Research On Intelligent Recognition System Of Pointer Instrument For Substation Inspection Robot

With the continuous transformation of substations to intelligent and unmanned,more and more inspection robots are used in substations.However,most of the inspection robots are at the image acquisition stage,and manual participation is still required during the reading process,and the work efficiency is low.When the shooting position of the inspection robot is deviated,the image quality of the instrument taken at a fixed angle will decrease,which will have a greater impact on the automatic reading of the instrument.To this end,this paper takes the analog instrument in the substation as the research object,systematically studies the detection and positioning of the instrument,the automatic acquisition of the instrument image and the automatic reading algorithm of the instrument,and realizes a highly adaptive and intelligent reading method.The main work contents of this paper are:(1)Due to the multi-scale variation of the instrument,the traditional template matching method has more false detections,a multi-scale template matching instrument detection algorithm is proposed,which enables the inspection robot to detect the position of the instrument at different distances and overcome the influence of the instrument size change.(2)For the problem that the position of the instrument is not centered and the area is small,the image quality is low,the instrument search method based on the double-degree-of-freedom pan is designed,and combined with the high-definition zoom camera equipped with the robot,the inspection robot can independently acquire the high-quality position and the appropriate size instrument image.(3)In view of the fact that the image recognition of the instrument is interfered by factors such as the width of the pointer,the distance of the shooting,and the background of the dial,a pointer instrument reading algorithm based on contour fitting and radial segmentation is proposed.The algorithm can overcome the interference of wide and narrow pointers,shooting distance and dial background within the allowable range of reading error,and has strong adaptive ability.(4)A pointer instrument reading system for the inspection robot is developed.Through the hardware devices such as the high-definition camera and the camera head mounted by the inspection robot,a pointer instrument reading software was designed independently,which realized the automatic reading of the pointer instrument of the inspection robot,and verified the system recognition effect and overall performance through experiments.