A three-dimensional reconstruction method and system of a substation following changes in observation position

Abstract

The present invention provides a method and system for three-dimensional reproduction of a substation that follows the change of the observation position, which relates to the field of visual three-dimensional reconstruction and solves the problem that the existing image display method does not conform to the habit of people observing the substation on site. The present invention includes arranging multiple acquisition devices on the periphery of the target object in the substation; obtaining the acquisition focus located in the substation; enabling all acquisition devices to obtain the image at the acquisition focus; performing time domain processing on the acquired image to obtain the original time domain file; obtaining the user's virtual position in real time; calculating the corresponding UVW in the original time domain file according to the user's virtual position to obtain the post-time domain file; and fusing the post-time domain file to complete the three-dimensional reproduction at the acquisition focus. The user's virtual position is obtained in real time and the UVW corresponding to each original time domain file is calculated, so that the three-dimensional reproduction result can change accordingly with the change of the user's observation position, which conforms to people's on-site observation habits.

Description

Technical Field

[0001] The present invention relates to the field of visual three-dimensional reconstruction, and in particular to a three-dimensional reconstruction method and system for a substation that follows changes in an observation position. Background Art

[0002] At present, for the observation of large targets such as substations with large volume or range, real-time images are usually collected by monitoring cameras installed in the substation, and the collected images are displayed on the display screen in the monitoring room. The position of the images collected in this way is generally fixed, and there will be a sense of disconnection when switching between different images. It is impossible to observe images in different positions in a timely and smooth manner, and it is not convenient to observe the local information of the substation.

[0003] If the acquired substation images can be fused and displayed in three dimensions by means of three-dimensional modeling or three-dimensional scanning, it will be convenient for users to observe the overall picture and local information of the substation. However, the user's observation position is still fixed, and the posture of the substation needs to be adjusted by rotating, dragging, etc. to observe the local information of the substation. In addition, users cannot perceive the real-time information of the facilities in the substation in the real environment from the three-dimensional image of the substation.

[0004] The above image display methods are not suitable for displaying image information of large targets such as substations that are too large in size or range. When people observe the target objects in the substation, they lack a sense of presence, which is inconsistent with people's habit of on-site inspections and makes it difficult for people to have an immersive and realistic sense of on-site observation. Summary of the invention

[0005] The purpose of the present invention is to design a three-dimensional reconstruction method and system of a substation that follows the change of the observation position, so as to solve the problem that the existing image display method does not conform to the habit of people observing the substation on site.

[0006] The present invention is achieved through the following technical solutions:

[0007] The present invention discloses a three-dimensional reconstruction method of a substation following the change of an observation position, the method comprising the following steps:

[0008] Arrange multiple acquisition devices around the target object in the substation;

[0009] Get the collection focus located in the substation;

[0010] Control all acquisition devices to obtain images at the acquisition focus;

[0011] Perform time domain processing on the acquired image to obtain the original time domain file;

[0012] Get the user's virtual location in real time;

[0013] Calculate the corresponding UVW in the original time domain file according to the user's virtual position to obtain the post-time domain file;

[0014] The fused time domain file completes the three-dimensional reproduction of the acquisition focus.

[0015] When the above method is adopted, the acquisition device acquires the acquisition focus located in the substation, obtains images in multiple directions with the acquisition focus as the focus, and calculates the UVW (UVW represents U axis, V axis, and W axis respectively, U axis and V axis are spatial coordinate orientations, and W axis is the time axis) corresponding to each original time domain file through the virtual position of the user obtained in real time, so as to realize the three-dimensional reproduction of the substation with the acquisition focus as the focus, so that the three-dimensional reproduction result can change accordingly with the change of the user's observation position, so that the user can observe the target object freely and comprehensively with his own position as the observation position as on the scene, which is in line with people's observation habits, can make people feel immersive and realistic, and can also well capture more information on the target object at a specific angle.

[0016] Further, acquiring a collection focus located in the substation includes: acquiring a plurality of collection focuses successively, wherein positions of the collection focuses acquired twice successively are different or the same;

[0017] Controlling all acquisition devices to obtain images at the acquisition focus includes: if the latter acquisition focus is different from the position of the former acquisition focus, controlling the focus of all acquisition devices to adjust from the former acquisition focus toward the latter acquisition focus, and then synchronously acquiring the image at the latter acquisition focus from all acquisition perspectives.

[0018] When the above method is used, the focus of the acquisition device is adjusted according to the acquisition focus. When the user's virtual position is fixed, the three-dimensional reproduction results with different acquisition focuses can be seen, which is similar to a person standing in place and observing different positions of the substation by turning his head. This can make the three-dimensional reproduction results more realistic and in line with people's on-site observation habits.

[0019] Furthermore, the method further includes: calibrating the user's inspection range so that at least two acquisition devices at the user's virtual position fall within the inspection range, and binding all acquisition devices within the inspection range;

[0020] Performing time domain processing on the acquired images to obtain the original time domain file includes: performing time domain processing only on the images acquired from all the acquisition devices bound together.

[0021] When the above method is used, the user's inspection range is calibrated, and the virtual position of each user will be bound to the corresponding acquisition device. When the image is processed in the time domain, only the image acquired by the bound acquisition device is processed in the time domain, and there is no need to process the image acquired by the acquisition device at other locations in the time domain. This can save computing power while complying with people's on-site observation habits.

[0022] Furthermore, the method also includes: binding a plurality of collection devices that are adjacent to the user's virtual position and outside the inspection range with a collection device that is within the inspection range.

[0023] When the above method is used, the acquisition device within the inspection range is bound together with other nearby acquisition devices, and the images obtained by the bound acquisition devices are processed in the time domain. This can save computing power while avoiding temporary freezes in the display of three-dimensional reproduction results due to untimely calculation caused by the user moving the user's virtual position along the inspection direction.

[0024] Furthermore, the method further includes: moving the user's virtual position between any two acquisition devices;

[0025] Arranging a plurality of collection devices around the target object in the substation further includes: arranging at least part of the collection devices in sequence along the outer boundary of the substation and / or along roads arranged in the substation.

[0026] When the above method is used, the user can observe the situation of the substation along the arrangement direction of the acquisition equipment.

[0027] Furthermore, the method also includes: setting at least one collection device other than the collection devices arranged in sequence along the outer boundary of the substation and / or along the road set up in the substation on an automatic guided vehicle set up on the road; and controlling the automatic guided vehicle to move along the road.

[0028] When the above method is adopted, an automatic guided vehicle equipped with data collection equipment is set up on the road in the substation, so that the user's observation field of view can be placed on the automatic guided vehicle, and the inspection can be carried out along the road, which is in line with the habit of people inspecting the substation.

[0029] Furthermore, the method also includes: obtaining a virtual position of a vehicle to which the automatic guided vehicle will move at some point in the future; correspondingly moving the user's virtual position to the virtual position of the vehicle, displaying images acquired by acquisition devices arranged at the outer boundary of the substation and / or roads set up in the substation within a preset range around the virtual position of the vehicle, or performing time domain processing on images acquired by acquisition devices arranged at the outer boundary of the substation and / or roads set up in the substation within a preset range around the virtual position of the vehicle; and correspondingly moving the user's virtual position to the automatic guided vehicle when the automatic guided vehicle moves to the virtual position of the vehicle.

[0030] When the above method is used, when it is expected to move immediately to the virtual position of the vehicle for observation, the images collected by the collection equipment around the virtual position of the vehicle are displayed, which can increase the monitoring experience and avoid display interruptions, or the images collected by the collection equipment around the virtual position of the vehicle are processed in the time domain to display the three-dimensional reproduction results, which can reduce the boredom of waiting for the automatic guided vehicle to move.

[0031] The present invention also provides a three-dimensional reproduction system, comprising:

[0032] A plurality of acquisition devices are arranged around the target object in the substation, and are used to controllably acquire images at the acquisition focus located in the substation from different viewing angles;

[0033] A focus determination module, used to obtain a collection focus located in the substation;

[0034] A processing module, used for performing time domain processing on the acquired image to obtain an original time domain file;

[0035] A location determination module, used to obtain the user's virtual location in real time;

[0036] A calculation module, used to calculate the corresponding UVW in the original time domain file according to the user's virtual position to obtain a post-time domain file;

[0037] The reproduction module is used to fuse the time domain files to complete the three-dimensional reproduction at the acquisition focus.

[0038] Furthermore, the three-dimensional reconstruction system also includes: an adjustment module, which is used to adjust the acquisition device when the position of the latter acquisition focus is different from the position of the former acquisition focus, so that the acquisition viewing angles of all acquisition devices are adjusted from the former acquisition focus to the latter acquisition focus respectively.

[0039] Furthermore, the three-dimensional reconstruction system also includes: at least part of the acquisition equipment is arranged in sequence along the outer boundary of the substation and / or along the roads set up in the substation.

[0040] Furthermore, the three-dimensional reproduction system also includes: an automatic guided vehicle, which is arranged on a road set up in the substation and is used to move along the road under control. The automatic guided vehicle is provided with at least one collection device in addition to the collection devices arranged in sequence along the outer boundary of the substation and / or along the road set up in the substation; a position determination module, which is also used to obtain a virtual position of the vehicle to which the automatic guided vehicle will move at some point in the future, and to move the user's virtual position to the virtual position of the vehicle accordingly. When the automatic guided vehicle moves to the virtual position of the vehicle, the user's virtual position is moved to the automatic guided vehicle accordingly.

[0041] Furthermore, the three-dimensional reproduction system further includes: a calibration module, which is used to calibrate the user's inspection range so that at least two acquisition devices at the user's virtual position fall within the inspection range, and is used to bind all acquisition devices within the inspection range;

[0042] The calibration module is further used to bind a plurality of acquisition devices that are adjacent to the user's virtual position and outside the inspection range with the acquisition device that is within the inspection range;

[0043] The processing module is used to perform time domain processing only on the images acquired from all the acquisition devices bound together.

[0044] The present invention has the following advantages and beneficial effects:

[0045] In the present invention, the acquisition device acquires the acquisition focus located in the substation, obtains images in multiple directions with the acquisition focus as the focus, calculates the UVW corresponding to each original time domain file through the virtual position of the user obtained in real time, and realizes the three-dimensional reproduction of the substation with the acquisition focus as the focus, so that the three-dimensional reproduction result can change accordingly with the change of the user's observation position, so that the user can observe the target object freely and comprehensively with his own position as the observation position as on the scene, which is in line with people's observation habits, can make people have an immersive sense of reality, and can also well capture more information on the target object at a specific angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 is a flow chart of a method for three-dimensionally reproducing a substation following changes in an observation position in some embodiments;

[0048] Figure 2 is a flow chart of a method for three-dimensionally reproducing a substation following changes in an observation position according to other embodiments;

[0049] Figure 3 The schematic diagram of the work of acquiring the image at the previous acquisition focus is shown;

[0050] Figure 4 The schematic diagram of the work of acquiring the image at the next acquisition focus is shown;

[0051] Figure 5 A schematic diagram showing the working of the automated guided vehicle moving to the virtual position of the vehicle.

[0052] The markings in the figure are:

[0053] O1, previous acquisition focus; O2, next acquisition focus; W1, previous user's virtual position; W2, next user's virtual position; A, inspection range; AGV, automatic guided vehicle; P1, first position; P2, second position. DETAILED DESCRIPTION

[0054] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0055] The following description provides many different embodiments or examples for implementing different features of the present invention. The components and arrangements described in the following specific examples are only used to simplify the present invention and are only used as examples, not to limit the present invention.

[0056] Hereinafter, various aspects of the present invention will be described more fully with reference to the accompanying drawings. However, the present invention can be embodied in many different forms and should not be construed as being limited to any specific structure or function presented throughout the present invention. On the contrary, providing these aspects will make the present invention comprehensive and complete, and the present invention will fully convey the scope of the present invention to those skilled in the art. Based on the content taught herein, those skilled in the art will appreciate that, whether it is implemented alone or in combination with any other aspect of the present invention, any aspect disclosed herein is implemented, and the scope of the present invention is intended to cover any aspect disclosed herein. For example, any number of devices or execution methods proposed herein can be used to implement. In addition, in addition to the multiple aspects of the present invention proposed herein, the scope of the present invention is more intended to cover devices or methods implemented using other structures, functions, or structures and functions. It should be understood that any aspect disclosed herein can be embodied by one or more elements of the claims.

[0057] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0058] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0059] The present invention can realize three-dimensional reproduction of the substation with the collection focus as the focus, so that the three-dimensional reproduction result can change accordingly with the change of the user's observation position, so that the user can observe the target object freely and comprehensively with his own position as the observation position as on the scene, which is in line with people's observation habits, can make people feel immersive and realistic, and can also well capture more information on the target object at a specific angle.

[0060] The invention provides a three-dimensional reconstruction method of a substation following changes in an observation position.

[0061] refer to Figure 1 An embodiment of the method for three-dimensionally reproducing a substation following the change of an observation position comprises the following steps:

[0062] Step S101: multiple data collection devices are arranged around a target object in a substation.

[0063] The acquisition device may be a camera, a webcam, etc., as long as it can be used to capture images at the acquisition focus, and no specific restrictions are made here. The acquisition device uses the acquisition focus as the focus of shooting and the shooting angle as the framing range for shooting, that is, the image obtained by the acquisition device through shooting includes not only the image information at the acquisition focus, but also the image information around the acquisition focus within the shooting angle boundary.

[0064] The acquisition equipment is arranged in advance, and the arrangement position can capture the relevant target objects in the substation. Different acquisition equipment is arranged in different positions, and the target objects can be captured from different perspectives, so that users can observe the target objects they want to observe in the substation through the images obtained by these acquisition equipment. The target object can be the equipment they want to observe, or the road or the environment around the equipment.

[0065] Figure 3 The figure shows the situation where the collection devices are arranged in sequence along the periphery of the substation, including collection device C1, collection device C2...collection device CN, where N is an integer greater than 0, and all the collection devices are arranged around the substation, so that the collection devices are arranged around the target object in the substation.

[0066] Step S102, obtaining a collection focus located in the substation.

[0067] The acquisition focus is selected by the user according to the point he needs to observe. Specifically, the user can click on the position he wants to observe on the display screen showing the substation image to select the user focus. The focus determination module obtains the user focus and uses the user focus as the acquisition focus. The user focus can be selected by clicking a certain point on the graphic displayed on the touch screen with a finger or a stylus. The substation image displayed can be a three-dimensional image of the substation obtained by processing the image obtained by the acquisition device.

[0068] The collection focus is acquired in real time. Among multiple collection focuses acquired successively, the positions of the collection focuses acquired twice may be different or the same. Different means that the user has not reselected the collection focus, and the same means that the user has selected another position in the substation as the collection focus.

[0069] Figure 3 and Figure 4 , two collection focus situations are shown respectively, including the previous collection focus O1 and the next collection focus O2 acquired successively.

[0070] Step S103, controlling all acquisition devices to acquire images at the acquisition focus.

[0071] After acquiring the acquisition focus, the acquisition device can focus by itself through the focus module, or it can be controlled by the focus device to focus so that the focus falls on the acquisition focus.

[0072] Figure 3 and Figure 4 The figures respectively show that all acquisition devices acquire images at the previous acquisition focus O1 and the next acquisition focus O2. In order not to affect the display effect of the accompanying drawings, the figure only schematically shows the connection between some acquisition devices and the previous acquisition focus O1 and the next acquisition focus O2. The connection is shown as a dotted line, indicating that the acquisition device has implemented the action of acquiring the image at the acquisition focus.

[0073] Step S104, performing time domain processing on the acquired image to obtain an original time domain file.

[0074] Step S105, obtaining the user's virtual location in real time.

[0075] The user's virtual position is selected by the user according to the position he wants to observe. Specifically, the user's virtual position can be selected by clicking the desired observation position on the display screen showing the substation image, and the user's virtual position is obtained according to the position determination module. The user's virtual position can be selected by clicking a certain point on the graphic displayed on the touch screen with a finger or a stylus.

[0076] Figure 3 and Figure 4, two virtual positions of users are shown respectively, including a virtual position W1 of a previous user and a virtual position W2 of a subsequent user obtained successively.

[0077] Among them, step S105, obtaining the user's virtual location in real time can be performed before or after step S102.

[0078] Step S106, calculating the corresponding UVW (UVW represents U axis, V axis, and W axis respectively, U axis and V axis are spatial coordinate orientations, and W axis is the time axis) in the original time domain file according to the user's virtual position, and obtaining a post-time domain file.

[0079] Step S107, the fused time domain file completes the three-dimensional reproduction at the acquisition focus.

[0080] This method obtains the acquisition focus located in the substation, so that the acquisition device obtains images of multiple directions with the acquisition focus as the focus, calculates the UVW corresponding to each original time domain file through the real-time acquired user's virtual position, and realizes the three-dimensional reproduction of the substation with the acquisition focus as the focus, so that the three-dimensional reproduction result can change accordingly with the change of the user's observation position, so that the user can observe the target object freely and comprehensively with his own position as the observation position as on the scene. For example, when the acquisition focus changes, but the user's virtual position remains unchanged, it is equivalent to the situation where a person turns his head to observe; when the acquisition focus remains unchanged, but the user's virtual position changes, it is equivalent to the situation where a person observes the same area on the target object while walking; when both the acquisition focus and the user's virtual position change, it is equivalent to the situation where a person observes different areas on the same target object or different areas on different target objects while walking. This conforms to people's observation habits, can make people feel immersive and realistic, and can also capture more information on the target object at a specific angle. It is particularly suitable for on-site inspections of places such as substations that are dangerous or inconvenient to inspect on site, so that people can inspect remotely.

[0081] According to some optional embodiments, step S102, obtaining a collection focus located in the substation includes: real-time acquisition of the collection focus, successive acquisition of multiple collection focuses, and the positions of the collection focuses acquired twice include a situation where the position of the latter collection focus is the same as that of the former collection focus and a situation where the position of the latter collection focus is different from that of the former collection focus.

[0082] Combination Figure 3 to Figure 4 , showing the situation where the latter acquisition focus O2 is different from the position of the former acquisition focus O1.

[0083] Step S103, controlling all acquisition devices to acquire images at the acquisition focus includes: if the position of the subsequent acquisition focus is the same as the previous acquisition focus, controlling all acquisition devices to synchronously acquire images at the subsequent acquisition focus. If the position of the subsequent acquisition focus is different from the position of the previous acquisition focus, controlling the focus of all acquisition devices to adjust from the previous acquisition focus to the subsequent acquisition focus, and then synchronously acquiring images at the subsequent acquisition focus from all acquisition perspectives. The acquisition device can focus by itself through the focusing module, or it can control the acquisition device to focus through the focusing device so that the focus falls on the acquisition focus. The focus of the acquisition device is adjusted following the acquisition focus, and when the user's virtual position is fixed, the three-dimensional reproduction results with different acquisition focuses as the focus can be seen, which is similar to a person standing in place and observing different positions of the substation by turning his head, which can make the three-dimensional reproduction results more realistic and in line with people's on-site observation habits.

[0084] According to some optional embodiments, the method for reproducing the substation in three dimensions following the change of the observation position further includes: moving the user's virtual position between any two acquisition devices, such as by Figure 3 The virtual position W1 of the previous user is shown to move to the virtual position W2 of the next user.

[0085] The user's virtual position moves when the user selects the position he wants to observe. Specifically, the user's virtual position can be selected by clicking the desired observation position on the display screen showing the substation image, and the user's virtual position is obtained according to the position determination module. The user's virtual position can be selected by clicking a certain point on the graphic displayed on the touch screen with a finger or a stylus.

[0086] In step S105, the virtual position of the user moving between any two acquisition devices is obtained in real time.

[0087] The present invention provides another method for reproducing a substation in three dimensions following the change of the observation position, referring to Figure 2 An embodiment of the method for three-dimensionally reproducing a substation following the change of an observation position comprises the following steps:

[0088] Step S201: multiple data collection devices are arranged around a target object in a substation.

[0089] Step S202, obtaining a collection focus located in the substation.

[0090] Step S203, controlling all acquisition devices to acquire images at the acquisition focus.

[0091] Step S204, obtaining the user's virtual location in real time.

[0092] Step S205, calibrate the user's inspection range so that at least two acquisition devices at the user's virtual position fall within the inspection range, and bind all acquisition devices within the inspection range.

[0093] Figure 3 FIG. 2 shows the inspection range A calibrated for the virtual position W1 of the previous user. The inspection range in the figure is represented by a closed figure surrounded by dotted lines, but the inspection range figure is not limited to Figure 3 The style represented in can also be an open graphic.

[0094] like Figure 3 As shown, the inspection range A calibrated for the virtual position W1 of the previous user includes the acquisition device C1, the acquisition device C2 and the acquisition device C3, and the acquisition device C1, the acquisition device C2 and the acquisition device C3 are bound.

[0095] Step S206, performing time domain processing only on the images acquired from all the bound acquisition devices to obtain the original time domain file.

[0096] Step S207, calculating the corresponding UVW (UVW represents U axis, V axis, and W axis respectively, U axis and V axis are spatial coordinate orientations, and W axis is the time axis) in the original time domain file according to the user's virtual position, and obtaining a post-time domain file.

[0097] Step S208: The fused time domain file completes the three-dimensional reproduction at the acquisition focus.

[0098] After calibrating the user's inspection range, each user's virtual position will be bound to the corresponding acquisition device. When performing time domain processing on the image, only the image acquired by the bound acquisition device will be processed in the time domain. There is no need to perform time domain processing on the images acquired by the acquisition devices at other locations. This can save computing power while complying with people's on-site observation habits.

[0099] The size of the inspection range A can be adjusted, for example, by Figure 3 The inspection scope A in the Figure 4 The size of the inspection range A.

[0100] According to some optional embodiments, step S202, obtaining a collection focus located in the substation includes: real-time acquisition of the collection focus, successive acquisition of multiple collection focuses, and the positions of the collection focuses acquired twice include a situation where the position of the latter collection focus O2 is the same as the position of the former collection focus O1 and a situation where the position of the latter collection focus O2 is different from the position of the former collection focus O1.

[0101] Step S203, controlling all acquisition devices to acquire images at the acquisition focus includes: if the position of the subsequent acquisition focus O2 is the same as the previous acquisition focus O1, controlling all acquisition devices to synchronously acquire the image at the subsequent acquisition focus O2. If the position of the subsequent acquisition focus O2 is different from the position of the previous acquisition focus O1, controlling the focus of all acquisition devices to adjust from the previous acquisition focus O1 to the subsequent acquisition focus O2, and then synchronously acquiring the image at the subsequent acquisition focus O2 from all acquisition perspectives.

[0102] According to some optional embodiments, reference Figure 2 Step S205 includes: calibrating the user's inspection range A so that at least two acquisition devices at the user's virtual position fall within the inspection range A, and binding all acquisition devices within the inspection range A. At the same time, several acquisition devices that are adjacent to the user's virtual position and fall outside the inspection range are bound to the acquisition devices within the inspection range A.

[0103] like Figure 3 As shown, the inspection range A calibrated for the virtual position W1 of the previous user includes the acquisition devices C1, C2 and C3, and the acquisition devices C1, C2 and C3 are bound. If it is specified that only the nearest acquisition device is bound, then the acquisition devices C1, C2 and C3, and C4 and CN are bound together. If it is specified that only the two nearest acquisition devices are bound, then the acquisition devices C1, C2 and C3, C4, C5, CN and CN-1 are bound together.

[0104] like Figure 4 As shown, the inspection range A calibrated for the virtual position W2 of the latter user includes the acquisition devices C10, C11, C12 and C13, and the acquisition devices C10, C11, C12 and C13 are bound. If it is stipulated that only the two most adjacent acquisition devices are bound, then the acquisition devices C14, C15, C8 and C9 are several acquisition devices that are adjacent to the virtual position W2 of the latter user and fall outside the inspection range A. Then the acquisition devices C8, C9, C10, C11, C12, C13, C14 and C15 are bound together.

[0105] The acquisition devices within the inspection range are bound together with other nearby acquisition devices, and the images obtained by the bound acquisition devices are processed in the time domain. This can save computing power while avoiding temporary freezes in the display of three-dimensional reproduction results due to untimely calculations caused by the user moving the user's virtual position along the inspection direction.

[0106] According to some optional embodiments, the method for reproducing the substation in three dimensions following the change of the observation position further includes: moving the user's virtual position between any two acquisition devices, such as from Figure 3 The virtual position W1 of the previous user in Figure 4 The virtual position W2 of the latter user in .

[0107] The user's virtual position moves when the user selects the position he wants to observe. Specifically, the user's virtual position can be selected by clicking the desired observation position on the display screen showing the substation image, and the user's virtual position is obtained according to the position determination module. The user's virtual position can be selected by clicking a certain point on the graphic displayed on the touch screen with a finger or a stylus.

[0108] In step S206, the virtual position of the user moving between any two acquisition devices is obtained in real time.

[0109] According to some optional embodiments, arranging a plurality of collection devices around the target object in the substation further comprises: arranging at least part of the collection devices in sequence along the outer boundary of the substation and / or along roads arranged in the substation.

[0110] Specifically, all acquisition devices can be Figure 3 The method shown is arranged in sequence along the outer boundary of the substation, so that the substation is surrounded by collection equipment.

[0111] It is also possible to arrange some of the collection equipment in sequence along the outer boundary of the substation so that the substation is covered with collection equipment. At the same time, all the remaining collection equipment can be arranged in sequence along the roads set up in the substation so that the entire section of both sides or one side of the road is covered with collection equipment.

[0112] All the data collection equipment can also be arranged in sequence along the road set up in the substation, so that the entire road section on both sides or one side of the road is covered with data collection equipment.

[0113] Arranging the collection devices in the above manner allows the user to observe the situation of the substation along the arrangement direction of the collection devices. For example, the user can gradually move the user's virtual position along the arrangement direction of the collection device, just like a person walking along the arrangement direction of the collection device.

[0114] An automatic guided vehicle AGV may also be provided inside the substation, and in this case, some of the acquisition equipment is arranged in sequence along the outer boundary of the substation and / or along the roads provided inside the substation. The automatic guided vehicle AGV is provided on the roads provided inside the substation and can move along the roads.

[0115] At least one collection device other than the collection devices sequentially arranged along the outer boundary of the substation and / or along the roads arranged in the substation, that is, the remaining at least one collection device is arranged on the automatic guided vehicle AGV.

[0116] The user can control the automatic guided vehicle AGV to move along the road, so that the position of the collection device set on the automatic guided vehicle AGV can be moved.

[0117] When an AGV is set up, the user can move the user's virtual position to the AGV, so that the user's virtual position can move with the AGV. The AGV equipped with data acquisition equipment is set up on the road in the substation, so that the user's observation field can fall on the AGV and inspect along the road, which is in line with people's habit of inspecting the substation.

[0118] In some embodiments in which an automatic guided vehicle is provided, the method for three-dimensionally reproducing a substation that follows changes in an observation position also includes: obtaining a virtual position of a vehicle to which the automatic guided vehicle AGV will move at some point in the future; correspondingly moving the user's virtual position to the virtual position of the vehicle, that is, the user's virtual position corresponds to the virtual position of the vehicle, and displaying an image acquired by a collection device arranged at the outer boundary of the substation and / or a road set up in the substation within a preset range around the virtual position of the vehicle, or performing time domain processing on an image acquired by a collection device arranged at the outer boundary of the substation and / or a road set up in the substation within a preset range around the virtual position of the vehicle; when the automatic guided vehicle AGV moves to the virtual position of the vehicle, correspondingly moving the user's virtual position to the automatic guided vehicle AGV.

[0119] Among them, the preset range is an area range centered on the automatic guided vehicle, and the area range can be circular or square, etc. The area range has a preset size, so that when the automatic guided vehicle moves along the road, at least one acquisition device can fall within the area range. When the user's virtual position moves out of the automatic guided vehicle, and the user's virtual position is selected at a certain point on the moving path of the automatic guided vehicle (this point is the virtual position of the vehicle), the acquisition devices falling within the preset range are bound, and the images acquired by the acquisition devices arranged at the outer boundary of the substation and / or the roads set in the substation within the preset range around the virtual position of the vehicle are displayed on the display screen, or the images acquired by the acquisition devices arranged at the outer boundary of the substation and / or the roads set in the substation within the preset range around the virtual position of the vehicle are processed in the time domain.

[0120] refer to Figure 5 After the user inspects the first position P1 where the AGV is located, and wants to immediately move to the second position P2 for observation, it takes a while for the AGV to move from the first position P1 to the second position P2 along the road. At this time, the second position P2 is the virtual position of the vehicle. The images collected by the acquisition equipment around the virtual position of the vehicle can be displayed to increase the monitoring experience and avoid display interruption, or the images collected by the acquisition equipment around the virtual position of the vehicle can be processed in the time domain to display the three-dimensional reproduction results. Although the real-time performance is sacrificed, the boredom of waiting for the AGV to move is reduced.

[0121] The present invention provides a three-dimensional reproduction system, referring to Figure 3 and Figure 4 ,include:

[0122] There are multiple collection devices arranged around the target object in the substation. The collection devices can be cameras, webcams, etc., as long as they can be used to capture images at the collection focus. There is no specific limitation here.

[0123] The acquisition device is used to acquire images at the acquisition focus located in the substation from different viewing angles in a controlled manner. The acquisition device uses the acquisition focus as the focus of shooting and the shooting viewing angle as the framing range for shooting, that is, the image acquired by the acquisition device through shooting includes not only the image information at the acquisition focus, but also the image information around the acquisition focus within the shooting viewing angle boundary.

[0124] The acquisition equipment is arranged in advance, and the arrangement position can capture the relevant target objects in the substation. Different acquisition equipment is arranged in different positions, and the target objects can be captured from different perspectives, so that users can observe the target objects they want to observe in the substation through the images obtained by these acquisition equipment. The target object can be the equipment they want to observe, or the road or the environment around the equipment.

[0125] A focus determination module is used to obtain a collection focus located in the substation. In some embodiments, the collection focus is selected by the user according to the point that the user needs to observe. Specifically, the user can click on the position that he wants to observe on the display screen that displays the substation image to select the user focus. The focus determination module obtains the user focus and uses the user focus as the collection focus. The user focus can be selected by clicking a certain point on the graphic displayed on the touch screen with a finger or a stylus, or by selecting it with a mouse. The substation image displayed can be a three-dimensional image of the substation obtained by processing the image obtained by the acquisition device. When the user selects the user focus, the focus determination module obtains the user focus and uses the user focus as the collection focus.

[0126] The processing module is used to perform time domain processing on the acquired image to obtain the original time domain file.

[0127] The location determination module is used to obtain the user's virtual location in real time. In some embodiments, the user's virtual location is selected by the user according to the location he wants to observe. Specifically, the user's virtual location can be selected by clicking the desired observation location on the display screen that displays the substation image. The user's virtual location can be selected by clicking a certain point on the graphic displayed on the touch screen with a finger or a stylus, or by using a mouse. When the user selects the user's virtual location, the location determination module obtains the user's virtual location.

[0128] The calculation module is used to calculate the corresponding UVW in the original time domain file according to the user's virtual position to obtain the post-time domain file.

[0129] The reproduction module is used to fuse the time domain files to complete the three-dimensional reproduction at the acquisition focus.

[0130] According to some optional embodiments, the three-dimensional reproduction system further includes a display module, and the display module is used to display the three-dimensional reproduction result.

[0131] According to some optional embodiments, the three-dimensional reconstruction system further includes: an adjustment module, which is used to adjust the acquisition device when the position of the latter acquisition focus is different from that of the former acquisition focus, so that the acquisition viewing angles of all acquisition devices are adjusted from the former acquisition focus to the latter acquisition focus. The adjustment module can adjust the acquisition device to focus, and can also adjust the direction of the acquisition device, so that after the acquisition focus changes and is outside the circular viewing angle range, the acquisition focus can fall within the viewing angle range of the acquisition device after the direction of the acquisition device is changed.

[0132] According to some optional embodiments, at least part of the data collection devices are arranged in sequence along the outer boundary of the substation and / or along a road arranged in the substation.

[0133] Figure 3 and Figure 4 FIG. 2 shows that all the acquisition equipment are arranged along the outer boundary of the substation.

[0134] According to some optional embodiments, the three-dimensional reconstruction system also includes an automatic guided vehicle.

[0135] The automatic guided vehicle is arranged on a road set up in the substation and is used for being controlled to move along the road. The automatic guided vehicle is provided with at least one collection device in addition to the collection devices arranged in sequence along the outer boundary of the substation and / or along the road set up in the substation.

[0136] The position determination module is also used to obtain the virtual position of the vehicle to which the automatic guided vehicle will move at some point in the future, and to move the user's virtual position to the virtual position of the vehicle. When the automatic guided vehicle moves to the virtual position of the vehicle, the user's virtual position is moved to the automatic guided vehicle.

[0137] According to some optional embodiments, the 3D reconstruction system further includes a calibration module for calibrating the user's viewing range so that at least two acquisition devices at the user's virtual position fall within the viewing range, and for binding all acquisition devices within the viewing range.

[0138] Preferably, the calibration module is further used to bind several acquisition devices that are adjacent to the user's virtual position and outside the inspection range to the acquisition device that is within the inspection range. The processing module is used to perform time domain processing only on images acquired from all bound acquisition devices.

[0139] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0140] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A three-dimensional reconstruction method of a substation following the change of observation position, characterized in that: include: Arrange multiple acquisition devices around the target object in the substation; Get the collection focus located in the substation; Control all acquisition devices to obtain images at the acquisition focus; Perform time domain processing on the acquired image to obtain the original time domain file; Obtain the user's virtual location in real time as the observation location; Calculate the corresponding UVW in the original time domain file according to the user's virtual position to obtain the post-time domain file, where UVW represents the U axis, V axis, and W axis respectively. The U axis and V axis are the spatial coordinate orientations, and the W axis is the time axis. The fused time domain file completes the three-dimensional reproduction of the acquisition focus observed based on the user's virtual position, so that the three-dimensional reproduction result changes in real time with the user's virtual position.

2. A three-dimensional reconstruction method of a substation following the change of observation position according to claim 1, characterized in that: Get the collection focus located in the substation, including: Multiple acquisition focuses are acquired successively, and the acquisition focus positions acquired twice successively are different or the same; Controlling the acquisition device to obtain the image at the acquisition focus, including: When the position of the latter acquisition focus is different from that of the former acquisition focus, the focus of all acquisition devices is controlled to be adjusted from the former acquisition focus toward the latter acquisition focus, and then the image at the latter acquisition focus is synchronously acquired from all acquisition viewing angles.

3. The method for three-dimensionally reproducing a substation following the change of the observation position according to claim 1, characterized in that: Also includes: The user's inspection range is calibrated so that at least two acquisition devices at the user's virtual position fall within the inspection range, and all acquisition devices within the inspection range are bound; Perform time domain processing on the acquired image to obtain the original time domain file, including: Temporal processing is performed only on images acquired from all acquisition devices bound together.

4. The method for three-dimensionally reproducing a substation following the change of the observation position according to claim 3, characterized in that: Also includes: A plurality of collection devices that are adjacent to the user's virtual position and outside the inspection range are bound to the collection device that is within the inspection range.

5. A method for three-dimensionally reproducing a substation following changes in observation position according to any one of claims 1 to 4, characterized in that: Also includes: Move the user's virtual location between any two acquisition devices; Arrange multiple acquisition devices around the target object in the substation, including: At least part of the collection equipment is arranged in sequence along the outer boundary of the substation and / or along the roads arranged in the substation.

6. The method for three-dimensionally reproducing a substation following the change of the observation position according to claim 5, characterized in that: Also includes: placing at least one collection device other than the collection devices sequentially arranged along the outer boundary of the substation and / or along the road arranged in the substation on an automatic guided vehicle arranged on the road; Control the AGV to move along the road.

7. A method for three-dimensionally reproducing a substation following changes in observation position according to claim 6, characterized in that: Also includes: Obtain the virtual position of the vehicle to which the automated guided vehicle will move at some point in the future; The user's virtual position is moved to the corresponding position of the vehicle, and images acquired by a collection device arranged at the outer boundary of the substation and / or the road set in the substation within a preset range around the vehicle's virtual position are displayed, or images acquired by a collection device arranged at the outer boundary of the substation and / or the road set in the substation within a preset range around the vehicle's virtual position are processed in the time domain; When the automatic guided vehicle moves to the virtual position of the vehicle, the virtual position of the user is correspondingly moved to the automatic guided vehicle.

8. A three-dimensional reproduction system, characterized in that: include: A plurality of acquisition devices are arranged around the target object in the substation, and are used to controllably acquire images at the acquisition focus located in the substation from different viewing angles; A focus determination module, used to obtain a collection focus located in the substation; A processing module, used for performing time domain processing on the acquired image to obtain an original time domain file; A location determination module, used to obtain the user's virtual location as an observation location in real time; A calculation module, used for calculating the corresponding UVW in the original time domain file according to the user's virtual position, and obtaining a post-time domain file, wherein UVW respectively represent the U axis, the V axis, and the W axis, the U axis and the V axis are the spatial coordinate orientations, and the W axis is the time axis; The reproduction module is used to fuse the time domain files to complete the three-dimensional reproduction at the acquisition focus observed based on the user's virtual position, so that the three-dimensional reproduction result changes in real time with the user's virtual position.

9. A three-dimensional reproduction system according to claim 8, characterized in that: Also includes: An adjustment module, used for adjusting the acquisition device when the position of the latter acquisition focus is different from the position of the former acquisition focus, so that the acquisition viewing angles of all acquisition devices are adjusted from the former acquisition focus to the latter acquisition focus respectively; and / or, at least part of the data collection equipment is arranged in sequence along the outer boundary of the substation and / or along a road arranged in the substation; and / or, an automatic guided vehicle, arranged on a road provided in the substation, for being controlled to move along the road, the automatic guided vehicle being provided with at least one collection device in addition to the collection devices sequentially arranged along the outer boundary of the substation and / or along the road provided in the substation; The position determination module is also used to obtain the virtual position of the vehicle to which the automatic guided vehicle will move at some point in the future, and to move the user's virtual position to the virtual position of the vehicle. When the automatic guided vehicle moves to the virtual position of the vehicle, the user's virtual position is moved to the automatic guided vehicle.

10. A three-dimensional reproduction system according to claim 8, characterized in that: Also includes: A calibration module, used to calibrate the user's inspection range so that at least two acquisition devices at the user's virtual position fall within the inspection range, and to bind all acquisition devices within the inspection range, or on this basis, to bind several acquisition devices adjacent to the user's virtual position and outside the inspection range with the acquisition devices within the inspection range; The processing module is used to perform time domain processing only on the images acquired from all the acquisition devices bound together.

Images