Water washing is the important method to solve the flashover accident cause by catenary insulator pollution

at present

the automatic washing is the main way to replace manual washing with poor working conditions and low flushing efficiency.The catenary insulator’s 3D reconstruction is the key of automatic washing.This paper proposes a 3D reconstruction method based on binocular vision to get the catenary insulator position

identifies insulator characteristics from binocular camera image.Based on internal and external parameters calibration of the binocular camera

the match points of left and right images are obtained by feature matching algorithm

The 3D coordinates of insulator centroid and the distance information of insulator are go

tten by using the projection transformation matrix.The experimental results show that the distance between 1 200

3

200 mm

insulator have been 3D position reduction

maxium value of reduction of absolute error is 226 mm

which meets the requirement of washing accuracy.