一种适用于变电站巡检机器人的仪表识别算法  

Meter Recognition Algorithm for Equipment Inspection Robot

作　　者：房桦 明志强 周云峰 李红玉 李健 

机构地区：[1]山东省电力特种机器人工程实验室,济南250002 [2]山东鲁能智能技术有限公司,济南250002 [3]四川省电力公司检修公司,成都610041

出　　处：《自动化与仪表》2013年第5期10-14,共5页Automation & Instrumentation

摘　　要：该文提出一种改进的适合智能变电站巡检机器人室外工作环境的变电站仪表设备的读数识别算法。首先针对各个不同种类的仪表设备图像,进行设备模板化处理,并在模板库中建立各仪表的min刻度和max刻度的位置信息。对于机器人实时采集的仪表设备图像,在后台服务中调取相应设备的模板图,利用尺度不变特征变换(SIFT)算法,在输入图像中匹配提取仪表表盘区域子图像。而后对表盘子图像进行二值化、仪表指针骨干化处理,利用快速霍夫变换(fast Hough transform)检测指针直线去除噪音干扰,定位指针精确位置和指向角度,完成指针读数。此算法经过国内某500 kV智能变电站巡检机器人实地测试,各种仪表综合识别率超过99.2%,对仪表的读数具有高精度高鲁棒性,完全满足该智能变电站推进无人值守的仪表设备读数自动检测识别的要求。An improved various meters recognition algorithm was proposed which was adapted to suit the equipment inspection robot works outdoor in the smart substation. First,the template images were made for each style of meter and the ＂min＂ and ＂max＂ values were illustrated for each template image. SIFT method was utilized to match with the template image for detecting the meter device region from the real-time image captured by the robot. And then, a fast Hough transform method was proposed to detect the line in the preprocessed image as the pointer of the me- ter. Comparing the angle with the ＂rain＂ or ＂max＂ value tile result of the meter can be recognized. This algorithm has been applied in one 500 kV smart substation in China. Various instruments recognition rate of over 99.2% ,with high precision and high robustness of the meter readings. Experimental results of various meters have showh good performance,which proves that the proposed method was both effective and accurate.

关 键 词：智能变电站 巡检机器人 仪表识别 SI FT配准 快速霍夫变换 

分 类 号：TH702[机械工程—仪器科学与技术]