CN111590639A - Automatic light supplementing system and method for transformer substation inspection robot and inspection robot - Google Patents
Automatic light supplementing system and method for transformer substation inspection robot and inspection robot Download PDFInfo
- Publication number
- CN111590639A CN111590639A CN202010511552.4A CN202010511552A CN111590639A CN 111590639 A CN111590639 A CN 111590639A CN 202010511552 A CN202010511552 A CN 202010511552A CN 111590639 A CN111590639 A CN 111590639A
- Authority
- CN
- China
- Prior art keywords
- brightness
- control module
- light supplementing
- light
- inspection robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
-
- 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
Abstract
The invention provides an automatic light supplementing system of a transformer substation inspection robot, which comprises a detection module, a control module, a light supplementing lamp and a storage module, wherein the output end of the detection module is connected with the input end of the control module, the output end of the control module is connected with the input end of the light supplementing control module, and the output end of the light supplementing control module is connected with the input end of the light supplementing lamp; the storage module is bidirectionally connected with the control module; the storage module stores the optimal shooting environment brightness corresponding to each inspection device in the substation equipment room. The invention also provides an automatic light supplementing method, which is characterized in that the current ambient brightness is acquired and compared with the optimal shooting ambient brightness, the brightness adjusting range of the light supplementing lamp is calculated according to a preset light brightness adjusting strategy, so that automatic light supplementing and brightness adjusting are realized, the shooting ambient brightness of the inspection robot in the shooting process is dynamically adjusted to the optimal brightness, and a shooting environment with stable brightness is provided for the inspection operation of the inspection robot.
Description
Technical Field
The invention relates to the technical field of intelligent detection equipment, in particular to an automatic light supplementing system and method for a transformer substation inspection robot and an inspection robot.
Background
In the routine inspection process of the transformer substation inspection robot, the transformer substation equipment is shot by using the visible light camera, the shot image is compared with the template picture in the normal state, the running state of the equipment is judged, and the equipment abnormality is found. When the robot shoots, the ambient brightness is strong and weak, and the picture effect of the robot shooting equipment is directly influenced. When the intensity of the environment is changed greatly, the difference between the daily tour shot picture and the template picture is also large, the robot system can misjudge the equipment state, and an incorrect recognition result is provided. Especially, the secondary equipment identification point positions of the relay protection room of the transformer substation are small and dense, the state result of the robot identification equipment is greatly influenced by the intensity of the ambient brightness, and according to the actual operation condition of a field, 90% of the false alarm point positions of the robot system are influenced by lamplight to cause identification errors.
At present, a light supplement lamp and a visible light camera are mainly adopted to be matched for use, so that the accuracy of the state of the robot recognition equipment is guaranteed. For example, patent publication No. CN109049007A discloses that a fill-in light is provided on the outer surface of the front end of the camera platform to increase the scene brightness and enhance the shooting effect. However, the problem that the brightness of the light supplement lamp cannot be adjusted according to the brightness of the shooting environment and the stable brightness environment in the inspection process of the robot cannot be provided exists.
Disclosure of Invention
The invention provides an automatic light supplementing system and method for a transformer substation inspection robot and an inspection robot with the automatic light supplementing system for the transformer substation inspection robot, aiming at overcoming the defect that the light supplementing lamp in the prior art cannot adjust the brightness of the transformer substation inspection robot according to the brightness of the shooting environment.
In order to solve the technical problems, the technical scheme of the invention is as follows:
an automatic light supplementing system of a transformer substation inspection robot comprises a detection module, a control module, a light supplementing lamp and a storage module, wherein the output end of the detection module is connected with the input end of the control module, the output end of the control module is connected with the input end of the light supplementing control module, and the output end of the light supplementing control module is connected with the input end of the light supplementing lamp; the storage module is bidirectionally connected with the control module; the storage module stores the optimal shooting environment brightness corresponding to each inspection device in the substation equipment room.
In the using process, the inspection robot moves to the position of target inspection equipment after receiving an inspection task, and the detection module acquires a current environment brightness signal and then sends the current environment brightness signal to the control module; the control module reads the optimal shooting environment brightness of the target inspection equipment from the storage module according to the inspection task, calculates the brightness adjustment amplitude of the light supplement lamp according to the current environment brightness signal sent by the detection module and the read optimal shooting environment brightness and a preset light brightness adjustment strategy, and sends the light supplement lamp brightness adjustment amplitude to the light supplement control module; and the light supplementing control module adjusts the brightness of the light supplementing lamp according to the received light supplementing lamp brightness adjusting amplitude.
The detection module is used for collecting the brightness of the current shooting environment, the control module is used for carrying out logic judgment on the collected brightness and calculating the brightness adjusting amplitude of the light supplementing lamp, and the light supplementing control module is used for adjusting the brightness of the light supplementing lamp according to the calculating result of the control module. In the technical scheme, the shooting environment with the shooting environment brightness approaching to the optimal shooting environment brightness is provided for the robot inspection through detecting the environment brightness and automatically adjusting the brightness of the light supplement lamp.
Preferably, the detection module comprises an illumination sensor and an a/D converter, an output end of the illumination sensor is connected with an input end of the a/D converter, and an output end of the a/D converter is connected with an input end of the control module as an output end of the detection module.
Preferably, the illumination sensor comprises several photodetectors.
Preferably, a maximum light supplement lamp brightness adjustment amplitude threshold is preset in the control module, and the maximum light supplement lamp brightness adjustment amplitude threshold is larger than the designed illumination of the current substation equipment room.
The invention also provides an automatic light supplementing method of the transformer substation inspection robot, which is applied to the automatic light supplementing system of the transformer substation inspection robot and specifically comprises the following steps:
s1: the inspection robot moves to a target inspection equipment position after receiving an inspection task, and a detection module is adopted to collect a current environment brightness signal and then send the current environment brightness signal to a control module;
s2: the control module reads the optimal shooting environment brightness L corresponding to the target inspection equipment from the storage module according to the target inspection equipment name of the inspection task1Then according to the current environment brightness signal sent by the detection module and the optimal shooting environment brightness L read by the detection module1Calculating the brightness adjusting amplitude of the light supplementing lamp according to a preset light brightness adjusting strategy and sending the light supplementing lamp brightness adjusting amplitude to the light supplementing control module;
s3: and the light supplementing control module adjusts the brightness of the light supplementing lamp according to the received light supplementing lamp brightness adjusting amplitude.
Preferably, the step of S1 further includes the steps of: the inspection robot carries out recognition template shooting on all target inspection equipment in the equipment room, records the ambient brightness when each target inspection equipment is shot and stores the ambient brightness in the storage module.
Preferably, the step of S2 further includes the steps of: the control module converts the received current environment brightness signal into a brightness value, and the calculation formula is as follows:
L2＝Ch0×0.46×(e-3.13R)
R＝Ch1/Ch0
wherein L is2A luminance value representing a conversion from the collected current ambient luminance signal; ch0And Ch1Respectively representing the numerical values collected by the probes of the photoelectric sensors in the detection module; r represents Ch0And Ch1The ratio of (a) to (b).
Preferably, the step of S2 further includes the steps of: the control module completes the conversion of the current environment brightness value L2Optimum shooting environment brightness L read from it1Comparing to calculate the brightness difference L3＝L2-L1And the method is applied to calculating the brightness adjusting amplitude of the light supplementing lamp according to the light brightness adjusting strategy; wherein, the light brightness adjustment strategy that presets among the control module includes: the control module judges the brightness difference L3If the light is larger than or equal to 0, the light supplement is not executed; and if not, calculating the brightness adjusting amplitude of the light supplementing lamp and sending the brightness adjusting amplitude to the light supplementing control module.
Preferably, in the step S3, the light supplement control module adjusts the brightness of the light supplement lamp by adjusting the output power of the light supplement lamp.
The invention also provides an inspection robot, which is provided with the automatic light supplementing system of the inspection robot for the transformer substation.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that: through detecting the ambient brightness of patrolling and examining the robot at present, adjust the luminance of light filling lamp according to the best shooting ambient brightness of predetermineeing, can provide the stable shooting environment of luminance for patrolling and examining the operation of patrolling and examining the robot, guarantee to patrol and examine the shooting ambient brightness dynamic adjustment of robot in the shooting process kind and be the optimum luminance.
Drawings
Fig. 1 is a schematic structural diagram of an automatic light supplementing system of a substation inspection robot in embodiment 1.
Fig. 2 is a flowchart of an automatic light supplementing method for the substation inspection robot according to embodiment 2.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
Example 1
The embodiment provides an automatic light supplementing system of a transformer substation inspection robot, which is shown in fig. 1 and is a schematic structural diagram of the automatic light supplementing system of the transformer substation inspection robot of the embodiment.
The automatic light supplementing system of the transformer substation inspection robot provided by the embodiment comprises a detection module 1, a control module 2, a light supplementing control module 3, a light supplementing lamp 4 and a storage module 5, wherein the output end of the detection module 1 is connected with the input end of the control module 2, the output end of the control module 2 is connected with the input end of the light supplementing control module 3, and the output end of the light supplementing control module 3 is connected with the input end of the light supplementing lamp 4; the storage module 5 is bidirectionally connected with the control module 2; the storage module 2 stores the optimal shooting environment brightness corresponding to each inspection device in the substation equipment room.
In this embodiment, the detection module 1 includes an illumination sensor 11 and an a/D converter 12, an output end of the illumination sensor 11 is connected to an input end of the a/D converter 12, and an output end of the a/D converter 12 is connected to an input end of the control module 2 as an output end of the detection module 1. In addition, the illumination sensor 11 in this embodiment employs 2 photodetectors for collecting an ambient brightness signal, wherein the illumination sensor 11 converts a collected brightness detection value into a digital signal through an a/D converter, and then transmits the digital signal to the control module 2 for further processing.
In this embodiment, the control module 2 has preset the maximum light supplement lamp brightness adjustment amplitude threshold value, and the preset maximum light supplement lamp brightness adjustment amplitude threshold value is greater than the design illuminance in the current substation equipment room, and is used for ensuring that the light supplement system meets the light supplement intensity adjustment requirement of the equipment room in the inspection target shooting environment.
In the specific implementation process, before the inspection robot executes the inspection task, all target inspection equipment in the equipment room is subjected to template recognition shooting, the ambient brightness of each target inspection equipment during shooting is recorded, and the brightness is the optimal shooting ambient brightness of the target inspection equipment and is stored in the storage module. The shot identification template is used for carrying out comparison analysis on the inspection equipment image shot in the inspection process of the inspection robot, judging the running state of the equipment and finding the abnormality of the equipment.
In the inspection process, when the inspection robot moves to the position of the target inspection equipment after receiving an inspection task, the illumination sensor 11 in the detection module 1 senses the current ambient brightness, converts the current ambient brightness into a digital signal through the A/D converter 12, and then sends the digital signal to the control module 2. The control module 2 reads the optimal shooting environment brightness of the target inspection equipment from the storage module 5 according to the target inspection equipment information in the current inspection task; the control module 2 calculates the luminance adjustment amplitude of the light supplement lamp according to the current ambient luminance signal sent by the detection module 1 and the read optimal shooting ambient luminance and a preset light luminance adjustment strategy, and then sends the light supplement lamp to the light supplement control module 3; and the light supplementing control module 3 adjusts the brightness of the light supplementing lamp 4 according to the received light supplementing lamp brightness adjusting amplitude.
The preset light brightness adjusting strategy in the control module 2 is as follows: judging that the difference value between the current environment brightness and the optimal shooting environment brightness is greater than or equal to 0, if so, indicating that the current shooting environment brightness meets the shooting requirement, and not executing light supplement; if not, the current shooting environment does not meet the shooting requirement, the control module 2 calculates the brightness adjustment amplitude of the light supplement lamp and sends the brightness adjustment amplitude to the light supplement control module 3, and the light supplement lamp 4 is controlled by the light supplement control module 3 to adjust the luminosity.
In this embodiment, through detection module 1, control module 2, light filling control module 3, light filling lamp 4, automatic light filling system is constituteed to storage module 5, the realization is patrolled and examined the robot and is shot the target and gather current ambient brightness and carry out light filling and adjustting of the lighteness automatically when patrolling and examining equipment, guarantee to patrol and examine the shooting ambient brightness dynamic adjustment of robot at the shooting process kind and be optimum luminance, and when current shooting ambient brightness satisfies the requirement, the light filling lamp is out of work, can effectively reduce the electric energy extravagant, the life of light filling lamp has been improved.
The automatic light supplementing system of the transformer substation inspection robot can be carried on any type of inspection robot for use, and provides a stable-brightness shooting environment for inspection operation of the inspection robot.
Example 2
The embodiment provides an automatic light supplementing method for a substation inspection robot, which is applied to the automatic light supplementing system for the substation inspection robot provided in embodiment 1. As shown in fig. 2, a flowchart of the method for automatically supplementing light to the substation inspection robot in this embodiment is shown.
In the automatic light supplementing method for the substation inspection robot provided by the embodiment, the method specifically comprises the following steps:
s1: the inspection robot moves to the position of target inspection equipment after receiving the inspection task, acquires a current environment brightness signal by using the detection module 1, and then sends the current environment brightness signal to the control module 2.
In this step, the method further comprises the following steps: before the inspection robot executes an inspection task, all target inspection equipment in the equipment room is subjected to template recognition shooting, the ambient brightness of each target inspection equipment during shooting is recorded, the brightness is the optimal shooting ambient brightness of the target inspection equipment, and the brightness is stored in the storage module 5.
S2: the control module 2 reads the optimal shooting environment brightness L corresponding to the target inspection equipment from the storage module 5 according to the target inspection equipment name of the inspection task1Then according to the detectionCurrent ambient brightness signal sent by measurement module and optimal shooting ambient brightness L read by current ambient brightness signal1And calculating the brightness adjusting amplitude of the light supplementing lamp according to a preset light brightness adjusting strategy and sending the light supplementing lamp to the light supplementing control module.
In this step, specifically, the control module 2 reads the optimal shooting environment brightness L corresponding to the target inspection device from the storage module 5 according to the target inspection device name of the inspection task1(ii) a Then, the received current environment brightness signal is converted into a brightness value, and the calculation formula is as follows:
L2＝Ch0×0.46×(e-3.13R)
R＝Ch1/Ch0
wherein L is2A luminance value representing a conversion from the collected current ambient luminance signal; ch0And Ch1Respectively representing the numerical values collected by the probes of the photoelectric sensors in the detection module; r represents Ch0And Ch1The ratio of (A) to (B);
then, the control module 2 will complete the converted current environment brightness value L2Optimum shooting environment brightness L read from it1Comparing to calculate the brightness difference L3＝L2-L1The control module 2 is used for controlling the brightness difference value L according to the brightness difference value3And calculating the brightness adjusting amplitude of the light supplementing lamp by using a preset light brightness adjusting strategy. The preset light brightness adjusting strategy in the control module 2 is as follows: the control module 2 judges the brightness difference L3If the light is larger than or equal to 0, the light supplement is not executed; if not, the brightness adjusting amplitude of the light supplementing lamp is calculated and sent to the light supplementing control module 3.
S3: and the light supplementing control module adjusts the brightness of the light supplementing lamp according to the received light supplementing lamp brightness adjusting amplitude.
In this embodiment, the light supplement control module 3 adjusts the brightness of the light supplement lamp 4 by adjusting the output power of the light supplement lamp 4.
The automatic light supplementing method for the inspection robot of the transformer substation can achieve automatic light supplementing and brightness adjustment in the process of shooting of the inspection robot, and provides a stable-brightness shooting environment for inspection operation of the inspection robot.
The same or similar reference numerals correspond to the same or similar parts;
the terms describing positional relationships in the drawings are for illustrative purposes only and are not to be construed as limiting the patent;
it should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. An automatic light supplementing system of a transformer substation inspection robot is characterized by comprising a detection module, a control module, a light supplementing lamp and a storage module, wherein the output end of the detection module is connected with the input end of the control module, the output end of the control module is connected with the input end of the light supplementing control module, and the output end of the light supplementing control module is connected with the input end of the light supplementing lamp; the storage module is bidirectionally connected with the control module; the storage module stores the optimal shooting environment brightness of each inspection device;
the inspection robot moves to a target inspection equipment position after receiving an inspection task, and the detection module acquires a current environment brightness signal and then sends the current environment brightness signal to the control module; the control module reads the optimal shooting environment brightness of the target inspection equipment from the storage module according to the inspection task, then calculates the brightness adjustment range of the light supplement lamp according to the current environment brightness signal sent by the detection module and the read optimal shooting environment brightness and a preset light brightness adjustment strategy, and then sends the light supplement lamp to the light supplement control module; and the light supplementing control module adjusts the brightness of the light supplementing lamp according to the brightness adjustment amplitude of the received light supplementing lamp.
2. The substation inspection robot automatic light supplementing system according to claim 1, characterized in that: the detection module comprises an illumination sensor and an A/D converter, the output end of the illumination sensor is connected with the input end of the A/D converter, and the output end of the A/D converter is used as the output end of the detection module and connected with the input end of the control module.
3. The substation inspection robot automatic light supplementing system according to claim 2, characterized in that: the illumination sensor includes a number of photodetectors.
4. The automatic light supplementing method for the substation inspection robot according to claim 1, characterized in that: the control module is preset with a maximum light supplement lamp brightness adjustment amplitude threshold value, and the maximum light supplement lamp brightness adjustment amplitude threshold value is larger than the current indoor design illumination of the substation equipment.
5. The automatic light supplementing method for the transformer substation inspection robot is characterized by comprising the following steps of:
s1: the inspection robot moves to a target inspection equipment position after receiving an inspection task, and a detection module is adopted to collect a current environment brightness signal and then send the current environment brightness signal to a control module;
s2: the control module reads the optimal shooting environment brightness L of the target inspection equipment from the storage module according to the inspection task1Then according to the current environment brightness signal sent by the detection module and the read optimal shooting environment brightness L1Calculating the brightness adjusting amplitude of the light supplementing lamp according to a preset light brightness adjusting strategy and sending the light supplementing lamp brightness adjusting amplitude to the light supplementing control module;
s3: and the light supplementing control module adjusts the brightness of the light supplementing lamp according to the received light supplementing lamp brightness adjusting amplitude.
6. The automatic light supplementing method for the substation inspection robot according to claim 5, characterized in that: in the step S1, the method further includes the steps of: the inspection robot carries out template recognition shooting on all target inspection equipment in the equipment room, records the ambient brightness of each target inspection equipment when shooting, and stores the ambient brightness in the storage module.
7. The automatic light supplementing method for the substation inspection robot according to claim 5, characterized in that: in the step S2, the method further includes the steps of: the control module converts the received current environment brightness signal into a brightness value, and the calculation formula is as follows:
L2＝Ch0×0.46×(e-3.13R)
R＝Ch1/Ch0
wherein L is2A luminance value representing a conversion from the collected current ambient luminance signal; ch0And Ch1Respectively representing the numerical values collected by the probes of the photoelectric sensors in the detection module; r represents Ch0And Ch1The ratio of (a) to (b).
8. The automatic light supplementing method for the substation inspection robot according to claim 7, characterized in that: in the step S2, the method further includes the steps of:
the control module completes the conversion of the current environment brightness value L2Optimum shooting environment brightness L read from it1Comparing to calculate the brightness difference L3＝L2-L1And the method is applied to calculating the brightness adjusting amplitude of the light supplementing lamp according to the light brightness adjusting strategy; the preset light brightness adjusting strategy in the control module comprises the following steps: the control module judges the brightness difference value L3If the light is larger than or equal to 0, the light supplement is not executed; and if not, calculating the brightness adjusting amplitude of the light supplementing lamp and sending the brightness adjusting amplitude to the light supplementing control module.
9. The automatic light supplementing method for the substation inspection robot according to claim 5, characterized in that: in the step S3, the light supplement control module adjusts the brightness of the light supplement lamp by adjusting the output power of the light supplement lamp.
10. An inspection robot is characterized in that the automatic light supplementing system of the inspection robot for the transformer substation is mounted according to any one of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010511552.4A CN111590639A (en) | 2020-06-08 | 2020-06-08 | Automatic light supplementing system and method for transformer substation inspection robot and inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010511552.4A CN111590639A (en) | 2020-06-08 | 2020-06-08 | Automatic light supplementing system and method for transformer substation inspection robot and inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111590639A true CN111590639A (en) | 2020-08-28 |
Family
ID=72180096
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010511552.4A Pending CN111590639A (en) | 2020-06-08 | 2020-06-08 | Automatic light supplementing system and method for transformer substation inspection robot and inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111590639A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112543272A (en) * | 2020-12-07 | 2021-03-23 | 杭州申昊科技股份有限公司 | Transformer substation inspection camera device with light regulation function and method |
| CN112549040A (en) * | 2020-11-17 | 2021-03-26 | 广东电网有限责任公司中山供电局 | Pressing plate state inspection robot |
| CN114554105A (en) * | 2022-04-27 | 2022-05-27 | 深圳比特微电子科技有限公司 | Method and device for controlling light supplement lamp, camera and storage medium |
| CN114723743A (en) * | 2022-05-16 | 2022-07-08 | 中国信息通信研究院 | Block chain-based power distribution equipment safety detection method and device |
| CN115955599A (en) * | 2023-02-07 | 2023-04-11 | 国网江苏省电力有限公司南通供电分公司 | Image acquisition device for intelligent patrol robot for machine room |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1645071A (en) * | 2004-01-22 | 2005-07-27 | 株式会社电装 | Photodetector |
| CN1755793A (en) * | 2004-09-29 | 2006-04-05 | 南京Lg同创彩色显示系统有限责任公司 | Display device capable of automatically adjusting brightness and adjusting method thereof |
| KR20160125835A (en) * | 2015-04-22 | 2016-11-01 | 송제민 | Smart robot plant |
| CN109685709A (en) * | 2018-12-28 | 2019-04-26 | 深圳市商汤科技有限公司 | A kind of illumination control method and device of intelligent robot |
| CN110351479A (en) * | 2019-05-30 | 2019-10-18 | 华为技术有限公司 | Light supplement control method, light filling lamp fitting and electronic equipment |
-
2020
- 2020-06-08 CN CN202010511552.4A patent/CN111590639A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1645071A (en) * | 2004-01-22 | 2005-07-27 | 株式会社电装 | Photodetector |
| CN1755793A (en) * | 2004-09-29 | 2006-04-05 | 南京Lg同创彩色显示系统有限责任公司 | Display device capable of automatically adjusting brightness and adjusting method thereof |
| KR20160125835A (en) * | 2015-04-22 | 2016-11-01 | 송제민 | Smart robot plant |
| CN109685709A (en) * | 2018-12-28 | 2019-04-26 | 深圳市商汤科技有限公司 | A kind of illumination control method and device of intelligent robot |
| CN110351479A (en) * | 2019-05-30 | 2019-10-18 | 华为技术有限公司 | Light supplement control method, light filling lamp fitting and electronic equipment |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112549040A (en) * | 2020-11-17 | 2021-03-26 | 广东电网有限责任公司中山供电局 | Pressing plate state inspection robot |
| CN112543272A (en) * | 2020-12-07 | 2021-03-23 | 杭州申昊科技股份有限公司 | Transformer substation inspection camera device with light regulation function and method |
| CN114554105A (en) * | 2022-04-27 | 2022-05-27 | 深圳比特微电子科技有限公司 | Method and device for controlling light supplement lamp, camera and storage medium |
| CN114554105B (en) * | 2022-04-27 | 2022-08-02 | 深圳比特微电子科技有限公司 | Method and device for controlling light supplement lamp, camera and storage medium |
| CN114723743A (en) * | 2022-05-16 | 2022-07-08 | 中国信息通信研究院 | Block chain-based power distribution equipment safety detection method and device |
| CN115955599A (en) * | 2023-02-07 | 2023-04-11 | 国网江苏省电力有限公司南通供电分公司 | Image acquisition device for intelligent patrol robot for machine room |
| CN115955599B (en) * | 2023-02-07 | 2023-10-20 | 国网江苏省电力有限公司南通供电分公司 | Image acquisition device for intelligent inspection robot for machine room |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111590639A (en) | Automatic light supplementing system and method for transformer substation inspection robot and inspection robot | |
| US8031261B2 (en) | Image pickup apparatus with backlight correction and a method therefor | |
| CN105188203B (en) | A kind of control device and its control method of tri-state image lamp | |
| AU2019390444A1 (en) | Tower clearance monitoring system and method therefor | |
| KR20090127648A (en) | Apparatus and method for operating monitoring camera using according to external environmental conditions | |
| CN205546153U (en) | Damage detecting system based on street lamp | |
| CN217879639U (en) | Inspection equipment and inspection system | |
| CN110174133A (en) | A kind of nature lightning discharge process monitoring system | |
| CN109945976A (en) | Binocular imaging detection device and detection method | |
| CN114051093B (en) | Portable navigation mark lamp field detection system based on image processing technology | |
| CN111556171A (en) | Intelligent inspection system and robot | |
| CN112543272B (en) | Transformer substation inspection camera device with light regulation function and method | |
| CN110031041A (en) | A kind of nature lightning discharge sound, light, electricity, the more physical processes of magnetic monitor systems | |
| CN105893995A (en) | Children recognition system in elevator car | |
| CN112348990A (en) | Power equipment inspection system | |
| CN108366210B (en) | Unmanned aerial vehicle and unmanned aerial vehicle control method | |
| CN207993227U (en) | A kind of Zigbee wireless sensing devices of detection water body color | |
| CN103185869A (en) | Device and method of monitoring scrapping of light emitting diode (LED) light source on line | |
| CN113747638B (en) | Internet of things communication data processing method for intelligent lamp post | |
| CN215298410U (en) | Invasion identification system | |
| CN106161983A (en) | A kind of monitoring system with light supply | |
| CN113115005A (en) | Internet of things linkage camera | |
| CN201717993U (en) | Monitoring system capable of regulating illuminating brightness | |
| CN105858392A (en) | In-car children recognition system | |
| CN205491332U (en) | Outdoor LED lighting system of infrared two responses of video |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200828 |