CN106965186A - Outdoor electric energy meter meter reading robot based on the Big Dipper omniselector and vision sensor - Google Patents
Outdoor electric energy meter meter reading robot based on the Big Dipper omniselector and vision sensor Download PDFInfo
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Abstract
The present invention relates to a kind of outdoor electric energy meter meter reading robot based on the Big Dipper omniselector and vision sensor, it carries out outdoor electric energy meter meter reading using the traveling of robot, automatic shooting, image procossing and automatic meter reading function, wherein the robot includes the Big Dipper omniselector, mobile hard disk, CMOS vision sensors, Recognition of Reading device and master controller.Methods described also performs to electric energy meter image using sharpening processor and goes the step of haze is handled.By the present invention, under haze weather, also can control machine people be accurate to up to target meter reading position, and realize the high-precision meter reading to various outdoor electric energy meters.
Description
Technical field
The present invention relates to electric energy meter monitoring field, more particularly to a kind of outdoor electric energy meter meter reading method.
Background technology
Being widely used for electric energy meter, is the important referential data of power supply department charge and allotment electric power resource, each use
Electric unit or it is personal be required for installing an electric energy meter of oneself to monitor oneself use power consumption.
Meter reading positioned at the electric energy meter with electric unit with high-tension line is always a problem, due to these electric energy meters
Close to high-tension line, it is impossible to arrange personnel to use manual patrol, the meter reading pattern of hand-kept, and the usual position of these electric energy meters
In outdoor, if carrying out remote meter reading using electronics meter reading pattern, it is necessary to have some image processing equipments, mist can be overcome
Influence of the haze weather to meter reading image, otherwise, obtained meter reading data precision are very low.
The meter reading scheme of the electric energy meter of high voltage electric unit of the prior art uses the artificial meter reading mould after power-off
Formula, this mode disturbs the normal work with electric unit, or uses the remote electronic pattern based on image procossing, this
The mode of kind depends on the readability of electric energy meter image, and under serious haze weather, electric energy meter image is not clear enough, correspondingly,
The electric energy meter reading accuracy of reading is poor, the regular fee work of influence power supply department.
Accordingly, it would be desirable to a kind of new method that meter reading is carried out to outdoor electric energy meter, being capable of the high artificial meter reading of alternative cost
Mode, and transform existing remote electronics meter reading mode so that the meter reading to the outdoor electric energy meter of high voltage electric unit is operated
Highly efficient and real-time, the meter reading data of acquisition are not affected by the weather.
The content of the invention
In order to solve the above problems, the invention provides a kind of outdoor electric energy meter meter reading method, it is using robot
Traveling, automatic shooting, image procossing and automatic meter reading function carry out outdoor electric energy meter meter reading, wherein the robot includes north
Struggle against star omniselector, mobile hard disk, CMOS vision sensors, Recognition of Reading device and master controller, wherein the Big Dipper omniselector
There is provided for receiving the Big Dipper aeronautical satellite, the current Big Dipper sing data of the robot；The mobile hard disk is used for advance
All kinds of electric energy meter templates are stored, and for prestoring maximum scale, minimum scale and the pointer of each class electric energy meter template
Model；The CMOS vision sensors are used to shoot electric energy meter image；The Recognition of Reading device and the CMOS vision sensors
Connection is with to electric energy meter image execution image procossing；The master controller is connected to control with the Big Dipper omniselector
The advanced positions of robot are stated, are also connected respectively with the mobile hard disk and the Recognition of Reading device, for controlling the machine
The automatic meter reading of people.
Preferably, described image processing includes the electric energy meter image is carried out to go haze processing to obtain haze electric energy
The step of table image.
More specifically, the robot also includes：
Power supply, including solar powered device, battery, switching switch and electric pressure converter, the switching switch and institute
State solar powered device and the battery is connected respectively, decided whether to be switched to the sun according to battery dump energy
Energy power supply device by the solar powered device to be powered, and the electric pressure converter is connected with the switching switch, will be logical
The 5V voltage conversions for crossing switching switch input are 3.3V voltages；
Speech recognition device, for the voice of site administrator to be converted into electric signal, and generates voice based on the electric signal
Control instruction；Wireless communication interface, the power supply management platform wireless connection with distal end, with wireless receiving remote control commands, institute
Stating remote control commands includes the Big Dipper control instruction；
Robot driving mechanism, is connected with the master controller, under the control of the master controller, driving the machine
The behavior act of people, the behavior act includes advancing, retreat, turn to and crossing over；
Sharpening processor, between the CMOS vision sensors and the Recognition of Reading device, for receiving the electric energy
Table image, carries out going haze processing to obtain haze electric energy meter image to the electric energy meter image, haze electric energy is removed by described
Table image inputs the Recognition of Reading device to replace the electric energy meter image by image procossing.
More specifically, the sharpening processor also includes：
Sub- equipment is stored, for prestoring sky upper limit gray threshold and sky lower limit gray threshold, the sky upper limit ash
Degree threshold value and the sky lower limit gray threshold are used to isolate the sky areas in image, are additionally operable to prestore presetted pixel
It is worth threshold value, the presetted pixel value threshold value value is between 0 to 255；
The sub- equipment of haze Concentration Testing, in air, the haze concentration for detecting electric energy meter position in real time, and according to
Haze concentration determines that haze removes intensity, and the haze removes intensity value between 0 to 1；
The sub- equipment of region division, connects the CMOS vision sensors to receive the electric energy meter image, to the electric energy meter figure
As carrying out gray processing processing to obtain gray processing electric energy meter image, also it is connected with storing sub- equipment, by the gray processing electric energy meter
Pixel of the gray value between the sky upper limit gray threshold and the sky lower limit gray threshold is recognized and constituted in image
Gray processing sky sub-pattern, is partitioned into the gray processing sky sub-pattern to obtain gray processing from the gray processing electric energy meter image
Non- sky subgraph, the position based on the non-sky subgraph of the gray processing in the electric energy meter image is obtained and the gray scale
Change the corresponding colored non-sky subgraph of non-sky subgraph；
Black channel obtains sub- equipment, is connected to obtain the colored non-sky subgraph, pin with the sub- equipment of the region division
To each pixel in the colored non-sky subgraph, its R, G, the Color Channel pixel values of B tri-, in the colored non-day are calculated
The minimum Color Channel pixel value institute of a numerical value is extracted in the Color Channel pixel value of the R of all pixels in null subgraph picture, G, B tri-
Color Channel be used as black channel；
Overall air light value obtains sub- equipment, is connected with storing sub- equipment to obtain the presetted pixel value threshold value, also with it is described
The sub- equipment of region division and the black channel obtain sub- equipment and connect to obtain the electric energy meter image and the black respectively
Passage, multiple pixels composition that black channel pixel value in the electric energy meter image is more than or equal into presetted pixel value threshold value is to be checked
Set of pixels is tested, the gray value of the pixel with maximum gradation value in the set of pixels to be tested is regard as overall air light value；
Atmospheric scattering light value obtains sub- equipment, connects respectively with the sub- equipment of the region division and the sub- equipment of haze Concentration Testing
Connect, to each pixel of the electric energy meter image, extract minimum value in its R, G, the Color Channel pixel values of B tri- and be used as target picture
Element value, using the Gaussian filter EPGF (edge-preserving gaussian filter) at holding edge to described
Target pixel value is filtered processing to obtain filtered target pixel value, and target pixel value is subtracted filtered target pixel value to obtain
Object pixel difference is obtained, processing is filtered to object pixel difference to obtain filtered target pixel value difference using EPGF, will be filtered
Ripple target pixel value subtracts filtered target pixel value difference and removes a reference value to obtain haze, and haze removal intensity is multiplied by into haze
Threshold value is removed to obtain haze except a reference value, takes haze to remove the minimum value in threshold value and target pixel value as comparison reference
Value, takes the maximum in comparison reference and 0 as the atmospheric scattering light value of each pixel；
Medium transfer rate obtains sub- equipment, obtains sub- equipment with the overall air light value and the atmospheric scattering light value obtains son
Equipment is connected respectively, and the atmospheric scattering light value of each pixel divided by overall air light value are removed into value to obtain, 1 subtracted described
Except value to obtain the medium transfer rate of each pixel；
Sharpening image obtains sub- equipment, and sub- equipment and institute are obtained with the sub- equipment of the region division, the overall air light value
Give an account of the sub- equipment of matter transfer rate acquisition to connect respectively, 1 is subtracted the medium transfer rate of each pixel to obtain the first difference, will
First difference is multiplied by overall air light value to obtain product value, by the pixel value of each pixel in the electric energy meter image
The product value is subtracted to obtain the second difference, the medium transfer rate of second difference divided by each pixel is every to obtain
The pixel value of each pixel is included in the electric energy meter image in the sharpening pixel value of one pixel, the electric energy meter image
The Color Channel pixel value of the R of each pixel, G, B tri-, correspondingly, the sharpening pixel value of each pixel of acquisition are included often
The Color Channel sharpening pixel value of the R of one pixel, G, B tri-, the sharpening pixel value composition of all pixels removes haze electric energy meter
Image.
More specifically, the mobile hard disk is additionally operable to storage electric energy meter upper limit gray threshold and electric energy meter lower limit gray scale threshold
Value, the electric energy meter upper limit gray threshold and the electric energy meter lower limit gray threshold are used for the electric energy meter dial plate in image and the back of the body
Scape is separated.
More specifically, the Recognition of Reading device also includes median filter unit, pretreatment unit, object-recognition unit, mould
Plate matching unit and pointer position determining unit, the median filter unit are connected with the sharpening processing equipment, for pair
It is described to go haze electric energy meter image filtering to export filtering image；The pretreatment unit is connected with the median filter unit,
For carrying out gray processing processing to the filtering image with output gray level image；The object-recognition unit and the pretreatment
Unit and the mobile hard disk are connected respectively, by gray value in the gray level image in the electric energy meter upper limit gray threshold and
Pixel between the electric energy meter lower limit gray threshold recognizes and constitutes electric energy meter plate image；The template matches unit with
The object-recognition unit and the mobile hard disk are connected respectively, based on the electric energy meter plate image in the mobile hard disk
The target electric energy meter template of match query in all kinds of electric energy meter templates of storage, provides the maximum quarter of the target electric energy meter template
Degree, minimum scale and pointer model；The pointer position determining unit and the object-recognition unit and the template matches list
Member connect respectively, based in electric energy meter plate image described in the electric energy meter plate image recognition with the pointer model
The gauge pointer matched somebody with somebody, calculates the pointer angle of the gauge pointer that recognizes and horizontal direction, calculate respectively the maximum scale and
The maximum scale angle and minimum scale angle of the minimum scale and horizontal direction, according to pointer angle in maximum scale angle
Numerical value position between minimum scale angle, it is determined that outdoor electric energy meter reading.
More specifically, the master controller and institute speech recognizer, the wireless communication interface, described robotically-driven
Mechanism, the Big Dipper omniselector, the mobile hard disk and the Recognition of Reading device are connected respectively, are referred to according to the Voice command
Order or the remote control commands control the robot driving mechanism, and the master controller receives the Recognition of Reading device and sent
Outdoor electric energy meter reading, and the outdoor electric energy meter reading is forwarded to the power supply management by the wireless communication interface
Platform, the data storage of mobile hard disk described in the main controller controls, the remote control commands are used for machine described in coarse adjustment
People advances to target meter reading position, and the phonetic control command advances to target meter reading position for robot described in fine tuning；Its
In, the Big Dipper control instruction in the remote control commands that power supply management platform described in the master controller wireless receiving is sent,
The Big Dipper control instruction includes target Big Dipper sing data, and robot driving mechanism described in the main controller controls is advanced to
The position of target Big Dipper sing data described in current the Big Dipper Data Matching that the Big Dipper omniselector is sent.
More specifically, the master controller receive the power supply management platform of wireless communication interface forwarding into
When work(receives the return instruction of outdoor electric energy meter reading, control the relay indicating light of the robot predetermined by preset frequency flicker
Number of times, to point out site administrator.
More specifically, institute's speech recognizer includes sound sensor unit and voice recognition chip, the sound sensor list
Member is used to site administrator's voice being converted to electric signal, and the voice recognition chip connects the sound sensor unit, uses
In based on electric signal generation phonetic control command.
More specifically, the voice recognition chip uses the LD3320 chips of ICRoute companies.
More specifically, the median filter unit, the pretreatment unit, the object-recognition unit, the template
Different fpga chips are respectively adopted with unit and the pointer position determining unit to realize.
The method for carrying out meter reading to outdoor electric energy meter using robot of the present invention, introduces distal end remote control commands and near
The robot traveling control model for holding phonetic control command to combine, the remote control commands for first passing through Remote feeding management platform are thick
Adjust the robot to advance to target meter reading position, then fine tuning institute is used for by the phonetic control command of near-end site administrator
State robot and advance to target meter reading position, improve the automaticity of meter reading, at the same prestore all kinds of electric energy meter templates with
And maximum scale, minimum scale and the pointer model of each class electric energy meter template, to improve the accuracy of meter reading, finally, clearly
The introducing for changing processor overcomes adverse effect of the haze weather to meter reading data.
Brief description of the drawings
Embodiment of the present invention is described below with reference to accompanying drawing, wherein：
Fig. 1 is the block diagram of the robot one embodiment for implementing the outdoor electric energy meter meter reading method of the present invention.
Fig. 2 is the structure square frame of another embodiment of the robot for implementing the outdoor electric energy meter meter reading method of the present invention
Figure.
Embodiment
The embodiment to the robot for the outdoor electric energy meter meter reading method for implementing the present invention is carried out in detail below with reference to accompanying drawings
Explanation.
With the development of robot technology and artificial intelligence technology, replace manually being set using outdoor movable robot
Standby operation has been possibly realized.
Robot belongs to electric power specialized robot research category, and he collects electromechanical integration, Multi-sensor Fusion, navigates and determine
Position, path planning, machine vision, intelligent control, and be wirelessly transferred, the technology such as electromagnetic compatibility is in one.
Robot carries the sensors such as visible camera, thermal infrared imager, sound pick-up, ultrasonic wave, using magnetic tracks
Navigation, can carry out autonomous or remote control inspection by optimum path planning to outdoor high-tension apparatus.By machine vision, infrared measurement of temperature,
The methods such as sound detection, robot can collect the information such as the infrared chart, image and audio of equipment, and automatic identification equipment
Thermal defect, abnormal appearance, position, meter reading, the oil level indicator position of switch or disconnecting link etc., generate the alarm item of unified standard
With inspection report, warning information is sent to operations staff, and basic data is provided for equipment state overhauling.
Robot system also can access the fixed video monitoring point in electricity consumption place, and the observation that covering robot can not be reached is dead
Angle, realize the whole audience video surveillance.In unattended, few man on duty electricity consumption place or intelligent power place, especially plateau,
Under the geographical conditions such as cold or severe weather conditions, robot can be replaced or the monitoring of indirect labor's completion electricity consumption Premises Equipment is made
Industry.After monitor task is completed, robot is returned to accumulator plant's automatic charging.
The outdoor electric energy meter meter reading method of the present invention, the difficult people's part work and part study of meter reading is replaced using robot electronics meter reading mode
Table mode, the mode combined by using the distal end coarse adjustment of robot meter reading position and near-end fine tuning being capable of accurate control machine people
Target meter reading position is reached, while determining haze pair using more intelligent automatic meter reading mode, and according to atmospheric attenuation model
The influence factor of image with realize it is high-precision remove haze image procossing, ensured various outdoor electric energy meters in high voltage electric place
The correct reading of reading.
Fig. 1 is the block diagram of the one embodiment for the robot for implementing the outdoor electric energy meter meter reading method of the present invention,
The robot includes the Big Dipper omniselector 1, mobile hard disk 2, CMOS vision sensors 3, Recognition of Reading device 4 and master controller 5,
The mobile hard disk 2 is used to prestore all kinds of electric energy meter templates, and for prestoring each class electric energy meter template most
High range, minimum scale and pointer model, the CMOS vision sensors 3 are used to shoot electric energy meter image, the Recognition of Reading
Device 4 is connected to perform image procossing, the master controller 5 and institute to the electric energy meter image with the CMOS vision sensors 3
State the Big Dipper omniselector 1 to connect to control the advanced positions of the robot, also with the mobile hard disk 2 and the Recognition of Reading
Device 4 is connected respectively, the automatic meter reading for controlling the robot.
Fig. 2 is the structure square frame of another embodiment of the robot for implementing the outdoor electric energy meter meter reading method of the present invention
Figure, it can be seen that from unlike Fig. 1, sharpening processor 6 is added in the embodiment, positioned at the He of CMOS vision sensors 3
Between Recognition of Reading device 4.
Then, continue that the concrete structure of Fig. 2 robot is further detailed.
The robot also includes：Power supply, including solar powered device, battery, switching switch and voltage turn
Parallel operation, the switching switch is connected respectively with the solar powered device and the battery, according to battery dump energy
Decide whether to be switched to the solar powered device to be powered by the solar powered device, the electric pressure converter and institute
Switching switch connection is stated, so that the 5V voltage conversions of input will be switched by switching as 3.3V voltages.
The robot also includes：Speech recognition device, for the voice of site administrator to be converted into electric signal, and base
Phonetic control command is generated in the electric signal.
The robot also includes：Wireless communication interface, the power supply management platform wireless connection with distal end, with wireless receiving
Remote control commands, the remote control commands include the Big Dipper control instruction.
The robot also includes：Robot driving mechanism, is connected with the master controller 5, in the main control
Under the control of device 5, the behavior act of the robot is driven, the behavior act includes advancing, retreat, turn to and crossing over.
The robot also includes：Sharpening processor 6, positioned at the CMOS vision sensors 3 and the Recognition of Reading
Between device 4, for receiving the electric energy meter image, the electric energy meter image is carried out to go haze processing to obtain haze electric energy
Table image, goes the haze electric energy meter image input Recognition of Reading device 4 to replace the electric energy meter image by image by described
Reason.
The sharpening processor 6 also includes with lower component：
Sub- equipment is stored, for prestoring sky upper limit gray threshold and sky lower limit gray threshold, the sky upper limit ash
Degree threshold value and the sky lower limit gray threshold are used to isolate the sky areas in image, are additionally operable to prestore presetted pixel
It is worth threshold value, the presetted pixel value threshold value value is between 0 to 255；
The sub- equipment of haze Concentration Testing, in air, the haze concentration for detecting electric energy meter position in real time, and according to
Haze concentration determines that haze removes intensity, and the haze removes intensity value between 0 to 1；
The sub- equipment of region division, connects the CMOS vision sensors 3 to receive the electric energy meter image, to the electric energy meter figure
As carrying out gray processing processing to obtain gray processing electric energy meter image, also it is connected with storing sub- equipment, by the gray processing electric energy meter
Pixel of the gray value between the sky upper limit gray threshold and the sky lower limit gray threshold is recognized and constituted in image
Gray processing sky sub-pattern, is partitioned into the gray processing sky sub-pattern to obtain gray processing from the gray processing electric energy meter image
Non- sky subgraph, the position based on the non-sky subgraph of the gray processing in the electric energy meter image is obtained and the gray scale
Change the corresponding colored non-sky subgraph of non-sky subgraph；
Black channel obtains sub- equipment, is connected to obtain the colored non-sky subgraph, pin with the sub- equipment of the region division
To each pixel in the colored non-sky subgraph, its R, G, the Color Channel pixel values of B tri-, in the colored non-day are calculated
The minimum Color Channel pixel value institute of a numerical value is extracted in the Color Channel pixel value of the R of all pixels in null subgraph picture, G, B tri-
Color Channel be used as black channel；
Overall air light value obtains sub- equipment, is connected with storing sub- equipment to obtain the presetted pixel value threshold value, also with it is described
The sub- equipment of region division and the black channel obtain sub- equipment and connect to obtain the electric energy meter image and the black respectively
Passage, multiple pixels composition that black channel pixel value in the electric energy meter image is more than or equal into presetted pixel value threshold value is to be checked
Set of pixels is tested, the gray value of the pixel with maximum gradation value in the set of pixels to be tested is regard as overall air light value；
Atmospheric scattering light value obtains sub- equipment, connects respectively with the sub- equipment of the region division and the sub- equipment of haze Concentration Testing
Connect, to each pixel of the electric energy meter image, extract minimum value in its R, G, the Color Channel pixel values of B tri- and be used as target picture
Element value, using the Gaussian filter EPGF (edge-preserving gaussian filter) at holding edge to described
Target pixel value is filtered processing to obtain filtered target pixel value, and target pixel value is subtracted filtered target pixel value to obtain
Object pixel difference is obtained, processing is filtered to object pixel difference to obtain filtered target pixel value difference using EPGF, will be filtered
Ripple target pixel value subtracts filtered target pixel value difference and removes a reference value to obtain haze, and haze removal intensity is multiplied by into haze
Threshold value is removed to obtain haze except a reference value, takes haze to remove the minimum value in threshold value and target pixel value as comparison reference
Value, takes the maximum in comparison reference and 0 as the atmospheric scattering light value of each pixel；
Medium transfer rate obtains sub- equipment, obtains sub- equipment with the overall air light value and the atmospheric scattering light value obtains son
Equipment is connected respectively, and the atmospheric scattering light value of each pixel divided by overall air light value are removed into value to obtain, 1 subtracted described
Except value to obtain the medium transfer rate of each pixel；
Sharpening image obtains sub- equipment, and sub- equipment and institute are obtained with the sub- equipment of the region division, the overall air light value
Give an account of the sub- equipment of matter transfer rate acquisition to connect respectively, 1 is subtracted the medium transfer rate of each pixel to obtain the first difference, will
First difference is multiplied by overall air light value to obtain product value, by the pixel value of each pixel in the electric energy meter image
The product value is subtracted to obtain the second difference, the medium transfer rate of second difference divided by each pixel is every to obtain
The pixel value of each pixel is included in the electric energy meter image in the sharpening pixel value of one pixel, the electric energy meter image
The Color Channel pixel value of the R of each pixel, G, B tri-, correspondingly, the sharpening pixel value of each pixel of acquisition are included often
The Color Channel sharpening pixel value of the R of one pixel, G, B tri-, the sharpening pixel value composition of all pixels removes haze electric energy meter
Image.
The Big Dipper omniselector 1 is provided for receiving the Big Dipper aeronautical satellite, current the Big Dipper of the robot
Data.
The mobile hard disk 2 is additionally operable to storage electric energy meter upper limit gray threshold and electric energy meter lower limit gray threshold, the electricity
Energy table upper limit gray threshold and the electric energy meter lower limit gray threshold are used for the electric energy meter dial plate and background separation in image.
The Recognition of Reading device 4 also includes median filter unit, pretreatment unit, object-recognition unit, template matches list
Member and pointer position determining unit；
The median filter unit is connected with the sharpening processing equipment 6, for removing haze electric energy meter image filtering to described
To export filtering image；
The pretreatment unit is connected with the median filter unit, for carrying out gray processing processing to the filtering image with defeated
Go out gray level image；
The object-recognition unit is connected respectively with the pretreatment unit and the mobile hard disk, by the gray level image
Pixel of the gray value between the electric energy meter upper limit gray threshold and the electric energy meter lower limit gray threshold recognizes and constitutes electricity
Can table dial plate subgraph；
The template matches unit is connected respectively with the object-recognition unit and the mobile hard disk, based on the electric energy meter
The target electric energy meter template of plate image match query in all kinds of electric energy meter templates that the mobile hard disk is stored, provides described
Maximum scale, minimum scale and the pointer model of target electric energy meter template；
The pointer position determining unit is connected respectively with the object-recognition unit and the template matches unit, based on described
With the gauge pointer of the pointer Model Matching in electric energy meter plate image described in electric energy meter plate image recognition, calculate and know
The gauge pointer and the pointer angle of horizontal direction being clipped to, calculate the maximum scale and the minimum scale and level side respectively
To maximum scale angle and minimum scale angle, according to pointer angle between maximum scale angle and minimum scale angle
Numerical value position, it is determined that outdoor electric energy meter reading.
The master controller 5 and institute's speech recognizer, the wireless communication interface, the robot driving mechanism, institute
The Big Dipper omniselector 1, the mobile hard disk 2 and the Recognition of Reading device 4 is stated to connect respectively, according to the phonetic control command or
The remote control commands control the robot driving mechanism.
The master controller 5 receives the outdoor electric energy meter reading that the Recognition of Reading device 4 is sent, and by the outdoor electric energy
Meter reading is forwarded to the power supply management platform by the wireless communication interface, and the master controller 5 controls the movement hard
The data storage of disk 2, the remote control commands advance to target meter reading position, the voice control for robot described in coarse adjustment
System instruction advances to target meter reading position for robot described in fine tuning.
Wherein, the Big Dipper in the remote control commands that power supply management platform described in the wireless receiving of master controller 5 is sent
Star control instruction, the Big Dipper control instruction includes target Big Dipper sing data, and the master controller 5 controls the robot to drive
Motivation structure advances to the position of target Big Dipper sing data described in current the Big Dipper Data Matching that the Big Dipper omniselector 1 is sent
Put.
Wherein, the master controller 5 is receiving the power supply management platform success of the wireless communication interface forwarding
When receiving the return instruction of outdoor electric energy meter reading, the relay indicating light of the robot is controlled by predetermined time of preset frequency flicker
Number, to point out site administrator；Alternatively, institute's speech recognizer includes sound sensor unit and voice recognition chip, institute
Stating sound sensor unit is used to site administrator's voice being converted to electric signal, and the voice recognition chip connects the sound
Sensing unit, for generating phonetic control command based on the electric signal, the voice recognition chip can use ICRoute companies
LD3320 chips, and the median filter unit, the pretreatment unit, the object-recognition unit, the template
Different fpga chips can be respectively adopted with unit and the pointer position determining unit to realize.
In addition, haze image can realize image by a series of images processing equipment remove haze, it is clear to obtain
The image of change, improves the visibility of image.These image processing equipments perform different image processing functions respectively, based on haze
The principle of formation, reaches the effect for removing haze.The sharpening processing of haze image all has pole for dual-use field
Big application value, military domain include military and national defense, remote sensing navigate etc., civil area include road monitoring, target following and
Automatic Pilot etc..
The process of haze image formation can be described with atmospheric attenuation process, be clear in haze image and real image
Changing the relation between image can be stated with the medium transfer rate of overall air light value and each pixel, i.e., in known haze figure
As in the case of, according to overall air light value and the medium transfer rate of each pixel, sharpening image can be solved.
There are some effectively and by testing for the solution of overall air light value and the medium transfer rate of each pixel
The means of card, for example, medium transfer rate for each pixel is, it is necessary to obtain the big of overall air light value and each pixel
Gas scatters light value, and the atmospheric scattering light value of each pixel can be carried out to pixel value of each pixel in haze image
The Gaussian smoothing filter at edge is kept twice and is obtained, and therebetween, the intensity that haze is removed is adjustable；And the acquisition of overall air light value
Mode has two kinds, and a kind of mode is (can to cause some pixels i.e. in haze image by obtaining the black channel of haze image
Black channel value it is very low, black channel is R, G, one kind in the Color Channels of B tri-), it is black by finding in haze image
Find the maximum pixel of gray value in chrominance channel pixel value multiple pixels bigger than normal to obtain, will search out, gray value is most
The gray value of big pixel participates in the sharpening processing of each pixel in haze image as overall air light value；In addition, whole
Body atmosphere light value can also be obtained in the following manner：The gray value of each pixel in haze image is calculated, gray value is maximum
The gray value of pixel is used as overall air light value.
Specific haze image and real image are the relation between sharpening image, and the relation between parameters
Reference can be made to above content.
By the discussion to haze image formation basic theory, the relation between haze image and sharpening image has been built, has been used
Multiple parameters represent this relation, are then that reducible acquisition definition is higher by the multiple parameter values and haze image of acquisition
Image, because the acquisition of parameter has borrowed some statistical means and empirical means, therefore the higher image of the definition is not
Real image may be fully equivalent to, but there is the considerable degree of every field gone haze effect, be under haze weather
Operation provides effective guarantee.
Using the outdoor electric energy meter meter reading method of the present invention, for electric energy meter reading inconvenience outside the room of existing high voltage electric place
Or the not high technical problem of data precision is read, using network technology and speech recognition technology, by remote location control and short range
Position control is combined, and is ensured that robot can be accurate to up to predetermined meter reading position, existing automatic meter reading technology is transformed, using more
Intelligentized image procossing mode realizes high accuracy, the automatic meter reading of highly compatible, improves the work effect of transformer substation robot
Rate, more it is essential that by the analysis to atmospheric attenuation model, introducing sharpening processor to remove haze to electric energy meter image
Influence, so that it is guaranteed that outdoor electric energy meter can also be normally carried out remote electronic type automatic meter reading under haze weather.
Although it is understood that the present invention is disclosed as above with preferred embodiment, but above-described embodiment and being not used to
Limit the present invention.For any those skilled in the art, without departing from the scope of the technical proposal of the invention,
Many possible variations and modification are all made to technical solution of the present invention using the technology contents of the disclosure above, or are revised as
With the equivalent embodiment of change.Therefore, every content without departing from technical solution of the present invention, the technical spirit pair according to the present invention
Any simple modifications, equivalents, and modifications made for any of the above embodiments, still fall within the scope of technical solution of the present invention protection
It is interior.
Claims (2)
1. a kind of outdoor electric energy meter meter reading robot, it is characterised in that passed including the Big Dipper omniselector, mobile hard disk, CMOS visions
Sensor, Recognition of Reading device and master controller, wherein the Big Dipper omniselector is provided for receiving the Big Dipper aeronautical satellite, institute
State the current Big Dipper sing data of robot；The mobile hard disk is used to prestore all kinds of electric energy meter templates, and for advance
Store the maximum scale, minimum scale and pointer model of each class electric energy meter template；The CMOS vision sensors are used to shoot
Electric energy meter image；The Recognition of Reading device is connected to perform at image the electric energy meter image with the CMOS vision sensors
Reason；The master controller is connected to control the advanced positions of the robot with the Big Dipper omniselector, also with the movement
Hard disk and the Recognition of Reading device are connected respectively, the automatic meter reading for controlling the robot；
Described image processing includes the electric energy meter image is carried out to go haze processing to obtain the step of haze electric energy meter image
Suddenly；
The robot also includes：
Power supply, including solar powered device, battery, switching switch and electric pressure converter, the switching switch and institute
State solar powered device and the battery is connected respectively, decided whether to be switched to the sun according to battery dump energy
Energy power supply device by the solar powered device to be powered, and the electric pressure converter is connected with the switching switch, will be logical
The 5V voltage conversions for crossing switching switch input are 3.3V voltages；
Speech recognition device, for the voice of site administrator to be converted into electric signal, and generates voice based on the electric signal
Control instruction；
Wireless communication interface, the power supply management platform wireless connection with distal end is described long-range with wireless receiving remote control commands
Control instruction includes the Big Dipper control instruction；
Robot driving mechanism, is connected with the master controller, under the control of the master controller, driving the machine
The behavior act of people, the behavior act includes advancing, retreat, turn to and crossing over；
Sharpening processor, between the CMOS vision sensors and the Recognition of Reading device, for receiving the electric energy
Table image, carries out going haze processing to obtain haze electric energy meter image to the electric energy meter image, haze electric energy is removed by described
Table image inputs the Recognition of Reading device to replace the electric energy meter image by image procossing；
The sharpening processor also includes：
Sub- equipment is stored, for prestoring sky upper limit gray threshold and sky lower limit gray threshold, the sky upper limit ash
Degree threshold value and the sky lower limit gray threshold are used to isolate the sky areas in image, are additionally operable to prestore presetted pixel
It is worth threshold value, the presetted pixel value threshold value value is between 0 to 255；
The sub- equipment of haze Concentration Testing, in air, the haze concentration for detecting electric energy meter position in real time, and according to
Haze concentration determines that haze removes intensity, and the haze removes intensity value between 0 to 1；
The sub- equipment of region division, connects the CMOS vision sensors to receive the electric energy meter image, to the electric energy meter figure
As carrying out gray processing processing to obtain gray processing electric energy meter image, also it is connected with storing sub- equipment, by the gray processing electric energy meter
Pixel of the gray value between the sky upper limit gray threshold and the sky lower limit gray threshold is recognized and constituted in image
Gray processing sky sub-pattern, is partitioned into the gray processing sky sub-pattern to obtain gray processing from the gray processing electric energy meter image
Non- sky subgraph, the position based on the non-sky subgraph of the gray processing in the electric energy meter image is obtained and the gray scale
Change the corresponding colored non-sky subgraph of non-sky subgraph；
Black channel obtains sub- equipment, is connected to obtain the colored non-sky subgraph, pin with the sub- equipment of the region division
To each pixel in the colored non-sky subgraph, its R, G, the Color Channel pixel values of B tri-, in the colored non-day are calculated
The minimum Color Channel pixel value institute of a numerical value is extracted in the Color Channel pixel value of the R of all pixels in null subgraph picture, G, B tri-
Color Channel be used as black channel；
Overall air light value obtains sub- equipment, is connected with storing sub- equipment to obtain the presetted pixel value threshold value, also with it is described
The sub- equipment of region division and the black channel obtain sub- equipment and connect to obtain the electric energy meter image and the black respectively
Passage, multiple pixels composition that black channel pixel value in the electric energy meter image is more than or equal into presetted pixel value threshold value is to be checked
Set of pixels is tested, the gray value of the pixel with maximum gradation value in the set of pixels to be tested is regard as overall air light value；
Atmospheric scattering light value obtains sub- equipment, connects respectively with the sub- equipment of the region division and the sub- equipment of haze Concentration Testing
Connect, to each pixel of the electric energy meter image, extract minimum value in its R, G, the Color Channel pixel values of B tri- and be used as target picture
Element value, is handled to obtain filtering mesh using keeping the Gaussian filter EPGF at edge to be filtered the target pixel value
Pixel value is marked, target pixel value filtered target pixel value is subtracted into obtain object pixel difference, using EPGF to object pixel
Difference be filtered processing to obtain filtered target pixel value difference, by filtered target pixel value subtract filtered target pixel value difference with
Obtain haze and remove a reference value, haze removal intensity is multiplied by into haze removes a reference value to obtain haze removal threshold value, takes haze
The minimum value in threshold value and target pixel value is removed as comparison reference, the maximum in comparison reference and 0 is taken as every
The atmospheric scattering light value of one pixel；
Medium transfer rate obtains sub- equipment, obtains sub- equipment with the overall air light value and the atmospheric scattering light value obtains son
Equipment is connected respectively, and the atmospheric scattering light value of each pixel divided by overall air light value are removed into value to obtain, 1 subtracted described
Except value to obtain the medium transfer rate of each pixel；
Sharpening image obtains sub- equipment, and sub- equipment and institute are obtained with the sub- equipment of the region division, the overall air light value
Give an account of the sub- equipment of matter transfer rate acquisition to connect respectively, 1 is subtracted the medium transfer rate of each pixel to obtain the first difference, will
First difference is multiplied by overall air light value to obtain product value, by the pixel value of each pixel in the electric energy meter image
The product value is subtracted to obtain the second difference, the medium transfer rate of second difference divided by each pixel is every to obtain
The pixel value of each pixel is included in the electric energy meter image in the sharpening pixel value of one pixel, the electric energy meter image
The Color Channel pixel value of the R of each pixel, G, B tri-, correspondingly, the sharpening pixel value of each pixel of acquisition are included often
The Color Channel sharpening pixel value of the R of one pixel, G, B tri-, the sharpening pixel value composition of all pixels removes haze electric energy meter
Image.
2. a kind of outdoor electric energy meter meter reading method, it is characterised in that including：At the traveling, automatic shooting, image of robot
Reason and automatic meter reading function carry out outdoor electric energy meter meter reading, wherein the robot include the Big Dipper omniselector, mobile hard disk,
CMOS vision sensors, Recognition of Reading device and master controller, wherein the Big Dipper omniselector is defended for receiving the Big Dipper navigation
Star is provided, the current Big Dipper sing data of the robot；The mobile hard disk is used to prestore all kinds of electric energy meter templates, with
And for prestoring the maximum scale, minimum scale and pointer model of each class electric energy meter template；The CMOS visual sensings
Device is used to shoot electric energy meter image；The Recognition of Reading device is connected with to the electric energy meter image with the CMOS vision sensors
Perform image procossing；The master controller is connected to control the advanced positions of the robot with the Big Dipper omniselector, also
It is connected respectively with the mobile hard disk and the Recognition of Reading device, the automatic meter reading for controlling the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710360393.0A CN106965186A (en) | 2015-04-01 | 2015-04-01 | Outdoor electric energy meter meter reading robot based on the Big Dipper omniselector and vision sensor |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710360393.0A CN106965186A (en) | 2015-04-01 | 2015-04-01 | Outdoor electric energy meter meter reading robot based on the Big Dipper omniselector and vision sensor |
| CN201510152733.1A CN104777836B (en) | 2015-04-01 | 2015-04-01 | Outdoor electric energy meter meter reading method |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510152733.1A Division CN104777836B (en) | 2015-04-01 | 2015-04-01 | Outdoor electric energy meter meter reading method |
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| CN106965186A true CN106965186A (en) | 2017-07-21 |
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| CN201710360393.0A Withdrawn CN106965186A (en) | 2015-04-01 | 2015-04-01 | Outdoor electric energy meter meter reading robot based on the Big Dipper omniselector and vision sensor |
| CN201710395044.2A Withdrawn CN107423751A (en) | 2015-04-01 | 2015-04-01 | The method of work of outdoor electric energy meter meter reading robot based on the Big Dipper omniselector |
| CN201510152733.1A Active CN104777836B (en) | 2015-04-01 | 2015-04-01 | Outdoor electric energy meter meter reading method |
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| CN201710395044.2A Withdrawn CN107423751A (en) | 2015-04-01 | 2015-04-01 | The method of work of outdoor electric energy meter meter reading robot based on the Big Dipper omniselector |
| CN201510152733.1A Active CN104777836B (en) | 2015-04-01 | 2015-04-01 | Outdoor electric energy meter meter reading method |
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| CN105974169A (en) * | 2015-04-01 | 2016-09-28 | 李曼 | Robot capable of reading outdoor electric energy meter |
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| MA35076B1 (en) * | 2012-09-17 | 2014-05-02 | Ezzitoni Khiyari | The method of supplying stairway lighting to AC at each building counter. |
| CN202949514U (en) * | 2012-12-11 | 2013-05-22 | 山西省电力公司大同供电分公司 | Electronic meter reading instrument |
| CN103235562B (en) * | 2013-03-07 | 2016-01-20 | 河海大学常州校区 | Transformer station is based on the comprehensive parameters detection system of crusing robot and method for inspecting |
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- 2015-04-01 CN CN201710360393.0A patent/CN106965186A/en not_active Withdrawn
- 2015-04-01 CN CN201710395044.2A patent/CN107423751A/en not_active Withdrawn
- 2015-04-01 CN CN201510152733.1A patent/CN104777836B/en active Active
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| JP2003170375A (en) * | 2001-11-30 | 2003-06-17 | Tmsuk Co Ltd | Robot remote control system |
| CN102170574A (en) * | 2011-05-23 | 2011-08-31 | 北京工业大学 | Real-time video defogging system |
| CN103049888A (en) * | 2012-12-07 | 2013-04-17 | 西安电子科技大学 | Image/video demisting method based on combination of dark primary color of atmospheric scattered light |
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|---|---|
| CN104777836B (en) | 2017-06-27 |
| CN107423751A (en) | 2017-12-01 |
| CN104777836A (en) | 2015-07-15 |
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