Fault monitoring method for operating mechanism of high-voltage circuit breaker

Abstract

The invention discloses a fault monitoring method for an operating mechanism of a high-voltage circuit breaker. The method comprises the following steps: performing three-dimensional coordinate positioning on reference points and target points arranged on a ratchet wheel and an output crank arm of the operating mechanism before and after action by using a binocular vision technology; performing mechanical vibration error elimination by using the three-dimensional coordinate change condition before and after the reference point and the target point act; and performing fault state monitoring by using the three-dimensional coordinate information of the target point after the vibration error is eliminated. The high-voltage circuit breaker operating mechanism fault monitoring method improves the fault monitoring efficiency and accuracy of the high-voltage circuit breaker operating mechanism, reduces the monitoring cost, has remarkable engineering application value and wide market prospect, can effectively improve the operation safety and reliability of a power system, and provides powerful support for intelligent operation and maintenance of the power industry.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of high-voltage circuit breaker operating mechanism fault monitoring, in particular to a high-voltage circuit breaker operating mechanism fault monitoring method based on binocular vision. BACKGROUND

[0002] The high-voltage circuit breaker is an important switching device in the power system, and the failure of its operating mechanism will seriously affect the safe operation of the system. The existing fault monitoring technology mainly collects vibration and sound signals for judgment, which has the disadvantages of large feature vector dimension, complex algorithm, low monitoring efficiency, etc., and needs to modify the operating mechanism, which may affect its normal work.

[0003] As a non-invasive monitoring method, binocular vision technology has the advantages of low cost and accurate monitoring, but it has not been applied to the fault monitoring of high-voltage circuit breaker operating mechanisms.

[0004] Chinese patent publication No. CN118883028A, published on November 2, 2024, discloses a high-voltage circuit breaker mechanical property measurement method and system based on machine vision, which collects the switching operation process of the circuit breaker through a high-speed camera, takes the feature parts on the main shaft or crank arm of the circuit breaker as the motion recognition target, and combines image sequences for dynamic fan-shaped directed search optimization to realize motion trajectory recognition, but does not use binocular vision technology and high-speed camera and dynamic fan-shaped directed search optimization to realize motion trajectory recognition. SUMMARY

[0005] Based on the above-mentioned comparative document content, the present application mainly provides a high-voltage circuit breaker operating mechanism fault monitoring method based on binocular vision to solve the deficiencies of the prior art. This method uses binocular vision technology to accurately locate the three-dimensional coordinates of the ratchet and output crank arm of the operating mechanism, and monitors the starting coordinate changes in the motion process of each working stage to accurately monitor the fault state.

[0006] The traditional contact-type measurement avoids interfering with the normal operation of the circuit breaker operating mechanism, and the non-contact binocular vision technology ensures the safety and reliability of the monitoring process.

[0007] In order to reduce the data processing amount, only the starting and ending moments of the motion parts need to be tracked, which greatly improves the data processing speed and makes the fault judgment more efficient.

[0008] In order to improve the positioning accuracy, three-dimensional coordinate positioning is used, and the three-dimensional coordinate changes of the fixed reference point are used to overcome the influence of mechanism vibration on fault monitoring, which enhances the accuracy of fault monitoring.

[0009] In order to solve the above technical problems, the high-voltage circuit breaker operating mechanism fault monitoring method comprises the following steps: S1: using binocular vision technology to locate the three-dimensional coordinates of the reference points and target points of the ratchet and output crank of the operating mechanism before and after action; S2: using the three-dimensional coordinate changes of the reference points and target points before and after action to eliminate mechanical vibration error; S3: using the three-dimensional coordinate information of the target points after eliminating vibration error to monitor the fault state.

[0010] The reference points are the positions of the components of the circuit breaker operating mechanism that do not participate in energy storage and switching operation, and are marked with blue for distinction.

[0011] The target points are the movement related points of the ratchet and output crank of the operating mechanism, and are marked with red for distinction.

[0012] The three-dimensional coordinate positioning comprises the following steps: S41: image acquisition, using binocular cameras to obtain left and right images at the same time; S42: camera calibration, establishing a mapping relationship between two-dimensional pixel coordinates in the image and three-dimensional coordinates in the real world, obtaining internal and external parameters of the binocular camera and distortion parameters; S43: stereo correction, using geometric transformation to make corresponding points in left and right images captured by the binocular camera have the same vertical coordinates; S44: stereo matching, matching feature points in left and right images, and calculating the disparity map between images; S45: three-dimensional reconstruction, based on the disparity map and camera parameters, obtaining a re-projection matrix to convert pixel coordinates to three-dimensional space coordinates.

[0013] The elimination of mechanical vibration error comprises the following steps: S51: obtaining the three-dimensional coordinate changes of the reference points before and after the action of the operating mechanism; S52: considering the coordinate displacement of the reference points in the three-dimensional positioning coordinates of the target points, and eliminating the influence of mechanical vibration on the positioning results.

[0014] The fault state monitoring comprises the following steps: S61: monitoring whether the moving parts move to the theoretical spatial position in the normal state at the start and end time of the energy storage, closing and opening operation; S62: judging whether the operating mechanism is working normally according to the three-dimensional coordinate changes of the target points.

[0015] The binocular vision technology uses YOLOv5 target detection algorithm to identify the reference points and target points.

[0016] The binocular camera calibration adopts a chessboard calibration board with a specification of 12*9.

[0017] The precision of the three-dimensional coordinate positioning is ±0.005mm.

[0018] The fault monitoring result reflects the whole-cycle working state of the operating mechanism in real time.

[0019] The implementation of the present application not only improves the efficiency and accuracy of the fault monitoring of the operating mechanism of the high-voltage circuit breaker, but also reduces the monitoring cost, has a significant engineering application value and a broad market prospect. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application.

[0021] Figure 1 It is a technical flowchart of the present application.

[0022] Figure 2 It is a three-dimensional coordinate positioning flowchart.

[0023] Figure 3 It is a schematic diagram of the conversion relationship of each coordinate system.

[0024] Figure 4 It is a coordinate system conversion flowchart.

[0025] Figure 5 It is a schematic diagram of epipolar rectification of a binocular camera.

[0026] Figure 6 It is a binocular camera calibration flowchart.

[0027] Figure 7 It is a schematic diagram of re-projection error.

[0028] Figure 8 It is a schematic diagram of the spatial coordinate change of the reference point and the target point.

[0029] Figure 9 It is a flowchart for eliminating mechanical vibration error.

[0030] Figure 10 It is a flowchart for energy storage fault monitoring.

[0031] Figure 11 It is a flowchart for opening and closing fault monitoring. DETAILED DESCRIPTION

[0032] In the application, in order to accurately obtain the three-dimensional coordinate information of the target mechanism, the reference point and the target point of the circuit breaker operating mechanism are marked, wherein the position of the component of the selected circuit breaker operating mechanism which does not participate in the energy storage and opening and closing actions is selected as the reference point, and the reference point is marked and distinguished by blue; the movement related point of the selected operating mechanism ratchet and output crank arm is selected as the target point, that is, the connection point of the closing spring pull rod and the ratchet, and the connection point of the output crank arm and the pull rod, and the target point is marked and distinguished by red.

[0033] For the binocular vision high-voltage circuit breaker operating mechanism fault monitoring method of the application, the technical process of the method is as shown in Figure 1

[0034] Before the binocular vision three-dimensional coordinate positioning of the operating mechanism movement components (ratchet, output crank arm), the camera needs to be calibrated and distortion corrected first, and the conversion relationship between the three-dimensional coordinates of the movement components and the pixel coordinates is established, and the binocular camera three-dimensional coordinate positioning flow chart of the application is as shown in Figure 2 The flow is as follows: Image acquisition: the image acquisition equipment adopts a binocular same-frame camera, which can acquire left and right images of the target at the same time.

[0035] Camera calibration: binocular camera calibration is to establish an accurate mapping relationship between two-dimensional pixel coordinates in the image and three-dimensional coordinates in the real world. Through the conversion of the world coordinate system, the camera coordinate system, the image coordinate system and the pixel coordinate system, the internal and external parameters of the binocular camera and the distortion parameters are obtained, the coordinate system conversion relationship diagram is as shown in Figure 3 The coordinate system conversion flow chart is as shown in Figure 4

[0036] World coordinate system conversion into camera coordinate system: the world coordinates (Xw, Yw, Zw) of the target point are first rotated (multiplied by the rotation matrix R), and then translated (added to the translation matrix T), so that the coordinates (Xc, Yc, Zc) of the target point in the camera coordinate system are obtained.

[0037] Camera coordinate system conversion into image coordinate system: the camera coordinate system is converted into the image coordinate system by using the perspective projection principle, so as to realize the conversion of the three-dimensional coordinates (Xc, Yc, Zc) of the target point in the camera coordinate system into the two-dimensional coordinates (x, y) in the image coordinate system.

[0038] ​​Image coordinate system conversion to pixel coordinate system: the position coordinates of the target point in the image coordinate system are described by physical quantity mm, and the origin of the coordinate system is the intersection of the camera optical axis and the imaging plane; while the position coordinates of the target point in the pixel coordinate system are described by pixels, and the origin of the coordinate system is located at the top left corner of the image. By using the positional relationship between the image coordinate system and the pixel coordinate system, the coordinates (x, y) of the target point in the image coordinate system are converted to the coordinates (u, v) in the pixel coordinate system through translation and discretization.

[0039] Through the above coordinate system conversion, the conversion of the target point from the three-dimensional coordinates in the world coordinate system to the two-dimensional coordinates in the pixel coordinate system is completed, and the mathematical expression is as follows: In the formula, K is the intrinsic matrix of the camera, and is the extrinsic matrix of the camera.

[0040] In an ideal case, the optical axis of the camera should be perpendicular to the plane of the image sensor, and the x-axis and y-axis of the image sensor should be orthogonal. In practice, due to the limitations of manufacturing process, the horizontal pixels and vertical pixels on the image sensor are not absolutely perpendicular, and there is an alignment error between the camera lens and the image sensor, resulting in non-orthogonality in the image coordinate system. Therefore, in order to more accurately measure the three-dimensional coordinates of the target point, the present application modifies the intrinsic matrix, and the modified intrinsic matrix is Where fx and fy are the focal lengths of the camera in the x-axis and y-axis directions, cx and cy are the coordinates of the origin of the image coordinate system in the pixel coordinate system, and a is the non-orthogonality coefficient of the x-axis and y-axis pixels.

[0041] Due to the camera distortion of the binocular camera, which usually includes radial distortion and tangential distortion, the conversion from the camera coordinate system to the image coordinate system will have a corresponding effect, so when calibrating the binocular camera, the image needs to be corrected for distortion through the distortion coefficient. Radial distortion is the deformation of points in the image along the radial direction, and the farther the image is from the center point, the more distortion it will show, resulting in a curved image. Radial distortion is usually caused by optical design defects of the camera lens, and the radial distortion matrix is Where r2=x2+y2, k1 and k2 are radial distortion coefficients. Tangential distortion is the deformation of points in the image along the tangential direction, and the effect of tangential distortion is usually manifested as local distortion in the image, causing slight deformation in some areas of the image. Tangential distortion is caused by the alignment error between the camera lens and the image sensor, and the tangential distortion matrix is where p1 and p2 are tangential distortion coefficients.

[0042] Stereo rectification: The stereo rectification of binocular camera is to make the corresponding points in the left and right images shot by the binocular camera have the same vertical coordinates through geometric transformation, so as to simplify the subsequent process of disparity calculation and three-dimensional reconstruction. The schematic diagram of the epipolar rectification of binocular camera is shown in FIG. 2. Specifically, the left and right images are rectified by calculating the rotation matrix R and the translation matrix T, so that the corresponding points of the rectified left and right images are on the same horizontal line, that is, the epipolar constraint condition is met. Figure 5

[0043] Stereo matching: The feature points in the left and right images are matched. The present application calculates the disparity map between the images by the stereo matching algorithm SGBM (semi-global matching algorithm) to determine the left and right disparities of each feature point. The disparity is the horizontal position difference of the same scene point on the left and right camera image planes. According to the disparity information and the camera parameters, the depth of the object in the scene can be calculated. Assuming that the coordinates of the target point in the left image are (xL, y), and the coordinates of the corresponding point in the right image are (xR, y), then the disparity d = xL-xR, and the depth Z = fB / d, where f is the focal length of the camera, and B is the baseline length of the binocular camera.

[0044] Three-dimensional reconstruction: Three-dimensional reconstruction is a process of recovering the three-dimensional structure and geometry of an object or scene from two-dimensional image data. The present application shoots the same target device from different angles by the left and right cameras of the binocular camera. Based on the disparity map and the camera parameters, a re-projection matrix Q can be obtained. The re-projection matrix is a matrix used to convert two-dimensional points in the disparity map into three-dimensional points. It is a tool for mapping disparity information to real three-dimensional space coordinates. The re-projection matrix Q is a 4x4 matrix used to convert the pixel points and disparity values in the disparity map into three-dimensional coordinates (X, Y, Z) in the scene and a homogeneous coordinate. Given a pixel point coordinate (x, y) and a disparity value d in the disparity map, the real coordinates of the point in the three-dimensional space can be calculated by the re-projection matrix Q where (cx, cy) is the coordinate of the principal point of the left camera, and cx' is the horizontal coordinate of the principal point of the right camera. After stereo rectification, the principal ray intersects at infinity, so cx = cx'.

[0045] After the above steps, the image coordinates of the moving parts (ratchet, output crank arm) can be converted into actual position change results, and accurate three-dimensional coordinate data can be provided for subsequent fault monitoring.

[0046] ​​In the above (2), in view of the error influence caused by the strong vibration of the operating mechanism in the energy storage and opening and closing process, a reference point is set for each target point while the operating mechanism is positioned in three-dimensional coordinates, and the coordinate displacement (Delta x, Delta y, Delta z) of the reference point before and after the action of the circuit breaker operating mechanism is the vibration error caused by mechanical vibration, and the coordinate displacement (Delta x, Delta y, Delta z) of the reference point is considered in the three-dimensional positioning coordinates of the reference point, so as to eliminate the error of the positioning result of the binocular camera caused by the mechanical vibration of the circuit breaker operating mechanism.

[0047] In the above (3), since the movement position and amplitude of the ratchet and output crank arm are relatively fixed when the high-voltage circuit breaker operating mechanism normally performs energy storage, closing and opening actions, fault monitoring can be performed according to whether the movement components (ratchet, output crank arm) are in place at the start and end of the energy storage, closing and opening operations, that is, whether the movement is to the theoretical spatial position in the normal state is used as the basis for judgment.

[0048] The beneficial effects of the present application are: The binocular camera used in the present application greatly reduces the application cost compared with the high-speed camera, and has great engineering application value.

[0049] The binocular vision technology of the present application only tracks the start and end of the movement of the movement components (ratchet, output crank arm), and no longer relies on high-speed shooting in the whole process, avoids processing a large amount of picture data, improves the data processing speed, and the fault judgment efficiency is relatively higher.

[0050] The binocular vision technology of the present application positions the movement components (ratchet, output crank arm) in three-dimensional coordinates, compared with the plane image recognition technology, an additional spatial dimension is added, the three-dimensional coordinate change of the fixed reference point can effectively overcome the influence of mechanism vibration on fault monitoring, and the positioning accuracy of the movement components and the practicability of the fault monitoring technology are effectively increased.

[0051] The binocular camera used in the present application realizes non-contact measurement through binocular vision technology, effectively avoids the risk of affecting the normal work of the circuit breaker operating mechanism caused by the contact measurement of the circuit breaker operating mechanism in the traditional method, and improves the detection accuracy and efficiency.

[0052] The binocular camera used in the present application is calibrated by using a chessboard calibration plate with specifications of 12*9, the calibration accuracy is ±0.005mm, which can ensure the accuracy of three-dimensional coordinate positioning, thereby providing reliable data support for fault monitoring.

[0053] The fault monitoring result of the application can reflect the whole cycle working state of the operating mechanism in real time, including the energy storage, closing and opening processes, so that the fault can be found in time and corresponding measures can be taken, and the safe and stable operation of the power system is ensured.

[0054] The specific embodiments of the application are as follows: In order to obtain the internal and external parameter matrix and the distortion matrix of the binocular camera, the binocular camera is calibrated in the application, and the binocular camera calibration flow chart is as shown in Figure 6 The binocular camera calibration adopts a chessboard calibration board with a specification of 12*9, and the size of a single chessboard is 20mm*20mm, and the precision is ±0.005mm, in order to ensure the reliability and accuracy of the calibration result, the application uses the binocular camera to shoot the images of the calibration board 30 in different directions, the spatial position of the calibration board and the binocular camera, and the resolution of the left and right images is 1920*1080, and the stereo calibration tool Stereo Camera Calibrator in MATLAB is used for calibration, and the calibration result is as shown in Table 1, the re-projection error is 0.09 pixels, and the re-projection error diagram is as shown in Figure 7 .

[0055] Table 1 binocular camera calibration result The cv2.remap() function of the OpenCV library is used for binocular correction in the application, so as to eliminate the radial distortion and tangential distortion of the binocular camera, and make the corresponding points in the left and right images shot by the binocular camera have the same vertical coordinates, realize the epipolar rectification of the binocular camera, and realize the alignment between the left and right images of the binocular camera.

[0056] The disparity map based on the stereo matching of the binocular camera and the camera parameters calibrated by the binocular camera are used for three-dimensional reconstruction in the application, and a re-projection matrix Q can be obtained by using the StereoRectify() function in OpenCV, and the Q matrix and cv2.reprojectImageTo3D can be used to realize the conversion from pixel coordinates to three-dimensional coordinates, so as to obtain the depth information of the image and realize the three-dimensional reconstruction.

[0057] After the re-projection matrix Q and the disparity data are obtained, the pixel coordinates of the reference point and the target point in the left and right camera pixel coordinate systems can be converted into three-dimensional space coordinates, and the optical center of the left camera is selected as the origin of the three-dimensional space coordinate system in the application for the subsequent data processing.

[0058] In a theoretical case, the reference point does not change in spatial position before and after the operation of the circuit breaker operating mechanism, but due to the existence of great mechanical vibration, the reference point and the target point are forced to have vibration error in spatial position, the error caused by the mechanical vibration can be determined according to the three-dimensional coordinate information of the reference point before and after the operation, that is, ΔP=Pafter-Pbefore, and the coordinate of the target point after eliminating the error caused by the vibration is P'target=Ptarget-ΔP. The three-dimensional coordinate information of the target point after eliminating the vibration error is used for monitoring the fault of the circuit breaker operating mechanism, and the elimination of the vibration error of the target point can effectively prevent the fault monitoring caused by the vibration error. The spatial coordinate change diagram of the reference point and the target point is shown in Figure 8 , and the mechanical vibration error elimination flow chart is shown in Figure 9 .

[0059] The main functions of the circuit breaker operating mechanism can be divided into energy storage, closing and opening processes, wherein the completion of the energy storage action can be reflected according to the three-dimensional coordinate change of the ratchet, and the completion of the closing and opening actions can be reflected according to the three-dimensional coordinate change of the output crank arm. The specific implementation of the fault monitoring is as follows: When the energy storage instruction is issued, the energy storage motor starts to work, and the binocular vision camera photographs the ratchet to obtain and save the three-dimensional coordinates of the initial state of the target point and the reference point of the ratchet. Thereafter, the ratchet continuously rises and stretches the closing spring to store energy. After the normal energy storage time is reached, the binocular camera photographs again to obtain and save the three-dimensional coordinates of the terminal state of the target point and the reference point. The three-dimensional coordinates of the initial state and the three-dimensional coordinates of the terminal state are calculated, and the vibration factor is considered in the range of consideration through the coordinate change of the reference point to obtain the coordinate change condition eliminating the vibration error. The three-dimensional coordinate change range of the normal energy storage process is compared to obtain the conclusion of normal or abnormal energy storage. The energy storage fault monitoring flow chart is shown in Figure 10 .

[0060] When the closing (opening) instruction is issued, the closing (opening) electromagnet starts to work, and the binocular vision camera photographs the output crank arm to obtain and save the three-dimensional coordinates of the initial state of the target point and the reference point of the output crank arm. Thereafter, the output crank arm continuously moves to perform the closing (opening) operation. After the normal closing (opening) time is reached, the binocular camera photographs again to obtain and save the three-dimensional coordinates of the terminal state of the target point and the reference point. The three-dimensional coordinates of the initial state and the three-dimensional coordinates of the terminal state are calculated, and the vibration factor is considered in the range of consideration through the coordinate change of the reference point to obtain the coordinate change condition eliminating the vibration error. The three-dimensional coordinate change range of the normal closing (opening) process is compared to obtain the conclusion of normal or abnormal closing (opening). The closing and opening fault monitoring flow chart is shown in Figure 11 .

[0061] After the above judgment, the full-cycle working state of the operating mechanism is monitored, and the state monitoring result is reflected in real time.

[0062] In order to improve the accuracy of monitoring, in practical application, the calibration process of the binocular camera is repeated multiple times to ensure the stability and reliability of the calibration parameters. In each calibration process, multiple groups of calibration board images with different angles and distances are shot, and the calibration parameters are automatically adjusted through an optimization algorithm until the reprojection error is minimized.

[0063] In the three-dimensional coordinate positioning process, the multi-scale image processing technology is adopted, the feature extraction effect of the target point and the reference point in the image is enhanced through different scale zooming and filtering processing, and the precision and robustness of the stereo matching are improved.

[0064] In order to further eliminate the influence of mechanical vibration, in the selection of the reference point, the components with larger mass and more stable structure in the operating mechanism are preferentially selected as the reference point, the relative displacement of these components is smaller during the vibration process, and the vibration error can be more accurately reflected.

[0065] In the fault monitoring process, not only the three-dimensional coordinate change of the target point is monitored, but also the motion speed and acceleration information of the operating mechanism are combined, the running state of the operating mechanism is more comprehensively evaluated through multi-dimensional data analysis, and the accuracy of fault diagnosis is improved.

[0066] In actual deployment, the complexity of the field environment is considered, the binocular camera is treated with dustproof, waterproof and shockproof, so that the camera can work stably in harsh environment, and the monitoring data is transmitted to the monitoring center in real time through wireless communication technology, which is convenient for remote monitoring of operation and maintenance personnel.

[0067] In order to improve the automation degree of the system, the automatic fault alarm function is developed, when the operating mechanism appears abnormal, the system can automatically send alarm signal, and informs the operation and maintenance personnel through SMS or email, and timely measures are taken for processing.

[0068] In software design, the modular architecture is adopted, the image acquisition, camera calibration, three-dimensional coordinate positioning and fault monitoring modules are developed independently, which is convenient for subsequent maintenance and upgrading, and also improves the scalability of the system.

[0069] In practical application, the big data analysis technology is also combined, the long-term accumulated monitoring data is mined and analyzed, the operating mechanism fault prediction model is established, the potential fault can be predicted in advance, and scientific basis is provided for preventive maintenance.

[0070] In order to verify the effectiveness of the present application, a large number of field tests and comparative tests are carried out, and the results show that the fault monitoring method of the present application is superior to the traditional method in accuracy, real-time and reliability, and has significant application advantages.

[0071] During the patent application process, the related technical details are comprehensively searched and analyzed to ensure that the technical solution of the present application has novelty and creativity, meeting the requirements of patent authorization.

Claims

1. A high voltage circuit breaker operating mechanism failure monitoring method characterized by, It comprises the following steps: S1: using binocular vision technology to locate the three-dimensional coordinates of the reference points and target points of the ratchet and output crank of the operating mechanism before and after action; S2: using the three-dimensional coordinate changes of the reference points and target points before and after action to eliminate mechanical vibration error; S3: using the three-dimensional coordinate information of the target points after eliminating vibration error to monitor the fault state.

2. The high voltage circuit breaker operating mechanism fault monitoring method of claim 1, wherein, The reference points are the positions of the components of the circuit breaker operating mechanism that do not participate in energy storage and opening and closing actions, and are marked in blue for distinction.

3. The method of claim 1, wherein, The target points are the movement-related points of the operating mechanism ratchet and output crank, and are marked in red for distinction.

4. The high voltage circuit breaker operating mechanism fault monitoring method of claim 1, wherein, The three-dimensional coordinate positioning comprises the following steps: S41: image acquisition, using binocular cameras to obtain left and right images at the same time; S42: camera calibration, establishing a mapping relationship between two-dimensional pixel coordinates in the image and three-dimensional coordinates in the real world to obtain internal and external parameters and distortion parameters of the binocular camera; S43: stereo correction, using geometric transformation to make corresponding points in left and right images captured by the binocular camera have the same vertical coordinates; S44: stereo matching, matching feature points in left and right images to calculate the disparity map between images; S45: three-dimensional reconstruction, based on the disparity map and camera parameters, obtaining a re-projection matrix to convert pixel coordinates to three-dimensional space coordinates.

5. The method of claim 1, wherein, The elimination of mechanical vibration error comprises the following steps: S51: obtaining the three-dimensional coordinate changes of the reference points before and after the action of the operating mechanism; S52: considering the coordinate displacement of the reference points in the three-dimensional positioning coordinates of the target points to eliminate the influence of mechanical vibration on the positioning results.

6. The high voltage circuit breaker operating mechanism fault monitoring method of claim 1, wherein, The fault state monitoring comprises the following steps: S61: monitoring whether the moving parts move to the theoretical spatial position in the normal state at the start and end time of the energy storage, closing and opening operations; S62: judging whether the operating mechanism is working normally according to the three-dimensional coordinate changes of the target points.

7. The method of claim 1, wherein, The binocular vision technology uses YOLOv5 target detection algorithm for identification of reference points and target points.

8. The high voltage circuit breaker operating mechanism fault monitoring method of claim 1 or 4, wherein, The binocular camera calibration uses a 12x9 chessboard calibration board.

9. The high voltage circuit breaker operating mechanism fault monitoring method of claim 1 or 4, wherein, The precision of the three-dimensional coordinate positioning is ±0.005mm.

10. The high voltage circuit breaker operating mechanism fault monitoring method of claim 1 or 6, wherein, The fault monitoring results reflect the full-cycle working state of the operating mechanism in real time.

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