A method and device for monitoring the movement trajectory of an isolating switch during opening and closing

Abstract

The application discloses a kind of isolating switch opening and closing movement track monitoring method and device, the method comprises: obtaining the target movement track video of isolating switch opening and closing under light irradiation;Contrast of target movement track video is obtained using image technology adjustment light and shade, and multiple groups of contrast movement track video;Using foreground detection algorithm from each contrast movement track video corresponding motion feature sequence is extracted;According to each motion feature sequence, the connecting rod motion feature sequence of isolating switch opening and closing is determined;According to connecting rod motion feature sequence, the trajectory curve of isolating switch opening and closing is drawn;Contrast the trajectory curve of isolating switch opening and closing with the target trajectory curve of isolating switch opening and closing under standard working condition whether consistent;If consistent, then determine the movement track of isolating switch opening and closing is normal. Thus in the case of sufficient light, realize the movement track of isolating switch opening and closing is monitored automatically, and then effectively reduce manpower cost.

Description

Technical Field

[0001] This application relates to the field of video processing technology, and in particular to a method and device for monitoring the motion trajectory of a disconnector switch opening and closing. Background Technology

[0002] The movement trajectory of a disconnecting switch refers to the movement path of its contacts or plates during opening and closing operations in a switchgear. Because the movement trajectory of a disconnecting switch is affected by its mechanical structure and electrical control system, problems with these components can lead to abnormal or unstable movement trajectories, thus reducing equipment reliability. Therefore, it is necessary to monitor the movement trajectory to maintain equipment reliability.

[0003] In existing technologies, the observation scenarios for the opening and closing movements of disconnecting switches are often poorly lit, making it difficult to train supervised disconnecting switch opening and closing action recognition networks based on deep learning networks. Therefore, most existing disconnecting switch opening and closing process monitoring is mainly carried out manually, resulting in low monitoring efficiency and high labor costs. Summary of the Invention

[0004] In view of the shortcomings of the prior art, this application provides a method and device for monitoring the movement trajectory of disconnecting switch opening and closing, so as to solve the problem of high labor costs caused by monitoring the movement trajectory of opening and closing manually.

[0005] To achieve the above objectives, this application provides the following technical solution:

[0006] The first aspect of this application provides a method for monitoring the motion trajectory of a disconnecting switch during opening and closing, including:

[0007] Acquire video of the target motion trajectory of the disconnecting switch under illumination;

[0008] The contrast of the target motion trajectory video is adjusted using image processing techniques to obtain multiple sets of contrast motion trajectory videos;

[0009] A foreground detection algorithm is used to extract the corresponding motion feature sequence from each group of contrast motion trajectory videos;

[0010] Based on each of the motion characteristic sequences, determine the linkage motion characteristic sequence for opening and closing the disconnecting switch;

[0011] Based on the linkage motion characteristic sequence, draw the trajectory curves of the opening and closing of the disconnecting switch;

[0012] Compare the opening and closing trajectory curves of the disconnecting switch with the target opening and closing trajectory curves of the disconnecting switch under standard operating conditions to see if they are consistent.

[0013] If the trajectory curve of the disconnecting switch opening and closing is consistent with the target trajectory curve of the disconnecting switch opening and closing under standard operating conditions, then it is determined that the movement trajectory of the disconnecting switch opening and closing is normal.

[0014] Optionally, in the above-described method for monitoring the motion trajectory of a disconnecting switch, acquiring the target motion trajectory video of the disconnecting switch under illumination includes:

[0015] Acquire the original motion trajectory video of the opening and closing of the disconnecting switch under the illumination of the light;

[0016] Extract the first frame image from the original motion trajectory video, and use each pixel in the first frame image to build a model sample set;

[0017] Each frame in the original motion trajectory video, except for the first frame, is taken as a frame to be detected.

[0018] For each frame to be detected, a target pixel is randomly selected in the frame to be detected, and a detection pixel is randomly selected within a preset range where the target pixel is located.

[0019] A neighborhood circular region of the target pixel is generated with the detected pixel as the center and the Euclidean distance as the radius.

[0020] Compare whether the number of pixels intersecting the neighborhood circular region and the model sample set is less than a preset threshold;

[0021] If the number of intersections between the neighboring circular region and the number of pixels in the model sample set is less than the preset threshold, then the target pixel is determined as a foreground pixel.

[0022] If the number of intersections between the neighborhood circular region and the pixels in the model sample set is not less than the preset threshold, then the target pixel is determined as a background pixel.

[0023] The original motion trajectory video is annotated based on all foreground pixels and / or all background pixels to obtain the target motion trajectory video of the disconnecting switch opening and closing under illumination.

[0024] Optionally, the above-mentioned method for monitoring the motion trajectory of the opening and closing of a disconnecting switch further includes:

[0025] Starting from the initial frame image in the original motion trajectory video, the current frame image is obtained after a preset number of frame intervals.

[0026] The model sample set is updated using each pixel in the current frame image.

[0027] Optionally, in the above-described method for monitoring the motion trajectory of a disconnecting switch, the step of adjusting the brightness and contrast of the target motion trajectory video using image processing technology to obtain multiple sets of contrast motion trajectory videos includes:

[0028] Obtain the maximum illumination pixel value from each frame of the target motion trajectory video;

[0029] Calculate the first mean value for each of the maximum illumination pixel values;

[0030] Obtain the average brightness of all pixels in each frame of the target motion trajectory video;

[0031] Calculate the second mean value for each of the said mean brightness values;

[0032] N values ​​are selected uniformly within the range of the first mean to the second mean;

[0033] For each of the N values, calculate the brightness value of the value based on the first average and the second average;

[0034] Increase the brightness of all pixels in the target motion trajectory video that are greater than the brightness value, and decrease the brightness of all pixels in the target motion trajectory video that are less than the brightness value, to obtain a set of contrast motion trajectory videos.

[0035] Optionally, in the above-described method for monitoring the motion trajectory of the disconnecting switch, determining the linkage motion characteristic sequence for the disconnecting switch based on each motion characteristic sequence includes:

[0036] The Hough line detection algorithm is used to detect whether a target motion feature sequence exists in each of the motion feature sequences; wherein, the target motion feature sequence refers to a feature sequence that can be abstracted into a straight line.

[0037] If the target motion feature sequence exists in each of the motion feature sequences, then the target motion feature sequence is determined as the linkage motion feature sequence for the opening and closing of the disconnecting switch.

[0038] Optionally, in the above-described method for monitoring the motion trajectory of a disconnecting switch, the step of plotting the trajectory curve of the disconnecting switch based on the linkage motion characteristic sequence includes:

[0039] Extract the link angle from each frame of the image from the link motion feature sequence;

[0040] Based on the sequential order of each frame in the linkage motion feature sequence, the trajectory curves of the opening and closing of the disconnecting switch are drawn frame by frame using each linkage angle.

[0041] Optionally, in the above-described method for monitoring the motion trajectory of a disconnecting switch, comparing whether the trajectory curve of the disconnecting switch's opening and closing is consistent with the target trajectory curve of the disconnecting switch's opening and closing under standard operating conditions includes:

[0042] A smoothing algorithm is used to extract the smooth link trajectory curve from the opening and closing trajectory curve of the disconnecting switch;

[0043] Extract the link angles from the starting frame image and the ending frame image from the smooth link trajectory curve;

[0044] Differentiate the smooth link trajectory curve to obtain the derivative curve;

[0045] Calculate the first error between the link angle of the starting frame image and the link angle of the target starting frame image, and calculate the second error between the link angle of the ending frame image and the link angle of the target ending frame image; wherein, the link angle of the target starting frame image refers to the link angle of the starting frame image in the target trajectory curve of the opening and closing of the disconnector switch under standard operating conditions; the link angle of the target ending frame image refers to the link angle of the ending frame image in the target trajectory curve of the opening and closing of the disconnector switch under standard operating conditions;

[0046] Compare whether both the first error and the second error are less than a preset threshold, and whether the derivative corresponding to the derivative curve is a constant;

[0047] If both the first error and the second error are less than the preset threshold, and the derivative corresponding to the derivative curve is a constant, then the trajectory curve of the disconnecting switch opening and closing is determined to be consistent with the target trajectory curve of the disconnecting switch opening and closing under standard operating conditions.

[0048] Optionally, the above-mentioned method for monitoring the motion trajectory of the opening and closing of a disconnecting switch further includes:

[0049] If the trajectory curve of the disconnecting switch opening and closing is inconsistent with the target trajectory curve of the disconnecting switch opening and closing under standard operating conditions, it is determined that the movement trajectory of the disconnecting switch opening and closing is abnormal, and a prompt message is fed back to the front end.

[0050] The second aspect of this application provides a motion trajectory monitoring device for the opening and closing of a disconnecting switch, comprising:

[0051] The video acquisition unit is used to acquire video of the target motion trajectory of the disconnecting switch under illumination.

[0052] The adjustment unit is used to adjust the brightness and contrast of the target motion trajectory video using image technology to obtain multiple sets of contrast motion trajectory videos;

[0053] A sequence extraction unit is used to extract corresponding motion feature sequences from each group of contrast motion trajectory videos using a foreground detection algorithm;

[0054] The sequence determination unit is used to determine the linkage motion characteristic sequence of the opening and closing of the disconnecting switch based on each of the motion characteristic sequences;

[0055] The curve drawing unit is used to draw the trajectory curve of the opening and closing of the disconnecting switch according to the linkage motion characteristic sequence;

[0056] The curve comparison unit is used to compare whether the trajectory curve of the disconnecting switch opening and closing is consistent with the target trajectory curve of the disconnecting switch opening and closing under standard operating conditions.

[0057] The trajectory determination unit is used to determine that the movement trajectory of the disconnecting switch is normal if the trajectory curve of the disconnecting switch opening and closing is consistent with the target trajectory curve of the disconnecting switch opening and closing under standard operating conditions.

[0058] Optionally, in the above-mentioned motion trajectory monitoring device for the opening and closing of the disconnecting switch, the video acquisition unit includes:

[0059] The acquisition unit is used to acquire the original motion trajectory video of the opening and closing of the disconnector switch under the illumination of the light.

[0060] A modeling unit is used to extract a first frame image from the original motion trajectory video and to build a model sample set using each pixel in the first frame image.

[0061] As a unit, it is used to take each frame of the original motion trajectory video, except for the first frame, as a frame to be detected.

[0062] The selection unit is used to select a target pixel in each frame to be detected, and to randomly select a detection pixel within a preset range where the target pixel is located.

[0063] The generation unit is used to generate a neighborhood circular region of the target pixel with the detected pixel as the center and the Euclidean distance as the radius.

[0064] The comparison unit is used to compare whether the number of pixel intersections between the neighborhood circular region and the model sample set is less than a preset threshold.

[0065] The first determining unit is configured to determine the target pixel as a foreground pixel if the number of intersections between the neighboring circular region and the pixel of the model sample set is less than the preset threshold.

[0066] The second determining unit is used to determine the target pixel as a background pixel if the number of intersections between the neighboring circular region and the pixel points of the model sample set is not less than the preset threshold.

[0067] The annotation unit is used to annotate the original motion trajectory video based on all foreground pixels and / or all background pixels to obtain the target motion trajectory video of the opening and closing of the disconnector under illumination.

[0068] Optionally, the above-mentioned motion trajectory monitoring device for the opening and closing of the disconnecting switch further includes:

[0069] The image acquisition unit is used to acquire the current frame image after a preset frame interval, starting from the initial frame image in the original motion trajectory video;

[0070] An update unit is used to update the model sample set using each pixel in the current frame image.

[0071] Optionally, in the above-mentioned motion trajectory monitoring device for the opening and closing of the disconnecting switch, the adjustment unit includes:

[0072] A pixel value acquisition unit is used to acquire the maximum illumination pixel value from each frame of the target motion trajectory video.

[0073] The first calculation unit is used to calculate the first average value of each of the maximum illumination pixel values;

[0074] A brightness acquisition unit is used to acquire the average brightness of all pixels in each frame of the target motion trajectory video.

[0075] The second calculation unit is used to calculate the second average value of each of the average brightness values;

[0076] A numerical selection unit is used to uniformly select N numerical values ​​within the range from the first mean to the second mean;

[0077] The third calculation unit is used to calculate the brightness value of each of the N values ​​based on the first average and the second average.

[0078] The processing unit is used to increase the brightness of all pixels in the target motion trajectory video that are greater than the brightness value, and decrease the brightness of all pixels in the target motion trajectory video that are less than the brightness value, to obtain a set of contrast motion trajectory videos.

[0079] Optionally, in the above-mentioned motion trajectory monitoring device for the opening and closing of the disconnecting switch, the sequence determination unit includes:

[0080] The detection unit is used to detect whether a target motion feature sequence exists in each of the motion feature sequences using the Hough line detection algorithm; wherein, the target motion feature sequence refers to a feature sequence that can be abstracted into a straight line;

[0081] The third determining unit is used to determine the target motion feature sequence as the linkage motion feature sequence for opening and closing the disconnecting switch if the target motion feature sequence exists in each of the motion feature sequences.

[0082] Optionally, in the above-mentioned motion trajectory monitoring device for the opening and closing of the disconnecting switch, the curve drawing unit includes:

[0083] An angle extraction unit is used to extract the link angle of each frame image from the link motion feature sequence;

[0084] The drawing unit is used to draw the trajectory curve of the opening and closing of the disconnecting switch frame by frame according to the sequential order of each frame of the link motion feature sequence, using each link angle.

[0085] Optionally, in the above-mentioned motion trajectory monitoring device for the opening and closing of the disconnecting switch, the curve comparison unit includes:

[0086] The curve extraction unit is used to extract the smooth link trajectory curve from the opening and closing trajectory curve of the disconnecting switch using a smoothing algorithm;

[0087] An extraction unit is used to extract the link angles of the starting frame image and the ending frame image from the smooth link trajectory curve.

[0088] The differentiation unit is used to differentiate the smooth connecting rod trajectory curve to obtain the derivative curve;

[0089] The fourth calculation unit is used to calculate the first error between the link angle of the starting frame image and the link angle of the target starting frame image, and to calculate the second error between the link angle of the ending frame image and the link angle of the target ending frame image; wherein, the link angle of the target starting frame image refers to the link angle of the starting frame image in the target trajectory curve of the opening and closing of the disconnector switch under standard operating conditions; the link angle of the target ending frame image refers to the link angle of the ending frame image in the target trajectory curve of the opening and closing of the disconnector switch under standard operating conditions;

[0090] The comparison unit is used to compare whether the first error and the second error are both less than a preset threshold, and whether the derivative corresponding to the differentiation curve is a constant;

[0091] The fourth determining unit is used to determine that if both the first error and the second error are less than the preset threshold and the derivative corresponding to the derivative curve is a constant, then the trajectory curve of the disconnecting switch opening and closing is consistent with the target trajectory curve of the disconnecting switch opening and closing under standard operating conditions.

[0092] Optionally, the above-mentioned motion trajectory monitoring device for the opening and closing of the disconnecting switch further includes:

[0093] The fifth determining unit is used to determine that the movement trajectory of the disconnecting switch is abnormal if the trajectory curve of the disconnecting switch opening and closing is inconsistent with the target trajectory curve of the disconnecting switch opening and closing under standard operating conditions, and to provide feedback prompt information to the front end.

[0094] This application provides a method for monitoring the motion trajectory of a disconnecting switch during opening and closing. The method involves acquiring a video of the target motion trajectory of the disconnecting switch under illumination, then adjusting the contrast of the video using image processing techniques to obtain multiple sets of contrast-enhanced motion trajectory videos. Next, a foreground detection algorithm is used to extract corresponding motion feature sequences from each set of contrast-enhanced motion trajectory videos. Based on each motion feature sequence, the linkage motion feature sequence of the disconnecting switch is determined. Then, based on the linkage motion feature sequence, the trajectory curve of the disconnecting switch is plotted. Finally, the trajectory curve of the disconnecting switch is compared with the target trajectory curve of the disconnecting switch under standard operating conditions. If the trajectory curve of the disconnecting switch matches the target trajectory curve under standard operating conditions, the motion trajectory of the disconnecting switch is determined to be normal. This method enables automated monitoring of the motion trajectory of the disconnecting switch under sufficient lighting conditions, effectively improving monitoring efficiency and reducing labor costs. Attached Figure Description

[0095] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0096] Figure 1 A flowchart illustrating a method for monitoring the motion trajectory of a disconnecting switch during opening and closing, provided in an embodiment of this application;

[0097] Figure 2A flowchart illustrating a method for acquiring a target motion trajectory video provided in an embodiment of this application;

[0098] Figure 3 A first structural schematic diagram of the original motion trajectory video of the opening and closing of a disconnector provided in an embodiment of this application;

[0099] Figure 4 This is a second structural schematic diagram of the original motion trajectory video of the opening and closing of a disconnecting switch provided in an embodiment of this application;

[0100] Figure 5 A third structural schematic diagram of the original motion trajectory video of the opening and closing of a disconnecting switch provided in an embodiment of this application;

[0101] Figure 6 A flowchart of a method for updating a model sample set provided in another embodiment of this application;

[0102] Figure 7 A flowchart illustrating a method for acquiring contrast motion trajectory video provided in an embodiment of this application;

[0103] Figure 8 A first structural schematic diagram of a frame image in a contrast motion trajectory video provided in an embodiment of this application;

[0104] Figure 9 This application provides a second structural schematic diagram of a frame image in a contrast motion trajectory video, as provided in an embodiment of the present application.

[0105] Figure 10 A third structural diagram of a frame image in a contrast motion trajectory video provided in an embodiment of this application;

[0106] Figure 11 A fourth structural diagram of a frame image in a contrast motion trajectory video provided in an embodiment of this application;

[0107] Figure 12 A fifth structural schematic diagram of a frame image in a contrast motion trajectory video provided in an embodiment of this application;

[0108] Figure 13 A sixth structural diagram of a frame image in a contrast motion trajectory video provided in an embodiment of this application;

[0109] Figure 14 A flowchart illustrating a method for determining a linkage motion characteristic sequence provided in an embodiment of this application;

[0110] Figure 15 This is a first structural schematic diagram of a linkage motion feature sequence provided in an embodiment of this application;

[0111] Figure 16 This is a schematic diagram of a second structure for a linkage motion feature sequence provided in an embodiment of this application;

[0112] Figure 17 A third structural schematic diagram of a linkage motion characteristic sequence provided in an embodiment of this application;

[0113] Figure 18 A fourth structural schematic diagram of a linkage motion characteristic sequence provided in an embodiment of this application;

[0114] Figure 19 A fifth structural schematic diagram of a linkage motion characteristic sequence provided in an embodiment of this application;

[0115] Figure 20 A sixth structural schematic diagram of a linkage motion characteristic sequence provided in an embodiment of this application;

[0116] Figure 21 A seventh structural schematic diagram of a linkage motion characteristic sequence provided in an embodiment of this application;

[0117] Figure 22 A flowchart illustrating a method for drawing a trajectory curve, as provided in an embodiment of this application;

[0118] Figure 23 A flowchart illustrating a method for comparing trajectory curves provided in an embodiment of this application;

[0119] Figure 24 A schematic diagram of the burr phenomenon of a trajectory curve provided in an embodiment of this application;

[0120] Figure 25 A structural schematic diagram of a trajectory curve smoothing phenomenon provided in an embodiment of this application;

[0121] Figure 26 This is a schematic diagram of the structure of a motion trajectory monitoring device for the opening and closing of a disconnecting switch, provided in another embodiment of this application. Detailed Implementation

[0122] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0123] In this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0124] This application provides a method for monitoring the motion trajectory of a disconnector switch during opening and closing, such as... Figure 1 As shown, the specific steps include:

[0125] S101. Obtain video of the target motion trajectory of the disconnecting switch under the illumination of the light.

[0126] It should be noted that, since the observation scenario of the opening and closing motion of the disconnecting switch is usually poorly lit, and it is also necessary to monitor the movement trajectory of the disconnecting switch to determine if any abnormalities have occurred, in this embodiment, an incandescent lamp is first installed at the observation location to effectively compensate for the insufficient lighting. Then, a video of the target movement trajectory of the disconnecting switch under the illumination of the incandescent lamp is acquired. The target movement trajectory video is obtained in advance by adding foreground annotations to the movement trajectory video.

[0127] Optionally, the embodiments of this application are not limited to incandescent lamps, but may also include other devices with strong light.

[0128] Optionally, in another embodiment of this application, one specific implementation of step S101 is as follows: Figure 2 As shown, it includes the following steps:

[0129] S201. Obtain the original motion trajectory video of the opening and closing of the disconnecting switch under the illumination of the light.

[0130] Specifically, the spatial pixel size of the acquired original motion trajectory video can be 576×960, and the total number of frames can be 337. Of course, the spatial pixel size and total number of frames of the motion trajectory video can be other thresholds, which can be set according to the specific situation. The original motion trajectory video of the disconnecting switch opening and closing can be found in [reference needed]. Figure 3 The first structural schematic diagram of the original motion trajectory video of the disconnecting switch opening and closing shown below. Figure 4The second structural schematic diagram of the original motion trajectory video of the disconnecting switch opening and closing shown, and Figure 5 The third structural diagram of the original motion trajectory video of the disconnecting switch opening and closing shown should be noted as follows: Figure 3 , Figure 4 as well as Figure 5 All of these are the processes of disconnecting the switch. Figure 5 It can be further represented as a single-frame image at the end of the disconnection switch opening.

[0131] S202. Extract the first frame image from the original motion trajectory video, and use each pixel in the first frame image to build a model sample set.

[0132] It should be emphasized that, in order to mark the pixels of the background target light intensity during the movement and enhance the movement trajectory of the disconnecting switch, in this embodiment of the application, all the pixels in the first frame image contained in the original movement trajectory video will be combined into a model sample set for reference in subsequent marking.

[0133] Specifically, the sample value of any pixel in the model sample set can be randomly selected from its spatial neighborhood. The model sample set M(x) for pixel x can be represented as:

[0134] M(x) = {v1, v2, ..., v m}

[0135] Where v m is the pixel value obtained by randomly sampling within the 8-neighborhood of pixel x, and m is the fixed number of samples for each pixel. In this embodiment, m can be 40, but m can also be other thresholds, which can be set according to requirements.

[0136] S203. Take each frame in the original motion trajectory video except for the first frame as the frame to be detected.

[0137] Specifically, since foreground target detection is required for each subsequent frame image except the first frame image, this embodiment of the application uses each frame image in the original motion trajectory video except the first frame image as the frame to be detected.

[0138] S204. For each frame to be detected, arbitrarily select a target pixel in the frame to be detected, and randomly select a detection pixel within the preset range where the target pixel is located.

[0139] It should be noted that since the interference features caused by changes in background lighting during motion are unknown, in order to suppress these interference features and make the motion trajectory clearer, it is necessary to arbitrarily select a target pixel in the frame to be detected, and then randomly select a detection pixel within a preset range of the target pixel for subsequent pixel annotation. The preset range is the area formed by the eight pixels surrounding the target pixel.

[0140] S205. Using the detected pixel as the center and the Euclidean distance as the radius, generate a neighborhood circular region of the target pixel.

[0141] It should be noted that the detected pixel is the central part of the pixel label, and the central part of the pixel label determines the degree of similarity intersection between the final frame to be detected and the first frame. This is especially important for monitoring the movement trajectory of the opening and closing of the disconnecting switch. Therefore, in this embodiment, it is necessary to determine the neighborhood circular region of the target pixel with the detected pixel as the center and the Euclidean distance as the radius.

[0142] The Euclidean distance R is 3, but it can also be other thresholds, which can be set according to the specific requirements.

[0143] S206. Compare whether the number of intersections between the neighboring circular region and the model sample set of pixels is less than a preset threshold.

[0144] Specifically, in order to determine whether the target pixel is a moving point of the disconnector switch or a background point (interference feature), and to avoid interference features caused by changes in background illumination during the switching process, thereby flexibly and effectively observing the moving point of the disconnector switch to determine its trajectory, this embodiment uses a method of comparing pixel intersections to confirm the target pixel. Specifically, it compares whether the intersection of the neighboring circular region and the model sample set is less than a preset threshold. If the intersection is less than the preset threshold, step S207 is executed. If the intersection is not less than the preset threshold, step S208 is executed.

[0145] Specifically, the comparison expression is:

[0146]

[0147] Among them, T min S is a preset threshold. R v(x) represents the neighborhood circular region, and M(x) represents the model sample set.

[0148] S207. Determine the target pixel as the foreground pixel.

[0149] Specifically, if the number of intersections between the neighboring circular region and the pixel points of the model sample set is less than a preset threshold, the target pixel point is determined as the foreground pixel point. In other words, the target pixel point is the moving point in the original motion trajectory video of the disconnecting switch opening and closing.

[0150] S208. Determine the target pixel as the background pixel.

[0151] Specifically, when the number of intersections between the neighboring circular region and the pixel points of the model sample set is not less than a preset threshold, the target pixel point is determined as a background pixel point. In other words, the target pixel point is a background point (interference feature) in the original motion trajectory video of the disconnecting switch opening and closing.

[0152] S209. Based on all foreground pixels and / or all background pixels, annotate the original motion trajectory video to obtain the target motion trajectory video of the disconnecting switch opening and closing under illumination.

[0153] Understandably, once all the target pixels corresponding to the frames to be detected have been determined, the original motion trajectory video is marked with motion points and / or background points based on all the determined target pixels, so that the motion trajectory video of the disconnecting switch opening and closing marked under the illumination of the light can be obtained.

[0154] Optionally, since the opening and closing of the disconnecting switch is constantly in motion, the model sample set also needs to be continuously updated in order to accurately and effectively annotate the motion video of the disconnecting switch's opening and closing, facilitating subsequent processing. Therefore, in another embodiment of this application, a method for updating the model sample set is also provided, such as... Figure 6 As shown, the specific steps include:

[0155] S601. Starting from the initial frame image in the original motion trajectory video, obtain the current frame image after a preset number of frame intervals.

[0156] Specifically, in order to update the model sample set in a timely manner and facilitate the observation of the motion trajectory video of the disconnecting switch opening and closing, the current frame image is acquired every ψ frames after a preset number of frames, starting from the initial frame image in the original motion trajectory video.

[0157] Optionally, to minimize the interference of ghosting, ψ can be 3, or other thresholds can be used, depending on the specific situation. It should be noted that the smaller the ψ value, the faster the background sample set is updated.

[0158] S602. Update the model sample set using each pixel in the current frame image.

[0159] Optionally, after acquiring the current frame image, a pixel can be randomly selected at position (m, n) within the spatial neighborhood corresponding to the current frame image to update the model sample set. Here, m is the length of the current frame image, and n is the width of the current frame image.

[0160] S102. Use image processing techniques to adjust the brightness and contrast of the target motion trajectory video to obtain multiple sets of contrast motion trajectory videos.

[0161] It should be noted that, since incandescent lamps are installed at the opening and closing positions, the light reflected by the connecting rod material of the opening and closing will be very strong. Therefore, it is necessary to adjust the brightness and contrast of the target motion trajectory video to different degrees so that the connecting rod motion trajectory in the target motion trajectory video becomes a significant motion feature, in order to further suppress changes in background lighting. Therefore, in this embodiment of the application, image technology is used to adjust the brightness and contrast of the target motion trajectory video, so multiple sets of contrast motion trajectory videos will be obtained.

[0162] Optionally, in another embodiment of this application, one specific implementation of step S103 is as follows: Figure 7 As shown, it includes the following steps:

[0163] S701. Obtain the maximum illumination pixel value from each frame of the target motion trajectory video.

[0164] Understandably, in order to better reflect the brightness and contrast of the target motion trajectory video, it is necessary to pre-obtain the maximum illumination pixel value from each frame of the target motion trajectory video under incandescent illumination. Specifically, firstly, an appropriate library (such as OpenCV) can be used to read the target motion trajectory video frame by frame. Then, each frame image is converted into a grayscale image to simplify processing. Finally, each pixel of each frame image is traversed, and the maximum illumination pixel value in each frame image is recorded.

[0165] S702. Calculate the first mean value of each pixel with maximum illumination.

[0166] S703. Obtain the average brightness of all pixels in each frame of the target motion trajectory video.

[0167] Specifically, firstly, an appropriate library (such as OpenCV) is used to read the target motion trajectory video frame by frame. Then, each frame image is converted into a grayscale image to simplify processing. Next, the mean of the grayscale image is calculated, which is the average brightness value of all pixels in each frame image. Finally, for each frame, the calculated mean brightness value is saved for subsequent analysis or processing.

[0168] S704. Calculate the second mean of each mean brightness.

[0169] S705. Select N values ​​evenly from the first mean to the second mean.

[0170] Understandably, to obtain video sequences with different brightness and darkness contrasts, N values ​​can be evenly selected within the range of the first mean to the second mean. Here, N represents the number of video sequences with different brightness and darkness contrasts to obtain, which is within the range of [I...]. max I mean I takes n values ​​uniformly within the range of values. max I represents the first mean. mean This represents the second mean.

[0171] Optionally, N can be 6, or any other value, depending on the situation.

[0172] S706. For each of the N values, calculate the brightness value of the value based on the first mean and the second mean.

[0173] Specifically, the formula for calculating the brightness value is:

[0174]

[0175] Among them, I max I represents the first mean. mean denoted as the second mean, N represents the number of video sequences with different brightness and contrast ratios obtained, and i represents the value obtained from the range of the first mean to the second mean.

[0176] S707. Increase the brightness of all pixels in the target motion trajectory video that are greater than the brightness value, and decrease the brightness of all pixels in the target motion trajectory video that are less than the brightness value, to obtain a set of contrast motion trajectory videos.

[0177] It is understandable that N values ​​will result in N brightness values. Therefore, it is necessary to increase the brightness of all pixels in the target motion trajectory video that are greater than the brightness value, and decrease the brightness of all pixels in the target motion trajectory video that are less than the brightness value, based on the N brightness values. This will give us N sets of contrast motion trajectory videos. We can then change the brightness contrast of the target motion trajectory video frame by frame, which can be effectively used for subsequent detection of motion features in the target motion trajectory video.

[0178] Specifically, the frames corresponding to the N sets of contrast motion trajectory videos can be found in the following references: Figure 8 , Figure 9 , Figure 10 , Figure 11 , Figure 12 , Figure 13 .

[0179] S103. Use a foreground detection algorithm to extract the corresponding motion feature sequence from each group of contrast motion trajectory videos.

[0180] It should be noted that the specific implementation method in step S103 is different from that in steps S201 to S208 only in the object of implementation. The specific implementation methods are the same. Therefore, the specific implementation method of step S103 can be referred to steps S201 to S208 in the above method embodiment, and will not be repeated here.

[0181] It should also be noted that the foreground pixels in step S207 are the motion feature sequence in step S103.

[0182] S104. Determine the linkage motion characteristic sequence for opening and closing the disconnecting switch based on each motion characteristic sequence.

[0183] It should be noted that the connecting rod inside the disconnecting switch is particularly important during the entire opening and closing process of the disconnecting switch, as it can reflect whether the movement trajectory of the disconnecting switch is abnormal. Since the material of the connecting rod in the opening and closing of the disconnecting switch has the strongest light reflection, this embodiment of the application determines the connecting rod movement characteristic sequence of the disconnecting switch by changing the brightness and darkness contrast of the video and finding the motion characteristic sequence with the best brightness and darkness contrast.

[0184] Optionally, in another embodiment of this application, one specific implementation of step S104 is as follows: Figure 14 As shown, it includes the following steps:

[0185] S1401. Using the Hough line detection algorithm, detect whether a target motion feature sequence exists in each motion feature sequence.

[0186] Among them, the target motion feature sequence refers to the feature sequence that can be abstracted into a straight line.

[0187] It should be noted that, since the connecting rod inside the disconnecting switch can be abstracted as a straight line rotating around a fixed point during the entire opening and closing process of the disconnecting switch, this embodiment of the application uses the Hough line detection algorithm to detect each motion feature sequence. Because the connecting rod has the strongest reflection intensity, under the illumination of incandescent lamp and with appropriate brightness and darkness contrast, the strongest light on the connecting rod is exactly a straight line. Therefore, the Hough line detection algorithm is used to detect whether there are multiple motion features that can be abstracted as a straight line in each motion feature sequence, that is, the target motion feature sequence. If there are multiple target motion feature sequences in each motion feature sequence, it means that the target motion feature sequence can be abstracted as a straight line, that is, it means that the target motion feature sequence can characterize the connecting rod motion feature sequence. Therefore, step S1402 is executed.

[0188] S1402. The target motion characteristic sequence is determined as the linkage motion characteristic sequence of the disconnecting switch opening and closing.

[0189] It is understandable that when there is a motion feature sequence among multiple motion feature sequences that can be abstracted into a straight line, then it is necessary to determine the motion feature sequence that can be abstracted into a straight line as a linkage motion feature sequence for subsequent detection of the opening and closing status of the disconnecting switch.

[0190] Specifically, the characteristic sequence of linkage motion can be found in [reference needed]. Figure 15 , Figure 16 , Figure 17 , Figure 18 , Figure 19 , Figure 20 as well as Figure 21 Because the motion feature sequences from multiple sets of contrast motion trajectory videos are processed by linkage motion detection, Figure 13 In the motion feature sequence, the link is detected as a straight line, therefore Figure 15 , Figure 16 , Figure 17 , Figure 18 , Figure 19 , Figure 20 as well as Figure 21 The white lines in the middle represent the motion state of the connecting rod.

[0191] S105. Based on the linkage motion characteristic sequence, draw the trajectory curves of the opening and closing of the disconnecting switch.

[0192] Specifically, the trajectory curves of the opening and closing of the disconnecting switch can be plotted based on the position of the linkage motion characteristic sequence. This plotting can be accomplished using charting software or drawing tools.

[0193] Optionally, in another embodiment of this application, one specific implementation of step S105 is as follows: Figure 22 As shown, it includes the following steps:

[0194] S2201. Extract the link angle of each frame image from the link motion feature sequence.

[0195] It should be noted that when the Hough line detection algorithm detects a target motion feature sequence with a line count of 1 among multiple motion feature sequences, then this target motion feature sequence is a link motion feature sequence, and the rotation angle trajectory of this target motion feature sequence can represent the rotation trajectory of the link. In order to subsequently compare it with the target trajectory curve of the disconnector switch under standard operating conditions, it is also necessary to draw the trajectory curve corresponding to the target motion trajectory video. Therefore, in this embodiment, the trajectory curve is drawn based on the link angles of the link motion feature sequence. Thus, it is necessary to extract the link angles of each frame from the link motion feature sequence beforehand. For details, please refer to... Figure 15 , Figure 16 , Figure 17 , Figure 18 , Figure 19 , Figure 20 as well as Figure 21 These figures all show the rotation angle of the connecting rod during the opening and closing process of the disconnecting switch.

[0196] S2202. According to the sequential order of each frame of the linkage motion characteristic sequence, draw the trajectory curve of the opening and closing of the disconnecting switch frame by frame using each linkage angle.

[0197] Understandably, in order to accurately and effectively draw the trajectory curves corresponding to the target motion trajectory video and reflect the working status of the disconnecting switch opening and closing, it is necessary to draw the trajectory curves of the disconnecting switch opening and closing according to the order of each frame of the linkage motion feature sequence and using the linkage angle corresponding to each frame of the image.

[0198] S106. Compare the opening and closing trajectory curves of the disconnecting switch with the target trajectory curves of the disconnecting switch under standard operating conditions to see if they are consistent.

[0199] It is important to emphasize that after drawing the trajectory curve of the disconnecting switch opening and closing, it is necessary to compare the trajectory curve with the target trajectory curve drawn under the standard operating conditions to determine whether the current operating state of the disconnecting switch opening and closing is normal. Therefore, if the trajectory curve of the disconnecting switch opening and closing is consistent with the target trajectory curve under the standard operating conditions, it indicates that the current operating state of the disconnecting switch opening and closing is normal, and step S107 is executed.

[0200] Optionally, after performing step S106, the method further includes:

[0201] If the trajectory curve of the disconnecting switch opening and closing is inconsistent with the target trajectory curve of the disconnecting switch opening and closing under standard operating conditions, it is determined that the movement trajectory of the disconnecting switch opening and closing is abnormal, and a prompt message is sent back to the front end.

[0202] Specifically, when the trajectory curve of the disconnecting switch opening and closing is inconsistent with the target trajectory curve of the disconnecting switch opening and closing under standard operating conditions, it indicates that the current operating status of the disconnecting switch opening and closing is abnormal. At this time, it is necessary to promptly send feedback information about the disconnecting switch opening and closing to the front end to remind the staff that the disconnecting switch opening and closing is abnormal and needs to be checked and repaired in time to avoid affecting the normal operation of the equipment.

[0203] Optionally, in another embodiment of this application, one specific implementation of step S106 is as follows: Figure 23 As shown, it includes the following steps:

[0204] S2301. Use a smoothing algorithm to extract the smooth link trajectory curve from the trajectory curve of the opening and closing of the disconnecting switch.

[0205] It should be noted that the trajectory of the disconnecting switch's opening and closing linkage contains burrs, which is caused by Hough linear detection error. This results in burrs on the plotted trajectory curve of the disconnecting switch's opening and closing. For details, please refer to [link to relevant documentation]. Figure 24 As shown, this embodiment of the application requires the use of a smoothing algorithm to extract the smooth link trajectory curve from the trajectory curve of the disconnecting switch's opening and closing. For details, please refer to... Figure 25 The content shown.

[0206] Alternatively, the smoothing algorithm can be implemented using the average of the data points within the sliding window or an exponentially weighted average.

[0207] S2302. Extract the link angles from the starting frame image and the ending frame image from the smooth link trajectory curve.

[0208] Specifically, based on the kinematic principles of the link, the link angle can be calculated using the arctangent function atan2(y, x) or other angle calculation functions. Therefore, the link angle θ of the initial frame image of the current smooth link trajectory curve can be obtained through the angle calculation function. begin =136°, the link angle θ of the ending frame image over =60°.

[0209] S2303. Differentiate the smooth connecting rod trajectory curve to obtain the derivative curve.

[0210] Understandably, differentiating the smooth link trajectory curve and obtaining the derivative curve can be used to detect whether the opening and closing process of the disconnecting switch is stuck, thereby determining whether the working status of the disconnecting switch is normal.

[0211] S2304. Calculate the first error between the link angle of the starting frame image and the link angle of the target starting frame image, and calculate the second error between the link angle of the ending frame image and the link angle of the target ending frame image.

[0212] The link angle in the target starting frame image refers to the link angle in the starting frame image of the target trajectory curve for opening and closing the disconnector switch under standard operating conditions. The link angle in the target ending frame image refers to the link angle in the ending frame image of the target trajectory curve for opening and closing the disconnector switch under standard operating conditions.

[0213] Specifically, calculating the error between the two angles is to determine whether the error is within the normal range, thereby determining whether the opening and closing status of the disconnecting switch is normal.

[0214] S2305. Compare whether the first error and the second error are both less than the preset threshold, and whether the derivative corresponding to the derivative curve is a constant.

[0215] It should be noted that the comparison is made to see if both the first error and the second error are less than the preset threshold, and whether the derivative corresponding to the derivative curve is a constant. That is, the initial angle and the final angle of the rotation of the connecting rod fixed shaft under the motion trajectory video obtained in step S101 are compared with the initial angle and the final angle of the rotation of the connecting rod fixed shaft under the standard working state. Therefore, if both the first error and the second error are less than the preset threshold, and the derivative corresponding to the derivative curve is a constant, it means that the working state of the disconnecting switch opening and closing is normal, so step S2306 is executed.

[0216] Optionally, if both the first error and the second error are not less than the preset threshold, and the derivative corresponding to the derivative curve is not a constant, it indicates that the working state of the disconnecting switch is abnormal. Therefore, the trajectory curve of the disconnecting switch is determined to be inconsistent with the target trajectory curve of the disconnecting switch under the standard working state.

[0217] Optionally, the first error corresponds to a value less than a preset threshold of +2°, and the second error corresponds to a value less than a preset threshold of -2°. Of course, other thresholds can also be used, and the specific values ​​can be set according to the requirements.

[0218] S2306. Ensure that the trajectory curve of the disconnecting switch opening and closing is consistent with the target trajectory curve of the disconnecting switch opening and closing under standard operating conditions.

[0219] It is understandable that when both the first error and the second error are less than the preset threshold, and the derivative of the derivative curve is a constant, it means that the trajectory curve of the disconnecting switch opening and closing is consistent with the target trajectory curve of the disconnecting switch opening and closing under standard working conditions, thus indicating that the working state of the disconnecting switch opening and closing is normal.

[0220] S107. Confirm that there are no abnormalities in the movement trajectory of the disconnecting switch when it opens and closes.

[0221] Specifically, when the trajectory curve of the disconnecting switch opening and closing is consistent with the target trajectory curve of the disconnecting switch opening and closing under standard operating conditions, it indicates that the action process of the disconnecting switch opening and closing is uniform and there is no jamming in the movement process. Therefore, it is determined that the movement trajectory of the disconnecting switch opening and closing is normal.

[0222] This application provides a method for monitoring the motion trajectory of a disconnecting switch during opening and closing. The method involves acquiring a video of the target motion trajectory of the disconnecting switch under illumination, then adjusting the contrast of the video using image processing techniques to obtain multiple sets of contrast-enhanced motion trajectory videos. Next, a foreground detection algorithm is used to extract corresponding motion feature sequences from each set of contrast-enhanced motion trajectory videos. Based on each motion feature sequence, the linkage motion feature sequence of the disconnecting switch is determined. Then, based on the linkage motion feature sequence, the trajectory curve of the disconnecting switch is plotted. Finally, the trajectory curve of the disconnecting switch is compared with the target trajectory curve of the disconnecting switch under standard operating conditions. If the trajectory curve of the disconnecting switch matches the target trajectory curve under standard operating conditions, the motion trajectory of the disconnecting switch is determined to be normal. This method enables automated monitoring of the motion trajectory of the disconnecting switch under sufficient lighting conditions, effectively improving monitoring efficiency and reducing labor costs.

[0223] Another embodiment of this application provides a motion trajectory monitoring device for the opening and closing of a disconnecting switch, such as... Figure 26 As shown, it includes the following units:

[0224] The video acquisition unit 2601 is used to acquire video of the target motion trajectory of the disconnecting switch under the illumination of light.

[0225] The adjustment unit 2602 is used to adjust the brightness and contrast of the target motion trajectory video using image technology to obtain multiple sets of contrast motion trajectory videos.

[0226] The sequence extraction unit 2603 is used to extract the corresponding motion feature sequence from each group of contrast motion trajectory videos using a foreground detection algorithm.

[0227] The sequence determination unit 2604 is used to determine the linkage motion characteristic sequence of the opening and closing of the disconnecting switch based on each motion characteristic sequence.

[0228] The curve drawing unit 2605 is used to draw the trajectory curves of the opening and closing of the disconnecting switch based on the linkage motion characteristic sequence.

[0229] The curve comparison unit 2606 is used to compare whether the trajectory curve of the disconnecting switch opening and closing is consistent with the target trajectory curve of the disconnecting switch opening and closing under standard operating conditions.

[0230] The trajectory determination unit 2607 is used to determine that the movement trajectory of the disconnecting switch is normal if the trajectory curve of the disconnecting switch opening and closing is consistent with the target trajectory curve of the disconnecting switch opening and closing under standard operating conditions.

[0231] It should be noted that the specific working process of the above-mentioned units in the embodiments of this application can be referred to steps S101 to S107 in the above method embodiments, and will not be repeated here.

[0232] Optionally, in another embodiment of this application, a motion trajectory monitoring device for the opening and closing of a disconnecting switch includes a video acquisition unit 2601, comprising:

[0233] The acquisition unit is used to acquire the original motion trajectory video of the opening and closing of the disconnecting switch under the illumination of the light.

[0234] A model sample set is established by extracting the first frame image from the original motion trajectory video and using each pixel in the first frame image.

[0235] As a unit, it is used to take each frame in the original motion trajectory video except for the first frame as the frame to be detected.

[0236] The selection unit is used to select a target pixel in each frame to be detected, and to randomly select a detection pixel within a preset range where the target pixel is located.

[0237] The generation unit is used to generate a circular neighborhood region of the target pixel with the detected pixel as the center and the Euclidean distance as the radius.

[0238] The comparison unit is used to compare whether the number of intersections between the neighboring circular region and the number of pixels in the model sample set is less than a preset threshold.

[0239] The first determining unit is used to determine the target pixel as a foreground pixel if the number of intersections between the neighboring circular region and the pixel of the model sample set is less than a preset threshold.

[0240] The second determining unit is used to determine the target pixel as a background pixel if the number of intersections between the neighboring circular region and the pixel points of the model sample set is not less than a preset threshold.

[0241] The annotation unit is used to annotate the original motion trajectory video based on all foreground pixels and / or all background pixels to obtain the target motion trajectory video of the disconnecting switch opening and closing under illumination.

[0242] Optionally, another embodiment of this application provides a motion trajectory monitoring device for the opening and closing of a disconnecting switch, which further includes:

[0243] The image acquisition unit is used to acquire the current frame image after a preset number of frame intervals, starting from the initial frame image in the original motion trajectory video.

[0244] The update unit is used to update the model sample set using each pixel in the current frame image.

[0245] Optionally, in another embodiment of this application, a motion trajectory monitoring device for the opening and closing of a disconnecting switch includes an adjustment unit 2602 comprising:

[0246] The pixel value acquisition unit is used to acquire the maximum illumination pixel value from each frame of the target motion trajectory video.

[0247] The first calculation unit is used to calculate the first mean value of each pixel with maximum illumination.

[0248] The brightness acquisition unit is used to acquire the average brightness of all pixels in each frame of the target motion trajectory video.

[0249] The second calculation unit is used to calculate the second mean value of each mean brightness.

[0250] The numerical selection unit is used to uniformly select N numerical values ​​within the range of the first mean to the second mean.

[0251] The third calculation unit is used to calculate the brightness value of each of the N values ​​based on the first average and the second average.

[0252] The processing unit is used to increase the brightness of all pixels in the target motion trajectory video that are greater than the brightness value, and decrease the brightness of all pixels in the target motion trajectory video that are less than the brightness value, to obtain a set of contrast motion trajectory videos.

[0253] Optionally, in another embodiment of this application, a motion trajectory monitoring device for the opening and closing of a disconnecting switch includes a sequence determination unit 2604, comprising:

[0254] The detection unit is used to detect whether a target motion feature sequence exists in each motion feature sequence using the Hough line detection algorithm. Here, the target motion feature sequence refers to a feature sequence that can be abstracted into a straight line.

[0255] The third determining unit is used to determine the target motion feature sequence as the linkage motion feature sequence for opening and closing the disconnecting switch if a target motion feature sequence exists in each motion feature sequence.

[0256] Optionally, in another embodiment of this application, a motion trajectory monitoring device for the opening and closing of a disconnecting switch includes a curve drawing unit 2605, comprising:

[0257] Angle extraction unit is used to extract the link angles from each frame of the image from the link motion feature sequence.

[0258] The drawing unit is used to draw the trajectory curves of the opening and closing of the disconnecting switch frame by frame, according to the sequential order of each frame of the link motion characteristic sequence and using each link angle.

[0259] Optionally, in another embodiment of this application, a motion trajectory monitoring device for the opening and closing of a disconnecting switch includes a curve comparison unit 2606, comprising:

[0260] The curve extraction unit is used to extract the smooth link trajectory curve from the trajectory curve of the opening and closing of the disconnecting switch using a smoothing algorithm.

[0261] The extraction unit is used to extract the link angles from the start frame image and the end frame image from the smooth link trajectory curve.

[0262] The differentiation unit is used to differentiate the smooth link trajectory curve to obtain the derivative curve.

[0263] The fourth calculation unit is used to calculate the first error between the link angle of the starting frame image and the link angle of the target starting frame image, and the second error between the link angle of the ending frame image and the link angle of the target ending frame image. The link angle of the target starting frame image refers to the link angle of the starting frame image in the target trajectory curve of the disconnector switch's opening and closing under standard operating conditions. The link angle of the target ending frame image refers to the link angle of the ending frame image in the target trajectory curve of the disconnector switch's opening and closing under standard operating conditions.

[0264] The comparison unit is used to compare whether the first error and the second error are both less than a preset threshold, and whether the derivative corresponding to the derivative curve is a constant.

[0265] The fourth determining unit is used to determine that if both the first error and the second error are less than a preset threshold and the derivative corresponding to the derivative curve is a constant, then the trajectory curve of the disconnecting switch opening and closing is consistent with the target trajectory curve of the disconnecting switch opening and closing under standard operating conditions.

[0266] Optionally, another embodiment of this application provides a motion trajectory monitoring device for the opening and closing of a disconnecting switch, which further includes:

[0267] The fifth determining unit is used to determine that the movement trajectory of the disconnecting switch is abnormal if the trajectory curve of the disconnecting switch opening and closing is inconsistent with the target trajectory curve of the disconnecting switch opening and closing under standard operating conditions, and to provide feedback information to the front end.

[0268] In summary, another embodiment of this application provides a motion trajectory monitoring device for the opening and closing of a disconnecting switch. This device involves installing an incandescent lamp at the observation location and acquiring a video of the target motion trajectory of the disconnecting switch under incandescent illumination. The contrast of the target motion trajectory video is then adjusted frame by frame. Motion features are detected from the motion trajectory videos with different contrast levels. Subsequently, a significant linkage motion feature sequence is extracted based on the Hough line detection algorithm. Finally, a curve is plotted based on the linkage motion feature sequence, and the curve is compared with the opening and closing motion trajectory of the disconnecting switch under standard operating conditions to monitor the operating status of the disconnecting switch. This allows for monitoring of the movement process of the disconnecting switch under sufficient illumination, solving the problems of time and labor costs associated with manual observation, and thus achieving automated monitoring of the disconnecting switch's opening and closing.

[0269] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0270] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for monitoring the motion trajectory of a disconnecting switch during opening and closing, characterized in that, include: Acquire video of the target motion trajectory of the disconnecting switch under illumination; The contrast of the target motion trajectory video is adjusted using image processing techniques to obtain multiple sets of contrast motion trajectory videos; A foreground detection algorithm is used to extract the corresponding motion feature sequence from each group of contrast motion trajectory videos; Based on each of the motion characteristic sequences, determine the linkage motion characteristic sequence for opening and closing the disconnecting switch; Based on the linkage motion characteristic sequence, draw the trajectory curves of the opening and closing of the disconnecting switch; Compare the opening and closing trajectory curves of the disconnecting switch with the target opening and closing trajectory curves of the disconnecting switch under standard operating conditions to see if they are consistent. If the trajectory curve of the disconnecting switch opening and closing is consistent with the target trajectory curve of the disconnecting switch opening and closing under standard operating conditions, then it is determined that the movement trajectory of the disconnecting switch opening and closing is normal. The step of adjusting the brightness and contrast of the target motion trajectory video using image processing techniques to obtain multiple sets of contrast motion trajectory videos includes: Obtain the maximum illumination pixel value from each frame of the target motion trajectory video; Calculate the first mean value for each of the maximum illumination pixel values; Obtain the average brightness of all pixels in each frame of the target motion trajectory video; Calculate the second mean value for each of the said mean brightness values; N values ​​are selected uniformly within the range of the first mean to the second mean; For each of the N values, calculate the brightness value of the value based on the first average and the second average; Increase the brightness of all pixels in the target motion trajectory video that are greater than the brightness value, and decrease the brightness of all pixels in the target motion trajectory video that are less than the brightness value, to obtain a set of contrast motion trajectory videos; The step of determining the linkage motion characteristic sequence for opening and closing the disconnecting switch based on each of the motion characteristic sequences includes: The Hough line detection algorithm is used to detect whether a target motion feature sequence exists in each of the motion feature sequences; wherein, the target motion feature sequence refers to the feature sequence that abstracts the motion feature sequence into a straight line; If the target motion feature sequence exists in each of the motion feature sequences, then the target motion feature sequence is determined as the linkage motion feature sequence for the opening and closing of the disconnecting switch; The comparison of whether the trajectory curve of the disconnecting switch opening and closing is consistent with the target trajectory curve of the disconnecting switch opening and closing under standard operating conditions includes: A smoothing algorithm is used to extract the smooth link trajectory curve from the opening and closing trajectory curve of the disconnecting switch; Extract the link angles from the starting frame image and the ending frame image from the smooth link trajectory curve; Differentiate the smooth link trajectory curve to obtain the derivative curve; Calculate the first error between the link angle of the starting frame image and the link angle of the target starting frame image, and calculate the second error between the link angle of the ending frame image and the link angle of the target ending frame image; wherein, the link angle of the target starting frame image refers to the link angle of the starting frame image in the target trajectory curve of the opening and closing of the disconnector switch under standard operating conditions; the link angle of the target ending frame image refers to the link angle of the ending frame image in the target trajectory curve of the opening and closing of the disconnector switch under standard operating conditions; Compare whether both the first error and the second error are less than a preset threshold, and whether the derivative corresponding to the derivative curve is a constant; If both the first error and the second error are less than the preset threshold, and the derivative corresponding to the derivative curve is a constant, then the trajectory curve of the disconnecting switch opening and closing is determined to be consistent with the target trajectory curve of the disconnecting switch opening and closing under standard operating conditions.

2. The method according to claim 1, characterized in that, The acquisition of the target motion trajectory video of the disconnecting switch under the illumination of the light includes: Acquire the original motion trajectory video of the opening and closing of the disconnecting switch under the illumination of the light; Extract the first frame image from the original motion trajectory video, and use each pixel in the first frame image to build a model sample set; Each frame in the original motion trajectory video, except for the first frame, is taken as a frame to be detected. For each frame to be detected, a target pixel is randomly selected in the frame to be detected, and a detection pixel is randomly selected within a preset range where the target pixel is located. A neighborhood circular region of the target pixel is generated with the detected pixel as the center and the Euclidean distance as the radius. Compare whether the number of pixels intersecting the neighborhood circular region and the model sample set is less than a preset threshold; If the number of intersections between the neighboring circular region and the number of pixels in the model sample set is less than the preset threshold, then the target pixel is determined as a foreground pixel. If the number of intersections between the neighborhood circular region and the pixels in the model sample set is not less than the preset threshold, then the target pixel is determined as a background pixel. The original motion trajectory video is annotated based on all foreground pixels and / or all background pixels to obtain the target motion trajectory video of the disconnecting switch opening and closing under illumination.

3. The method according to claim 2, characterized in that, Also includes: Starting from the initial frame image in the original motion trajectory video, the current frame image is obtained after a preset number of frame intervals. The model sample set is updated using each pixel in the current frame image.

4. The method according to claim 1, characterized in that, The step of plotting the trajectory curves of the opening and closing of the disconnecting switch based on the linkage motion characteristic sequence includes: Extract the link angle from each frame of the image from the link motion feature sequence; Based on the sequential order of each frame in the linkage motion feature sequence, the trajectory curves of the opening and closing of the disconnecting switch are drawn frame by frame using each linkage angle.

5. The method according to claim 1, characterized in that, Also includes: If the trajectory curve of the disconnecting switch opening and closing is inconsistent with the target trajectory curve of the disconnecting switch opening and closing under standard operating conditions, it is determined that the movement trajectory of the disconnecting switch opening and closing is abnormal, and a prompt message is fed back to the front end.

6. A motion trajectory monitoring device for the opening and closing of a disconnecting switch, characterized in that, include: The video acquisition unit is used to acquire video of the target motion trajectory of the disconnecting switch under illumination. The adjustment unit is used to adjust the brightness and contrast of the target motion trajectory video using image technology to obtain multiple sets of contrast motion trajectory videos; A sequence extraction unit is used to extract corresponding motion feature sequences from each group of contrast motion trajectory videos using a foreground detection algorithm; The sequence determination unit is used to determine the linkage motion characteristic sequence of the opening and closing of the disconnecting switch based on each of the motion characteristic sequences; The curve drawing unit is used to draw the trajectory curve of the opening and closing of the disconnecting switch according to the linkage motion characteristic sequence; The curve comparison unit is used to compare whether the trajectory curve of the disconnecting switch opening and closing is consistent with the target trajectory curve of the disconnecting switch opening and closing under standard operating conditions. The trajectory determination unit is used to determine that the movement trajectory of the disconnecting switch is normal if the trajectory curve of the disconnecting switch opening and closing is consistent with the target trajectory curve of the disconnecting switch opening and closing under standard operating conditions. The adjustment unit includes: A pixel value acquisition unit is used to acquire the maximum illumination pixel value from each frame of the target motion trajectory video. The first calculation unit is used to calculate the first average value of each of the maximum illumination pixel values; A brightness acquisition unit is used to acquire the average brightness of all pixels in each frame of the target motion trajectory video. The second calculation unit is used to calculate the second average value of each of the average brightness values; A numerical selection unit is used to uniformly select N numerical values ​​within the range from the first mean to the second mean; The third calculation unit is used to calculate the brightness value of each of the N values ​​based on the first average and the second average. The processing unit is used to increase the brightness of all pixels in the target motion trajectory video that are greater than the brightness value, and decrease the brightness of all pixels in the target motion trajectory video that are less than the brightness value, to obtain a set of contrast motion trajectory videos. The sequence determination unit includes: The detection unit is used to detect whether a target motion feature sequence exists in each of the motion feature sequences using the Hough line detection algorithm; wherein, the target motion feature sequence refers to the feature sequence that abstracts the motion feature sequence into a straight line; The third determining unit is used to determine the target motion feature sequence as the linkage motion feature sequence for opening and closing the disconnecting switch if the target motion feature sequence exists in each of the motion feature sequences. The curve comparison unit includes: The curve extraction unit is used to extract the smooth link trajectory curve from the opening and closing trajectory curve of the disconnecting switch using a smoothing algorithm; An extraction unit is used to extract the link angles of the starting frame image and the ending frame image from the smooth link trajectory curve. The differentiation unit is used to differentiate the smooth connecting rod trajectory curve to obtain the derivative curve; The fourth calculation unit is used to calculate the first error between the link angle of the starting frame image and the link angle of the target starting frame image, and to calculate the second error between the link angle of the ending frame image and the link angle of the target ending frame image; wherein, the link angle of the target starting frame image refers to the link angle of the starting frame image in the target trajectory curve of the opening and closing of the disconnector switch under standard operating conditions; the link angle of the target ending frame image refers to the link angle of the ending frame image in the target trajectory curve of the opening and closing of the disconnector switch under standard operating conditions; The comparison unit is used to compare whether the first error and the second error are both less than a preset threshold, and whether the derivative corresponding to the differentiation curve is a constant; The fourth determining unit is used to determine that if both the first error and the second error are less than the preset threshold and the derivative corresponding to the derivative curve is a constant, then the trajectory curve of the disconnecting switch opening and closing is consistent with the target trajectory curve of the disconnecting switch opening and closing under standard operating conditions.

7. The apparatus according to claim 6, characterized in that, The video acquisition unit includes: The acquisition unit is used to acquire the original motion trajectory video of the opening and closing of the disconnector switch under the illumination of the light. A modeling unit is used to extract a first frame image from the original motion trajectory video and to build a model sample set using each pixel in the first frame image. As a unit, it is used to take each frame of the original motion trajectory video, except for the first frame, as a frame to be detected. The selection unit is used to select a target pixel in each frame to be detected, and to randomly select a detection pixel within a preset range where the target pixel is located. The generation unit is used to generate a neighborhood circular region of the target pixel with the detected pixel as the center and the Euclidean distance as the radius. The comparison unit is used to compare whether the number of pixel intersections between the neighborhood circular region and the model sample set is less than a preset threshold. The first determining unit is configured to determine the target pixel as a foreground pixel if the number of intersections between the neighboring circular region and the pixel of the model sample set is less than the preset threshold. The second determining unit is used to determine the target pixel as a background pixel if the number of intersections between the neighboring circular region and the pixel points of the model sample set is not less than the preset threshold. The annotation unit is used to annotate the original motion trajectory video based on all foreground pixels and / or all background pixels to obtain the target motion trajectory video of the opening and closing of the disconnector under illumination.

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