Automatic Recognition Method of Substation Pillar Insulator Strings Based on D-S Evidence Theory

Insulator strings is the important equipment in power system. It is necessary to identify the insulator string for completing the cleaning task of insulator string. A new method is proposed to identify insulator strings by multi sensor fusion algorithm based on D-S evidence theory. Firstly, the gray characteristic curve is defined in the optical image of camera, and the gray repetitive matrix and gray threshold matrix is constructed by the gray characteristic curve. Then, the depth characteristic curve is defined in the depth image of laser radar, and the depth repetitive matrix and width feature matrix is constructed by the depth characteristic curve. The features of every matrix are fussed by the Dempster-Shafer evidence theory to complete automatic recognition of three types isolators. The experimental results show that the new method can correctly identify the insulator strings under different lighting conditions.