in the electric energy meter image
The R of each pixel in image, G, B tri- Color Channel pixel value, correspondingly, the sharpening pixel value of each pixel of acquisition
The Color Channel sharpening pixel value of R including each pixel, G, B tri-, the sharpening pixel value composition of all pixels removes haze
Electric energy meter image.
The Big Dipper omniselector 1 is provided for receiving the Big Dipper aeronautical satellite, current the Big Dipper of the robot
Data.
The mobile hard disk 2 is additionally operable to store electric energy meter upper limit gray threshold and electric energy meter lower limit gray threshold, the electricity
Energy table upper limit gray threshold and the electric energy meter lower limit gray threshold are used for the electric energy meter dial plate and background separation in image.
The Recognition of Reading device 4 also includes median filter unit, pretreatment unit, object-recognition unit, template matches list
Unit and pointer position determining unit；
The median filter unit is connected with the sharpening processing equipment 6, for removing haze electric energy meter image to described
Filter to export filtering image；
The pretreatment unit is connected with the median filter unit, for carrying out gray processing treatment to the filtering image
With output gray level image；
The object-recognition unit is connected respectively with the pretreatment unit and the mobile hard disk, by the gray processing figure
Pixel identification and group of the gray value between the electric energy meter upper limit gray threshold and the electric energy meter lower limit gray threshold as in
Into electric energy meter plate image；
The template matches unit is connected respectively with the object-recognition unit and the mobile hard disk, based on the electric energy
The target electric energy meter template of table dial plate subgraph match query in all kinds of electric energy meter templates that the mobile hard disk is stored, is given
The maximum scale of the target electric energy meter template, minimum scale and pointer model；
The pointer position determining unit is connected respectively with the object-recognition unit and the template matches unit, is based on
With the gauge pointer of the pointer Model Matching in electric energy meter plate image described in the electric energy meter plate image recognition, meter
The gauge pointer for recognizing and the pointer angle of horizontal direction, calculate the maximum scale and the minimum scale and water respectively
Square to maximum scale angle and minimum scale angle, according to pointer angle maximum scale angle and minimum scale angle it
Between numerical value position, it is determined that outdoor electric energy meter reading.
The master controller 5 and institute's speech recognizer, the wireless communication interface, the robot driving mechanism, institute
The Big Dipper omniselector 1, the mobile hard disk 2 and the Recognition of Reading device 4 is stated to connect respectively, according to the phonetic control command or
The remote control commands control the robot driving mechanism.
The master controller 5 receives the outdoor electric energy meter reading that the Recognition of Reading device 4 sends, and by the outdoor electric energy
Meter reading is forwarded to the power supply management platform by the wireless communication interface, and the master controller 5 controls the movement hard
The data storage of disk 2, the remote control commands advance to target meter reading position, the voice control for robot described in coarse adjustment
System instruction advances to target meter reading position for robot described in fine tuning.
Wherein, the Big Dipper in the remote control commands that power supply management platform described in the wireless receiving of the master controller 5 sends
Star control instruction, the Big Dipper control instruction includes target Big Dipper sing data, and the master controller 5 controls the robot to drive
Motivation structure advances to the position of target Big Dipper sing data described in current the Big Dipper Data Matching that the Big Dipper omniselector 1 sends
Put.
Wherein, the master controller 5 is receiving the power supply management platform success of the wireless communication interface forwarding
When receiving the return instruction of outdoor electric energy meter reading, the relay indicating light of the robot is controlled by predetermined time of preset frequency flicker
Number, to point out site administrator；Alternatively, institute's speech recognizer includes sound sensor unit and voice recognition chip, institute
Sound sensor unit is stated for site administrator's voice to be converted into electric signal, the voice recognition chip connects the sound
Sensing unit, for generating phonetic control command based on the electric signal, the voice recognition chip can use ICRoute companies
LD3320 chips, and the median filter unit, the pretreatment unit, the object-recognition unit, the template
Different fpga chips can be respectively adopted with unit and the pointer position determining unit to realize.
In addition, haze image image can be realized by a series of images processing equipment remove haze, it is clear to obtain
The image of change, improves the visibility of image.These image processing equipments perform different image processing functions respectively, based on haze
The principle of formation, reaches the effect of removal haze.The sharpening treatment of haze image all has pole for dual-use field
Big application value, military domain include military and national defense, remote sensing navigate etc., civil area include road monitoring, target following and
Automatic Pilot etc..
The process that haze image is formed can be described with atmospheric attenuation process, be clear in haze image and real image
Changing the relation between image can be stated with the medium transfer rate of overall air light value and each pixel, i.e., in known haze figure
As in the case of, according to overall air light value and the medium transfer rate of each pixel, sharpening image can be solved.
Solution for overall air light value and the medium transfer rate of each pixel is tested in the presence of some effective and processes
The means of card, for example, medium transfer rate for each pixel is, it is necessary to obtain the big of overall air light value and each pixel
Gas scatters light value, and the atmospheric scattering light value of each pixel can be carried out in the pixel value to each pixel in haze image
The Gaussian smoothing filter at edge being kept twice and being obtained, therebetween, the intensity of haze removal is adjustable；And the acquisition of overall air light value
Mode has two kinds, and a kind of mode is (some pixels can be caused i.e. in haze image by obtaining the black channel of haze image
Black channel value it is very low, black channel is R, the one kind in the Color Channel of G, B tri-), it is black by finding in haze image
Find the maximum pixel of gray value in chrominance channel pixel value multiple pixels bigger than normal to obtain, will search out, gray value is most
The gray value of big pixel participates in the sharpening treatment of each pixel in haze image as overall air light value；In addition, whole
Body atmosphere light value can also be obtained in the following manner：The gray value of each pixel in haze image is calculated, gray value is maximum
The gray value of pixel is used as overall air light value.
Specific haze image and real image are the relation between sharpening image, and the relation between parameters
Reference can be made to above content.
By the discussion to haze image formation basic theory, the relation between haze image and sharpening image is built, used
Multiple parameters represent this relation, and then the multiple parameter values and haze image by obtaining are that reducible acquisition definition is higher
Image, because the acquisition of parameter has borrowed some statistical means and empirical means, therefore definition image higher is not
Real image may be fully equivalent to, but there is the considerable degree of every field gone haze effect, be under haze weather
Operation provides effective guarantee.
Using outdoor electric energy meter meter reading method of the invention, for electric energy meter reading inconvenience outside the room of existing high voltage electric place
Or data precision technical problem not high is read, using network technology and speech recognition technology, by remote location control and short range
Position control is combined, and ensures that robot can be accurate to up to predetermined meter reading position, existing automatic meter reading technology is transformed, using more
Intelligentized image procossing mode realizes high accuracy, the automatic meter reading of highly compatible, improves the work effect of transformer substation robot
Rate, more it is essential that by the analysis to atmospheric attenuation model, introducing sharpening processor to remove haze to electric energy meter image
Influence, so that it is guaranteed that outdoor electric energy meter can also be normally carried out remote electronic type automatic meter reading under haze weather.
Although it is understood that the present invention is disclosed as above with preferred embodiment, but above-described embodiment and being not used to
Limit the present invention.For any those of ordinary skill in the art, in the case where technical solution of the present invention ambit is not departed from,
Many possible variations and modification are all made to technical solution of the present invention using the technology contents of the disclosure above, or is revised as
With the Equivalent embodiments of change.Therefore, every content without departing from technical solution of the present invention, according to technical spirit pair of the invention
Any simple modification, equivalent variation and modification made for any of the above embodiments, still fall within the scope of technical solution of the present invention protection
It is interior.
Claims (1)
1. a kind of outdoor electric energy meter meter reading method, it is using the traveling of robot, automatic shooting, image procossing and automatic reads
Table function carries out outdoor electric energy meter meter reading, wherein the robot includes the Big Dipper omniselector, mobile hard disk, CMOS visual sensings
Device, Recognition of Reading device and master controller, wherein the Big Dipper omniselector be used for receive the Big Dipper aeronautical satellite provide, it is described
The current Big Dipper sing data of robot；The mobile hard disk is used to prestore all kinds of electric energy meter templates, and for depositing in advance
Store up maximum scale, minimum scale and the pointer model of each class electric energy meter template；The CMOS vision sensors are used to shoot electricity
Can table image；The Recognition of Reading device is connected with the CMOS vision sensors and is performed at image with to the electric energy meter image
Reason；The master controller is connected to control the advanced positions of the robot with the Big Dipper omniselector, also with the movement
Hard disk and the Recognition of Reading device are connected respectively, the automatic meter reading for controlling the robot；
Described image treatment includes carrying out the electric energy meter image step of the haze treatment to obtain haze electric energy meter image
Suddenly；
The robot also includes：
Power supply, including solar powered device, battery, switching switch and electric pressure converter, the switching switch and institute
State solar powered device and the battery is connected respectively, decided whether to be switched to the sun according to battery dump energy
Energy power supply device is powered with by the solar powered device, and the electric pressure converter is connected with the switching switch, will be logical
The 5V voltage conversions for crossing switching switch input are 3.3V voltages；
Speech recognition device, for the voice of site administrator to be converted into electric signal, and generates voice based on the electric signal
Control instruction；
Wireless communication interface, the power supply management platform wireless connection with distal end is described long-range with wireless receiving remote control commands
Control instruction includes the Big Dipper control instruction；
Robot driving mechanism, is connected with the master controller, under the control of the master controller, driving the machine
The behavior act of people, the behavior act includes advancing, retreat, turn to and crossing over；
Sharpening processor, between the CMOS vision sensors and the Recognition of Reading device, for receiving the electric energy
Table image, haze treatment is carried out to the electric energy meter image to obtain haze electric energy meter image, and haze electric energy is removed by described
Table image is input into the Recognition of Reading device to replace the electric energy meter image by image procossing；
The sharpening processor also includes：
Sub- equipment is stored, for prestoring sky upper limit gray threshold and sky lower limit gray threshold, the sky upper limit ash
Degree threshold value and the sky lower limit gray threshold are used to isolate the sky areas in image, are additionally operable to prestore presetted pixel
Value threshold value, the presetted pixel value threshold value value is between 0 to 255；
The sub- equipment of haze Concentration Testing, in air, for the haze concentration of real-time detection electric energy meter position, and according to
Haze concentration determines that haze removes intensity, and the haze removes intensity value between 0 to 1；
The sub- equipment of region division, connects the CMOS vision sensors to receive the electric energy meter image, to the electric energy meter figure
As carrying out gray processing treatment to obtain gray processing electric energy meter image, also it is connected with the sub- equipment of storage, by the gray processing electric energy meter
Pixel of the gray value between the sky upper limit gray threshold and the sky lower limit gray threshold is recognized and constituted in image
Gray processing sky sub-pattern, the gray processing sky sub-pattern is gone out to obtain gray processing from the gray processing electric energy meter image segmentation
Non- sky subgraph, the position based on the non-sky subgraph of the gray processing in the electric energy meter image obtains and the gray scale
Change the corresponding colored non-sky subgraph of non-sky subgraph；
Black channel obtains sub- equipment, is connected to obtain the colored non-sky subgraph, pin with the sub- equipment of the region division
To each pixel in the colored non-sky subgraph, its R, the Color Channel pixel value of G, B tri-, in the colored non-day are calculated
The minimum Color Channel pixel value institute of a numerical value is extracted in the R of all pixels in null subgraph picture, G, B tri- Color Channel pixel value
Color Channel as black channel；
Overall air light value obtains sub- equipment, is connected to obtain the presetted pixel value threshold value with sub- equipment is stored, also with it is described
The sub- equipment of region division and the black channel obtain sub- equipment and connect to obtain the electric energy meter image and the black respectively
Passage, black channel pixel value in the electric energy meter image is to be checked more than or equal to multiple pixels composition of presetted pixel value threshold value
Set of pixels is tested, using the gray value of the pixel with maximum gradation value in the set of pixels to be tested as overall air light value；
Atmospheric scattering light value obtains sub- equipment, connects respectively with the sub- equipment of the region division and the sub- equipment of haze Concentration Testing
Connect, to each pixel of the electric energy meter image, extract its R, minimum value is used as target picture in the Color Channel pixel value of G, B tri-
Element value, filtering mesh is obtained using keeping the Gaussian filter EPGF at edge that treatment is filtered to the target pixel value
Mark pixel value, subtracts filtered target pixel value to obtain object pixel difference, using EPGF to object pixel by target pixel value
Difference be filtered treatment to obtain filtered target pixel value difference, by filtered target pixel value subtract filtered target pixel value difference with
Haze removal a reference value is obtained, haze removal intensity is multiplied by haze removal a reference value to obtain haze removal threshold value, take haze
Minimum value in removal threshold value and target pixel value takes the maximum in comparison reference and 0 as every as comparison reference
One atmospheric scattering light value of pixel；
Medium transfer rate obtains sub- equipment, obtains sub- equipment with the overall air light value and the atmospheric scattering light value obtains son
Equipment is connected respectively, by the atmospheric scattering light value of each pixel divided by overall air light value to obtain except value, 1 is subtracted described
Except value is obtaining the medium transfer rate of each pixel；
Sharpening image obtains sub- equipment, and sub- equipment and institute are obtained with the sub- equipment of the region division, the overall air light value
Give an account of the matter transfer rate sub- equipment of acquisition to connect respectively, the medium transfer rate of each pixel is subtracted to obtain the first difference by 1, will
First difference is multiplied by overall air light value to obtain product value, by the pixel value of each pixel in the electric energy meter image
The product value is subtracted to obtain the second difference, second difference is every to obtain divided by the medium transfer rate of each pixel
One sharpening pixel value of pixel, the pixel value of each pixel is including in the electric energy meter image in the electric energy meter image
The Color Channel pixel value of the R of each pixel, G, B tri-, correspondingly, the sharpening pixel value of each pixel of acquisition is included often
The Color Channel sharpening pixel value of one R of pixel, G, B tri-, the sharpening pixel value composition of all pixels removes haze electric energy meter
Image；
The Recognition of Reading device also includes median filter unit, pretreatment unit, object-recognition unit, template matches unit and refers to
Pin position determination unit, the median filter unit is connected with the sharpening processing equipment, for removing haze electric energy to described
To export filtering image, the pretreatment unit is connected table image filtering with the median filter unit, for the filtering
Image carries out gray processing treatment with output gray level image, the object-recognition unit and the pretreatment unit and the movement
Hard disk is connected respectively, by gray value in the gray level image in the electric energy meter upper limit gray threshold and the electric energy meter lower limit
Pixel between gray threshold recognizes and constitutes electric energy meter plate image, the template matches unit and the target identification list
First and described mobile hard disk is connected respectively, based on all kinds of electric energy that the electric energy meter plate image is stored in the mobile hard disk
The target electric energy meter template of match query in table template, be given the maximum scale of the target electric energy meter template, minimum scale and
Pointer model, the pointer position determining unit is connected respectively with the object-recognition unit and the template matches unit, base
With the gauge pointer of the pointer Model Matching in electric energy meter plate image described in the electric energy meter plate image recognition,
The pointer angle of the gauge pointer that recognizes of calculating and horizontal direction, calculate respectively the maximum scale and the minimum scale with
The maximum scale angle and minimum scale angle of horizontal direction, according to pointer angle in maximum scale angle and minimum scale angle
Between numerical value position, it is determined that outdoor electric energy meter reading；
The median filter unit, the pretreatment unit, the object-recognition unit, the template matches unit and the finger
Pin position determination unit is respectively adopted different fpga chips and realizes；
The master controller and institute's speech recognizer, the wireless communication interface, the robot driving mechanism, the Big Dipper
Star omniselector, the mobile hard disk and the Recognition of Reading device are connected respectively, according to the phonetic control command or described long-range
Control instruction controls the robot driving mechanism, the master controller to receive the outdoor electric energy meter that the Recognition of Reading device sends
Reading, and the outdoor electric energy meter reading is forwarded to the power supply management platform, the master by the wireless communication interface
Controller controls the data storage of the mobile hard disk, the remote control commands to advance to target for robot described in coarse adjustment
Meter reading position, the phonetic control command advances to target meter reading position for robot described in fine tuning；
Wherein, the Big Dipper control in the remote control commands that power supply management platform described in the master controller wireless receiving sends
Instruction, the Big Dipper control instruction includes target Big Dipper sing data, robot driving mechanism described in the main controller controls
Advance to the position of target Big Dipper sing data described in current the Big Dipper Data Matching that the Big Dipper omniselector sends；
The master controller has successfully received outdoor electricity in the power supply management platform for receiving the wireless communication interface forwarding
During the return instruction of energy meter reading, the relay indicating light of the robot is controlled to flash pre-determined number by preset frequency, to point out
Site administrator；
Institute's speech recognizer includes sound sensor unit and voice recognition chip, and the sound sensor unit is used for field pipes
Reason personnel's voice is converted to electric signal, and the voice recognition chip connects the sound sensor unit, for based on the telecommunications
Number generation phonetic control command；
The voice recognition chip uses the LD3320 chips of ICRoute companies.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710395044.2A CN107423751A (en) | 2015-04-01 | 2015-04-01 | The method of work of outdoor electric energy meter meter reading robot based on the Big Dipper omniselector |
| CN201510152733.1A CN104777836B (en) | 2015-04-01 | 2015-04-01 | Outdoor electric energy meter meter reading method |
| CN201710360393.0A CN106965186A (en) | 2015-04-01 | 2015-04-01 | Outdoor electric energy meter meter reading robot based on the Big Dipper omniselector and vision sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510152733.1A CN104777836B (en) | 2015-04-01 | 2015-04-01 | Outdoor electric energy meter meter reading method |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710360393.0A Division CN106965186A (en) | 2015-04-01 | 2015-04-01 | Outdoor electric energy meter meter reading robot based on the Big Dipper omniselector and vision sensor |
| CN201710395044.2A Division CN107423751A (en) | 2015-04-01 | 2015-04-01 | The method of work of outdoor electric energy meter meter reading robot based on the Big Dipper omniselector |
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| Publication Number | Publication Date |
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| CN104777836A CN104777836A (en) | 2015-07-15 |
| CN104777836B true CN104777836B (en) | 2017-06-27 |
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| CN201710360393.0A Withdrawn CN106965186A (en) | 2015-04-01 | 2015-04-01 | Outdoor electric energy meter meter reading robot based on the Big Dipper omniselector and vision sensor |
| CN201710395044.2A Withdrawn CN107423751A (en) | 2015-04-01 | 2015-04-01 | The method of work of outdoor electric energy meter meter reading robot based on the Big Dipper omniselector |
| CN201510152733.1A Active CN104777836B (en) | 2015-04-01 | 2015-04-01 | Outdoor electric energy meter meter reading method |
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| CN201710360393.0A Withdrawn CN106965186A (en) | 2015-04-01 | 2015-04-01 | Outdoor electric energy meter meter reading robot based on the Big Dipper omniselector and vision sensor |
| CN201710395044.2A Withdrawn CN107423751A (en) | 2015-04-01 | 2015-04-01 | The method of work of outdoor electric energy meter meter reading robot based on the Big Dipper omniselector |
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| CN105974168A (en) * | 2015-04-01 | 2016-09-28 | 秦艳霞 | Robot capable of reading outdoor electric energy meter |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107423751A (en) | 2017-12-01 |
| CN106965186A (en) | 2017-07-21 |
| CN104777836A (en) | 2015-07-15 |
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