CN107393270B - A kind of mobile vision inspection device and method for electric meter detection - Google Patents
A kind of mobile vision inspection device and method for electric meter detection Download PDFInfo
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- CN107393270B CN107393270B CN201710616219.8A CN201710616219A CN107393270B CN 107393270 B CN107393270 B CN 107393270B CN 201710616219 A CN201710616219 A CN 201710616219A CN 107393270 B CN107393270 B CN 107393270B
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The invention discloses a kind of mobile vision inspection devices and method for electric meter detection, equipment includes monitoring center and mobile device, mobile device is divided into visual information acquisition unit, information processing and controlling unit, wireless communication unit, positioning device and power device, mobile device passes through the sliding rail being laid in advance and is moved, when being moved to certain electrical equipment, pass through visual information acquisition unit acquisition instrument or switching-state information, and information is sent to information processing and controlling unit and carries out information processing, the information handled is sent to monitoring center and carries out information monitoring by wireless communication unit, to realize to extensive electric meter group progress inspection and be carried out to failure quick, the target of accurate positionin.Present invention eliminates a large amount of cumbersome instrument failure monitorings, improve work efficiency, and realize extensive electric meter group malfunction monitoring automation.
Description
Technical field
The present invention relates to a kind of mobile vision inspection devices and method for electric meter detection, belong to instrument detection
Technical field.
Background technique
In the monitoring data collection process of extensive electric meter group, there are a large amount of pointer instruments and without interface digital display
The straight explicit instrument such as formula instrument, since its data can not be directly by computer acquisition, traditional reading mode mostly uses artificial reading.
However artificial reading has the shortcomings that intensity is big, at high cost, timeliness is not strong, monitoring cycle is long, influences the progress of monitoring.
Image processing techniques is applied in the reading data and state recognition work of all kinds of instrument, realizes instrument detection automation, no
The accuracy of verification is improved only, and is improved work efficiency.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the deficiencies of existing technologies, provide a kind of for electric meter detection
Mobile vision inspection device and method, extensive electric meter group can be carried out inspection and to failure carry out quickly, it is accurate
Positioning.
In order to solve the above technical problems, the present invention provide it is a kind of for electric meter detection mobile vision inspection set
It is standby, including mobile device and monitoring center；The monitoring center is using server as platform, for carrying out data storage and providing people
Machine interactive interface；The mobile device includes information processing and controlling unit, positioning device, wireless communication unit, power
Device and visual information acquisition unit；
The output end access information of the visual information acquisition unit handles and the input terminal of control unit, the positioning dress
It sets and is connected with information processing and controlling unit with power device, the monitoring center passes through wireless communication unit and information
Processing and control unit are in communication with each other；
The each unit and device of the mobile device are mounted in one along the mobile platform that sliding rail moves；
The power device provides power support for mobile platform；
The positioning device is used to obtain the relative position of mobile device and sliding rail；
The visual information acquisition unit is used to carry out visual information acquisition to the instrument within the scope of inspection；
From the information processing and controlling unit carries out it after obtaining visual sensing information from visual information acquisition unit
Reason identifies that whether there is or not instrument and identification meter readings or instruction state in the visual field, and identification information is passed through wireless communication
Unit is uploaded to monitoring center, while receiving the instruction of monitoring center sending, and the movement of mobile device is controlled by power device.
Sliding rail above-mentioned takes Double-axis guide rail, is layed within place detected in advance.
Power device above-mentioned includes DC servo motor, motor-drive circuit and retarder, the motor-drive circuit
The control signal for receiving information processing and controlling unit, controls the velocity of rotation of servo motor, and the servo motor is exported to subtracting
Fast device, power output of the output of retarder as power device.
Positioning device above-mentioned uses absolute type encoder；The absolute type encoder is engaged in the retarder of power device
Output works out output revolving speed in the form of stream of pulses, and absolute type retarder one angle of every rotation, encoder can export
One level pulse, information processing and controlling center count pulse number, judge the distance of mobile device traveling.
Visual information acquisition unit above-mentioned uses single image sensor, and is equipped with light projector.
Information processing and controlling unit above-mentioned includes high speed processing chip and DDR, clock circuit, hardware reset electricity
Road.
The method for inspecting of mobile vision inspection device for electric meter detection, comprising the following steps:
(1) monitoring center sends instruction beginning inspection, Huo Zhetong to mobile device by the timing of wireless communication unit
It crosses manual operation and sends and start inspection instruction；
(2) after the information processing and controlling unit in mobile device receives beginning inspection instruction, visual information is acquired
Unit, power device and positioning device start inspection by Low-power-consumptiodormancy dormancy mode wakeup；
(3) information processing and controlling unit is controlled by power device and is moved along the sliding rail being laid in advance, while vision is believed
It ceases acquisition unit and acquires information；
(4) when identifying the instrument in travelling route in detection range, mobile device movement stops, visual information acquisition
Unit acquisition instrument still image is simultaneously sent to information processing and controlling unit and is handled, and identifies meter reading or instruction shape
State；
(5) information processing and controlling unit sends the meter reading or instruction state of instrument still image and automatic identification
To monitoring center, monitoring center stores information into database；
(6) mobile device continues to move and repeats step (3) to step (5)；While mobile device is mobile, information processing
And control unit is obtained and the relative position of sliding rail in real time by positioning device；
(7) mobile device is moved to the origin that sets out, and stop motion sends inspection to monitoring center and completes information, believes simultaneously
Breath processing and control unit control positioning device, visual information acquisition unit and power device enter suspend mode.
Inspection device above-mentioned can be realized to electric switch class, electrical indicator light, pointer instrument and digital display instrument
Identification, specific identification process are as follows:
The basis of characterization of electric switch class switchs the position of various states, and information processing and controlling unit adopts visual information
Collect the image that unit obtains and carry out image preprocessing, morphologic detection positioning and edge detection, certainly by the switch of cabinet
It is dynamic to detected, and Hough transform is used, judge the angle of switch, thus identify that the state of switch is to open or be closed,
And the state is sent to monitoring center, monitoring center compares its state with preset state, thus judge whether failure,
Export fault message；
The color and flashing state of the basis of characterization lamp of electrical indicator light, information processing and controlling unit is to visual information
The image that acquisition unit obtains carries out image preprocessing, then carries out Hough transformation to pretreatment image and carries out loop truss, thus
It determines the region of indicator light, and detect to the pixel value in the region color of determining indicator light, by comparing different images
The color change of frame indicator light determines the flashing state of indicator light, does not become not flashing, and Shi Bianwei quick flashing is bright, last control unit
The state transfer that will identify that monitoring center, monitoring center compares it with preset state, judges whether equipment occurs
Failure exports fault message；
Pointer instrument identification is mainly that automatic interpretation gauge pointer shows finger, and information processing and controlling unit is to visual information
The image that acquisition unit obtains is handled, and round, fan-shaped dial plate is passed through coordinate translation, is converted into rectangle, is recycled
Rectangle dial plate image carries out the location information that linear scanning from top to bottom obtains graduation mark and pointer, passes through the ratio of location information
More determining meter reading finally send meter reading to monitoring center, and monitoring center is set by the comparison judgement with preset state
It is standby whether to break down, export fault message；
Digital display instrument is identified by Number character recognition and carrys out reading numerical values, and numerical value is sent to monitoring center, in monitoring
The heart judges whether equipment breaks down by the comparison with preset state, exports fault message.
The present invention has the advantage that
(1) present invention utilizes mobile device, to needing to carry out the occasion of extensive electric meter inspection with visual pattern
Mode is detected and is identified automatically, by the transmission of wireless network realization visual information and Meter recognition information, it can be achieved that right
Faulty meter and equipment fast and accurately identify and position；
(2) present invention achievees the purpose that equipment carries out inspection by regulation path using the form of sliding rail, is suitable for a variety of electricity
The occasion of gas instrument cluster has stronger occasion versatility.
Detailed description of the invention
Fig. 1 is mobile vision inspection device block diagram of the present invention for electric meter detection.
Specific embodiment
The invention will be further described below.Following embodiment is only used for clearly illustrating technical side of the invention
Case, and not intended to limit the protection scope of the present invention.
As shown in Figure 1, the mobile vision inspection device for electric meter detection of the invention include mobile device and
Monitoring center.
For monitoring center using server as platform, monitoring center software realizes data base administration, the effect of human-computer interaction interface.
Mobile device, including information processing and controlling unit, positioning device, wireless communication unit, power device, view
Feel information acquisition unit,
The output end access information of visual information acquisition unit handles and the input terminal of control unit, positioning device and power
Device is connected with information processing and controlling unit, and monitoring center passes through wireless communication unit and information processing and controlling list
Member is in communication with each other.
The each unit and device of mobile device are mounted in one along the mobile platform that sliding rail moves, and sliding rail takes twin shaft
Heart guide rail is layed in advance within place detected, guide device moving direction.
Power device provides power support for mobile platform, and power device includes DC servo motor, motor-drive circuit
And retarder, wherein motor-drive circuit receives the control signal of information processing and controlling unit, controls the rotation of servo motor
Speed, servo motor are exported to retarder, power output of the output of retarder as power device, and the way of output is for example but not
It is limited to wheeled and crawler type.
Using absolute type encoder as positioning device, encoder is engaged in the retarder output of power device, will export
Revolving speed is worked out in the form of stream of pulses.Retarder one angle of every rotation, encoder can export a level pulse.Information
Processing and control centre pulse number is counted, can determine whether mobile device traveling distance, with this obtain mobile device with
Positioning function is realized in the relative position of sliding rail.
Using single image sensor as visual information acquisition unit, visual information is carried out to the instrument within the scope of inspection
Acquisition, and it is equipped with light projector auxiliary visual sensing function.Image sensor is such as, but not limited to area array CCD, digital camera
Machine.
Information processing and controlling unit is the processing center of mobile device, obtains visual sensing from visual information acquisition unit
It is handled after information, identifies that whether there is or not instrument and identification meter reading or instruction shapes in the visual field by visual sensing information
State, and identification information is uploaded to monitoring center by wireless communication unit, while receiving the instruction of monitoring center sending,
The movement of mobile device is controlled by power device.
Information processing and controlling unit includes a chip with high speed processing function to meet visual sensing information processing
Demand and DDR, clock circuit, hardware reset circuit.High speed processing chip is such as, but not limited to fpga chip, insertion declines
Processor and digital signal processor.
Mobile set is used as transmission medium by the way of Wi-Fi communication between device and monitoring center, meets big flow
Image transmitting demand.
The method for carrying out inspection using apparatus of the present invention, the specific steps of which are as follows:
(1) monitoring center sends instruction beginning inspection to mobile device by the timing of wireless communication unit, can also lead to
It crosses manual operation and sends and start inspection instruction；
(2) after the information processing and controlling unit in mobile device receives beginning inspection instruction, visual information is acquired
Unit, power device and positioning device start inspection by Low-power-consumptiodormancy dormancy mode wakeup；
(3) information processing and controlling unit is controlled by power device and is moved along the sliding rail being laid in advance, while vision is believed
It ceases acquisition unit and acquires information；
(4) when identifying the instrument in travelling route in detection range, mobile device movement stops, visual information acquisition
Unit acquisition instrument still image is simultaneously sent to information processing and controlling unit and is handled, and identifies meter reading or instruction shape
State；
(5) information processing and controlling unit sends the meter reading or instruction state of instrument still image and automatic identification
To monitoring center, monitoring center stores information into database；
(6) mobile device continues to move and repeats step (3) to step (5)；While mobile device is mobile, information processing
And control unit is obtained and the relative position of sliding rail in real time by positioning device；
(7) mobile device is moved to the origin that sets out, and stop motion sends inspection to monitoring center and completes information, believes simultaneously
Breath processing and control unit control positioning device, visual information acquisition unit and power device enter suspend mode, reduce idle
Power consumption.
Apparatus of the present invention can realize the detection to all kinds of instrument, and the detection method of all kinds of instrument is as follows:
Mainly according to the position for switching various states, information processing and controlling unit believes vision for the identification of electric switch class
It ceases the image that acquisition unit obtains and carries out image preprocessing, morphologic detection positioning and edge detection, by opening for cabinet
Pass detected automatically, and use Hough transform, judge switch angle, thus identify the state of switch be opening or
Closure, and the state is sent to monitoring center, monitoring center compares its state with preset state, to judge whether
Failure exports fault message.
The identification of electrical indicator light is mainly the color according to lamp and flashes state, and electrical LED status generally has
It is bright, it goes out, slow flash is bright, and it is fast to flash, it is red, it is green etc..Flash state recognition mainly with the color difference of lamp between different images frame be according to
According to.Generally circular, the image progress that information processing and controlling unit obtains visual information acquisition unit of indicator light
Image preprocessing, enhancing denoise, are smooth, then carry out Hough transformation to pretreatment image and carry out loop truss, so that it is determined that instruction
The region of lamp, and detect to the pixel value in the region color of determining indicator light, by comparing different images frame indicator light
Color change determine the flashing state of indicator light, do not become not flashing, Shi Bianwei quick flashing is bright.Last control unit will identify that
State transfer to monitoring center, monitoring center compares it with preset state, judge whether equipment breaks down, export
Fault message.
Pointer instrument identification is mainly that automatic interpretation gauge pointer shows finger.Information processing and controlling unit is to visual information
The image that acquisition unit obtains is handled, and converts rectangle for round, fan-shaped dial plate, then identify pointer position by straight-line detection
It sets, so that calculating gauge pointer shows finger.The transformation of dial plate mainly passes through coordinate translation, overturning is realized.The identification of pointer position
It is main that the location information that linear scanning from top to bottom obtains graduation mark and pointer is carried out using rectangle dial plate image, pass through position
The comparison of information determines meter reading.Finally meter reading is sent to monitoring center, monitoring center passes through pair with preset state
Than judging whether equipment breaks down, fault message is exported.
Digital display instrument identification send numerical value to monitoring center mainly by Number character recognition come reading numerical values,
Monitoring center judges whether equipment breaks down by the comparison with preset state, exports fault message.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (7)
1. a kind of mobile vision method for inspecting for electric meter detection characterized by comprising
Build the mobile vision inspection device for electric meter detection, including mobile device and monitoring center；The monitoring
Center is using server as platform, for carrying out data storage and providing human-computer interaction interface；The mobile device includes at information
Reason and control unit, positioning device, wireless communication unit, power device and visual information acquisition unit；
The output end access information of the visual information acquisition unit handles and the input terminal of control unit, the positioning device with
Power device is connected with information processing and controlling unit, and the monitoring center passes through wireless communication unit and information processing
And control unit is in communication with each other；
The each unit and device of the mobile device are mounted in one along the mobile platform that sliding rail moves；
The power device provides power support for mobile platform；
The positioning device is used to obtain the relative position of mobile device and sliding rail；
The visual information acquisition unit is used to carry out visual information acquisition to the instrument within the scope of inspection；
The information processing and controlling unit is handled it after obtaining visual sensing information from visual information acquisition unit, is known
Whether there is or not instrument and identification meter readings or instruction state in the other visual field, and identification information is passed through on wireless communication unit
Monitoring center is reached, while receiving the instruction of monitoring center sending, the movement of mobile device is controlled by power device；
Then following steps are executed:
(1) monitoring center sends instruction beginning inspection to mobile device by the timing of wireless communication unit, or passes through people
It is sent for operation and starts inspection instruction；
(2) the information processing and controlling unit in mobile device receive start inspection instruction after, by visual information acquisition unit,
Power device and positioning device start inspection by Low-power-consumptiodormancy dormancy mode wakeup；
(3) information processing and controlling unit is controlled by power device and is moved along the sliding rail being laid in advance, while visual information is adopted
Collect unit and acquires information；
(4) when identifying the instrument in travelling route in detection range, mobile device movement stops, visual information acquisition unit
Acquisition instrument still image is simultaneously sent to information processing and controlling unit and is handled, and identifies meter reading or instruction state；
(5) meter reading or instruction state of instrument still image and automatic identification are sent to prison by information processing and controlling unit
Control center, monitoring center store information into database；
(6) mobile device continues to move and repeats step (3) to step (5)；While mobile device is mobile, information processing and control
Unit processed is obtained and the relative position of sliding rail in real time by positioning device；
(7) mobile device is moved to the origin that sets out, and stop motion sends inspection to monitoring center and completes information, while at information
Reason and control unit control positioning device, visual information acquisition unit and power device enter suspend mode.
2. a kind of mobile vision method for inspecting for electric meter detection according to claim 1, which is characterized in that
The sliding rail takes Double-axis guide rail, is layed within place detected in advance.
3. a kind of mobile vision method for inspecting for electric meter detection according to claim 1, which is characterized in that
The power device includes DC servo motor, motor-drive circuit and retarder, and the motor-drive circuit receives at information
The control signal of reason and control unit, controls the velocity of rotation of servo motor, the servo motor is exported to retarder, retarder
Power output of the output as power device.
4. a kind of mobile vision method for inspecting for electric meter detection according to claim 1, which is characterized in that
The positioning device uses absolute type encoder；The absolute type encoder is engaged in the retarder output of power device, will be defeated
Revolving speed is worked out in the form of stream of pulses out, and absolute type retarder one angle of every rotation, encoder can export a level
Pulse, information processing and controlling center count pulse number, judge the distance of mobile device traveling.
5. a kind of mobile vision method for inspecting for electric meter detection according to claim 1, which is characterized in that
The visual information acquisition unit uses single image sensor, and is equipped with light projector.
6. a kind of mobile vision method for inspecting for electric meter detection according to claim 1, which is characterized in that
The information processing and controlling unit includes high speed processing chip and DDR, clock circuit, hardware reset circuit.
7. a kind of mobile vision method for inspecting for electric meter detection according to claim 1, which is characterized in that
It can be realized the identification to electric switch class, electrical indicator light, pointer instrument and digital display instrument, specific identification process is such as
Under:
The basis of characterization of electric switch class switchs the position of various states, and information processing and controlling unit acquires visual information single
The image that member obtains carries out image preprocessing, morphologic detection positioning and edge detection, and the switch of cabinet is examined automatically
It measures and, and use Hough transform, judge the angle of switch, to identify that the state of switch is opening or is closed, and will
The state is sent to monitoring center, and monitoring center compares its state with preset state, to judge whether failure, exports
Fault message；
The color and flashing state, information processing and controlling unit of the basis of characterization lamp of electrical indicator light acquire visual information
The image that unit obtains carries out image preprocessing, then carries out Hough transformation to pretreatment image and carries out loop truss, so that it is determined that
The region of indicator light, and detect to the pixel value in the region color of determining indicator light, referred to by comparing different images frame
Show that the color change of lamp determines the flashing state of indicator light, do not become not flashing, Shi Bianwei quick flashing is bright, and last control unit will be known
Not Chu state transfer to monitoring center, monitoring center compares it with preset state, judge whether equipment breaks down,
Export fault message；
Pointer instrument identification is mainly that automatic interpretation gauge pointer shows that finger, information processing and controlling unit acquire visual information
The image that unit obtains is handled, and round, fan-shaped dial plate is passed through coordinate translation, is converted into rectangle, recycles rectangle
Dial plate image carries out the location information that linear scanning from top to bottom obtains graduation mark and pointer, true by the comparison of location information
Determine meter reading, finally send meter reading to monitoring center, monitoring center judges that equipment is by the comparison with preset state
No failure exports fault message；
Digital display instrument is identified by Number character recognition and carrys out reading numerical values, and numerical value is sent to monitoring center, and monitoring center is logical
It crosses the comparison with preset state and judges whether equipment breaks down, export fault message.
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| CN108282639A (en) * | 2018-03-10 | 2018-07-13 | 嘉兴融通建筑装饰有限公司 | SG-TMS systems auxiliary monitoring system and its monitoring method |
| CN108597052A (en) * | 2018-04-24 | 2018-09-28 | 合肥市艾特米信息技术有限公司 | Instrument automatic inspection device |
| CN108765621B (en) * | 2018-05-30 | 2020-11-27 | 成都天仁民防科技有限公司 | Safety inspection system and inspection method for movable operation and maintenance of civil air defense door |
| CN109034170B (en) * | 2018-07-18 | 2022-02-11 | 东南大学 | Reading method for circular pointer type instrument of switch cabinet detection device |
| CN109063634A (en) * | 2018-07-29 | 2018-12-21 | 国网上海市电力公司 | Using the method for hough-circle transform identification target object region electrical symbol in power monitoring |
| CN109029297B (en) * | 2018-08-30 | 2023-12-26 | 唐山市建华自动控制设备厂 | Gas tank operation parameter monitoring system based on machine vision |
| CN109976351B (en) * | 2019-04-19 | 2022-06-24 | 北京潞电电气设备有限公司 | Fixed-point positioning system of power inspection robot |
| TWI717782B (en) * | 2019-07-16 | 2021-02-01 | 張力 | Device status monitoring and management system |
| CN110440764B (en) * | 2019-08-19 | 2021-07-09 | 广东电网有限责任公司 | Meter detection cradle head secondary alignment method, device and equipment |
| CN112180922B (en) * | 2020-09-24 | 2023-03-17 | 南京苏美达智能技术有限公司 | Self-walking equipment identification method based on optics and self-walking equipment |
| CN113627400B (en) * | 2021-10-12 | 2021-12-28 | 成都川江信息技术有限公司 | Industrial instrument video identification system |
| CN115205997A (en) * | 2022-07-14 | 2022-10-18 | 西安建筑科技大学 | Heating ventilation air conditioner room unmanned inspection system and method based on artificial intelligence |
| CN116309603B (en) * | 2023-05-24 | 2023-07-28 | 山东双海电气设备安装有限公司 | Visual detection method and system for power equipment faults |
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| US7233841B2 (en) * | 2002-04-19 | 2007-06-19 | Applied Materials, Inc. | Vision system |
| CN102097860A (en) * | 2010-11-29 | 2011-06-15 | 广东峰杰科技有限公司 | Intelligent robot patrol system for safety detection of substation |
| CN102722166B (en) * | 2012-06-29 | 2015-03-04 | 山东电力集团公司电力科学研究院 | Intelligent vision detection system and state detection method of transformer substation device |
| CN104199453B (en) * | 2014-09-27 | 2016-08-17 | 江苏华宏实业集团有限公司 | For patrolling and examining the intelligent robot of electric instrument |
| CN204229230U (en) * | 2014-11-27 | 2015-03-25 | 无锡北斗星通信息科技有限公司 | For the Intelligent Mobile Robot of automatic meter reading |
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| CN105913095A (en) * | 2016-05-17 | 2016-08-31 | 杭州申昊科技股份有限公司 | Instrument recognition method for transformer substation patrol inspection robot |
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