Device and method for measuring external insulation configuration parameters of power equipment

Abstract

The invention discloses a power equipment external insulation configuration parameter detection device and method, and belongs to the technical field of power equipment external insulation configuration state measurement. The device comprises an upper binocular camera system, a lower binocular camera system, a mechanical frame and a computer. According to the invention, two groups of binocular cameras cooperatively collect images projected by structural laser on the external insulation surface of the detected power equipment, three-dimensional point cloud sets of the upper and lower surfaces of the external insulation of the power equipment are obtained, two groups of three-dimensional point cloud data are fused, the three-dimensional point cloud of the external insulation of the detected power equipment is reconstructed, the three-dimensional data are projected into a plane, and the three-dimensional point cloud of the external insulation of the detected power equipment is obtained. And for the breakpoints, adopting a non-uniform rational B spline curve to fit into an overall smooth curve, namely the contour line of the measured power equipment, and calculating the curve to obtain the boundary dimension of the power equipment. The creepage distance between two points of the external insulation bearing voltage of the power equipment along the insulation surface, the shortest direct flash discharge distance and other parameters representing the external insulation configuration parameters of the power equipment are intercepted, and non-contact measurement of the external insulation configuration state of the power equipment is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of measuring external insulation configuration parameters of electric power equipment, and in particular relates to a device and method for measuring external insulation configuration parameters of electric power equipment. Background Art

[0002] The external insulation configuration of power equipment is characterized by the use of an axis-symmetrical spiral column with equal or unequal-sized disc-shaped sheds arranged side by side at equal intervals. The shed diameter, creepage distance and shortest direct flash discharge distance are important parameters that characterize the electrical properties and economic performance of the equipment's external insulation. Effective detection and evaluation of the external insulation configuration status of in-service power equipment is one of the important tasks of the power grid to prevent large-scale power outages. The external insulation configuration parameters of power equipment sampling tests and acceptance tests are mandatory items. At present, the measurement is mainly carried out when the equipment is out of power. The staff uses non-stretching tape or metal wire to detect along the surface of the insulating part between the two electrodes of the test piece. The detection efficiency is low and the error is large. In addition, the data provided by the equipment manufacturer is usually the design value. The external insulation size varies with different production batches, which leads to the inability of the power grid operation and maintenance unit to timely and accurately grasp the effective data of the external insulation configuration status of the in-service equipment, which poses a potential risk to the safe and stable operation of the power grid. The popularization and application of optical detection technology has promoted the research on non-contact measurement of external insulation configuration of power equipment. At present, the external insulation configuration parameters of power equipment are mainly tested by measuring laser scanning and binocular vision detection. However, laser scanning and binocular vision detection have certain problems in non-contact measurement of external insulation of power equipment: the application of laser scanning technology mainly uses high-performance long-distance three-dimensional scanners, image processing systems, etc. to form a detection system for the creepage distance detection of external insulation of running power equipment. The system is costly and complex to operate, which restricts its promotion and application in power grids; the external insulation shape of power equipment is blocked by umbrella skirts, the surface texture of the external insulation of the equipment is not obvious, and identification points cannot be affixed to the outer surface of the running power equipment. At present, there is no detection device developed based on four-eye vision detection technology in the market.

[0003] Therefore, how to improve the efficiency and convenience of measurement has become an urgent problem to be solved. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a device and method for measuring the external insulation configuration parameters of power equipment to solve the technical problem that there is no four-eye vision detection technology based on the market for measuring the external insulation configuration parameters of power equipment.

[0005] A device for measuring the external insulation configuration parameters of electric power equipment, characterized in that: it comprises an upper binocular camera system, a lower binocular camera system, a mechanical frame and a computer; the upper binocular camera system comprises an upper left camera, an upper right camera and an upper structured light source; the lower binocular camera system comprises a lower left camera, a lower right camera and a lower structured light source; the upper left camera and the upper right camera are respectively mounted at both ends of an upper profile of the mechanical frame; the upper structured light source is mounted at the center of the upper profile between the upper left camera and the upper right camera through a ball head support;

[0006] The lower left camera and the lower right camera are respectively installed at the two ends of the lower profile of the mechanical frame; the lower structure light source is installed at the center of the lower profile between the lower left camera and the lower right camera through a ball head support;

[0007] In the detection state, the structured light emitted by the upper structured light source and the lower structured light source are both aimed at the edge of the shed of the outer insulation of the tested power equipment, and the upper structured light and the lower structured light overlap. The tested power equipment is within the public field of view of the upper binocular camera system and the lower binocular camera system. The upper left camera, the upper right camera, the lower left camera and the lower right camera collect images of the tested power equipment from different perspectives, wherein the upper left camera and the upper right camera collect image data of the upper surface of the outer insulation of the power equipment, and the lower left camera and the lower right camera collect image data of the lower surface;

[0008] The computer is respectively connected to the upper left camera, the upper right camera, the lower left camera and the lower right camera for communication. The computer receives all the collected images, establishes a unified spatial coordinate system, and constructs three-dimensional point cloud sets of the upper and lower surfaces of the external insulation of the tested power equipment for different collected images of the tested power equipment. The two sets of three-dimensional point cloud set data are then fused in the same coordinate system to obtain a reconstructed three-dimensional point cloud set of the entire tested power equipment. The reconstructed three-dimensional point cloud set data of the tested target are subjected to mathematical processing and calculation of a series of spatial discrete points, and the three-dimensional point cloud data are projected in the same plane to obtain a contour line of the tested target, and the external insulation configuration parameters of the tested power equipment are calculated.

[0009] The external insulation configuration parameters include creepage distance and shortest direct flash discharge distance.

[0010] A method for measuring external insulation configuration parameters of electric power equipment, using the device for measuring external insulation configuration parameters of electric power equipment, comprises the following steps, and the following steps are performed in sequence:

[0011] Step 1: adjust the pitch angles of the upper structured light source and the lower structured light source so that the structured light emitted by the upper structured light source and the lower structured light source are both aimed at the edge of the outer insulation shed of the tested power equipment and the upper structured light and the lower structured light overlap, adjust the focal lengths of the upper left camera, the upper right camera, the lower left camera and the lower right camera so that the tested power equipment is within the public field of view of the upper binocular camera system and the lower binocular camera system, use the upper left camera, the upper right camera, the lower left camera and the lower right camera to synchronously collect image information of the upper and lower surfaces of the outer insulation of the power equipment, and transmit the collected images to the computer;

[0012] Step 2: The computer unifies the coordinate system of the collected images, and calibrates and preprocesses the collected images according to the calibration parameters of the cameras in the upper binocular camera system and the lower binocular camera system;

[0013] Step 3: Obtain the structured light mark information in the captured image, use the grayscale template matching method to locate the selected target area in the longitudinal direction, use the method combining binarization and projection integration to locate the target area in the lateral direction, and use the coordinate value of the center of the structured light mark line width of the captured image as the center value of the laser mark to extract the structured light mark center;

[0014] Step 4: Extract and interpolate the center points of the left and right images belonging to the same binocular camera system to generate the corresponding matching points of the images.

[0015] Step 5: According to the corresponding matching points of the generated images, three-dimensional point clouds of the upper and lower sets of images detected by the upper binocular camera system and the lower binocular camera system are obtained by using triangulation reconstruction and coordinate transformation;

[0016] Step 6: The upper and lower sets of 3D point cloud data are merged in the same coordinate system to reconstruct the 3D point cloud set of the external insulation shape of the tested power equipment;

[0017] Step 7: Perform mathematical processing and calculation of spatial discrete points on the three-dimensional point cloud data of the tested power equipment, complete the measurement of the external insulation contour and size of the tested power equipment, obtain the external insulation configuration parameters of the power equipment, and realize non-contact measurement of the external insulation configuration parameters of the power equipment.

[0018] The specific steps of unifying the coordinate system of the acquired image in the step 2 are as follows: calibrate the upper left camera and the upper right camera in combination, take the upper left camera as the absolute coordinate system, and obtain the posture conversion matrix of the upper right camera relative to the upper left camera; calibrate the lower left camera and the lower right camera in combination, take the lower left camera as the absolute coordinate system, and obtain the posture conversion matrix of the lower right camera relative to the lower left camera; then calibrate the upper left camera and the lower left camera in combination; take the upper left camera as the absolute coordinate system, and obtain the posture conversion matrix of the lower left camera relative to the upper left camera; and unify the coordinate system of the acquired image by establishing the coordinate system of the upper left camera as the absolute coordinate system.

[0019] The correction method in step 2 is: according to the Zhang Zhengyou plane calibration method before detection, the four-eye camera of the detection system is calibrated using a standard black and white chessboard calibration plate, that is, the four-eye camera synchronously collects the calibration plate image, and uses the least squares method or the nonlinear least squares method to calculate the collected known calibration image data to obtain system parameters, wherein the system parameters include the system focal length, the image center and the distortion coefficient. According to the known coordinate parameters of the calibration plate within the field of view of the detection system and the collected image coordinates of the measured target, the coordinate error of the measured image is predicted, and the image distortion correction of the collected image is performed using the system parameter distortion coefficient.

[0020] The preprocessing in step 2 includes: preprocessing the captured image using a difference method or a template matching method, and performing target recognition and extraction on the image information, so that the outer insulation edge and contour features of the measured target in the captured image are more intuitive.

[0021] The specific process of mathematically processing and calculating the spatial discrete points of the three-dimensional point cloud data of the tested power equipment in step 7 is as follows:

[0022] 1) Use the least squares method to fit the known three-dimensional point cloud space;

[0023] 2) Use the Euler distance algorithm to eliminate outliers;

[0024] 3) Calculate the projection coordinates of the three-dimensional point fitting plane;

[0025] 4) Performing a plane dimensionality reduction transformation on the spatial fitting of the three-dimensional point cloud data of the measured power equipment to convert the three-dimensional projected plane into a plane;

[0026] 5) The non-uniform rational B-spline curve is used to fit all the splines in a given interval to form a complete and smooth curve, which is the outline of the measured power equipment. The external insulation configuration parameters of the measured power equipment are obtained by interception and calculation.

[0027] The configuration parameters include creepage distance and shortest direct flash discharge distance.

[0028] Through the above design scheme, the present invention can bring the following beneficial effects:

[0029] The present invention adopts a static measurement method combining a four-eye camera with structured light. Two groups of binocular cameras cooperate to collect the marked images projected by structured laser on the surface of the measured power equipment, obtain the three-dimensional point cloud sets of the upper and lower surfaces of the power equipment, fuse the two groups of three-dimensional point cloud data, reconstruct the three-dimensional point cloud of the measured power equipment, project the three-dimensional data into a plane, and use non-uniform rational B-spline curves to fit the breakpoints into an overall smooth curve, which is the contour line of the measured power equipment. The curve is calculated to obtain the outer dimensions of the power equipment, and the shortest curve along the insulating surface between two points carrying voltage is intercepted to represent the external insulation configuration state parameters of the measured target, so as to realize non-contact measurement of the external insulation configuration parameters of the power equipment.

[0030] The static measurement of four-eye camera is used to make up for the problem that the detection target information obtained by a single set of binocular camera detection is not complete due to the obstruction of the outer insulation shed of the power equipment; based on the structured light straight line projection, the coordinate value at the center of the light width on the surface of the object to be measured is used as the center value of the light mark to obtain the coordinates of the point to be matched, effectively solving the problem that the outer surface of the insulating material of the power equipment such as the insulator is smooth and has no obvious texture features, and the background light interference is difficult to extract the feature points, thereby improving the measurement accuracy. The present invention is based on two sets of binocular cameras multi-angle optical detection plus laser-assisted identification positioning method to realize the interception of the outer insulation of the power equipment The creepage distance along the insulation surface between two points carrying the voltage, the shortest direct flash discharge distance, and other representative parameters of the outer insulation configuration of the power equipment represent the outer insulation configuration parameters of the power equipment, realize non-contact measurement of the configuration state of the outer insulation of the energized power equipment, and provide a means for the online detection of the outer dimensions of the power equipment. The detection system composed detects the outer dimensions of the power equipment, and the data has a relatively small relative error, and the operation is simple, which meets the requirements for the verification of the outer insulation configuration parameters of the power grid for the commissioning of the power grid. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present invention is further described below with reference to the accompanying drawings and specific embodiments:

[0032] Figure 1 It is a structural schematic diagram of a device and method for measuring external insulation configuration parameters of electric power equipment according to the present invention;

[0033] Figure 2 A flowchart of a method in a device and method for measuring external insulation configuration parameters of electric power equipment according to the present invention;

[0034] Figure 3 A flowchart of calculating the external insulation creepage distance value in a device and method for measuring external insulation configuration parameters of an electric power device according to the present invention;

[0035] Figure 4 This is a case diagram of three-dimensional reconstructed point cloud for detecting creepage distance of external insulation sheds in a device and method for measuring external insulation configuration parameters of electric power equipment according to the present invention.

[0036] In the figure, 1-upper left camera, 2-upper right camera, 3-upper structured light source, 4-lower left camera, 5-lower right camera, 6-lower structured light source, 7-mechanical frame. DETAILED DESCRIPTION

[0037] like Figure 1 As shown, a device for measuring the external insulation configuration parameters of power equipment includes an upper binocular camera system, a lower binocular camera system, a mechanical frame 7 and a computer; the upper binocular camera system includes an upper left camera 1, an upper right camera 2 and an upper structured light source 3; the lower binocular camera system includes a lower left camera 4, a lower right camera 5 and a lower structured light source 6; the upper left camera 1 and the upper right camera 2 are respectively mounted at both ends of the upper profile of the mechanical frame 7; the upper structured light source 3 is mounted at the center of the upper profile between the upper left camera 1 and the upper right camera 2 through a ball head support; the lower left camera 4 and the lower right camera 5 are respectively mounted at both ends of the lower profile of the mechanical frame 7; the lower structured light source 6 is mounted at the center of the lower profile between the lower left camera 4 and the lower right camera 5 through a ball head support; a four-eye measurement system model is established by a static measurement method combining the four-eye camera of the upper left camera 1, the upper right camera 2, the lower left camera 4 and the lower right camera 5 with structured light.

[0038] In the detection state, the pitch angles of the upper structured light source 3 and the lower structured light source 6 are manually adjusted so that the structured light emitted by the upper structured light source 3 and the lower structured light source 6 are aimed at the edge of the umbrella skirt of the power equipment under test and the upper structured light and the lower structured light overlap. The focal lengths of the upper left camera 1, the upper right camera 2, the lower left camera 4 and the lower right camera 5 are manually adjusted so that the target under test is within the public field of view of the upper binocular camera system and the lower binocular camera system. The upper left camera 1, the upper right camera 2, the lower left camera 4 and the lower right camera 5 collect images of the target under test from different perspectives, wherein the upper left camera 1 and the upper right camera 2 collect image data of the upper surface of the power equipment, and the lower left camera 4 and the lower right camera 5 collect image data of the lower surface;

[0039] The computer is respectively communicated with the upper left camera 1, the upper right camera 2, the lower left camera 4 and the lower right camera 5. The computer receives all the collected images, establishes a unified spatial coordinate system, and constructs three-dimensional point cloud sets of the upper and lower surfaces of the external insulation of the tested power equipment for different images collected from the tested power equipment. The two sets of three-dimensional point cloud data are then fused in the same coordinate system to obtain a reconstructed three-dimensional point cloud set of the entire tested power equipment. The reconstructed three-dimensional point cloud data of the tested target are mathematically processed and calculated for a series of spatial discrete points, and the three-dimensional point cloud data are projected in the same plane to obtain the contour line of the tested target, and the equipment external insulation configuration parameters such as the creepage distance of the external insulation of the tested equipment, the direct flash discharge distance, etc. are calculated.

[0040] The upper structured light source 3 and the lower structured light source 6 are both linear structured light sources.

[0041] A method for measuring external insulation configuration parameters of electric power equipment, using the device for measuring external insulation configuration parameters of electric power equipment, such as Figure 2 As shown, the process includes the following steps, and the following steps are performed in sequence:

[0042] Step 1: adjust the pitch angles of the upper structured light source 3 and the lower structured light source 6 so that the structured light emitted by the upper structured light source 3 and the lower structured light source 6 are aimed at the edge of the shed of the external insulation of the tested power equipment and the upper structured light and the lower structured light overlap, adjust the focal lengths of the upper left camera 1, the upper right camera 2, the lower left camera 4 and the lower right camera 5 so that the tested equipment is within the public field of view of the upper binocular camera system and the lower binocular camera system, use the upper left camera 1, the upper right camera 2, the lower left camera 4 and the lower right camera 5 to synchronously collect image information of the upper and lower surfaces of the external insulation of the tested equipment, and transmit the collected images to the computer; the upper and lower groups of binocular cameras cooperate to collect the image of the tested power equipment projected by the structured laser marker, which makes up for the shortcomings of the single group of binocular camera detection method and solves the problem of incomplete target information obtained due to the shed of the external insulation of the power equipment.

[0043] Step 2: The computer unifies the coordinate system of the collected images, and calibrates and preprocesses the collected images according to the calibration parameters of the cameras in the upper binocular camera system and the lower binocular camera system;

[0044] The coordinate system unification of the acquired images is specifically as follows: the upper left camera 1 is combined with the upper right camera 2 for calibration, and the upper left camera 1 is used as the absolute coordinate system to obtain the posture conversion matrix of the upper right camera 2 relative to the upper left camera 1; the lower left camera 4 is combined with the lower right camera 5 for calibration, and the lower left camera 4 is used as the absolute coordinate system to obtain the posture conversion matrix of the lower right camera 5 relative to the lower left camera 4; the upper left camera 1 is combined with the lower left camera 4 for calibration; the upper left camera 1 is used as the absolute coordinate system to obtain the posture conversion matrix of the lower left camera 4 relative to the upper left camera 1; the coordinate system of the acquired images is unified by establishing the coordinate system of the upper left camera 1 as the absolute coordinate system.

[0045] The correction method is as follows: before detection, the four-eye camera of the detection system is calibrated using a standard black and white chessboard calibration plate according to the Zhang Zhengyou plane calibration method, that is, the four-eye camera synchronously collects the calibration plate image, and uses existing technologies such as the least square method or the nonlinear least square method to calculate the collected known calibration image data to obtain system parameters such as system focal length, image center, and distortion coefficient. According to the known coordinate parameters of the calibration plate within the field of view of the detection system and the collected image coordinates of the measured target, the coordinate error of the measured image is predicted, and the system parameter distortion coefficient is used to correct the image distortion of the collected image;

[0046] The image preprocessing method is: using existing algorithms such as the difference method and the template matching method to preprocess the collected image, and to perform target recognition and extraction on the image information, so that the outer insulation edge and contour features of the measured target in the collected image are more intuitive;

[0047] Step 3: Obtain the structured light mark information in the captured image, use the grayscale template matching method to locate the selected target area in the longitudinal direction, use the method combining binarization and projection integration to locate the target area in the lateral direction, and use the coordinate value of the center of the structured light mark line width of the captured image as the center value of the laser mark to extract the structured light mark center;

[0048] Step 4: extract and interpolate the center points of the left and right images belonging to the same binocular camera system to generate matching points corresponding to the images;

[0049] Step 5: According to the corresponding matching points of the generated images, three-dimensional point clouds of the upper and lower sets of images detected by the upper binocular camera system and the lower binocular camera system are obtained by using triangulation reconstruction and coordinate transformation;

[0050] Step 6: Fusing the upper and lower groups of 3D point cloud data in the same coordinate system to reconstruct the 3D point cloud set of the tested power equipment;

[0051] Step 7: Perform mathematical processing and calculation of spatial discrete points on the three-dimensional point cloud data of the external insulation shape of the tested power equipment, complete the measurement of the external insulation contour and size of the tested power equipment, and obtain the external insulation creepage distance, shortest direct flash discharge distance, etc. of the power equipment, so as to realize non-contact measurement of the external insulation configuration parameters of the power equipment.

[0052] Among them, Figure 3 As shown in the figure, the specific process of mathematical processing and calculation of spatial discrete points of the three-dimensional point cloud data of the external insulation of the tested power equipment is as follows:

[0053] 1) Use the least squares method to fit the known three-dimensional point cloud space;

[0054] 2) Use the Euler distance algorithm to eliminate outliers;

[0055] 3) Calculate the projection coordinates of the three-dimensional point fitting plane;

[0056] 4) Performing a plane dimensionality reduction transformation on the spatial fitting of the three-dimensional point cloud data of the external insulation of the tested power equipment to convert the three-dimensional projection plane into a plane;

[0057] 5) The non-uniform rational B-spline curve is used to fit all the splines in a given interval to form a complete and smooth curve, which is the external insulation profile of the tested power equipment. The configuration parameters of the external insulation of the power equipment, such as the creepage distance section curve, are intercepted to calculate the actual length value.

[0058] During the inspection process, the upper left camera 1, the upper right camera 2, the lower left camera 4, the lower right camera 5 and the linear structure light source are used to form a four-camera measurement system to collect images from multiple angles, segment the upper and lower surface images of the external insulation of the tested power equipment, perform stereo matching, obtain two sets of three-dimensional point clouds, and then fuse the two sets of data points, solving the problem of incomplete target information obtained by a single set of cameras due to the mutual occlusion and shadow accuracy of the external insulation sheds of the power equipment. The fusion effect of the three-dimensional point cloud can be seen in Figure 4 The example diagram of 3D reconstructed point cloud for creepage distance detection of power equipment is shown.

[0059] During the detection process, since the insulating materials of power equipment such as insulators are porcelain or silicone rubber, the outer surface is smooth without obvious texture features and background optical interference, conventional binocular camera detection cannot obtain feature points. Line structured light projection is used to mark the surface of the insulators and other power equipment under test. The line structured light indicator mark coincides with the curve where the creepage distance is located, which solves the problem of difficulty in extracting the creepage distance line of the external insulation of the power equipment when the outer surface of the target under test is smooth and has no obvious texture features. At the same time, the method of enhancing the intensity of the structured light source to improve the image contrast is adopted to overcome the background optical interference problem when extracting feature points, thereby improving the accuracy of three-dimensional reconstruction of the external insulation of the power equipment under test.

Claims

1. A device for measuring external insulation configuration parameters of electric power equipment, characterized in that: The invention comprises an upper binocular camera system, a lower binocular camera system, a mechanical frame (7) and a computer; the upper binocular camera system comprises an upper left camera (1), an upper right camera (2) and an upper structured light source (3); the lower binocular camera system comprises a lower left camera (4), a lower right camera (5) and a lower structured light source (6); the upper left camera (1) and the upper right camera (2) are respectively mounted at two ends of an upper profile of the mechanical frame (7); the upper structured light source (3) is mounted at the center of the upper profile between the upper left camera (1) and the upper right camera (2) via a ball head support; The lower left camera (4) and the lower right camera (5) are respectively mounted at two ends of the lower profile of the mechanical frame (7); the lower structured light source (6) is mounted at the center of the lower profile between the lower left camera (4) and the lower right camera (5) via a ball head support; In the detection state, the structured light emitted by the upper structured light source (3) and the lower structured light source (6) are both aimed at the edge of the shed of the outer insulation of the tested power equipment, and the upper structured light and the lower structured light overlap, the tested power equipment is within the public field of view of the upper binocular camera system and the lower binocular camera system, and the upper left camera (1), the upper right camera (2), the lower left camera (4) and the lower right camera (5) collect images of the tested power equipment from different perspectives, wherein the upper left camera (1) and the upper right camera (2) collect image data of the upper surface of the outer insulation of the power equipment, and the lower left camera (4) and the lower right camera (5) collect image data of the lower surface; The computer is respectively connected to the upper left camera (1), the upper right camera (2), the lower left camera (4) and the lower right camera (5) in communication, receives all collected images, establishes a unified spatial coordinate system, and constructs three-dimensional point cloud sets of the upper and lower surfaces of the external insulation of the measured power equipment for different collected images of the measured power equipment, then fuses the two sets of three-dimensional point cloud set data in the same coordinate system to obtain a reconstructed three-dimensional point cloud set of the entire measured power equipment, performs spatial discrete point series mathematical processing and calculation on the reconstructed three-dimensional point cloud set data of the measured target, projects the three-dimensional point cloud data in the same plane, obtains the contour line of the measured target, and calculates the external insulation configuration parameters of the measured power equipment.

2. The method for measuring external insulation configuration parameters of electric power equipment according to claim 1, characterized in that: The external insulation configuration parameters include creepage distance and shortest direct flash discharge distance.

3. A method for measuring external insulation configuration parameters of electric power equipment, using the device for measuring external insulation configuration parameters of electric power equipment according to claim 1, characterized in that: The process includes the following steps, which are performed in sequence: Step 1: adjusting the pitch angles of the upper structured light source (3) and the lower structured light source (6) so that the structured light emitted by the upper structured light source (3) and the lower structured light source (6) are both aligned with the edge of the outer insulation shed of the tested power equipment and the upper structured light and the lower structured light overlap, adjusting the focal lengths of the upper left camera (1), the upper right camera (2), the lower left camera (4) and the lower right camera (5) so that the tested power equipment is within the public field of view of the upper binocular camera system and the lower binocular camera system, using the upper left camera (1), the upper right camera (2), the lower left camera (4) and the lower right camera (5) to synchronously collect image information of the upper and lower surfaces of the outer insulation of the power equipment, and transmitting the collected images to a computer; Step 2: The computer unifies the coordinate system of the collected images, and calibrates and preprocesses the collected images according to the calibration parameters of the cameras in the upper binocular camera system and the lower binocular camera system; Step 3: Obtain the structured light mark information in the captured image, use the grayscale template matching method to locate the selected target area in the longitudinal direction, use the method combining binarization and projection integration to locate the target area in the lateral direction, and use the coordinate value of the center of the structured light mark line width of the captured image as the center value of the laser mark to extract the structured light mark center; Step 4: Extract and interpolate the center points of the left and right images belonging to the same binocular camera system to generate the corresponding matching points of the images. Step 5: According to the corresponding matching points of the generated images, three-dimensional point clouds of the upper and lower sets of images detected by the upper binocular camera system and the lower binocular camera system are obtained by using triangulation reconstruction and coordinate transformation; Step 6: The upper and lower sets of 3D point cloud data are merged in the same coordinate system to reconstruct the 3D point cloud set of the external insulation shape of the tested power equipment; Step 7: Perform mathematical processing and calculation of spatial discrete points on the three-dimensional point cloud data of the tested power equipment, complete the measurement of the external insulation contour and size of the tested power equipment, obtain the external insulation configuration parameters of the power equipment, and realize non-contact measurement of the external insulation configuration parameters of the power equipment.

4. The method for measuring external insulation configuration parameters of electric power equipment according to claim 3 is characterized in that: The coordinate system unification of the acquired image in step 2 is specifically as follows: the upper left camera (1) and the upper right camera (2) are combined for calibration, and the upper left camera (1) is used as the absolute coordinate system to obtain the posture conversion matrix of the upper right camera (2) relative to the upper left camera (1); the lower left camera (4) and the lower right camera (5) are combined for calibration, and the lower left camera (4) is used as the absolute coordinate system to obtain the posture conversion matrix of the lower right camera (5) relative to the lower left camera (4); the upper left camera (1) and the lower left camera (4) are combined for calibration; the upper left camera (1) is used as the absolute coordinate system to obtain the posture conversion matrix of the lower left camera (4) relative to the upper left camera (1); and the coordinate system of the acquired image is unified by establishing the coordinate system of the upper left camera (1) as the absolute coordinate system.

5. The method for measuring external insulation configuration parameters of electric power equipment according to claim 3 is characterized in that: The correction method in step 2 is: according to the Zhang Zhengyou plane calibration method before detection, the four-eye camera of the detection system is calibrated using a standard black and white chessboard calibration plate, that is, the four-eye camera synchronously collects the calibration plate image, and uses the least squares method or the nonlinear least squares method to calculate the collected known calibration image data to obtain system parameters, wherein the system parameters include the system focal length, the image center and the distortion coefficient. According to the known coordinate parameters of the calibration plate within the field of view of the detection system and the collected image coordinates of the measured target, the coordinate error of the measured image is predicted, and the image distortion correction of the collected image is performed using the system parameter distortion coefficient.

6. The method for measuring external insulation configuration parameters of electric power equipment according to claim 3, characterized in that: The preprocessing in step 2 includes: preprocessing the captured image using a difference method or a template matching method, and performing target recognition and extraction on the image information, so that the outer insulation edge and contour features of the measured target in the captured image are more intuitive.

7. A method for measuring external insulation configuration parameters of electric power equipment according to claim 3, characterized in that: The specific process of mathematically processing and calculating the spatial discrete points of the three-dimensional point cloud data of the tested power equipment in step 7 is as follows: 1) Use the least squares method to fit the known three-dimensional point cloud space; 2) Use the Euler distance algorithm to eliminate outliers; 3) Calculate the projection coordinates of the three-dimensional point fitting plane; 4) Performing a plane dimensionality reduction transformation on the spatial fitting of the three-dimensional point cloud data of the measured power equipment to convert the three-dimensional projected plane into a plane; 5) The non-uniform rational B-spline curve is used to fit all the splines in a given interval to form a complete and smooth curve, which is the outline of the measured power equipment. The external insulation configuration parameters of the measured power equipment are obtained by interception and calculation.

8. A method for measuring external insulation configuration parameters of electric power equipment according to claim 3 or 7, characterized in that: The configuration parameters include creepage distance and shortest direct flash discharge distance.

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