CN107393270B - A mobile visual inspection equipment and method for electrical instrument inspection - Google Patents
A mobile visual inspection equipment and method for electrical instrument inspection Download PDFInfo
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Abstract
Description
技术领域technical field
本发明涉及一种用于电气仪表检测的移动式视觉巡检设备及方法，属于仪表检测技术领域。The invention relates to a mobile visual inspection equipment and method for electrical instrument detection, belonging to the technical field of instrument detection.
背景技术Background technique
在大规模电气仪表群的监测数据采集过程中，存在大量指针式仪表和无接口数显式仪表等直显式仪表，由于其数据无法直接被计算机采集，传统读数方式多采用人工读数。然而人工读数具有强度大、成本高、时效性不强、监测周期长等缺点，影响监测工作的进行。将图像处理技术应用于各类仪表的数据读取和状态识别工作中，实现仪表检测自动化，不仅提高了校验的准确度，而且提高了工作效率。In the monitoring data collection process of large-scale electrical instrument groups, there are a large number of direct-display instruments such as pointer instruments and digital display instruments without interfaces. Since their data cannot be directly collected by computers, traditional reading methods mostly use manual reading. However, manual readings have disadvantages such as high intensity, high cost, poor timeliness, and long monitoring cycle, which affect the monitoring work. The image processing technology is applied to the data reading and state recognition of various instruments to realize the automation of instrument detection, which not only improves the accuracy of calibration, but also improves work efficiency.
发明内容Contents of the invention
本发明所要解决的技术问题是克服现有技术的缺陷，提供一种用于电气仪表检测的移动式视觉巡检设备及方法，可对大规模电气仪表群进行巡检和对故障进行快速、准确定位。The technical problem to be solved by the present invention is to overcome the defects of the prior art and provide a mobile visual inspection equipment and method for electrical instrument detection, which can perform inspections on large-scale electrical instrument groups and quickly and accurately detect faults. position.
为解决上述技术问题，本发明提供一种用于电气仪表检测的移动式视觉巡检设备，包括移动装置和监控中心；所述监控中心以服务器为平台，用于进行数据存储并提供人机交互界面；所述移动装置包括信息处理及控制单元、定位装置、无线网络通信单元、动力装置和视觉信息采集单元；In order to solve the above technical problems, the present invention provides a mobile visual inspection equipment for electrical instrument detection, including a mobile device and a monitoring center; the monitoring center uses a server as a platform for data storage and human-computer interaction interface; the mobile device includes an information processing and control unit, a positioning device, a wireless network communication unit, a power device and a visual information collection unit;
所述视觉信息采集单元的输出端接入信息处理及控制单元的输入端，所述定位装置与动力装置均与信息处理及控制单元相连，所述监控中心通过无线网络通信单元与信息处理及控制单元相互通信；The output end of the visual information collection unit is connected to the input end of the information processing and control unit, the positioning device and the power device are connected to the information processing and control unit, and the monitoring center communicates with the information processing and control unit through a wireless network communication unit. The units communicate with each other;
所述移动装置的各单元与装置均搭载在一个沿滑轨运动的移动平台上；Each unit and device of the mobile device is mounted on a mobile platform that moves along a slide rail;
所述动力装置为移动平台提供动力支持；The power unit provides power support for the mobile platform;
所述定位装置用于获取移动装置与滑轨的相对位置；The positioning device is used to obtain the relative position of the mobile device and the slide rail;
所述视觉信息采集单元用于对巡检范围内的仪表进行视觉信息采集；The visual information collection unit is used to collect visual information from the instruments within the inspection range;
所述信息处理及控制单元从视觉信息采集单元获取视觉传感信息后对其进行处理，识别视野内有无仪表以及识别仪表读数或指示状态，并将识别信息通过无线网络通信单元上传至监控中心，同时接收监控中心发出的指令，通过动力装置控制移动装置的移动。The information processing and control unit acquires the visual sensing information from the visual information acquisition unit and processes it, identifies whether there is an instrument in the field of view, and identifies the reading or indication status of the instrument, and uploads the identification information to the monitoring center through the wireless network communication unit , and at the same time receive instructions from the monitoring center, and control the movement of the mobile device through the power unit.
前述的滑轨采取双轴心导轨，预先铺设于所检测的场区之内。The aforementioned slide rail adopts a double-axis guide rail, which is pre-laid in the field area to be tested.
前述的动力装置包括直流伺服电机、电机驱动电路和减速器，所述电机驱动电路接收信息处理及控制单元的控制信号，控制伺服电机的转动速度，所述伺服电机输出至减速器，减速器的输出作为动力装置的动力输出。The aforementioned power device includes a DC servo motor, a motor drive circuit and a speed reducer. The motor drive circuit receives the control signal from the information processing and control unit to control the rotation speed of the servo motor, and the output of the servo motor is sent to the speed reducer. output as the power output of the power plant.
前述的定位装置采用绝对式编码器；所述绝对式编码器啮合于动力装置的减速器输出，将输出转速以脉冲流的形式进行编制，绝对式减速器每转动一个角度，编码器会输出一个电平脉冲，信息处理及控制中心对脉冲个数进行计数，判断移动装置行驶的路程。The aforementioned positioning device adopts an absolute encoder; the absolute encoder is engaged with the output of the reducer of the power unit, and the output speed is compiled in the form of a pulse stream. Every time the absolute reducer rotates an angle, the encoder will output a Level pulse, the information processing and control center counts the number of pulses to judge the distance traveled by the mobile device.
前述的视觉信息采集单元采用单个图形传感器，并配以光线投射器。The aforementioned visual information acquisition unit adopts a single image sensor and is equipped with a light projector.
前述的信息处理及控制单元包括高速处理芯片以及DDR、时钟电路、硬件复位电路。The aforementioned information processing and control unit includes a high-speed processing chip, a DDR, a clock circuit, and a hardware reset circuit.
用于电气仪表检测的移动式视觉巡检设备的巡检方法，包括以下步骤：The inspection method of the mobile visual inspection equipment used for electrical instrument inspection includes the following steps:
（1）监控中心通过无线网络通信单元定时向移动装置发送指令开始巡检，或者通过人为操作发送开始巡检指令；(1) The monitoring center regularly sends instructions to the mobile device through the wireless network communication unit to start the inspection, or sends an instruction to start the inspection through manual operation;
（2）移动装置中的信息处理及控制单元接收到开始巡检指令后，将视觉信息采集单元、动力装置和定位装置由低功耗休眠模式唤醒，开始巡检；(2) After the information processing and control unit in the mobile device receives the instruction to start the inspection, it wakes up the visual information acquisition unit, the power device and the positioning device from the low-power sleep mode, and starts the inspection;
（3）信息处理及控制单元通过动力装置控制沿预先铺设的滑轨移动，同时视觉信息采集单元采集信息；(3) The information processing and control unit is controlled by the power device to move along the pre-laid slide rail, and the visual information acquisition unit collects information at the same time;
（4）当识别出行进路线中检测范围内的仪表时，移动装置运动停止，视觉信息采集单元采集仪表静态图像并发送至信息处理及控制单元进行处理，识别仪表读数或指示状态；(4) When the instrument within the detection range in the travel route is identified, the movement of the mobile device stops, and the visual information acquisition unit collects the static image of the instrument and sends it to the information processing and control unit for processing, identifying the instrument reading or indicating status;
（5）信息处理及控制单元将仪表静态图像和自动识别的仪表读数或指示状态发送至监控中心，监控中心将信息存储至数据库中；(5) The information processing and control unit sends the static image of the meter and the automatically recognized meter reading or indication status to the monitoring center, and the monitoring center stores the information in the database;
（6）移动装置继续运动并重复步骤（3）至步骤（5）；移动装置移动的同时，信息处理及控制单元通过定位装置实时获取与滑轨的相对位置；(6) The mobile device continues to move and repeats steps (3) to (5); while the mobile device is moving, the information processing and control unit obtains the relative position to the slide rail in real time through the positioning device;
（7）移动装置移动至出发原点，停止运动，向监控中心发送巡检完成信息，同时信息处理及控制单元控制定位装置、视觉信息采集单元和动力装置进入休眠模式。(7) The mobile device moves to the starting point, stops moving, and sends inspection completion information to the monitoring center. At the same time, the information processing and control unit controls the positioning device, visual information acquisition unit and power device to enter the sleep mode.
前述的巡检设备可实现对电气开关类、电气指示灯、指针式仪表和数显式仪表的识别，具体识别过程如下：The aforementioned inspection equipment can realize the identification of electrical switches, electrical indicator lights, pointer instruments and digital display instruments. The specific identification process is as follows:
电气开关类的识别依据开关各种状态的位置，信息处理及控制单元对视觉信息采集单元获取的图像进行图像预处理、形态学检测定位及边缘检测，将电气开关柜的开关自动检测出来，并运用Hough变换，判断开关的角度，从而识别出开关的状态是打开还是闭合，并将该状态发送至监控中心，监控中心将其状态与预设状态进行对比，从而判断是否故障，输出故障信息；The identification of electrical switches is based on the position of various states of the switch. The information processing and control unit performs image preprocessing, morphological detection and positioning and edge detection on the image acquired by the visual information acquisition unit, and automatically detects the switches of the electrical switch cabinet, and Use the Hough transform to judge the angle of the switch, so as to identify whether the state of the switch is open or closed, and send the state to the monitoring center. The monitoring center compares its state with the preset state to determine whether it is faulty and output fault information;
电气指示灯的识别依据灯的颜色以及闪烁状态，信息处理及控制单元对视觉信息采集单元获取的图像进行图像预处理，然后对预处理图像进行霍夫变换进行圆检测，从而确定指示灯的区域，并对该区域的像素值进行检测确定指示灯的颜色，通过对比不同图像帧指示灯的颜色变化确定指示灯的闪烁状态，不变为不闪烁，时变为快闪烁，最后控制单元将识别出的状态传输至监控中心，监控中心将其与预设状态进行对比，判断设备是否出现故障，输出故障信息；The identification of electrical indicator lights is based on the color and flashing status of the lights. The information processing and control unit performs image preprocessing on the image acquired by the visual information acquisition unit, and then performs Hough transform on the preprocessed image to perform circle detection to determine the area of the indicator light. , and detect the pixel value of the area to determine the color of the indicator light, and determine the blinking state of the indicator light by comparing the color changes of the indicator light in different image frames, and change from not to flashing, to fast flashing, and finally the control unit will identify The output state is transmitted to the monitoring center, and the monitoring center compares it with the preset state, judges whether the equipment is faulty, and outputs fault information;
指针式仪表识别主要是自动判读仪表指针示指，信息处理及控制单元对视觉信息采集单元获取的图像进行处理，将圆形、扇形表盘通过坐标平移、翻转转化为矩形，再利用矩形表盘图像进行由上至下的直线扫描获得刻度线及指针的位置信息，通过位置信息的比较确定仪表读数，最后将仪表读数送至监控中心，监控中心通过与预设状态的对比判断设备是否出现故障，输出故障信息；Pointer instrument recognition is mainly to automatically interpret the indicator pointer of the instrument. The information processing and control unit processes the image acquired by the visual information acquisition unit, and transforms the circular and fan-shaped dials into rectangles through coordinate translation and flipping, and then uses the rectangular dial image to perform Scan from top to bottom to obtain the position information of the scale line and the pointer, determine the reading of the meter through the comparison of the position information, and finally send the reading of the meter to the monitoring center, and the monitoring center judges whether the equipment is faulty by comparing with the preset state, and outputs the fault information;
数显式仪表识别通过数字字符识别来读取数值，并将数值送至监控中心，监控中心通过与预设状态的对比判断设备是否出现故障，输出故障信息。The digital display instrument recognition reads the value through digital character recognition, and sends the value to the monitoring center. The monitoring center judges whether the equipment is faulty by comparing with the preset state, and outputs the fault information.
本发明具有如下优点：The present invention has the following advantages:
（1）本发明利用移动装置，对需要进行大规模电气仪表巡检的场合以视觉图像的方式进行自动检测和识别，借助无线网络实现视觉信息和仪表识别信息的传输，可实现对故障仪表和设备的快速、准确的识别和定位；(1) The present invention uses mobile devices to automatically detect and identify occasions that require large-scale inspections of electrical instruments in the form of visual images, and realizes the transmission of visual information and instrument identification information by means of wireless networks, which can realize faulty instruments and Fast and accurate identification and positioning of equipment;
（2）本发明使用滑轨的形式达到设备按规定路径进行巡检的目的，适用于多种电气仪表群的场合，有较强的场合通用性。(2) The present invention uses the form of slide rails to achieve the purpose of inspection of the equipment according to the specified path, and is suitable for various occasions of electrical instrument groups, and has strong versatility in occasions.
附图说明Description of drawings
图1是本发明用于电气仪表检测的移动式视觉巡检设备框图。Fig. 1 is a block diagram of the mobile visual inspection equipment used for electrical instrument inspection according to the present invention.
具体实施方式Detailed ways
下面对本发明作进一步描述。以下实施例仅用于更加清楚地说明本发明的技术方案，而不能以此来限制本发明的保护范围。The present invention will be further described below. The following examples are only used to illustrate the technical solution of the present invention more clearly, but not to limit the protection scope of the present invention.
如图1所示，本发明的用于电气仪表检测的移动式视觉巡检设备包括移动装置和监控中心。As shown in FIG. 1 , the mobile visual inspection equipment for electrical instrument detection of the present invention includes a mobile device and a monitoring center.
监控中心以服务器为平台，监控中心软件实现数据库管理、人机交互界面的作用。The monitoring center takes the server as the platform, and the software of the monitoring center realizes the functions of database management and human-computer interaction interface.
移动装置，包括信息处理及控制单元、定位装置、无线网络通信单元、动力装置、视觉信息采集单元，Mobile device, including information processing and control unit, positioning device, wireless network communication unit, power device, visual information acquisition unit,
视觉信息采集单元的输出端接入信息处理及控制单元的输入端，定位装置与动力装置均与信息处理及控制单元相连，监控中心通过无线网络通信单元与信息处理及控制单元相互通信。The output end of the visual information acquisition unit is connected to the input end of the information processing and control unit, the positioning device and the power device are connected with the information processing and control unit, and the monitoring center communicates with the information processing and control unit through the wireless network communication unit.
移动装置的各单元与装置均搭载在一个沿滑轨运动的移动平台上，滑轨采取双轴心导轨，预先铺设于所检测的场区之内，导引设备移动方向。Each unit and device of the mobile device is mounted on a mobile platform that moves along the slide rails. The slide rails adopt dual-axis guide rails, which are pre-laid in the detected field area to guide the moving direction of the equipment.
动力装置为移动平台提供动力支持，动力装置包括直流伺服电机、电机驱动电路和减速器，其中，电机驱动电路接收信息处理及控制单元的控制信号，控制伺服电机的转动速度，伺服电机输出至减速器，减速器的输出作为动力装置的动力输出，输出方式例如但不限于轮式和履带式。The power device provides power support for the mobile platform. The power device includes a DC servo motor, a motor drive circuit and a reducer. The motor drive circuit receives information processing and control signals from the control unit to control the rotation speed of the servo motor, and the output of the servo motor to the reducer The output of the reducer is used as the power output of the power plant, and the output mode is such as but not limited to wheel type and crawler type.
采用绝对式编码器作为定位装置，编码器啮合于动力装置的减速器输出，将输出转速以脉冲流的形式进行编制。减速器每转动一个角度，编码器会输出一个电平脉冲。信息处理及控制中心对脉冲个数进行计数，可判断移动装置行驶的路程，以此获取移动装置与滑轨的相对位置，实现定位功能。The absolute encoder is used as the positioning device, and the encoder is meshed with the output of the reducer of the power unit, and the output speed is compiled in the form of pulse flow. Every time the reducer rotates an angle, the encoder will output a level pulse. The information processing and control center counts the number of pulses, and can judge the distance traveled by the mobile device, so as to obtain the relative position of the mobile device and the slide rail, and realize the positioning function.
采用单个图形传感器作为视觉信息采集单元，对巡检范围内的仪表进行视觉信息采集，并配以光线投射器辅助视觉传感功能。图形传感器例如但不限于面阵CCD、数字摄像机。A single graphic sensor is used as the visual information acquisition unit to collect visual information from the instruments within the inspection range, and is equipped with a light projector to assist the visual sensing function. Image sensors such as but not limited to area array CCD, digital video camera.
信息处理及控制单元为移动装置的处理中心，从视觉信息采集单元获取视觉传感信息后对其进行处理，通过视觉传感信息识别视野内有无仪表以及识别仪表读数或指示状态，并将识别信息通过无线网络通信单元上传至监控中心，同时接收监控中心发出的指令，通过动力装置控制移动装置的移动。The information processing and control unit is the processing center of the mobile device. It obtains the visual sensing information from the visual information acquisition unit and then processes it. Through the visual sensing information, it can identify whether there is an instrument in the field of view, identify the reading or indication status of the instrument, and identify The information is uploaded to the monitoring center through the wireless network communication unit, and at the same time, the instruction from the monitoring center is received, and the movement of the mobile device is controlled through the power unit.
信息处理及控制单元包括一具有高速处理功能的芯片以满足视觉传感信息处理需求，以及DDR、时钟电路、硬件复位电路。高速处理芯片例如但不限于FPGA芯片、嵌入式微处理器和数字信号处理器。The information processing and control unit includes a chip with high-speed processing functions to meet the requirements of visual sensor information processing, as well as DDR, clock circuit, and hardware reset circuit. High-speed processing chips such as but not limited to FPGA chips, embedded microprocessors and digital signal processors.
移动设装置和监控中心之间采用无线网路通信的方式作为传输介质，满足大流量图像传输需求。The wireless network communication is used as the transmission medium between the mobile device and the monitoring center to meet the needs of large-traffic image transmission.
采用本发明装置进行巡检的方法，其具体步骤如下：Adopt the method for carrying out inspection by device of the present invention, its concrete steps are as follows:
（1）监控中心通过无线网络通信单元定时向移动装置发送指令开始巡检，也可通过人为操作发送开始巡检指令；(1) The monitoring center regularly sends instructions to the mobile device through the wireless network communication unit to start the inspection, and can also send the instruction to start the inspection through manual operation;
（2）移动装置中的信息处理及控制单元接收到开始巡检指令后，将视觉信息采集单元、动力装置和定位装置由低功耗休眠模式唤醒，开始巡检；(2) After the information processing and control unit in the mobile device receives the instruction to start the inspection, it wakes up the visual information acquisition unit, the power device and the positioning device from the low-power sleep mode, and starts the inspection;
（3）信息处理及控制单元通过动力装置控制沿预先铺设的滑轨移动，同时视觉信息采集单元采集信息；(3) The information processing and control unit is controlled by the power device to move along the pre-laid slide rail, and the visual information acquisition unit collects information at the same time;
（4）当识别出行进路线中检测范围内的仪表时，移动装置运动停止，视觉信息采集单元采集仪表静态图像并发送至信息处理及控制单元进行处理，识别仪表读数或指示状态；(4) When the instrument within the detection range in the travel route is identified, the movement of the mobile device stops, and the visual information acquisition unit collects the static image of the instrument and sends it to the information processing and control unit for processing, identifying the instrument reading or indicating state;
（5）信息处理及控制单元将仪表静态图像和自动识别的仪表读数或指示状态发送至监控中心，监控中心将信息存储至数据库中；(5) The information processing and control unit sends the static image of the meter and the automatically recognized meter reading or indication status to the monitoring center, and the monitoring center stores the information in the database;
（6）移动装置继续运动并重复步骤（3）至步骤（5）；移动装置移动的同时，信息处理及控制单元通过定位装置实时获取与滑轨的相对位置；(6) The mobile device continues to move and repeats steps (3) to (5); while the mobile device is moving, the information processing and control unit obtains the relative position to the slide rail in real time through the positioning device;
（7）移动装置移动至出发原点，停止运动，向监控中心发送巡检完成信息，同时信息处理及控制单元控制定位装置、视觉信息采集单元和动力装置进入休眠模式，降低空闲功耗。(7) The mobile device moves to the starting point, stops moving, and sends inspection completion information to the monitoring center. At the same time, the information processing and control unit controls the positioning device, visual information acquisition unit and power device to enter sleep mode to reduce idle power consumption.
本发明装置可实现对各类仪表的检测，各类仪表的检测方法如下：The device of the present invention can realize the detection to all kinds of meters, and the detection method of all kinds of meters is as follows:
电气开关类的识别主要依据开关各种状态的位置，信息处理及控制单元对视觉信息采集单元获取的图像进行图像预处理、形态学检测定位及边缘检测，将电气开关柜的开关自动检测出来，并运用Hough变换，判断开关的角度，从而识别出开关的状态是打开还是闭合，并将该状态发送至监控中心，监控中心将其状态与预设状态进行对比，从而判断是否故障，输出故障信息。The identification of electrical switches is mainly based on the position of various states of the switch. The information processing and control unit performs image preprocessing, morphological detection and positioning and edge detection on the image acquired by the visual information acquisition unit, and automatically detects the switches of the electrical switch cabinet. And use the Hough transformation to judge the angle of the switch, so as to identify whether the state of the switch is open or closed, and send the state to the monitoring center. The monitoring center compares its state with the preset state to determine whether it is faulty and output fault information .
电气指示灯的识别主要是依据灯的颜色以及闪烁状态，电气指示灯状态一般有亮，灭，慢闪烁，快闪烁，红，绿等。闪烁状态识别主要以不同图像帧之间灯的颜色差异为依据。指示灯的形状一般为圆形，信息处理及控制单元对视觉信息采集单元获取的图像进行图像预处理，增强、去噪、平滑，然后对预处理图像进行霍夫变换进行圆检测，从而确定指示灯的区域，并对该区域的像素值进行检测确定指示灯的颜色，通过对比不同图像帧指示灯的颜色变化确定指示灯的闪烁状态，不变为不闪烁，时变为快闪烁。最后控制单元将识别出的状态传输至监控中心，监控中心将其与预设状态进行对比，判断设备是否出现故障，输出故障信息。The identification of electrical indicator lights is mainly based on the color and flashing status of the lights. The status of electrical indicator lights generally includes on, off, slow flashing, fast flashing, red, green, etc. The flickering state recognition is mainly based on the color difference of the light between different image frames. The shape of the indicator light is generally circular. The information processing and control unit performs image preprocessing, enhancement, denoising, and smoothing on the image acquired by the visual information acquisition unit, and then performs circle detection on the preprocessed image by Hough transform to determine the indicator. The area of the light, and detect the pixel value of the area to determine the color of the light, and determine the blinking state of the light by comparing the color changes of the light in different image frames. Finally, the control unit transmits the identified state to the monitoring center, and the monitoring center compares it with the preset state to determine whether the equipment is faulty and output fault information.
指针式仪表识别主要是自动判读仪表指针示指。信息处理及控制单元对视觉信息采集单元获取的图像进行处理，将圆形、扇形表盘转化为矩形，再通过直线检测识别指针位置，从而计算出仪表指针示指。表盘的变换主要通过坐标平移、翻转实现。指针位置的识别主要利用矩形表盘图像进行由上至下的直线扫描获得刻度线及指针的位置信息，通过位置信息的比较确定仪表读数。最后将仪表读数送至监控中心，监控中心通过与预设状态的对比判断设备是否出现故障，输出故障信息。Pointer instrument identification is mainly to automatically interpret the indicator pointer of the instrument. The information processing and control unit processes the image acquired by the visual information acquisition unit, transforms the circular and fan-shaped dial into a rectangle, and then recognizes the position of the pointer through straight line detection, thereby calculating the indicator of the instrument pointer. The transformation of the dial is mainly realized by coordinate translation and flipping. The recognition of the pointer position mainly uses the rectangular dial image to scan from top to bottom to obtain the position information of the scale line and the pointer, and determine the meter reading through the comparison of the position information. Finally, the instrument readings are sent to the monitoring center, and the monitoring center judges whether the equipment is faulty by comparing with the preset state, and outputs fault information.
数显式仪表识别主要是通过数字字符识别来读取数值，并将数值送至监控中心，监控中心通过与预设状态的对比判断设备是否出现故障，输出故障信息。The digital display instrument recognition mainly reads the value through digital character recognition, and sends the value to the monitoring center. The monitoring center judges whether the equipment is faulty by comparing with the preset state, and outputs the fault information.
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明技术原理的前提下，还可以做出若干改进和变形，这些改进和变形也应视为本发明的保护范围。The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present invention, some improvements and modifications can also be made. It should also be regarded as the protection scope of the present invention.
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