Insulator three-dimensional model scanning device and creepage distance calculation method for improvement

Abstract

The invention relates to an insulator three-dimensional model scanning device and an improved creepage distance calculation method, and belongs to the field of digital detection and performance optimization of high-voltage insulation equipment. The device comprises a bottom supporting plate, a servo mechanism, a high-precision pitch angle regulation and control mechanism, a 2D industrial camera, a high-precision rotary table, a locking mechanism and an insulator clamp; the servo mechanism controls the high-precision pitch angle regulation and control mechanism to move, the 2D industrial camera carries out shooting, the insulator clamp is matched with different insulators, and the high-precision rotary table clamps and rotates the insulators through the locking mechanism, so that all-directional dead-corner-free scanning of the insulators is realized. High-precision three-dimensional scanning of the insulator is achieved through algorithms such as image processing and geometric analysis, an improved creepage distance calculation method is provided based on the characteristic that the composite insulator is prone to deformation, and the problems that the three-dimensional scanning precision is insufficient, a traditional scanning angle optimization method is single, the creepage distance measurement error is large, and the fixture adaptability is poor are solved. And dead-corner-free scanning of the insulator is realized.

Description

Technical Field

[0001] The present invention relates to a three-dimensional model scanning device for an insulator and an improved creepage distance calculation method, belonging to the field of digital detection and performance optimization of high-voltage insulation equipment. Background Art

[0002] In a high-voltage power transmission system, as a key component, an insulator undertakes the dual functions of mechanical support and electrical insulation. Its surface configuration is complex and it is exposed to a harsh environment for a long time, so it is prone to deformation, resulting in inaccurate measurement of the creepage distance. Therefore, many traditional detection and scanning devices have emerged, but there are some deficiencies in traditional devices:

[0003] First of all, the three-dimensional scanning accuracy is insufficient. Because most of the existing three-dimensional scanning devices adopt a fixed clamping method, it is difficult to adapt to different types of insulators, resulting in problems of unstable clamping and data loss during the scanning process. Moreover, the pitch angle adjustment accuracy of the traditional scanning mechanism is limited, and it is difficult to achieve high-precision dynamic tracking. For composite insulators with complex shapes, the scanning result is even more difficult, and local distortion will occur, and it is simply impossible to scan the insulator without dead angles;

[0004] Secondly, the traditional scanning angle optimization method is relatively single. The traditional methods are all set at a fixed angle and then scanned, so it will not be able to adapt to different types of insulators;

[0005] In addition, the creepage distance measurement error is large. The current traditional measurement method is based on an idealized geometric model, similar to a cylinder. Therefore, the creepage distance can be calculated through a simple path such as an arc or a straight line, but these distances are approximate distances. Moreover, the composite insulator is prone to deformation under the influence of external forces, stresses and temperature changes during operation, which will lead to an obvious deviation between the actual and the theoretical values.

[0006] Finally, the adaptability of the fixture system is poor. Most of the existing clamping devices are designed for specific types of insulators. For example, a three-jaw chuck is adapted to a cylindrical composite insulator, so it is difficult to adapt to special-shaped insulators, resulting in uneven clamping force problems, which will cause displacement or vibration during the scanning process. Moreover, some fixtures even require manual adjustment repeatedly, with low efficiency and difficult to ensure the clamping repeat accuracy. Summary of the Invention

[0007] According to the problems described in the background, the problems to be solved by the present invention are: to provide an insulator three-dimensional model scanning device and an improved creepage distance calculation method, to achieve high-precision three-dimensional scanning of the insulator through algorithms such as image processing and geometric analysis, and based on the characteristics of composite insulators being prone to deformation, etc., to propose an improved creepage distance calculation method to solve the problems of insufficient three-dimensional scanning accuracy, inability to scan the insulator without dead angles, relatively single traditional scanning angle optimization method, large creepage distance measurement error, and poor adaptability of the fixture system mentioned above.

[0008] To achieve the above object, the present invention provides the following technical solutions: to provide an insulator three-dimensional model scanning device, including a bottom support plate, a servo mechanism, a high-precision pitch angle adjustment mechanism, a 2D industrial camera, a high-precision turntable, a locking mechanism, and an insulator fixture. The servo mechanism is installed on the left side of the bottom support plate, the high-precision turntable is installed on the right side of the bottom support plate, the high-precision pitch angle adjustment mechanism is installed on the servo mechanism, and the high-precision pitch angle adjustment mechanism and the high-precision turntable ensure no dead angles during the scanning of the insulator. The 2D industrial camera is installed at the lower part of the high-precision pitch angle adjustment mechanism, the locking mechanism is installed on the high-precision turntable, and the insulator fixture is specifically installed at the usage position of the high-precision turntable;

[0009] The servo mechanism includes a support structure, a lead screw, a sliding table, a drag chain, and a servo motor. The support structure is the main structure of the servo mechanism. The support structure is in the shape of a long triangular prism with a crossbar in the middle. The lead screw is installed on the right side of the support structure and completely covers it from top to bottom. The sliding table is fitted and installed on the lead screw. One end of the drag chain is connected to the sliding table, and the other end of the drag chain is connected to the crossbar of the support structure. The servo motor is installed at the lowest part of the lead screw;

[0010] The high-precision pitch angle adjustment mechanism includes a three-dimensional scanner bracket, a stepping motor, a driving gear II, a feedback gear III, a feedback gear, a large driven gear, a Hall sensor, and a circuit board. The three-dimensional scanner bracket is installed on one side of the sliding table. A driving gear is installed on the front end face of the sliding table. The output end of the stepping motor is connected to the driving gear. The driving gear meshes with the large driven gear, and the large driven gear is also installed on the front end face of the sliding table. The large driven gear also meshes with the feedback gear II and the feedback gear III, and the feedback gear II and the feedback gear III are also installed on the front end face of the sliding table. A Hall sensor is installed between the feedback gear II and the feedback gear III and the sliding table, and a circuit board is also installed between the Hall sensor and the sliding table. A permanent magnet is installed in the middle of the feedback gear II and the feedback gear III;

[0011] The insulator fixture includes a horizontal single-sided modular jaw, a horizontal double-sided modular jaw, and a support cylinder-type modular jaw.

[0012] Preferably, the high-precision turntable includes a top plate, a bearing seat, a top fixed chuck, a positioning reference column, a support column, a turntable, a three-jaw chuck, a bottom plate, a chuck tightening handle, a rotating motor, a displacement sensor, and a support table. The support table is installed on the bottom support plate. A gear used in cooperation with the rotating motor is installed inside the support table. The rotating motor is installed in cooperation under the support table. A bottom plate is installed above the support table. The top plate is supported and connected above the bottom plate through the support column. Four positioning reference columns are also installed at the four corners of the bottom plate and the top plate. A bearing seat is installed on the top plate and penetrates the top plate. A locking mechanism is also provided on the support column. The top fixed chuck is installed between the bottom plate and the top plate and close to the top plate side by connecting the locking mechanism. A displacement sensor is also provided at the connection between the top fixed chuck and the locking mechanism. The turntable is arranged on the upper end surface of the bottom plate. A three-jaw chuck is installed on the turntable. The three-jaw chuck is connected to the chuck tightening handle;

[0013] The locking mechanism includes a locking part and a fixed buckle. The locking part is installed on the fixed buckle. The locking part is installed on the support column and one end is connected to the displacement sensor.

[0014] Preferably, the horizontal single-side modular jaw includes a threaded rod fixed vertical support column, a three-jaw chuck connecting piece, and a connecting piece cross beam. A threaded hole is provided on the threaded rod fixed vertical support column. The lower end of the threaded rod fixed vertical support column is connected to the connecting piece cross beam. The three-jaw chuck connecting piece is installed at the center position of the lower end of the connecting piece cross beam;

[0015] Preferably, the horizontal double-side modular jaw includes a through screw, a ball head fixing piece, a spring, a ball head corresponding piece, a support piece, and a three-jaw chuck connecting piece. The support piece is in a U-shaped style. The ball head corresponding piece is installed at the left end of the support piece. Two groups of ball head fixing pieces are installed at the right end of the support piece. A spring is also provided between the two groups of ball head fixing pieces. The through screw penetrates through the two groups of ball head fixing pieces. The three-jaw chuck connecting piece is installed at the center position of the lower end of the support piece;

[0016] Preferably, the support cylinder type modular jaw includes a ball head support cylinder and a three-jaw chuck connecting piece. The three-jaw chuck connecting piece is installed at the lower end of the ball head support cylinder.

[0017] Preferably, the positioning reference column uses a pure black material, and a patch is evenly pasted on the outer surface. The patch is a fully reflective material.

[0018] The present invention also provides an improved creepage distance calculation method, including the following steps:

[0019] S1: Initialization of the scanning device and clamping of the insulator;

[0020] S2: Perform two-dimensional image pre-shooting based on an industrial camera, and perform morphological analysis on the two-dimensional side pictures of the captured insulators to implement the scanning angle optimization method;

[0021] S3: Optimize the three-dimensional data acquisition and control according to the pitch angle, high-precision pitch angle control mechanism and displacement sensor;

[0022] S4: Calculate the scanning angle based on the partial point cloud model obtained from the real-time insulator scanning, and dynamically optimize the scanning process.

[0023] S5: Optimize the creepage distance measurement and calculation through the multi-source geodesic algorithm.

[0024] Preferably, the step S1 includes the following steps:

[0025] S1.1: Initialize the hardware structure of the insulator three-dimensional model scanning device of the present invention before scanning;

[0026] S1.2: Detect and calibrate the three-dimensional scanner;

[0027] S1.3: Paste positioning patches on the positioning reference posts;

[0028] S1.4: Select an adapted modular gripper according to the insulator type.

[0029] Preferably, the step S2 includes the following steps:

[0030] S2.1: Pre-shoot and image acquisition;

[0031] S2.2: Process the image and extract the edges;

[0032] S2.3: Insulator petticoat morphology analysis and data extraction;

[0033] S2.4: Calculate the pitch angle to avoid petticoat occlusion;

[0034] S2.5: Convert the pitch angle of the final three-dimensional scanner.

[0035] Preferably, the step S3 includes the following steps:

[0036] S3.1: The industrial computer receives the pitch angle of the three-dimensional scanner;

[0037] S3.2: Calculate the motor target position;

[0038] S3.3: Determine the absolute angle change of the large driven gear by real-time monitoring and recording the data values of the Hall sensors of the two feedback gears.

[0039] Preferably, the step S4 includes the following steps:

[0040] S4.1: Initial scanning and partial point cloud acquisition;

[0041] S4.2: Extract the edge contour points of the insulator local point cloud;

[0042] S4.3: Obtain the scanning angle;

[0043] S4.4: Finally obtain the fine point cloud data of the insulator surface.

[0044] Preferably, the step S5 includes the following steps:

[0045] S5.1: Key point positioning;

[0046] S5.2: Shortest path extraction;

[0047] S5.3: Curve length calculation.

[0048] The beneficial effects of the present invention are:

[0049] 1. Through the transmission structure of the large driven gear, driving gear and double feedback gears and real-time monitoring by the Hall sensor, the regulation accuracy of the pitch angle is greatly improved, and the backlash error existing in the gear transmission is significantly reduced, ensuring the accuracy and stability during scanning.

[0050] 2. Through the insulator modular fixture system, it can be adapted to various types of insulators, greatly improving the adaptability and versatility, and solving the problem of poor adaptability of the fixture system.

[0051] 3. The whole process is controlled automatically. Through the servo system, various motors, displacement sensors and other devices, the full automation of the insulator scanning and angle control is realized, reducing the manual intervention.

[0052] 4. By optimizing the scanning angle and regulating the three-dimensional data acquisition, the problem of insufficient three-dimensional scanning accuracy is solved, and the scanning corners of the insulator are avoided algorithmically.

[0053] 5. By scanning to obtain part of the point cloud model to calculate the scanning angle and dynamically optimizing the scanning process, various scanning angle optimization methods are realized, solving the problem of relatively single traditional scanning angle optimization method.

[0054] 6. By using the multi-source geodesic algorithm to measure the creepage distance, the error is greatly reduced, solving the problem of large creepage distance measurement error.

[0055] 7. The high-precision turntable rotates and positions the insulator omnidirectionally during scanning. Especially for the reference patch, the actual position and size of the insulator can be reflected two-dimensionally; the high-precision pitch angle regulating mechanism enables the scanner to scan at a suitable pitch angle, improving the tracking performance of the scanner during scanning. The two cooperate to eliminate the scanning dead angle problem. Description of the Drawings

[0056] Figure 1Schematic structural diagram of the three-dimensional model scanning device for the insulator of the present invention;

[0057] Figure 2 Schematic structural diagram of the servo mechanism;

[0058] Figure 3 Schematic structural diagram of the high-precision turntable and locking mechanism;

[0059] Figure 4 Schematic structural diagram of the high-precision pitch angle adjustment mechanism;

[0060] Figure 5 Schematic diagram of the horizontal single-sided modular gripper applicable to the pin-type threaded insulator;

[0061] Figure 6 Schematic diagram of the horizontal double-sided modular gripper applicable to the disc-type corrugated insulator;

[0062] Figure 7 Schematic diagram of the support cylinder-type modular gripper applicable to the disc-type sandwich insulator;

[0063] Figure 8 Schematic diagram of the scanning pitch angle;

[0064] Figure 9 Algorithm flowchart of the scanning angle optimization method;

[0065] Figure 10 Schematic diagram of the scanning angle based on real-time partial point cloud reconstruction;

[0066] Figure 11 Algorithm flowchart of the improved creepage distance measurement method;

[0067] In the figure: 1 is the bottom support plate; 2 is the servo mechanism; 3 is the high-precision pitch angle adjustment mechanism; 4 is the 2D industrial camera; 5 is the high-precision turntable; 6 is the locking mechanism; 7 is the horizontal single-sided modular jaw; 8 is the horizontal double-sided modular jaw; 9 is the support cylinder type modular jaw; 21 is the support structure; 22 is the lead screw; 23 is the sliding table; 24 is the drag chain; 25 is the servo motor; 31 is the three-dimensional scanner bracket; 32 is the stepper motor; 33 is the driving gear; 34 is the feedback gear II; 35 is the feedback gear III; 36 is the large driven gear; 37 is the Hall sensor; 38 is the circuit board; 51 is the top plate; 52 is the bearing seat; 53 is the top fixed chuck; 54 is the positioning reference column; 55 is the support column; 56 is the turntable; 57 is the three-jaw chuck; 58 is the bottom plate; 59 is the chuck tightening handle; 510 is the rotation motor; 511 is the displacement sensor; 512 is the support table; 61 is the locking part; 62 is the fixed buckle; 71 is the threaded rod fixed vertical support column; 72 is the three-jaw chuck connecting piece; 73 is the connecting piece cross beam; 81 is the through screw; 82 is the ball head fixing piece; 83 is the spring; 84 is the ball head corresponding piece; 85 is the support piece; 91 is the ball head support cylinder. Specific embodiments

[0068] The following further describes the embodiments of the present invention in conjunction with the accompanying drawings:

[0069] Embodiment 1

[0070] As Figure 1 shown, the three-dimensional model scanning device for insulators of the present invention includes a bottom support plate 1, a servo mechanism 2, a high-precision pitch angle adjustment mechanism 3, a 2D industrial camera 4, a high-precision turntable 5, a locking mechanism 6 and an insulator fixture. The servo mechanism 2 is installed on the left side of the bottom support plate 1, the high-precision turntable 5 is installed on the right side of the bottom support plate 1, the high-precision pitch angle adjustment mechanism 3 is installed on the servo mechanism 2, and the high-precision pitch angle adjustment mechanism 3 and the high-precision turntable 5 ensure no dead angle during the scanning of the insulator. The 2D industrial camera 4 is installed at the lower part of the high-precision pitch angle adjustment mechanism 3, the locking mechanism 6 is installed on the high-precision turntable 5, and the insulator fixture is specifically installed at the using position of the high-precision turntable 5;

[0071] The servo mechanism 2 controls the up and down movement of the high-precision pitch angle adjustment mechanism 3, drives the 2D industrial camera 4 to take pictures, the insulator fixture cooperates with different insulators, and then the high-precision turntable 5 clamps and rotates the insulator through the locking mechanism 6, so as to realize the all-round and dead-angle-free scanning and generation of the insulator.

[0072] As Figure 2As shown in the figure, the servo mechanism 2 includes a support structure 21, a lead screw 22, a sliding table 23, a drag chain 24, and a servo motor 25. The support structure 21 is the main structure of the servo mechanism 2. The support structure 21 is in the shape of a long triangular prism with a crossbar in the middle. The lead screw 22 is installed on the right side of the support structure 21 and completely covers it from top to bottom. The sliding table 23 is fitted and installed on the lead screw 22. One end of the drag chain 24 is connected to the sliding table 23, and the other end of the drag chain 24 is connected to the crossbar of the support structure 21. The servo motor 25 is installed at the bottom of the lead screw 22;

[0073] After the servo motor 25 operates, it drives the lead screw 22 to operate, and the sliding table 23 thus moves up and down on the lead screw 22. The drag chain 24 is used to protect the cables of the scanning instrument.

[0074] As Figure 4 shown in the figure, the high-precision pitch angle adjustment mechanism 3 includes a three-dimensional scanner bracket 31, a stepping motor 32, a driving gear 33, a feedback gear II 34, a feedback gear III 35, a large driven gear 36, a Hall sensor 37, and a circuit board 38. The three-dimensional scanner bracket 31 is installed on one side of the sliding table 23. The driving gear 33 is installed on the front end face of the sliding table 23. The output end of the stepping motor 32 is connected to the driving gear 33. The driving gear 33 meshes with the large driven gear 36, and the large driven gear 36 is also installed on the front end face of the sliding table 23. The large driven gear 36 also meshes with the feedback gear II 34 and the feedback gear III 35. The feedback gear II 34 and the feedback gear III 35 are also installed on the front end face of the sliding table 23. A Hall sensor 37 is installed between the feedback gear II 34 and the feedback gear III 35 and the sliding table 23. A circuit board 38 is also installed between the Hall sensor 37 and the sliding table 23. A permanent magnet is installed between the feedback gear II 34 and the feedback gear III 35.

[0075] As Figures 5 - 7 shown in the figure, the insulator fixture includes a horizontal single-sided modular jaw 7, a horizontal double-sided modular jaw 8, and a support cylinder-type modular jaw 9.

[0076] As Figure 3As shown in the figure, the high-precision turntable 5 includes a top plate 51, a bearing seat 52, a top fixed chuck 53, a positioning reference column 54, a support column 55, a turntable 56, a three-jaw chuck 57, a bottom plate 58, a chuck tightening handle 59, a rotating motor 510, a displacement sensor 511, and a support table 512. The support table 512 is installed on the bottom support plate 1. A gear used in cooperation with the rotating motor 510 is installed inside the support table 512. The rotating motor 510 is installed in cooperation under the support table 512. A bottom plate 58 is installed above the support table 512. The top plate 51 is supported and connected by the support column 55 above the bottom plate 58. Four positioning reference columns 54 are also installed at the four corners of the bottom plate 58 and the top plate 51. The bearing seat 52 is installed on the top plate 51 and penetrates the top plate 51. A locking mechanism 6 is also provided on the support column 55. The top fixed chuck 53 is installed between the bottom plate 58 and the top plate 51 and near the top plate 51 side by connecting the locking mechanism 6. A displacement sensor 511 is also provided at the connection between the top fixed chuck 53 and the locking mechanism 6. The turntable 56 is arranged on the upper end surface of the bottom plate 58. A three-jaw chuck 57 is installed on the turntable 56. The three-jaw chuck 57 is connected to the chuck tightening handle 59;

[0077] The high-precision pitch angle adjustment mechanism 3 adopts a four-gear transmission structure. The large driven gear 36 is connected to the scanner fixing part, and the other side is engaged with three small gears. Among them, the middle small gear is connected to the stepping motor 32 for controlling the rotation of the gear, and this gear is the driving gear 33. The other two small gears are arranged on both sides of the middle small gear as the feedback gear two 34 and the feedback gear three 35. The number of teeth of the two small gears is different. A permanent magnet is installed in the middle of each small gear, and a Hall sensor 37 is installed under each magnet for real-time monitoring of the rotation speed and movement of the small gear. Angle control is feedback through the principle that the rotation speeds of the two small gears are different when the gears rotate, eliminating the backlash error of the gears and improving the angle transmission accuracy. The scanner is controlled by this mechanism to rotate along the horizontal axis to adjust the appropriate pitch angle and improve the tracking performance of the scanner during the scanning process.

[0078] As Figure 3 shown in the figure, the locking mechanism 6 includes a locking part 61 and a fixed buckle 62. The locking part 61 is installed on the fixed buckle 62. The locking part 61 is installed on the support column 55 and one end is connected to the displacement sensor 511.

[0079] As Figure 5 shown in the figure, the horizontal single-sided modular jaw 7 includes a threaded rod fixed vertical support column 71, a three-jaw chuck connecting piece 72, and a connecting piece cross beam 73. A threaded hole is provided on the threaded rod fixed vertical support column 71. The lower end of the threaded rod fixed vertical support column 71 is connected to the connecting piece cross beam 73. The three-jaw chuck connecting piece 72 is installed at the center position of the lower end of the connecting piece cross beam 73;

[0080] As Figure 6As shown in the figure, the horizontal double-sided modular jaw 8 includes a through-screw 81, a ball-head fixing member 82, a spring 83, a ball-head corresponding member 84, a support member 85, and a three-jaw chuck connecting member 72. The support member 85 is in a U-shaped style. A ball-head corresponding member 84 is installed at the left end of the support member 85. Two groups of ball-head fixing members 82 are installed at the right end of the support member 85. A spring 83 is also provided between the two groups of ball-head fixing members 82. The through-screw 81 passes through the two groups of ball-head fixing members 82. A three-jaw chuck connecting member 72 is installed at the center position of the lower end of the support member 85;

[0081] As Figure 7 shown, the support cylinder type modular jaw 9 includes a ball-head support cylinder 91 and a three-jaw chuck connecting member 72. A three-jaw chuck connecting member 72 is installed at the lower end of the ball-head support cylinder 91.

[0082] The positioning reference post 54 is made of pure black material, and patches are evenly pasted on the outer surface. The patches are made of fully reflective material.

[0083] The 2D industrial camera 4 is connected to the 3D scanner and is mainly used for the pre-shooting unit. An industrial camera with tens of millions of pixels is used to obtain a high-pixel two-dimensional side image of the insulator for subsequent insulator shape extraction and fitting;

[0084] The high-precision turntable 5 is used for the all-round rotation and positioning during the scanning of the insulator. When in use, the insulator or the modular fixture is fixed in the three-jaw chuck 57, between the top plate 51 and the bottom plate 58. The 3D scanner relies on the reference patches on the positioning reference post 54 for positioning.

[0085] A displacement sensor 511 is mounted outside the top fixed chuck 53 and moves with the height of the insulator, which is used to measure the height of the insulator and determine the scanning stroke.

[0086] With the cooperation of the high-precision pitch angle adjustment mechanism 3 and the high-precision turntable 5, the backlash error of the gear is eliminated and the angle transmission accuracy is improved through the four-gear transmission structure. Coupled with the up and down movement of the positioning reference post 54 and the servo mechanism 2, it can ensure that there is no dead angle in all directions during the scanning of the insulator, realizing the generation of a high-precision 3D model and providing a basis for the subsequent measurement of the creepage distance.

[0087] Embodiment 2

[0088] The present invention also includes an improved method for calculating the creepage distance, which includes the following steps:

[0089] S1: Initialization of the scanning device and clamping of the insulator;

[0090] S1.1: Before scanning, it is necessary to initialize the hardware structure of the insulator 3D model scanning device of the present invention;

[0091] Connect the servo motor 25, stepper motor 32, etc. through the industrial control computer to reset and initialize components and structures such as the insulator scanning structure, three-jaw chuck 57, lead screw 22, high-precision pitch angle adjustment structure 3, displacement sensor 511.

[0092] S1.2: Detect and calibrate the 3D scanner to ensure that the working environment meets the device requirements;

[0093] S1.3: Paste positioning patches on the positioning reference posts 54, and different lengths and sizes of positioning patches can be pasted according to the type of insulator;

[0094] S1.4: Select a suitable modular jaw according to the type of insulator.

[0095] For pin-threaded insulators, use a horizontal single-sided modular jaw 7, as Figure 5 shown. Adjust the three-jaw chuck 57 of the high-precision turntable 5, install the horizontal single-sided modular jaw 7, and tightly combine the threaded hole on the vertical support column 71 where the threaded rod is fixed with the threaded rod of the insulator. According to the different types and sizes of insulators, different clamping forces and support column stiffness can be adjusted.

[0096] For disc corrugated insulators, use a horizontal double-sided modular jaw 8, as Figure 6 shown. According to the different types and sizes of insulators, the friction clearance for fixing the workpiece with different ball heads and ball sockets can be adjusted to ensure the clamping force.

[0097] Since the friction force at the ball head of the disc corrugated insulator is small, special workpieces should be designed for the ball head to increase the friction force and clamping force. As Figure 6 shown, design a spring 83 to fix the workpiece, add the spring 83 between the upper and lower fixing plates, and use a through bolt 81 in the middle of the two springs 83 to adjust the tightness to prevent the insulator from rotating and displacing during the scanning process.

[0098] For disc sandwich insulators, use a support cylinder type modular jaw 9, as Figure 7 shown. According to the different types and sizes of insulators, the inner diameter of the ball head support cylinder 91 can be adjusted. The inner diameter tolerance of the ball head support cylinder 91 is about ±0.1 mm, and the bottom is fixed with the turntable 56 through the three-jaw chuck 57.

[0099] For composite insulators, the insulator fixing device in the original high-precision turntable 5 can be directly used for clamping. Place the insulator vertically in the fixture, clamp the lower end of the insulator through the three-jaw chuck 57 to fix the insulator, rotate the chuck tightening handle 59 to ensure that the axis of the insulator is aligned with the center of the turntable. Adjust the height of the top fixing chuck 53 and lock the insulator through the locking part 61.

[0100] S2: Based on the 2D industrial camera 4, perform two-dimensional image pre-shooting, and conduct morphological analysis on the captured two-dimensional side pictures of the insulator to implement the scanning angle optimization method, such as Figure 9 shown;

[0101] S2.1: Pre-shooting and image acquisition;

[0102] Start the high-resolution 2D industrial camera 4, use a ring-shaped LED or uniform backlight as the light source, adjust the focal length to completely cover the field of view of the insulator side, and take pictures and collect the insulator side images. Before fine scanning, first perform two-dimensional pre-shooting on the insulator side. The 2D industrial camera 4 takes pictures of the insulator side sequentially at a certain distance from bottom to top. The shooting interval should be selected according to the length of the insulator, and multiple side images with a shooting overlap rate ≥ 30% are taken.

[0103] Since composite insulators are prone to deformation, multi-angle shooting can be adopted by controlling the rotation of the insulator, and the morphologies of the insulators at multiple different angles are respectively fitted to enhance the accuracy of angle calculation.

[0104] S2.2: Process the images and extract edges;

[0105] First, preprocess the collected two-dimensional picture set of the insulator side;

[0106] Use a checkerboard calibration plate (such as 10×7 corner points), collect 15 - 20 images with different postures, perform distortion correction on the picture set, then grayscale the collected picture set, perform Gaussian filtering, and use a 5×5 convolution kernel (standard deviation σ = 1.2) to smooth the image noise. The filtering formula is as follows:

[0107]

[0108] Then, perform image stitching on the preprocessed two-dimensional picture set of the insulator side to obtain a complete side image. The steps of the image stitching algorithm are mainly as follows:

[0109] Feature extraction: Detect feature points in all input images, usually using algorithms such as SIFT or SURF.

[0110] Image registration: Establish the geometric correspondence between images so that they can be transformed, compared, and analyzed in a common reference system.

[0111] Image deformation: Reproject the image of one of the images and place it on a larger canvas.

[0112] Image fusion: By changing the image gray level near the boundary, remove the gaps and create a blended image to achieve smooth transition.

[0113] Finally, the Canny method in image processing is used to perform edge detection on the two-dimensional side image of the spliced insulator. The spliced image is binarized to obtain connected regions, and then erosion and dilation are performed to remove small noises, and holes with greater influence between the connected regions of the umbrella skirts are filled. By adjusting the double thresholds (such as setting the high and low thresholds Thigh = 150, Tlow = 50), strong edges are connected and weak edges are removed to meet the edge detection and recognition of insulators of different types and materials, and the contour edges of the insulator side are obtained.

[0114] S2.3: Analysis and data extraction of insulator umbrella skirt morphology;

[0115] First, through the characteristics of the geometric morphology of the umbrella skirt, that is, having a certain distance from the central axis and other characteristics, the pixel coordinates of the edges of each umbrella skirt can be extracted. The approximate two-dimensional morphology of the insulator can be basically fitted through the pixel coordinates of the edges of each umbrella skirt.

[0116] Since the thickness of the umbrella skirt is small and the adjustment of the pitch angle will consider errors for a certain angle compensation, in this embodiment, it can be basically considered that the upper and lower edges of the insulator umbrella skirt are in a parallel state, and the schematic diagram of the calculation model of the umbrella skirt can be abstracted as Figure 8 shown.

[0117] Then, according to different insulator types, the morphology of the umbrella skirt may have more changes. Therefore, it is necessary to dynamically calculate data such as the length of the umbrella skirt, the distance between umbrella skirts, and the offset angle of the umbrella skirt.

[0118] The fitted insulator morphology is scanned row by row along the central axis direction of the insulator (set as the vertical direction), and the coordinates of the upper and lower edge points of each umbrella skirt on the central axis and the coordinates of the left and right edge points of the umbrella skirt farthest from the central axis are recorded. Define the lower edge coordinate of the i-th umbrella skirt as (x i lower ,y i lower ), the upper edge coordinate as (x i upper ,y i upper ), the left edge coordinate as (x i left ,y i left ), and the right edge coordinate as (x i right ,y i right ). Then, for adjacent umbrella skirts i and i + 1, calculate the vertical distance d i = |y i+1 lower - y i upper|The length L of the half umbrella skirt can be obtained from the left and right edge coordinates i =0.5*|x i right -x i left |. At the same time, it is necessary to calculate the offset angle γ of each umbrella skirt of the insulator relative to the central axis i 。

[0119] S2.4: Calculation of the pitch angle to avoid umbrella skirt occlusion;

[0120] As Figure 8 shown, in order to ensure the reliability and accuracy of data collection, the selected angles α and β cannot be too small, otherwise there may be large deviations or even missing data; at the same time, in order to ensure the integrity of data stitching after scanning at angles α and β respectively, the two cannot be too large, so it is necessary to calculate the optimal values of the two to guide the integrity and accuracy of data collection.

[0121] First, randomly select a smaller initial angle as the angle α and β between the scanning view direction and the surface of the insulator umbrella skirt. To ensure that the selected initial angle is not too small, a value greater than the angle between the insulator umbrella skirt and the horizontal axis can be selected as the initial angle. For example, in this embodiment, 15° can be used as the initial minimum angle to ensure the reliability and accuracy of data collection.

[0122] Then, according to the two-dimensional shape of the insulator after projection, the scanning area can be simulated and calculated based on geometric analysis. From Figure 8 the schematic diagram, it can be obtained that guided by the angle α, the scanned area is the upper part of the central axis of the two umbrella skirts, designated as S α , and guided by the angle β, the scanned area is the lower part of the central axis of the two umbrella skirts, designated as S β . If the two parts intersect at a point, that is, the current scanning angle can completely cover the central axis of the insulator, then the current angle is considered to be a better pitch angle.

[0123] As Figure 8As shown, let l1 be the straight line passing through the left edge point A of the upper shed and having an angle of β with the upper surface of the lower shed, and l2 be the straight line passing through the left edge point B of the lower shed and having an angle of α with the lower surface of the upper shed. The above conditions can be converted into the intersection of l1 and l2 with the central axis of the insulator as the same point of the upper and lower sheds on the central axis. Let us assume that the two straight lines intersect at the midpoint M of the upper and lower sheds on the central axis. The equation of l1 can be expressed as y=k1x+b1, and the equation of l2 can be expressed as y=k2x+b2. Substituting points A, B, and M into the equations of the two straight lines, we can further find the equations of the straight line passing through point D and parallel to l1 and the straight line passing through point C and parallel to l2, and then find the angle β between the straight line passing through point D and parallel to l1 and the upper surface of the lower shed. Similarly, we can find the angle α between the straight line passing through point C and parallel to l2 and the lower surface of the upper shed, and calculate the sum of the two as the critical value of angle adjustment. When α increases, β should be reduced accordingly to meet the above conditions and ensure the integrity of data collection.

[0124] In order to prevent errors, the final α and β can be fine-tuned by 1 to 2° to ensure that the insulator model is covered as completely as possible.

[0125] S2.5: Convert the pitch angle of the final 3D scanner.

[0126] According to the recorded shed offset angle set γ i α and β can be converted into the pitch angle of the three-dimensional scanner relative to the horizontal plane. In this embodiment, for example, the angle between the lower surface of the upper shed and the central axis is e(e∈γ i ), then the elevation angle of the 3D scanner relative to the horizontal plane The calculation method of the top angle is similar, and it can be converted according to the β angle and the shed offset angle. Traversing each shed, a pitch angle is calculated and stored in the pitch angle set θ.

[0127] For the deformed composite insulator, the subsequent calculation steps are performed on the multiple insulator shapes of different angles fitted in step S2.3, and the minimum value of the sum value finally obtained for the insulator shapes of multiple angles is taken as the constraint value of the scanning angle of the current insulator to be scanned.

[0128] S3: Optimizing three-dimensional data acquisition and control according to the pitch angle, the high-precision pitch angle control mechanism 3 and the displacement sensor 511;

[0129] In Example 1, the displacement sensor 511 is installed on the top fixed chuck 53, and the actual height of the insulator is determined by laser ranging. Initially, the distance is measured when the fixture is unloaded to obtain the initial distance L 基准 After installing the insulator, the top fixed chuck 53 is used to measure the distance again to obtain the measured height L 测量 , then the insulator height H=L基准 -L 测量 。

[0130] As Figure 4 shown, set the number of teeth Z of the large driven gear 36 in the figure to 65, and rigidly connect the scanner fixture on the right side; set the number of teeth z1 of the driving gear 33 in the figure to 25, which is directly driven by the stepping motor 32; additionally, set the number of teeth of the two feedback gears II 34 and feedback gear III 35 to z2 = 25 and z3 = 23 respectively, and install a Hall sensor 37 below.

[0131] During the fine scanning process, for each umbrella skirt scanned, the industrial control computer sends an angle command. The system needs to parse the angle command into the number of stepping pulses of the stepping motor 32, output a pulse signal, control the rotation of the driving gear 33, transmit it to the large driven gear 36, and obtain the absolute angle change amount of the 3D scanner driven by the large driven gear 36 through the sensor data of the two feedback gears with different numbers of teeth equipped with the Hall sensor 37.

[0132] S3.1: The industrial control computer receives the pitch angle of the 3D scanner, that is, the angle set for the 3D scanner driven by the large driven gear 36 is θ, which is obtained through the analysis and calculation in step S2;

[0133] S3.2: Calculate the target position of the motor;

[0134] When the absolute angle required for the large driven gear 36 to rotate is θ 大 , it is necessary to solve the angle of the driving gear 33 controlled by the stepping motor 32 to ensure that the large driven gear 36 reaches the target angle.

[0135] The transmission ratio between the large driven gear 36 and the small gear and the rotation angle of the feedback gear can be calculated through the ratio of the number of teeth.

[0136] The transmission ratio between the large driven gear 36 and the driving gear 33:

[0137] The transmission ratio between the large driven gear 36 and the feedback gear II 34:

[0138] The transmission ratio between the large driven gear 36 and the feedback gear III 35:

[0139] From the transmission ratio, the ideal angle θ1 of the driving gear 33 should be: θ1 = θ 大 ·i1

[0140] Then calculate the number of steps of the stepping motor 32 according to the step angle of the stepping motor 32.

[0141] The step angle of the stepper motor 32 is α, usually 1.8 degrees or 1.5 degrees. The driving method of the stepper motor 32 determines the angular change of the driving gear 33. Suppose the stepper motor 32 needs to rotate n steps, then the angular change of the driving gear 33 is:

[0142] θ1 = n·α

[0143] Therefore, the number of steps n to be rotated is:

[0144]

[0145] S3.3: Determine the absolute angular change of the large driven gear 36 by real-time monitoring and recording the data values of the Hall sensors 37 of the two feedback gears.

[0146] Due to the difference in the number of teeth of the two feedback gears, as the rotation angle of the large driven gear 36 increases, the deviation generated by the two sensors will become larger. By calculating the angle difference between the two sensors, the absolute angular change of the large driven gear 36 can be obtained.

[0147] From the transmission ratio, when the rotation angle of the large driven gear 36 is θ 大 the rotation angles of the second feedback gear 34 and the third feedback gear 35 should be respectively:

[0148] θ2 = i2·θ 大 , θ3 = i3·θ 大

[0149] Since the Hall sensor 37 is proportional to the gear rotation angle, let the proportionality coefficient be K, then the angles of the two feedback gears can be expressed according to the output values sensor2 and sensor3 of the sensors:

[0150] θ2 = K*sensor2, θ3 = K*sensor3

[0151] Then θ2 - θ3 = i2·θ 大 -i3·θ 大 = K*(sensor2 - sensor3).

[0152] From this, it can be obtained:

[0153]

[0154] During the scanning process, the Hall sensor 37 continuously transmits signals to the stepper motor 32. When the target angle is reached, the circuit board outputs a feedback signal to the stepper motor 32 that controls the driving gear 33. After receiving the signal, the motor enters the holding torque mode, stops rotating, and locks the position.

[0155] S4: Calculate the scanning angle based on the partial point cloud model obtained from the real-time insulator scan, and dynamically optimize the scanning process.

[0156] S4.1: Initial scan and acquisition of partial point cloud;

[0157] Control the turntable to rotate at a low angular velocity uniformly. According to the method in step S3, scan from bottom to top (or from top to bottom) in the vertical direction, and synchronously trigger the 3D scanner to collect the point cloud data on the surface of the insulator. Store the obtained point cloud data, align the coordinates of the point cloud data, set the direction along the metal rod of the insulator as the Y-axis (vertical direction), make the current scanning plane face the viewing angle, and downsample the high-precision point cloud data.

[0158] S4.2: Extraction of the edge contour points of the local point cloud of the insulator;

[0159] Obtain the edge points of the left and right point clouds according to the aligned point cloud data. The edge points on the surface can traverse the insulator model with a plane from the near viewing angle to the far viewing angle. On the plane, the vertical direction is the Y-axis and the horizontal direction is the X-axis. Extract the maximum and minimum points of the X coordinate values of the intersection points with the plane as the edge contour points of the point cloud.

[0160] S4.3: Obtain the scanning angle;

[0161] Calculate the initial scanning angle:

[0162] Group and fit the edge points on both sides, and respectively fit two planes passing through the edge points on both sides, as shown in the left figure. Solve the included angle between the two planes as the initial scanning angle, and set this angle λ = 50°. Figure 10 As shown in the left figure. Solve the included angle between the two planes as the initial scanning angle, and set this angle λ = 50°.

[0163] Empirical angle optimization:

[0164] Since the edge of the insulator in the initial viewing angle may be relatively blurred during the scanning process, which may lead to sparser edge point clouds, the fitting result may have errors. Therefore, it is necessary to optimize the empirical angle to ensure that the entire surface of the insulator can be covered. Therefore, the value of λ can be reduced by about 10° as the empirical angle λ 经验 , which is used to guide the rotation of the high-precision turntable.

[0165] S4.4: Finally obtain the fine point cloud data of the insulator surface.

[0166] Control the turntable to rotate step by step according to the empirical angle λ 经验 In each step, stay for a certain period of time. During the stay in each step, trigger the 3D scanner to collect the point cloud, and at the same time, collect the point cloud data in the vertical direction based on the high-precision pitch angle regulation according to the steps described in step 3. Finally, obtain the fine point cloud data of the insulator surface

[0167] S5: Optimize creepage distance measurement and calculation through multi-source geodesic algorithm.

[0168] S5.1: Key point location;

[0169] Extract the starting point.

[0170] Based on the morphological characteristics of the insulator and the definition of creepage distance, the intersection of the insulating material and the upper end of the intermediate metal rod is set as the starting point set of the measurement, and the intersection of the lower end is set as the ending point set of the measurement.

[0171] After aligning the coordinates of the insulator 3D model, set the Y axis along the direction of the insulator metal rod, and traverse the insulator 3D model from top to bottom along the plane perpendicular to the Y axis. The expression of the plane perpendicular to the y axis is y=0,1,2...,n. The insulator 3D model is composed of triangular facets. Let the expression of each triangular facet be a i x+b i y+c i z+d i = 0, the intersection of the two planes can be obtained by combining the two. When it is detected that the intersection can be combined into a ring and the diameter of the adjacent rings changes slightly, the lower ring is taken as the starting point area. The positioning method of the end point is similar to that of the starting point, that is, the insulator 3D model is traversed from bottom to top. When it is detected that the intersection can be combined into a ring and the diameter of the adjacent rings changes slightly, the upper ring is taken as the end point area.

[0172] Keypoint downsampling.

[0173] Since the starting point set and the ending point set obtained in the above steps are relatively dense and a large number of points are redundant, the above point sets are downsampled respectively and some of the points are taken as the input of the algorithm.

[0174] S5.2: Shortest path extraction;

[0175] According to the starting point set and the ending point set obtained in step S5.1 as the input point set, all the combined point pairs of the points in the starting point set and the points in the ending point set are traversed in turn. If point A in the starting point set and point B in the ending point set form a combined point pair, then all the half planes composed of these two points are intersected with the insulator three-dimensional model to obtain multiple groups of intersection lines of two planes, where each half plane can be represented as a i x+b i y+c i z+d i = 0, each triangle can be represented as a j x+b j y+c j z+d j = 0, so the intersection of the two planes can be expressed as Intersection calculations are performed on each triangular patch to obtain the final intersection path and record the length of this path. After traversing this combination of two points, record the shortest intersection path in this combination. After traversing all combinations of point pairs, extract the shortest path among all the intersection paths recorded in the combinations as the final result.

[0176] S5.3: Curve length calculation.

[0177] The curve length of the final creepage distance can still be calculated by converting the continuous curve into a discrete broken line. Randomly select points on the curve, select a sufficient number of point sets P, calculate the arc length between each adjacent pair of points, and integrate this to obtain the overall curve length.

Claims

1. A three-dimensional model scanning device for an insulator, comprising a bottom support plate (1), characterized in that, It also includes a servo mechanism (2), a high-precision pitch angle adjustment mechanism (3), a 2D industrial camera (4), a high-precision turntable (5), a locking mechanism (6) and an insulator clamp. The servo mechanism (2) is installed on the left side of the bottom support plate (1), the high-precision turntable (5) is installed on the right side of the bottom support plate (1), the high-precision pitch angle adjustment mechanism (3) is installed on the servo mechanism (2), and the high-precision pitch angle adjustment mechanism (3) and the high-precision turntable (5) ensure no dead angle during the scanning of the insulator. The 2D industrial camera (4) is installed at the lower part of the high-precision pitch angle adjustment mechanism (3), the locking mechanism (6) is installed on the high-precision turntable (5), and the insulator clamp is specifically installed at the using position of the high-precision turntable (5). The servo mechanism (2) includes a support structure (21), a lead screw (22), a sliding table (23), a drag chain (24) and a servo motor (25). The support structure (21) is the main structure of the servo mechanism (2). The support structure (21) is in the shape of a long triangular prism with a crossbar in the middle. The lead screw (22) is installed on the right side of the support structure (21) and completely covers it from top to bottom. The sliding table (23) is fitted and installed on the lead screw (22). One end of the drag chain (24) is connected to the sliding table (23), and the other end of the drag chain (24) is connected to the crossbar of the support structure (21). A servo motor (25) is installed at the bottom of the lead screw (22). The high-precision pitch angle adjustment mechanism (3) includes a 3D scanner bracket (31), a stepper motor (32), a driving gear (33), a feedback gear two (34), a feedback gear three (35), a large driven gear (36), a Hall sensor (37) and a circuit board (38). The 3D scanner bracket (31) is installed on one side of the sliding table (23). The driving gear (33) is installed on the front end face of the sliding table (23). The output end of the stepper motor (32) is connected to the driving gear (33). The driving gear (33) meshes with the large driven gear (36), and the large driven gear (36) is also installed on the front end face of the sliding table (23). The large driven gear (36) also meshes with the feedback gear two (34) and the feedback gear three (35), and the feedback gear two (34) and the feedback gear three (35) are also installed on the front end face of the sliding table (23). A Hall sensor (37) is installed between the feedback gear two (34) and the feedback gear three (35) and the sliding table (23), and a circuit board (38) is also installed between the Hall sensor (37) and the sliding table (23). A permanent magnet is installed between the feedback gear two (34) and the feedback gear three (35). The insulator clamp includes a horizontal single-sided modular jaw (7), a horizontal double-sided modular jaw (8) and a support cylinder-type modular jaw (9).

2. The three-dimensional model scanning device for an insulator according to claim 1, wherein, The high-precision turntable (5) includes a top plate (51), a bearing seat (52), a top fixed chuck (53), a positioning reference column (54), a support column (55), a turntable (56), a three-jaw chuck (57), a bottom plate (58), a chuck tightening handle (59), a rotating motor (510), a displacement sensor (511), and a support table (512). The support table (512) is installed on the bottom support plate (1). A gear that cooperates with the rotating motor (510) is installed inside the support table (512). The rotating motor (510) is cooperatively installed under the support table (512). A bottom plate (58) is installed above the support table (512). A top plate (51) is supported and connected above the bottom plate (58) through the support column (55). Four positioning reference columns (54) are also installed at the four corners of the bottom plate (58) and the top plate (51). A bearing seat (52) is installed on the top plate (51) and penetrates through the top plate (51). A locking mechanism (6) is also provided on the support column (55). The top fixed chuck (53) is installed between the bottom plate (58) and the top plate (51) and near the top plate (51) side by connecting the locking mechanism (6). A displacement sensor (511) is also provided at the connection between the top fixed chuck (53) and the locking mechanism (6). The turntable (56) is arranged on the upper end surface of the bottom plate (58). A three-jaw chuck (57) is installed on the turntable (56). The three-jaw chuck (57) is connected to the chuck tightening handle (59); The locking mechanism (6) includes a locking piece (61) and a fixed buckle (62). The locking piece (61) is installed on the fixed buckle (62). The locking piece (61) is installed on the support column (55) and one end is connected to the displacement sensor (511).

3. The three-dimensional model scanning device for an insulator according to claim 1, wherein: The horizontal single-sided modular jaw (7) includes a threaded rod fixed vertical support column (71), a three-jaw chuck connecting piece (72), and a connecting piece cross beam (73). A threaded hole is provided on the threaded rod fixed vertical support column (71). The lower end of the threaded rod fixed vertical support column (71) is connected to the connecting piece cross beam (73). The three-jaw chuck connecting piece (72) is installed at the center position of the lower end of the connecting piece cross beam (73); The horizontal double-sided modular jaw (8) includes a through screw (81), a ball head fixing piece (82), a spring (83), a ball head corresponding piece (84), a support piece (85), and a three-jaw chuck connecting piece (72). The support piece (85) is in a U-shaped style. The ball head corresponding piece (84) is installed at the left end of the support piece (85). Two groups of ball head fixing pieces (82) are installed at the right end of the support piece (85). A spring (83) is also provided between the two groups of ball head fixing pieces (82). The through screw (81) penetrates through the two groups of ball head fixing pieces (82). The three-jaw chuck connecting piece (72) is installed at the center position of the lower end of the support piece (85); The support cylinder type modular jaw (9) includes a ball head support cylinder (91) and a three-jaw chuck connecting piece (72). The three-jaw chuck connecting piece (72) is installed at the lower end of the ball head support cylinder (91).

4. The three-dimensional model scanning device for an insulator according to claim 2, wherein, The positioning reference column (54) is made of pure black material, and a patch is evenly pasted on its outer surface. The patch is made of fully reflective material.

5. An improved creepage distance calculation method, characterized in that, It includes the following steps: S1: Initialization of the scanning device and clamping of the insulator; S2: Perform 2D image pre-shooting based on the 2D industrial camera (4), and perform morphological analysis on the captured 2D side pictures of the insulator to implement the scanning angle optimization method; S3: Optimize the 3D data acquisition and control according to the pitch angle, high-precision pitch angle control mechanism and displacement sensor (511); S4: Calculate the scanning angle based on the partial point cloud model obtained from the real-time insulator scanning, and dynamically optimize the scanning process. S5: Optimize the measurement and calculation of the creepage distance through the multi-source geodesic algorithm.

6. The improved creepage distance calculation method according to claim 5, wherein The step S1 includes the following steps: S1.1: Before scanning, it is necessary to initialize the hardware structure of the insulator 3D model scanning device of the present invention; S1.2: Detect and calibrate the 3D scanner; S1.3: Paste the positioning patch on the positioning reference column (54); S1.4: Select the appropriate modular jaw according to the type of insulator.

7. The improved creepage distance calculation method according to claim 5, wherein, The step S2 includes the following steps: S2.1: Pre-shooting and image acquisition; S2.2: Process the image and extract the edges; S2.3: Insulator petticoat morphology analysis and data extraction; S2.4: Calculate the pitch angle to avoid petticoat occlusion; S2.5: Convert the pitch angle of the final 3D scanner.

8. The improved creepage distance calculation method according to claim 5, characterized in that, The step S3 includes the following steps: S3.1: The industrial control computer receives the pitch angle of the 3D scanner; S3.2: Calculate the target position of the motor; S3.3: Determine the absolute angle change amount of the large driven gear (36) by monitoring and recording the data values of the Hall sensors (37) of the two feedback gears in real time.

9. The improved creepage distance calculation method according to claim 5, characterized in that, The step S4 includes the following steps: S4.1: Initial scanning and obtaining partial point cloud; S4.2: Extract the edge contour points of the local point cloud of the insulator; S4.3: Obtain the scanning angle; S4.4: Finally obtain the fine point cloud data on the surface of the insulator.

10. The improved creepage distance calculation method according to claim 5, characterized in that, The step S5 includes the following steps: S5.1: Key point positioning; S5.2: Extract the shortest path; S5.3: Calculate the curve length.

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