A monitoring and photographing method, device, equipment and medium based on a transmission line

Abstract

The embodiments of this specification disclose a monitoring and photographing method, device, equipment and structure based on a transmission line, including: obtaining the current attitude relationship between two cameras in the monitoring and photographing module; determining the adjustment angles of the two cameras according to the current attitude relationship; adjusting the two cameras according to the adjustment angles, and obtaining corresponding debugging images by photographing with the adjusted two cameras; determining the epipolar line deviation of the two cameras according to the debugging images; if the epipolar line deviation is greater than a set value, adjusting the two cameras according to the epipolar line deviation to complete the adjustment of the two cameras, and monitoring the transmission line through the monitoring and photographing module.

Description

Technical Field

[0001] This specification relates to the field of computer technology, and particularly to a monitoring and photographing method, device, equipment and medium based on transmission lines. Background Art

[0002] In real life, transmission lines are often damaged due to uncertain hazard objects. Therefore, it is necessary to monitor and photograph the hazard objects around the transmission lines for early warning to prevent the hazard objects from damaging the transmission lines.

[0003] In the prior art, for the method of monitoring and photographing hazard objects, most of them adopt a visual intelligent monitoring module, which can realize the monitoring of external damage hazards of transmission lines and their corridor, and the cost is low. However, most of the visual intelligent monitoring modules adopt monocular cameras, and accurate information cannot be obtained for the hazard situations of transmission lines and their corridor. Summary of the Invention

[0004] One or more embodiments of this specification provide a monitoring and photographing method, device, equipment and medium based on transmission lines to solve the technical problems raised in the background art.

[0005] One or more embodiments of this specification adopt the following technical solutions:

[0006] A monitoring and photographing method based on transmission lines provided by one or more embodiments of this specification includes:

[0007] Obtain the current pose relationship between two cameras in the monitoring and photographing module;

[0008] Determine the adjustment angles of the two cameras according to the current pose relationship;

[0009] Adjust the two cameras according to the adjustment angles, and obtain corresponding debugging images by photographing with the two adjusted cameras;

[0010] Determine the epipolar deviation of the two cameras according to the debugging images;

[0011] If the epipolar deviation is greater than a set value, adjust the two cameras according to the epipolar deviation to complete the adjustment of the two cameras, and monitor the transmission lines through the monitoring and photographing module.

[0012] A monitoring and photographing device based on transmission lines provided by one or more embodiments of this specification, the device includes:

[0013] A pose acquisition unit that acquires the current pose relationship between two cameras in the monitoring and photographing module;

[0014] An adjustment angle determination unit that determines the adjustment angles of the two cameras according to the current pose relationship;

[0015] An attitude adjustment unit that adjusts the two cameras according to the adjustment angle and obtains corresponding debugging images by shooting with the two adjusted cameras;

[0016] An epipolar line deviation determination unit that determines the epipolar line deviation between the two cameras according to the debugging images;

[0017] A monitoring unit that, if the epipolar line deviation is greater than a set value, adjusts the two cameras according to the epipolar line deviation to complete the adjustment of the two cameras, and monitors the transmission line through the monitoring module.

[0018] A monitoring device based on a transmission line provided by one or more embodiments of this specification includes:

[0019] At least one processor; and,

[0020] A memory communicatively connected to the at least one processor; wherein,

[0021] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can:

[0022] Obtain the current attitude relationship between the two cameras in the monitoring module;

[0023] Determine the adjustment angle of the two cameras according to the current attitude relationship;

[0024] Adjust the two cameras according to the adjustment angle and obtain corresponding debugging images by shooting with the two adjusted cameras;

[0025] Determine the epipolar line deviation between the two cameras according to the debugging images;

[0026] If the epipolar line deviation is greater than a set value, adjust the two cameras according to the epipolar line deviation to complete the adjustment of the two cameras, and monitor the transmission line through the monitoring module.

[0027] A non-volatile computer storage medium provided by one or more embodiments of this specification stores computer-executable instructions, and the computer-executable instructions are set to:

[0028] Obtain the current attitude relationship between the two cameras in the monitoring module;

[0029] Determine the adjustment angle of the two cameras according to the current attitude relationship;

[0030] Adjust the two cameras according to the adjustment angle and obtain corresponding debugging images by shooting with the two adjusted cameras;

[0031] Determine the epipolar deviation of the two cameras according to the debug image;

[0032] If the epipolar deviation is greater than the set value, adjust the two cameras according to the epipolar deviation to complete the adjustment of the two cameras, and monitor the transmission line through the monitoring module.

[0033] The above at least one technical solution adopted in the embodiments of this specification can achieve the following beneficial effects: The embodiments of this specification adopt a control method of separated automatic epipolar alignment. Cameras are placed at the fixed end and the mobile end respectively. After adjusting the monitoring field of view at the fixed end, the inclination value is sent to the mobile end. The mobile end calculates and adjusts the stepping angle with this as a reference, takes a photo after the adjustment, performs epipolar correction and feedbacks the adjustment angle until the epipolar deviation is less than the preset value. With the support of hardware automatic control, the debugging of epipolar alignment becomes simple and effective. After the adjustment is completed, the hardware adjustment mechanism can be removed, which can solve the problems of difficult installation and epipolar alignment of binocular cameras. Compared with the integrated fixed-baseline binocular ranging device, it not only reduces the hardware cost, but also reduces the production, processing and debugging difficulties, and has great practical value. Description of the Drawings

[0034] In order to more clearly illustrate the technical solutions in the embodiments of this specification or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments recorded in this specification. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings. In the drawings:

[0035] Figure 1 It is a schematic flowchart of a monitoring method for a transmission line provided by one or more embodiments of this specification;

[0036] Figure 2 It is a structural diagram of a split-type transmission line variable-baseline binocular inspection provided by one or more embodiments of this specification;

[0037] Figure 3 It is a flowchart of a debugging method for a split-type transmission line binocular ranging device provided by one or more embodiments of this specification;

[0038] Figure 4 It is a schematic structural diagram of a monitoring device for a transmission line provided by one or more embodiments of this specification;

[0039] Figure 5 It is a schematic structural diagram of a monitoring device for a transmission line provided by one or more embodiments of this specification. Detailed Embodiments

[0040] The embodiments of this specification provide a monitoring and photographing method, device, equipment and medium based on transmission lines.

[0041] In order to quantify the monitoring and photographing situation of transmission lines and corridor corridors, the embodiments of this specification can be implemented in the following ways:

[0042] 1. Visual intelligent monitoring and photographing module: Most visual intelligent monitoring and photographing modules use monocular cameras, which can realize the hidden danger monitoring of transmission lines and corridor corridors, with low cost, but without ranging information or poor ranging accuracy. If it is necessary to calculate the distance between the hidden danger and the transmission line, and then determine whether the hidden danger object poses a threat to the transmission line, a large number of alarm images may be generated through daily monitoring by the visual intelligent monitoring and photographing module, which requires inspection personnel to confirm, increasing the work pressure of the inspection personnel.

[0043] 2. Binocular monitoring and photographing module with fixed baseline for transmission lines: Because it can provide both images of the environment and dense depth information at the same time, and has a low cost, it has been widely used. It has incomparable advantages over laser ranging in the distance measurement of close-range targets, mainly reflected in passive measurement and the ability to measure multiple targets simultaneously, which can achieve good monitoring and photographing effects. However, most binocular cameras mostly adopt a fixed baseline scheme, resulting in a large difference in the depth estimation error of far and near objects. Specifically, as the distance of the measured object increases, the depth estimation error increases rapidly in multiples. Therefore, for a binocular camera with a fixed baseline, the depth estimation error is small for objects at a relatively close distance; for objects at a relatively far distance, the depth estimation error is large.

[0044] In order to enable those skilled in the art to better understand the technical solutions in this specification, the following will clearly and completely describe the technical solutions in the embodiments of this specification with reference to the accompanying drawings in the embodiments of this specification. Obviously, the described embodiments are only a part of the embodiments of this specification, rather than all the embodiments. Based on the embodiments of this specification, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this specification.

[0045] Figure 1Schematic flowchart of a monitoring and shooting method based on a transmission line provided for one or more embodiments of this specification. This process can be executed by a transmission line monitoring and shooting system. The system adjusts the angles of two cameras in the monitoring and shooting module in two dimensions successively, so that the two cameras in the monitoring and shooting module are in preset positions. Subsequently, it can automatically monitor and shoot the hidden danger situation of the transmission line and the corridor. If there is a hidden danger target, it determines the hidden danger distance between the hidden danger target and the transmission line. When the hidden danger distance exceeds the preset value, a warning operation can be performed. Some input parameters or intermediate results in the process allow manual intervention and adjustment to help improve accuracy.

[0046] The method flow steps of the embodiments of this specification are as follows:

[0047] S102, obtain the current attitude relationship between the two cameras in the monitoring and shooting module.

[0048] In the embodiments of this specification, attitude acquisition units can be respectively set on the two cameras. By obtaining the current attitude information of the two cameras, the current attitude relationship between the two cameras is determined. If the current attitude relationship between the two cameras does not meet the preset requirements, it can be adjusted through the following steps.

[0049] S104, determine the adjustment angles of the two cameras according to the current attitude relationship.

[0050] In the embodiments of this specification, the attitude relationship between the two cameras can be set to a parallel relationship first; then it is judged whether the current attitude relationship is in the parallel relationship; if the current attitude relationship is not in the parallel relationship, the adjustment angles for the two cameras to be adjusted to the parallel relationship are determined; if the current attitude relationship is in the parallel relationship, the transmission line can be directly monitored and shot through the monitoring and shooting module.

[0051] S106, adjust the two cameras according to the adjustment angles, and obtain corresponding debugging images by shooting with the adjusted two cameras.

[0052] In the embodiments of this specification, the two cameras can include a fixed camera and the debugging camera, that is, when adjusting the two cameras, only the debugging camera can be adjusted.

[0053] Furthermore, in the embodiments of this specification, when adjusting the two cameras according to the adjustment angles, the adjustment angles for adjusting the two cameras can be determined first, and then the two cameras are adjusted through a preset adjustment gear mechanism to achieve mechanical adjustment of the pitch angle, roll angle, and yaw angle.

[0054] It should be noted that after adjusting the two cameras according to the adjustment angle, it cannot be guaranteed that the image angles captured by the two cameras are the same. There may be a tilt in one of the fixed camera or the adjustable camera. During the subsequent monitoring of the transmission line, it is impossible to accurately measure the distance between the hidden danger object and the transmission line, which has a significant impact on the hidden danger warning of the transmission line.

[0055] Based on this, it is necessary to further test the two cameras after adjustment in the follow-up to ensure that the images captured by the two cameras can be better applied to the subsequent monitoring of the transmission line, and to more accurately measure the distance between the hidden danger object and the transmission line, so as to improve the hidden danger warning effect of the transmission line.

[0056] S108, determine the epipolar line deviation of the two cameras according to the debugging images.

[0057] In the embodiment of this specification, the epipolar line constraint between the captured images of the two cameras can be set to be parallel first; then, determine the epipolar line deviation of the debugging images compared with parallel.

[0058] Furthermore, the debugging images in the embodiment of this specification can be the first debugging image and the second debugging image obtained by the two cameras capturing the same target. When determining the epipolar line deviation of the two cameras according to the debugging images, the same debugging target can be determined in the first debugging image and the second debugging image, and the first debugging angle and the second debugging angle corresponding to the first debugging image and the second debugging image where the debugging target is located; then, determine the epipolar line deviation of the two cameras according to the first debugging angle and the second debugging angle.

[0059] S110, if the epipolar line deviation is greater than the set value, adjust the two cameras according to the epipolar line deviation to complete the adjustment of the two cameras, and monitor the transmission line through the monitoring module.

[0060] In the embodiment of this specification, when adjusting the two cameras according to the epipolar line deviation, the epipolar line deviation can be converted into a step pulse; then, send the step pulse to the tilt angle adjustment module, and adjust the two cameras through the tilt angle adjustment module.

[0061] It should be noted that in the embodiments of this specification, the two cameras need to be adjusted according to the adjustment angle first, and then adjusted according to the epipolar deviation of the debug image. The order of adjusting the two cameras twice cannot be reversed. If the two cameras are adjusted according to the epipolar deviation of the debug image first, there may be a large difference in the pose relationship between the two cameras, resulting in a large difference in the image content captured by the two cameras. In this case, the two cameras cannot be adjusted according to the epipolar deviation of the images. Only when the pose relationship between the two cameras is not much different, the image content captured by the two cameras will be roughly the same. Finally, the two cameras are adjusted according to the epipolar deviation between the two images to complete the adjustment of the two cameras.

[0062] It should be noted that the embodiments of this specification adopt a control method of separate automatic epipolar alignment. Cameras are placed at the fixed end and the mobile end respectively. After adjusting the monitoring field of view at the fixed end, the inclination value is sent to the mobile end. The mobile end calculates and adjusts the stepping angle with this as a reference, takes a photo after the adjustment, performs epipolar correction and feeds back the adjustment angle until the epipolar deviation is less than the preset value. With the support of hardware automatic control, the epipolar alignment makes the debugging simple and effective. After the adjustment is completed, the hardware adjustment mechanism can be removed, which can solve the problems of difficult installation and epipolar alignment of binocular cameras. Compared with the integrated fixed-baseline binocular ranging device, it not only reduces the hardware cost, but also reduces the production, processing and debugging difficulties, and has great practical value.

[0063] Furthermore, Figure 2 The present invention provides a split-type power transmission line variable-baseline binocular inspection structure diagram for one or more embodiments of this specification. The device includes two major parts. One is a fixed monitoring and photographing module (which can be the fixed camera mentioned above), and the other is an adjustable monitoring and photographing module (which can be the debug camera mentioned above). Both devices have an SOC intelligent control core, an IMU sensor and a wireless module, and share a set of charging management systems, including a charging management module, a charging battery and a solar panel.

[0064] The SOC control core module has powerful computing power, can perform front-end intelligent analysis on images, identify hidden danger data in the images, and can perform variable-baseline binocular ranging on the hidden dangers to achieve the precise ranging and inspection task of conventional external damage hidden dangers, and transmit the inspection results to the control center through 4G / 5G.

[0065] The IMU can collect the attitude information of the device.

[0066] The adjustable monitoring and photographing module internally has an adjustment gear mechanism, which can realize the mechanical adjustment of the pitch angle, roll angle and yaw angle. There are two screw interception devices outside, which can be connected to an external automatic adjustment mechanism.

[0067] The automatic inclination adjustment device has a stepper motor control system and a wireless module, which can achieve wireless communication with the adjustable monitoring and photographing module. After the inclination adjustment is completed, remove the external electric adjustment device.

[0068] The device obtains power through a solar panel and charges the rechargeable battery through a charging management chip. The circuit has overcurrent, overvoltage, and lightning protection.

[0069] The main and auxiliary monitoring and photographing modules can use devices of the same material and the same model. The main monitoring and photographing module is fixed, and the auxiliary monitoring and photographing module can move left and right driven by a stepper motor.

[0070] Furthermore, Figure 3 The flowchart shows a debugging method for a split-type binocular ranging device for transmission lines provided by one or more embodiments of this specification. The binocular ranging device is the monitoring and photographing module mentioned above.

[0071] The specific working method is as follows:

[0072] 1. After the fixed-end monitoring and photographing module is installed, perform a leveling operation to meet the requirements of the target irradiation field.

[0073] 2. Calculate the baseline length according to the monitored target area, and install the adjustable monitoring and photographing module according to the baseline length.

[0074] 3. After the structure of the adjustable monitoring and photographing module is installed, fix and lock it with the inclination automatic adjustment device mechanism (which can be the above-mentioned adjustment gear mechanism).

[0075] 4. The adjustable monitoring and photographing module reads the information of the fixed-end inclination sensor, combines its own attitude data, calculates the angle data to be moved, and sends it to the inclination adjustment device.

[0076] 5. The inclination adjustment device performs automatic adjustment. After the adjustment is completed, trigger binocular photographing and calculate the epipolar deviation.

[0077] 6. Judge the relationship between the epipolar deviation and the set value.

[0078] 7. If the epipolar deviation value is greater than the set value, convert the epipolar deviation into a stepper pulse and send it to the inclination adjustment device, and repeat the operation in step 6.

[0079] 8. If the epipolar deviation value is not greater than the set value, the adjustment is completed. Remove the inclination adjustment device, cover the rubber plug, and the binocular ranging device installation is completed.

[0080] It should be noted that the binocular ranging device in the embodiments of this specification adopts the method of one end fixed and one end moving, aiming to save costs while ensuring the accuracy of binocular ranging and reducing the complexity of production, debugging, and operation and maintenance management.

[0081] Meanwhile, the two cameras in the embodiments of this specification adopt a synchronous triggering mechanism during operation. The triggering mechanism uses wireless synchronous triggering to maintain a good tracking and ranging effect on moving targets and reduce ranging errors caused by shooting time differences.

[0082] In addition, the fixed-end and mobile-end monitoring modules in the embodiments of this specification can complete monocular camera calibration before leaving the factory to obtain the internal and external parameters of the camera. The calibration can adopt Zhang Zhengyou's calibration method.

[0083] It should be noted that when adjusting the adjustable monitoring module in the embodiments of this specification, it is divided into coarse adjustment and fine adjustment. The coarse adjustment is performed by adjusting the inclination attitude, and the fine adjustment is performed by the epipolar alignment method.

[0084] It should be noted that the binocular ranging device composed of the two monitoring modules in the embodiments of this specification adopts a parallel placement method to reduce the design complexity.

[0085] It should be noted that the binocular ranging device in the embodiments of this specification is hung on the transmission line tower, and both ends are adjusted horizontally and fixed firmly and reliably.

[0086] Corresponding to the above embodiments, Figure 4 FIG. is a schematic structural diagram of a monitoring device based on a transmission line provided by one or more embodiments of this specification. The device includes: an attitude acquisition unit 402, an adjustment angle determination unit 404, an attitude adjustment unit 406, an epipolar deviation determination unit 408, and a monitoring unit 410.

[0087] The attitude acquisition unit 402 acquires the current attitude relationship between the two cameras in the monitoring module.

[0088] The adjustment angle determination unit 404 determines the adjustment angles of the two cameras according to the current attitude relationship.

[0089] The attitude adjustment unit 406 adjusts the two cameras according to the adjustment angles, and obtains corresponding debugging images by shooting with the two adjusted cameras.

[0090] The epipolar deviation determination unit 408 determines the epipolar deviation between the two cameras according to the debugging images.

[0091] If the epipolar deviation is greater than the set value, the monitoring unit 410 adjusts the two cameras according to the epipolar deviation to complete the adjustment of the two cameras, and monitors the transmission line through the monitoring module.

[0092] Corresponding to the above embodiments, Figure 5 FIG. is a schematic structural diagram of a monitoring device based on a transmission line provided by one or more embodiments of this specification, including:

[0093] At least one processor; and,

[0094] A memory communicatively connected to the at least one processor; wherein,

[0095] The memory stores instructions executable by the at least one processor, and when the instructions are executed by the at least one processor, the at least one processor is enabled to:

[0096] Obtain the current pose relationship between two cameras in the monitoring and shooting module;

[0097] Determine the adjustment angles of the two cameras according to the current pose relationship;

[0098] Adjust the two cameras according to the adjustment angles, and obtain corresponding debugging images by shooting with the two adjusted cameras;

[0099] Determine the epipolar line deviation between the two cameras according to the debugging images;

[0100] If the epipolar line deviation is greater than a set value, adjust the two cameras according to the epipolar line deviation to complete the adjustment of the two cameras, and monitor the transmission line through the monitoring and shooting module.

[0101] A non-volatile computer storage medium provided by one or more embodiments of this specification, storing computer-executable instructions, and the computer-executable instructions are set to:

[0102] Obtain the current pose relationship between two cameras in the monitoring and shooting module;

[0103] Determine the adjustment angles of the two cameras according to the current pose relationship;

[0104] Adjust the two cameras according to the adjustment angles, and obtain corresponding debugging images by shooting with the two adjusted cameras;

[0105] Determine the epipolar line deviation between the two cameras according to the debugging images;

[0106] If the epipolar line deviation is greater than a set value, adjust the two cameras according to the epipolar line deviation to complete the adjustment of the two cameras, and monitor the transmission line through the monitoring and shooting module.

[0107] Each embodiment in this specification is described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other, and the differences between each embodiment and other embodiments are emphasized. In particular, for the embodiments of the device, equipment, and non-volatile computer storage medium, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can refer to the description of the method embodiments.

[0108] The specific embodiments of this specification are described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve the desired result. Additionally, the processes depicted in the figures do not necessarily require the particular order or sequential order shown to achieve the desired result. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0109] The above description is only for one or more embodiments of this specification and is not intended to limit this specification. For those skilled in the art, various changes and modifications can be made to one or more embodiments of this specification. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of one or more embodiments of this specification shall be included within the scope of the claims of this specification.

Claims

1. A monitoring and photographing method based on a transmission line, characterized in that, the method includes: Obtain the current attitude relationship between two cameras in the monitoring and photographing module; Determine the adjustment angles of the two cameras according to the current attitude relationship; Adjust the two cameras according to the adjustment angles, and obtain corresponding debugging images by photographing with the two adjusted cameras; Determine the epipolar deviation of the two cameras according to the debugging images; If the epipolar deviation is greater than a set value, adjust the two cameras according to the epipolar deviation to complete the adjustment of the two cameras, and monitor the transmission line through the monitoring and photographing module; The debugging images are the first debugging image and the second debugging image obtained by the two cameras photographing the same target; The determining the epipolar deviation of the two cameras according to the debugging images specifically includes: Determine the same debugging target in the first debugging image and the second debugging image, and the first debugging angle and the second debugging angle corresponding to the debugging target in the first debugging image and the second debugging image respectively; Determine the epipolar deviation of the two cameras according to the first debugging angle and the second debugging angle; The adjusting the two cameras according to the epipolar deviation specifically includes: Convert the epipolar deviation into a step pulse; Send the step pulse to the inclination angle adjustment module, and adjust the two cameras through the inclination angle adjustment module; The method further includes: Adopt a control method of separate automatic epipolar alignment, place cameras at the fixed end and the mobile end respectively. After adjusting the monitoring field of view at the fixed end, send the inclination angle value to the mobile end. The mobile end calculates and adjusts the step angle with this as a reference, takes a photo after adjustment, performs epipolar correction and feedbacks the adjustment angle until the epipolar deviation is less than the preset value.

2. The method according to claim 1, characterized in that, the determining the adjustment angles of the two cameras according to the current attitude relationship specifically includes: Set the attitude relationship between the two cameras as a parallel relationship; Judge whether the current attitude relationship is in the parallel relationship; If the current attitude relationship is not in the parallel relationship, determine the adjustment angles for the two cameras to be adjusted to the parallel relationship.

3. The method according to claim 1, characterized in that, the determining the epipolar deviation of the two cameras according to the debugging images specifically includes: Set the epipolar constraint between the photographed images of the two cameras as parallel; Determine the epipolar deviation between the debugging images compared to parallel.

4. The method according to claim 1, characterized in that, the two cameras include a fixed camera and a debugging camera; the adjusting the two cameras according to the adjustment angles specifically includes: Adjust the debugging camera according to the adjustment angles.

5. The method according to claim 1, characterized in that, the adjusting the two cameras according to the adjustment angles specifically includes: Determine the adjustment angles for adjusting the two cameras, and adjust the two cameras through a preset adjustment gear mechanism to achieve mechanical adjustment of the pitch angle, roll angle and yaw angle.

6. A monitoring and photographing device based on a transmission line, characterized in that, the device includes: an attitude acquisition unit for acquiring the current attitude relationship between two cameras in the monitoring and photographing module; an adjustment angle determination unit for determining the adjustment angles of the two cameras according to the current attitude relationship; an attitude adjustment unit for adjusting the two cameras according to the adjustment angles and obtaining corresponding debugging images by photographing with the two adjusted cameras; an epipolar line deviation determination unit for determining the epipolar line deviation between the two cameras according to the debugging images; a monitoring and photographing unit, if the epipolar line deviation is greater than a set value, adjusting the two cameras according to the epipolar line deviation to complete the adjustment of the two cameras, and monitoring the transmission line through the monitoring and photographing module; the debugging images are a first debugging image and a second debugging image obtained by the two cameras photographing the same target; the determining the epipolar line deviation between the two cameras according to the debugging images specifically includes: determining the same debugging target in the first debugging image and the second debugging image, and a first debugging angle and a second debugging angle corresponding to the first debugging image and the second debugging image where the debugging target is located; determining the epipolar line deviation between the two cameras according to the first debugging angle and the second debugging angle; the adjusting the two cameras according to the epipolar line deviation specifically includes: converting the epipolar line deviation into a step pulse; sending the step pulse to an inclination angle adjustment module, and adjusting the two cameras through the inclination angle adjustment module; the device is further configured to: adopt a control method of separate automatic epipolar line alignment, place cameras at the fixed end and the mobile end respectively, after adjusting the monitoring field of view at the fixed end, send the inclination angle value to the mobile end, the mobile end calculates and adjusts the step angle with this as a reference, takes a photo after adjustment, performs epipolar line correction and feedbacks the adjustment angle until the epipolar line deviation is less than a preset value.

7. A monitoring and photographing device based on a transmission line, characterized in that, it includes: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can: acquire the current attitude relationship between two cameras in the monitoring and photographing module; determine the adjustment angles of the two cameras according to the current attitude relationship; adjust the two cameras according to the adjustment angles and obtain corresponding debugging images by photographing with the two adjusted cameras; determine the epipolar line deviation between the two cameras according to the debugging images; if the epipolar line deviation is greater than a set value, adjust the two cameras according to the epipolar line deviation to complete the adjustment of the two cameras, and monitor the transmission line through the monitoring and photographing module; the debugging images are a first debugging image and a second debugging image obtained by the two cameras photographing the same target; the determining the epipolar line deviation between the two cameras according to the debugging images specifically includes: Determine the same debugging target in the first debugging image and the second debugging image, and the debugging target is at a first debugging angle and a second debugging angle corresponding to the first debugging image and the second debugging image respectively; Determine the epipolar deviation of the two cameras according to the first debugging angle and the second debugging angle; The adjusting the two cameras according to the epipolar deviation specifically includes: Convert the epipolar deviation into a step pulse; Send the step pulse to the inclination adjustment module, and adjust the two cameras through the inclination adjustment module; It is also used for: Adopt a control method of separate automatic epipolar alignment. Place cameras at the fixed end and the mobile end respectively. After adjusting the monitoring field of view at the fixed end, send the inclination value to the mobile end. The mobile end calculates and adjusts the step angle with this as a reference, takes a photo after adjustment, performs epipolar correction and feedbacks the adjustment angle until the epipolar deviation is less than the preset value.

8. A non-volatile computer storage medium, characterized in that, storing computer-executable instructions, and the computer-executable instructions are set to: Obtain the current pose relationship between two cameras in the monitoring and shooting module; Determine the adjustment angles of the two cameras according to the current pose relationship; Adjust the two cameras according to the adjustment angles, and obtain corresponding debugging images by shooting with the two adjusted cameras; Determine the epipolar deviation of the two cameras according to the debugging images; If the epipolar deviation is greater than the set value, adjust the two cameras according to the epipolar deviation to complete the adjustment of the two cameras, and monitor the transmission line through the monitoring and shooting module; The debugging images are the first debugging image and the second debugging image obtained by the two cameras shooting the same target; The determining the epipolar deviation of the two cameras according to the debugging images specifically includes: Determine the same debugging target in the first debugging image and the second debugging image, and the debugging target is at a first debugging angle and a second debugging angle corresponding to the first debugging image and the second debugging image respectively; Determine the epipolar deviation of the two cameras according to the first debugging angle and the second debugging angle; The adjusting the two cameras according to the epipolar deviation specifically includes: Convert the epipolar deviation into a step pulse; Send the step pulse to the inclination adjustment module, and adjust the two cameras through the inclination adjustment module; It is also used for: Adopt a control method of separate automatic epipolar alignment. Place cameras at the fixed end and the mobile end respectively. After adjusting the monitoring field of view at the fixed end, send the inclination value to the mobile end. The mobile end calculates and adjusts the step angle with this as a reference, takes a photo after adjustment, performs epipolar correction and feedbacks the adjustment angle until the epipolar deviation is less than the preset value.

Images