CN106526467A - High voltage circuit breaker switch-on and switch-off speed characteristic measurement method based on machine vision - Google Patents
High voltage circuit breaker switch-on and switch-off speed characteristic measurement method based on machine vision Download PDFInfo
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- G—PHYSICS
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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- G01R31/327—Testing of circuit interrupters, switches or circuit-breakers
- G01R31/3271—Testing of circuit interrupters, switches or circuit-breakers of high voltage or medium voltage devices
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Abstract
The present invention provides a high voltage circuit breaker switch-on and switch-off speed characteristic measurement method based on machine vision. While the motion of a high voltage circuit breaker is recorded, a high speed camera is used to shoot the color mark of the surface of an observed moving part, a recorded video image is processed and identified through a machine vision algorithm, the position coordinate of the observed object of each frame of image of a video relative to a reference point is determined, the movement track of the observed object is obtained, and thus the switch-on and switch-off speeds of a high voltage circuit breaker moving contact are calculated. The installation of a sensor in a mechanical mode is not needed, only the setting of a color reference mark at an observation point is needed, a sensor is not need to replace for different measurement objects, and only the change of the position of a reference mark is needed. In addition, the linear motion or rotation speed can be measured, the field application is facilitated, the influence of an environmental condition of the equipment is small, and the need of online measurement of power switch equipment such as a high voltage circuit breaker in a live operation can be satisfied.
Description
【Technical field】
The invention belongs to power equipment state monitoring field, more particularly to a kind of high-voltage circuit breaker based on machine vision
Closing speed characteristic measurement method.
【Background technology】
In power system, primary cut-out is a kind of electrical equipment being widely used, the direct shadow of its point, closing speed
Cut-offfing, closing performance for breaker is rung, only guaranteed appropriate point, closing speed can just give full play to its drop-out current
Ability：Too high point, closing speed the operating mechanism of primary cut-out can be made to bear excessive mechanical stress and impact, cause knot
The mechanical damage of structure part, reduces its service life, while the closing rebound time of contact can be extended；And too low point, close a floodgate
Speed can then affect the arcing effect of primary cut-out, cause the arc time to extend, and accelerate the electrical wear of contact, so as to can also subtract
The service life of few primary cut-out.Therefore, accurate measurement, calculate and analyze primary cut-out point, closing speed have weight
The meaning wanted.
As the moving contact and static contact of primary cut-out are all packaged in arc-chutes, it is impossible to direct measurement, therefore, open circuit
Device point, the measurement of closing speed adopt indirect type measuring method, i.e., the speed of the motion being connected with moving contact by measurement
Degree, to obtain indirectly the movement velocity of moving contact.The movement locus of moving contact is measured using two ways generally：One kind is to utilize
Linear displacement transducer measures the movement locus (being equivalent to the movement locus of moving contact) of moving contact pull bar, obtains moving contact and exists
Point, the displacement curve in making process；A kind of angle for being to measure using angular transducer the rotation process of connecting lever in transmission mechanism
Displacement, using the corresponding relation of connecting lever corner and moving contact position, calculate moving contact point, the displacement in making process it is bent
Line.Using said method obtain moving contact movement locus, so as to further calculate moving contact point, closing speed curve and
Average speed, just-off speed, firm sum velocity etc. characterize every specific performance index of its speed characteristics.
It is presently used for detecting that the sensor of high-voltage circuit-breaker switching on-off speed is mainly grating sensor, rotary encoder
And resistor type displacement sensor.Traditional grating samples chi because being limited by domestic manufacturing technology level and cost, between grating
Away from typically, in 0.5mm or so, precision is relatively low, therefore is rarely employed.The measuring principle of rotary encoder is basic with grating sensor
It is identical, it is that its manufacturer's standard is higher, therefore certainty of measurement is also just higher.And resistor type displacement sensor can be by measuring electricity
The motion process changed to judge moving contact of breaker of the electric current of resistance or resistance both end voltage, with fast response time, sampling
The advantages of circuit is simple, certainty of measurement is higher.But using three of the above sensor measure primary cut-out divide-shut brake speed all
With following shortcoming and deficiency：
(1) require that sensor is connected and fixes with primary cut-out moving component, need extra fixed component is installed, Gu
Determine part itself and generate certain impact on the structure of primary cut-out, so as to cause primary cut-out point, closing speed sends out
Certain change is given birth to；
(2) after sensor is fixed, its standing part and movable end are likely to result in breaker motion bite, so that measurement
The speed of gained is not accurate enough；
(3) when using displacement transducer, due to being surveyed by the way of primary cut-out connecting rod drive sensor actuation
Amount, it is desirable to which linear displacement transducer target seeker is rigidly connected with High Voltage Circuit Breaker Contacts connecting rod, and both movement locus are necessary
It is substantially parallel, therefore slightly inclines during actual installation and produce measure error；
(4) if displacement transducer fixing point is insecure, when primary cut-out action, should fixed sensor
There is a small amount of displacement in body, so as to produce measure error；
(5) grating sensor, rotary encoder or displacement transducer is either used, the sensor peace in measurement process
Dress, data record, data handling procedure are all completed by experimenter, due to the impact of various factors, wherein there is certain people
For error, and the especially elapsed time when big measurement is carried out；
(6) need to be mounted so that external structure, therefore above several method all cannot be used for on-line measurement, in order to avoid affect high
The normal work of voltage breaker.
【The content of the invention】
Present invention aim to overcome that weak point of the prior art, proposes a kind of high pressure open circuit based on machine vision
Device divide-shut brake speed characteristic measurement method, for on-line checking primary cut-out point, closing speed characteristic.The method is using high
Fast camera is observed, it is not necessary to increase extra fixing device on primary cut-out original structure, it is to avoid which is to high pressure
Breaker point, the impact of closing speed；Compared to traditional measurement method, it is not necessary to mechanically install sensor, it is only necessary to
Color reference mark is set in observation station, for different measuring object is without the need for more emat sensor, linear motion can be measured simultaneously
Or velocity of rotation；Belong to a kind of contactless measurement, it is not necessary to consider the problems such as voltage is isolated, by equipment local environment bar
Part affects less, can meet on-line measurement needs.
For reaching above-mentioned purpose, the technical solution used in the present invention is：
A kind of high-voltage circuit-breaker switching on-off speed characteristics measurement method based on machine vision, in primary cut-out action
Meanwhile, the color mark for being arranged on its moving component surface is shot using camera, by video is carried out image procossing,
Colour recognition and camera calibration, determine the position coordinates of reference point in each two field picture of video, record its movement locus, and then
Carry out point, closing speed is calculated.
Specifically include following steps：(1) sample frequency is set, calculates reference marker center of circle actual range；(2) read and regard
Frequently, video length length is detected, each frame of video is saved as into picture；(3) assignment picture counter k=1；(4) judge
Whether picture count device k is more than length, if logical consequence is " 1 ", to step (8), otherwise to step (5)；(5) to each
Two field picture carries out image procossing, to obtain the less picture of ambient interferences；(6) colour recognition, camera calibration；(7) picture count
Device k adds 1；(8) by judging reference point coordinate value, carry out point, closing speed calculating.
Described color mark adopts three different colors, and two of which is marked on fixed position setting, for camera
Demarcate and referential determines, another mark is arranged on primary cut-out motive position surface as motion reference point.
Primary cut-out motive position is arranged on by way of pasting or smearing as the color mark of motion reference point
Surface.
Image procossing includes color range adjustment, medium filtering, color space conversion and HSV condition distinguishings, wherein, color range adjustment
By adjusting the histogram of each two field picture, change color richness and the fineness of image, to better discriminate between each color
Mark and background；The gray value of each pixel in image is set to all pixels point ash in the vertex neighborhood window by medium filtering
The intermediate value of angle value, eliminates isolated noise, so as to the interference for effectively suppressing ambient noise to recognize color mark；Color space conversion
For the mutual conversion between RGB color and hsv color space；HSV condition judgments, will not by arranging HSV condition thresholds
The HSV value of pixel of meeting the requirements is set to 0, to make a distinction with qualified pixel.
Colour recognition includes pixel statistics and calculates with reference to point coordinates；Wherein, pixel statistics refers to by judging picture
The RGB color information included by each pixel, the occupied pixel number of statistical-reference mark；Calculate logical with reference to point coordinates
The distribution density of the pixel for counting on is crossed, the home position coordinate of reference marker is calculated, as the reference point of motion.
Colour recognition is concretely comprised the following steps：
(1) condition judgment is carried out to the rgb value of picture, preserves the coordinate of all qualified pixels；
(2) the home position coordinate of reference marker；
(3) whether picture count device k is judged equal to 1, if then carrying out step (4), if otherwise carrying out step (6)；
(4) initial position co-ordinates of reference marker are preserved, camera calibration is carried out；
(5) judge whether picture count device k is equal to the video length length of collection, if then carrying out step (6), if not
Terminate；
(6) the settling position coordinate of reference marker is preserved, is terminated.
Camera calibration, that is, calculate the corresponding ratio of pixel number in the actual range and picture of reference marker, fixed bit
After tagging is provided with, the number of pixels between two center of circle is measured respectively, carry out division with reference marker central coordinate of circle
Computing, you can obtain the actual range that each pixel is represented.
Divide, closing speed is calculated and mainly calculated including traveled distance calculating, run duration determination and movement velocity；Wherein,
Traveled distance calculates the ratio determined by calculating camera calibration step and moves to end position institute with reference point from starting position
The product of the pixel number passed by is completed；The determination of run duration is by calculating camera sample rate with reference point from starting position
The product for moving to the picture number between end position is completed；Movement velocity is calculated then as traveled distance and run duration
Business.
Point, closing speed calculate include it is following：
When calculate linear motion when point, closing speed algorithm：
(1) initial position co-ordinates of comparison reference point and settling position coordinate, if initial position co-ordinates row value is more than stable
Position coordinates row value, then primary cut-out carried out feed motion, conversely, primary cut-out has carried out separating brake action；
(2) inquiry is closed a floodgate or separating brake motion is corresponding initial picture number and terminate picture sequence numbers；
(3) calculate and close a floodgate or separating brake movement travel；
(4) actual motion stroke and the actual motion time of combined floodgate or separating brake process are calculated；
(5) calculate and this time close a floodgate or opening velocity；
(6) speed characteristic curve is drawn, preserves result of calculation, terminated；
When calculate rotate when point, closing speed algorithm：
(1) start time picture number B is inquired about, and finish time picture number E；
(2) make picture count device K=B+1；
(3) judge that the value of picture count device K, whether more than E, arrives step (4), otherwise to step (6) if being not more than；
(4) calculate in K pictures and K-1 pictures, the angular displacement between motion reference point；
(5) value of picture count device adds 1, repeat step (3)；
(6) calculating reference point actual motion track and actual motion time；
(7) calculating point, combined floodgate movement velocity, terminate.
Compared with prior art, the present invention at least has the advantages that：.
(1) measuring method based on machine vision, it is not necessary to increase extra fixation on primary cut-out original structure
Structure, on the one hand simpler convenience, on the other hand avoid primary cut-out is worked and its point, the impact of closing speed；
(2) compared to traditional measurement method, it is not necessary to mechanically install sensor, it is only necessary to arrange face in observation station
Color reference marker,；During observation different measuring object, carry out install sensor without changing mechanical clamp, it is only necessary to change reference point mark
The position of note, you can the straight-line trajectory of measurement motion, speed or its rotary motion trace, speed, obtains high so as to calculate
The speed characteristics of voltage breaker moving contact；
(3) it is a kind of non-contact measurement method, it is not necessary to the problems such as considering high-voltage isolating, is easy to live application, is set
Standby local environment condition affects less, can meet the needs of high voltage alive equipment on-line monitoring.
【Description of the drawings】
Fig. 1 is data acquisition and processing (DAP) process schematic of the present invention.
Fig. 2 is reference marker schematic diagram when measuring mechanism of the present invention moves along a straight line.
Reference marker schematic diagram when Fig. 3 is measuring mechanism rotational motion of the present invention.
Fig. 4 is hsv color Space Principles figure of the present invention.
Fig. 5 is the overall flow figure of inventive algorithm.
Fig. 6 is the flow chart of image processing algorithm of the present invention.
The flow chart that Fig. 7 is colour recognition of the present invention and camera calibration algorithm.
Fig. 8 is present invention measurement contact pull bar linear motion time-division, the flow chart of closing speed computational algorithm.
Fig. 9 is that present invention measurement connecting lever rotates time-division, the flow chart of closing speed computational algorithm.
【Specific embodiment】
The invention provides a kind of primary cut-out speed characteristics measurement method based on machine vision, its data acquisition and
Processing procedure as shown in figure 1, while primary cut-out action, using high speed camera to being arranged on its moving component surface
Color mark is shot, and carries out image procossing, colour recognition and camera calibration by algorithm to video, determines that video is each
The position coordinates of reference point in two field picture, records its movement locus, and then carries out division, the calculating of lock speed, finally preserve and calculate
As a result.
Using circle mark, color is respectively red, green and blueness to color mark, and two of which is marked for camera mark
It is fixed, arrange in fixed position, another is arranged on primary cut-out moving component surface as motion reference point.For subtracting as far as possible
The little cross-color caused due to factors such as illumination condition, high-speed motion, shooting angle, can be set by the way of pasting or smearing
Tagging.
Image procossing includes：Color range adjustment, medium filtering, color space conversion, HSV condition distinguishings etc..Wherein, color range is adjusted
The whole histogram by adjusting each two field picture of video, changes color richness and the fineness of image, to better discriminate between
Each color mark and background；The gray value of each pixel in image is set to all pictures in the vertex neighborhood window by medium filtering
The intermediate value of vegetarian refreshments gray value, eliminates isolated noise, so as to the interference for effectively suppressing ambient noise to recognize color mark；Color is empty
Between be converted to mutual conversion between RGB color and hsv color space；HSV condition judgments are by arranging HSV condition thresholds
The HSV value of undesirable pixel is set to 0, to be made a distinction with qualified pixel, is easy at a step by value
Reason.
Colour recognition includes：Pixel is counted, calculates two parts with reference to point coordinates.Wherein, pixel statistics refers to by sentencing
The RGB color information included by disconnected picture each pixel, the occupied pixel number of statistical-reference mark；With reference to point coordinates
The distribution density by the pixel for counting on is calculated, the home position coordinate of reference marker is calculated, as the reference of motion
Point.
Camera calibration, that is, calculate the corresponding ratio of pixel number in the actual range and picture of reference marker, fixed bit
After tagging is provided with, the number of pixels between two center of circle is measured respectively, carry out division with reference marker central coordinate of circle
Computing, you can obtain the actual range that each pixel is represented.
Divide, closing speed is calculated, mainly include that traveled distance is calculated, run duration determination and movement velocity are calculated.Wherein,
Traveled distance calculates the ratio determined by calculating camera calibration step and moves to end position institute with reference point from starting position
The product of the pixel number passed by is completed；The determination of run duration is by calculating camera sample rate with reference point from starting position
The product for moving to the picture number between end position is completed；Movement velocity is calculated then as traveled distance and run duration
Business.
Below in conjunction with the accompanying drawings the present invention is described in further detail.
Referring to Fig. 2, reference point 1 is the mark point in motive position (being typically chosen moving contact pull bar), reference point 2 and reference
Point 3 is the reference point on fixed position.
Moving contact in high voltage breaker operates to linear motion, and moving contact pull bar and moving contact are for being rigidly connected.Scene is surveyed
During amount, reference point 2 keeps fixing with the position of reference point 3, and the movement locus in the Y direction of reference point 1 is moved with primary cut-out
The movement locus of contact is consistent.It is 0 that reference point 1 should not produce motion, i.e. displacement in the X direction in theory, actual to measure
In can judge with its data whether this measurement result effective.
If the coordinate of reference point 2 is (X2, Y2), the coordinate of reference point 3 is (X3, Y3), is represented with pixel.Point-to-point transmission
Actual range is L, and unit is mm, then each pixel correspondence actual range P is：
When reference point 1 moves to coordinate (X1 ', Y1 ') position from coordinate (X1, Y1) position, then moving contact is understood in the Y direction
On actual displacement D (unit is mm) be：
D=P | Y1 '-Y1 |
Referring to Fig. 3, reference point 1 is the mark in motive position (being typically chosen the shaft core position of connecting lever in transmission mechanism)
Point, reference point 2 and reference point 3 are the reference point on fixed position.During in-site measurement, reference point 2 is kept with the position of reference point 3
Fixed, movement locus and the movement locus of connecting lever in Driving Mechanism in HV Circuit Breaker of reference point 1 are consistent, when connecting lever is rotated
When reference point 1 with reference point 2 as the center of circle rotate.
If the position coordinates of reference point 1 is (X1, Y1), the coordinate of reference point 2 is (X2, Y2), and the coordinate of reference point 3 is
(X3, Y3), is represented with pixel.
On then with reference point 1 as circle a bit, and the radius r justified obtained by with reference point 2 as the center of circle is：
When reference point 1 moves to coordinate (X1 ', Y1 ') position from coordinate (X1, Y1) position, (X1, Y1) and (X1 ', Y1 ')
Point-to-point transmission apart from d is：
Therefore the value of the center of circle included angle A of 2 points of (X1, Y1) and (X1 ', Y1 ') according to the cosine law, is obtained, i.e. corner is；
Included angle A unit in the center of circle is rad, domain of definition:[- 1,1], A is to rotate clockwise on the occasion of interval scale.
Whether similar approach can be rotated relative to reference point 2 with calculating reference point 3, and reference point 3 should not be produced in theory
Raw to rotate, i.e., corner is 0, can be used to judge whether this measurement result be effective in actual measurement.
The transmission mechanism of primary cut-out is generally possible to ensure displacement and the connecting lever of moving contact from structure in design
Corner is approximately linear, if its coefficient correlation is that (its physical significance is K：Connecting lever rotates 1rad, moving contact movement K mm),
Then the straight-line displacement D (unit is mm) of moving contact is：
D=K A
High speed camera records not mechanism's shape in the same time using fixed frame per second (typically may be configured as 5000fps-10000fps)
The image of state, is analyzed calculating frame by frame, it is possible to obtain the rail that the movement locus of contact pull bar or connecting lever are rotated when not in the same time
Mark, and then obtain movement locus and the speed characteristics of moving contact.
Referring to Fig. 4, hsv color space is described briefly.HSV (Hue Saturation Value, tone, saturation degree,
Numerical value) it is a kind of colour model of manward's visually-perceptible, the six face vertebral body structures of HSV are as shown in figure 4, wherein H represents face
The base attribute of color, red is 0 °, and green is 120 °, and blue is 240 °；S refers to the purity of color, and span is 0-1；V is represented
The brightness of color, span are 0-1.Compared with RGB color, change of the H and S components in hsv color space to illumination
Change is insensitive, therefore, RGB is converted to into HSV patterns, colour-coded can be preferably identified in the case of environmental change.
Referring to Fig. 5, the overall flow of algorithm is as follows：
(1) initialize, including setting sample rate and reference marker center of circle actual range, then to step (2)；
(2) video is read, detects video length length, each frame of video is saved as into picture, then to step
(3)；
(3) assignment picture counter k=1, then to step (4)；
(4) judge that picture count device k whether more than length, that is, judges whether to have processed last picture, if k
More than length, then to step (8), otherwise to step (5)；
(5) image procossing is carried out to each two field picture of video, to obtain the less picture of ambient interferences, then to step
(6)；
(6) judgment threshold is set, colour recognition is carried out, the pixel point coordinates of statistical computation reference marker carries out camera mark
It is fixed, then to step (7)；
(7) picture count device k adds 1, then to step (4)；
(8) by judging reference point coordinate value, carry out point, closing speed calculating, then program end of run.
Referring to Fig. 6, in data processing step, the flow process of image processing algorithm is as follows：
(1) R to each two field picture of video, G, channel B carry out color range adjustment respectively, are uniformly distributed picture color, so
Step (2) is arrived afterwards；
(2) R to each two field picture of video, G, channel B carry out medium filtering respectively, eliminate part ambient interferences, then
To step (3)；
(3) RGB color is carried out to the conversion in hsv color space, then to step (4)；
(4) condition judgment is carried out to the HSV value of picture, the HSV value of ineligible pixel is all entered as into 0, so
Step (5) is arrived afterwards；
(5) hsv color space is carried out to the conversion of RGB color, then to step (6)；
(6) medium filtering is carried out respectively to three passages of picture again, ambient noise is reduced to greatest extent to ginseng
The identification of mark pixel and the interference for counting is examined, then algorithm terminates.
Referring to Fig. 7, in data processing step, the flow process of color of image identification and camera calibration algorithm is as follows：
(1) condition judgment is carried out to the rgb value of picture, preserves the coordinate of all qualified pixels, then to step
Suddenly (2)；
(2) the home position coordinate of reference marker is obtained using qualitative modeling, then to step (3)；
(3) judge whether picture count device k whether equal to 1, i.e., is processing the first frame picture, if then arriving step (4),
Step (5) is arrived otherwise；
(4) initial position co-ordinates of reference marker are preserved, camera calibration is carried out, then to step (5)；
(5) judge whether picture count device k whether equal to length, i.e., is processing last frame picture, if then arriving
Step (6), otherwise repeat step (3)；
(6) the settling position coordinate of reference marker is preserved, then algorithm terminates；
Referring to Fig. 8, calculating point, closing speed algorithm flow are as follows：
(1) initial position co-ordinates of comparison reference point and settling position coordinate, if initial position co-ordinates row value is more than stable
Position coordinates row value, then primary cut-out carried out feed motion, then to step (2), conversely, primary cut-out has carried out separating brake
Action, then to step (6)；
(2) inquiry is closed a floodgate the corresponding initial picture number of motion and terminates picture sequence numbers, then to step (3)；
(3) combined floodgate movement travel is calculated, then to step (4)；
(4) actual motion stroke and the actual motion time of making process is calculated, then to step (5)；
(5) this closing speed is calculated, then to step (10)；
(6) inquire about the corresponding initial picture number of separating brake motion and terminate picture sequence numbers, then to step (7)；
(7) separating brake movement travel is calculated, then to step (8)；
(8) actual motion stroke and the actual motion time of separating brake process is calculated, then to step (9)；
(9) this opening velocity is calculated, then to step (10)；
(10) speed characteristic curve is drawn, preserves result of calculation, then algorithm terminates.
Referring to Fig. 9, calculate when rotating point, closing speed algorithm flow it is as follows：
(1) as requested, start time picture number B is inquired about, and finish time picture number E, then to step
(2)；
(2) picture count device K=B+1 is made, then to step (3)；
(3) judge that the value of picture count device K, whether more than E, arrives step (4), otherwise to step (6) if being not more than；
(4) calculate in K pictures and (K-1) pictures, the angular displacement between motion reference point, then to step
(5)；
(5) value of picture count device adds 1. and then to step (3)；
(6) calculating reference point actual motion track and actual motion time, then to step (7)；
(7) calculating point, combined floodgate movement velocity, then to step (8)；
(8) speed result of calculation is preserved and output, and then algorithm terminates.
Claims (10)
1. a kind of high-voltage circuit-breaker switching on-off speed characteristics measurement method based on machine vision, it is characterised in that：Break in height
While the device action of road, the color mark for being arranged on its moving component surface is shot using high speed camera, by regarding
Frequency carries out image procossing, colour recognition and camera calibration, determines the position coordinates of reference point in each two field picture of video, records
Its movement locus, so carry out point, closing speed is calculated.
2. the high-voltage circuit-breaker switching on-off speed characteristics measurement method based on machine vision according to claim 1, which is special
Levy and be：Specifically include following steps：
(1) sample frequency is set, calculates reference marker center of circle actual range；
(2) video is read, detects video length length, each frame of video is saved as into picture；
(3) assignment picture counter k=1；
(4) whether picture count device k is judged more than length, if logical consequence is " 1 ", to step (8), otherwise to step
(5)；
(5) image procossing is carried out to each two field picture, to obtain the less picture of ambient interferences；
(6) colour recognition, camera calibration；
(7) picture count device k adds 1, repeat step (4)；
(8) by judging reference point coordinate value, carry out point, closing speed calculating.
3. the high-voltage circuit-breaker switching on-off speed characteristics measurement method based on machine vision according to claim 1 and 2, its
It is characterised by：Described color mark adopts three kinds of different colors, and two of which is marked on fixed position setting, for camera
Demarcate and coordinate system determines, another mark is arranged on primary cut-out motive position surface as motion reference point.
4. the high-voltage circuit-breaker switching on-off speed characteristics measurement method based on machine vision according to claim 3, which is special
Levy and be：Primary cut-out motive position table is arranged on by way of pasting or smearing as the color mark of motion reference point
Face.
5. the high-voltage circuit-breaker switching on-off speed characteristics measurement method based on machine vision according to claim 1 and 2, its
It is characterised by：Described image procossing includes color range adjustment, medium filtering, color space conversion and HSV condition distinguishings, wherein,
Histogram of the color range adjustment by each two field picture of regulation, changes color richness and the fineness of image, so as to more preferable area
Divide each color mark and background；The gray value of each pixel in image is set to by medium filtering to be owned in the vertex neighborhood window
The intermediate value of pixel gray value, eliminates isolated noise, so as to the interference for effectively suppressing ambient noise to recognize color mark；Color
Space is converted to the mutual conversion between RGB color and hsv color space；HSV condition judgments are by arranging HSV condition thresholds
The HSV value of undesirable pixel is set to 0, to make a distinction with qualified pixel by value.
6. the high-voltage circuit-breaker switching on-off speed characteristics measurement method based on machine vision according to claim 1 and 2, its
It is characterised by：Described colour recognition includes pixel statistics and calculates with reference to point coordinates；Wherein, pixel statistics refers to by sentencing
The RGB color information included by disconnected picture each pixel, the occupied pixel number of statistical-reference mark；With reference to point coordinates
The distribution density by the pixel for counting on is calculated, the home position coordinate of reference marker is calculated, as the reference of motion
Point.
7. the high-voltage circuit-breaker switching on-off speed characteristics measurement side based on machine vision according to claim 1 or 2 or 5
Method, it is characterised in that：Described colour recognition is concretely comprised the following steps：
(1) condition judgment is carried out to the rgb value of picture, preserves the coordinate of all qualified pixels；
(2) the home position coordinate of reference marker；
(3) whether picture count device k is judged equal to 1, if then carrying out step (4), if otherwise carrying out step (6)；
(4) initial position co-ordinates of reference marker are preserved, camera calibration is carried out；
(5) judge whether picture count device k is equal to the video length length of collection, if then carrying out step (6), tie if not
Beam；
(6) the settling position coordinate of reference marker is preserved, is terminated.
8. the high-voltage circuit-breaker switching on-off speed characteristics measurement method based on machine vision according to claim 1 and 2, its
It is characterised by：Described camera calibration, that is, calculate the corresponding ratio of pixel number in the actual range and picture of reference marker,
After fixed location marker is provided with, the number of pixels between two center of circle is measured respectively, enter with reference marker central coordinate of circle
Row division arithmetic, you can obtain the actual range that each pixel is represented.
9. the high-voltage circuit-breaker switching on-off speed characteristics measurement method based on machine vision according to claim 1 and 2, its
It is characterised by：Described point, closing speed calculates
Calculate；Wherein, traveled distance calculates the ratio determined by calculating camera calibration step and moves to knot with reference point from starting position
The product of the pixel number passed by by beam position is completed；The determination of run duration by calculate camera sample rate and reference point from
Starting position moves to the product of the picture number between end position and completes；It is then traveled distance and motion that movement velocity is calculated
The business of time.
10. the high-voltage circuit-breaker switching on-off speed characteristics measurement method based on machine vision according to claim 1 and 2,
It is characterized in that：Described point, closing speed calculate include it is following：
When calculate linear motion when point, closing speed algorithm：
(1) initial position co-ordinates of comparison reference point and settling position coordinate, if initial position co-ordinates row value is more than settling position
Coordinate row value, then primary cut-out carried out feed motion, conversely, primary cut-out has carried out separating brake action；
(2) inquiry is closed a floodgate or separating brake motion is corresponding initial picture number and terminate picture sequence numbers；
(3) calculate and close a floodgate or separating brake movement travel；
(4) actual motion stroke and the actual motion time of combined floodgate or separating brake process are calculated；
(5) calculate and this time close a floodgate or opening velocity；
(6) speed characteristic curve is drawn, preserves result of calculation, terminated；
When calculate rotate when point, closing speed algorithm：
(1) start time picture number B is inquired about, and finish time picture number E；
(2) make picture count device K=B+1；
(3) judge that the value of picture count device K, whether more than E, arrives step (4), otherwise to step (6) if being not more than；
(4) calculate in K pictures and K-1 pictures, the angular displacement between motion reference point；
(5) value of picture count device adds 1, repeat step (3)；
(6) calculating reference point actual motion track and actual motion time；
(7) calculating point, combined floodgate movement velocity, terminate.
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