CN115031664B - Insulator deflection detection method and device, terminal equipment and medium - Google Patents
Insulator deflection detection method and device, terminal equipment and medium Download PDFInfo
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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Abstract
The invention provides an insulator deflection detection method, an insulator deflection detection device, terminal equipment and a medium, and relates to the technical field of insulator deflection detection, wherein the detection method comprises the steps of utilizing a camera to carry out video acquisition on an insulator which rotates relatively in parallel; processing the acquired video to obtain an image of the steel foot shadow generated by the rotation of the insulator; calculating a shadow area and an insulator area according to the image generated by the rotation of the insulator; representing the deflection degree of the insulator according to the ratio of the shadow area to the insulator area; the detection device comprises a camera; a rotation system; a video processing system; and (5) an arithmetic system. According to the method, the video of the insulator is acquired through the camera, the deflection degree of the insulator is obtained based on picture processing calculation and correlation calculation, manual measurement is not needed for damaging the insulator, and the detection is rapid and efficient.
Description
Technical Field
The invention relates to the technical field of insulator deflection detection, in particular to an insulator deflection detection method, an insulator deflection detection device, terminal equipment and a medium.
Background
The insulator is a device which is arranged between conductors with different electric potentials or between the conductors and a grounding component and can withstand the action of voltage and mechanical stress; the insulator structure is roughly shown in fig. 9 and comprises an iron cap 11, a shed 12 and steel feet 13; the shed 12 is also called a porcelain, a umbrella disk, etc.; generally, the iron cap 11 is fixed, and then the cement adhesive, the umbrella skirt 12, the cement adhesive and the steel leg 13 are sequentially filled.
When the insulator is cast with the steel feet, the casting and assembling deviation can cause uneven cement casting, and the following abnormal conditions are caused: 1. the insulator steel leg and the umbrella skirt are not coaxial, as shown in figure 10, namely the steel leg deviates from the axle center of the umbrella skirt; 2. the relative axis of the insulator steel leg is skewed relative to the relative axis of the shed, as shown in fig. 11; 3. the two phenomena exist simultaneously; the three insulator abnormal conditions are commonly called the problems of eccentricity and deflection of the insulator (the deflection problem for short). The deflection problem can cause the stress of the glued part of the cast insulator to be increased abnormally, the cracking is more serious, and moisture permeates into the insulator after the insulator runs in a circuit for a long time, so that the insulation resistance of the insulator is reduced to become a low-zero-value insulator. The low-zero-value insulator can cause insulation problems, and the glass insulator can cause the umbrella skirt of the insulator to explode, so that the insulation capacity of a line is reduced; the problem of the porcelain insulator is more serious, which can cause the accumulated heat explosion of an iron cap and the string falling of a line, and causes the line fault; it is therefore necessary to detect the problem of insulator deflection.
The existing deflection detection method of the insulator mainly comprises the steps of fixing the insulator by using a diamond slicer, longitudinally cutting the insulator along the axis direction, and determining whether the insulator has the deflection problem by manually measuring the relative position of an iron cap and a steel pin of the section of the insulator; however, the detection method needs to damage the insulator, is easy to cause waste, and is not suitable for large-scale detection.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an insulator deflection detection method, an insulator deflection detection device, terminal equipment and a medium, and solves the problem that destructive detection and detection are inconvenient in the insulator deflection detection method in the prior art.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme:
an insulator deflection detection method comprises
Utilizing a camera to acquire videos of the insulators which rotate relatively in parallel;
processing the acquired video to obtain an image of the steel foot shadow generated by the rotation of the insulator;
calculating a shadow area and an insulator area according to the image generated by the rotation of the insulator;
and representing the deflection degree of the insulator according to the ratio of the shadow area to the insulator area.
Preferably, the video acquisition of the insulator with relative parallel rotation motion by using the camera comprises
Fixing the insulator on a rotating platform to rotate, and enabling the camera to acquire a video of the rotating insulator on the side part of the rotating platform; or
And fixing the insulator on a rotating platform, and enabling the camera to rotate around the insulator at the side part of the rotating platform to acquire videos.
Preferably, the processing of the acquired video comprises
Outputting the video frame by frame to obtain each frame of picture;
processing the image of each frame;
and screening shadow pixels of the processed pictures of each frame.
Preferably, the image processing for each frame of the picture comprises
And carrying out optical distortion correction, filtering and denoising, graying, morphological processing, threshold processing, binaryzation, edge extraction and image feature extraction on the picture.
Preferably, said calculating a shadow area from said image generated by insulator rotation comprises
And extracting shadow pixel points of the insulator rotation image to obtain pixel point areas, wherein the area corresponding to the area with the largest number of the pixel points is the shadow area.
Preferably, the method also comprises the step of judging whether the insulator is qualified or not according to the deflection degree of the insulator, wherein the step of judging whether the insulator is qualified or not comprises
Inputting a numerical range with qualified deflection degree of the insulator;
judging whether the calculated deflection degree of the insulator is in a qualified numerical range;
if yes, the insulator is qualified;
if not, the insulator is unqualified.
A second object of the present invention is to provide an insulator deflection detecting apparatus, the apparatus comprising:
a camera for acquiring a relatively rotating insulator video;
the rotating system is used for enabling the camera to be parallel to the insulator and to generate relative rotating motion;
the video processing system is used for processing the acquired video to obtain a shadow image generated by the rotation of the insulator;
the operation system is used for calculating the shadow area generated by the rotation of the insulator;
the computing system is further configured to calculate a ratio of the shadow area to the insulator area.
Preferably, the video processing system comprises:
a picture output unit for outputting the video frame by frame as each frame picture;
the image processing unit is used for carrying out optical distortion correction, filtering and denoising, graying, morphological processing, threshold processing, binaryzation, edge extraction and image feature extraction on each frame of image output frame by frame;
and the picture superposition unit is used for superposing the pictures of each frame output frame by frame, marking the region of which the pixel value is between the surface of the insulator and the background as the rotating shadow area of the steel foot, and thus highlighting the shadow region of the steel foot in the rotating process.
Preferably, the system also comprises a qualification rate judging system which comprises
The input unit is used for inputting a numerical range with qualified deflection degree of the insulator;
the judging unit is used for judging whether the calculated deflection degree of the insulator is in a qualified numerical range or not;
if so, the insulator is qualified;
if not, the insulator is unqualified.
Preferably, the rotating system comprises a base and a first rotating member and a second rotating member which are positioned at the top end of the base, wherein the first rotating member is used for rotating the insulator, and the second rotating member is used for rotating the camera around the insulator.
Preferably, the first rotating member comprises a rotating platform, a first motor and a supporting platform, the supporting platform is fixed at the top end of the base, and the first motor is installed inside the supporting platform; the top end of the first motor is connected with a rotating platform, and a vertical fixing piece and a horizontal fixing piece are arranged on the rotating platform; and the insulator is fixed on the rotating platform by the vertical fixing piece and the horizontal fixing piece.
Preferably, the vertical fixing piece comprises a steel ring and a compression piece, an opening is formed in the side of the steel ring, and a bubble level gauge is arranged at the top of the steel ring; the side part of the steel ring is provided with a plurality of compression pieces which are used for pressing the steel ring on the top surface of the insulator.
Preferably, the compression part comprises a compression rod, a first spring and a fixed rod, the fixed rod is fixed on the side part of the rotating platform, and the top end of the fixed rod is fixed with the first spring; and a pressure lever is fixed at the top end of the first spring and is fixed with the steel ring.
Preferably, the horizontal fixing piece comprises a fixing piece, a connecting rod, a second spring and a support column, the support column is fixed on the top edge of the rotating platform, and the top end of the support column is connected with the second spring; and a connecting rod is fixed on the side part of the second spring, and the side part of the connecting rod is rotatably connected with the fixing plate.
Preferably, the second rotating member comprises a driving gear, a second motor, a rotating ring and a toothed plate; the rotating ring is rotatably connected with the base and is coaxially arranged with the rotating platform; a toothed plate is fixed outside the rotating ring and meshed with the driving gear; the driving gear is connected with the second motor; a camera is fixed on the rotating ring, and the camera and the insulator are on the same horizontal line.
A third object of the present invention is to provide a terminal device, configured to implement the insulator deflection detection method, where the terminal device includes:
one or more processors;
a memory coupled to the processor for storing one or more programs;
when the one or more programs are executed by the one or more processors,
causing the one or more processors to implement the method of insulator deflection detection as claimed in any one of claims 1-6.
A fourth object of the present invention is to provide a computer-readable storage medium for implementing the insulator deflection detecting method, the computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the insulator deflection detecting method according to any one of claims 1 to 6.
(III) advantageous effects
The invention provides an insulator deflection detection method, an insulator deflection detection device, terminal equipment and a medium; compared with the prior art, the method has the following beneficial effects:
1. the detection method of the embodiment of the invention obtains the video of the insulator by relatively rotating the insulator and the camera, and obtains the image of the steel foot shadow generated by the rotation of the insulator by processing the video; obtaining a shadow area according to the shadow image; determining the deflection degree of the insulator according to the ratio of the shadow area to the area of the insulator; therefore, when the detection method provided by the embodiment of the invention is used for detecting, the deflection degree of the insulator can be quickly detected without damaging the insulator; meanwhile, the method can be popularized to the detection of the deflection condition of each insulator;
2. according to the embodiment of the invention, the video of the insulator is acquired through the camera, the deflection degree of the insulator is obtained based on picture processing calculation and correlation calculation, manual measurement is not needed, destructiveness is avoided, and the detection is rapid and efficient.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flowchart illustrating a method for detecting an insulator deflection according to an embodiment of the present invention;
FIG. 2 is a morphological processing diagram of the image processing procedure of the present embodiment;
FIG. 3 is a schematic diagram illustrating shadows generated by a tilted rotating object according to the present embodiment;
fig. 4 is a schematic view of the overall structure of the insulator deflection detecting apparatus according to the present embodiment;
fig. 5 is a plan view of the insulator deflection detecting apparatus according to the present embodiment;
FIG. 6 is a schematic structural diagram of the horizontal fixing member of the present embodiment;
FIG. 7 is a schematic structural view of the vertical fixing member of the present embodiment;
FIG. 8 is a schematic structural view of the steel ring of the present embodiment;
figure 9 shows the construction of the insulator without deflection;
FIG. 10 is a structure in which the insulator steel leg and the shed are not coaxial;
figure 11 shows the structure in which the relative axes of the insulator steel legs are skewed with respect to the relative axes of the sheds;
figure 12 is a view of the insulator rotational path without deflection;
FIG. 13 is a shadow diagram of the rotating path of the structure of the insulator steel leg and the shed which are not coaxial;
figure 14 is a shadow view of the rotational path of the insulator steel leg in a skewed configuration relative to the shed axis.
Shown in the figure: 1. an insulator; 11. an iron cap; 12. an umbrella skirt; 13. a steel foot; 2. a vertical fixing member; 21. steel rings; 211. an opening; 212. a bubble level; 22. a compression member; 221. a pressure lever; 222. a first spring; 223. a fixing rod; 3. a camera; 4. a horizontal fixing member; 41. a fixing sheet; 42. a connecting rod; 43. a second spring; 44. a pillar; 5. a first rotating member; 51. rotating the platform; 52. a first motor; 53. a support table; 6. a base; 7. a second rotating member; 71. a driving gear; 72. a second motor; 73. a rotating ring; 74. a toothed plate.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete description of the technical solutions in the embodiments of the present invention, it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
The embodiment of the application provides an insulator deflection detection method, an insulator deflection detection device, terminal equipment and a medium, and solves the problems of strong destructiveness and limited popularization existing in the insulator deflection detection method in the prior art.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
As shown in fig. 1, a method for detecting insulator deflection includes the following steps:
the method comprises the following steps: utilizing a camera to acquire videos of the insulators which rotate relatively in parallel;
specifically, the method for acquiring the video of the insulator which rotates relatively in parallel by using the camera comprises the following steps of
Fixing the insulator on a rotating platform to rotate, and enabling the camera to acquire a video of the rotating insulator on the side part of the rotating platform; or
Fixing the insulator on a rotating platform, and enabling the camera to rotate around the insulator at the side part of the rotating platform for video acquisition;
as a preferred scheme of the embodiment of the present invention, the camera and the insulator are at the same horizontal height, so as to achieve a more practical and more accurate video shooting.
The distance between the insulator and the camera is determined by the fact that the camera can acquire clear images of the insulator.
Step two: processing the acquired video to obtain an image of the steel foot shadow generated by the rotation of the insulator;
specifically, the processing the acquired video includes
2.1, outputting the video frame by frame to obtain each frame of picture;
2.2, processing the image of each frame of the picture;
the image processing of each frame of the picture comprises
Carrying out optical distortion correction, filtering and denoising, graying, morphological processing, threshold processing, binaryzation, edge extraction and image feature extraction on the picture;
the optical distortion correction is that the imaging picture distortion can occur due to camera imaging, the imaging in the picture deforms to a certain degree, the image processing accuracy can be affected, and the optical distortion correction can be performed on the obtained frames of pictures, so that the pictures are more accurate.
The filtering and denoising process is to weaken the noise of the image caused by the environmental interference through filtering processing such as a Gaussian filter, wavelet transformation and the like.
Graying processing, which is to convert three R, G and B pixel value components (respectively representing red, green and blue) of an original image into gray values by methods such as an empirical formula, an average value and the like, so that image information is reduced and simplified, and subsequent image processing is facilitated;
illustratively, each pixel point is valued in 0 to 255 by three components (red, green and blue, respectively) of R, G and B, and the information of a color photo is excessive, so that the efficiency of obtaining target information by subsequent image processing is influenced;
graying is performed by using an empirical formula:
wherein Y refers to the brightness value of the grayed picture, the value range is 0 to 255, the brightest is white, the value is 255, the darkest is black, the value is 0, R, G and B are the brightness values of red, green and blue components respectively, and the value ranges from 0 to 255.
And the picture morphology processing is to obtain pixel points of the object by expanding outwards and fill holes in the object. As shown in fig. 2, in the figure, 1 represents an object pixel, and 0 represents a fine hole generated by many factors such as environmental interference during the acquisition process, and by expanding the object pixel 1 to the surrounding pixels, the fine hole is filled, and the object region is more complete.
The threshold processing is carried out, various threshold acquisition methods are available, the threshold is manually set, a function for automatically determining the threshold is built in matlab software such as Otsu, and the threshold is obtained by carrying out average operation on gray values of all pixels of the image based on the approximate principle.
The binarization processing is to divide gray values of each pixel point of the image into two categories according to a threshold value, illustratively, points with brightness greater than the threshold value are converted into a gray value 255, that is, the maximum brightness, and the gray value is represented as white; converting the point with the brightness smaller than the threshold value into a gray value 0, namely the minimum brightness, and reflecting the gray value as black; in the finally obtained image pixel matrix, 255-brightness pixel matrix data is set to be 1,0 brightness is set to be 0, and the image matrix has only 1 and 0, so that the image is effectively segmented, and the image processing is facilitated;
the edge extraction means that the brightness of the insulator is different from that of the background, and the contour position is determined by using the larger change from the edge pixel value of the insulator to the background pixel value, so that the information of the path image of the insulator can be further acquired.
And image feature extraction, namely based on an initially obtained insulator contour curve, by utilizing the principles of curvature change, gradient change rate and the like, realizing identification and marking of a specific angular point of an image, realizing extraction of a feature point, and facilitating subsequent characterization and calculation of deflection degree.
2.3, overlapping the processed pictures of each frame;
the shadow region generated when the insulator rotates can be obtained by superposing the pictures of each frame and reserving the maximum value in each picture for the pixel value of each pixel point, the shadow region of the insulator can be obviously obtained by distinguishing the shadow pixel value when the insulator rotates from the background pixel value.
Regarding the acquisition of the rotating shadow area of the insulator, the exposure time of a camera and the rotating speed of the insulator can be adjusted, and the final effect is that the leftmost outline and the rightmost outline boundary which can be reached in the rotating process of the inclined insulator can be observed in each frame of picture output frame by frame, as shown in figure 3, and all the shadow areas which can be reached can be seen in any frame of a steel foot rotating video by adjusting the rotating speed and the exposure time.
Step three: calculating a rotation shadow area according to the image generated by the rotation of the insulator;
calculating a rotational shadow area from the image generated by the rotation of the insulator, comprising
And extracting the whole pixel points of the image to obtain the area of the pixel points, wherein the largest area of the pixel points is the path shadow area.
Step four: and representing the deflection degree of the insulator according to the ratio of the area of the rotating shadow to the area of the insulator.
The area of the insulator is calculated by any one of the pictures in the processed frames of the insulator rotation video, and the area of the insulator pixel point of the picture, namely the area of the insulator, is obtained;
in order to make the area of the insulator more accurate, the image with the outline at the outermost edge after superposition is selected for calculating the area of the insulator, namely, the area of the pixel of the insulator reaches the maximum frame for extracting the area of the insulator relative to the camera.
When the deflection degree of the insulator is calculated, for example, if the insulator is not deflected, the shadow area of the path is the same as the area of the insulator, as shown in fig. 12, the ratio of the shadow area to the area of the insulator should be 1;
when the insulator is eccentric, the section of the path of the insulator steel pin during rotation is rectangular, as shown in fig. 13, the path shadow area = the area of the insulator plus the area of the rectangular path generated by the rotation of the steel pin, and the path shadow area is larger than the area of the insulator at this moment; the ratio of the two should be greater than 1;
when the insulator is inclined, the section of a path of the insulator steel leg during rotation is conical, as shown in fig. 14, the path shadow area = the area of the insulator plus the area of the conical path generated by the rotation of the steel leg, and the path shadow area is larger than the area of the insulator at this moment; the ratio of the two should be greater than 1;
when eccentricity and skew occur simultaneously, the path shadow area = the area of the insulator + the redundant path area generated by the rotation of the steel foot, and the path shadow area is larger than the area of the insulator; the ratio of the two should be greater than 1.
Step five: judging whether the insulator is qualified or not according to the deflection degree of the insulator, including
Inputting a numerical range with qualified deflection degree of the insulator;
judging whether the calculated deflection degree of the insulator is in a qualified numerical range or not;
if so, the insulator is qualified;
if not, the insulator is unqualified.
The larger the ratio of the shadow area of the path to the area of the insulator is, the larger the deflection degree is, a qualified range is set according to requirements, the detected insulator is qualified if the detected numerical value is in the range, and the insulator is unqualified if the detected numerical value is not in the range.
The detection method of the embodiment of the invention obtains the video of the insulator by relatively rotating the insulator and the camera, and obtains the image generated by the rotation of the insulator by processing the video; and obtaining a rotating shadow area according to the image; determining the deflection degree of the insulator according to the ratio of the shadow area to the area of the insulator; therefore, when the detection method provided by the embodiment of the invention is used for detecting, the deflection degree of the insulator can be detected without damaging the insulator; meanwhile, the method can be popularized and popularized to the detection of the deflection condition of each insulator.
According to the embodiment of the invention, the video of the insulator is acquired through the camera, the deflection degree of the insulator is obtained based on picture processing calculation and related calculation, manual measurement is not needed, and the detection is rapid and efficient.
As shown in fig. 4 and 5, the insulator deflection detecting apparatus includes:
the camera 3 is used for acquiring a video of the insulator 1 which rotates relatively;
a rotation system for causing the camera 3 to be parallel to the insulator 1 and to undergo relative rotational movement;
the video processing system is used for processing the acquired video to obtain an image generated by rotation of the insulator 1;
an arithmetic system for calculating a rotation shadow area of an image generated by rotation of the insulator 1;
the operation system is used for calculating the area of the insulator;
the operation system is also used for calculating the ratio of the shadow area to the area of the insulator 1.
For processing video, the video processing system comprises:
a picture output unit for outputting the video frame by frame as each frame picture;
the image processing unit is used for carrying out optical distortion correction, filtering and denoising, graying, morphological processing, threshold processing, binaryzation, edge extraction and image feature extraction on each frame of image output frame by frame;
and the picture superposition unit is used for superposing the pictures of each frame output frame by frame, marking the region of which the pixel value is between the surface of the insulator and the background as the rotating shadow area of the steel foot, and thus highlighting the shadow region of the steel foot in the rotating process.
The deflection detection device also comprises a qualification rate judgment system which comprises
An input unit for inputting a numerical range in which the degree of deflection of the insulator 1 is acceptable;
a judging unit for judging whether the calculated deflection degree of the insulator 1 is within a qualified numerical range;
if yes, the insulator 1 is qualified;
if not, the insulator 1 is unqualified.
As shown in fig. 4 and 5, the rotation system includes a base 6, and a first rotating member 5 and a second rotating member 7 at the top end of the base 6, the first rotating member 5 being used for rotating the insulator 1, and the second rotating member 7 being used for rotating the camera 3 around the insulator 1.
As shown in fig. 4, in order to rotate the insulator 1 with respect to the camera 3, the first rotating member 5 includes a rotating platform 51, a first motor 52, and a support base 53, the support base 53 is fixed to the top end of the base 6, and the first motor 52 is installed inside the support base 53; the top end of the first motor 52 is connected with the rotating platform 51, and the rotating platform 51 is driven by the first motor 52 to rotate relative to the support platform 53; the rotating platform 51 is provided with a vertical fixing piece 2 and a horizontal fixing piece 4; the vertical fixing piece 2 and the horizontal fixing piece 4 fix the insulator 1 on the rotating platform 51; drive rotary platform 51 through first motor 52 and rotate for a supporting bench 53, through vertical mounting 2 and horizontal mounting 4 fixed insulator 1 on rotary platform 51, the realization drives insulator 1 and rotates on a supporting bench 53.
As shown in fig. 4, 5, 7 and 8, in order to fix the insulator on the rotating platform 51 in the vertical direction, the vertical fixing member 2 comprises a steel ring 21 and a compression member 22, the side of the steel ring 21 is provided with an opening 211, the opening 211 is convenient for the steel feet 13 to enter into the steel ring 21 through the opening 211 when the insulator 1 is fixed, and the top of the steel ring 21 is provided with a bubble level 212; the bubble level meter 212 is convenient for identifying the horizontal degree of the steel ring 21, when the insulator 1 is fixed on the steel ring 21, whether the insulator 1 is horizontal or not is indirectly judged through the bubble level meter 212, and whether the camera 3 is horizontal or not can be judged through the level meter, so that the camera 3 is parallel to the insulator 1 and is preferably at the same horizontal height; the side part of the steel ring 21 is provided with a plurality of compression pieces 22, and illustratively, the number of the compression pieces 22 is three; the compression member 22 is used to press the steel ring 21 against the top surface of the insulator 1.
As shown in fig. 4 and 7, the compressing member 22 includes a pressing rod 221, a first spring 222, and a fixing rod 223, the fixing rod 223 is fixed to a side of the rotating platform 51, and the first spring 222 is fixed to a top end of the fixing rod 223; a pressure lever 221 is fixed at the top end of the first spring 222, the pressure lever 221 adopts an L-shaped structure, and the pressure lever 221 is fixed with the steel ring 21; the steel ring 21 is pressed against the top surface of the insulator 1 by the elastic force of the first spring 222, and stable fixation of the insulator 1 in the vertical direction is achieved.
In order to place the insulator 1 on the rotating platform 51, the insulator is fixed by the horizontal fixing members 4, illustratively, the number of the horizontal fixing members 4 is four, as shown in fig. 4, 5 and 6, and the horizontal fixing members 4 are equidistantly distributed on the surface of the rotating platform 51; the horizontal fixing part 4 comprises a fixing plate 41, a connecting rod 42, a second spring 43 and a support column 44, wherein the support column 44 is fixed on the top edge of the rotating platform 51, the support column 44 is obliquely arranged, and the top end of the support column 44 is vertically connected with the second spring 43; a connecting rod 42 is fixed on the side of the second spring 43, and the side of the connecting rod 42 is rotatably connected with a fixing plate 41; the fixing piece 41 can be rotated to fix the insulators 1 with different sizes.
As shown in fig. 4 and 5, the second rotating member 7 comprises a driving gear 71, a second motor 72, a rotating ring 73 and a toothed plate 74; the rotating ring 73 is rotatably connected with the base 6, and the rotating ring 73 is arranged coaxially with the rotating platform 51; a toothed plate 74 is fixed on the outer part of the rotating ring 73, and the toothed plate 74 is meshed with the driving gear 71; the driving gear 71 is connected with the second motor 72; the camera 3 is fixed on the rotating ring 73, and the camera 3 and the insulator 1 are on the same horizontal line and are arranged in parallel; the second motor 72 drives the driving gear 71 to rotate; the driving gear 71 rotates to drive the rotating ring 73 with the toothed plate 74 to rotate on the surface of the base 6; thereby completing the rotation of the camera 3 around the rotation platform 51.
When video is acquired, the horizontal fixing piece 4 and the vertical fixing piece 2 are used for fixing the insulator 1, the steel ring 21 is lifted upwards during fixing, the first spring 222 is stretched, the steel ring 21 is arranged at the top end of the insulator 1, then the insulator 1 is lowered and inserted into the fixing piece 41, and the insulator 1 is fixed under the elastic force of the first spring 222 and the second spring 43; then, the second rotating piece 7 drives the camera 3 to rotate around the insulator 1 to obtain a video of the insulator 1; or the insulator 1 with the first rotating member 5 is rotated to obtain the image of the insulator 1.
A terminal device, comprising:
one or more processors;
a memory coupled to the processor for storing one or more programs;
when the one or more programs are executed by the one or more processors,
causing the one or more processors to implement the insulator deflection detection method as described above.
Illustratively, the processor is configured to control the overall operation of the terminal device to complete all or part of the steps of the insulator deflection detection method described above. The memory is used to store various types of data to support operation at the terminal device, and these data may include, for example, instructions for any application or method operating on the terminal device, as well as application-related data. The memory may be implemented by any type or combination of volatile or non-volatile storage devices, including by way of example and not limitation, magnetic memory, flash memory, magnetic disk, optical static random access memory, read-only memory.
The terminal device may be implemented by one or more application specific integrated circuits (AS 1C), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components, for performing the insulator deflection detection method according to any of the above embodiments, and achieving technical effects consistent with the above methods.
A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor, implements the insulator deflection detection method as described above.
Illustratively, a computer-readable storage medium comprising a computer program is also provided, which when executed by a processor implements the steps of the insulator deflection detection method according to any one of the embodiments described above. For example, the computer readable storage medium may be the above-mentioned memory including a computer program, and the above-mentioned computer program may be executed by a processor of a terminal device to implement the insulator deflection detection method according to any one of the above-mentioned embodiments, and achieve the technical effects consistent with the above-mentioned method.
In addition, the embodiment of the invention protects that when the camera is aligned to the side face of the insulator, a rotating path image which is aligned to a visual angle can be obtained, the path shadow area of the path image is in a linear relation with the deflection degree, and the deflection degree can be represented by the path shadow area;
when the camera is in a look-up and look-down state, namely when the camera and the insulator form a certain included angle for shooting, the method is also within the protection range of the embodiment of the invention; for example, when the two images are at a certain angle, the rotated image is deformed, and the ratio of the shadow area pixel point to the deflection degree is changed. At the moment, through self affine transformation of matlab software, according to the process of comparing the right visual angle to other visual angles, the space vector of the object image of the insulator changes, and the reduction of the deformed shadow is realized through the vector. Therefore, shooting at other visual angles is realized, the area of the path shadow facing the visual angle is obtained, and the relation between the rotating shadow and the deflection is established. For example, if the pixel matrix of the insulator is P when the viewing angle is just opposite, the pixel matrix of the insulator photographed at the other viewing angles is Q, and the spatial vector from P to Q is M, then:
the variation vector M is obtained by the above equation,
and the rotating shadow matrix shot by the rest visual angles of the insulator is B, the actually equivalent rightly visual angle shadow matrix after correction is A, and then the following steps are carried out:
and solving the area of the area corresponding to the matrix A, namely representing the path shadow area under the corrected opposite area. Therefore, the path shadow area which is just opposite to the visual angle can be equivalently obtained after the shooting at any visual angle is processed, and the deviation of the insulator can be judged according to the path shadow area and the deviation degree.
The embodiment of the invention has the following beneficial effects: the detection method of the embodiment of the invention obtains the video of the insulator by relatively rotating the insulator and the camera, and obtains the image of the steel foot shadow generated by the rotation of the insulator by processing the video; obtaining a shadow area according to the insulator rotation image; determining the deflection degree of the insulator according to the ratio of the shadow area to the area of the insulator; therefore, when the detection method provided by the embodiment of the invention is used for detecting, the deflection degree of the insulator can be quickly detected without damaging the insulator; meanwhile, the method can be popularized and popularized to the detection of the deflection condition of each insulator.
According to the embodiment of the invention, the video of the insulator is acquired through the camera, the deflection degree of the insulator is obtained based on picture processing calculation and related calculation, manual measurement is not needed, and the detection is rapid and efficient.
According to the detection device provided by the embodiment of the invention, the insulators 1 can be stably fixed on the surface of the rotary platform 51 through the plurality of horizontal fixing pieces 4 and the vertical fixing pieces 2 arranged at the top end of the rotary platform 51; the shaking of the insulator 1 during rotation can be reduced, and the detection precision is improved;
in the embodiment of the invention, the horizontal fixing piece 4 and the vertical fixing piece 2 are both provided with springs, and the insulators 1 with different sizes can be fixed by matching with the steel ring 21 with an opening, so that the deflection degree of the insulators 1 with different sizes can be detected, and the application range is wide;
in the embodiment of the invention, the top end of the base 6 is provided with the first rotating piece 5, the first rotating piece 5 is used for connecting the insulator 1, and the first rotating piece 5 can drive the insulator 1 to rotate when necessary; a second rotating part 7 is arranged on the side part of the base 6, the second rotating part 7 is used for connecting the camera 3, and the second rotating part 7 can drive the camera 3 to rotate around the insulator 1; therefore, the insulator 1 and the camera 3 of the embodiment of the invention can rotate according to shooting requirements, and when one rotating mechanism fails, the other rotating mechanism can still be used.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (12)
1. An insulator deflection detection method is characterized by comprising
Utilizing a camera to acquire videos of the insulators which rotate relatively in parallel;
processing the acquired video to obtain an image of a steel foot shadow generated by the rotation of the insulator;
calculating a shadow area according to the image generated by the rotation of the insulator;
representing the deflection degree of the insulator according to the ratio of the shadow area to the insulator area;
the method for acquiring the video of the insulator which rotates relatively in parallel by using the camera comprises
Fixing the insulator on a rotating platform to rotate, and enabling the camera to acquire a video of the rotating insulator on the side of the rotating platform; or
Fixing the insulator on a rotating platform, and enabling the camera to rotate around the insulator at the side part of the rotating platform to acquire a video;
the processing of the acquired video comprises
Outputting the video frame by frame to obtain each frame of picture;
processing the image of each frame;
superposing the processed pictures of each frame, and marking a region with a pixel value between the surface of the insulator and the background as the rotating shadow area of the steel foot;
calculating the shadow area according to the shadow image of the steel foot generated by the rotation of the insulator, comprising
And extracting pixel points of which the pixel values are between the pixel values of the insulator object and the background pixel values, counting the number of the pixel points in each region meeting the range, and counting the corresponding area of the region with the largest pixel points, namely the shadow area generated by the rotation of the insulator.
2. The insulator deflection detection method of claim 1, wherein said image processing of each frame of said picture comprises
And carrying out optical distortion correction, filtering and denoising, graying, morphological processing, threshold processing, binaryzation, edge extraction and image feature extraction on the picture.
3. The method of claim 1, further comprising determining if the insulator is acceptable based on the degree of insulator deflection, including
Inputting a numerical range with qualified deflection degree of the insulator;
judging whether the calculated deflection degree of the insulator is in a qualified numerical range;
if so, the insulator is qualified;
if not, the insulator is unqualified.
4. An insulator deflection detecting apparatus including the insulator deflection detecting method according to any one of claims 1 to 3, the apparatus comprising:
a camera for acquiring a relatively rotating insulator video;
the rotating system is used for enabling the camera to be parallel to the insulator and to generate relative rotating motion;
the rotating system comprises a base (6) and a first rotating piece (5) and a second rotating piece (7) which are positioned at the top end of the base (6), wherein the first rotating piece (5) is used for rotating the insulator (1), and the second rotating piece (7) is used for rotating the camera (3) around the insulator (1);
the first rotating piece (5) comprises a rotating platform (51), a first motor (52) and a supporting platform (53), the supporting platform (53) is fixed at the top end of the base (6), and the first motor (52) is installed inside the supporting platform (53); the top end of the first motor (52) is connected with a rotating platform (51), and a vertical fixing piece (2) and a horizontal fixing piece (4) are arranged on the rotating platform (51); the insulator (1) is fixed on the rotating platform (51) through the vertical fixing piece (2) and the horizontal fixing piece (4);
the video processing system is used for processing the acquired video to obtain a path image generated by the rotation of the insulator;
the computing system is used for computing the path shadow area of a path image generated by the rotation of the insulator;
the computing system is further configured to calculate a ratio of the path shadow area to the insulator area.
5. The insulator deflection detection device according to claim 4, wherein the video processing system comprises:
a picture output unit for outputting the video frame by frame as each frame picture;
the image processing unit is used for carrying out optical distortion correction, filtering and denoising, graying, morphological processing, threshold processing, binaryzation, edge extraction and image feature extraction on each frame of image output frame by frame;
and the picture superposition unit is used for superposing the pictures of each frame output frame by frame, marking the region of which the pixel value is between the surface of the insulator and the background as the rotating shadow area of the steel foot, and thus highlighting the shadow region of the steel foot in the rotating process.
6. The insulator deflection testing apparatus of claim 4, further comprising a yield determination system comprising
The input unit is used for inputting a numerical range with qualified deflection degree of the insulator;
a judging unit, configured to judge whether the calculated deflection degree of the insulator is within a qualified numerical range;
if so, the insulator is qualified;
if not, the insulator is unqualified.
7. The insulator deflection detecting device according to claim 4, wherein the vertical fixing member (2) comprises a steel ring (21) and a compression member (22), the side of the steel ring (21) is provided with an opening (211), and the top of the steel ring (21) is provided with a bubble level gauge (212); the side part of the steel ring (21) is provided with a plurality of compression pieces (22), and the compression pieces (22) are used for pressing the steel ring (21) on the top surface of the insulator (1).
8. The insulator deflection detecting device according to claim 7, wherein the compression member (22) comprises a compression bar (221), a first spring (222) and a fixing bar (223), the fixing bar (223) is fixed to a side of the rotary platform (51), and the first spring (222) is fixed to a top end of the fixing bar (223); a pressure lever (221) is fixed at the top end of the first spring (222), and the pressure lever (221) is fixed with the steel ring (21).
9. The insulator deflection detecting device according to claim 4, wherein the horizontal fixing member (4) comprises a fixing plate (41), a connecting rod (42), a second spring (43) and a pillar (44), the pillar (44) is fixed to a top edge of the rotary platform (51), and a top end of the pillar (44) is connected to the second spring (43); a connecting rod (42) is fixed on the side part of the second spring (43), and the side part of the connecting rod (42) is rotatably connected with a fixing plate (41).
10. Insulator deflection detection device according to claim 4, characterised in that the second rotation element (7) comprises a driving gear (71), a second motor (72), a rotation ring (73) and a toothed plate (74); the rotating ring (73) is rotatably connected with the base (6), and the rotating ring (73) is coaxially arranged with the rotating platform (51); a toothed plate (74) is fixed on the outer part of the rotating ring (73), and the toothed plate (74) is meshed with the driving gear (71); the driving gear (71) is connected with the second motor (72); the camera (3) is fixed on the rotating ring (73), and the camera (3) and the insulator (1) are on the same horizontal line.
11. A terminal device, comprising:
one or more processors;
a memory coupled to the processor for storing one or more programs;
when the one or more programs are executed by the one or more processors,
causing the one or more processors to implement the insulator deflection detection method of any one of claims 1-3.
12. A computer-readable storage medium, on which a computer program is stored, the computer program, when being executed by a processor, implementing the insulator deflection detection method according to any one of claims 1 to 3.
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