A method and device for measuring the creepage distance of a disc insulator

Abstract

The present application provides a method and a device for measuring the creepage distance of a disc insulator. The measurement method includes: determining the target center and the target radius of the disc insulator according to the target three-dimensional feature image, and determining the direction perpendicular to the plane formed by the target center and the target radius as the normal direction; determining two target planes from the target center to the edge of the disc insulator in the filled target three-dimensional feature image in the normal direction; projecting all the point cloud data between the two target planes onto one of the target planes to determine the target curve formed by all the point cloud data, and determining the length of the target curve as the creepage distance of the disc insulator. By adopting the technical solution provided by the present application, the point cloud data between the two determined planes can be projected onto a plane in the normal direction to form a curve, and the length of the curve is determined as the creepage distance of the disc insulator, realizing non-contact creepage distance measurement and improving the efficiency and convenience of creepage distance measurement.

Description

Technical Field

[0001] The present application relates to the technical field of three-dimensional measurement, and in particular to a method and a device for measuring the creepage distance of a disc-shaped insulator. Background Art

[0002] An insulator is a special insulation control component that can play an important role in high-voltage power transmission lines. In the early years, insulators were mostly used on utility poles. Gradually, many disc-shaped insulators are hung at one end of the high-type high-voltage wire connection tower. It is used to increase the creepage distance and is usually made of glass or ceramics. The creepage distance, abbreviated as creepage, of an insulator refers to the shortest distance or the sum of the shortest distances along its surface between the conductive parts to which the operating voltage is normally applied. The creepage distance of the insulator affects the safety of the operator, so the accurate measurement of the creepage distance of the insulator is very important.

[0003] Currently, the creepage distance of the insulator is mainly measured by closely attaching tools such as tapes to the surface of the insulator, and then manually measuring the length of the attached objects such as tapes as the creepage distance of the insulator. However, this measurement method results in low measurement efficiency. In the case of a huge measurement workload, manual measurement will also affect the accuracy of the creepage distance. Therefore, how to improve the efficiency and convenience of creepage distance measurement has become an urgent problem to be solved. Summary of the Invention

[0004] In view of this, the purpose of the present application is to provide a method and a device for measuring the creepage distance of a disc-shaped insulator, which can intercept the three-dimensional characteristic image of the disc-shaped insulator according to two planes determined by the normal direction, project the point cloud data between the two planes onto a plane to form a curve, and determine the length of the curve as the creepage distance of the disc-shaped insulator, realizing non-contact creepage distance measurement and improving the efficiency and convenience of creepage distance measurement.

[0005] The present application mainly includes the following aspects:

[0006] In the first aspect, an embodiment of the present application provides a method for measuring the creepage distance of a disc-shaped insulator, and the measurement method includes:

[0007] Eliminate the image area other than the area where the disc-shaped insulator is located in the three-dimensional scanned image containing the disc-shaped insulator to obtain a target three-dimensional characteristic image; wherein, the target three-dimensional characteristic image is composed of the point cloud data of the disc-shaped insulator;

[0008] Determine the target center and the target radius of the disc-shaped insulator according to the target three-dimensional characteristic image, and determine the direction perpendicular to the plane formed by the target center and the target radius as the normal direction;

[0009] Determine two target planes from the target center of the circle to the edge of the disc insulator in the filled target three-dimensional feature image in the normal direction; wherein, the two target planes are parallel to each other and at a preset interval;

[0010] Project all the point cloud data between the two target planes onto one of the target planes, determine the target curve formed by all the point cloud data, and determine the length of the target curve as the creepage distance of the disc insulator.

[0011] Further, the step of determining the target center of the circle and the target radius of the disc insulator according to the target three-dimensional feature image includes:

[0012] Perform edge detection on the disc insulator in the target three-dimensional feature image according to the target three-dimensional feature image to determine an edge image;

[0013] Determine the target center of the circle and the target radius of the disc insulator according to the multiple non-zero pixel points included in the edge image.

[0014] Further, the step of performing edge detection on the disc insulator in the target three-dimensional feature image according to the target three-dimensional feature image to determine an edge image includes:

[0015] Perform edge detection on the disc insulator in the target three-dimensional feature image according to the target three-dimensional feature image to determine a first feature image, and perform Gaussian filtering on the first feature image to determine it as a second feature image;

[0016] Determine the gradient value and gradient direction of each pixel included in the second feature image;

[0017] Screen the edge of the disc insulator in the second feature image according to the gradient value and gradient direction of each pixel, and determine the screened second feature image as the edge image.

[0018] Further, the step of determining the target center of the circle of the disc insulator according to the multiple non-zero pixel points included in the edge image includes:

[0019] Obtain all non-zero pixel points according to the edge image, and draw straight lines along their respective gradient directions for the non-zero pixel points;

[0020] Obtain the number of straight lines passing through each non-zero pixel point, and determine the non-zero pixel point with the largest number of straight lines passing through among all non-zero pixel points as the target center of the circle.

[0021] Further, the step of determining the target radius of the disc insulator according to the multiple non-zero pixel points included in the edge image includes:

[0022] Obtain all non-zero pixel points based on the edge image, and the distance of each non-zero pixel point from the target center of the circle;

[0023] Determine the distance from each determined target non-zero pixel point to the target center of the circle as the predicted radius; wherein, the distance from each target non-zero pixel point to the target center of the circle is within a preset distance range;

[0024] In the predicted radius, determine multiple predicted radii with a distance difference within a preset range as the same radius;

[0025] Obtain the number of each same radius among the determined multiple predicted radii, and determine the same radius with the largest number of the same radius among the multiple predicted radii as the target radius.

[0026] Furthermore, fill the target three-dimensional feature image through the following steps:

[0027] Detect whether there is a point cloud data vacancy area in the disc insulator in the target three-dimensional feature image;

[0028] If so, determine the normal plane according to the target center of the circle and the normal direction;

[0029] Determine whether there is point cloud data symmetric about the normal plane at the missing position in the point cloud data vacancy area according to the normal plane;

[0030] If so, fill the missing position in the point cloud data vacancy area with the symmetric point cloud data in the target three-dimensional feature image;

[0031] If not, determine the target surface according to the missing position, and fill the missing position through the projection point of the missing position on the target surface.

[0032] Furthermore, determine the point cloud data vacancy area through the following steps:

[0033] Obtain each point cloud data in the target three-dimensional feature image, and determine multiple boundary lines according to each point cloud data;

[0034] Determine the closed polygon formed by the determined multiple boundary lines as the point cloud data vacancy area.

[0035] Furthermore, the step of obtaining each point cloud data in the target three-dimensional feature image and determining multiple boundary lines according to each point cloud data includes:

[0036] Obtain each point cloud data in the target three-dimensional feature image and multiple point cloud data with a distance less than a preset distance threshold among all point cloud data;

[0037] Connecting each point cloud data with the corresponding plurality of point cloud data, and using the connecting line segments as connecting edges;

[0038] Determine, as an adjacent triangle, a triangle whose area among the triangles formed by the plurality of adjacent edges is smaller than a preset area threshold;

[0039] Get the number of adjacent triangles of each connecting edge;

[0040] The adjacent edge of the adjacent triangle whose number is 1 is determined as the boundary line of the vacant area of ​​the point cloud data.

[0041] Further, the target surface is determined by the following steps:

[0042] Draw two perpendicular straight lines through the missing position, and the two straight lines intersect the point cloud data of the disc insulator at four point cloud data;

[0043] A target surface is determined according to the four point cloud data.

[0044] In a second aspect, an embodiment of the present application further provides a device for measuring the creepage distance of a disc insulator, the device comprising:

[0045] An acquisition module is used to remove the image area other than the area where the disk-shaped insulator is located in the three-dimensional scanning image containing the disk-shaped insulator, so as to obtain a target three-dimensional feature image; wherein the target three-dimensional feature image is composed of point cloud data of the disk-shaped insulator;

[0046] A first determination module is used to determine a target center and a target radius of the disc-shaped insulator according to the target three-dimensional feature image, and determine a direction perpendicular to a plane formed by the target center and the target radius as a normal direction;

[0047] A second determination module is used to determine two target planes from the target circle center to the edge of the disk-shaped insulator in the filled target three-dimensional feature image in the normal direction; wherein the two target planes are parallel to each other and are spaced by a preset interval;

[0048] The third determination module is used to project all point cloud data between two target planes onto one of the target planes, determine a target curve formed by all point cloud data, and determine the length of the target curve as the creepage distance of the disc insulator.

[0049] A method and a measuring device for measuring the creepage distance of a disc insulator provided by an embodiment of the present application. The measuring method includes: removing the image areas other than the area where the disc insulator is located from the three-dimensional scanned image containing the disc insulator to obtain a target three-dimensional feature image; wherein, the target three-dimensional feature image is composed of the point cloud data of the disc insulator; determining the target center and the target radius of the disc insulator according to the target three-dimensional feature image, and determining the direction perpendicular to the plane formed by the target center and the target radius as the normal direction; determining two target planes from the target center to the edge of the disc insulator in the filled target three-dimensional feature image in the normal direction; wherein, the two target planes are parallel to each other and have a preset interval; projecting all the point cloud data between the two target planes onto one of the target planes to determine the target curve formed by all the point cloud data, and determining the length of the target curve as the creepage distance of the disc insulator.

[0050] In this way, by using the technical solution provided by the present application, two planes determined according to the normal direction can be used to intercept the three-dimensional feature image of the disc insulator, project the point cloud data between the two planes onto one plane to form a curve, and determine the length of the curve as the creepage distance of the disc insulator, realizing non-contact creepage distance measurement and improving the efficiency and convenience of creepage distance measurement.

[0051] To make the above objects, features, and advantages of the present application more obvious and understandable, the following specific preferred embodiments are given, and detailed descriptions are made in conjunction with the accompanying drawings as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] To more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0053] Figure 1 Shows a flowchart of a method for measuring the creepage distance of a disc insulator provided by an embodiment of the present application;

[0054] Figure 2 Shows a flowchart of another method for measuring the creepage distance of a disc insulator provided by an embodiment of the present application;

[0055] Figure 3 Shows a schematic diagram of a target curve of a disc insulator provided by an embodiment of the present application;

[0056] Figure 4 Shows a schematic structural diagram of a device for measuring the creepage distance of a disc insulator provided by an embodiment of the present application;

[0057] Figure 5 Shows the second structural schematic diagram of a measuring device for the creepage distance of a disc insulator provided by an embodiment of the present application;

[0058] Figure 6 Shows the structural schematic diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0059] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It should be understood that the accompanying drawings in the present application are only for the purposes of illustration and description, and are not used to limit the protection scope of the present application. In addition, it should be understood that the schematic drawings are not drawn to actual scale. The flowcharts used in the present application show the operations implemented according to some embodiments of the present application. It should be understood that the operations in the flowchart may not be implemented in sequence, and steps without logical context relationships may be reversed or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart or remove one or more operations from the flowchart under the guidance of the content of the present application.

[0060] In addition, the described embodiments are only some embodiments of the present application, rather than all embodiments. The components of the embodiments of the present application usually described and illustrated in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the present application to be protected, but only represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present application.

[0061] In order to enable those skilled in the art to use the content of the present application, in combination with the specific application scenario of "measuring the creepage distance of a disc insulator", the following implementation manners are given. For those skilled in the art, without departing from the spirit and scope of the present application, the general principles defined here can be applied to other embodiments and application scenarios.

[0062] The following methods, devices, electronic devices, or computer-readable storage media in the embodiments of the present application can be applied to any scenario where it is necessary to measure the creepage distance of a disc insulator. The embodiments of the present application do not limit the specific application scenarios. Any solution using a measuring method, measuring device, electronic device, and storage medium for the creepage distance of a disc insulator provided by the embodiments of the present application is within the protection scope of the present application.

[0063] It should be noted that an insulator is a special insulation control device that can play an important role in high-voltage power transmission lines. In the early years, insulators were mostly used on telegraph poles. Gradually, many disc-shaped insulators were hung at one end of the high-type high-voltage wire connection tower. It is used to increase the creepage distance and is usually made of glass or ceramics. The creepage distance, abbreviated as creepage length, of an insulator refers to the shortest distance or the sum of the shortest distances along its surface between the conductive parts to which the operating voltage is normally applied. The creepage distance of the insulator affects the safety of the operator, so the accurate measurement of the creepage distance of the insulator is very important.

[0064] At present, the creepage distance of the insulator is mainly measured by closely attaching tools such as tapes to the surface of the insulator, and then manually measuring the length of the attached objects such as tapes as the creepage distance of the insulator. However, this measurement method results in low measurement efficiency. In the case of a huge measurement workload, manual measurement will also affect the accuracy of the creepage distance. Therefore, how to improve the efficiency and convenience of creepage distance measurement has become an urgent problem to be solved.

[0065] Based on this, the present application proposes a method and a device for measuring the creepage distance of a disc-shaped insulator. The measurement method includes: removing the image area other than the area where the disc-shaped insulator is located from the three-dimensional scanned image containing the disc-shaped insulator to obtain a target three-dimensional feature image; wherein, the target three-dimensional feature image is composed of the point cloud data of the disc-shaped insulator; determining the target center and the target radius of the disc-shaped insulator according to the target three-dimensional feature image, and determining the direction perpendicular to the plane formed by the target center and the target radius as the normal direction; determining two target planes from the target center to the edge of the disc-shaped insulator in the filled target three-dimensional feature image in the normal direction; wherein, the two target planes are parallel to each other and have a preset interval; projecting all the point cloud data between the two target planes onto one of the target planes, determining the target curve formed by all the point cloud data, and determining the length of the target curve as the creepage distance of the disc-shaped insulator.

[0066] In this way, by using the technical solution provided by the present application, two planes determined according to the normal direction can be used to intercept the three-dimensional feature image of the disc-shaped insulator. The point cloud data between the two planes is projected onto one plane to form a curve, and the length of the curve is determined as the creepage distance of the disc-shaped insulator, realizing non-contact creepage distance measurement and improving the efficiency and convenience of creepage distance measurement.

[0067] For the convenience of understanding the present application, the technical solution provided by the present application will be described in detail below in combination with specific embodiments.

[0068] Please refer to Figure 1 , Figure 1 which is a flowchart of a method for measuring the creepage distance of a disc-shaped insulator provided by an embodiment of the present application. AsFigure 1 As shown in, the measurement method includes:

[0069] S101. Exclude the image regions other than the region where the disc insulator is located in the three-dimensional scan image containing the disc insulator, and obtain a target three-dimensional feature image;

[0070] In this step, the target three-dimensional feature image is composed of the point cloud data of the disc insulator. The target three-dimensional feature image can be obtained by extracting the features of the disc insulator through any method. Exemplarily, the three-dimensional scan device can be calibrated and then the disc insulator can be scanned by a camera and a projector to obtain a three-dimensional scan image. Further, the U-Net model can be used to filter out the background information and extract the region where the disc insulator is located as the target three-dimensional feature image.

[0071] S102. Determine the target center and target radius of the disc insulator according to the target three-dimensional feature image, and determine the direction perpendicular to the plane formed by the target center and the target radius as the normal direction;

[0072] It should be noted that for the step of determining the target center and target radius of the disc insulator according to the target three-dimensional feature image, please refer to Figure 2 , Figure 2 which is the flowchart of another measurement method for the creepage distance of the disc insulator provided by the embodiment of the present application. As shown in Figure 2 , the steps of determining the target center and target radius of the disc insulator include:

[0073] S201. Perform edge detection on the disc insulator in the target three-dimensional feature image according to the target three-dimensional feature image to determine an edge image;

[0074] Here, the steps of performing edge detection on the disc insulator in the target three-dimensional feature image according to the target three-dimensional feature image to determine an edge image include:

[0075] S2011. Perform edge detection on the disc insulator in the target three-dimensional feature image according to the target three-dimensional feature image to determine a first feature image, and perform Gaussian filtering on the first feature image to determine it as a second feature image;

[0076] In this step, for the target three-dimensional feature image obtained through step S101, perform edge detection on it, extract the edge region of the disc insulator through the change of color as the first feature image, and determine the first feature image after Gaussian filtering as the second feature image. Exemplarily, the edge information of the disc insulator can be extracted through Canny edge detection.

[0077] S2012. Determine the gradient value and gradient direction of each pixel included in the second feature image;

[0078] In this step, calculate the horizontal gradient value and vertical gradient value of each pixel included in the second feature image, and determine the gradient value and gradient direction of each pixel through the horizontal gradient value and vertical gradient value of each pixel; Exemplarily, the gradient value and gradient direction of each pixel can be calculated by the Sobel operator.

[0079] S2013. Screen the edges of the disc insulators in the second feature image according to the gradient value and gradient direction of each pixel, and determine the screened second feature image as the edge image.

[0080] In this step, determine the neighborhood gradient values of all pixels according to the gradient value and gradient direction of each pixel included in the second feature image, refine the edges of the disc insulators, and screen the edges of the disc insulators through a preset double threshold and the determined neighborhood gradient values, and determine the screened second feature image as the edge image; Exemplarily, the double threshold is A and B, A is less than B, eliminate the pixel points with neighborhood gradient values less than A, determine the pixel points with neighborhood gradient values greater than B as the edges of the disc insulators, screen out the pixel points with neighborhood gradient values between A and B, and determine the pixel points with connection relationships with the previously determined edges according to the gradient directions of these pixel points as the edges of the disc insulators, and determine the screened second feature image as the edge image. At this time, the edge image is an edge binary image.

[0081] S202. Determine the target center and target radius of the disc insulator according to multiple non-zero pixel points included in the edge image.

[0082] It should be noted that determining the target center of the disc insulator according to multiple non-zero pixel points included in the edge image includes:

[0083] S2021. Obtain all non-zero pixel points according to the edge image, and draw straight lines along the respective gradient directions of the non-zero pixel points;

[0084] In this step, since the center of the circle is the intersection of the circumferential normals, by drawing straight lines along the respective gradient directions of the non-zero pixel points, when the number of straight lines intersecting at a certain pixel point is the largest, then determine this pixel point as the center of the circle.

[0085] S2022. Obtain the number of straight lines passing through each non-zero pixel point, and determine the non-zero pixel point with the largest number of straight lines passing through among all non-zero pixel points as the target center.

[0086] Exemplarily, the center of the circle of the image formed by the edges of the disc-shaped insulator in the edge image can be detected by the Hough gradient method. Initialize the center space of the circle, set all counters to 0, traverse all non-zero pixel points in the Canny edge binary image, draw a straight line along the gradient direction, and increment the counters of all pixel points passed by the straight line by one respectively. Then, statistically sort all the counters, and determine the pixel point with the largest counter value as the target center of the circle.

[0087] It should be noted that the step of determining the target radius of the disc-shaped insulator according to the multiple non-zero pixel points included in the edge image includes:

[0088] S2023. Obtain all non-zero pixel points from the edge image, and the distance of each non-zero pixel point from the target center of the circle;

[0089] In this step, since the distance from the center of the circle to the circumference is the same, count the distances from each non-zero pixel point in the edge image to the target center of the circle, count the quantities of each distance, and determine the distance with the largest quantity as the target radius of the disc-shaped insulator.

[0090] S2024. Determine the distances from the determined target non-zero pixel points to the target center of the circle as the predicted radii; wherein, the distance from each target non-zero pixel point to the target center of the circle is within a preset distance range;

[0091] Exemplarily, calculate the distances from all non-zero pixel points in the Canny edge binary image to the target center of the circle, sort the distances from small to large, and determine the distances within the preset distance range as the predicted radii according to the preset distance.

[0092] S2025. Determine multiple predicted radii with distance differences within a preset range among the predicted radii as the same radii;

[0093] In this step, according to the preset range, determine multiple predicted radii with distance differences within the preset range among the predicted radii as the same radii; for example, the preset range is 1 cm, and the distance difference between 7 cm and 7.2 cm in the predicted radii is 0.2 cm, which is within the preset range of 1 cm, so the distances of 7 cm and 7.2 cm are the same radii.

[0094] S2026. Obtain the quantity of each same radius among the determined multiple predicted radii, and determine the same radius with the largest quantity of the same radii among the multiple predicted radii as the target radius.

[0095] In this step, calculate the quantity of each same radius among the predicted radii, and determine the same radius with the largest quantity of the same radii as the target radius.

[0096] Exemplarily, initialize the radius space, set all counters to 0, traverse the non-zero pixel points in the Canny binary image, increment each counter with the same radius in turn, and determine the target radius as the distance corresponding to the counter with the maximum value.

[0097] Here, in step S102, fit the plane where the circle is located through the center coordinates and the radius, and the normal direction of this plane is the orientation of the insulator.

[0098] S103. Determine two target planes from the target center to the edge of the disc-shaped insulator in the filled target three-dimensional feature image in the normal direction;

[0099] In this step, the two target planes are parallel to each other and have a preset interval. According to the normal direction determined in step S102, arbitrarily select two parallel planes that are coplanar with the normal, from the target center to the edge of the disc-shaped insulator in the filled target three-dimensional feature image and have a distance of the preset interval, and these two planes are called the target planes.

[0100] It should be noted that before performing step S103, due to reasons such as reflection, there is a lack of point cloud data of the disc-shaped insulator in the target three-dimensional feature image. Therefore, the target three-dimensional feature image also needs to be filled through the following steps:

[0101] 1). Detect whether there is a vacant area of point cloud data in the disc-shaped insulator in the target three-dimensional feature image;

[0102] It should be noted that the vacant area of point cloud data is determined through the following steps:

[0103] (1). Obtain each point cloud data in the target three-dimensional feature image, and determine multiple boundary lines according to each point cloud data;

[0104] It should be noted that the step of obtaining each point cloud data in the target three-dimensional feature image and determining multiple boundary lines according to each point cloud data includes:

[0105] First, obtain each point cloud data in the target three-dimensional feature image and multiple point cloud data with a distance less than the preset distance threshold from all point cloud data;

[0106] Second, connect each point cloud data with the corresponding multiple point cloud data, and use the connected line segment as the adjacent edge;

[0107] Third, determine the triangles with a triangle area less than the preset area threshold among the triangles formed by the multiple adjacent edges as the adjacent triangles;

[0108] Fourth, obtain the number of adjacent triangles of each adjacent edge;

[0109] 5. Determine the adjacent edges with the number of adjacent triangles being 1 as the boundary lines of the point cloud data void area.

[0110] In this step, the determination of the point cloud data void area, that is, the extraction of the hole, is mainly achieved through the extraction of the hole polygon. For each point cloud data in the target three-dimensional feature image, all the point cloud data with a distance less than the preset distance threshold from it are screened out, and they are connected in sequence to form a set of adjacent edges. For each adjacent edge, triangles are formed with the remaining points in turn. Among them, the triangles with an area less than the preset area threshold are determined as adjacent triangles. The number of adjacent triangles of each adjacent edge is counted, and the adjacent edges with the number of adjacent triangles being 1 are determined as the hole boundaries, that is, the boundary lines of the point cloud data void area.

[0111] (2) Determine the closed polygon formed by the determined multiple boundary lines as the point cloud data void area.

[0112] In this step, find an edge with the number of adjacent triangles being 1 in the set of adjacent edges, and use the two points of this edge as the previous point and the current point of the boundary line respectively. Continue to find adjacent edges with the number of adjacent triangles being 1 among the current points, and this edge satisfies that there is exactly one endpoint coinciding with the previous point or the current point among its endpoints. The edges that meet the conditions are used as the boundary lines of the point cloud data void area. Continue the above process until multiple boundary lines form a closed polygon. This closed polygon is the hole boundary, that is, the point cloud data void area, and the missing point cloud data is within the hole boundary range.

[0113] 2) If there is, then determine the normal plane according to the target center and the normal direction;

[0114] In this step, if there is a point cloud data void area, it is necessary to perform point cloud filling on the point cloud data void area in the target three-dimensional feature image. The point cloud filling is mainly realized by using the symmetry relationship. The disc insulator is a regular three-dimensional object, and its point cloud data is symmetric about any plane passing through the normal vector of the target center of the disc insulator. Therefore, it is necessary to determine the normal plane according to the target center and the normal direction.

[0115] 3) Determine whether there is point cloud data symmetric about the normal plane at the missing position in the point cloud data void area;

[0116] In this step, for any missing position in the point cloud data void area, if there is point cloud data symmetric about the normal plane at this missing position, then use the symmetry relationship to fill the missing position. If not, it means that the area symmetric about the normal plane of the point cloud data void area is also a point cloud data void area and cannot be filled by the symmetry relationship. At this time, a hole filling method such as bilinear interpolation can be used to fill the missing position in the point cloud data void area.

[0117] 4) If it exists, fill the missing position in the vacant area of ​​the point cloud data using the symmetrical point cloud data in the target three-dimensional feature image;

[0118] In this step, a perpendicular line to the normal of the target center of the disk-shaped insulator is drawn through the missing position, and the plane passing through the normal line and perpendicular to the perpendicular line is taken as the symmetry plane, and the missing position is filled with point cloud data that is symmetrical to the missing position about the symmetry plane.

[0119] 5) If it does not exist, determine the target surface according to the missing position, and fill the missing position through the projection point of the missing position on the target surface.

[0120] It should be noted that the target surface is determined by the following steps:

[0121] (1) Draw two perpendicular straight lines through the missing position, and the two straight lines intersect the point cloud data of the disc insulator at four point cloud data;

[0122] In this step, a straight line is drawn through the missing position in any direction and intersects with the disk insulator point cloud data at points A and B. A straight line is drawn through the missing position in a direction perpendicular to the straight line and intersects with the disk insulator point cloud data at points C and D.

[0123] (2) Determine the target surface based on the four point cloud data.

[0124] In this step, the target surface is determined according to the four intersection points, A, B, C, and D. Exemplarily, a quadratic surface, namely the target surface, can be fitted by using A, B, C, and D using a bilinear interpolation method.

[0125] Here, the projection of the missing position on the target surface is obtained by calculation, and the missing position is filled with the projection point.

[0126] Here, in step S103, based on the filled target three-dimensional feature image, two target planes are determined in the normal direction from the target center to the edge of the disk-shaped insulator with a preset spacing, wherein the light-colored circles in the target three-dimensional feature image are the raised arc portions of the disk-shaped insulator, and the dark-colored circles are the sunken arc portions of the disk-shaped insulator.

[0127] S104, projecting all point cloud data between two target planes onto one of the target planes, determining a target curve formed by all the point cloud data, and determining the length of the target curve as the creepage distance of the disc insulator.

[0128] In this step, based on the two target planes determined in step S103, all the point cloud data between the two target planes is obtained, projected onto one of the target planes, a target curve formed by the point cloud data is obtained, the length of the target curve is calculated, and this length is determined as the creepage distance of the disc insulator.

[0129] Here, for the target curve, please refer to Figure 3 , Figure 3 which is a schematic diagram of the target curve of a disc insulator provided by an embodiment of the present application. As shown in Figure 3 , the black dots are the projection points of the disc insulator point cloud data on the target plane, the convex part is the convex arc part of the disc insulator, and the concave part is the concave arc part of the disc insulator. Through the projection points on the target plane, that is, the target curve formed by the point cloud data, the length of the target curve is calculated. Among them, the target curve is a corrugated curve, and the length of this target curve is the creepage distance of the disc insulator.

[0130] A method for measuring the creepage distance of a disc insulator provided by an embodiment of the present application, the measurement method includes: removing the image area other than the area where the disc insulator is located in the three-dimensional scanned image containing the disc insulator to obtain a target three-dimensional feature image; wherein, the target three-dimensional feature image is composed of the point cloud data of the disc insulator; determining the target center and target radius of the disc insulator according to the target three-dimensional feature image, and determining the direction perpendicular to the plane formed by the target center and the target radius as the normal direction; determining two target planes from the target center to the edge of the disc insulator in the filled target three-dimensional feature image in the normal direction; wherein, the two target planes are parallel to each other and at a preset interval; projecting all the point cloud data between the two target planes onto one of the target planes, determining the target curve formed by all the point cloud data, and determining the length of the target curve as the creepage distance of the disc insulator.

[0131] In this way, by using the technical solution provided by the present application, the three-dimensional feature image of the disc insulator can be intercepted according to the two planes determined in the normal direction, the point cloud data between the two planes is projected onto one plane to form a curve, and the length of the curve is determined as the creepage distance of the disc insulator, realizing non-contact creepage distance measurement and improving the efficiency and convenience of creepage distance measurement.

[0132] Based on the same inventive concept, an embodiment of the present application also provides a device for measuring the creepage distance of a disc insulator corresponding to the method for measuring the creepage distance of a disc insulator provided in the above embodiment. Since the principle of solving problems by the device in the embodiment of the present application is similar to that of the method for measuring the creepage distance of a disc insulator in the above embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0133] See also Figure 4 , Figure 5 , Figure 4 This is one of the structural diagrams of a disc insulator creepage distance measuring device provided in an embodiment of the present application, Figure 5 This is a second structural diagram of a disc insulator creepage distance measuring device provided in an embodiment of the present application. Figure 4 As shown in , the measuring device 410 includes:

[0134] The acquisition module 411 is used to remove the image area other than the area where the disk-shaped insulator is located in the three-dimensional scanning image containing the disk-shaped insulator, so as to obtain a target three-dimensional feature image; wherein the target three-dimensional feature image is composed of point cloud data of the disk-shaped insulator;

[0135] A first determination module 412 is used to determine a target center and a target radius of the disc-shaped insulator according to the target three-dimensional feature image, and determine a direction perpendicular to a plane formed by the target center and the target radius as a normal direction;

[0136] The second determination module 413 is used to determine two target planes from the target circle center to the edge of the disk-shaped insulator in the filled target three-dimensional feature image in the normal direction; wherein the two target planes are parallel to each other and are spaced by a preset interval;

[0137] The third determination module 414 is used to project all point cloud data between two target planes onto one of the target planes, determine a target curve formed by all point cloud data, and determine the length of the target curve as the creepage distance of the disc insulator.

[0138] Optionally, when the first determining module 412 is used to determine the target center and target radius of the disc-shaped insulator according to the target three-dimensional feature image, the first determining module 412 is specifically used to:

[0139] Performing edge detection on the disk-shaped insulator in the target three-dimensional feature image according to the target three-dimensional feature image to determine an edge image;

[0140] According to a plurality of non-zero pixel points included in the edge image, a target center point and a target radius of the disc-shaped insulator are determined.

[0141] Optionally, when the first determining module 412 is used to perform edge detection on the disk-shaped insulator in the target three-dimensional feature image according to the target three-dimensional feature image to determine the edge image, the first determining module 412 is specifically used to:

[0142] Edge detection is performed on the disc-shaped insulator in the target three-dimensional feature image according to the target three-dimensional feature image to determine a first feature image, and Gaussian filtering is performed on the first feature image to determine it as a second feature image;

[0143] Determine the gradient value and gradient direction of each pixel included in the second feature image;

[0144] Screen the edge of the disc-shaped insulator in the second feature image according to the gradient value and gradient direction of each pixel, and determine the screened second feature image as the edge image.

[0145] Optionally, when the first determination module 412 is used to determine the target center of the disc-shaped insulator according to a plurality of non-zero pixel points included in the edge image, the first determination module 412 specifically is used for:

[0146] Obtain all non-zero pixel points according to the edge image, and make straight lines along their respective gradient directions for the non-zero pixel points;

[0147] Obtain the number of straight lines passing through each non-zero pixel point, and determine the non-zero pixel point with the largest number of straight lines passing through among all non-zero pixel points as the target center.

[0148] Optionally, when the first determination module 412 is used to determine the target radius of the disc-shaped insulator according to a plurality of non-zero pixel points included in the edge image, the first determination module 412 specifically is used for:

[0149] Obtain all non-zero pixel points according to the edge image, and the distance of each non-zero pixel point from the target center;

[0150] Determine the distance from each determined target non-zero pixel point to the target center as the predicted radius; wherein, the distance from each target non-zero pixel point to the target center is within a preset distance range;

[0151] Determine a plurality of predicted radii with distance differences within a preset range in the predicted radius as the same radius;

[0152] Obtain the number of each same radius among the determined plurality of predicted radii, and determine the same radius with the largest number of the same radius among the plurality of predicted radii as the target radius.

[0153] Optionally, as Figure 5 shown, the measuring device 410 further includes a filling module 415, and the filling module 415 is used for:

[0154] Detect whether there is a point cloud data vacancy area in the disc-shaped insulator in the target three-dimensional feature image;

[0155] If it exists, determine the normal plane according to the target center of the circle and the normal direction;

[0156] Determine whether there is point cloud data symmetric about the normal plane at the missing position in the point cloud data vacancy region according to the normal plane;

[0157] If it exists, use the symmetric point cloud data in the target three-dimensional feature image to fill the missing position in the point cloud data vacancy region;

[0158] If it does not exist, determine the target surface according to the missing position, and fill the missing position through the projection point of the missing position on the target surface.

[0159] Optionally, as Figure 5 shown, the measuring device 410 further includes a fourth determination module 416, and the fourth determination module 416 is configured to:

[0160] Obtain each point cloud data in the target three-dimensional feature image, and determine multiple boundary lines according to each point cloud data;

[0161] Determine the closed polygon surrounded by the multiple determined boundary lines as the point cloud data vacancy region.

[0162] Optionally, as Figure 5 shown, when the fourth determination module 416 is configured to obtain each point cloud data in the target three-dimensional feature image and determine multiple boundary lines according to each point cloud data, the fourth determination module 416 is specifically configured to:

[0163] Obtain each point cloud data in the target three-dimensional feature image and multiple point cloud data whose distances from all point cloud data are less than a preset distance threshold;

[0164] Connect each point cloud data with the corresponding multiple point cloud data, and use the connected line segment as an adjacent edge;

[0165] Determine the triangle in the triangles formed by the multiple adjacent edges whose triangle area is less than a preset area threshold as an adjacent triangle;

[0166] Obtain the number of adjacent triangles of each adjacent edge;

[0167] Determine the adjacent edge with the number of adjacent triangles being 1 as the boundary line of the point cloud data vacancy region.

[0168] Optionally, as Figure 5 shown, when the filling module 415 is configured to determine the target surface, the filling module 415 is specifically configured to:

[0169] Draw two perpendicular straight lines through the missing position, and the two straight lines intersect the point cloud data of the disc insulator at four point cloud data;

[0170] A target surface is determined according to the four point cloud data.

[0171] An embodiment of the present application provides a device for measuring the creepage distance of a disk-shaped insulator, the device comprising: an acquisition module, used to eliminate an image area other than an area where the disk-shaped insulator is located in a three-dimensional scanning image containing the disk-shaped insulator, to obtain a target three-dimensional feature image; wherein the target three-dimensional feature image is composed of point cloud data of the disk-shaped insulator; a first determination module, used to determine a target center and a target radius of the disk-shaped insulator according to the target three-dimensional feature image, and determine the direction of a plane formed by the target center and the target radius as a normal direction; a second determination module, used to determine two target planes from the target center to the edge of the disk-shaped insulator in the filled target three-dimensional feature image in the normal direction; wherein the two target planes are parallel to each other and are spaced by a preset interval; a third determination module, used to project all point cloud data between the two target planes onto one of the target planes, determine a target curve formed by all point cloud data, and determine the length of the target curve as the creepage distance of the disk-shaped insulator.

[0172] In this way, the technical solution provided in the present application can be used to intercept the three-dimensional characteristic image of the disk-shaped insulator according to the two planes determined by the normal direction, and the point cloud data between the two planes can be projected onto a plane to form a curve. The length of the curve is determined as the creepage distance of the disk-shaped insulator, thereby realizing non-contact creepage distance measurement and improving the efficiency and convenience of creepage distance measurement.

[0173] See also Figure 6 , Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 6 As shown in , the electronic device 600 includes a processor 610 , a memory 620 and a bus 630 .

[0174] The memory 620 stores machine-readable instructions executable by the processor 610. When the electronic device 600 is running, the processor 610 communicates with the memory 620 via the bus 630. When the machine-readable instructions are executed by the processor 610, the above-mentioned Figure 1 as well as Figure 2 The steps of the method for measuring the creepage distance of a disc insulator in the method embodiment shown and the specific implementation thereof can be referred to the method embodiment, which will not be described in detail here.

[0175] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, it can execute the steps of the method for measuring the creepage distance of a disc insulator in the method embodiment as described above. For the specific implementation manner, reference can be made to the method embodiment and will not be elaborated here. Figure 1 and Figure 2 shown in the method embodiment. For the specific implementation manner, reference can be made to the method embodiment and will not be elaborated here.

[0176] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated here.

[0177] In several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there can be other division methods in actual implementation. For another example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the couplings, direct couplings, or communication connections shown or discussed with each other can be through some communication interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0178] The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0179] In addition, in each embodiment of the present application, the functional units can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.

[0180] When the above-mentioned functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0181] Finally, it should be noted that: the above-mentioned embodiments are only specific implementation manners of the present application, used to illustrate the technical solution of the present application, rather than limiting it. The protection scope of the present application is not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: any person skilled in the art within the technical scope disclosed by the present application can still modify the technical solutions recorded in the foregoing embodiments or easily conceive of changes, or perform equivalent replacements on some of the technical features; and these modifications, changes, or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application and should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for measuring the creepage distance of a disc insulator, characterized in that, The measurement method includes: Eliminating the image regions other than the region where the disc insulator is located in the three-dimensional scanned image containing the disc insulator, to obtain a target three-dimensional feature image; wherein, the target three-dimensional feature image is composed of the point cloud data of the disc insulator; Determining the target center and target radius of the disc insulator according to the target three-dimensional feature image, and determining the direction perpendicular to the plane formed by the target center and the target radius as the normal direction; Determining two target planes from the target center to the edge of the disc insulator in the filled target three-dimensional feature image in the normal direction; wherein, the two target planes are parallel to each other and have a preset interval; Projecting all the point cloud data between the two target planes onto one of the target planes, determining the target curve formed by all the point cloud data, and determining the length of the target curve as the creepage distance of the disc insulator; The step of determining the target center and target radius of the disc insulator according to the target three-dimensional feature image includes: Performing edge detection on the disc insulator in the target three-dimensional feature image according to the target three-dimensional feature image to determine an edge image; Determining the target center and target radius of the disc insulator according to the multiple non-zero pixel points included in the edge image; The step of determining the target radius of the disc insulator according to the multiple non-zero pixel points included in the edge image includes: Obtaining all non-zero pixel points according to the edge image, and the distance of each non-zero pixel point from the target center; Determining the distance from each determined target non-zero pixel point to the target center as the predicted radius; wherein, the distance from each target non-zero pixel point to the target center is within a preset distance range; Determining multiple predicted radii with distance differences within a preset range in the predicted radius as the same radius; Obtaining the number of each same radius among the determined multiple predicted radii, and determining the same radius with the largest number of same radii among the multiple predicted radii as the target radius.

2. The measurement method according to claim 1, characterized in that, The step of performing edge detection on the disc insulator in the target three-dimensional feature image according to the target three-dimensional feature image to determine an edge image includes: Performing edge detection on the disc insulator in the target three-dimensional feature image according to the target three-dimensional feature image to determine a first feature image, and performing Gaussian filtering on the first feature image to determine it as a second feature image; Determining the gradient value and gradient direction of each pixel included in the second feature image; Screening the edge of the disc insulator in the second feature image according to the gradient value and gradient direction of each pixel, and determining the screened second feature image as the edge image.

3. The measuring method according to claim 1, wherein The step of determining the target center of the disc insulator according to the multiple non-zero pixel points included in the edge image includes: Obtaining all non-zero pixel points according to the edge image, and making straight lines along their respective gradient directions for the non-zero pixel points; Obtaining the number of straight lines passing through each non-zero pixel point, and determining the non-zero pixel point with the largest number of straight lines passing through among all non-zero pixel points as the target center.

4. The measurement method according to claim 1, wherein The target three-dimensional feature image is filled by the following steps: Detecting whether the disk-shaped insulator in the target three-dimensional feature image has a point cloud data vacancy area; If yes, determine the normal plane according to the target circle center and the normal direction; Determine, according to the normal plane, whether point cloud data at a missing position in the point cloud data vacancy area is symmetrical about the normal plane; If it exists, fill the missing position in the vacant area of ​​the point cloud data using the symmetrical point cloud data in the target three-dimensional feature image; If it does not exist, the target surface is determined according to the missing position, and the missing position is filled by the projection point of the missing position on the target surface.

5. The measuring method according to claim 4, characterized in that Determine the missing area of ​​the point cloud data by the following steps: Acquire each point cloud data in the target three-dimensional feature image, and determine multiple boundary lines according to each point cloud data; A closed polygon surrounded by the determined multiple boundary lines is determined as the point cloud data vacant area.

6. The measurement method according to claim 5, characterized in that The step of obtaining each point cloud data in the target three-dimensional feature image and determining a plurality of boundary lines according to each point cloud data comprises: Acquire multiple point cloud data whose distance from each point cloud data in the target three-dimensional feature image to all point cloud data is less than a preset distance threshold; Connecting each point cloud data with the corresponding plurality of point cloud data, and using the connecting line segments as connecting edges; Determine, as an adjacent triangle, a triangle whose area among the triangles formed by the plurality of adjacent edges is smaller than a preset area threshold; Get the number of adjacent triangles of each connecting edge; The adjacent edge of the adjacent triangle whose number is 1 is determined as the boundary line of the vacant area of ​​the point cloud data.

7. The measurement method according to claim 4, wherein The target surface is determined by the following steps: Draw two perpendicular straight lines through the missing position, and the two straight lines intersect the point cloud data of the disc insulator at four point cloud data; A target surface is determined according to the four point cloud data.

8. A measuring device for the creepage distance of a disc insulator, characterized in that, The measuring device comprises: An acquisition module is used to remove the image area other than the area where the disk-shaped insulator is located in the three-dimensional scanning image containing the disk-shaped insulator, so as to obtain a target three-dimensional feature image; wherein the target three-dimensional feature image is composed of point cloud data of the disk-shaped insulator; A first determination module is used to determine a target center and a target radius of the disc-shaped insulator according to the target three-dimensional feature image, and determine a direction perpendicular to a plane formed by the target center and the target radius as a normal direction; A second determination module is used to determine two target planes from the target circle center to the edge of the disk-shaped insulator in the filled target three-dimensional feature image in the normal direction; wherein the two target planes are parallel to each other and are spaced by a preset interval; A third determination module is used to project all point cloud data between two target planes onto one of the target planes, determine a target curve formed by all the point cloud data, and determine the length of the target curve as the creepage distance of the disc insulator; When the first determination module is used to determine the target center and target radius of the disc-shaped insulator according to the target three-dimensional feature image, the first determination module is specifically used to: Perform edge detection on the disc insulator in the target three-dimensional feature image according to the target three-dimensional feature image to determine an edge image; Determine the target center and target radius of the disc insulator according to a plurality of non-zero pixel points included in the edge image; When the first determination module is used to determine the target radius of the disc insulator according to a plurality of non-zero pixel points included in the edge image, the first determination module specifically is used for: Obtain all non-zero pixel points from the edge image, and the distance of each non-zero pixel point from the target center; Determine the distance from each determined target non-zero pixel point to the target center as the predicted radius; wherein, the distance from each target non-zero pixel point to the target center is within a preset distance range; Determine multiple predicted radii with a distance difference within a preset range as the same radius among the predicted radii; Obtain the number of each same radius among the determined multiple predicted radii, and determine the same radius with the largest number of same radii among the multiple predicted radii as the target radius.

Images