CN107423751A - The method of work of outdoor electric energy meter meter reading robot based on the Big Dipper omniselector - Google Patents
The method of work of outdoor electric energy meter meter reading robot based on the Big Dipper omniselector Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
- G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
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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
- B25J9/1679—Programme controls characterised by the tasks executed
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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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/50—Information retrieval; Database structures therefor; File system structures therefor of still image data
- G06F16/58—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually
- G06F16/583—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually using metadata automatically derived from the content
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/22—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
- G06V10/235—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition based on user input or interaction
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40174—Robot teleoperation through internet
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
- G06V2201/02—Recognising information on displays, dials, clocks
Abstract
The present invention relates to a kind of method of work of the outdoor electric energy meter meter reading robot based on the Big Dipper omniselector, 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 handle using sharpening processor to electric energy meter image.By the present invention, under haze weather, also can control machine people be accurate to up to target meter reading position, and realize the high-precision 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
Electric energy meter is widely used, and is the important referential data of power supply department charge and allotment electric power resource, and each is used
Electric unit or it is personal be required for installing an electric energy meter of oneself to monitor oneself use power consumption.
Meter reading positioned at the electric energy meter with electric unit with high-tension line is always a problem, due to these electric energy meters
Close to high-tension line, personnel can not be arranged 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, obtained meter reading data precision are 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 with electric unit, or uses the remote electronic pattern based on image procossing, this
Kind mode 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.
Therefore, being capable of the high artificial meter reading of alternative cost, it is necessary to a kind of new method that meter reading is carried out to outdoor electric energy meter
Mode, and transform existing remote electronics meter reading mode so that the meter reading to the outdoor electric energy meter of high voltage electric unit operates
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
Struggle against 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 every a kind of 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 is with to electric energy meter image execution image procossing；The master controller is connected to control with the Big Dipper omniselector
The advanced positions of robot are stated, are 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 processing includes carrying out the electric energy meter image haze processing 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 and institute
State solar powered device and the battery connects respectively, decided whether to be switched to the sun according to battery dump energy
To be powered by the solar powered device, the electric pressure converter connects energy power supply device 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 based on electric signal generation voice
Control instruction；Wireless communication interface, the power supply management platform wireless connection with distal end, with wireless receiving remote control commands, institute
Stating remote control commands includes the Big Dipper control instruction；
Robot driving mechanism, it is connected with the master controller, under the control of the master controller, driving the machine
The behavior act of people, the behavior act include 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 processing is carried out to the electric energy meter image to obtain haze electric energy meter image, haze electric energy is removed by described
Table image inputs 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, 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
It is worth 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 detection electric energy meter position in real time, 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, the CMOS vision sensors is connected to receive the electric energy meter image, to the electric energy meter figure
As carrying out gray processing processing to obtain gray processing electric energy meter image, also it is connected with storing sub- equipment, 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 identified and formed in image
Gray processing sky sub-pattern, the gray processing sky sub-pattern is partitioned into from the gray processing electric energy meter image to obtain gray processing
Non- sky subgraph, the position based on the non-sky subgraph of the gray processing in the electric energy meter image obtain and the gray scale
Change colored non-sky subgraph corresponding to non-sky subgraph；
Black channel obtains sub- equipment, is connected with the sub- equipment of the region division to obtain the non-sky subgraph of the colour, pin
To each pixel in the non-sky subgraph of the colour, its R, the Color Channel pixel value of G, B tri-, in the non-day of colour 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 with storing sub- equipment to obtain the presetted pixel value threshold value, also with it is described
The sub- equipment of region division and the black channel obtain sub- equipment and connected respectively to obtain the electric energy meter image and the black
Passage, multiple pixels composition that black channel pixel value in the electric energy meter image is more than or equal to presetted pixel value threshold value are to be checked
Set of pixels is tested, using the gray value of the pixel in the set of pixels to be tested with maximum gradation value as overall air light value；
Atmospheric scattering light value obtains sub- equipment, and equipment sub- with the region division and the sub- equipment of haze Concentration Testing connect respectively
Connect, to each pixel of the electric energy meter image, extract its R, minimum value is as target picture in the Color Channel pixel value of G, B tri-
Element value, using the Gaussian filter EPGF (edge-preserving gaussian filter) at holding edge to described
Target pixel value is filtered processing to obtain filtered target pixel value, and target pixel value is subtracted into filtered target pixel value to obtain
Object pixel difference is obtained, processing is filtered to object pixel difference using EPGF to obtain filtered target pixel value difference, will filter
Ripple target pixel value subtracts filtered target pixel value difference and removes a reference value to obtain haze, and haze removal intensity is multiplied by into haze
Except a reference value to obtain haze removal threshold value, haze is taken to remove the minimum value in threshold value and target pixel value as comparison reference
Value, takes atmospheric scattering light value of the maximum in comparison reference and 0 as each 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, and the atmospheric scattering light value of each pixel divided by overall air light value are removed into value to obtain, and 1 is subtracted described
Except value to obtain the medium transfer rate of each pixel；
Sharpening image obtains sub- equipment, and equipment sub- with the region division, the overall air light value obtain sub- equipment and institute
Give an account of the sub- equipment of matter transfer rate acquisition to connect respectively, the medium transfer rate for subtracting each pixel by 1 is incited somebody to action to obtain the first difference
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, the medium transfer rate of second difference divided by each pixel is every to obtain
The sharpening pixel value of one pixel, the pixel value of each pixel is included in the electric energy meter image in the electric energy meter image
The R of each pixel, G, the Color Channel pixel values of B tri-, correspondingly, the sharpening pixel value of each pixel of acquisition are included often
The R of one pixel, G, the Color Channel sharpening pixel values of B tri-, the sharpening pixel value composition of all pixels remove 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 separates.
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 pair
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 processing to the filtering image with output gray level image；The object-recognition unit and the pretreatment
Unit and the mobile hard disk connect 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 identifies and forms electric energy meter plate image；The template matches unit with
The object-recognition unit and the mobile hard disk connect 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, provide 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
Member 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, calculate the pointer angle of the gauge pointer recognized 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
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 connect respectively, are referred to according to the Voice command
Order or the remote control commands control the robot driving mechanism, and the master controller receives the Recognition of Reading device and sent
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 is sent,
The Big Dipper control instruction includes target Big Dipper sing data, and robot driving mechanism described in the main controller controls advances to
The position of target Big Dipper sing data described in current the Big Dipper Data Matching that the Big Dipper omniselector is sent.
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 to be flashed by preset frequency and make a reservation for
Number, to prompt site administrator.
More specifically, institute's speech recognizer includes sound sensor unit and voice recognition chip, the sound sensor list
Member is used to site administrator's voice being 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, the voice recognition chip uses the LD3320 chips of ICRoute companies.
More specifically, the median filter unit, the pretreatment unit, the object-recognition unit, the template
Different fpga chips is 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 present invention, introduce distal end remote control commands and near
The robot traveling control model for holding phonetic control command to combine, 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 maximum scale, minimum scale and pointer model per a kind of electric energy meter template, 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 the outdoor electric energy meter meter reading method of the present invention.
Fig. 2 is the structure square frame of another embodiment of the robot for implementing the outdoor electric energy meter meter reading method of the present invention
Figure.
Embodiment
The embodiment of the robot for the outdoor electric energy meter meter reading method for implementing the present invention is carried out in detail below with reference to accompanying drawings
Explanation.
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, 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, autonomous or remote control inspection can be carried out to outdoor high-tension apparatus by optimum path planning.By machine vision, infrared measurement of temperature,
The methods of sound detection, robot can collect the information such as the infrared chart, image and audio of equipment, and automatic identification equipment
Thermal defect, abnormal appearance, the position of switch or disconnecting link, meter reading, oil level indicator position etc., generate the alarm item of unified standard
Reported with inspection, send warning information to operations staff, and basic data is provided for equipment state overhauling.
Robot system also can access the fixed video monitoring point in electricity consumption place, and the observation that covering robot can not reach 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.
The outdoor electric energy meter meter reading method of the present invention, the difficult people's part work and part study of meter reading is replaced using robot electronics meter reading mode
Table mode, the mode combined by using the distal end coarse adjustment of robot meter reading position and near-end fine tuning being capable of accurate control machine people
Target meter reading position is reached, while uses 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 the outdoor electric energy meter meter reading method of the present 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 every a kind of 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 to perform image procossing, the master controller 5 and institute to the electric energy meter image
The Big Dipper omniselector 1 is stated to connect to control the advanced positions of the robot, also with the mobile hard disk 2 and the Recognition of Reading
Device 4 connects respectively, for controlling the automatic meter reading of the robot.
Fig. 2 is the structure square frame of another embodiment of the robot for implementing the outdoor electric energy meter meter reading method of the present invention
Figure, it can be seen that unlike Fig. 1, sharpening processor 6 is added in the embodiment, positioned at the He of CMOS vision sensors 3
Between Recognition of Reading device 4.
Then, continue that the concrete structure of Fig. 2 robot is further detailed.
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 to be switched to the solar powered device to be powered by the solar powered device, the electric pressure converter and institute
Switching switch connection is stated, so that the 5V voltage conversions of input will be switched by switching as 3.3V voltages.
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, it is connected with the master controller 5, in the main control
Under the control of device 5, the behavior act of the robot is driven, the behavior act includes 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 processing is carried out to the electric energy meter image to obtain haze electric energy
Table image, haze electric energy meter image is gone to input 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, 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
It is worth 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 detection electric energy meter position in real time, 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, the CMOS vision sensors 3 is connected to receive the electric energy meter image, to the electric energy meter figure
As carrying out gray processing processing to obtain gray processing electric energy meter image, also it is connected with storing sub- equipment, 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 identified and formed in image
Gray processing sky sub-pattern, the gray processing sky sub-pattern is partitioned into from the gray processing electric energy meter image to obtain gray processing
Non- sky subgraph, the position based on the non-sky subgraph of the gray processing in the electric energy meter image obtain and the gray scale
Change colored non-sky subgraph corresponding to non-sky subgraph；
Black channel obtains sub- equipment, is connected with the sub- equipment of the region division to obtain the non-sky subgraph of the colour, pin
To each pixel in the non-sky subgraph of the colour, its R, the Color Channel pixel value of G, B tri-, in the non-day of colour 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 with storing sub- equipment to obtain the presetted pixel value threshold value, also with it is described
The sub- equipment of region division and the black channel obtain sub- equipment and connected respectively to obtain the electric energy meter image and the black
Passage, multiple pixels composition that black channel pixel value in the electric energy meter image is more than or equal to presetted pixel value threshold value are to be checked
Set of pixels is tested, using the gray value of the pixel in the set of pixels to be tested with maximum gradation value as overall air light value；
Atmospheric scattering light value obtains sub- equipment, and equipment sub- with the region division and the sub- equipment of haze Concentration Testing connect respectively
Connect, to each pixel of the electric energy meter image, extract its R, minimum value is as target picture in the Color Channel pixel value of G, B tri-
Element value, using the Gaussian filter EPGF (edge-preserving gaussian filter) at holding edge to described
Target pixel value is filtered processing to obtain filtered target pixel value, and target pixel value is subtracted into filtered target pixel value to obtain
Object pixel difference is obtained, processing is filtered to object pixel difference using EPGF to obtain filtered target pixel value difference, will filter
Ripple target pixel value subtracts filtered target pixel value difference and removes a reference value to obtain haze, and haze removal intensity is multiplied by into haze
Except a reference value to obtain haze removal threshold value, haze is taken to remove the minimum value in threshold value and target pixel value as comparison reference
Value, takes atmospheric scattering light value of the maximum in comparison reference and 0 as each 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, and the atmospheric scattering light value of each pixel divided by overall air light value are removed into value to obtain, and 1 is subtracted described
Except value to obtain the medium transfer rate of each pixel；
Sharpening image obtains sub- equipment, and equipment sub- with the region division, the overall air light value obtain sub- equipment and institute
Give an account of the sub- equipment of matter transfer rate acquisition to connect respectively, the medium transfer rate for subtracting each pixel by 1 is incited somebody to action to obtain the first difference
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, the medium transfer rate of second difference divided by each pixel is every to obtain
The sharpening pixel value of one pixel, the pixel value of each pixel is included in the electric energy meter image in the electric energy meter image
The R of each pixel, G, the Color Channel pixel values of B tri-, correspondingly, the sharpening pixel value of each pixel of acquisition are included often
The R of one pixel, G, the Color Channel sharpening pixel values of B tri-, the sharpening pixel value composition of all pixels remove haze electric energy meter
Image.
The Big Dipper omniselector 1 provides 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
Member and pointer position determining unit；
The median filter unit is connected with the sharpening processing equipment 6, for removing haze electric energy meter image filtering to described
To export filtering image；
The pretreatment unit is connected with the median filter unit, for carrying out gray processing processing to the filtering image with defeated
Go out gray level image；
The object-recognition unit is connected respectively with the pretreatment unit and the mobile hard disk, by the gray level image
Pixel of the gray value between the electric energy meter upper limit gray threshold and the electric energy meter lower limit gray threshold identifies and forms electricity
Can table dial plate subgraph；
The template matches unit is connected respectively with the object-recognition unit and the mobile hard disk, based on the electric energy meter
The target electric energy meter template of plate image match query in all kinds of electric energy meter templates that the mobile hard disk stores, provide described
Maximum scale, minimum scale and the pointer model of target electric energy meter template；
The pointer position determining unit is connected respectively with the object-recognition unit and the template matches unit, based on described
With the gauge pointer of the pointer Model Matching in electric energy meter plate image described in electric energy meter plate image recognition, calculate and know
The gauge pointer and the pointer angle of horizontal direction being clipped to, the maximum scale and the minimum scale and level side are calculated respectively
To maximum scale angle and minimum scale angle, according to pointer angle between maximum scale angle and minimum scale angle
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 is sent, 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 master controller 5 is sent
Star control instruction, the Big Dipper control instruction include 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 is sent
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 to be flashed predetermined time by preset frequency
Number, to prompt site administrator；Alternatively, institute's speech recognizer includes sound sensor unit and voice recognition chip, institute
State sound sensor unit to be used to site administrator's voice being converted to 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 can realize image by a series of images processing equipment remove haze, it is clear to obtain
The image of change, improve the visibility of image.These image processing equipments perform different image processing functions respectively, based on haze
The principle of formation, reach the effect for removing haze.The sharpening processing 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.
Some be present effectively and by testing in the solution for overall air light value and the medium transfer rate of each pixel
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 to pixel value of each pixel in haze image
The Gaussian smoothing filter at edge is kept twice and is obtained, and therebetween, the intensity that haze removes is adjustable；And the acquisition of overall air light value
Mode has two kinds, and a kind of mode is, can be by obtaining black channel (i.e. in haze image some pixels of haze image
Black channel value it is very low, one kind in the Color Channel of black channel R, G, B tri-), it is black by finding in haze image
The maximum pixel of gray value is found 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 processing of each pixel in haze image as overall air light value；It is in addition, whole
Body atmosphere light value can also obtain 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 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 has been built, has been used
Multiple parameters represent this relation, are then that reducible acquisition definition is higher by the multiple parameter values and haze image of acquisition
Image, because the acquisition of parameter has borrowed some statistical means and empirical means, therefore the higher image of the definition 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 the outdoor electric energy meter meter reading method of the present invention, for electric energy meter reading inconvenience outside the room of existing high voltage electric place
Or the not high technical problem of data precision is read, using network technology and speech recognition technology, by remote location control and short range
Position control combines, 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, sharpening processor is introduced 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.
It is understood that although the present invention is disclosed as above with preferred embodiment, but above-described embodiment and it is not used to
Limit the present invention.For any those skilled in the art, without departing from the scope of the technical proposal of the invention,
Many possible changes and modifications are all made to technical solution of the present invention using the technology contents of the disclosure above, or are revised as
With the equivalent embodiment of change.Therefore, every content without departing from technical solution of the present invention, the technical spirit pair according to the present invention
Any simple modifications, equivalents, and modifications made for any of the above embodiments, still fall within the scope of technical solution of the present invention protection
It is interior.
Claims (3)
- A kind of 1. method of work of outdoor electric energy meter meter reading robot, it is characterised in that including the Big Dipper omniselector, mobile hard disk, CMOS vision sensors, Recognition of Reading device and master controller, wherein the Big Dipper omniselector is defended for receiving the Big Dipper navigation Star provides, the current Big Dipper sing data of the robot；The mobile hard disk is used to prestore all kinds of electric energy meter templates, with And for prestoring maximum scale, minimum scale and the pointer model of every a kind of electric energy meter template；The CMOS visual sensings Device is used to shoot electric energy meter image；The Recognition of Reading device is connected with to the electric energy meter image with the CMOS vision sensors Perform image procossing；The master controller is connected with the Big Dipper omniselector to control the advanced positions of the robot, also It is connected respectively with the mobile hard disk and the Recognition of Reading device, for controlling the automatic meter reading of the robot；Described image processing includes carrying out the electric energy meter image haze processing to obtain the step of 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 connects respectively, decided whether to be switched to the sun according to battery dump energy To be powered by the solar powered device, the electric pressure converter connects energy power supply device 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 based on electric signal generation voice Control instruction；Wireless communication interface, the power supply management platform wireless connection with distal end are described long-range with wireless receiving remote control commands Control instruction includes the Big Dipper control instruction；Robot driving mechanism, it is connected with the master controller, under the control of the master controller, driving the machine The behavior act of people, the behavior act include 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 processing is carried out to the electric energy meter image to obtain haze electric energy meter image, haze electric energy is removed by described Table image inputs 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 It is worth 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 detection electric energy meter position in real time, 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, the CMOS vision sensors is connected to receive the electric energy meter image, to the electric energy meter figure As carrying out gray processing processing to obtain gray processing electric energy meter image, also it is connected with storing sub- equipment, 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 identified and formed in image Gray processing sky sub-pattern, the gray processing sky sub-pattern is partitioned into from the gray processing electric energy meter image to obtain gray processing Non- sky subgraph, the position based on the non-sky subgraph of the gray processing in the electric energy meter image obtain and the gray scale Change colored non-sky subgraph corresponding to non-sky subgraph；Black channel obtains sub- equipment, is connected with the sub- equipment of the region division to obtain the non-sky subgraph of the colour, pin To each pixel in the non-sky subgraph of the colour, its R, the Color Channel pixel value of G, B tri-, in the non-day of colour 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 with storing sub- equipment to obtain the presetted pixel value threshold value, also with it is described The sub- equipment of region division and the black channel obtain sub- equipment and connected respectively to obtain the electric energy meter image and the black Passage, multiple pixels composition that black channel pixel value in the electric energy meter image is more than or equal to presetted pixel value threshold value are to be checked Set of pixels is tested, using the gray value of the pixel in the set of pixels to be tested with maximum gradation value as overall air light value；Or, The gray value of each pixel in haze image is calculated, using the gray value of the maximum pixel of gray value as overall air light valueAtmospheric scattering light value obtains sub- equipment, and equipment sub- with the region division and the sub- equipment of haze Concentration Testing connect respectively Connect, to each pixel of the electric energy meter image, extract its R, minimum value is as target picture in the Color Channel pixel value of G, B tri- Element value, processing is filtered to the target pixel value to obtain filtering mesh using the Gaussian filter EPGF at edge is kept Pixel value is marked, target pixel value is subtracted into filtered target pixel value to obtain object pixel difference, using EPGF to object pixel Difference be filtered processing to obtain filtered target pixel value difference, by filtered target pixel value subtract filtered target pixel value difference with Obtain haze and remove a reference value, haze removal intensity is multiplied by into haze removes a reference value to obtain haze removal threshold value, takes haze The minimum value in threshold value and target pixel value is removed as comparison reference, takes the maximum in comparison reference and 0 as every The atmospheric scattering light value of one 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, and the atmospheric scattering light value of each pixel divided by overall air light value are removed into value to obtain, and 1 is subtracted described Except value to obtain the medium transfer rate of each pixel；Sharpening image obtains sub- equipment, and equipment sub- with the region division, the overall air light value obtain sub- equipment and institute Give an account of the sub- equipment of matter transfer rate acquisition to connect respectively, the medium transfer rate for subtracting each pixel by 1 is incited somebody to action to obtain the first difference 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, the medium transfer rate of second difference divided by each pixel is every to obtain The sharpening pixel value of one pixel, the pixel value of each pixel is included in the electric energy meter image in the electric energy meter image The R of each pixel, G, the Color Channel pixel values of B tri-, correspondingly, the sharpening pixel value of each pixel of acquisition are included often The R of one pixel, G, the Color Channel sharpening pixel values of B tri-, the sharpening pixel value composition of all pixels remove haze electric energy meter Image；The Recognition of Reading device also includes median filter unit, pretreatment unit, object-recognition unit, template matches unit and referred to Pin position determination unit, the median filter unit are connected with the sharpening processing equipment, for removing haze electric energy to described Table image filtering is to export filtering image, and the pretreatment unit is connected with the median filter unit, for the filtering Image carries out gray processing processing with output gray level image, the object-recognition unit and the pretreatment unit and the movement Hard disk connects 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 identifies and forms electric energy meter plate image, the template matches unit and the target identification list First and described mobile hard disk connects respectively, all kinds of electric energy stored based on the electric energy meter plate image in the mobile hard disk The target electric energy meter template of match query in table template, provide the maximum scale of the target electric energy meter template, minimum scale and Pointer model, the pointer position determining unit are connected respectively with the object-recognition unit and the template matches unit, base In electric energy meter plate image described in the electric energy meter plate image recognition with the gauge pointer of the pointer Model Matching, Calculate the pointer angle of the gauge pointer that recognizes 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 realized；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 connect respectively, according to the phonetic control command or described long-range Control instruction controls the robot driving mechanism, and the master controller receives the outdoor electric energy meter that the Recognition of Reading device is sent 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, and the remote control commands advance to target for robot described in coarse adjustment Meter reading position, the phonetic control command advance 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 is sent Instruction, the Big Dipper control instruction include 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 is sent；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, with prompting Site administrator.
- 2. the method as described in claim 1, wherein the speech recognition device includes sound sensor unit and voice recognition chip, The sound sensor unit is used to site administrator's voice being converted to electric signal, and the voice recognition chip connects the sound Sound sensing unit, for generating phonetic control command based on the electric signal.
- 3. the method as described in claim 1, wherein the voice recognition chip uses the LD3320 chips of ICRoute companies.
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| 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 |
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| CN201510152733.1A CN104777836B (en) | 2015-04-01 | 2015-04-01 | Outdoor electric energy meter meter reading method |
| 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 |
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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 |
| CN201510152733.1A Active CN104777836B (en) | 2015-04-01 | 2015-04-01 | Outdoor electric energy meter meter reading method |
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| CN201510152733.1A Active CN104777836B (en) | 2015-04-01 | 2015-04-01 | Outdoor electric energy meter meter reading method |
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| CN104714068B (en) * | 2015-04-01 | 2016-10-26 | 哈尔滨汇鑫仪器仪表有限责任公司 | Robot to outdoor electric energy meter meter reading |
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| 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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| CN102170574B (en) * | 2011-05-23 | 2012-12-26 | 北京工业大学 | Real-time video defogging system |
| CN103177548A (en) * | 2011-12-23 | 2013-06-26 | 西安迅腾科技有限责任公司 | Multifunctional wireless transmission handheld meter reading device |
| MA35076B1 (en) * | 2012-09-17 | 2014-05-02 | Ezzitoni Khiyari | The method of supplying stairway lighting to AC at each building counter. |
| CN202949514U (en) * | 2012-12-11 | 2013-05-22 | 山西省电力公司大同供电分公司 | Electronic meter reading instrument |
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- 2015-04-01 CN CN201710395044.2A patent/CN107423751A/en not_active Withdrawn
- 2015-04-01 CN CN201710360393.0A patent/CN106965186A/en not_active Withdrawn
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103049888A (en) * | 2012-12-07 | 2013-04-17 | 西安电子科技大学 | Image/video demisting method based on combination of dark primary color of atmospheric scattered light |
| 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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| CN104777836A (en) | 2015-07-15 |
| CN106965186A (en) | 2017-07-21 |
| CN104777836B (en) | 2017-06-27 |
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Application publication date: 20171201 |