Method and device for determining opening and closing speed of circuit breaker and processor

Abstract

The invention discloses a method and device for determining the opening and closing speed of a circuit breaker and a processor. The method comprises the steps that an initial operation image of circuit breaker operation equipment is acquired, the initial operation image is used for indicating the movement process of the circuit breaker operation equipment, and the circuit breaker operation equipment is used for controlling the on-off state of a circuit breaker; performing correction processing on the initial operation image to obtain a target operation image; based on the target operation image and the reference stroke, determining a motion curve of the circuit breaker operation device, the motion curve being used for indicating a stroke change state of a contact on the circuit breaker operation device in an operation process of the circuit breaker operation device; and determining the opening and closing speed of the circuit breaker based on the motion curve. The technical problem that the opening and closing speed of the circuit breaker cannot be determined is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of circuit breaker detection, and in particular to a method, device and processor for determining the opening and closing speed of a circuit breaker. Background Art

[0002] At present, the speed characteristics of circuit breakers are also an important basis for judging their reliable operation. If the opening and closing speed is too high, the circuit breaker operating mechanism will be subjected to huge impact force, causing damage to the mechanism components; if the opening and closing speed is too low, the arcing time between the moving and static contacts will be prolonged, resulting in increased electrical wear of the contacts and even causing the circuit breaker to explode. Only the appropriate opening and closing speed can fully increase the service life of the circuit breaker.

[0003] In the related art, the moving and static contacts of the circuit breaker are encapsulated in a closed arc extinguishing chamber, and the speed characteristics cannot be directly measured. The speed of the circuit breaker opening and closing can be tested by installing sensors, but it does not take into account the violent vibration of the circuit breaker during the opening and closing process, which causes a certain error effect on the test results. Since the internal structure design of high-voltage circuit breakers is becoming more and more compact, improper installation and operation will not only make it impossible to test, but also damage the circuit breaker. And because there are many models of circuit breakers from various manufacturers, each model of circuit breaker mechanism requires a special test tool, which is very inconvenient during maintenance and testing. Therefore, there is a technical problem that the opening and closing speed of the circuit breaker cannot be determined.

[0004] With respect to the above-mentioned technical problem of being unable to determine the opening and closing speed of the circuit breaker, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present invention provide a method, device and processor for determining the opening and closing speed of a circuit breaker, so as to at least solve the technical problem that the opening and closing speed of a circuit breaker cannot be determined.

[0006] According to one aspect of an embodiment of the present invention, a method for determining the opening and closing speed of a circuit breaker is provided. The method may include: obtaining an initial operation image of a circuit breaker operating device, wherein the initial operation image is used to indicate the movement process of the circuit breaker operating device, and the circuit breaker operating device is used to control the switch state of the circuit breaker; performing correction processing on the initial operation image to obtain a target operation image; determining a motion curve of the circuit breaker operating device based on the target operation image and a reference stroke, wherein the motion curve is used to indicate the stroke change state of the contacts on the circuit breaker operating device during the operation of the circuit breaker operating device; and determining the opening and closing speed of the circuit breaker based on the motion curve.

[0007] Optionally, the initial operation image is corrected to obtain a target operation image, including: acquiring acquisition parameters of an acquisition device, wherein the acquisition device is used to acquire the initial operation image of the circuit breaker operating device; based on the acquisition parameters, the initial operation image is corrected to obtain the target operation image of the circuit breaker operating device.

[0008] Optionally, based on the acquisition parameters, the initial operation image is corrected to obtain the target operation image of the circuit breaker operating device, including: determining the correction parameters of the acquisition device based on the acquisition parameters; and correcting the initial operation image based on the correction parameters to obtain the target operation image of the circuit breaker operating device.

[0009] Optionally, determining a motion curve of the circuit breaker operating device based on a target operating image and a reference stroke includes: determining a tracking target based on the target operating image, wherein the tracking target is used to track the motion position of the circuit breaker operating device in the target operating image; extracting operating data of the tracking target from the target operating image; determining rotation angle data of the circuit breaker operating device based on the operating data of the tracking target; and determining the motion curve of the circuit breaker operating device based on the operating data and the rotation angle data.

[0010] Optionally, extracting the operation data of the tracking target from the target operation image includes: matching the target operation image with the template operation image to obtain a matching result, wherein the matching result is used to indicate whether the target operation image and the template operation image match; in response to the matching result being a match between the target operation image and the template operation image, determining the operation data in the target operation image as the operation data of the tracking target.

[0011] Optionally, based on the motion curve, determining the opening and closing speed of the circuit breaker includes: determining the speed curve of the circuit breaker operating device based on the motion curve; obtaining speed standard data of the opening and closing of the circuit breaker, wherein the speed standard data is used to indicate the speed range of the opening and closing during normal operation; and standardizing the speed curve according to the speed standard data to obtain the opening and closing speed of the circuit breaker.

[0012] According to another aspect of an embodiment of the present invention, a device for determining the opening and closing speed of a circuit breaker is also provided. The device may include: an acquisition unit, used to acquire an initial operation image of a circuit breaker operating device, wherein the initial operation image is used to indicate the movement process of the circuit breaker operating device, and the circuit breaker operating device is used to control the switch state of the circuit breaker; a correction unit, used to perform correction processing on the initial operation image to obtain a target operation image; a first determination unit, used to determine the motion curve of the circuit breaker operating device based on the target operation image and a reference stroke, wherein the motion curve is used to indicate the stroke change state of the contacts on the circuit breaker operating device during the operation of the circuit breaker operating device; a second determination unit, used to determine the opening and closing speed of the circuit breaker based on the motion curve.

[0013] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein when the program is executed by a processor, the device where the storage medium is located is controlled to execute the method for determining the opening and closing speed of the circuit breaker in an embodiment of the present invention.

[0014] According to another aspect of the embodiment of the present invention, a processor is provided, which is used to run a program, wherein when the program is run, the method for determining the opening and closing speed of a circuit breaker in the embodiment of the present invention is executed.

[0015] According to another aspect of the embodiments of the present invention, a computer program product is provided, which includes computer instructions, and when the computer instructions are executed by a processor, the method for determining the opening and closing speed of a circuit breaker in the embodiments of the present invention is implemented.

[0016] In an embodiment of the present invention, an initial operation image of a circuit breaker operating device is obtained, wherein the initial operation image is used to indicate the movement process of the circuit breaker operating device, and the circuit breaker operating device is used to control the switch state of the circuit breaker; the initial operation image is corrected to obtain a target operation image; based on the target operation image and the reference stroke, a motion curve of the circuit breaker operating device is determined, wherein the motion curve is used to indicate the stroke change state of the contacts on the circuit breaker operating device during the operation of the circuit breaker operating device; based on the motion curve, the speed of opening and closing of the circuit breaker is determined. In other words, the present invention corrects the initial operation image of the circuit breaker operating device to obtain a target operation image, determines the motion curve of the circuit breaker operating device according to the target operation image and the reference stroke, and thus determines the opening and closing speed of the circuit breaker according to the motion curve, thereby solving the technical problem of being unable to determine the opening and closing speed of the circuit breaker, and achieving the technical effect of determining the opening and closing speed of the circuit breaker. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 is a flow chart of a method for determining the opening and closing speed of a circuit breaker according to an embodiment of the present invention;

[0019] Figure 2 is a schematic diagram of a structured light 3D camera calibration according to an embodiment of the present invention;

[0020] Figure 3 is a flow chart of a circuit breaker opening and closing speed testing method based on image recognition according to an embodiment of the present invention;

[0021] Figure 4 is a schematic diagram of selecting a preliminary positioning of a tracking target according to an embodiment of the present invention;

[0022] Figure 5 is a schematic diagram of a circuit breaker opening and closing speed testing system based on image recognition according to an embodiment of the present invention;

[0023] Figure 6 It is a schematic diagram of a device for determining the opening and closing speed of a circuit breaker according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, functional component or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, functional components or devices.

[0026] According to an embodiment of the present invention, an embodiment of a method for determining the opening and closing speed of a circuit breaker is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0027] Figure 1 is a flow chart of a method for determining the opening and closing speed of a circuit breaker according to an embodiment of the present invention. Figure 1 As shown, the method may include the following steps:

[0028] Step S101, obtaining an initial operation image of a circuit breaker operating device.

[0029] In the technical solution provided in the above step S101 of the present invention, the initial operation image is used to indicate the movement process of the circuit breaker operating device, and the circuit breaker operating device is used to control the switch state of the circuit breaker. The circuit breaker operating device can also be called a circuit breaker operating mechanism, and the initial motion image can be a circuit breaker operating mechanism action video.

[0030] In this embodiment, the initial operation image of the circuit breaker operating device is obtained. For example, the initial operation image of the circuit breaker operating device is obtained by a camera. This is only an illustrative example and does not limit the specific method of obtaining the initial operation image of the circuit breaker operating device.

[0031] For example, open the circuit breaker operating mechanism box and install the structured light 3D camera on the camera bracket. The structured light 3D camera consists of a projector and a dual-lens camera. The projector projects the predefined light source mark points onto the object to be tested, and the dual-lens camera captures the reflected light source mark points to complete the image acquisition, that is, to obtain the initial operation image of the circuit breaker operating device.

[0032] For another example, the structured light 3D camera is issued a shooting command by the camera acquisition controller, and the camera acquisition controller is composed of a switch-on and switch-off trigger power supply, a probe, an oscilloscope, and a signal transmission control line. The switch-on and switch-off trigger power supply is connected to the control terminal of the switch-on and switch-off control box of the circuit breaker, one end of the probe is connected to the positive and negative poles of the control terminal, and the other end is connected to the oscilloscope. When the command is issued, the switch-on and switch-off trigger power supply starts to output voltage, and after the probe collects the voltage signal, it is displayed on the oscilloscope. The oscilloscope issues a shooting command to the structured light 3D camera through the signal transmission control line, and the structured light 3D camera starts to shoot the movement process of the moving connecting rod or crank arm of the circuit breaker operating mechanism.

[0033] Step S102, correcting the initial running image to obtain a target running image.

[0034] In the technical solution provided in the above step S102 of the present invention, the target running image may also be referred to as a correction image. The correction process may at least include but is not limited to: de-distortion calibration process and local image enhancement process.

[0035] In this embodiment, after the initial operation image of the circuit breaker operating device is acquired in step S101, the initial operation image is corrected to obtain a target operation image.

[0036] Optionally, the initial running image is corrected according to the acquisition parameters acquired by the acquisition device.

[0037] For example, Figure 2 is a schematic diagram of a structured light 3D camera calibration according to an embodiment of the present invention, such as Figure 2 As shown, S(O,X,Y,Z) is the world coordinate system, S1(O1,X1,Y1,Z1) is the left camera coordinate system, S2(O2,X2,Y2,Z2) is the right camera coordinate system, R1, T1 and R2, T2 are the rotation matrix and translation vector from S to S1 and S2 respectively. Under the ideal pinhole model, the transformation relationship between a point P(x,y,z) in the world coordinate system and the projected pixel coordinate p(u,v) can be expressed as the following formula (1):

[0038]

[0039] Among them, α and β represent the equivalent focal length of any left and right camera axis and axis, y represents the tilt factor, u0 and v0 are the camera principal points, and s is the scale factor. After obtaining the one-to-one correspondence between pixel coordinates and spatial coordinates, the closed solution of camera parameters is obtained. In the actual imaging system, due to the manufacturing error and installation error of the lens itself, the camera imaging is distorted. Let the unobservable distortion-free ideal coordinates of the calibration feature point in the unit distance plane of the camera coordinate system be (x, y), and the actual coordinates after distortion be Under the third-order radial distortion and tangential distortion models, both satisfy the following formula (2):

[0040]

[0041] Among them, r 2 =x 2 +y 2 , (l1, l2, l3) represents the radial distortion coefficient, (ρ1, ρ2) is the tangential distortion coefficient. In order to solve the camera parameters and distortion coefficients, it is assumed that a total of n images are taken, each image has k calibrated feature points, and the average reprojection error is used as the optimization target, which is defined as shown in the following formula (3):

[0042]

[0043] Among them, A represents the camera internal parameter, R i and T i Respectively represent the translation vector of the rotation matrix from the world coordinate system to the camera coordinate system in the i-th image, P ij Represents the world coordinates of the jth calibrated feature point on the i-th image. The calculated camera internal and external parameters are reprojected onto the image to obtain the reprojected point Then, with the extracted feature point coordinates p ij , calculate the vector two norm between them to get the average reprojection error, take the minimization of formula (3) as the optimization goal, iterate continuously until convergence, complete the camera calibration, and then convert the dedistorted image from the camera coordinate system back to the pixel coordinate system as a new image to obtain the corrected image.

[0044] For another example, the initial operation image is enhanced. To solve the problems of image blur and edge information loss caused by the circuit breaker moving too fast, a double fusion filter template is proposed. The filter template is obtained by nonlinear superposition of grayscale Gaussian template and spatial Gaussian template. It can suppress noise while better maintaining image edge detail information. The definition formula of the double fusion filter template is shown in the following formula (4):

[0045]

[0046] Among them, S (x,y) Represents a neighborhood image block centered on the pixel point (x, y) in the image, and the pixel point (i, j) is the neighborhood S (x,y) The coordinates of any pixel point in the neighborhood S (x,y) The original pixel value of the inner pixel (ī, j), I f (x, y) represents the output pixel value of the pixel point (x, y) after being processed by the double fusion filter. w(i, j) represents the weight coefficient of the double fusion filter, and its calculation formula can be expressed as the following formula (5):

[0047] w(i,j)=w s (i,j)*w r (i,j) (5)

[0048] Among them, w s (i, j) represents the weight coefficient of the spatial domain filter template, w r (i, j) represents the weight coefficient of the gray value filter template. The performance of the dual fusion filter is mainly determined by these two weight coefficients. The calculation formulas of the two are respectively as follows:

[0049]

[0050]

[0051] Among them, η s Represents the standard deviation of the spatial domain filter kernel function, which determines the spatial domain degrees of freedom of the dual fusion filter operation; η r Represents the standard deviation of the gray value filter kernel function, which determines the gray domain freedom of the double fusion filter operation. After many experiments, η is set s =8,η r =0.3, the filtering effect is best. The filtered corrected image is called the new circuit breaker action image. Local enhancement of target features: In view of the problem of blur artifacts in the video image near the maximum speed frame of the circuit breaker, the present invention uses an unsharp mask for local enhancement, and sharpens the image by subtracting the original image from the blurred or smoothed image. The pixel brightness of the new circuit breaker action image is represented by h0(x, y), and the filtered corrected image is blurred by Gaussian filtering, and the pixel brightness of the blurred image is represented by h1(x, y); the result of subtracting the blurred image from the new circuit breaker action image is used as a mask, as shown in the following formula (8):

[0052] h(x,y)=h0(x,y)-h0(x,y) (8)

[0053] The mask is added to the new circuit breaker action image to obtain the new circuit breaker action sharpened image as shown in the following formula (9):

[0054]

[0055] in, Represents the mask weight.

[0056] Step S103: determining a motion curve of the circuit breaker operating device based on the target operation image and the reference stroke.

[0057] In the technical solution provided in the above step S103 of the present invention, the motion curve is used to indicate the stroke change state of the contact on the circuit breaker operating device during the operation of the circuit breaker operating device. The motion curve can also be called the circuit breaker moving contact stroke curve.

[0058] In this embodiment, after the target operation image is obtained in step S102, the motion curve of the circuit breaker operating device is determined according to the target operation image and the reference stroke.

[0059] Optionally, a tracking target is determined in the target operation image, so that a motion curve of the circuit breaker operating device is determined according to the operation data of the tracking target.

[0060] For example, an improved normalized correlation coefficient matching algorithm is proposed to track the target, update the matching template, use the previous frame as the matching template of the next frame, match frame by frame, and achieve target tracking. Its expression is shown in the following formula (10):

[0061]

[0062] Among them, I n (x n ,y n ) is the center coordinate of the target marker point in the current frame, is the mean value of region I in the nth frame, is the mean value of region I in the n-1th frame. When the NCC value is the maximum, the best match is achieved. The motion trajectory of the target is depicted, the rotation angle of the moving link is calculated, and the travel curve of the circuit breaker moving contact is obtained in combination with the travel set by the manufacturer, so as to obtain the travel curve of the circuit breaker moving contact.

[0063] Step S104, determining the opening and closing speed of the circuit breaker based on the motion curve.

[0064] In the technical solution provided in the above step S104 of the present invention, after the motion curve is determined in step S103, the opening and closing speed of the circuit breaker is determined according to the motion curve.

[0065] In this embodiment, the motion curve is derivately processed to determine the opening and closing speed of the circuit breaker.

[0066] For example, the speed curve is obtained by differentiating the travel curve of the circuit breaker moving contact, and then the speed curve of the circuit breaker moving contact is converted to the time domain according to the conversion relationship between the frame rate and time of the structured light 3D camera. Then, according to the manufacturer's definition of the opening and closing speed, the circuit breaker opening and closing speed is calculated.

[0067] It should be noted that the above embodiment can be implemented by a device for determining the opening and closing speed of a circuit breaker.

[0068] In the above steps S101 to S104 of the present invention, an initial operation image of the circuit breaker operating device is obtained, wherein the initial operation image is used to indicate the movement process of the circuit breaker operating device, and the circuit breaker operating device is used to control the switch state of the circuit breaker; the initial operation image is corrected to obtain a target operation image; based on the target operation image and the reference stroke, the motion curve of the circuit breaker operating device is determined, wherein the motion curve is used to indicate the stroke change state of the contacts on the circuit breaker operating device during the operation of the circuit breaker operating device; based on the motion curve, the speed of the circuit breaker is determined. In other words, the present invention corrects the initial operation image of the circuit breaker operating device to obtain a target operation image, determines the motion curve of the circuit breaker operating device according to the target operation image and the reference stroke, and thus determines the circuit breaker opening and closing speed according to the motion curve, thereby solving the technical problem of being unable to determine the circuit breaker opening and closing speed, and achieving the technical effect of determining the circuit breaker opening and closing speed.

[0069] The above method of this embodiment is further introduced below.

[0070] As an optional implementation method, the initial operation image is corrected to obtain a target operation image, including: acquiring acquisition parameters of an acquisition device, wherein the acquisition device is used to acquire the initial operation image of the circuit breaker operating device; based on the acquisition parameters, the initial operation image is corrected to obtain the target operation image of the circuit breaker operating device.

[0071] In this embodiment, acquisition parameters of the acquisition device are obtained; according to the acquisition parameters, the initial operation image is corrected to obtain the target operation image of the circuit breaker operating device. The specific correction process is shown in the above formulas (1) to (3), which will not be described in detail here.

[0072] Optionally, the structured light 3D camera is affected by the inconsistent response of the planar detection array pixels, and the image contains a large amount of fixed pattern noise. At the same time, due to the interference of the working of the detectors, amplifiers and other devices inside the imaging system, the image often contains internal noise such as shot noise and thermal noise, which makes the imaging target blurred, the detail information is seriously lost, and the overall image recognition is low. Homogeneous areas are prone to appear during the imaging process. Especially when the radiation difference between the background and the target is small, it seriously affects the image perception, so the image needs to be corrected.

[0073] As an optional implementation method, based on the acquisition parameters, the initial operation image is corrected to obtain the target operation image of the circuit breaker operating device, including: based on the acquisition parameters, determining the correction parameters of the acquisition device; based on the correction parameters, the initial operation image is corrected to obtain the target operation image of the circuit breaker operating device.

[0074] In this embodiment, the calibration parameters of the acquisition device are determined according to the acquisition parameters, wherein the calibration parameters may also be referred to as camera parameters.

[0075] Optionally, the initial operation image is corrected using correction parameters to obtain a target operation image of the circuit breaker operating device. The specific correction process is shown in the above formulas (1) to (3), which will not be described in detail here.

[0076] As an optional embodiment, determining a motion curve of a circuit breaker operating device based on a target operation image and a reference stroke includes: determining a tracking target based on the target operation image, wherein the tracking target is used to track the motion position of the circuit breaker operating device in the target operation image; extracting operation data of the tracking target from the target operation image; determining rotation angle data of the circuit breaker operating device based on the operation data of the tracking target; and determining the motion curve of the circuit breaker operating device based on the operation data and the rotation angle data.

[0077] In this embodiment, the tracking target is determined according to the target running image, for example, by using an improved normalized correlation coefficient matching algorithm to track the target.

[0078] For example, after the target image is grayscale binarized, the image is opened to smooth the edge of the light spot, and then the minimum bounding rectangle (a0, b0, c0, d0) is obtained in a connected domain manner. The minimum bounding rectangle is enlarged in proportion to the target feature distance to ensure that when it is close to the structured light 3D camera, the imaging light spot at different positions is always located in the positioning rectangle (a1, b1, c1, d1), thus achieving preliminary positioning of the target.

[0079] Optionally, after the tracking target is determined, the running data of the tracking target is extracted from the target running image; the running data is also the motion path of the tracking target, so that the rotation angle data of the circuit breaker operating device, that is, the rotation angle of the motion connecting rod, is determined according to the running data of the tracking target. For example, the motion trajectory of the tracking target is characterized to calculate the rotation angle of the motion connecting rod.

[0080] As an optional implementation method, extracting operation data of the tracking target from the target operation image includes: matching the target operation image with the template operation image to obtain a matching result, wherein the matching result is used to indicate whether the target operation image matches the template operation image; in response to the matching result being a match between the target operation image and the template operation image, determining the operation data in the target operation image as the operation data of the tracking target.

[0081] In this embodiment, the target operation image is matched with the template operation image. When the matching result is a match, it means that the tracking target in the target operation image is consistent with the tracking target in the template operation image. Based on this, the operation data in the target operation image can be determined as the operation data of the tracking target.

[0082] For example, the target is tracked using an improved normalized correlation coefficient matching algorithm, the matching template is updated, and the previous frame is used as the matching template of the next frame, and frame by frame matching is performed, so that the matched transport data is determined as the running data of the tracked target.

[0083] As an optional implementation method, determining the opening and closing speed of a circuit breaker based on a motion curve includes: determining a speed curve of a circuit breaker operating device based on the motion curve; obtaining speed standard data of the opening and closing of the circuit breaker, wherein the speed standard data is used to indicate a speed range of the opening and closing during normal operation; and determining the opening and closing speed of the circuit breaker by standardizing the speed curve according to the speed standard data.

[0084] In this embodiment, the speed curve of the circuit breaker operating device is determined according to the motion curve, wherein the speed curve of the circuit breaker operating device may also be referred to as the speed curve of the circuit breaker moving contact.

[0085] Optionally, speed standard data for the opening and closing of the circuit breaker is obtained. The speed standard data is the manufacturer's definition of the opening and closing speed, that is, the speed range of the opening and closing during normal operation. The speed curve is standardized according to the speed standard data to obtain the opening and closing speed of the circuit breaker.

[0086] For example, the speed curve is obtained by differentiating the travel curve of the circuit breaker moving contact, and then the speed curve of the circuit breaker moving contact is converted to the time domain according to the conversion relationship between the frame rate and time of the structured light 3D camera. Then, according to the manufacturer's definition of the opening and closing speed, the circuit breaker opening and closing speed is calculated.

[0087] It should be noted that the above embodiment can be implemented by a device for determining the opening and closing speed of a circuit breaker.

[0088] In this embodiment, an initial operation image of the circuit breaker operating device is obtained, wherein the initial operation image is used to indicate the movement process of the circuit breaker operating device, and the circuit breaker operating device is used to control the switch state of the circuit breaker; the initial operation image is corrected to obtain a target operation image; based on the target operation image and the reference stroke, the motion curve of the circuit breaker operating device is determined, wherein the motion curve is used to indicate the stroke change state of the contacts on the circuit breaker operating device during the operation of the circuit breaker operating device; based on the motion curve, the opening and closing speed of the circuit breaker is determined. In other words, the present invention corrects the initial operation image of the circuit breaker operating device to obtain a target operation image, determines the motion curve of the circuit breaker operating device according to the target operation image and the reference stroke, and thus determines the opening and closing speed of the circuit breaker according to the motion curve, thereby solving the technical problem of being unable to determine the opening and closing speed of the circuit breaker, and achieving the technical effect of determining the opening and closing speed of the circuit breaker.

[0089] The technical solution of the embodiment of the present invention is illustrated below in conjunction with preferred implementation modes.

[0090] At present, the speed characteristics of circuit breakers are also an important basis for judging their reliable operation. If the opening and closing speed is too high, the circuit breaker operating mechanism will be subjected to huge impact force, causing damage to the mechanism components; if the opening and closing speed is too low, the arcing time between the moving and static contacts will be prolonged, resulting in increased electrical wear of the contacts and even causing the circuit breaker to explode. Only the appropriate opening and closing speed can fully increase the service life of the circuit breaker.

[0091] In the related art, the moving and static contacts of the circuit breaker are encapsulated in a closed arc extinguishing chamber, and the speed characteristics cannot be directly measured. The speed of the circuit breaker opening and closing can be tested by installing sensors, but it does not take into account the violent vibration of the circuit breaker during the opening and closing process, which causes a certain error effect on the test results. Since the internal structure design of high-voltage circuit breakers is becoming more and more compact, improper installation and operation will not only make it impossible to test, but also damage the circuit breaker. And because there are many models of circuit breakers from various manufacturers, each model of circuit breaker mechanism requires a special test tool, which is very inconvenient during maintenance and testing. Therefore, there is a technical problem that the opening and closing speed of the circuit breaker cannot be determined. With respect to the above-mentioned technical problem that the opening and closing speed of the circuit breaker cannot be determined, no effective solution has been proposed so far.

[0092] However, an embodiment of the present invention proposes a circuit breaker opening and closing speed testing method based on image recognition, which obtains a circuit breaker operating mechanism action video; performs dedistortion and calibration processing on the circuit breaker operating mechanism action video to obtain a corrected image; performs local image enhancement processing on the corrected circuit breaker action video image to enhance target features and improve the accuracy of detection and tracking; selects a tracking target from the enhanced image, tracks and matches frame by frame to obtain the motion trajectory of the circuit breaker operating mechanism, and then calculates the rotation angle of the moving connecting rod, and obtains the circuit breaker moving contact stroke curve in combination with the stroke set by the manufacturer; obtains the moving contact speed curve according to the moving contact stroke curve, and then obtains the opening and closing speed according to the opening and closing speed definition set by the manufacturer, thereby solving the technical problem of being unable to determine the circuit breaker opening and closing speed and achieving the technical effect of determining the circuit breaker opening and closing speed.

[0093] The embodiments of the present invention are further described below.

[0094] Figure 3 is a flow chart of a circuit breaker opening and closing speed testing method based on image recognition according to an embodiment of the present invention, such as Figure 3 As shown, the circuit breaker opening and closing speed testing method includes the following steps:

[0095] Step S301, obtaining the action video of the circuit breaker operating mechanism.

[0096] In this embodiment, the action video of the circuit breaker operating mechanism is obtained, the circuit breaker operating mechanism box is opened, and the structured light 3D camera is installed on the camera bracket. The structured light 3D camera consists of a projector and a dual-lens camera. The projector projects the predefined light source mark point onto the object to be tested, and the dual-lens camera captures the reflected light source mark point to complete the image acquisition. The height of the camera bracket is adjusted to align the structured light 3D camera with the circuit breaker operating mechanism motion link or crank arm. According to the on-site test environment, the camera and the operating mechanism motion link or crank arm are adjusted to a suitable distance to ensure that the complete action process can be captured.

[0097] Optionally, the structured light 3D camera is issued a shooting instruction by a camera acquisition controller, and the camera acquisition controller is composed of a switch-on and switch-off trigger power supply, a probe, an oscilloscope, and a signal transmission control line. The switch-on and switch-off trigger power supply is connected to the control terminal of the switch-on and switch-off control box of the circuit breaker, one end of the probe is connected to the positive and negative poles of the control terminal, and the other end is connected to the oscilloscope. When the instruction is issued, the switch-on and switch-off trigger power supply starts to output voltage, and after the probe acquires the voltage signal, it is displayed on the oscilloscope. The oscilloscope issues a shooting instruction to the structured light 3D camera through the signal transmission control line, and the structured light 3D camera starts to shoot the movement process of the motion connecting rod or crank arm of the circuit breaker operating mechanism.

[0098] Optionally, the action video of the circuit breaker operating mechanism is transmitted to an image processing module in a host computer via a data transmission line for subsequent operation steps.

[0099] Step S302, performing de-distortion and calibration processing on the circuit breaker operating mechanism action video to obtain a corrected image.

[0100] In this embodiment, the action video is dedistorted based on the preset distortion coefficient to obtain a corrected image. The specific implementation process is as follows: print an asymmetric circular calibration plate with accurate side length; take photos of the calibration plate at different positions or angles; detect calibration feature points; and calibrate the camera's structured light 3D camera intrinsic parameters, distortion parameters, and average reprojection error using the camera imaging principle and the relationship between the calibration feature points.

[0101] Alternatively, if Figure 2 As shown, the image is corrected using the above formulas (1) to (3) to obtain a corrected image.

[0102] Step S303, performing local image enhancement processing on the corrected circuit breaker action video image to enhance target features.

[0103] In this embodiment, if Figure 2 As shown, S(O,X,Y,Z) is the world coordinate system, S1(O1,X1,Y1,Z1) is the left camera coordinate system, S2(O2,X2,Y2,Z2) is the right camera coordinate system, R1, T1 and R2, T2 are the rotation matrix and translation vector from S to S1, and S2, respectively. Under the ideal pinhole model, the transformation relationship between a point P(x,y,z) in the world coordinate system and the projected pixel coordinate p(u,v) can be expressed as the aforementioned formula (1), which will not be repeated here.

[0104] Optionally, after obtaining the one-to-one correspondence between pixel coordinates and spatial coordinates, a closed solution for the camera parameters is obtained. In actual imaging systems, due to the manufacturing error and installation error of the lens itself, camera imaging is distorted. Suppose the unobservable ideal coordinates of the calibrated feature points in the unit distance plane of the camera coordinate system are (x, y), and the actual coordinates after distortion are (x~, y~). Under the third-order radial distortion and tangential distortion models, both satisfy the aforementioned formula (2), which will not be repeated here.

[0105] Optionally, in order to solve the camera parameters and distortion coefficients, it is assumed that a total of n images are taken, each image has k calibrated feature points, and the average reprojection error is used as the optimization target, which is defined as shown in the above formula (3) and will not be repeated here.

[0106] Optionally, the calculated camera internal and external parameters are reprojected onto the image to obtain the reprojection point Then, with the extracted feature point coordinates p ij , calculate the vector two norm between them to get the average reprojection error, take the minimization of formula (3) as the optimization goal, iterate continuously until convergence, complete the camera calibration, and then convert the dedistorted image from the camera coordinate system back to the pixel coordinate system as a new image to obtain the corrected image.

[0107] Optionally, in order to solve the problems of image blur and edge information loss caused by the circuit breaker moving too fast during operation, a dual fusion filter template is proposed. The filter template is obtained by nonlinear superposition of a grayscale Gaussian template and a spatial Gaussian template, which can suppress noise while better maintaining image edge detail information. The definition formula of the dual fusion filter template is shown in the above formula (4), which will not be repeated here.

[0108] Optionally, w(i, j) represents the weight coefficient of the dual fusion filter, and its calculation formula can be expressed as the aforementioned formula (5), which will not be repeated here.

[0109] Optionally, the performance of the dual fusion filter is mainly determined by the two weight coefficients. The calculation formulas of the two are respectively the aforementioned formula (6) and formula (7), which will not be repeated here.

[0110] Optionally, the filtered corrected image is referred to as a new circuit breaker action image. Local enhancement of target features: In view of the problem of blurring artifacts in the video image near the maximum speed frame of the circuit breaker, the present invention uses an unsharp mask for local enhancement, and sharpens the image by subtracting the original image from the blurred or smoothed image. The pixel brightness of the new circuit breaker action image is represented by h0(x, y), and the filtered corrected image is blurred by Gaussian filtering, and the pixel brightness of the blurred image is represented by h1(x, y); the result of subtracting the blurred image from the new circuit breaker action image is used as a mask, as shown in the above formula (8), which will not be repeated here. The mask is added to the new circuit breaker action image to obtain a new circuit breaker action sharpened image as shown in the above formula (9), which will not be repeated here.

[0111] Step S304, selecting a tracking target from the enhanced image, and obtaining a circuit breaker moving contact stroke curve in combination with the stroke set by the manufacturer.

[0112] In this embodiment, a tracking target is selected from the enhanced image, and frame-by-frame tracking and matching is performed to obtain the motion trajectory of the circuit breaker operating mechanism, and then the rotation angle of the motion connecting rod is calculated, and the circuit breaker moving contact stroke curve is obtained in combination with the stroke set by the manufacturer.

[0113] Optionally, in view of the poor stability and high pixel value error of the center of the target point under the perspective of the structured light 3D camera in the common positioning method, an extraction method based on grayscale threshold is adopted: after the target image is grayscale binarized, the image is opened to smooth the contour edge of the spot, and then the minimum bounding rectangle (a0, b0, c0, d0) is obtained in a connected domain manner. The minimum bounding rectangle is enlarged in proportion to the target feature distance to ensure that when it is close to the structured light 3D camera, the imaging spot at different positions is always located in the positioning rectangle (a1, b1, c1, d1), so as to achieve the preliminary positioning of the target.

[0114] Optionally, Figure 4 FIG. 1 is a schematic diagram of selecting a preliminary positioning of a tracking target according to an embodiment of the present invention. Figure 4 As shown, a1, b1, c1, d1 are the pixel coordinates of the upper left corner of the positioning rectangle (a1, b1, c1, d1) and its width and height, (a2, b2) are the pixel coordinates of the center of the light spot, and a1, b1 satisfy the following formula (11):

[0115]

[0116] Optionally, an adaptive threshold segmentation method is used to calculate the threshold each time according to the different distribution of image grayscale, which has strong flexibility. The adaptive threshold method can improve the efficiency and performance of image segmentation. The threshold T H0 Divide all pixels of the image into two categories T H1 (less than T H0 ) and T H2 (greater than T H0 ), the global mean of the image is m0. At the same time, the pixels are divided into T H1 and T H2 The probabilities of the two classes are e1 and e2 respectively. Therefore, the means of the two classes of pixels are m1 and m2 respectively, and m0 can be expressed as the following formula (12):

[0117] e1*m1+e2*m2=m0 (12)

[0118] Optionally, the variance is expressed as shown in the following formula (13):

[0119] σ 2 =e1*(m1-m0) 2 +e2*(m2-m0) 2 (13)

[0120] Alternatively, substituting formula (12) into formula (13) yields:

[0121] σ 2 =e1e2*(m1-m2) 2 (14)

[0122] Optionally, cumulative segmentation is performed twice to obtain four parts: the target center area, the target transition area, the halo edge part and the background, and the target center position can be obtained. Determine H so that the variance σ 2 maximum.

[0123] Optionally, the grayscale transition area containing gradient information is used for Gaussian fitting, and the data in the central flat top area is not included in the calculation. The commonly used two-dimensional Gaussian distribution expression is the following formula (15):

[0124]

[0125] Where A is the amplitude of the Gaussian distribution function; (a0, b0) are the coordinates of the extreme points of the surface in the x and y directions respectively; σ x , σ y are the standard deviations of the surface in the x and y directions, respectively.

[0126] Optionally, construct the target coordinates (x n ,y n ) and gray value G(x n ,y n ) linearly correspond to each other. Relying on the decomposition of gray values ​​and Gaussian fitting analysis, the target coordinates (x n ,y n )’s location extraction.

[0127] Optionally, due to different designs of circuit breaker manufacturers, some circuit breaker moving links are not linear motion, and some moving links are blocked by the circuit breaker housing, so they cannot be selected as tracking targets, and only the crank arm can be selected for tracking. The non-linear circuit breaker connecting rods and crank arms will rotate during the opening and closing process. When using template matching for tracking, when tracking with a fixed template in the first frame, it is sensitive to target size changes and rotations, and tracking failures are prone to occur.

[0128] Optionally, the present invention proposes an improved normalized correlation coefficient matching algorithm to track the target, update the matching template, use the previous frame as the matching template of the next frame, match frame by frame, and achieve target tracking. Its expression is shown in the above formula (10), which will not be repeated here. The target motion trajectory is characterized, the rotation angle of the moving connecting rod is calculated, and the circuit breaker moving contact stroke curve is obtained in combination with the stroke set by the manufacturer.

[0129] Step S305, obtaining the moving contact speed curve according to the moving contact stroke curve, and then obtaining the opening and closing speed according to the opening and closing speed definition set by the manufacturer.

[0130] In this embodiment, the speed curve is obtained by differentiating the travel curve of the circuit breaker moving contact, and then the circuit breaker moving contact speed curve is converted into the time domain according to the conversion relationship between the frame rate and time of the structured light 3D camera, and then the circuit breaker opening and closing speed is calculated according to the manufacturer's definition of the opening and closing speed.

[0131] Figure 5 is a schematic diagram of a circuit breaker opening and closing speed testing system based on image recognition according to an embodiment of the present invention, such as Figure 5 As shown, the circuit breaker opening and closing speed testing system 500 based on image recognition includes an image acquisition module 501 and an image processing module 502 .

[0132] In this embodiment, the image acquisition module 501 includes a structured light 3D camera, a camera acquisition controller, and a data transmission line, which are used to acquire the circuit breaker opening and closing action images and transmit them to the host computer.

[0133] Optionally, the image processing module 502 includes: an image correction unit 5021 , an image enhancement unit 5022 and a target tracking unit 5023 .

[0134] Optionally, the image correction unit 5021 is used to perform de-distortion and calibration processing on the circuit breaker operating mechanism action video to obtain a corrected image.

[0135] Optionally, the image enhancement unit 5022 is used to perform local image enhancement processing on the corrected circuit breaker action video image to enhance target features and improve the accuracy of detection and tracking.

[0136] Optionally, the target tracking unit 5023 is used to select the tracking target from the enhanced image, match it frame by frame, obtain the motion trajectory of the circuit breaker operating mechanism, and then calculate the rotation angle of the moving connecting rod, and obtain the circuit breaker moving contact stroke curve in combination with the stroke set by the manufacturer, and then obtain the moving contact speed curve to analyze the circuit breaker opening and closing speed.

[0137] In this embodiment, the action video of the circuit breaker operating mechanism is obtained; the action video of the circuit breaker operating mechanism is subjected to distortion removal and calibration processing to obtain a corrected image; the corrected circuit breaker action video image is subjected to local image enhancement processing to enhance target features and improve the accuracy of detection and tracking; the tracking target is selected from the enhanced image, and the motion trajectory of the circuit breaker operating mechanism is obtained by frame-by-frame tracking and matching, and then the rotation angle of the moving connecting rod is calculated, and the circuit breaker moving contact stroke curve is obtained in combination with the stroke set by the manufacturer; the moving contact speed curve is obtained according to the moving contact stroke curve, and then the opening and closing speed is obtained according to the opening and closing speed definition set by the manufacturer, so as to solve the technical problem of being unable to determine the opening and closing speed of the circuit breaker and achieve the technical effect of determining the opening and closing speed of the circuit breaker.

[0138] According to an embodiment of the present invention, a device for determining the opening and closing speed of a circuit breaker is also provided. It should be noted that the device for determining the opening and closing speed of a circuit breaker can be used to execute the method for determining the opening and closing speed of a circuit breaker in the method embodiment.

[0139] Figure 6 Schematic diagram of a device for determining the opening and closing speed of a circuit breaker according to an embodiment of the present invention. Figure 6 As shown, the device 600 for determining the opening and closing speed of a circuit breaker may include: an acquisition unit 601 , a correction unit 602 , a first determination unit 603 and a second determination unit 604 .

[0140] The acquisition unit 601 is used to acquire an initial operation image of a circuit breaker operating device, wherein the initial operation image is used to indicate a movement process of the circuit breaker operating device, and the circuit breaker operating device is used to control a switch state of the circuit breaker.

[0141] The correction unit 602 is used to perform correction processing on the initial running image to obtain a target running image.

[0142] The first determining unit 603 is used to determine a motion curve of the circuit breaker operating device based on the target operation image and the reference stroke, wherein the motion curve is used to indicate a stroke change state of the contacts on the circuit breaker operating device during the operation of the circuit breaker operating device.

[0143] The second determining unit 604 is configured to determine the opening and closing speed of the circuit breaker based on the motion curve.

[0144] Optionally, the correction unit 602 may include: a first acquisition module, used to acquire acquisition parameters of an acquisition device, wherein the acquisition device is used to acquire an initial operation image of the circuit breaker operating device; and a correction module, used to perform correction processing on the initial operation image based on the acquisition parameters to obtain a target operation image of the circuit breaker operating device.

[0145] Optionally, the correction module may include: a first determination submodule, used to determine the correction parameters of the acquisition device based on the acquisition parameters; a correction submodule, used to perform correction processing on the initial operation image based on the correction parameters to obtain a target operation image of the circuit breaker operating device.

[0146] Optionally, the first determination unit 603 may include: a first determination module, used to determine the tracking target based on the target operation image, wherein the tracking target is used to track the movement position of the circuit breaker operating device in the target operation image; an extraction module, used to extract the operation data of the tracking target from the target operation image; a second determination module, used to determine the rotation angle data of the circuit breaker operating device based on the operation data of the tracking target; and a third determination module, used to determine the motion curve of the circuit breaker operating device based on the operation data and the rotation angle data.

[0147] Optionally, the extraction module may include: a matching submodule, used to match the target operation image with the template operation image to obtain a matching result, wherein the matching result is used to indicate whether the target operation image and the template operation image match each other; and a second determination submodule, used to determine the operation data in the target operation image as the operation data of the tracking target in response to the matching result being a match between the target operation image and the template operation image.

[0148] Optionally, the second determination unit 604 may include: a fourth determination module, used to determine the speed curve of the circuit breaker operating device based on the motion curve; a second acquisition module, used to obtain speed standard data of the opening and closing of the circuit breaker, wherein the speed standard data is used to indicate the speed range of the opening and closing during normal operation; and a processing module, used to standardize the speed curve according to the speed standard data to obtain the opening and closing speed of the circuit breaker.

[0149] In this embodiment, an initial operation image of the circuit breaker operating device is obtained, wherein the initial operation image is used to indicate the movement process of the circuit breaker operating device, and the circuit breaker operating device is used to control the switch state of the circuit breaker; the initial operation image is corrected to obtain a target operation image; based on the target operation image and the reference stroke, the motion curve of the circuit breaker operating device is determined, wherein the motion curve is used to indicate the stroke change state of the contacts on the circuit breaker operating device during the operation of the circuit breaker operating device; based on the motion curve, the opening and closing speed of the circuit breaker is determined. In other words, the present invention corrects the initial operation image of the circuit breaker operating device to obtain a target operation image, determines the motion curve of the circuit breaker operating device according to the target operation image and the reference stroke, and thus determines the opening and closing speed of the circuit breaker according to the motion curve, thereby solving the technical problem of being unable to determine the opening and closing speed of the circuit breaker, and achieving the technical effect of determining the opening and closing speed of the circuit breaker.

[0150] According to an embodiment of the present invention, there is further provided a computer-readable storage medium, the storage medium comprising a stored program, wherein the program executes the method for determining the opening and closing speed of a circuit breaker in the method embodiment.

[0151] According to an embodiment of the present invention, a processor is further provided. The processor is used to run a program, wherein when the program is run, the method for determining the opening and closing speed of a circuit breaker in the method embodiment is executed.

[0152] According to an embodiment of the present invention, a computer program product is further provided. The computer program product includes computer instructions. When the computer instructions are executed by a processor, the method for determining the opening and closing speed of a circuit breaker in the method embodiment is implemented.

[0153] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0154] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0155] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0156] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0157] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0158] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent functional component, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software functional component, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc., which can store program codes.

[0159] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for determining the opening and closing speed of a circuit breaker, characterized in that: include: Acquire an initial operation image of a circuit breaker operating device, wherein the initial operation image is used to indicate a movement process of the circuit breaker operating device, and the circuit breaker operating device is used to control a switch state of the circuit breaker; Performing correction processing on the initial running image to obtain a target running image; Determine a motion curve of the circuit breaker operating device based on the target operation image and the reference stroke, wherein the motion curve is used to indicate a stroke change state of a contact on the circuit breaker operating device during the operation of the circuit breaker operating device; Based on the motion curve, the speed of opening and closing of the circuit breaker is determined.

2. The method according to claim 1, characterized in that Correcting the initial running image to obtain a target running image includes: Acquiring acquisition parameters of an acquisition device, wherein the acquisition device is used to acquire the initial operation image of the circuit breaker operating device; Based on the acquisition parameters, the initial operation image is corrected to obtain the target operation image of the circuit breaker operating device.

3. The method according to claim 2, characterized in that Based on the acquisition parameters, the initial operation image is corrected to obtain the target operation image of the circuit breaker operating device, including: Based on the acquisition parameters, determining correction parameters of the acquisition device; The initial operation image is corrected based on the correction parameters to obtain the target operation image of the circuit breaker operating device.

4. The method according to claim 1, characterized in that: Determining a motion curve of the circuit breaker operating device based on the target operation image and the reference stroke includes: Determining a tracking target based on the target operation image, wherein the tracking target is used to track the movement position of the circuit breaker operating device in the target operation image; Extracting operation data of the tracked target from the target operation image; Determining rotation angle data of the circuit breaker operating device based on the operating data of the tracking target; The motion curve of the circuit breaker operating device is determined based on the operation data and the rotation angle data.

5. The method according to claim 4, characterized in that Extracting the running data of the tracked target from the target running image includes: Matching the target running image with the template running image to obtain a matching result, wherein the matching result is used to indicate whether the target running image matches the template running image; In response to the matching result being a match between the target operation image and the template operation image, the operation data in the target operation image is determined as the operation data of the tracking target.

6. The method according to any one of claims 1 to 5, characterized in that Determining the opening and closing speed of the circuit breaker based on the motion curve includes: Based on the motion curve, determining a speed curve of the circuit breaker operating device; Acquiring speed standard data of the opening and closing of the circuit breaker, wherein the speed standard data is used to indicate a speed range of the opening and closing during normal operation; The speed curve is standardized according to the speed standard data to obtain the opening and closing speed of the circuit breaker.

7. A device for determining the opening and closing speed of a circuit breaker, characterized in that: include: An acquisition unit, configured to acquire an initial operation image of a circuit breaker operating device, wherein the initial operation image is used to indicate a movement process of the circuit breaker operating device, and the circuit breaker operating device is used to control a switching state of the circuit breaker; A correction unit, used for performing correction processing on the initial running image to obtain a target running image; a first determining unit, configured to determine a motion curve of the circuit breaker operating device based on the target operation image and a reference stroke, wherein the motion curve is used to indicate a stroke change state of a contact on the circuit breaker operating device during operation of the circuit breaker operating device; The second determining unit is used to determine the opening and closing speed of the circuit breaker based on the motion curve.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed by a processor, the device where the storage medium is located is controlled to execute the method according to any one of claims 1 to 6.

9. A processor, characterized in that: The processor is used to run a program, wherein the program executes the method according to any one of claims 1 to 6 when running.

10. A computer program product, characterized in that The computer program product comprises computer instructions, which implement the method according to any one of claims 1 to 6 when executed by a processor.

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