CN117491003A - Circuit breaker motion characteristic detection method and device, electronic equipment and medium - Google Patents
Circuit breaker motion characteristic detection method and device, electronic equipment and medium Download PDFInfo
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Abstract
The invention provides a method, a device, electronic equipment and a medium for detecting the motion characteristics of a circuit breaker, which are suitable for the technical field of electric power and can effectively improve the testing efficiency of the motion characteristics of the circuit breaker. The method comprises the following steps: processing a three-dimensional moving image of a characteristic marker capable of reflecting the moving process of a moving contact of the circuit breaker to obtain a parallax image of the three-dimensional moving image containing depth information of the characteristic marker, generating three-dimensional moving track coordinates of the characteristic marker according to the parallax image, further generating three-dimensional space travel data of the moving contact of the circuit breaker, determining a moving curve and mechanical characteristic parameters of the circuit breaker according to the three-dimensional space travel data, and determining the moving characteristic of the circuit breaker according to the moving curve and the mechanical characteristic parameters of the circuit breaker.
Description
Technical Field
The invention belongs to the technical field of electric power, and particularly relates to a method and a device for detecting the motion characteristics of a circuit breaker, electronic equipment and a medium.
Background
A circuit breaker is a type of switching device, which is a control and protection device in an electrical power system, and a deviation of a mechanical characteristic parameter thereof represents a fault of the circuit breaker, which may cause serious damage to an electrical power line and a large-area power outage. In order to eliminate breaker faults and possible faults, to increase the operational life of the breaker and to ensure safe operation of the power system, it is necessary to test the mechanical characteristics of the breaker regularly.
At present, the mechanical characteristic test of the circuit breaker is required to be subjected to an invasive test under the power failure state, the scheme is complex, the efficiency is low, the circuit breaker stays in the aspect of two-dimensional data, the requirement on the structure of the circuit breaker is high, and the test result is not accurate enough, so that great challenges are brought to the overhaul work of the circuit breaker.
Disclosure of Invention
The invention provides a method, a device, electronic equipment and a medium for detecting the motion characteristics of a circuit breaker, which can realize the automatic test of the mechanical characteristics and the motion characteristics of the circuit breaker in a three-dimensional space in a non-power-off state by adopting a non-invasive mode, thereby improving the test efficiency of the motion characteristics of the circuit breaker.
Aiming at the problems, the invention adopts the following technical scheme:
in a first aspect, a method for detecting motion characteristics of a circuit breaker is provided, including:
collecting a three-dimensional moving image of a characteristic marker of the circuit breaker, wherein the characteristic marker can reflect the moving process of a moving contact of the circuit breaker;
acquiring a parallax image of a three-dimensional moving image, wherein the parallax image comprises depth information of a feature marker;
generating three-dimensional motion track coordinates of the feature markers according to the disparity map of the three-dimensional motion image;
generating three-dimensional space travel data of a moving contact of the circuit breaker according to the three-dimensional motion track coordinates of the feature markers;
generating a motion curve and mechanical characteristic parameters of the circuit breaker according to three-dimensional space travel data of a moving contact of the circuit breaker;
and determining the motion characteristic of the circuit breaker according to the motion curve and the mechanical characteristic parameter of the circuit breaker.
Optionally, capturing a three-dimensional moving image of a feature marker of the circuit breaker includes:
shooting a three-dimensional moving image of a characteristic marker of a circuit breaker by using a binocular vision-based three-dimensional acquisition platform, wherein the characteristic marker comprises: a moving part connected with the moving contact of the circuit breaker, and/or a marker arranged at the moving part.
Alternatively, acquiring a disparity map of a three-dimensional moving image includes:
performing image preprocessing on the three-dimensional moving image to obtain a parallax image, wherein the image preprocessing comprises the following steps: camera calibration, stereo correction, stereo matching and parallax optimization.
Optionally, generating three-dimensional motion trajectory coordinates of the feature markers according to the disparity map of the three-dimensional motion image includes:
and extracting feature data of the feature markers from the disparity map of the three-dimensional moving image, performing target matching frame by frame, and generating three-dimensional movement track coordinates of the feature markers.
Optionally, generating three-dimensional space travel data of the moving contact of the circuit breaker according to the three-dimensional motion track coordinates of the feature markers includes:
and carrying out accurate identification conversion on the three-dimensional motion track coordinates of the feature markers to obtain three-dimensional space travel data of the moving contact of the circuit breaker.
Optionally, generating a motion curve and mechanical characteristic parameters of the circuit breaker according to three-dimensional space travel data of a moving contact of the circuit breaker includes:
performing curve fitting on three-dimensional space travel data of a moving contact of the circuit breaker to generate a motion curve and mechanical characteristic parameters of the circuit breaker;
the motion curve of the circuit breaker comprises a travel-time curve, a speed-time curve and an acceleration-time curve of the circuit breaker, and the mechanical characteristic parameters of the circuit breaker comprise a breaking speed, a closing speed, a breaking time, a closing time, a contact travel and an over travel.
In a second aspect, there is provided a circuit breaker movement characteristic detection apparatus comprising:
the image acquisition module is used for acquiring three-dimensional moving images of characteristic markers of the circuit breaker, and the characteristic markers can reflect the moving process of the moving contact of the circuit breaker;
the image preprocessing module is used for acquiring a parallax image of the three-dimensional moving image, wherein the parallax image comprises depth information of the feature markers;
the image recognition module is used for generating three-dimensional motion track coordinates of the feature markers according to the parallax images of the three-dimensional motion images;
the characteristic analysis module is used for generating three-dimensional space travel data of the moving contact of the circuit breaker according to the three-dimensional motion track coordinates of the characteristic markers;
the characteristic analysis module is also used for generating a motion curve and mechanical characteristic parameters of the circuit breaker according to the three-dimensional space travel data of the moving contact of the circuit breaker;
and the characteristic analysis module is also used for determining the motion characteristic of the circuit breaker according to the motion curve and the mechanical characteristic parameter of the circuit breaker.
Optionally, the image acquisition module is further configured to:
shooting a three-dimensional moving image of a characteristic marker of a circuit breaker by using a binocular vision-based three-dimensional acquisition platform, wherein the characteristic marker comprises: a moving part connected with the moving contact of the circuit breaker, and/or a marker arranged at the moving part.
Optionally, the image preprocessing module is further configured to:
performing image preprocessing on the three-dimensional moving image to obtain a parallax image, wherein the image preprocessing comprises the following steps: camera calibration, stereo correction, stereo matching and parallax optimization.
Optionally, the image recognition module is further configured to:
and extracting feature data of the feature markers from the disparity map of the three-dimensional moving image, performing target matching frame by frame, and generating three-dimensional movement track coordinates of the feature markers.
Optionally, the characteristic analysis module is further configured to:
and carrying out accurate identification conversion on the three-dimensional motion track coordinates of the feature markers to obtain three-dimensional space travel data of the moving contact of the circuit breaker.
Optionally, the characteristic analysis module is further configured to:
performing curve fitting on three-dimensional space travel data of a moving contact of the circuit breaker to generate a motion curve and mechanical characteristic parameters of the circuit breaker;
the motion curve of the circuit breaker comprises a travel-time curve, a speed-time curve and an acceleration-time curve of the circuit breaker, and the mechanical characteristic parameters of the circuit breaker comprise a breaking speed, a closing speed, a breaking time, a closing time, a contact travel and an over travel.
In a third aspect, there is provided an electronic device comprising a processor and a high-speed memory, the high-speed memory storing computer instructions which, when executed by the processor, implement the circuit breaker movement characteristic detection method as provided in the first aspect.
In a fourth aspect, a computer readable storage medium is provided, storing a computer program which, when executed by a processor, implements the method for detecting a motion characteristic of a circuit breaker as provided in the first aspect.
According to the method, the device, the electronic equipment and the medium for detecting the motion characteristics of the circuit breaker, the three-dimensional motion image of the feature marker which can reflect the motion process of the moving contact of the circuit breaker can be processed to obtain the parallax image of the three-dimensional motion image containing the depth information of the feature marker, then the three-dimensional motion track coordinates of the feature marker are generated according to the parallax image, further three-dimensional space travel data of the moving contact of the circuit breaker are generated, then the motion curve and the mechanical characteristic parameters of the circuit breaker are determined according to the three-dimensional space travel data, and the motion characteristics of the circuit breaker are determined according to the motion curve and the mechanical characteristic parameters of the circuit breaker. That is, based on the technical scheme provided by the embodiment of the invention, the automatic test of the mechanical characteristics and the motion characteristics of the circuit breaker in the three-dimensional space can be realized in a non-invasive mode under the non-power-outage state, the test efficiency of the motion characteristics of the circuit breaker can be obviously improved, the cost is reduced, the labor is saved, and the method has important significance for guaranteeing the life cycle of the circuit breaker and the safe and stable operation of the power line.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a method for detecting motion characteristics of a circuit breaker according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a common field of view of a target photographed by a stereoscopic acquisition platform according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a device for detecting motion characteristics of a circuit breaker according to an embodiment of the present invention;
fig. 4 is a schematic view of a visual layout scheme of a stereoscopic acquisition platform according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a computer readable storage medium according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
First, referring to fig. 1-2, a method for detecting motion characteristics of a circuit breaker according to an embodiment of the present invention is described in detail.
As shown in fig. 1, the method for detecting the motion characteristics of the circuit breaker comprises the following steps:
s101, acquiring a three-dimensional moving image of a characteristic marker of the circuit breaker.
The characteristic marker can reflect the movement process of the moving contact of the circuit breaker, and can comprise a moving part connected with the moving contact of the circuit breaker, such as a nut and the like arranged on an operating mechanism of the moving contact, and a marker, such as a cross quadrant mark or other marks, stuck on the moving part.
Optionally, S101, capturing a three-dimensional moving image of a feature marker of the circuit breaker includes:
shooting a three-dimensional moving image of a characteristic marker of a circuit breaker by using a binocular vision-based three-dimensional acquisition platform, wherein the characteristic marker comprises: a moving part connected with the moving contact of the circuit breaker, and/or a marker arranged at the moving part.
Specifically, a binocular vision-based three-dimensional acquisition platform can be built by using a high-speed industrial camera to shoot a moving part of the breaker operating mechanism, wherein the moving part is positioned at a part connected with a moving contact of the breaker, and can accurately reflect a part or a marker of the moving contact.
In order to ensure that the shooting is accurate, no large error is generated in the subsequent image processing, please refer to a common view schematic diagram of the shooting target of the binocular camera shown in fig. 2, and the calculation is performed according to the fact that the overlapping view of the left camera and the right camera accounts for 80% of the total view; the smear is not more than 1 pixel, the precision is 0.1mm, the measured object (feature marker such as five-pointed star in figure 2) moves longitudinally by 20mm, the speed is 2.5m/s, then the continuous shooting is required as follows:
resolution ratio: 20 ≡0.8 ≡0.1=250, and since it is vertical, the longitudinal resolution is not lower than 250;
defining the immediately preceding 10ms as the immediately closing speed, taking 8 pictures within 10ms to obtain the immediately closing speed curveA minimum 800 frame camera is required;
the vertical pixel requirements are:setting the exposure time of the camera as X mu s;
the exposure time object motion distance is:；
let 0.0025x <0.04, then x <16 mus, the obtainable exposure time should be less than 16 mus.
S102, obtaining a parallax image of a three-dimensional moving image, wherein the parallax image comprises depth information of a feature marker;
optionally, S102, acquiring a disparity map of a three-dimensional moving image includes:
performing image preprocessing on the three-dimensional moving image to obtain a parallax image, wherein the image preprocessing comprises the following steps: camera calibration, stereo correction, stereo matching and parallax optimization.
Specifically, the left view and the right view in the three-dimensional moving image acquired in S101 are subjected to image preprocessing operations including camera calibration, stereo correction, stereo matching and parallax optimization, so as to obtain a series of optimal parallax images, wherein the series of parallax images comprise depth information of a photographed object.
And S103, generating three-dimensional motion track coordinates of the feature markers according to the disparity map of the three-dimensional motion image.
Optionally, S103, generating three-dimensional motion trajectory coordinates of the feature marker according to the disparity map of the three-dimensional motion image, including:
and extracting feature data of the feature markers from the disparity map of the three-dimensional moving image, performing target matching frame by frame, and generating three-dimensional movement track coordinates of the feature markers.
Specifically, extracting a target part (characteristic data) which can best embody the motion rule of the moving contact of the circuit breaker from the parallax map, and carrying out target matching frame by frame to obtain three-dimensional motion trail coordinates containing time sequence information.
S104, generating three-dimensional space travel data of a moving contact of the circuit breaker according to the three-dimensional motion trail coordinates of the feature markers;
optionally, S104, generating three-dimensional space travel data of the moving contact of the circuit breaker according to the three-dimensional motion trajectory coordinates of the feature markers, including:
and carrying out accurate identification conversion on the three-dimensional motion track coordinates of the feature markers to obtain three-dimensional space travel data of the moving contact of the circuit breaker.
Specifically, the three-dimensional motion track coordinates of the feature markers can be subjected to data processing, such as coordinate transformation on the three-dimensional motion track coordinates by utilizing accurate identification based on three-dimensional tracks, so that three-dimensional space travel data can be obtained. For example, the three-dimensional motion trajectory coordinates of the feature markers can be converted into the three-dimensional motion trajectory coordinates of the moving contacts of the circuit breaker by utilizing the relative position relation between the feature markers and the moving contacts of the circuit breaker, so that the three-dimensional space travel data of the moving contacts of the circuit breaker can be obtained.
S105, generating a motion curve and mechanical characteristic parameters of the circuit breaker according to three-dimensional space travel data of a moving contact of the circuit breaker;
optionally, S105, generating a motion curve and mechanical characteristic parameters of the circuit breaker according to three-dimensional space travel data of a moving contact of the circuit breaker, including:
performing curve fitting on three-dimensional space travel data of a moving contact of the circuit breaker to generate a motion curve and mechanical characteristic parameters of the moving contact of the circuit breaker;
the motion curves of the circuit breaker comprise a travel-time curve, a speed-time curve and an acceleration-time curve of the circuit breaker, such as the travel-time curve, the speed-time curve and the acceleration-time curve which are expressed by adopting a X, Y, Z three-dimensional rectangular coordinate system, and the mechanical characteristic parameters of the circuit breaker comprise a breaking speed, a closing speed, a breaking time, a closing time, a contact travel and an overstroke.
Specifically, curve fitting can be performed according to the three-dimensional space travel of the moving contact, a motion curve of the circuit breaker is obtained, and mechanical characteristic parameters of the circuit breaker are calculated according to the three-dimensional space travel data of the moving contact.
S106, determining the motion characteristic of the circuit breaker according to the motion curve and the mechanical characteristic parameter of the circuit breaker.
Specifically, the motion curve and the mechanical characteristic parameters of the circuit breaker can be integrated to obtain the motion characteristic of the circuit breaker.
According to the method, the device, the electronic equipment and the medium for detecting the motion characteristics of the circuit breaker, the three-dimensional motion image of the feature marker which can reflect the motion process of the moving contact of the circuit breaker can be processed to obtain the parallax image of the three-dimensional motion image containing the depth information of the feature marker, then the three-dimensional motion track coordinates of the feature marker are generated according to the parallax image, further three-dimensional space travel data of the moving contact of the circuit breaker are generated, then the motion curve and the mechanical characteristic parameters of the circuit breaker are determined according to the three-dimensional space travel data, and the motion characteristics of the circuit breaker are determined according to the motion curve and the mechanical characteristic parameters of the circuit breaker. That is, based on the technical scheme provided by the embodiment of the invention, the automatic test of the mechanical characteristics and the motion characteristics of the circuit breaker in the three-dimensional space can be realized in a non-invasive mode under the non-power-outage state, the test efficiency of the motion characteristics of the circuit breaker can be obviously improved, the cost is reduced, the labor is saved, and the method has important significance for guaranteeing the life cycle of the circuit breaker and the safe and stable operation of the power line.
The method for detecting the motion characteristics of the circuit breaker according to the embodiment of the present invention is described in detail above with reference to fig. 1 to fig. 2, and the device for detecting the motion characteristics of the circuit breaker and the electronic device according to the embodiment of the present invention are described below with reference to fig. 3 to fig. 5, respectively, for executing the method for detecting the motion characteristics of the circuit breaker according to the embodiment of the method.
As shown in fig. 3, the circuit breaker movement characteristic detection apparatus 300 includes:
the image acquisition module 301 is configured to acquire a three-dimensional moving image of a feature marker of the circuit breaker, where the feature marker may reflect a moving process of a moving contact of the circuit breaker;
the image preprocessing module 302 is configured to obtain a disparity map of a three-dimensional moving image, where the disparity map includes depth information of a feature marker;
an image recognition module 303, configured to generate three-dimensional motion trajectory coordinates of the feature markers according to the disparity map of the three-dimensional motion image;
the characteristic analysis module 304 is used for generating three-dimensional space travel data of the moving contact of the circuit breaker according to the three-dimensional motion track coordinates of the characteristic markers;
the characteristic analysis module 304 is further configured to generate a motion curve and mechanical characteristic parameters of the circuit breaker according to the three-dimensional space travel data of the moving contact of the circuit breaker;
the characteristic analysis module 304 is further configured to determine a motion characteristic of the circuit breaker according to the motion curve and the mechanical characteristic parameter of the circuit breaker.
Optionally, the image acquisition module 301 is further configured to:
shooting a three-dimensional moving image of a characteristic marker of a circuit breaker by using a binocular vision-based three-dimensional acquisition platform, wherein the characteristic marker comprises: a moving part connected with the moving contact of the circuit breaker, and/or a marker arranged at the moving part.
Optionally, the image preprocessing module 302 is further configured to:
performing image preprocessing on the three-dimensional moving image to obtain a parallax image, wherein the image preprocessing comprises the following steps: camera calibration, stereo correction, stereo matching and parallax optimization.
Optionally, the image recognition module 303 is further configured to:
and extracting feature data of the feature markers from the disparity map of the three-dimensional moving image, performing target matching frame by frame, and generating three-dimensional movement track coordinates of the feature markers.
Optionally, the characteristic analysis module 304 is further configured to:
and carrying out accurate identification conversion on the three-dimensional motion track coordinates of the feature markers to obtain three-dimensional space travel data of the moving contact of the circuit breaker.
Optionally, the characteristic analysis module 304 is further configured to:
performing curve fitting on three-dimensional space travel data of a moving contact of the circuit breaker to generate a motion curve and mechanical characteristic parameters of the circuit breaker;
the motion curve of the circuit breaker comprises a travel-time curve, a speed-time curve and an acceleration-time curve of the circuit breaker, and the mechanical characteristic parameters of the circuit breaker comprise a breaking speed, a closing speed, a breaking time, a closing time, a contact travel and an over travel.
The man-machine interaction module 305 is used for inputting the model of the circuit breaker, the model of the binocular camera, the internal parameters, the external parameters and the algorithm parameters after the calibration of the camera; but also for displaying and processing the left and right views taken by the binocular camera, extracting feature markers from the region of interest in the disparity map, etc.
In addition, the internal structure of the circuit breaker in fig. 3 refers to the prior art, and the embodiment of the invention is not repeated.
Fig. 4 is a schematic diagram of a stereoscopic acquisition platform according to an embodiment of the present invention, which may be used to implement the functions of the image acquisition module 301 shown in fig. 3. As shown in fig. 4, the stereoscopic acquisition platform 400 includes: a high-speed industrial camera 401, a lens 402, a light-compensating lamp 403, and an object 404.
It should be noted that the stereo acquisition platform 400 shown in fig. 4 is only an example, and should not be construed as limiting the function and the application scope of the embodiment of the present invention. Various devices included in the stereoscopic acquisition platform are described below.
The high-speed industrial camera 401, which may be a binocular camera, is arranged such that the left and right camera overlapping fields of view account for 80% or more of the total field of view in the present exemplary embodiment; the high-speed industrial camera 401 is fixed on a special bracket, is aligned to be connected with a moving contact of a circuit breaker, and can reflect the region where a characteristic marker of the moving contact moving process is located, the high-speed industrial camera 401 is required to have resolution of not less than 1 pixel, the accuracy is 0.1mm, the measured object moves longitudinally by 20mm and the speed is 2.5m/sThe number of shooting frames during shooting is not less than 800fps (frame rate).
In the present exemplary embodiment, the lens 402 is selected to be suitable for the high-speed industrial camera 401, the focal length is 16mm, and the target surface size is 1'.
In the light filling lamp 403, in this exemplary embodiment, the required exposure time is less than 16 μs according to the frame rate calculation result, and in order to achieve the optimal performance of the motion characteristic detection device of the circuit breaker, a white patch LED or a special optical lens may be selected, where the operating voltage is 24V and the rated power is 2.9W.
The object to be measured 404, in this example embodiment, the object to be measured 404 may be a circuit breaker of a certain type of 11kV, and the measured object (feature marker) is a component or a marker with feature information, which is connected to the moving contact of the circuit breaker and can reflect the moving process of the moving contact.
Those skilled in the art will appreciate that the various aspects of the invention may be implemented as a system, method, or program product. Accordingly, aspects of the invention may be embodied in the following forms, namely: an entirely hardware embodiment, an entirely software embodiment (including firmware, micro-code, etc.) or an embodiment combining hardware and software aspects may be referred to herein as a "circuit," module "or" system.
An electronic device 500 provided according to an embodiment of the present invention is described below with reference to fig. 5. The electronic device 500 shown in fig. 5 is merely an example, and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.
As shown in fig. 5, the electronic device 500 is embodied in the form of a general purpose computing device. The components of electronic device 500 may include, but are not limited to: processor 510, memory 520, bus 530 connecting the different system components (including memory 520 and processor 510), and display 540.
The memory 520 stores program codes that can be executed by the processor 510, so that the processor 510 performs the method for detecting the motion characteristics of the circuit breaker described in the above method embodiment. For example, the processor 510 may perform steps S101 to S105 as shown in fig. 1.
The memory 520 may include Random Access Memory (RAM) 5201 and/or Cache memory (Cache) 5202, and may further include Read Only Memory (ROM) 5203.
Memory 520 may also include a memory having a set (at least one) of program modules 5204, such program modules 5204 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.
Bus 530 may be one or more of several types of bus structures including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures.
Two high-speed industrial cameras 590 are connected to the processor 510 through the I/O interface 550, display the captured image through the display 540, and connect to the synchronization module 570 through the trigger line 580, in this example, the synchronization module 570 requires power at a power supply voltage of +10v-30 VDC; meanwhile, an external power supply is needed between the digital output common positive terminal and the digital output common negative terminal of the synchronous module 570, so that the synchronous module can share one power supply, and meanwhile, the "+" of the high-speed industrial camera 590 is triggered to be connected to the digital output common positive terminal, the "-" is triggered to be connected to the digital output common negative terminal, and at the moment, the high-speed industrial camera 590 is a load and is equivalent to a pull-up resistor, so that the voltage values at the two triggering ends of the high-speed industrial camera 590 can be triggered to take photos. The synchronization module 570 is coupled to the processor 510 via the RJ-45 network cable interface 5100 to control the capture of the high-speed industrial camera 590. In addition, electronic device 500 may also communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet, through network adapter 560. It should be appreciated that although not shown in fig. 5, other hardware and/or software modules may be used in connection with electronic device 500, including, but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, and includes several instructions to cause a computing device (may be a personal computer, a server, a terminal device, or a network device, etc.) to perform the method according to the embodiments of the present disclosure.
In an exemplary embodiment of the present disclosure, a computer-readable storage medium having stored thereon a program product capable of implementing the method described above in the present specification is also provided. In some possible embodiments, the various aspects of the invention may also be implemented in the form of a program product comprising program code for causing a terminal device to carry out the steps according to the various exemplary embodiments of the invention as described in the "exemplary methods" section of this specification, when said program product is run on the terminal device.
Referring to fig. 6, a program product 600 for implementing the above-described method according to an embodiment of the present invention is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable signal medium may include a data signal propagated in baseband or as part of a carrier wave with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).
Furthermore, the above-described drawings are only schematic illustrations of processes included in the method according to the exemplary embodiment of the present invention, and are not intended to be limiting. It will be readily appreciated that the processes shown in the above figures do not indicate or limit the temporal order of these processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, for example, among a plurality of modules.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of protection of the present disclosure is limited only by the claims that follow.
Claims (14)
1. A method for detecting motion characteristics of a circuit breaker, comprising:
collecting a three-dimensional moving image of a characteristic marker of a circuit breaker, wherein the characteristic marker can reflect the moving process of a moving contact of the circuit breaker;
acquiring a parallax image of the three-dimensional moving image, wherein the parallax image comprises depth information of the feature markers;
generating three-dimensional motion trail coordinates of the feature markers according to the parallax images of the three-dimensional motion images;
generating three-dimensional space travel data of a moving contact of the circuit breaker according to the three-dimensional motion trail coordinates of the characteristic markers;
generating a motion curve and mechanical characteristic parameters of the circuit breaker according to the three-dimensional space travel data of the moving contact of the circuit breaker;
and determining the motion characteristic of the circuit breaker according to the motion curve and the mechanical characteristic parameter of the circuit breaker.
2. The method for detecting the motion characteristics of the circuit breaker according to claim 1, wherein the capturing the three-dimensional motion image of the feature marker of the circuit breaker comprises:
shooting a three-dimensional moving image of a characteristic marker of the circuit breaker by using a binocular vision-based three-dimensional acquisition platform, wherein the characteristic marker comprises: and a moving part connected with the moving contact of the circuit breaker and/or a marker arranged at the moving part.
3. The method according to claim 2, wherein the acquiring the disparity map of the three-dimensional moving image includes:
performing image preprocessing on the three-dimensional moving image to obtain the parallax image, wherein the image preprocessing comprises the following steps: camera calibration, stereo correction, stereo matching and parallax optimization.
4. The method for detecting motion characteristics of a circuit breaker according to claim 3, wherein the generating three-dimensional motion trajectory coordinates of the feature markers according to the disparity map of the three-dimensional motion image comprises:
and extracting the characteristic data of the characteristic markers from the parallax images of the three-dimensional moving images, performing target matching frame by frame, and generating the three-dimensional movement track coordinates of the characteristic markers.
5. The method for detecting the motion characteristics of the circuit breaker according to claim 4, wherein the generating three-dimensional space travel data of the moving contact of the circuit breaker according to the three-dimensional motion trail coordinates of the feature markers comprises:
and carrying out accurate identification conversion on the three-dimensional motion track coordinates of the characteristic markers to obtain three-dimensional space travel data of the moving contact of the circuit breaker.
6. The method for detecting motion characteristics of a circuit breaker according to claim 5, wherein the generating motion curves and mechanical characteristic parameters of the circuit breaker according to three-dimensional space travel data of a moving contact of the circuit breaker comprises:
performing curve fitting on three-dimensional space travel data of a moving contact of the circuit breaker to generate a motion curve and mechanical characteristic parameters of the circuit breaker;
the motion curve of the circuit breaker comprises a travel-time curve, a speed-time curve and an acceleration-time curve of the circuit breaker, and the mechanical characteristic parameters of the circuit breaker comprise a breaking speed, a closing speed, a breaking time, a closing time, a contact travel and an overstroke.
7. A circuit breaker movement characteristic detection apparatus, comprising:
the image acquisition module is used for acquiring a three-dimensional moving image of a characteristic marker of the circuit breaker, wherein the characteristic marker can reflect the moving process of a moving contact of the circuit breaker;
the image preprocessing module is used for acquiring a parallax image of the three-dimensional moving image, wherein the parallax image comprises depth information of the feature markers;
the image recognition module is used for generating three-dimensional motion track coordinates of the feature markers according to the parallax images of the three-dimensional motion images;
the characteristic analysis module is used for generating three-dimensional space travel data of the moving contact of the circuit breaker according to the three-dimensional motion trail coordinates of the characteristic markers;
the characteristic analysis module is further used for generating a motion curve and mechanical characteristic parameters of the circuit breaker according to the three-dimensional space travel data of the moving contact of the circuit breaker;
the characteristic analysis module is also used for determining the motion characteristic of the circuit breaker according to the motion curve and the mechanical characteristic parameter of the circuit breaker.
8. The circuit breaker motion characteristic detection device of claim 7, wherein the image acquisition module is further configured to:
shooting a three-dimensional moving image of a characteristic marker of the circuit breaker by using a binocular vision-based three-dimensional acquisition platform, wherein the characteristic marker comprises: and a moving part connected with the moving contact of the circuit breaker and/or a marker arranged at the moving part.
9. The circuit breaker motion characteristic detection device of claim 8, wherein the image preprocessing module is further configured to:
performing image preprocessing on the three-dimensional moving image to obtain the parallax image, wherein the image preprocessing comprises the following steps: camera calibration, stereo correction, stereo matching and parallax optimization.
10. The circuit breaker movement characteristic detection device of claim 9, wherein the image recognition module is further configured to:
and extracting the characteristic data of the characteristic markers from the parallax images of the three-dimensional moving images, performing target matching frame by frame, and generating the three-dimensional movement track coordinates of the characteristic markers.
11. The circuit breaker movement characteristic detection device of claim 10, wherein the characteristic analysis module is further configured to:
and carrying out accurate identification conversion on the three-dimensional motion track coordinates of the characteristic markers to obtain three-dimensional space travel data of the moving contact of the circuit breaker.
12. The circuit breaker movement characteristic detection device of claim 11, wherein the characteristic analysis module is further configured to:
performing curve fitting on three-dimensional space travel data of a moving contact of the circuit breaker to generate a motion curve and mechanical characteristic parameters of the circuit breaker;
the motion curve of the circuit breaker comprises a travel-time curve, a speed-time curve and an acceleration-time curve of the circuit breaker, and the mechanical characteristic parameters of the circuit breaker comprise a breaking speed, a closing speed, a breaking time, a closing time, a contact travel and an overstroke.
13. An electronic device comprising a processor and a high-speed memory storing computer instructions that when executed by the processor implement the circuit breaker movement characteristic detection method of any one of claims 1 to 6.
14. A computer-readable storage medium, characterized in that a computer program is stored, which, when being executed by a processor, implements the circuit breaker movement characteristic detection method according to any one of claims 1 to 6.
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