A power field worker positioning method and system

Abstract

The application discloses a kind of electric power field worker positioning method and system, first utilize multiple cameras to determine coordinate position by calibration object, again by the multiple cameras of determining coordinate position, the image of electric power work site including worker is shot, then identify the worker in image, calculate the relative position of worker and each camera, to determine the coordinate position of worker, without relying on GPS, compass positioning system and UWB positioning system to carry out real-time positioning to worker, solve the technical problem that the existing GPS, compass positioning system and UWB positioning system to worker for positioning in electric power field cannot meet the accuracy and convenience requirements simultaneously.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric power operation, and in particular to a power field operation personnel positioning method and system. BACKGROUND

[0002] In the electric power operation field, accurately and effectively positioning the position of the operation personnel is an important basis for preventing accidents and ensuring the safety of the staff. The existing means for positioning the position of the operation personnel in the electric power operation field are mainly achieved by using GPS, Beidou positioning system and UWB positioning system. However, the positioning accuracy of the GPS and Beidou positioning system is not enough, and the UWB positioning system needs to install a base station in the operation field, which is inconvenient to use. Therefore, it is necessary to provide a power field operation personnel positioning method which can accurately and effectively position the operation personnel and meet the convenience requirement. SUMMARY

[0003] The present application provides a power field operation personnel positioning method and system, which is used to solve the technical problem that the existing positioning method for the power field operation personnel by using GPS, Beidou positioning system and UWB positioning system cannot meet the accuracy and convenience requirements at the same time.

[0004] Therefore, the first aspect of the present application provides a power field operation personnel positioning method, which comprises the following steps:

[0005] arranging N cameras in the electric power operation field to obtain the electric power operation field images captured by the N cameras, wherein N is not less than 3;

[0006] setting at least three calibration objects with known actual heights and distances from the cameras at the positions of the electric power operation field that can be captured by the N cameras according to the electric power operation field images captured by the N cameras, and establishing a world coordinate system based on the calibration objects;

[0007] obtaining the calibration object images captured by the N cameras;

[0008] calculating the coordinate positions of the cameras according to the calibration object images captured by each camera;

[0009] when the operation personnel enter the electric power operation field to work, obtaining the electric power operation field images captured by the N cameras, and identifying the operation personnel in the electric power operation field images;

[0010] calculating the distance and direction of the operation personnel in the electric power operation field images from the corresponding cameras to obtain the relative positions of the operation personnel from each camera;

[0011] determining the coordinate position of the operation personnel according to the relative positions of the operation personnel from each camera.

[0012] Optionally, the coordinate position of each camera is calculated according to the calibration object image captured by each camera, including:

[0013] The calibration object in each calibration object image is recognized.

[0014] The distance of the camera relative to the calibration object is calculated according to the height of the calibration object in the image captured by the camera and the actual height of the calibration object, and the calculation formula is:

[0015]

[0016] Wherein, d m is the distance of the camera relative to the calibration object, f is the distance between the center imaging plane of the camera and the optical center, l m is the actual height of the calibration object, l′ m is the height of the calibration object in the image.

[0017] The coordinate position of each camera in the world coordinate system is calculated based on the three-point positioning method.

[0018] Optionally, the distance and orientation of the work personnel in the power operation site image from the corresponding camera are calculated to obtain the relative position of the work personnel from each camera, including:

[0019] The actual height of the work personnel is calculated according to the height of the work personnel in the image and the height of the calibration object in the image and the actual height of the calibration object.

[0020] The distance of the work personnel from each camera is calculated according to the actual height of the work personnel and the height of the work personnel in the image, and the calculation formula is:

[0021]

[0022] Wherein, d p is the distance of the work personnel from the camera, l p is the actual height of the work personnel, l p ′ is the height of the work personnel in the image.

[0023] The angle θ between the work personnel and the normal of the camera imaging plane is calculated according to the horizontal distance between the work personnel in the power operation site image and the center of the power operation site image.

[0024] The horizontal distance ρ between the calibration object in the power operation site image and the center of the power operation site image is calculated, and the measured all angles θ are fitted using the function of ρ about θ to obtain the angle between the work personnel and the normal of the camera imaging plane.

[0025] Optionally, the coordinate position of the work personnel is determined according to the relative position of the work personnel from each camera, including:

[0026] According to the distance and the orientation of the worker from each camera, the three-point positioning method is used to determine the coordinate position of the worker.

[0027] The second aspect of the present application provides a power field worker positioning system, comprising:

[0028] The installation module is configured to arrange N cameras at the power work site, and obtain images of the power work site captured by the N cameras, wherein N is not less than 3.

[0029] The calibration module is configured to set at least three calibration objects with known actual heights and distances from the cameras at positions of the power work site that can be captured by the N cameras according to the images of the power work site captured by the N cameras, and establish a world coordinate system based on the calibration objects.

[0030] The image acquisition module is configured to obtain images of the calibration objects captured by the N cameras.

[0031] The camera position calculation module is configured to calculate the coordinate position of each camera according to the images of the calibration objects captured by each camera.

[0032] The worker identification module is configured to obtain images of the power work site captured by the N cameras when the worker enters the power work site to work, and identify the worker in the images of the power work site.

[0033] The relative position calculation module is configured to calculate the distance and the orientation of the worker in the images of the power work site from the corresponding camera, and obtain the relative position of the worker from each camera.

[0034] The worker coordinate determination module is configured to determine the coordinate position of the worker according to the relative position of the worker from each camera.

[0035] Optionally, the camera position calculation module is specifically configured to:

[0036] identify the calibration object in each calibration object image;

[0037] calculate the distance of the camera from the calibration object according to the height of the calibration object in the image captured by the camera and the actual height of the calibration object, and the calculation formula is:

[0038]

[0039] wherein d is the distance of the camera from the calibration object, f is the distance between the center imaging plane of the camera and the optical center, l is the actual height of the calibration object, and l' is the height of the calibration object in the image. m m m

[0040] ​​​The three-point positioning method is used to calculate the coordinate position of each camera in the world coordinate system.

[0041] Optionally, the relative position calculation module is specifically configured to:

[0042] According to the height of the worker in the image, the height of the calibration object in the image, and the actual height of the calibration object, the actual height of the worker is calculated.

[0043] According to the actual height of the worker and the height of the worker in the image, the distance between the worker and each camera is calculated, and the calculation formula is:

[0044]

[0045] wherein d p is the distance between the worker and the camera, l p is the actual height of the worker, and l p ' is the height of the worker in the image.

[0046] According to the horizontal distance between the worker in the power operation site image and the center of the power operation site image, the angle θ between the worker and the normal of the camera plane is calculated.

[0047] The horizontal distance ρ between the calibration object in the power operation site image and the center of the power operation site image is calculated, and a function of ρ with respect to θ is used to fit all the measured angles θ to obtain the angle between the worker and the normal of the camera imaging plane.

[0048] Optionally, the worker coordinate determination module is specifically configured to:

[0049] According to the distance and position of the worker from each camera, the three-point positioning method is used to determine the coordinate position of the worker.

[0050] As can be seen from the above technical solutions, the power site worker positioning method has the following advantages:

[0051] The power site worker positioning method provided by the application first determines the coordinate position of multiple cameras using a calibration object, then captures a power operation site image including a worker through the multiple cameras with determined coordinate positions, then identifies the worker in the image, calculates the relative position of the worker from each camera, and thus determines the coordinate position of the worker, without relying on GPS, Beidou positioning system and UWB positioning system for real-time positioning of the worker, thereby solving the technical problem that the existing positioning method of the power site worker using GPS, Beidou positioning system and UWB positioning system cannot simultaneously meet the accuracy and convenience requirements.

[0052] Meanwhile, the staff is photographed from different angles by multiple cameras installed at the power operation site, so that the video positioning failure caused by the blocking of other objects can be effectively avoided. BRIEF DESCRIPTION OF DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other related drawings can also be obtained without creative labor.

[0054] Figure 1 A flowchart of a power site operation staff positioning method provided by the present application;

[0055] Figure 2 A structural diagram of a power site operation staff positioning system provided by the present application. DETAILED DESCRIPTION

[0056] In order to make the personnel in the technical field better understand the present application scheme, the technical solutions in the embodiments of the present application will be described clearly and completely in the following by combining the drawings in the embodiments of the present application. Obviously, the described embodiments only constitute some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0057] For easy understanding, please refer to Figure 1 An embodiment of a power site operation staff positioning method is provided in the present application, which comprises:

[0058] Step 101, arranging N cameras at the power operation site to obtain power operation site images photographed by the N cameras, wherein N is not less than 3.

[0059] Considering that the positioning mode of a single camera may cause positioning failure due to the blocking of the shooting angle by objects, in the embodiment of the present application, the number N of the cameras is not less than 3. The N cameras arranged at the power operation site can be arranged at the same horizontal height and different directions. After the N cameras are installed, the work can be directly entered, and the photographed power operation site images are transmitted back to the computer terminal controlled by the background.

[0060] Step 102, according to the power operation site images photographed by the N cameras, at least three calibration objects with known actual height and distance from the camera are arranged at the power operation site positions that can be photographed by the N cameras, and a world coordinate system is established based on the calibration objects.

[0061] In order to facilitate subsequent calculation of the coordinate position of each camera, at least three calibration objects are arranged in the embodiment of the application, and then a world coordinate system is established based on the calibration objects. Each world coordinate system can be established with each calibration object as a coordinate origin, or a world coordinate system can be established with one of the calibration objects as a coordinate origin, and the coordinate positions of the remaining calibration objects in the world coordinate system are obtained.

[0062] Step 103: Obtain calibration object images captured by the N cameras.

[0063] When the calibration objects are arranged, the N cameras capture the calibration objects to obtain N calibration object images containing the calibration objects.

[0064] Step 104: Calculate the coordinate position of each camera based on the calibration object images captured by each camera.

[0065] Since the height of the calibration object and the distance from the camera are known after the calibration object is installed, and the parameter setting of the camera is also known, the coordinate position of each camera in the world coordinate system can be calculated based on the calibration object images captured by each camera. Specifically, the calibration object in each calibration object image is identified, and then the distance of the camera relative to the calibration object is calculated based on the height of the calibration object in the image captured by the camera and the actual height of the calibration object. The calculation formula is as follows:

[0066]

[0067] where d is the distance of the camera relative to the calibration object, f is the distance between the center imaging plane of the camera and the optical center, l is the actual height of the calibration object, and l' is the height of the calibration object in the image. m m m

[0068] At this point, at least three known coordinate point positions and distances have been obtained, and thus the coordinate position of each camera in the corresponding world coordinate system can be calculated based on the three-point positioning method.

[0069] After step 104 is completed, the preliminary positioning system building work is also completed, and the positioning system can be directly used. When the worker enters the power work site to work, step 105 is directly entered.

[0070] Step 105: When the worker enters the power work site to work, obtain images of the power work site captured by the N cameras, and identify the worker in the power work site images.

[0071] ​​​When the worker enters the power work site to work, the worker is included in the power work site image captured by the N cameras, and thus the worker in the power work site image can be identified by using the preset image recognition algorithm.

[0072] Step 106, the distance and orientation of the worker in the power work site image from the corresponding camera are calculated to obtain the relative position of the worker from each camera.

[0073] Since the coordinate position of the camera and the calibration object is known after step 104, and the distance and orientation of the camera and the calibration object are also known, the parameters of the camera are also known, and thus the relative position of the worker in each power work site image from each camera can be calculated. Specifically, the actual height of the worker is calculated according to the height of the worker in the image and the height of the calibration object in the image and the actual height of the calibration object, and the distance of the worker from each camera is calculated according to the actual height of the worker and the height of the worker in the image, and the calculation formula is:

[0074]

[0075] where d is the distance of the worker from the camera, l is the actual height of the worker, l' is the height of the worker in the image, and θ is the angle between the line of sight of the camera and the line of sight of the worker. p p p

[0076] The angle θ between the worker in the power work site image and the horizontal distance of the power work site image center is calculated, the horizontal distance ρ between the calibration object in the power work site image and the power work site image center is calculated, and the function f(ρ) of ρ about θ is used to fit all the measured angles θ to obtain the angle between the worker and the normal of the imaging plane of the camera, i.e., the orientation of the worker in the power work site image from the corresponding camera.

[0077] Step 107, the coordinate position of the worker is determined according to the relative position of the worker from each camera.

[0078] After step 106, the relative position of the worker from each camera is determined, i.e., the distance and orientation of the worker are known, and thus the coordinate position of the worker in the world coordinate system can also be calculated. Specifically, the coordinate position of the worker in the world coordinate system can also be determined by using the three-point positioning method.

[0079] ​​​The power field operation personnel positioning method provided in the embodiment of the present application first determines the coordinate positions of the plurality of cameras by using the calibration objects, then captures the power operation field image including the operation personnel by the plurality of cameras determining the coordinate positions, then identifies the operation personnel in the image, calculates the relative positions of the operation personnel and each camera, and thus determines the coordinate position of the operation personnel, without relying on the GPS, Beidou positioning system and UWB positioning system to perform real-time positioning on the operation personnel, and thus the technical problem that the existing power field operation personnel positioning method using the GPS, Beidou positioning system and UWB positioning system cannot simultaneously meet the accuracy and convenience requirements is solved.

[0080] Meanwhile, the plurality of cameras installed in the power operation field capture the staff from different angles, which can effectively avoid the video positioning failure problem caused by the blocking of other objects.

[0081] For the convenience of understanding, please refer to Figure 2 The present application also provides an embodiment of a power field operation personnel positioning system, which comprises:

[0082] The installation module 201 is configured to arrange N cameras in the power operation field, and acquire the power operation field image captured by the N cameras, where N is not less than 3.

[0083] The calibration module 202 is configured to set at least three calibration objects with known actual heights and distances from the cameras in the power operation field position that can be captured by the N cameras according to the power operation field image captured by the N cameras, and establish a world coordinate system based on the calibration objects.

[0084] The image acquisition module 203 is configured to acquire the calibration object image captured by the N cameras.

[0085] The camera position calculation module 204 is configured to calculate the coordinate position of each camera according to the calibration object image captured by each camera.

[0086] The operation personnel identification module 205 is configured to acquire the power operation field image captured by the N cameras when the operation personnel enters the power operation field to work, and identify the operation personnel in the power operation field image.

[0087] The relative position calculation module 206 is configured to calculate the distance and direction of the operation personnel in the power operation field image from the corresponding camera, and obtain the relative position of the operation personnel and each camera.

[0088] The operation personnel coordinate determination module 207 is configured to determine the coordinate position of the operation personnel according to the relative position of the operation personnel and each camera.

[0089] The camera position calculation module 204 is specifically configured to:

[0090] identify the calibration object in each calibration object image;

[0091] calculate the distance of the camera relative to the calibration object according to the height of the calibration object in the image captured by the camera and the actual height of the calibration object, and the calculation formula is:

[0092]

[0093] wherein d m is the distance of the camera relative to the calibration object, f is the distance between the center imaging plane of the camera and the optical center, l m is the actual height of the calibration object, l′ m is the height of the calibration object in the image;

[0094] calculate the coordinate position of each camera in the world coordinate system based on the three-point positioning method.

[0095] The relative position calculation module 206 is specifically configured to:

[0096] calculate the actual height of the worker according to the height of the worker in the image, the height of the calibration object in the image, and the actual height of the calibration object;

[0097] calculate the distance of the worker from each camera according to the actual height of the worker and the height of the worker in the image, and the calculation formula is:

[0098]

[0099] wherein d p is the distance of the worker from the camera, l p is the actual height of the worker, l p ′ is the height of the worker in the image;

[0100] calculate the angle θ between the worker and the normal of the camera imaging plane according to the horizontal distance between the worker and the center of the power operation site image in the power operation site image;

[0101] calculate the horizontal distance ρ between the calibration object and the center of the power operation site image in the power operation site image, fit all the measured angles θ using the function of ρ with respect to θ, and obtain the angle between the worker and the normal of the camera imaging plane.

[0102] The worker coordinate determination module 207 is specifically configured to:

[0103] determine the coordinate position of the worker by the three-point positioning method according to the distance and position of the worker from each camera.

[0104] The power field worker positioning system provided in the embodiment of the present application first determines the coordinate positions of multiple cameras by using a calibration object, then captures power work field images including workers by the multiple cameras determining the coordinate positions, and then identifies the workers in the images and calculates the relative positions of the workers and each camera to determine the coordinate positions of the workers, so that the workers are positioned in real time without relying on GPS, Beidou positioning system and UWB positioning system, and the technical problem that the existing power field worker positioning method using GPS, Beidou positioning system and UWB positioning system cannot simultaneously meet the accuracy and convenience requirements is solved.

[0105] Meanwhile, the multiple cameras installed in the power work field capture the workers from different angles, which can effectively avoid the video positioning failure problem caused by the blocking of other objects.

[0106] The power field worker positioning system provided in the embodiment of the present application is used to execute the power field worker positioning method in the foregoing embodiment, and the principle is consistent with the power field worker positioning method in the foregoing embodiment, which will not be described here.

[0107] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for locating electric power field workers, characterized in that: include: Arrange N cameras at the power operation site and obtain images of the power operation site taken by the N cameras, where N is not less than 3; Based on the images of the power operation site captured by N cameras, at least three calibration objects with known actual heights and distances from the cameras are set at locations on the power operation site that can be captured by the N cameras, and a world coordinate system is established with the calibration objects as the reference; Obtain the calibration object images taken by N cameras; Calculate the coordinate position of each camera based on the calibration object image taken by each camera; When an operator enters an electric power operation site for operation, N cameras are used to capture images of the electric power operation site, and the operator is identified in the images of the electric power operation site; Calculate the distance and orientation between the operator and the corresponding camera in the power operation site image to obtain the relative position of the operator and each camera; The coordinate position of the operator is determined based on the relative position of the operator and each camera.

2. The method for locating electric power field workers according to claim 1, characterized in that: Calculate the coordinate position of each camera based on the calibration object image captured by each camera, including: identifying a calibration object in each calibration object image; Calculate the distance between the camera and the calibration object based on the height of the calibration object in the image captured by the camera and the actual height of the calibration object. The calculation formula is: ； in, is the distance between the camera and the calibration object, f is the distance between the imaging plane at the center of the camera and the optical center, is the actual height of the calibration object, is the height of the calibration object in the image; The coordinate position of each camera in the world coordinate system is calculated based on the three-point positioning method.

3. The method for locating electric power field workers according to claim 2, characterized in that: Calculate the distance and orientation between the operator and the corresponding camera in the power operation site image to obtain the relative position of the operator and each camera, including: Calculate the actual height of the operator according to the height of the operator in the image, the height of the calibration object in the image, and the actual height of the calibration object; Based on the actual height of the operator and the height of the operator in the image, the distance between the operator and each camera is calculated using the following formula: ； in, is the distance between the operator and the camera, is the actual height of the operator, is the height of the operator in the image; Calculate the angle θ between the operator and the normal line of the camera plane based on the horizontal distance between the operator and the center of the power operation site image. The horizontal distance ρ between the calibration object and the center of the power operation site image is calculated. All measured angles θ are fitted using the function of ρ with respect to θ to obtain the angle between the operator and the normal of the camera imaging plane.

4. The method for locating electric power field workers according to claim 3, characterized in that: The coordinate position of the operator is determined based on the relative position of the operator and each camera, including: According to the distance and orientation between the operator and each camera, the three-point positioning method is used to determine the coordinate position of the operator.

5. A power field operator positioning system, characterized in that: include: An installation module is used to arrange N cameras at the power operation site and obtain images of the power operation site captured by the N cameras, where N is not less than 3; A calibration module is used to set at least three calibration objects with known actual heights and distances from the cameras at locations on the power operation site that can be captured by the N cameras based on images of the power operation site captured by the N cameras, and to establish a world coordinate system based on the calibration objects; An image acquisition module is used to acquire images of the calibration object taken by N cameras; A camera position calculation module is used to calculate the coordinate position of each camera based on the calibration object image taken by each camera; The operator identification module is used to obtain images of the power operation site taken by N cameras and identify the operators in the images of the power operation site when the operators enter the power operation site for operation; The relative position calculation module is used to calculate the distance and orientation between the operator and the corresponding camera in the power operation site image, and obtain the relative position of the operator and each camera; The operator coordinate determination module is used to determine the operator's coordinate position based on the relative position of the operator and each camera.

6. The electric power field worker positioning system according to claim 5, characterized in that: The camera position calculation module is specifically used for: identifying a calibration object in each calibration object image; Calculate the distance between the camera and the calibration object based on the height of the calibration object in the image captured by the camera and the actual height of the calibration object. The calculation formula is: ； in, is the distance between the camera and the calibration object, f is the distance between the imaging plane at the center of the camera and the optical center, is the actual height of the calibration object, is the height of the calibration object in the image; The coordinate position of each camera in the world coordinate system is calculated based on the three-point positioning method.

7. The electric power field worker positioning system according to claim 6, characterized in that: The relative position calculation module is specifically used for: Calculate the actual height of the operator according to the height of the operator in the image, the height of the calibration object in the image, and the actual height of the calibration object; Based on the actual height of the operator and the height of the operator in the image, the distance between the operator and each camera is calculated using the following formula: ； in, is the distance between the operator and the camera, is the actual height of the operator, is the height of the operator in the image; Calculate the angle θ between the operator and the normal line of the camera plane based on the horizontal distance between the operator and the center of the power operation site image. The horizontal distance ρ between the calibration object and the center of the power operation site image is calculated. All measured angles θ are fitted using the function of ρ with respect to θ to obtain the angle between the operator and the normal of the camera imaging plane.

8. The electric power field worker positioning system according to claim 7, characterized in that: The operator coordinate determination module is specifically used for: According to the distance and orientation between the operator and each camera, the three-point positioning method is used to determine the coordinate position of the operator.

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