CN204229230U - For the Intelligent Mobile Robot of automatic meter reading - Google Patents
For the Intelligent Mobile Robot of automatic meter reading Download PDFInfo
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- CN204229230U CN204229230U CN201420734148.3U CN201420734148U CN204229230U CN 204229230 U CN204229230 U CN 204229230U CN 201420734148 U CN201420734148 U CN 201420734148U CN 204229230 U CN204229230 U CN 204229230U
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Abstract
The utility model relates to a kind of Intelligent Mobile Robot for automatic meter reading, comprise GPS navigation equipment, memory device, high-definition camera equipment, the digital signal processor DSP of image processing equipment and TMS320LF2407A model, memory device is for prestoring the maximum scale of all kinds of instrument template and each class instrument template, minimum scale and pointer model, high-definition camera equipment is for taking Instrument image, image processing equipment and high-definition camera equipment connection are to perform image procossing, DSP is connected the advanced positions to control crusing robot with GPS navigation equipment, also be connected respectively with memory device and image processing equipment, for controlling the automatic meter reading of crusing robot.By the utility model, crusing robot can be controlled and accurately arrive target meter reading position, and realize the automatic meter reading of the various instrument of transformer station, improve the intelligent level of crusing robot, ensure the personal safety of site administrator.
Description
Technical field
The utility model relates to power monitoring field, particularly relates to a kind of Intelligent Mobile Robot for automatic meter reading.
Background technology
Transformer station is the hinge of power transmission network, inspecting substation equipment is operated in and ensures that transformer station normally produces, extremely important status is occupied in safe operation aspect, the transformer station of electric system is configured with multiple pointer-type gauges to reflect the duty of equipment to each power equipment usually, and the reading of a recording instrument is the important component part of the work of patrolling and examining.
By the complicacy of the work of patrolling and examining and the restriction of technological means, Foreign & Domestic Substations generally adopts the work pattern of manual patrol, hand-kept when carrying out equipment routing inspection.Manual inspection pattern exists that labour intensity is large, danger coefficient is high, the dispersion of inefficiency, Detection job, the high obvious deficiency of handling cost; And the data of manual detection also cannot access-in management infosystem accurately and timely, makes information system management can not arrive the first operation field, have impact on robotization and the intelligent level of transformer station.
In order to ensure the personal safety of field staff, improve work of patrolling and examining the especially efficiency of meter reading record and precision, some intelligent substations start the universal crusing robot that uses and carry out making a copy of of meter reading, but also there is following defect in crusing robot of the prior art: (1) controls the advanced positions of crusing robot only according to a kind of control model, such as only controlled by GPS self-navigation, or only controlled by on-the-spot artificial speech, guide crusing robot to arrive target meter reading position and carry out meter reading, such single control mode causes crusing robot accurately can not arrive target meter reading position, let alone preparation meter reading, (2) automatic meter reading pattern is too simple, such as by the home position in the Instrument image of the mode determination instrument dial plate of ellipse fitting and regional extent, but the parts of other sub-circulars may be there are in scene, such meter reading pattern can introduce too much error, even occurs the testing result of mistake.
Therefore, in order to address the aforementioned drawbacks, need a kind of Intelligent Mobile Robot for automatic meter reading newly, transform the project organization of existing Intelligent Mobile Robot, ensure that crusing robot can accurately arrive meter reading position, and can current reading effectively in automatic identifier table dial plate, improve inspection machine human reriability.
Utility model content
In order to solve the problem, the utility model provides a kind of Intelligent Mobile Robot for automatic meter reading, introduce crusing robot that far-end remote control commands and near-end speech steering order combine to advance control model, first advance to target meter reading position by crusing robot described in the remote control commands coarse adjustment of far-end transformer substation pipe platform, be used for crusing robot described in fine tuning by the phonetic control command of near-end site administrator again and advance to target meter reading position, prestore the maximum scale of all kinds of instrument template and each class instrument template simultaneously, minimum scale and pointer model, to complete the operation of high-precision automatic meter reading.
According to one side of the present utility model, provide a kind of Intelligent Mobile Robot for automatic meter reading, described crusing robot comprises GPS navigation equipment, memory device, high-definition camera equipment, the digital signal processor DSP of image processing equipment and TMS320LF2407A model, described memory device is used for prestoring all kinds of instrument template, and for prestoring the maximum scale of each class instrument template, minimum scale and pointer model, described high-definition camera equipment is for taking Instrument image, described image processing equipment and described high-definition camera equipment connection are to perform image procossing, described DSP is connected with described GPS navigation equipment the advanced positions controlling described crusing robot, also be connected respectively with described memory device and described image processing equipment, for controlling the automatic meter reading of described crusing robot.
More specifically, described in the Intelligent Mobile Robot of automatic meter reading, also comprise, speech recognition apparatus, comprise sound transducer and voice recognition chip, it is electric signal that described sound transducer is used for site administrator's speech conversion, and described voice recognition chip connects described sound transducer, for generating phonetic control command based on described electric signal, described voice recognition chip adopts the LD3320 chip of ICRoute company, wireless communication interface, with the transformer substation pipe platform wireless connections of far-end, with wireless receiving remote control commands, described remote control commands comprises GPS steering order, robot driving mechanism, under the control of described DSP, drives the behavior act of described crusing robot, and described behavior act comprises advance, retreats, turns to and cross over, DC Brushless Motor, is connected with described robot driving mechanism, and the behavior act made for described crusing robot under the control of described robot driving mechanism provides power, described GPS navigation equipment for receive GPS navigation satellite provide, the Current GPS data of described crusing robot, described memory device is also for stores meter upper limit gray threshold and instrument lower limit gray threshold, and described instrument upper limit gray threshold and described instrument lower limit gray threshold are used for the instrument dial plate in image and background separation, the acquisition resolution of described high-definition camera equipment is 1280 × 720, described image processing equipment also comprises median filter unit, pretreatment unit, object-recognition unit, template matches unit and pointer position determining unit, described median filter unit and described high-definition camera equipment connection, for to described Instrument image filtering with output filtering image, described pretreatment unit is connected with described median filter unit, for carrying out gray processing process with output gray level image to described filtering image, described object-recognition unit is connected respectively with described pretreatment unit and described memory device, the pixel identification of gray-scale value in described gray level image between described instrument upper limit gray threshold and described instrument lower limit gray threshold is formed instrument plate image, described template matches unit is connected respectively with described object-recognition unit and described memory device, the target instrument template of match query in all kinds of instrument templates stored at described memory device based on described instrument plate image, provide the maximum scale of described target instrument template, minimum scale and pointer model, described pointer position determining unit is connected respectively with described object-recognition unit and described template matches unit, based in instrument plate image described in the image recognition of described instrument plate with the gauge pointer of described pointer Model Matching, calculate the pointer angle of gauge pointer and the horizontal direction recognized, calculate maximum scale angle and the minimum scale angle of described maximum scale and described minimum scale and horizontal direction respectively, according to the numerical value position of pointer angle between maximum scale angle and minimum scale angle, determine meter reading, described DSP and described speech recognition apparatus, described wireless communication interface, described robot driving mechanism, described GPS navigation equipment, described memory device is connected respectively with described image processing equipment, described robot driving mechanism is controlled according to described phonetic control command or described remote control commands, described DSP receives the meter reading that described image processing equipment sends, and described meter reading is forwarded to described transformer substation pipe platform by described wireless communication interface, the data that described DSP controls described memory device store, described remote control commands is used for crusing robot described in coarse adjustment and advances to target meter reading position, described phonetic control command is used for crusing robot described in fine tuning and advances to target meter reading position, wherein, the GPS steering order that transformer substation pipe platform described in described DSP wireless receiving sends, described GPS steering order comprises target gps data, and described DSP controls described robot driving mechanism and advances to the position of target gps data described in Current GPS Data Matching that described GPS navigation equipment sends, described DSP is when receiving described transformer substation pipe platform that described wireless communication interface forwards and successfully receiving the link order of meter reading, and the relay indicating light controlling described crusing robot to glimmer pre-determined number by preset frequency, to point out site administrator.
More specifically, also comprise chargeable lithium cell described in the Intelligent Mobile Robot of automatic meter reading, for described crusing robot provides power supply.
More specifically, described in the Intelligent Mobile Robot of automatic meter reading, described wireless communication interface is the one in WiFi wireless communication interface, ZigBee wireless communication interface and GPRS wireless communication interface.
More specifically, described in the Intelligent Mobile Robot of automatic meter reading, described DSP and described speech recognition apparatus, described wireless communication interface, described GPS navigation equipment, described memory device and described image processing equipment are integrated on one piece of surface-mounted integrated circuit.
More specifically, described in the Intelligent Mobile Robot of automatic meter reading, the Big Dipper navigator is adopted to replace described GPS navigation equipment.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present utility model is described, wherein:
Fig. 1 is the block diagram of the Intelligent Mobile Robot for automatic meter reading according to the utility model embodiment.
Fig. 2 is the block diagram of the speech recognition apparatus of the Intelligent Mobile Robot for automatic meter reading according to the utility model embodiment.
Embodiment
Below with reference to accompanying drawings the embodiment of the Intelligent Mobile Robot for automatic meter reading of the present utility model is described in detail.
Along with the development of Robotics and artificial intelligence technology, adopting outdoor movable robot to replace manually carrying out equipment routing inspection becomes possibility.
Crusing robot belongs to electric power specialized robot research category, and he collects electromechanical integration, Multi-sensor Fusion, navigator fix, path planning, machine vision, Based Intelligent Control, and the technology such as wireless transmission, electromagnetic compatibility is in one.
Crusing robot carries the sensors such as visible camera, thermal infrared imager, acoustic pickup, ultrasound wave, adopts magnetic tracks navigation, can carry out autonomous or remote control inspection by optimum path planning to outdoor high-tension apparatus.By methods such as machine vision, infrared measurement of temperature, sound detection, crusing robot can collect infrared chart, the information such as image and audio frequency of equipment, and the position of the thermal defect of automatic identification equipment, abnormal appearance, switch or disconnecting link, meter reading, oil level indicator position etc., generate the alarm item of unified standard and patrol and examine report, send warning information to operations staff, and provide basic data for equipment state overhauling.
Crusing robot system also can be accessed by the fixed video monitoring point of transformer station, covers the observation dead angle that robot cannot arrive, and realizes the video surveillance at full station.At unmanned, few man on duty transformer station or intelligent substation, especially under the geographical conditions such as plateau, cold or severe weather conditions, crusing robot can replace or indirect labor completes substation equipment patrols and examines operation.After completing tour task, robot just returns accumulator plant's automatic charging.
Intelligent Mobile Robot for automatic meter reading of the present utility model, by the mode adopting the far-end coarse adjustment of crusing robot meter reading position and near-end fine tuning to combine, accurately can control crusing robot and arrive target meter reading position, adopt more intelligentized automatic meter reading mode simultaneously, ensure the correct reading of various instrumentation reading in transformer station.
Fig. 1 is the block diagram of the Intelligent Mobile Robot for automatic meter reading according to the utility model embodiment, described crusing robot comprises GPS navigation equipment 1, memory device 2, high-definition camera equipment 3, the digital signal processor DSP 5 of image processing equipment 4 and TMS320LF2407A model, described DSP5 and described GPS navigation equipment 1, described memory device 2, described image processing equipment 4 connects respectively, described high-definition camera equipment 3 is connected with described image processing equipment 4, described memory device 2 is for prestoring all kinds of instrument template, and for prestoring the maximum scale of each class instrument template, minimum scale and pointer model, described high-definition camera equipment 3 is for taking Instrument image, described image processing equipment 4 performs image procossing for the image gathered described high-definition camera equipment 3, described DSP 5 controls the advanced positions of described crusing robot and the automatic meter reading of described crusing robot based on the output of described GPS navigation equipment 1 and described image processing equipment 4.
Then, continue to be further detailed the concrete structure of the Intelligent Mobile Robot for automatic meter reading of the present utility model.
With reference to Fig. 2, described Intelligent Mobile Robot also comprises speech recognition apparatus 6, comprise sound transducer 61 and voice recognition chip 62, described sound transducer 61 is for being electric signal by site administrator's speech conversion, described voice recognition chip 62 connects described sound transducer 61, for generating phonetic control command based on described electric signal, described voice recognition chip 62 adopts the LD3320 chip of ICRoute company.
Described Intelligent Mobile Robot also comprises wireless communication interface, and with the transformer substation pipe platform wireless connections of far-end, with wireless receiving remote control commands, described remote control commands comprises GPS steering order.
Described Intelligent Mobile Robot also comprises, robot driving mechanism, under the control of described DSP, drives the behavior act of described crusing robot, and described behavior act comprises advance, retreats, turns to and cross over; DC Brushless Motor, is connected with described robot driving mechanism, and the behavior act made for described crusing robot under the control of described robot driving mechanism provides power.
Described GPS navigation equipment 1 for receive GPS navigation satellite provide, the Current GPS data of described crusing robot.Described memory device 2 is also for stores meter upper limit gray threshold and instrument lower limit gray threshold, and described instrument upper limit gray threshold and described instrument lower limit gray threshold are used for the instrument dial plate in image and background separation.The acquisition resolution of described high-definition camera equipment 3 is 1280 × 720.
Described image processing equipment 4 also comprises median filter unit, pretreatment unit, object-recognition unit, template matches unit and pointer position determining unit.
Described median filter unit is connected with described high-definition camera equipment 3, for to described Instrument image filtering with output filtering image, described pretreatment unit is connected with described median filter unit, for carrying out gray processing process with output gray level image to described filtering image, described object-recognition unit is connected respectively with described pretreatment unit and described memory device 2, the pixel identification of gray-scale value in described gray level image between described instrument upper limit gray threshold and described instrument lower limit gray threshold is formed instrument plate image, described template matches unit is connected respectively with described object-recognition unit and described memory device 2, the target instrument template of match query in all kinds of instrument templates stored at described memory device based on described instrument plate image, provide the maximum scale of described target instrument template, minimum scale and pointer model.
Described pointer position determining unit is connected respectively with described object-recognition unit and described template matches unit, based in instrument plate image described in the image recognition of described instrument plate with the gauge pointer of described pointer Model Matching, calculate the pointer angle of gauge pointer and the horizontal direction recognized, calculate maximum scale angle and the minimum scale angle of described maximum scale and described minimum scale and horizontal direction respectively, according to the numerical value position of pointer angle between maximum scale angle and minimum scale angle, determine meter reading.
Described DSP5 and described speech recognition apparatus 6, described wireless communication interface, described robot driving mechanism, described GPS navigation equipment 1, described memory device 2 is connected respectively with described image processing equipment 4, described robot driving mechanism is controlled according to described phonetic control command or described remote control commands, described DSP5 receives the meter reading that described image processing equipment 4 sends, and described meter reading is forwarded to described transformer substation pipe platform by described wireless communication interface, the data that described DSP5 controls described memory device 2 store, described remote control commands is used for crusing robot described in coarse adjustment and advances to target meter reading position, described phonetic control command is used for crusing robot described in fine tuning and advances to target meter reading position.
Wherein, the GPS steering order that transformer substation pipe platform described in described DSP5 wireless receiving sends, described GPS steering order comprises target gps data, and described DSP5 controls described robot driving mechanism and advances to the position of target gps data described in Current GPS Data Matching that described GPS navigation equipment 1 sends; Described DSP5 is when receiving described transformer substation pipe platform that described wireless communication interface forwards and successfully receiving the link order of meter reading, and the relay indicating light controlling described crusing robot to glimmer pre-determined number by preset frequency, to point out site administrator.
Wherein, described Intelligent Mobile Robot can also comprise chargeable lithium cell, for described crusing robot provides power supply, described wireless communication interface is chosen as WiFi wireless communication interface, one in ZigBee wireless communication interface and GPRS wireless communication interface, in order to improve integrated level, can select described DSP5 and described speech recognition apparatus 6, described wireless communication interface, described GPS navigation equipment 1, described memory device 2 and described image processing equipment 4 are integrated on one piece of surface-mounted integrated circuit, and in described Intelligent Mobile Robot, the Big Dipper navigator can be adopted to replace described GPS navigation equipment 1.
In addition, speech recognition is a cross discipline.Recent two decades comes, and speech recognition technology obtains marked improvement, starts to move towards market from laboratory.People estimate, in coming 10 years, speech recognition technology will enter the every field such as industry, household electrical appliances, communication, automotive electronics, medical treatment, home services, consumption electronic product.
Field involved by speech recognition technology comprises: signal transacting, pattern-recognition, theory of probability and information theory, sound generating mechanism and hearing mechanism, artificial intelligence etc.Different according to the object identified, voice recognition tasks can be divided into 3 classes substantially, i.e. isolated word recognition (isolated word recognition), keyword identification (or claiming keyword spotting, keyword spotting) and continuous speech recognition.Wherein, the task of isolated word recognition identifies isolated word known in advance, as " start ", " shutdown " etc.; The task of continuous speech recognition is then identify arbitrary continuous speech, as a sentence or one section of word; Keyword spotting in continuous speech stream for be continuous speech, but he and the whole word of nonrecognition, and just detect known some keywords and occur wherein, as detected " computing machine ", " world " these two words in one section of word.
According to for speaker, speech recognition technology can be divided into particular person speech recognition and signer-independent sign language recognition, the former can only identify the voice of one or several people, and the latter then can be used by anyone.Obviously, signer-independent sign language recognition system more corresponds to actual needs, but he is more much more difficult than the identification for particular person.
In addition, according to speech ciphering equipment and passage, desktop (PC) speech recognition, call voice identification and embedded device (mobile phone, PDA etc.) speech recognition can be divided into.Different acquisition channels can make the acoustic characteristic of the pronunciation of people deform, and therefore needs to construct respective recognition system.
Widely, common application system has the application of speech recognition: voice entry system, and relative to keyboard and input method, he more meets the daily habits of people, also more natural, more efficient.Speech control system, relative to more quick and easy Non-follow control, can be used in many fields such as such as Industry Control, voice dialing system, intelligent appliance, acoustic control intelligent toy.
In addition, digital signal processor (DSP, i.e. Digital Signal Processor) is the special chip carrying out digital signal processing, is the new unit produced along with the development of microelectronics, Digital Signal Processing, computer technology.Digital signal processor is not confined to audio frequency and video aspect, and he is widely used in many fields such as Communication and Information Systems, Signal and Information Processing, automatically control, radar, military affairs, Aero-Space, medical treatment, household electrical appliance.Be adopt general microprocessor to complete a large amount of digital signal processing computing, speed is comparatively slow, is difficult to meet actual needs in the past; And use bit slice microprocessor and quick paral-lel multiplier simultaneously, be once the effective way realizing digital signal processing, but the method device is more, logical design and program design complexity, power consumption is comparatively large, expensive.The appearance of digital signal processor DSP, well solves the problems referred to above.DSP can realize the process such as collection, conversion, filtering, valuation, enhancing, compression, identification to signal fast, to obtain the signal form meeting people's needs.
Adopt the Intelligent Mobile Robot for automatic meter reading of the present utility model, for the technical matters that advanced positions control model is single, automatic meter reading precision is not high of existing Intelligent Mobile Robot, utilize network technology and speech recognition technology, remote location is controlled and short range position control combination, ensure that crusing robot accurately can arrive predetermined meter reading position, in addition, transform existing automatic meter reading technology, adopt more intelligentized image procossing mode to realize the automatic meter reading of high precision, highly compatible, improve the work efficiency of Intelligent Mobile Robot.
Be understandable that, although the utility model with preferred embodiment disclose as above, but above-described embodiment and be not used to limit the utility model.For any those of ordinary skill in the art, do not departing under technical solutions of the utility model ambit, the technology contents of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solutions of the utility model, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solutions of the utility model, according to technical spirit of the present utility model to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solutions of the utility model protection.
Claims (6)
1. the Intelligent Mobile Robot for automatic meter reading, it is characterized in that, described crusing robot comprises GPS navigation equipment, memory device, high-definition camera equipment, the digital signal processor DSP of image processing equipment and TMS320LF2407A model, described memory device is used for prestoring all kinds of instrument template, and for prestoring the maximum scale of each class instrument template, minimum scale and pointer model, described high-definition camera equipment is for taking Instrument image, described image processing equipment and described high-definition camera equipment connection are to perform image procossing, described DSP is connected with described GPS navigation equipment the advanced positions controlling described crusing robot, also be connected respectively with described memory device and described image processing equipment, for controlling the automatic meter reading of described crusing robot.
2., as claimed in claim 1 for the Intelligent Mobile Robot of automatic meter reading, it is characterized in that, described crusing robot also comprises:
Speech recognition apparatus, comprise sound transducer and voice recognition chip, it is electric signal that described sound transducer is used for site administrator's speech conversion, described voice recognition chip connects described sound transducer, for generating phonetic control command based on described electric signal, described voice recognition chip adopts the LD3320 chip of ICRoute company;
Wireless communication interface, with the transformer substation pipe platform wireless connections of far-end, with wireless receiving remote control commands, described remote control commands comprises GPS steering order;
Robot driving mechanism, under the control of described DSP, drives the behavior act of described crusing robot, and described behavior act comprises advance, retreats, turns to and cross over;
DC Brushless Motor, is connected with described robot driving mechanism, and the behavior act made for described crusing robot under the control of described robot driving mechanism provides power;
Described GPS navigation equipment for receive GPS navigation satellite provide, the Current GPS data of described crusing robot;
Described memory device is also for stores meter upper limit gray threshold and instrument lower limit gray threshold, and described instrument upper limit gray threshold and described instrument lower limit gray threshold are used for the instrument dial plate in image and background separation;
The acquisition resolution of described high-definition camera equipment is 1280 × 720;
Described image processing equipment also comprises median filter unit, pretreatment unit, object-recognition unit, template matches unit and pointer position determining unit, described median filter unit and described high-definition camera equipment connection, for to described Instrument image filtering with output filtering image, described pretreatment unit is connected with described median filter unit, for carrying out gray processing process with output gray level image to described filtering image, described object-recognition unit is connected respectively with described pretreatment unit and described memory device, the pixel identification of gray-scale value in described gray level image between described instrument upper limit gray threshold and described instrument lower limit gray threshold is formed instrument plate image, described template matches unit is connected respectively with described object-recognition unit and described memory device, the target instrument template of match query in all kinds of instrument templates stored at described memory device based on described instrument plate image, provide the maximum scale of described target instrument template, minimum scale and pointer model, described pointer position determining unit is connected respectively with described object-recognition unit and described template matches unit, based in instrument plate image described in the image recognition of described instrument plate with the gauge pointer of described pointer Model Matching, calculate the pointer angle of gauge pointer and the horizontal direction recognized, calculate maximum scale angle and the minimum scale angle of described maximum scale and described minimum scale and horizontal direction respectively, according to the numerical value position of pointer angle between maximum scale angle and minimum scale angle, determine meter reading,
Described DSP and described speech recognition apparatus, described wireless communication interface, described robot driving mechanism, described GPS navigation equipment, described memory device is connected respectively with described image processing equipment, described robot driving mechanism is controlled according to described phonetic control command or described remote control commands, described DSP receives the meter reading that described image processing equipment sends, and described meter reading is forwarded to described transformer substation pipe platform by described wireless communication interface, the data that described DSP controls described memory device store, described remote control commands is used for crusing robot described in coarse adjustment and advances to target meter reading position, described phonetic control command is used for crusing robot described in fine tuning and advances to target meter reading position,
Wherein, the GPS steering order that transformer substation pipe platform described in described DSP wireless receiving sends, described GPS steering order comprises target gps data, and described DSP controls described robot driving mechanism and advances to the position of target gps data described in Current GPS Data Matching that described GPS navigation equipment sends;
Wherein, described DSP is when the described transformer substation pipe platform receiving the forwarding of described wireless communication interface successfully receives the link order of meter reading, the relay indicating light controlling described crusing robot to glimmer pre-determined number by preset frequency, to point out site administrator.
3., as claimed in claim 2 for the Intelligent Mobile Robot of automatic meter reading, it is characterized in that, system also comprises:
Chargeable lithium cell, for described crusing robot provides power supply.
4., as claimed in claim 2 for the Intelligent Mobile Robot of automatic meter reading, it is characterized in that:
Described wireless communication interface is the one in WiFi wireless communication interface, ZigBee wireless communication interface and GPRS wireless communication interface.
5., as claimed in claim 2 for the Intelligent Mobile Robot of automatic meter reading, it is characterized in that:
Described DSP and described speech recognition apparatus, described wireless communication interface, described GPS navigation equipment, described memory device and described image processing equipment are integrated on one piece of surface-mounted integrated circuit.
6., as claimed in claim 2 for the Intelligent Mobile Robot of automatic meter reading, it is characterized in that:
The Big Dipper navigator is adopted to replace described GPS navigation equipment.
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| CN104597903A (en) * | 2014-11-27 | 2015-05-06 | 无锡北斗星通信息科技有限公司 | Transformer substation routing inspection robot for automatic meter reading |
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| CN106965186A (en) * | 2015-04-01 | 2017-07-21 | 姜敏敏 | Outdoor electric energy meter meter reading robot based on the Big Dipper omniselector and vision sensor |
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