CN110555824B - Switch position judging method and control method of switch position detection system - Google Patents

Switch position judging method and control method of switch position detection system Download PDF

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CN110555824B
CN110555824B CN201910661306.4A CN201910661306A CN110555824B CN 110555824 B CN110555824 B CN 110555824B CN 201910661306 A CN201910661306 A CN 201910661306A CN 110555824 B CN110555824 B CN 110555824B
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CN110555824A (en
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党晓婧
刘顺桂
陈红强
李伟
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Shenzhen Power Supply Co ltd
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Abstract

The present invention relates to a switch position determination method and a control method of a switch position detection system. The switch position distinguishing method calculates by intercepting the subimage in the two-dimensional point cloud image, thereby not only effectively avoiding the influence of the background point cloud image and improving the accuracy of the detection of the switch-on and switch-off states of the disconnecting switch, but also reducing the images participating in calculation and improving the detection efficiency. The switch position judging method also screens out the two-dimensional point cloud image to be detected which is most matched with the reference point cloud subimage for relevant calculation by a method of preferentially selecting a plurality of point cloud subimages to be detected, thereby avoiding accidental errors of single selection and further improving the detection precision.

Description

Switch position judging method and control method of switch position detection system
Technical Field
The present disclosure relates to the field of detection technologies, and in particular, to a method for determining a switch position and a method for controlling a switch position detection system.
Background
Disconnecting switches, also known as knife switches, etc., are used in high-voltage equipment of various grades in substations and power stations to change circuit connections to connect or isolate lines or equipment with a power supply. Generally, when repairing or replacing equipment, in order to ensure the safety of the maintainers and the equipment, the repaired equipment or line needs to be separated from a power supply by an obvious disconnection point, and a disconnecting switch is the disconnection point.
The isolating switch is moved to different positions through the moving arm of the isolating switch so as to realize the action of opening or closing. The opening or closing actions of the isolating switch are remote controlled, and after the remote control signal of the opening and closing is sent out, whether the isolating switch carries out corresponding actions or whether the actions are finished correctly relates to the safety of equipment and personnel. Therefore, how to accurately judge the switching-on and switching-off states of the disconnecting switch is a problem to be solved urgently.
Disclosure of Invention
In view of the above, it is necessary to provide a method for determining a switch position and a method for controlling a switch position detection system, in order to accurately determine the on/off state of the disconnector.
A switch position discrimination method includes:
s100, acquiring a two-dimensional reference point cloud image of the standard disconnecting switch in the standard closing state.
And S200, intercepting a reference point cloud sub-image in the two-dimensional reference point cloud image.
S300, acquiring a two-dimensional point cloud image to be detected of the isolating switch to be detected in the closing state to be detected.
S400, intercepting a plurality of sub-images of the point cloud to be detected in the two-dimensional point cloud image to be detected. And the size of the two-dimensional point cloud subimage to be detected is the same as that of the reference point cloud subimage.
And S500, respectively calculating the minimum similarity between the plurality of point cloud sub-images to be detected and the reference point cloud sub-image.
S600, when the minimum similarity is smaller than a set value, the isolating switch to be tested is judged to be in a standard position.
In one embodiment, the S100 includes:
and S110, acquiring a 3D reference point cloud image of the standard isolating switch along a first direction.
And S120, intercepting a first image layer corresponding to a first depth of the 3D reference point cloud image along the first direction to obtain the two-dimensional reference point cloud image.
In one embodiment, the S110 includes:
and S111, acquiring the 3D panoramic reference point cloud image of the standard isolating switch along the first direction. The 3D panoramic reference point cloud image comprises the standard isolating switch image and an environment image where the standard isolating switch is located.
And S112, separating the 3D reference point cloud image from the 3D panoramic reference point cloud image. The 3D reference point cloud image only includes the standard isolator image.
In one embodiment, the S300 includes:
s310, acquiring a 3D point cloud image to be detected of the isolating switch to be detected along the first direction.
S320, intercepting a first image layer corresponding to the first depth of the 3D point cloud image to be detected along the first direction to obtain the two-dimensional point cloud image to be detected.
In one embodiment, the S310 includes:
s311, acquiring the 3D panorama point cloud image to be detected of the isolating switch to be detected along the first direction.
S312, the 3D point cloud image to be detected is dissected out of the 3D panoramic point cloud image to be detected.
In one embodiment, the S312 includes:
and S21, based on the 3D reference point cloud image, finding the to-be-detected isolating switch image in the 3D panoramic to-be-detected point cloud image through forward-phase-distribution transformation and an ICP point cloud registration model.
And S22, based on the isolating switch image to be detected, dissecting the 3D point cloud image to be detected from the 3D panoramic point cloud image to be detected.
The embodiment of the application provides a control method of a switch position detection system, which comprises the following steps:
and S1000, the inspection robot performs 3D scanning on the standard disconnecting switches switched on by the standards along a first direction according to preset acquisition time and preset acquisition places. The inspection robot obtains a plurality of 3D panoramic reference point cloud images which correspond to the standard isolating switches one by one. And the inspection robot uploads the plurality of 3D panoramic reference point cloud images to a substation background monitoring device.
S2000, the inspection robot carries out 3D scanning on the disconnecting switches to be detected of the multiple switches to be detected along the first direction according to the preset acquisition time and the preset acquisition place. The inspection robot obtains a plurality of 3D panorama to-be-detected point cloud images in one-to-one correspondence with the isolating switches to be detected. And the inspection robot uploads the point cloud images to be detected of the plurality of 3D panoramas to the substation background monitoring device.
And S3000, the substation background monitoring device comprises a point cloud image processing model. And the transformer substation background monitoring device brings the plurality of 3D panoramic reference point cloud images and the plurality of 3D panoramic point cloud images to be detected into the point cloud image processing model to obtain a plurality of minimum similarity degrees which are in one-to-one correspondence with the plurality of isolating switches to be detected.
And S4000, respectively comparing the minimum similarity with a set value by the substation background monitoring device. And if the minimum similarity is smaller than the set value, judging that the disconnecting switch of the to-be-detected switch-on corresponding to the minimum similarity is in a standard position.
In one embodiment, the S3000 includes:
and S3100, the substation background monitoring device comprises a basic point cloud image simplified model. And the transformer substation background monitoring device brings the plurality of 3D panoramic reference point cloud images into the point cloud image simplified model to obtain a plurality of two-dimensional reference point cloud images which correspond to the plurality of 3D panoramic reference point cloud images one by one.
And S3200, the background monitoring device of the transformer substation comprises a point cloud image simplification model to be detected. And the transformer substation background monitoring device brings the plurality of 3D panoramic point cloud images to be detected into the point cloud image simplified model to be detected, and a plurality of two-dimensional point cloud images to be detected which correspond to the plurality of 3D panoramic point cloud images to be detected one by one are obtained.
And S3300, the substation background monitoring device comprises a point cloud image similarity calculation model. And the substation background monitoring device brings the two-dimensional reference point cloud images and the two-dimensional point cloud images to be detected into the point cloud image similarity calculation model to obtain a plurality of minimum similarities which are in one-to-one correspondence with the disconnecting switches of the switches to be detected.
In one embodiment, the point cloud image simplified model in S3100 includes:
s3110, acquiring a 3D reference point cloud image of the disconnecting switch in a standard closing state along a first direction.
And S3120, intercepting the image layer at the first depth of the 3D reference point cloud image along the first direction to obtain the two-dimensional reference point cloud image.
In one embodiment, the S3110 includes:
s3111, acquiring a 3D panoramic reference point cloud image of the disconnecting switch in the standard closing state along the first direction.
S3112, dissecting the 3D reference point cloud image from the 3D panoramic reference point cloud image.
In one embodiment, the simplified model of the point cloud image to be detected in S3200 includes:
s3210, acquiring a 3D point cloud image to be detected of the isolating switch in the closing state to be detected along a first direction.
S3220, intercepting a first image layer corresponding to a first depth of the 3D point cloud image to be detected along the first direction to obtain the two-dimensional point cloud image to be detected.
In one embodiment, the S3210 includes:
s3211, acquiring a 3D panoramic point cloud image to be detected of the isolating switch to be detected along the first direction.
S3212, the 3D point cloud image to be detected is dissected from the 3D panoramic point cloud image to be detected.
In one embodiment, the S3212 includes:
and S1, based on the 3D reference point cloud image, finding the position image of the isolating switch in the closing state to be detected in the 3D panoramic point cloud image to be detected through positive space distribution transformation and an ICP point cloud registration model.
And S2, based on the position image, dissecting the 3D point cloud image to be detected from the 3D panoramic point cloud image to be detected, and improving the accuracy of the 3D point cloud image to be detected.
In one embodiment, the point cloud image similarity calculation model in S3300 includes:
s3310, intercepting a reference point cloud sub-image in the two-dimensional reference point cloud image.
S3320, intercepting a plurality of point cloud sub-images to be detected in the two-dimensional point cloud image to be detected, wherein the size of the two-dimensional point cloud image to be detected is the same as that of the reference point cloud sub-image.
And S3330, respectively calculating the similarity between the point cloud sub-images to be detected and the reference point cloud sub-image, and obtaining the minimum similarity.
According to the switch position judging method provided by the embodiment of the application, the calculation is carried out in a mode of intercepting the subimage in the two-dimensional point cloud image, so that the influence of the background point cloud image is effectively avoided, the accuracy of the detection of the switch-on and switch-off states of the isolating switch is improved, the number of the images participating in the calculation is reduced, and the detection efficiency is improved. The switch position judging method also screens out the two-dimensional point cloud image to be detected which is most matched with the reference point cloud subimage for relevant calculation through a method of preferentially selecting a plurality of point cloud subimages to be detected, thereby avoiding accidental errors caused by single selection and further improving the detection precision.
Drawings
Fig. 1 is a flowchart illustrating a method for determining a switch position according to an embodiment of the present application;
FIG. 2 is a state diagram of the switch not being closed as provided in one embodiment of the present application;
fig. 3 is a state diagram of a first step of switching on the switch according to an embodiment of the present disclosure;
fig. 4 is a diagram illustrating a fully closed state of the switch according to an embodiment of the present application;
fig. 5 is a two-dimensional reference point cloud image corresponding to the first image layer provided in an embodiment of the present application;
fig. 6 is a flowchart of a control method of the switch position detection system according to an embodiment of the present application.
Reference numerals:
first direction A
First depth B
Static contact 101
Moving contact 102
3D scanner 103
First image layer 104
Insulator 110
Detailed Description
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and those skilled in the art will be able to make similar modifications without departing from the spirit of the application and it is therefore not intended to be limited to the embodiments disclosed below.
The numbering of the components as such, e.g., "first", etc., is used herein only to distinguish the objects described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present application and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be considered as limiting the present application.
In this application, unless expressly stated or limited otherwise, a first feature is "on" or "under" a first feature such that the first and second features are in direct contact, or the first and second features are in indirect contact via an intermediary. Also, a first feature "on," "over," and "above" a first feature may be directly or obliquely above the first feature, or simply mean that the first feature is at a higher level than the first feature. A first feature being "under," "below," and "beneath" a first feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the first feature.
Referring to fig. 1, an embodiment of the present application provides a method 10 for determining a switch position, including:
s100, acquiring a two-dimensional reference point cloud image of a standard disconnecting switch in a standard closing state.
And S200, intercepting a reference point cloud sub-image in the two-dimensional reference point cloud image.
S300, acquiring a two-dimensional point cloud image to be detected of the isolating switch to be detected in the closing state to be detected.
S400, intercepting a plurality of point cloud sub-images to be detected in the two-dimensional point cloud image to be detected. And the size of the two-dimensional point cloud subimage to be detected is the same as that of the reference point cloud subimage.
And S500, respectively calculating the minimum similarity between the plurality of point cloud sub-images to be detected and the reference point cloud sub-image.
S600, when the minimum similarity is smaller than a set value, the isolating switch to be tested is judged to be in a standard position.
According to the switch position judging method provided by the embodiment of the application, the calculation is carried out in a mode of intercepting the subimage in the two-dimensional point cloud image, so that the influence of the background point cloud image is effectively avoided, the accuracy of the detection of the switch-on and switch-off states of the isolating switch is improved, the number of the images participating in the calculation is reduced, and the detection efficiency is improved. The switch position judging method also screens out the two-dimensional point cloud image to be detected which is most matched with the reference point cloud subimage for relevant calculation through a method of preferentially selecting a plurality of point cloud subimages to be detected, thereby avoiding accidental errors caused by single selection and further improving the detection precision.
Referring to fig. 2, 3 and 4 together, in the substation disconnecting switch, a fixed contact 101 is fixed on an insulated terminal, and a movable contact 102 is fixed on a rotating rod. The rotating rod rotates and drives the moving contact 102 to be clamped on the fixed contact 101. The closing of the isolating switch is divided into two steps: the moving contact 102 enters the port of the fixed contact 101; the moving contact 102 rotates 45 to be clamped with the fixed contact 101.
In S200, the reference point cloud sub-image with length M and width N is intercepted from the two-dimensional reference point cloud image. The reference point cloud sub-image is point cloud data related to the reference point cloud sub-image. The point cloud data is used for data screening and data calculation.
In S400, taking a plurality of M × N to-be-detected point cloud sub-images in the two-dimensional to-be-detected point cloud image with the position point (i, j) as the upper left corner, and calculating the similarity between the to-be-detected point cloud sub-images and the reference point cloud sub-image; traversing the whole two-dimensional point cloud image to be detected, and finding out the point cloud sub-image to be detected which is most similar to the reference point cloud sub-image from all the point cloud sub-images to be detected as a final matching result.
The similarity measure is formulated as follows:
Figure BDA0002138642480000081
and the average absolute difference R (i, j) is the average absolute difference of corresponding points in the point cloud sub-image to be detected and the reference point cloud sub-image. The value range of i is (1) to (M-M + 1). The value of j ranges from (1) to (N-N + 1). And m is the width of the two-dimensional point cloud image to be detected. And n is the height of the two-dimensional reference point cloud image. And S (S, t) is point data with coordinates (S, t) in the point cloud subimage to be detected. S (S, t) is a numerical value, i.e., 1 or 0. And M is the length of the point cloud subimage to be detected. And N is the width of the point cloud subimage to be detected. And T (s, T) is point data with coordinates (s, T) in the reference point cloud sub-image. The smaller the average absolute difference R (i, j), the more similar the result is, so that the position of the subgraph which can be matched can be determined by only finding the minimum R (i, j).
In S600, the set value is 0.8. If the minimum similarity is smaller than 0.8, the difference between the point cloud sub-image to be detected and the reference point cloud sub-image is not large, and the isolating switch to be detected can be judged to be in a standard position.
In one embodiment, the S100 includes:
and S110, acquiring a 3D reference point cloud image of the standard isolating switch along a first direction A.
And S120, intercepting the first layer 104 corresponding to the first depth B of the 3D reference point cloud image along the first direction A to obtain the two-dimensional reference point cloud image.
In one embodiment, the switch is a disconnector. The isolating switch comprises a fixed contact 101 and a movable contact 102. The fixed contact 101 is fixed to an insulator. The section of the static contact 101 along the first direction a is u-shaped. When the isolating switch is closed, the movable contact 102 rotates into the u-shaped groove of the fixed contact 101. The first direction A is perpendicular to the end face of the u-shaped opening. The first depth B is a distance from a surface of the movable contact 102 away from the groove bottom to the image capturing device when the movable contact 102 touches the groove bottom. The first layer 104 is a layer corresponding to the first depth B. In practical applications, the first depth B may be adjustable.
Referring to fig. 5, the two-dimensional reference point cloud image corresponding to the first image layer 104 is three strip-shaped images. Wherein, the upper and lower strips represent the fixed contact 101 u-shaped end surface, and the middle strip represents the end surface of the movable contact 102.
In one embodiment, the S110 includes:
and S111, acquiring the 3D panoramic reference point cloud image of the standard isolating switch along the first direction A. The 3D panoramic reference point cloud image comprises the standard isolating switch image and an environment image where the standard isolating switch is located.
And S112, separating the 3D reference point cloud image from the 3D panoramic reference point cloud image. The 3D reference point cloud image includes only the standard isolator image.
In one embodiment, the S300 includes:
s310, acquiring a 3D point cloud image to be detected of the isolating switch to be detected along the first direction A.
S320, intercepting the first image layer 104 corresponding to the first depth B of the 3D point cloud image to be detected along the first direction A to obtain the two-dimensional point cloud image to be detected.
In one embodiment, the S310 includes:
s311, acquiring the 3D panorama point cloud image to be detected of the isolating switch to be detected along the first direction A. The 3D panoramic reference point cloud image comprises the image of the isolating switch to be detected and an environment image where the isolating switch to be detected is located.
S312, the 3D point cloud image to be detected is dissected out of the 3D panoramic point cloud image to be detected. The 3D point cloud image to be detected only comprises the isolating switch image to be detected.
In one embodiment, the S312 includes:
and S21, based on the 3D reference point cloud image, finding the to-be-detected isolating switch image in the 3D panoramic to-be-detected point cloud image through forward-phase-distribution transformation and an ICP point cloud registration model.
And S22, based on the isolating switch image to be detected, dissecting the 3D point cloud image to be detected from the 3D panoramic point cloud image to be detected.
Referring to fig. 6, a control method of a switch position detecting system according to an embodiment of the present application includes:
s1000, the inspection robot carries out 3D scanning on the standard disconnecting switches switched on according to a preset collection time and a preset collection place. The inspection robot obtains a plurality of 3D panoramic reference point cloud images which correspond to the standard isolating switches one by one. And the inspection robot uploads the plurality of 3D panoramic reference point cloud images to a substation background monitoring device.
S2000, the inspection robot carries out 3D scanning on the to-be-detected disconnecting switches to be subjected to closing according to the preset acquisition time and the preset acquisition place. The inspection robot obtains a plurality of 3D panorama to-be-detected point cloud images in one-to-one correspondence with the isolating switches to be detected. And the inspection robot uploads the point cloud images to be detected of the plurality of 3D panoramas to the substation background monitoring device.
And S3000, the substation background monitoring device comprises a point cloud image processing model. And the transformer substation background monitoring device brings the plurality of 3D panoramic reference point cloud images and the plurality of 3D panoramic point cloud images to be detected into the point cloud image processing model to obtain a plurality of minimum similarity degrees which are in one-to-one correspondence with the plurality of isolating switches to be detected.
And S4000, respectively comparing the minimum similarity with a set value by the substation background monitoring device. And if the minimum similarity is smaller than the set value, judging that the disconnecting switch of the to-be-detected switch-on corresponding to the minimum similarity is in a standard position.
According to the control method of the switch position detection system, the inspection robot is used for switching on a plurality of standards according to preset acquisition time and preset acquisition places, and the standard disconnecting switches and the plurality of disconnecting switches to be detected are subjected to 3D scanning along the first direction A. The inspection robot establishes a plurality of 3D panoramic reference point cloud images in a standard working state and a plurality of 3D panoramic point cloud images to be detected in a state to be detected. And scanning the position of each isolating switch to be tested when the robot regularly patrols and examines on the basis of the plurality of 3D panoramic reference point cloud images. The transformer substation background monitoring device brings the plurality of 3D panoramic reference point cloud images and the plurality of 3D panoramic point cloud images to be detected into the point cloud image processing model for comparison, and dislocation information with displacement more than 1mm can be easily found. The control method of the switch position detection system can accurately monitor the real-time state of the high-voltage line disconnecting switch arm.
The inspection robot comprises a motion system. The running position error of the motion system is within +/-10 mm. The inspection robot is provided with a 3D scanner 103. The 3D scanner 103 is configured to perform 3D scanning on the isolation switch. The routing inspection route of the routing inspection robot can be set. The scanning position and the scanning angle of the 3D scanner 103 can be adjusted. The scanning precision of the 3D scanner 103 reaches 1 mm.
In one embodiment, the S3000 includes:
and S3100, the substation background monitoring device comprises a basic point cloud image simplified model. And the substation background monitoring device brings the plurality of 3D panoramic reference point cloud images into the point cloud image simplified model to obtain a plurality of two-dimensional reference point cloud images in one-to-one correspondence with the plurality of 3D panoramic reference point cloud images.
And S3200, the background monitoring device of the transformer substation comprises a point cloud image simplification model to be detected. And the transformer substation background monitoring device brings the plurality of 3D panoramic point cloud images to be detected into the point cloud image simplified model to be detected, and a plurality of two-dimensional point cloud images to be detected which correspond to the plurality of 3D panoramic point cloud images to be detected one by one are obtained.
And S3300, the substation background monitoring device comprises a point cloud image similarity calculation model. And the substation background monitoring device brings the two-dimensional reference point cloud images and the two-dimensional point cloud images to be detected into the point cloud image similarity calculation model to obtain a plurality of minimum similarities which are in one-to-one correspondence with the disconnecting switches of the switches to be detected.
In one embodiment, the point cloud image simplified model in S3100 includes:
s3110, acquiring a 3D reference point cloud image of the disconnecting switch in a standard closing state along a first direction A.
And S3120, intercepting the image layer on the first depth B of the 3D reference point cloud image along the first direction A to obtain the two-dimensional reference point cloud image.
In one embodiment, the switch is a disconnector. The isolating switch comprises a fixed contact 101 and a movable contact 102. The fixed contact 101 is fixed to an insulator. The cross section of the static contact 101 along the first direction a is u-shaped. When the isolating switch is closed, the movable contact 102 rotates into the u-shaped groove of the fixed contact 101. The first direction A is perpendicular to the end face of the u-shaped opening. The first depth B is a distance from a surface of the movable contact 102 away from the groove bottom to the image capturing device when the movable contact 102 touches the groove bottom. The first layer 104 is a layer corresponding to the first depth B. In practical applications, the first depth B may be adjustable.
In one embodiment, the S3110 includes:
s3111, acquiring a 3D panoramic reference point cloud image of the disconnecting switch in the standard closing state along the first direction A. The 3D panoramic reference point cloud image comprises the standard isolating switch image and an environment image where the standard isolating switch is located.
S3112, separating the 3D reference point cloud image from the 3D panoramic reference point cloud image. The 3D reference point cloud image includes only the standard isolator image.
In one embodiment, the simplified model of the point cloud image under test in S3200 includes:
s3210, acquiring a 3D point cloud image to be detected of the isolating switch in the closing state to be detected along a first direction A.
S3220, intercepting the first image layer 104 corresponding to the first depth B of the 3D point cloud image to be detected along the first direction A, and obtaining the two-dimensional point cloud image to be detected.
In one embodiment, the S3210 includes:
s3211, acquiring a 3D panoramic point cloud image to be detected of the isolating switch to be detected along the first direction A. The 3D panoramic reference point cloud image comprises the image of the isolating switch to be detected and an environment image where the isolating switch to be detected is located.
S3212, the 3D point cloud image to be detected is dissected from the 3D panoramic point cloud image to be detected. The 3D point cloud image to be detected only comprises the isolating switch image to be detected.
In one embodiment, the S3212 includes:
and S1, based on the 3D reference point cloud image, finding the position image of the isolating switch in the closing state to be detected in the 3D panoramic point cloud image to be detected through positive space distribution transformation and an ICP point cloud registration model.
And S2, based on the position image, dissecting the 3D point cloud image to be detected from the 3D panoramic point cloud image to be detected, and improving the accuracy of the 3D point cloud image to be detected.
In one embodiment, the point cloud image similarity calculation model in S3300 includes:
s3310, intercepting a reference point cloud sub-image in the two-dimensional reference point cloud image.
S3320, intercepting a plurality of sub-images of the point cloud to be detected from the two-dimensional point cloud image to be detected, wherein the size of the two-dimensional point cloud image to be detected is the same as that of the reference point cloud sub-image.
And S3330, respectively calculating the similarity between the point cloud sub-images to be detected and the reference point cloud sub-image, and obtaining the minimum similarity.
The calculation is carried out by intercepting the subimage in the two-dimensional point cloud image, so that the influence of the background point cloud image is effectively avoided, the accuracy of the detection of the on-off state of the isolating switch is improved, the number of images participating in the calculation is reduced, and the detection efficiency is improved. The switch position judging method also screens out the two-dimensional point cloud image to be detected which is most matched with the reference point cloud subimage for relevant calculation through a method of preferentially selecting a plurality of point cloud subimages to be detected, thereby avoiding accidental errors caused by single selection and further improving the detection precision.
In S3310, the reference point cloud sub-images with length M and width N are intercepted from the two-dimensional reference point cloud image. The reference point cloud sub-image is point cloud data related to the reference point cloud sub-image. The point cloud data is used for data screening and data calculation.
In S3320, in the two-dimensional point cloud image to be detected, taking a plurality of M × N point cloud sub-images to be detected, and calculating the similarity between the sub-images and the reference point cloud sub-image, with the (i, j) position point as the upper left corner. Traversing the whole two-dimensional point cloud image to be detected, and finding out the point cloud sub-image to be detected which is most similar to the reference point cloud sub-image from all the point cloud sub-images to be detected as a final matching result.
The similarity measure is formulated as follows:
Figure BDA0002138642480000151
and the average absolute difference R (i, j) is the average absolute difference of corresponding points in the point cloud sub-image to be detected and the reference point cloud sub-image. The value range of i is (1) to (M-M + 1). The value of j ranges from (1) to (N-N + 1). And m is the width of the two-dimensional point cloud image to be detected. And n is the height of the two-dimensional reference point cloud image. And S (S, t) is point data with coordinates (S, t) in the point cloud subimage to be detected. S (S, t) is a numerical value, i.e., 1 or 0. And M is the length of the point cloud subimage to be detected. And N is the width of the point cloud subimage to be detected. And T (s, T) is point data with coordinates (s, T) in the reference point cloud sub-image. The smaller the average absolute difference R (i, j), the more similar the result is, so that the position of the subgraph which can be matched can be determined by only finding the minimum R (i, j).
In S4000, the set value is 0.8. If the minimum similarity is smaller than 0.8, the difference between the point cloud sub-image to be detected and the reference point cloud sub-image is not large, and the isolating switch to be detected can be judged to be in a standard position.
All possible combinations of the technical features of the above embodiments may not be described for the sake of brevity, but should be considered as within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.
The above-described examples merely represent several embodiments of the present application and are not to be construed as limiting the scope of the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.

Claims (9)

1. A switch position determination method, comprising:
s111, acquiring a 3D panoramic reference point cloud image of a standard isolating switch along a first direction;
s112, separating a 3D reference point cloud image from the 3D panoramic reference point cloud image;
s120, intercepting a first image layer corresponding to a first depth of the 3D reference point cloud image along the first direction to obtain a two-dimensional reference point cloud image;
s200, intercepting a reference point cloud sub-image from the two-dimensional reference point cloud image;
s300, acquiring a two-dimensional point cloud image to be detected of the isolating switch to be detected in a closing state to be detected;
s400, intercepting a plurality of point cloud sub-images to be detected in the two-dimensional point cloud image to be detected, wherein the size of the point cloud sub-images to be detected is the same as that of the reference point cloud sub-images;
s500, respectively calculating the similarity between the plurality of point cloud sub-images to be detected and the reference point cloud sub-image, and obtaining the minimum similarity;
s600, when the minimum similarity is smaller than a set value, the isolating switch to be tested is judged to be in a standard position.
2. The switch position discrimination method according to claim 1, wherein the S300 includes:
s310, acquiring a 3D point cloud image to be detected of the isolating switch to be detected along the first direction;
s320, intercepting a first image layer corresponding to a first depth of the 3D point cloud image to be detected along the first direction to obtain the two-dimensional point cloud image to be detected.
3. The switch position discrimination method according to claim 2, wherein the S310 includes:
s311, acquiring a 3D panoramic point cloud image to be detected of the isolating switch to be detected along the first direction;
s312, the 3D point cloud image to be detected is dissected out of the 3D panoramic point cloud image to be detected.
4. The switch position discrimination method according to claim 3, wherein the S312 includes:
s21, based on the 3D reference point cloud image, finding an isolation switch image to be detected in the 3D panoramic point cloud image to be detected through forward-phase-distribution transformation and an ICP point cloud registration model;
and S22, based on the isolating switch image to be detected, dissecting the 3D point cloud image to be detected from the 3D panoramic point cloud image to be detected.
5. A control method of a switch position detection system, comprising:
s1000, the inspection robot performs 3D scanning on a plurality of standard disconnecting switches which are switched on in a standard mode along a first direction according to preset collecting time and a preset collecting place, obtains a plurality of 3D panoramic reference point cloud images which correspond to the standard disconnecting switches one by one, and uploads the 3D panoramic reference point cloud images to a substation background monitoring device;
s2000, the inspection robot performs 3D scanning on a plurality of to-be-detected disconnecting switches to be closed according to preset acquisition time and a preset acquisition place along the first direction, obtains a plurality of 3D panoramic to-be-detected point cloud images in one-to-one correspondence with the plurality of to-be-detected disconnecting switches, and uploads the plurality of 3D panoramic to-be-detected point cloud images to the substation background monitoring device;
s3100, the transformer substation background monitoring device comprises a basic point cloud image simplified model, and the transformer substation background monitoring device brings a plurality of 3D panoramic reference point cloud images into the basic point cloud image simplified model to obtain a plurality of two-dimensional reference point cloud images in one-to-one correspondence with the 3D panoramic reference point cloud images;
s3200, the transformer substation background monitoring device comprises a point cloud image simplification model to be detected, and the transformer substation background monitoring device brings a plurality of 3D panoramic point cloud images to be detected into the point cloud image simplification model to be detected to obtain a plurality of two-dimensional point cloud images to be detected, wherein the two-dimensional point cloud images correspond to the 3D panoramic point cloud images to be detected one by one;
s3300, the substation background monitoring device comprises a point cloud image similarity calculation model, and the substation background monitoring device brings a plurality of two-dimensional reference point cloud images and a plurality of two-dimensional point cloud images to be detected into the point cloud image similarity calculation model to obtain a plurality of minimum similarities corresponding to the disconnecting switches of the switches to be detected one by one;
s4000, respectively comparing the minimum similarity with a set value by the substation background monitoring device, and if the minimum similarity is smaller than the set value, judging that the disconnecting switch of the to-be-switched-on switch corresponding to the minimum similarity is in a standard position;
the simplified model of the base point cloud image in the S3100 includes:
s3111, acquiring a 3D panoramic reference point cloud image of the isolating switch in a standard closing state along the first direction;
s3112, separating a 3D reference point cloud image from the 3D panoramic reference point cloud image;
s3120, intercepting a first image layer corresponding to a first depth of the 3D reference point cloud image along the first direction to obtain the two-dimensional reference point cloud image.
6. The method for controlling the switch position detecting system according to claim 5, wherein the simplified model of the point cloud image to be detected in S3200 includes:
s3210, acquiring a 3D point cloud image to be detected of the isolating switch in a closing state to be detected along the first direction;
s3220, intercepting a first image layer corresponding to a first depth of the 3D point cloud image to be detected along the first direction to obtain the two-dimensional point cloud image to be detected.
7. The method of controlling a switch position detecting system according to claim 6, wherein the S3210 includes:
s3211, acquiring a 3D panoramic cloud image to be detected of the isolating switch in the closing state to be detected along the first direction;
s3212, the 3D point cloud image to be detected is dissected from the 3D panoramic point cloud image to be detected.
8. The method of controlling a switch position detecting system according to claim 7, wherein the S3212 includes:
s1, based on the 3D reference point cloud image, finding a position image of the isolating switch in the to-be-detected closing state in the 3D panoramic to-be-detected point cloud image through forward-phase distribution transformation and an ICP point cloud registration model;
and S2, based on the position image, dissecting the 3D point cloud image to be detected from the 3D panoramic point cloud image to be detected.
9. The method of controlling the switch position detection system according to claim 5, wherein the point cloud image similarity calculation model in S3300 includes:
s3310, intercepting a reference point cloud sub-image from the two-dimensional reference point cloud image;
s3320, intercepting a plurality of point cloud sub-images to be detected from the two-dimensional point cloud image to be detected, wherein the size of the point cloud sub-images to be detected is the same as that of the reference point cloud sub-images;
s3330, respectively calculating the similarity between the plurality of point cloud sub-images to be detected and the reference point cloud sub-image, and obtaining the minimum similarity.
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