CN106526467B - A kind of high-voltage circuit-breaker switching on-off speed characteristics measurement method based on machine vision - Google Patents
A kind of high-voltage circuit-breaker switching on-off speed characteristics measurement method based on machine vision Download PDFInfo
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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
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Abstract
The high-voltage circuit-breaker switching on-off speed characteristics measurement method based on machine vision that the invention proposes a kind of, while high-voltage circuitbreaker movement, the color mark that the moving component surface that it is observed is arranged in is shot using high speed camera, the video image recorded is handled by machine vision algorithm, is identified, determine position coordinates of each frame image institute's observation object of video relative to reference point, the motion profile of institute's observation object is obtained, and then calculates the switching on and off speed of moving contact in high voltage breaker.The present invention does not need mechanically to install sensor, it is only necessary to mark in observation point setting color reference, for different measurement objects no replacement is required sensor, only change the position of reference marker；In addition, can measure linear motion or velocity of rotation, it is convenient for field application, smaller, the needs of on-line measurement when can meet the power switchgears charging operation such as high-voltage circuitbreaker is influenced by equipment local environment condition.
Description
[technical field]
The invention belongs to power equipment state monitoring field, in particular to a kind of high-voltage circuit breaker based on machine vision
Closing speed characteristic measurement method.
[background technique]
In the power system, high-voltage circuitbreaker is a kind of electrical equipment being widely used, the direct shadow of switching on and off speed
Cut-offfing, closing performance for breaker is rung, only guaranteed switching on and off speed appropriate, can just give full play to its drop-out current
Ability: excessively high switching on and off speed can make the operating mechanism of high-voltage circuitbreaker bear excessive mechanical stress and impact, cause to tie
The mechanical damage of structure component reduces its service life, while can extend the closing rebound time of contact；And too low switching on and off
Speed then will affect the arcing effect of high-voltage circuitbreaker, and the arcing time is caused to extend, and accelerate the electrical wear of contact, to can also subtract
The service life of few high-voltage circuitbreaker.Therefore, precise measurement, calculating and the switching on and off speed for analyzing high-voltage circuitbreaker have weight
The meaning wanted.
Since the moving contact and static contact of high-voltage circuitbreaker are all packaged in arc-chutes, can not directly measure, therefore, open circuit
The measurement of device switching on and off speed uses indirect type measurement method, the i.e. speed by measuring the movement mechanism being connected with moving contact
Degree to obtain the movement velocity of moving contact indirectly.Generally use the motion profile of two ways measurement moving contact: one is utilizations
Linear displacement transducer measures the motion profile (motion profile for being equivalent to moving contact) of moving contact pull rod, obtains moving contact and exists
Displacement curve during switching on and off；One is the angles using the rotation process of connecting lever in angular transducer measurement transmission mechanism
It is bent to calculate displacement of moving contact during switching on and off using the corresponding relationship of connecting lever corner and moving contact position for displacement
Line.Using the above method obtain moving contact motion profile, thus further calculate moving contact switching on and off rate curve and
Average speed, just-off speed have just closed every specific performance index that speed etc. characterizes its speed characteristics.
Currently, being mainly grating sensor, rotary encoder for detecting the sensor of high-voltage circuit-breaker switching on-off speed
And resistor type displacement sensor.Traditional grating sampling ruler by domestic manufacturing technology level and cost because being limited, between grating
Away from generally in 0.5mm or so, precision is lower, therefore is rarely employed.The measuring principle of rotary encoder and grating sensor are basic
Identical, only its manufacturer's standard is relatively high, therefore measurement accuracy is also just higher.And resistor type displacement sensor can pass through measurement electricity
The electric current of resistance or the motion process of resistance both end voltage changed to judge moving contact of breaker, have fast response time, sampling
The advantages that circuit is simple, measurement accuracy is higher.But all using the divide-shut brake speed of three of the above sensor measurement high-voltage circuitbreaker
Have the shortcomings that following and deficiency:
(1) it requires sensor to connect and fix with high-voltage circuitbreaker moving component, needs to install additional fixation member, Gu
Determine component itself and certain influence is produced on the structure of high-voltage circuitbreaker, is sent out so as to cause the switching on and off speed of high-voltage circuitbreaker
Certain change is given birth to；
(2) after sensor is fixed, fixed part and movable end may cause breaker movement bite, to make to measure
Resulting speed is inaccurate；
(3) when using displacement sensor, due to being surveyed in such a way that high-voltage circuitbreaker connecting rod drives sensor actuation
Amount, it is desirable that linear displacement transducer target seeker and High Voltage Circuit Breaker Contacts connecting rod are rigidly connected, and the motion profile of the two is necessary
It is substantially parallel, therefore slightly inclination generates measurement error when actual installation；
It (4), should fixed sensor when high-voltage circuitbreaker movement if displacement sensor fixed point is insecure
A small amount of displacement occurs for ontology, to generate measurement error；
(5) grating sensor, rotary encoder or displacement sensor are either used, the sensor peace in measurement process
Dress, data record, data handling procedure are all completed by experimenter, due to the influence of various factors, wherein there are certain people
For error, and the especially elapsed time when carrying out big measurement；
(6) need to be mounted so that external structure, therefore the above several method all cannot be used for on-line measurement, in order to avoid influence high
The normal work of voltage breaker.
[summary of the invention]
Present invention aims to overcome that shortcoming in the prior art, proposes a kind of high pressure open circuit based on machine vision
Device divide-shut brake speed characteristic measurement method, the switching on and off speed characteristics for on-line checking high-voltage circuitbreaker.The method is using high
Fast camera is observed, and is not needed to increase additional fixation device on high-voltage circuitbreaker original structure, is avoided it to high pressure
The influence of breaker switching on and off speed；Compared to traditional measurement method, do not need that sensor is mechanically installed, it is only necessary to
It is marked in observation point setting color reference, for different measurement objects no replacement is required sensor, linear motion can be measured simultaneously
Or velocity of rotation；The problems such as belonging to a kind of contactless measurement, being isolated without the concern for voltage, by equipment local environment item
Part influence is smaller, can meet on-line measurement needs.
In order to achieve the above objectives, the technical solution adopted by the present invention is that:
A kind of high-voltage circuit-breaker switching on-off speed characteristics measurement method based on machine vision, in high-voltage circuitbreaker movement
Meanwhile the color mark that its moving component surface is arranged in is shot using camera, by video carry out image procossing,
Color identification and camera calibration, determine the position coordinates of reference point in each frame image of video, record its motion profile, in turn
Carry out the calculating of switching on and off speed.
Specifically includes the following steps: (1) sets sample frequency, reference marker center of circle actual range is calculated；(2) view is read
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 greater than length, if logical consequence is " 1 ", arrives step (8), otherwise arrives step (5)；(5) to each
Frame image carries out image procossing, to obtain the lesser picture of background interference；(6) color identification, camera calibration；(7) picture count
Device k adds 1；(8) by judging reference point coordinate value, the calculating of switching on and off speed is carried out.
The color mark uses three different colors, and two of them are marked on fixed bit and install, and is used for camera
Calibration and referential determine that another label is used as motion reference point, are arranged on high-voltage circuitbreaker motive position surface.
High-voltage circuitbreaker motive position is arranged in color mark as motion reference point by way of pasting or smearing
Surface.
Image procossing includes color range adjustment, median filtering, color space conversion and HSV condition distinguishing, wherein color range adjustment
By adjusting the histogram of each frame image, change the color richness and fineness of image, to better discriminate between each color
Label and background；The gray value of pixel each in image is set all pixels point ash in the vertex neighborhood window by median filtering
The intermediate value of angle value eliminates isolated noise, thus the interference for effectively ambient noise being inhibited to identify color mark；Color space conversion
Mutual conversion between RGB color and hsv color space；The judgement of HSV condition, will not by setting HSV condition threshold
The HSV value of pixel of meeting the requirements is set to 0, to distinguish with qualified pixel.
Color identification includes that pixel statistics and reference point coordinate calculate；Wherein, pixel statistics refers to by judging picture
The RGB color information that each pixel is included, the occupied pixel number of statistical-reference label；Reference point coordinate calculates logical
The distribution density for crossing the pixel counted on calculates the center location coordinate of reference marker, the reference point as movement.
The specific steps of color identification are as follows:
(1) condition judgement is carried out to the rgb value of picture, saves the coordinate of all qualified pixels；
(2) the center location coordinate of reference marker；
(3) judge whether picture count device k is equal to 1, if then carrying out step (4), if otherwise carrying out step (6)；
(4) initial position co-ordinates for saving reference marker, carry out camera calibration；
(5) judge whether picture count device k is equal to the video length length of acquisition, if then carrying out step (6), if not
Terminate；
(6) the settling position coordinate for saving reference marker, terminates.
Camera calibration, the i.e. corresponding ratio of pixel number in the actual range and picture of calculating reference marker, fixed bit
After tagging is provided with, the number of pixels between two center of circle is measured respectively, carries out division with reference marker central coordinate of circle
The actual range that each pixel represents can be obtained in operation.
It mainly includes that traveled distance calculates, run duration is determining and movement velocity calculates that switching on and off speed, which calculates,；Wherein,
Traveled distance, which is calculated, moves to end position institute from starting position by calculating ratio and reference point that camera calibration step determines
The product for the pixel number passed by is completed；The determination of run duration is by calculating camera sample rate and reference point from starting position
The product for moving to the picture number between end position is completed；It is then traveled distance and run duration that movement velocity, which calculates,
Quotient.
Switching on and off speed calculates include the following:
Switching on and off rate algorithm when calculating linear motion:
(1) initial position co-ordinates of comparison reference point and settling position coordinate are stablized if initial position co-ordinates row value is greater than
Position coordinates row value, then high-voltage circuitbreaker has carried out feed motion, conversely, high-voltage circuitbreaker has carried out separating brake movement；
(2) the starting picture number and terminate picture sequence numbers that inquiry is closed a floodgate or separating brake movement is corresponding；
(3) combined floodgate or separating brake movement travel are calculated；
(4) actual motion stroke and the actual motion time of combined floodgate or separating brake process are calculated；
(5) this time combined floodgate or opening velocity are calculated；
(6) speed characteristic curve is drawn, calculated result is saved, is terminated；
Switching on and off rate algorithm when calculating rotation:
(1) start time picture number B and finish time picture number E is inquired；
(2) picture count device K=B+1 is enabled；
(3) judge whether the value of picture count device K is greater than E, arrive step (4) if being not more than, otherwise arrive step (6)；
(4) it calculates in K picture and K-1 picture, the angular displacement between motion reference point；
(5) value of picture count device adds 1, repeats step (3)；
(6) calculating reference point actual motion track and actual motion time；
(7) switching on and off movement velocity is calculated, is terminated.
Compared with prior art, the present invention at least has the advantages that.
(1) it based on the measurement method of machine vision, does not need to increase additional fixation on high-voltage circuitbreaker original structure
Structure, on the one hand simpler convenience, on the other hand avoids to high-voltage circuitbreaker work and its influence of switching on and off speed；
(2) it compared to traditional measurement method, does not need that sensor is mechanically installed, it is only necessary to face be arranged in observation point
Color reference marker,；When observing different measurement objects, sensor is installed without replacement mechanical clamp, it is only necessary to change reference point mark
The position of note can measure straight-line trajectory, speed or its rotary motion trace, speed of movement mechanism, so that it is high to calculate acquisition
The speed characteristics of voltage breaker moving contact；
(3) it is a kind of non-contact measurement method, the problems such as without the concern for high-voltage isolating, is convenient for field application, is set
Standby local environment condition influence is smaller, can meet the needs of high voltage alive equipment on-line monitoring.
[Detailed description of the invention]
Fig. 1 is data acquisition and processing (DAP) process schematic of the present invention.
Reference marker schematic diagram when Fig. 2 is measuring mechanism of the present invention linear motion.
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.
Fig. 7 is the flow chart of color identification and camera calibration algorithm of the present invention.
Fig. 8 is the flow chart of present invention measurement contact pull rod linear motion time-division, closing speed computational algorithm.
Fig. 9 is the flow chart of present invention measurement connecting lever rotation time-division, closing speed computational algorithm.
[specific embodiment]
The high-voltage circuitbreaker speed characteristics measurement method based on machine vision that the present invention provides a kind of, data acquisition and
Treatment process is as shown in Figure 1, while high-voltage circuitbreaker movement, using high speed camera to its moving component surface is arranged in
Color mark is shot, and is carried out image procossing, color identification and camera calibration to video by algorithm, is determined that video is each
The position coordinates of reference point in frame image record its motion profile, and then carry out division, the calculating of lock speed, finally save and calculate
As a result.
Color mark uses circular mark, and color is respectively red, green and blue, and two of them label is used for camera mark
It is fixed, it is installed in fixed bit, another is arranged as motion reference point on high-voltage circuitbreaker moving component surface.To subtract as far as possible
The small cross-color as caused by the factors such as illumination condition, high-speed motion, shooting angle, the mode that stickup or smearing can be used are set
Tagging.
Image procossing includes: color range adjustment, median filtering, color space conversion, HSV condition distinguishing etc..Wherein, color range tune
The whole histogram by adjusting each frame image of video, changes the color richness and fineness of image, to better discriminate between
Each color mark and background；The gray value of pixel each in image is set all pictures in the vertex neighborhood window by median filtering
The intermediate value of vegetarian refreshments gray value eliminates isolated noise, thus the interference for effectively ambient noise being inhibited to identify color mark；Color is empty
Between be converted to mutual conversion between RGB color and hsv color space；The judgement of HSV condition passes through setting HSV condition threshold
Value, is set to 0 for the HSV value of undesirable pixel, to distinguish with qualified pixel, convenient at a step
Reason.
Color identification includes: that pixel counts, reference point coordinate calculates two parts.Wherein, pixel statistics refers to by sentencing
The RGB color information that the disconnected each pixel of picture is included, the occupied pixel number of statistical-reference label；Reference point coordinate
The distribution density for calculating the pixel by counting on, calculates the center location coordinate of reference marker, the reference as movement
Point.
Camera calibration, the i.e. corresponding ratio of pixel number in the actual range and picture of calculating reference marker, fixed bit
After tagging is provided with, the number of pixels between two center of circle is measured respectively, carries out division with reference marker central coordinate of circle
The actual range that each pixel represents can be obtained in operation.
Switching on and off speed calculates, and mainly includes that traveled distance calculates, run duration is determining and movement velocity calculates.Wherein,
Traveled distance, which is calculated, moves to end position institute from starting position by calculating ratio and reference point that camera calibration step determines
The product for the pixel number passed by is completed；The determination of run duration is by calculating camera sample rate and reference point from starting position
The product for moving to the picture number between end position is completed；It is then traveled distance and run duration that movement velocity, which calculates,
Quotient.
The present invention is described in further detail below in conjunction with the accompanying drawings.
Referring to fig. 2, reference point 1 is the mark point on motive position (being typically chosen moving contact pull rod), 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 rod and moving contact are rigid connection.Scene is surveyed
When amount, reference point 2 and the position of reference point 3 are kept fixed, and the motion profile of reference point 1 in the Y direction and high-voltage circuitbreaker are dynamic
The motion profile of contact is consistent.Theoretically reference point 1 should not generate movement in the X direction, i.e. displacement is 0, actual measurement
In can determine whether the secondary measurement result effective with its data.
If the coordinate of reference point 2 is (X2, Y2), the coordinate of reference point 3 is (X3, Y3), is indicated with pixel.Point-to-point transmission
Actual range is L, and unit mm, then each pixel corresponds to actual range P are as follows:
When reference point 1 moves to the position coordinate (X1 ', Y1 ') from the position coordinate (X1, Y1), then known to moving contact in the Y direction
On actual displacement D (unit mm) are as follows:
D=P | Y1 '-Y1 |
Referring to Fig. 3, reference point 1 is the label on motive position (shaft core position for being typically chosen connecting lever in transmission mechanism)
Point, reference point 2 and reference point 3 are the reference point on fixed position.When in-site measurement, the position of reference point 2 and reference point 3 is kept
Fixed, the motion profile of connecting lever is consistent in the motion profile and Driving Mechanism in HV Circuit Breaker of reference point 1, when connecting lever rotates
When reference point 1 with reference point 2 be the center of circle rotation.
If the position coordinates of reference point 1 are (X1, Y1), the coordinate of reference point 2 is (X2, Y2), and the coordinate of reference point 3 is
(X3, Y3), is indicated with pixel.
Then with reference point 1 be circle on a bit, and with reference point 2 be the center of circle obtained by circle radius r are as follows:
When reference point 1 moves to the position coordinate (X1 ', Y1 ') from the position coordinate (X1, Y1), (X1, Y1) and (X1 ', Y1 ')
The distance d of point-to-point transmission are as follows:
Therefore according to the cosine law, the value of (X1, Y1) with the center of circle included angle A of (X1 ', Y1 ') two o'clock are obtained, i.e. corner is；
Center of circle included angle A unit is rad, and domain: [- 1,1], A are that positive value epoch table rotates clockwise.
Whether similar approach can be rotated with calculating reference point 3 relative to reference point 2, and theoretically reference point 3 should not produce
Raw rotation, i.e. corner are 0, can be used to determine whether the secondary measurement result is effective in actual measurement.
The transmission mechanism of high-voltage circuitbreaker is generally possible to guarantee displacement and the connecting lever of moving contact from structure in design
Corner approximation is in a linear relationship, if its related coefficient is K (its physical significance are as follows: connecting lever rotates 1rad, the mobile K mm of moving contact),
The then straight-line displacement D (unit mm) of moving contact are as follows:
D=KA
High speed camera records different moments mechanism shape using fixed frame per second (generally may be configured as 5000fps-10000fps)
The image of state carries out analytical calculation frame by frame, the motion profile of contact pull rod or the rail of connecting lever rotation when can obtain different moments
Mark, and then obtain the motion profile and speed characteristics of moving contact.
Referring to fig. 4, hsv color space is described briefly.HSV (Hue Saturation Value, tone, saturation degree,
Numerical value) be a kind of manward's visual perception colour model, the six face vertebral body structures of HSV are as shown in figure 4, wherein H indicates face
The essential attribute of color, red are 0 °, and green is 120 °, and blue is 240 °；S refers to the purity of color, value range 0-1；V is indicated
The brightness of color, value range 0-1.Change of the H and S component to illumination compared with RGB color, in hsv color space
Change insensitive, therefore, RGB is converted into HSV mode, can preferably identify colour-coded in the case where environmental change.
Referring to Fig. 5, the overall flow of algorithm is as follows:
(1) it initializes, including setting sample rate and reference marker center of circle actual range, then arrives step (2)；
(2) video is read, video length length is detected, each frame of video is saved as into picture, then arrives step
(3)；
(3) then assignment picture counter k=1 arrives step (4)；
(4) judge whether picture count device k is greater than length, that is, judge whether to have handled last picture, if k
Greater than length, then step (8) are arrived, otherwise arrives step (5)；
(5) image procossing is carried out to each frame image of video and then arrives step to obtain the lesser picture of background interference
(6)；
(6) judgment threshold is set, color identification is carried out, statistics calculates the pixel coordinate of reference marker, carries out camera mark
It is fixed, then arrive step (7)；
(7) picture count device k adds 1, then arrives step (4)；
(8) by judging reference point coordinate value, the calculating of switching on and off speed is carried out, then the end of the program.
Referring to Fig. 6, the process of image processing algorithm is as follows in data processing step:
(1) color range adjustment is carried out to R, G of each frame image of video, channel B respectively, is uniformly distributed picture color, so
Step (2) are arrived afterwards；
(2) median filtering is carried out to R, G of each frame image of video, channel B respectively, eliminates part background interference, then
To step (3)；
(3) RGB color is carried out to the conversion in hsv color space, then arrives step (4)；
(4) condition judgement is carried out to the HSV value of picture, the HSV value of ineligible pixel is all assigned a value of 0, so
Step (5) are arrived afterwards；
(5) hsv color space is carried out to the conversion of RGB color, then arrives step (6)；
(6) median filtering is carried out respectively to three channels of picture again, to reduce ambient noise to greatest extent to ginseng
The interference of label pixel identification and statistics is examined, then algorithm terminates.
Referring to Fig. 7, the process of color of image identification and camera calibration algorithm is as follows in data processing step:
(1) condition judgement is carried out to the rgb value of picture, saves the coordinate of all qualified pixels, then arrives step
Suddenly (2)；
(2) the center location coordinate that reference marker is found out using qualitative modeling, then arrives step (3)；
(3) judge whether picture count device k is equal to 1, i.e., whether handling first frame picture, if then arriving step (4),
Otherwise step (5) are arrived；
(4) initial position co-ordinates for saving reference marker, carry out camera calibration, then arrive step (5)；
(5) judge whether picture count device k is equal to length, i.e., whether handling last frame picture, if then arriving
Step (6), otherwise repeatedly step (3)；
(6) the settling position coordinate of reference marker is saved, then algorithm terminates；
Referring to Fig. 8, it is as follows to calculate switching on and off rate algorithm process:
(1) initial position co-ordinates of comparison reference point and settling position coordinate are stablized if initial position co-ordinates row value is greater than
Position coordinates row value, then high-voltage circuitbreaker has carried out feed motion, then arrives step (2), conversely, high-voltage circuitbreaker has carried out separating brake
Movement, then arrive step (6)；
(2) inquiry, which is closed a floodgate, moves corresponding starting picture number and terminates picture sequence numbers, then arrives step (3)；
(3) combined floodgate movement travel is calculated, step (4) are then arrived；
(4) actual motion stroke and the actual motion time for calculating making process, step (5) are then arrived；
(5) this closing speed is calculated, step (10) are then arrived；
(6) the corresponding starting picture number of inquiry separating brake movement and end picture sequence numbers, then arrive step (7)；
(7) separating brake movement travel is calculated, step (8) are then arrived；
(8) actual motion stroke and the actual motion time for calculating separating brake process, step (9) are then arrived；
(9) this opening velocity is calculated, step (10) are then arrived；
(10) speed characteristic curve is drawn, saves calculated result, then algorithm terminates.
Referring to Fig. 9, switching on and off rate algorithm process when calculating rotation is as follows:
(1) according to requiring, start time picture number B and finish time picture number E is inquired, step is then arrived
(2)；
(2) picture count device K=B+1 is enabled, step (3) are then arrived；
(3) judge whether the value of picture count device K is greater than E, arrive step (4) if being not more than, otherwise arrive step (6)；
(4) it calculates in K picture and (K-1) picture, then step is arrived in the angular displacement between motion reference point
(5)；
(5) value of picture count device adds 1. then to arrive step (3)；
(6) then calculating reference point actual motion track and actual motion time arrive step (7)；
(7) switching on and off movement velocity is calculated, step (8) are then arrived；
(8) speed calculated result is saved and is exported, and then algorithm terminates.
Claims (7)
1. a kind of high-voltage circuit-breaker switching on-off speed characteristics measurement method based on machine vision, it is characterised in that: broken in height
While road device acts, the color mark that its moving component surface is arranged in is shot using high speed camera, by view
Frequency carries out image procossing, color identification and camera calibration, determines the position coordinates of reference point in each frame image of video, records
Its motion profile, and then carry out the calculating of switching on and off speed；Specifically includes the following steps:
(1) sample frequency is set, reference marker center of circle actual range is calculated；
(2) video is read, 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 greater than length, if logical consequence is " 1 ", arrives step (8), otherwise arrive step
(5)；
(5) image procossing is carried out to each frame image, to obtain the lesser picture of background interference；
(6) color identification, camera calibration；The color mark uses three kinds of different colors, and two of them are marked on fixation
Position setting, determines for camera calibration and coordinate system, another label is used as motion reference point, is arranged in high-voltage circuitbreaker
Motive position surface；High-voltage circuitbreaker movement is arranged in color mark as motion reference point by way of pasting or smearing
Portion faces；
(7) picture count device k adds 1, repeats step (4)；
(8) by judging reference point coordinate value, the calculating of switching on and off speed is carried out.
2. the high-voltage circuit-breaker switching on-off speed characteristics measurement method according to claim 1 based on machine vision, special
Sign is: the image procossing includes color range adjustment, median filtering, color space conversion and HSV condition distinguishing, wherein color
The whole histogram by adjusting each frame image of contrast, changes the color richness and fineness of image, to better discriminate between
Each color mark and background；The gray value of pixel each in image is set all pictures in the vertex neighborhood window by median filtering
The intermediate value of vegetarian refreshments gray value eliminates isolated noise, thus the interference for effectively ambient noise being inhibited to identify color mark；Color is empty
Between be converted to mutual conversion between RGB color and hsv color space；The judgement of HSV condition passes through setting HSV condition threshold
Value, is set to 0 for the HSV value of undesirable pixel, to distinguish with qualified pixel.
3. the high-voltage circuit-breaker switching on-off speed characteristics measurement method according to claim 1 based on machine vision, special
Sign is: the color identification includes that pixel statistics and reference point coordinate calculate；Wherein, pixel statistics, which refers to, passes through judgement
The RGB color information that each pixel of picture is included, the occupied pixel number of statistical-reference label；Reference point coordinate meter
The distribution density for calculating the pixel by counting on, calculates the center location coordinate of reference marker, the reference point as movement.
4. the high-voltage circuit-breaker switching on-off speed characteristics measurement method according to claim 1 or 2 based on machine vision,
It is characterized in that: the specific steps of the color identification are as follows:
(1) condition judgement is carried out to the rgb value of picture, saves the coordinate of all qualified pixels；
(2) the center location coordinate of reference marker；
(3) judge whether picture count device k is equal to 1, if then carrying out step (4), if otherwise carrying out step (6)；
(4) initial position co-ordinates for saving reference marker, carry out camera calibration；
(5) judge whether picture count device k is equal to the video length length of acquisition, if then carrying out step (6), tie if not
Beam；
(6) the settling position coordinate for saving reference marker, terminates.
5. the high-voltage circuit-breaker switching on-off speed characteristics measurement method according to claim 1 based on machine vision, special
Sign is: the camera calibration, i.e. the corresponding ratio of pixel number in the actual range and picture of calculating reference marker, Gu
After positioning tagging is provided with, the number of pixels between two center of circle is measured respectively, is carried out with reference marker central coordinate of circle
The actual range that each pixel represents can be obtained in division arithmetic.
6. the high-voltage circuit-breaker switching on-off speed characteristics measurement method according to claim 1 based on machine vision, special
Sign is: it mainly includes that traveled distance calculates, run duration is determining and movement velocity calculates that the switching on and off speed, which calculates,；
Wherein, traveled distance, which is calculated, moves to stop bits from starting position by calculating ratio and reference point that camera calibration step determines
The product for setting passed by pixel number is completed；The determination of run duration is by calculating camera sample rate and reference point from the beginning of
The product that position moves to the picture number between end position is completed；It is then traveled distance and run duration that movement velocity, which calculates,
Quotient.
7. the high-voltage circuit-breaker switching on-off speed characteristics measurement method according to claim 1 based on machine vision, special
Sign is: the switching on and off speed calculates include the following:
Switching on and off rate algorithm when calculating linear motion:
(1) initial position co-ordinates of comparison reference point and settling position coordinate, if initial position co-ordinates row value is greater than settling position
Coordinate row value, then high-voltage circuitbreaker has carried out feed motion, conversely, high-voltage circuitbreaker has carried out separating brake movement；
(2) the starting picture number and terminate picture sequence numbers that inquiry is closed a floodgate or separating brake movement is corresponding；
(3) combined floodgate or separating brake movement travel are calculated；
(4) actual motion stroke and the actual motion time of combined floodgate or separating brake process are calculated；
(5) this time combined floodgate or opening velocity are calculated；
(6) speed characteristic curve is drawn, calculated result is saved, is terminated；
Switching on and off rate algorithm when calculating rotation:
(1) start time picture number B and finish time picture number E is inquired；
(2) picture count device K=B+1 is enabled；
(3) judge whether the value of picture count device K is greater than E, arrive step (4) if being not more than, otherwise arrive step (6)；
(4) it calculates in K picture and K-1 picture, the angular displacement between motion reference point；
(5) value of picture count device adds 1, repeats step (3)；
(6) calculating reference point actual motion track and actual motion time；
(7) switching on and off movement velocity is calculated, is terminated.
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