CN114627316B - Hydraulic system oil leakage detection method based on artificial intelligence - Google Patents
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Abstract
The invention relates to an oil leakage detection method of a hydraulic system based on artificial intelligence, and belongs to the field of oil leakage detection of the hydraulic system. The method comprises the following steps: acquiring RGB images of a lower ground area of a hydraulic system, and performing HSV conversion processing on the RGB images of the lower ground area of the hydraulic system to obtain HSV images of the lower ground area of the hydraulic system; judging a suspected hydraulic oil leakage area in an RGB image of the ground area under the hydraulic system according to the lightness and saturation of each pixel point in the HSV image of the ground area under the hydraulic system; calculating the difference value between the texture complexity of the suspected hydraulic oil leakage area and the standard texture complexity of the corresponding area when no leakage occurs, and judging whether the difference value is greater than a set complexity difference value threshold value or not; and if the complexity difference is greater than the set complexity difference threshold, judging that the hydraulic oil leakage fault occurs in the hydraulic system. The invention belongs to an automatic detection method, and solves the problems of human resource consumption, incapability of timely detection and the like existing in dependence on manual detection.
Description
Technical Field
The invention relates to the field of oil leakage detection of hydraulic systems, in particular to an artificial intelligence-based oil leakage detection method of a hydraulic system.
Background
The hydraulic system has high leakage frequency of hydraulic oil, and once the hydraulic oil leaks, the hydraulic oil resource is wasted, the environment is easily polluted, and the hydraulic system cannot work normally. In order to find out the leakage of hydraulic oil in time, the hydraulic system is usually tested by related personnel at intervals, for example, every 1 day.
Whether the method for detecting by means of the related personnel can find out whether the hydraulic oil leakage condition depends on the frequency of manual time-sharing detection to a great extent or not in time can have the following problems: if the detection efficiency is high, although the hydraulic oil leakage condition can be identified in time, large human resources can be consumed; if the detection frequency is lower, although the consumption of manpower resources is reduced, the leakage condition of the hydraulic oil is not easy to find in time, the waste of the hydraulic oil resources and the environmental pollution are caused, and the normal work of a hydraulic system can be influenced when the leakage is serious.
Disclosure of Invention
The invention aims to provide an oil leakage detection method of a hydraulic system based on artificial intelligence, which is used for solving the problems existing in the prior art that whether the hydraulic oil leakage condition of the hydraulic system occurs or not is detected manually.
In order to solve the problems, the technical scheme of the hydraulic system oil leakage detection method based on artificial intelligence comprises the following steps:
acquiring RGB (red, green and blue) images of a ground area under a hydraulic system, and performing HSV (hue, saturation and value) conversion processing on the RGB images of the ground area under the hydraulic system to obtain HSV images of the ground area under the hydraulic system;
judging a suspected hydraulic oil leakage area in an RGB image of the ground area under the hydraulic system according to the lightness and saturation of each pixel point in the HSV image of the ground area under the hydraulic system;
calculating the difference value between the texture complexity of the suspected hydraulic oil leakage area and the standard texture complexity of the corresponding area when no leakage occurs, and judging whether the difference value is greater than a set complexity difference value threshold value or not;
and if the complexity difference is greater than the set complexity difference threshold, judging that the hydraulic oil leakage fault occurs in the hydraulic system.
Has the beneficial effects that: according to the invention, the change of the ground image when the hydraulic oil leakage occurs in the hydraulic oil system is reflected through the pixel point information change and the texture information change of the RGB image in the ground area under the hydraulic system, whether the hydraulic oil leakage occurs in the hydraulic system is detected according to the change of the ground image when the hydraulic oil leakage occurs in the hydraulic oil system, and the detection result is objective and accurate; the invention realizes the detection of the hydraulic oil leakage condition of the hydraulic system based on the RGB image of the ground area under the hydraulic system, belongs to an automatic detection method, and solves the problems of human resource consumption, incapability of timely detection and the like existing in the manual detection.
Further, the determining a suspected hydraulic oil leakage area in an RGB image of the ground area under the hydraulic system according to the lightness and saturation of each pixel point in the HSV image of the ground area under the hydraulic system includes:
calculating pixel judgment indexes corresponding to all pixel points in the HSV image of the ground area under the hydraulic system according to the brightness and the saturation of all the pixel points in the HSV image of the ground area under the hydraulic system;
constructing a gray image according to pixel judgment indexes corresponding to all pixel points in an HSV (hue, saturation, value) image of the ground area under the hydraulic system, wherein the gray value of each pixel point in the gray image is a value obtained by normalizing the corresponding pixel judgment index;
judging whether the gray value of each pixel point in the gray image is larger than a set gray threshold value or not, and taking a connected domain formed by the pixel points of which the gray values are larger than the set gray threshold value as a suspected hydraulic oil leakage area in the gray image; and taking an area corresponding to the suspected hydraulic oil leakage area in the gray level image in the RGB image of the ground area under the hydraulic system as the suspected hydraulic oil leakage area.
Further, calculating a pixel judgment index corresponding to each pixel point in the HSV image of the ground area under the hydraulic system by using the following formula:
wherein, delta k Determining an index S for a pixel corresponding to a kth pixel point in an HSV image of a ground area under a hydraulic system k Corresponding saturation, V, to the kth pixel point in the HSV image of the ground area under the hydraulic system k For the hydraulic systemAnd brightness corresponding to the kth pixel point in the region HSV image.
Further, the method for calculating the texture complexity of the suspected hydraulic oil leakage area comprises the following steps:
constructing a binary group corresponding to each pixel point in the suspected hydraulic oil leakage area according to the gray value of each pixel point in the suspected hydraulic oil leakage area and the mean value of the gray values of the pixel points in the corresponding 8 neighborhoods;
constructing a binary group corresponding to each pixel point at the edge of the suspected hydraulic oil leakage area according to the gray value of each pixel point at the edge of the suspected hydraulic oil leakage area and the mean value of similar pixel points in the corresponding 8 neighborhoods, wherein the similar pixel points are pixel points of which the pixel gradient value relative to the pixel point at the corresponding edge is smaller than a set gradient threshold;
calculating the gray entropy of the suspected hydraulic oil leakage area according to the binary group corresponding to each pixel point in the suspected hydraulic oil leakage area and the binary group corresponding to each pixel point at the edge of the suspected hydraulic oil leakage area, and taking the gray entropy of the suspected hydraulic oil leakage area as the texture complexity of the suspected hydraulic oil leakage area.
Further, the gray entropy of the suspected hydraulic oil leakage area is calculated by using the following formula:
h is the gray entropy of a suspected hydraulic oil leakage area, and N is 1 The number of the pixel points in the suspected hydraulic oil leakage area,
is the jth in the suspected hydraulic oil leakage area 1 The gray value of each pixel point is calculated,
is the jth hydraulic oil leakage area 1 The average value of the gray levels of the pixel points in 8 neighborhoods corresponding to each pixel point,
is composed of
Number of occurrences, N 2 The number of the edge pixel points in the suspected hydraulic oil leakage area,
is the j-th suspected hydraulic oil leakage area 2 The gray value of the pixel points at each edge,
is the j-th suspected hydraulic oil leakage area 2 The average value of the gray levels of similar pixel points in 8 neighborhoods corresponding to the edge pixel points,
is composed of
The number of occurrences.
And further, if the complexity difference is not greater than the set complexity difference threshold, judging that the hydraulic oil leakage fault does not occur in the hydraulic oil system.
Drawings
FIG. 1 is a flow chart of an oil leakage detection method of a hydraulic system based on artificial intelligence.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention.
The embodiment aims to solve the problems of manpower consumption and incapability of timely detection when the hydraulic oil leakage condition of a hydraulic system is detected manually or not in the prior art, and as shown in fig. 1, the method for detecting the oil leakage of the hydraulic system based on artificial intelligence comprises the following steps:
(1) Acquiring RGB images of a lower ground area of a hydraulic system, and performing HSV conversion processing on the RGB images of the lower ground area of the hydraulic system to obtain HSV images of the lower ground area of the hydraulic system;
when hydraulic oil leakage faults occur in the hydraulic system, the hydraulic oil can flow to the ground below the hydraulic system, and the ground area below the hydraulic system can be polluted by the hydraulic oil; because hydraulic system generally sets up in mechanical factory building, mechanical factory building internal environment is relatively poor, and ground is mostly materials such as cement, if a certain region on ground is covered by hydraulic oil, some changes can take place for the colour in this region to compare in the colour before not being covered by hydraulic oil, mainly reflects in the colour deepening.
In consideration of some changes of the ground when hydraulic oil leaks in the hydraulic system, in order to determine whether the hydraulic system leaks hydraulic oil, image acquisition equipment is arranged around the hydraulic system and used for acquiring RGB images of the ground area under the hydraulic system. In the embodiment, in order to find the hydraulic oil leakage condition in time when hydraulic oil leakage occurs in the hydraulic system, images of a ground area under the hydraulic system are acquired in real time; as another embodiment, the collection may be performed once every set time interval.
And after the RGB image of the lower ground area of the hydraulic system is obtained, performing HSV conversion processing on the RGB image to obtain a corresponding HSV image of the lower ground area of the hydraulic system. For any pixel point in the RGB image, the lightness V of the corresponding pixel point after conversion is as follows:
the saturation S of the converted corresponding pixel point is:
wherein,
the conversion of RGB images into corresponding HSV images is prior art and will not be described herein too much.
(2) Judging a suspected hydraulic oil leakage area in an RGB image of the ground area under the hydraulic system according to the lightness and saturation of each pixel point in the HSV image of the ground area under the hydraulic system;
when the ground area below the hydraulic system is covered by hydraulic oil, the color of the covered area becomes dark, and compared with the pixel points of the uncovered area, the pixel points in the covered area in the corresponding HSV image have lower brightness and higher saturation. Therefore, the suspected hydraulic oil leakage area in the RGB image of the ground area under the hydraulic system is determined by the following process:
(1) calculating pixel judgment indexes corresponding to all pixel points in the HSV image of the ground area under the hydraulic system according to the lightness and the saturation of all the pixel points in the HSV image of the ground area under the hydraulic system, wherein the calculation formula of the pixel judgment indexes is as follows:
wherein, delta k A pixel judgment index S corresponding to the kth pixel point in the HSV image of the ground area under the hydraulic system k Corresponding saturation, V, to the kth pixel point in the HSV image of the ground area under the hydraulic system k And the lightness corresponding to the kth pixel point in the HSV image of the ground area under the hydraulic system.
(2) Constructing a gray image according to pixel judgment indexes corresponding to all pixel points in an HSV (hue, saturation, value) image of the ground area under the hydraulic system, wherein the gray value of each pixel point in the gray image is a value obtained by normalizing the corresponding pixel judgment index; namely: the method comprises the steps of normalizing pixel judgment indexes corresponding to all pixel points in an HSV image of a ground area under a hydraulic system, constructing a gray image according to the normalized values corresponding to all the pixel points, wherein the gray value of each pixel point in the gray image is the normalized value of the pixel judgment index corresponding to the pixel point.
(3) Judging whether the gray value of each pixel point in the gray image is larger than a set gray threshold value or not, and taking a connected domain formed by the pixel points of which the gray values are larger than the set gray threshold value as a suspected hydraulic oil leakage area in the gray image; and taking an area corresponding to the suspected hydraulic oil leakage area in the gray level image in the RGB image of the ground area under the hydraulic system as the suspected hydraulic oil leakage area. The specific process is as follows:
based on the gray level threshold delta T And (4) segmenting the gray level image to extract a suspected hydraulic oil leakage area. In order to avoid the problem that the suspected hydraulic oil leakage area is extracted inaccurately due to artificially setting the gray threshold, the embodiment is provided with: by a grey scale threshold delta T Dividing the gray level image into two categories, and then respectively calculating probability indexes of the two categories of pixels:
in the formula, pi is the probability of the occurrence of the pixel point with the gray value i,
n i the number of pixels with gray value i, N the total number of pixels in the gray image, C 1 (U1) is the proportion of the number of pixels in the first category area U1 to the total number of pixels in the gray level image, C 2 (U2) is the proportion of the number of pixels in the second category area U2 to the total number of pixels in the gray level image, C 1 (U1)+C 2 (U2)＝1，δ Chinese angelica root-bark The processed values are normalized by δ.
Then, the mean of the grays of the two classes is calculated:
in the formula, g 1 Is the gray average value, g, corresponding to the first category region U1 2 The gray level is the average value of the gray levels corresponding to the second category area U2.
Calculating the gray threshold value based on the gray average value of the two categories, specifically calculating the delta corresponding to the maximum difference between the two categories Chinese angelica root and rhizome As a gray scale threshold value delta T I.e. the gray level threshold δ T The maximum difference in pixels within the two classes can be guaranteed. Namely:
Q(δ chinese angelica root and rhizome )＝|g 1 -g 2 |，δ Chinese angelica root and rhizome ∈[0,1]
δ T ＝argmax{Q(δ Chinese angelica root and rhizome ),δ Chinese angelica root-bark ∈[0,1]}
The gray threshold value delta is obtained T Then, based on the gray threshold, a suspected leakage area is extracted: the value delta after the pixel judgment index value corresponding to a certain pixel point is normalized Chinese angelica root and rhizome >δ T Then, the pixel point is taken as the pixel point of the suspected leakage area; value delta after normalization of pixel determination index value corresponding to certain pixel point Chinese angelica root-bark ≤δ T And judging that the pixel point is not the pixel point of the suspected leakage area.
Therefore, a set of pixel points of a suspected leakage area can be obtained, and a connected domain corresponding to the set is the suspected hydraulic oil leakage area in the gray level image; and according to the position information in the suspected hydraulic oil leakage area in the gray level image, taking the area, corresponding to the suspected hydraulic oil leakage area in the gray level image, in the RGB image of the ground area under the hydraulic system as the suspected hydraulic oil leakage area.
It should be noted that: in this embodiment, each connected domain corresponding to the set of the pixel points of the suspected leakage area is used as a leakage area, and if the number of the connected domains corresponding to the set of the pixel points of the suspected leakage area is multiple, the corresponding gray-scale image includes multiple suspected hydraulic oil leakage areas, and the corresponding RGB image also includes multiple suspected hydraulic oil leakage areas. When the RGB image comprises a plurality of suspected hydraulic oil leakage areas, each suspected hydraulic oil leakage area is analyzed independently.
(3) Calculating the difference value between the texture complexity of the suspected hydraulic oil leakage area and the standard texture complexity of the corresponding area when no leakage occurs, and judging whether the difference value is greater than a set complexity difference value threshold value or not;
in a mechanical production plant, shadows generated by various hydraulic equipment or other facilities due to illumination factors may also have reduced lightness and increased saturation in the RGB image, which may interfere with the determination process of the suspected hydraulic oil leakage area; in consideration of this situation, the embodiment further determines whether the suspected hydraulic oil leakage area is a shadow area by combining the texture complexity of the suspected hydraulic oil leakage area, so as to avoid taking the shadow area on the ground as the hydraulic oil leakage coverage area on the ground.
The gray level entropy index can reflect the texture complexity, and for a suspected hydraulic oil leakage area, the gray level entropy index corresponding to the suspected hydraulic oil leakage area is calculated, and the process is as follows:
(1) constructing a binary group corresponding to each pixel point in the suspected hydraulic oil leakage area according to the gray value of each pixel point in the suspected hydraulic oil leakage area and the mean value of the gray values of the pixel points in the corresponding 8 neighborhoods
Is the c-th in 8 neighborhoods 1 Gray values of adjacent pixel points;
(2) constructing a binary group corresponding to each pixel point at the edge of the suspected hydraulic oil leakage area according to the gray value of each pixel point at the edge of the suspected hydraulic oil leakage area and the mean value of the similar pixel points in the corresponding 8 neighborhoods
n is the number of similar pixel points in the 8 neighborhoods,
is the c-th in 8 neighborhoods 2 The gray values of the similar pixel points;
in this embodiment, the similar pixel points are pixel points whose gradient values of pixels relative to corresponding edge pixel points are smaller than a set gradient threshold, and for each pixel point at the edge of the suspected hydraulic oil leakage area, only the similar pixel points in the 8 neighborhoods of the edge pixel points are used as a basis for calculating a binary group corresponding to the edge pixel point, so that the influence of large pixel difference of the pixel points in the non-suspected hydraulic oil leakage area adjacent to the edge pixel points on the subsequent calculation of the gray entropy of the suspected hydraulic oil leakage area can be avoided, and the accuracy of the calculation of the gray entropy of the suspected hydraulic oil leakage area is improved. The pixel gradient value of a pixel point can reflect the pixel difference between the pixel point and a certain adjacent pixel point, and the calculation of the pixel gradient value of the pixel point is the prior art and is not repeated here.
(3) Calculating the gray entropy of the suspected hydraulic oil leakage area according to the binary group corresponding to each pixel point in the suspected hydraulic oil leakage area and the binary group corresponding to each pixel point at the edge of the suspected hydraulic oil leakage area, and taking the gray entropy of the suspected hydraulic oil leakage area as the texture complexity of the suspected hydraulic oil leakage area.
The formula for calculating the gray entropy of the suspected hydraulic oil leakage area in the embodiment is as follows:
h is the gray entropy of a suspected hydraulic oil leakage area, and N is 1 The number of the pixel points in the suspected hydraulic oil leakage area,
is the jth in the suspected hydraulic oil leakage area 1 The gray value of each pixel point is calculated,
is the jth in the suspected hydraulic oil leakage area 1 The average value of the gray levels of the pixel points in 8 neighborhoods corresponding to each pixel point,
is composed of
Number of occurrences, N 2 The number of the edge pixel points in the suspected hydraulic oil leakage area,
is the j-th suspected hydraulic oil leakage area 2 The gray value of the pixel points at each edge,
is the j-th suspected hydraulic oil leakage area 2 The average value of the gray levels of similar pixel points in 8 neighborhoods corresponding to the edge pixel points,
is composed of
The number of occurrences.
If the ground is covered with hydraulic oil, a layer of oil film is added on the ground relative to the situation that the ground is not covered with the hydraulic oil, on one hand, the oil film can change the imaging effect in the image of the ground area under the hydraulic system by combining the phenomena of light reflection and light refraction, so that the texture information of the ground area under the hydraulic system in the image is changed compared with the corresponding texture information when the ground area under the hydraulic system is not covered with the hydraulic oil, wherein the change comprises the change of the complexity of the texture; on the other hand, oil stains and other impurities may exist in the hydraulic oil, and the imaging effect in the ground area image under the hydraulic system can be changed after the hydraulic oil covers the ground, so that the texture complexity is changed.
In consideration of the above change of the ground area under the hydraulic system in the image after the ground is covered with the hydraulic oil, but the texture complexity of the shadow area does not change when the camera view angle and the light source are not changed, in this embodiment, after the gray entropy of the suspected hydraulic oil leakage area is obtained, the difference between the gray entropy of the suspected hydraulic oil leakage area and the standard texture complexity of the corresponding area when the leakage does not occur is calculated, and whether the area is the shadow area can be judged according to the difference and the set complexity difference threshold. The standard texture complexity of the corresponding region when no leakage occurs can be solved by the same method for solving the texture complexity of the suspected hydraulic oil leakage region as the method for solving the texture complexity of the suspected hydraulic oil leakage region, except that the image based on the texture is the image acquired when no hydraulic oil leakage occurs.
If the difference is smaller than the set complexity difference threshold, the corresponding suspected hydraulic oil leakage area can be judged to be a shadow area, the set complexity difference threshold can be determined according to an empirical value, but in order to avoid the misjudgment of the hydraulic oil coverage area caused by the influence of the shadow area when the hydraulic oil coverage area and the shadow area are overlapped, the set complexity difference threshold is set to be relatively smaller, so that the area corresponding to the difference smaller than the set complexity difference threshold can be ensured to only include the shadow area and not the hydraulic oil leakage area basically.
It should be noted that: when the number of the suspected hydraulic oil leakage areas determined in the step (2) is more than 2, calculating and determining each suspected leakage area respectively; and if all the suspected hydraulic oil leakage areas are judged to be shadow areas, it is indicated that hydraulic oil of the hydraulic system is not leaked.
(4) And if the complexity difference is greater than the set complexity difference threshold, judging that the hydraulic oil leakage fault occurs in the hydraulic system.
When the difference value between the texture complexity of the suspected hydraulic oil leakage area and the standard texture complexity of the corresponding area when no leakage occurs is larger than the set complexity difference value threshold value, the hydraulic oil leakage condition of the hydraulic system is indicated, and related personnel can be reminded to confirm in an alarm mode.
In the embodiment, the change of the ground image when the hydraulic oil leakage occurs in the hydraulic oil system is reflected through the change of pixel point information and the change of texture information of the RGB image in the ground area under the hydraulic system, and whether the hydraulic oil leakage occurs in the hydraulic system is detected according to the change of the ground image when the hydraulic oil leakage occurs in the hydraulic oil system, so that the detection result is objective and accurate; the embodiment realizes the detection of the hydraulic oil leakage condition of the hydraulic system based on the RGB image of the ground area under the hydraulic system, belongs to an automatic detection method, and solves the problems of human resource consumption, incapability of timely detection and the like in dependence on manual detection.
It should be noted that while the preferred embodiments of the present invention have been described, additional variations and modifications to these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
Claims (5)
1. A hydraulic system oil leakage detection method based on artificial intelligence is characterized by comprising the following steps:
acquiring RGB (red, green and blue) images of a ground area under a hydraulic system, and performing HSV (hue, saturation and value) conversion processing on the RGB images of the ground area under the hydraulic system to obtain HSV images of the ground area under the hydraulic system;
judging a suspected hydraulic oil leakage area in an RGB image of the ground area under the hydraulic system according to the lightness and saturation of each pixel point in the HSV image of the ground area under the hydraulic system;
calculating the difference value between the texture complexity of the suspected hydraulic oil leakage area and the standard texture complexity of the corresponding area when no leakage occurs, and judging whether the difference value is greater than a set complexity difference value threshold value or not;
the method for calculating the texture complexity of the suspected hydraulic oil leakage area specifically comprises the following steps: constructing a binary group corresponding to each pixel point in the suspected hydraulic oil leakage area according to the gray value of each pixel point in the suspected hydraulic oil leakage area and the mean value of the gray values of the pixel points in the corresponding 8 neighborhoods; constructing a binary group corresponding to each pixel point at the edge of the suspected hydraulic oil leakage area according to the gray value of each pixel point at the edge of the suspected hydraulic oil leakage area and the mean value of similar pixel points in the corresponding 8 neighborhoods, wherein the similar pixel points are pixel points of which the pixel gradient values relative to the pixel points at the corresponding edge are smaller than a set gradient threshold; calculating the gray entropy of the suspected hydraulic oil leakage area according to the binary group corresponding to each pixel point in the suspected hydraulic oil leakage area and the binary group corresponding to each pixel point at the edge of the suspected hydraulic oil leakage area, and taking the gray entropy of the suspected hydraulic oil leakage area as the texture complexity of the suspected hydraulic oil leakage area;
and if the complexity difference is larger than the set complexity difference threshold, judging that the hydraulic system has a hydraulic oil leakage fault.
2. The method for detecting the oil leakage of the hydraulic system based on the artificial intelligence as claimed in claim 1, wherein the step of determining the suspected hydraulic oil leakage area in the RGB image of the ground area under the hydraulic system according to the lightness and saturation of each pixel point in the HSV image of the ground area under the hydraulic system comprises the steps of:
calculating pixel judgment indexes corresponding to all pixel points in the HSV image of the ground area under the hydraulic system according to the brightness and the saturation of all the pixel points in the HSV image of the ground area under the hydraulic system;
constructing a gray level image according to pixel judgment indexes corresponding to all pixel points in an HSV image of a ground area under a hydraulic system, wherein the gray level value of each pixel point in the gray level image is a value obtained after normalization processing of the corresponding pixel judgment indexes;
judging whether the gray value of each pixel point in the gray image is larger than a set gray threshold value or not, and taking a connected domain formed by the pixel points of which the gray values are larger than the set gray threshold value as a suspected hydraulic oil leakage area in the gray image; and taking an area corresponding to the suspected hydraulic oil leakage area in the gray level image in the RGB image of the ground area under the hydraulic system as a suspected hydraulic oil leakage area.
3. The hydraulic system oil leakage detection method based on artificial intelligence of claim 2, wherein the pixel judgment index corresponding to each pixel point in the HSV image of the ground area under the hydraulic system is calculated by using the following formula:
wherein, delta k A pixel judgment index S corresponding to the kth pixel point in the HSV image of the ground area under the hydraulic system k Corresponding saturation degree V to the kth pixel point in the HSV image of the ground area under the hydraulic system k And the lightness corresponding to the kth pixel point in the HSV image of the ground area under the hydraulic system.
4. The hydraulic system oil leakage detection method based on artificial intelligence of claim 1, wherein the gray entropy of the suspected hydraulic oil leakage area is calculated by using the following formula:
h is the gray entropy of a suspected hydraulic oil leakage area, and N is 1 The number of the pixel points in the suspected hydraulic oil leakage area,
is the jth in the suspected hydraulic oil leakage area 1 The gray value of each pixel point is calculated,
is the jth hydraulic oil leakage area 1 The average value of the gray levels of the pixel points in 8 neighborhoods corresponding to each pixel point,
is composed of
The number of times of occurrence of the event,
is a binary group, N, corresponding to a pixel point in a suspected hydraulic oil leakage area 2 The number of the edge pixel points in the suspected hydraulic oil leakage area,
is the j-th suspected hydraulic oil leakage area 2 The gray value of the pixel points at each edge,
is the j th suspected hydraulic oil leakage area 2 The average value of the gray levels of similar pixel points in 8 neighborhoods corresponding to the edge pixel points,
is composed of
The number of times of occurrence of the event,
and the two-tuple corresponds to the edge pixel point of the suspected hydraulic oil leakage area.
5. The hydraulic system oil leakage detection method based on artificial intelligence of claim 1, wherein if the complexity difference is not greater than a set complexity difference threshold, it is determined that no hydraulic oil leakage fault occurs in the hydraulic oil system.
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