Configuration method and system for preset position of inspection camera of transformer substation

Abstract

The invention provides a configuration method and system for a preset position of a substation inspection camera, and the method comprises the steps: determining a to-be-configured inspection camera in a substation, and controlling the inspection camera to shoot a target video at each inspection point of the substation; determining a coordinate frame selected from a target picture of the target video; determining a target P parameter and a target T parameter of the inspection camera based on the coordinate frame, the current P parameter, the current T parameter, the current field angle and the rotation direction of the inspection camera; when the target equipment is determined to be zoomed, determining a target Z parameter of the inspection camera based on the current Z parameter and the physical parameter of the inspection camera; and associating the target P parameter, the target T parameter and the target Z parameter, storing and binding to a preset position of the patrol camera, and generating a piece of patrol configuration information of the patrol point. According to the mode, the preset bits can be configured for various types of equipment, detection errors are avoided, and the configuration efficiency of the preset bits is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of monitoring technology, and in particular to a configuration method and system for pre-setting positions of inspection cameras in a substation. Background Art

[0002] Video surveillance systems are usually used to monitor specific scene areas. Taking the substation as an example, the video surveillance system can monitor the status of equipment in the substation by capturing pictures or recording videos with the camera. In order to facilitate the monitoring of specific locations in the area, it is necessary to set the preset position of the camera. In related technologies, target detection algorithms can be used to detect the equipment in the image taken by the camera, and the preset position is calculated based on the shooting parameters of the camera and the position of the equipment in the image. However, some equipment in the substation does not have a fixed shape, or the equipment is small in size. When there are many types of equipment or the scene is complex, the detection effect of the target detection algorithm has more errors, resulting in low efficiency in setting preset positions. Summary of the invention

[0003] In view of this, the purpose of the present disclosure is to provide a method and system for configuring pre-positions of substation inspection cameras, so as to avoid detection errors and improve the configuration efficiency of pre-positions.

[0004] In a first aspect, an embodiment of the present disclosure provides a method for configuring preset positions of a substation inspection camera, the method comprising: determining an inspection camera to be configured in the substation, and controlling the inspection camera to shoot a target video at each inspection point of the substation; wherein the inspection camera has a number of preset positions to be configured; determining a coordinate frame selected in a target screen of the target video; wherein the coordinate frame surrounds a target device; based on the coordinate frame, the current P parameter, the current T parameter, the current field of view angle and the rotation direction of the inspection camera, determining the target P parameter and the target T parameter of the inspection camera to place the target device in the center area of ​​the target screen; when determining to scale the target device, determining the target Z parameter of the inspection camera based on the current Z parameter and physical parameter of the inspection camera so that the proportion of the coordinate frame in the target screen reaches a preset area threshold; associating, saving and binding the target P parameter, the target T parameter and the target Z parameter to the preset position of the inspection camera to generate a piece of inspection configuration information of the inspection point.

[0005] The above-mentioned steps of determining the target P parameters and target T parameters of the inspection camera based on the coordinate frame, the current P parameter, the current T parameter, the current field of view and the rotation direction of the inspection camera include: determining the offset distance between the center of the coordinate frame and the center of the imaging plane of the inspection camera; wherein the offset distance includes a first offset distance and a second offset distance; determining the target P parameter based on the first offset distance, the first side length of the imaging plane, the current horizontal field of view of the inspection camera, the rotation direction and the current P parameter of the inspection camera; determining the target T parameter based on the second offset distance, the second side length of the imaging plane, the current vertical field of view of the inspection camera, the rotation direction and the current T parameter of the inspection camera.

[0006] The above-mentioned step of determining the target P parameter based on the first offset distance, the first side length of the imaging plane, the current horizontal field angle of the inspection camera, the rotation direction and the current P parameter of the inspection camera includes: determining the first rotation angle in the horizontal direction for rotating the center of the coordinate frame to the center of the imaging plane based on the first offset distance, the first side length of the imaging plane, the current horizontal field angle of the inspection camera and the rotation direction; determining the target P parameter based on the first rotation angle and the current P parameter of the inspection camera.

[0007] The above-mentioned step of determining the target T parameter based on the second offset distance, the second side length of the imaging plane, the current vertical field angle of the inspection camera, the rotation direction and the current T parameter of the inspection camera includes: determining the second rotation angle in the vertical direction to rotate the center of the coordinate frame to the center of the imaging plane based on the second offset distance, the second side length of the imaging plane, the current vertical field angle of the inspection camera and the rotation direction; determining the target T parameter based on the second rotation angle and the current T parameter of the inspection camera.

[0008] The above-mentioned step of determining the target Z parameters of the inspection camera based on the current Z parameters and physical parameters of the inspection camera includes: obtaining the fixed coefficient and fixed step size of the inspection camera; and determining the target Z parameters of the inspection camera based on the current Z parameters, fixed coefficient and fixed step size of the inspection camera.

[0009] The above-mentioned steps of obtaining the fixed coefficient and fixed step size of the inspection camera include: determining the first picture from the first video shot by the inspection camera under multiple different Z parameters; for the first picture under each Z parameter, determining the point distance between a specified point in the first picture and the center point of the first picture; based on the point distance, determining the first zoom factor corresponding to the Z parameter; fitting the first zoom factor and the Z parameter to obtain the fixed coefficient and fixed step size of the inspection camera.

[0010] The above-mentioned step of determining the target Z parameters of the inspection camera based on the current Z parameters, fixed coefficients and fixed step size of the inspection camera includes: determining the target Z parameters of the inspection camera based on the coordinate frame, fixed coefficients, fixed step size and the current Z parameters of the inspection camera; wherein, in the target picture of the target video shot under the target Z parameters, the area size of the target picture occupied by the coordinate frame satisfies the preset area threshold.

[0011] The above-mentioned step of determining the target Z parameters of the inspection camera based on the coordinate frame, fixed coefficient, fixed step size and current Z parameters of the inspection camera includes: determining the target zoom ratio corresponding to the preset area threshold value based on the preset area threshold value and the coordinate frame; determining the target Z parameters of the inspection camera based on the target zoom ratio, the current Z parameters of the inspection camera, the fixed step size and the fixed coefficient.

[0012] The above-mentioned step of determining the target Z parameter of the inspection camera based on the target zoom ratio, the current Z parameter of the inspection camera, the fixed step size and the fixed coefficient includes: when the current Z parameter of the inspection camera is equal to one, determining the target Z parameter of the inspection camera based on the target zoom ratio, the fixed step size and the fixed coefficient of the inspection camera.

[0013] The above method also includes: when the current Z parameter of the inspection camera is not equal to one, determining the current zoom factor based on the current Z parameter of the inspection camera, the fixed step size and the fixed coefficient; determining the updated target zoom factor based on the target zoom factor and the current zoom factor; determining the target Z parameter of the inspection camera based on the updated target zoom factor, the fixed step size and the fixed coefficient of the inspection camera.

[0014] The preset position types of the above preset positions include: equipment appearance preset positions; equipment appearance preset positions include: at least one of bird's nest, oil stain, damaged dial, and rust.

[0015] In a second aspect, an embodiment of the present disclosure provides a configuration system for a preset position of a substation inspection camera, the system comprising: a video shooting control module, used to determine the inspection camera to be configured in the substation, and control the inspection camera to shoot a target video at each inspection point of the substation; wherein the inspection camera has a number of preset positions to be configured; a coordinate frame determination module, used to determine a coordinate frame selected in a target screen of a target video; wherein the coordinate frame surrounds a target device; a PT parameter determination module, used to determine the target P parameter and target T parameter of the inspection camera based on the coordinate frame, the current P parameter, the current T parameter, the current field of view angle and the rotation direction of the inspection camera, so as to place the target device in the center area of ​​the target screen; a Z parameter determination module, used to determine the target Z parameter of the inspection camera based on the current Z parameter and physical parameter of the inspection camera when determining to scale the target device, so that the proportion of the coordinate frame in the target screen reaches a preset area threshold; a configuration information generation module, used to associate, save and bind the target P parameter, target T parameter and target Z parameter to the preset position of the inspection camera, and generate a patrol configuration information of the patrol point.

[0016] The embodiments of the present disclosure bring the following beneficial effects:

[0017] The above provides a configuration method and system for preset positions of a substation inspection camera, wherein the method includes: determining the inspection camera to be configured in the substation, and controlling the inspection camera to shoot the target video at each inspection point of the substation; wherein the inspection camera has a number of preset positions to be configured; determining a coordinate frame selected in a target screen of the target video; wherein the coordinate frame surrounds the target device; based on the coordinate frame, the current P parameter, the current T parameter, the current field of view and the rotation direction of the inspection camera, determining the target P parameter and the target T parameter of the inspection camera to place the target device in the center area of ​​the target screen; when determining to scale the target device, determining the target Z parameter of the inspection camera based on the current Z parameter and physical parameters of the inspection camera so that the proportion of the coordinate frame in the target screen reaches a preset area threshold; associating, saving and binding the target P parameter, the target T parameter and the target Z parameter to the preset position of the inspection camera to generate a patrol configuration information of the patrol point. In this method, the coordinate frame selected in the target screen of the target video shot by the patrol camera is determined, and then the coordinate frame surrounding the target device is calculated based on the coordinate frame, the current PTZ parameters of the patrol camera, the current field of view angle and the rotation direction. When the coordinate frame accounts for a certain area in the target screen and the target PTZ parameters of the patrol camera are reached, this method can configure preset positions for various types of equipment, avoid detection errors, and improve the configuration efficiency of preset positions.

[0018] Other features and advantages of the present disclosure will be described in the following description, and partly become apparent from the description, or understood by practicing the present disclosure. The purpose and other advantages of the present disclosure are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0019] In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the specific embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 A schematic diagram of a method for configuring a pre-position of a substation inspection camera provided by an embodiment of the present disclosure;

[0022] Figure 2 A schematic diagram of a horizontal field of view angle and a first side length of an image provided by an embodiment of the present disclosure;

[0023] Figure 3 A schematic diagram of a coordinate frame in a target picture and a picture after scaling the coordinate frame provided by an embodiment of the present disclosure;

[0024] Figure 4 A logic flow chart for configuring a preset position of a patrol camera provided in an embodiment of the present disclosure;

[0025] Figure 5 A schematic diagram of a system for configuring pre-positions of inspection cameras in a substation provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present disclosure.

[0027] At present, video surveillance systems are usually used to monitor specific scene areas. Taking the substation as an example, the video surveillance system can monitor the status of equipment in the substation by capturing pictures or recording videos with the camera.

[0028] In order to facilitate monitoring of specific locations in the area, it is necessary to set the preset position of the camera. In the relevant technology, the target detection algorithm can be used to detect the equipment in the image captured by the camera, and the preset position can be calculated based on the camera's shooting parameters and the position of the equipment in the image. However, some objects in the substation do not have a fixed shape, such as oil stains on the ground and components. It is obviously unreasonable to divide all components into preset positions. In addition, at certain angles, the camera will capture images without equipment or with relatively small equipment. When there are many types of equipment or the scene is complex, the detection effect of the target detection algorithm has more errors, resulting in low efficiency in setting preset positions.

[0029] Based on the above, the embodiments of the present disclosure provide a method and system for configuring pre-positions of substation inspection cameras. This technology can also be applied to the configuration of camera pre-positions in scenes such as petrochemicals and coal mines.

[0030] To facilitate understanding of this embodiment, a specific process of the embodiment of the present disclosure is described below. Figure 1 , an embodiment of a method for configuring a preset position of a substation inspection camera in an embodiment of the present disclosure includes:

[0031] Step S101, determining the patrol camera to be configured in the substation, and controlling the patrol camera to shoot the target video at each patrol point of the substation; wherein the patrol camera has a plurality of preset positions to be configured;

[0032] The execution subject of the present disclosure may be a terminal or a server, in which an intelligent patrol system is running, and the intelligent patrol system can set preset positions in batches by controlling the automatic rotation of the camera, determining the coordinate frame in the picture, and calculating the target PTZ parameters of the patrol camera. The following execution subject is described by taking a terminal as an example, and the terminal is usually an intelligent management terminal.

[0033] Here, the inspection camera to be configured is determined according to the substation. The inspection camera usually has several preset positions to be configured, which can be equipment appearance preset positions such as bird's nests, oil stains, damaged dials, rust, etc., of course, there can also be meter preset positions, position status preset positions and other types of preset positions.

[0034] For example, a camera is installed at a fixed position in the substation, and the camera is determined as the inspection camera to be configured; or, a two-dimensional image or a three-dimensional image is drawn in advance for the target monitoring area in the substation site map, and the target interval is selected in the image, and the inspection camera to be configured is selected within a certain range corresponding to the target interval.

[0035] Specifically, the terminal can control the inspection camera to automatically rotate according to the step length, and control the inspection camera to shoot target videos at each inspection point of the substation.

[0036] Step S102, determining a coordinate frame selected in a target picture of a target video; wherein the coordinate frame surrounds the target device;

[0037] Specifically, the staff can frame the target device in the target screen of the target video to obtain a rectangular coordinate frame surrounding the target device. Here, the target device can be an irregularly shaped device with oil stains on the ground, oil stains on components, rust, etc.; the position information of the preset position in the target screen can be obtained according to the coordinate frame, for example, the position coordinates of multiple specified points in the target screen.

[0038] Step S103, based on the coordinate frame, the current P parameter, the current T parameter, the current field of view angle and the rotation direction of the inspection camera, determine the target P parameter and the target T parameter of the inspection camera to place the target device in the center area of ​​the target screen;

[0039] The current field of view angle may specifically include a horizontal field of view angle and a vertical field of view angle. The P parameter of the inspection camera represents the horizontal movement, which is used to control the rotation of the camera lens; the T parameter represents the vertical movement, which is used to control the pitch of the camera lens.

[0040] Specifically, the terminal first determines an offset distance between the frame center of the coordinate frame and the center of the imaging plane of the inspection camera, such as a first offset distance and a second offset distance.

[0041] Next, the terminal calculates the target P parameter based on the first offset distance, the first side length of the imaging plane, the current horizontal field of view of the inspection camera, the rotation direction and the current P parameter of the inspection camera; and calculates the target T parameter based on the second offset distance, the second side length of the imaging plane, the current vertical field of view of the inspection camera, the rotation direction and the current T parameter of the inspection camera. Under the calculated target P parameters and target T parameters, the target device is located in the central area of ​​the target screen of the target video.

[0042] Step S104, when it is determined to scale the target device, the target Z parameter of the inspection camera is determined based on the current Z parameter and physical parameter of the inspection camera, so that the proportion of the coordinate frame in the target screen reaches a preset area threshold;

[0043] The Z parameter of the inspection camera indicates the zoom and magnification capabilities of the camera; the physical parameters are usually the fixed coefficient and fixed step size of the inspection camera.

[0044] Specifically, the staff can determine the proportion of the target device in the target screen. If the area occupied by the target device in the target screen is within the preset standard range, there is no need to scale the target device; if the area occupied by the target device in the target screen does not meet the preset standard, the target device needs to be scaled.

[0045] After the terminal obtains the instruction to scale the target device, it determines whether the fixed coefficient and fixed step size of the inspection camera exist in the database. If so, it continues to calculate the target Z parameters of the inspection camera. If not, it calculates the fixed coefficient and fixed step size of the inspection camera based on the first picture of the first video shot under different Z parameters, saves the calculation results to the database, and then calculates the target Z parameters of the inspection camera. Under the calculated target Z parameters, the proportion of the coordinate box surrounding the target device in the target picture reaches the preset area threshold.

[0046] Step S105 , associating, saving and binding the target P parameter, the target T parameter and the target Z parameter to the preset position of the inspection camera, and generating a piece of inspection configuration information of the inspection point.

[0047] Specifically, after the terminal calculates the target P parameter, the target T parameter, and the target Z parameter, it associates and saves the target P parameter, the target T parameter, and the target Z parameter, and binds them to the preset position of the inspection camera to generate a patrol configuration information of the patrol point. By calling the patrol configuration information, the target device can be placed in the center area of ​​the video screen and the target device can be scaled to a specified size.

[0048] The configuration method of the preset positions of the above-mentioned substation inspection camera determines the inspection camera to be configured in the substation, and controls the inspection camera to shoot the target video at each inspection point of the substation; wherein the inspection camera has a number of preset positions to be configured; determines the coordinate frame selected in the target screen of the target video; wherein the coordinate frame surrounds the target device; based on the coordinate frame, the current P parameter, the current T parameter, the current field of view and the rotation direction of the inspection camera, determines the target P parameter and the target T parameter of the inspection camera to place the target device in the center area of ​​the target screen; when it is determined to scale the target device, based on the current Z parameter and physical parameter of the inspection camera, determines the target Z parameter of the inspection camera so that the proportion of the coordinate frame in the target screen reaches the preset area threshold; associates, saves and binds the target P parameter, the target T parameter and the target Z parameter to the preset position of the inspection camera to generate a patrol configuration information of the patrol point.

[0049] In this method, the coordinate frame selected in the target screen of the target video shot by the patrol camera is determined, and then the coordinate frame surrounding the target device is calculated based on the coordinate frame, the current PTZ parameters of the patrol camera, the current field of view angle and the rotation direction. When the coordinate frame accounts for a certain area in the target screen and the target PTZ parameters of the patrol camera are reached, this method can configure preset positions for various types of equipment, avoid detection errors, and improve the configuration efficiency of preset positions.

[0050] The following embodiments provide specific implementation methods for determining target P parameters and target T parameters of a patrol camera.

[0051] In one method, the offset distance between the center of the coordinate frame and the center of the imaging plane of the inspection camera is determined; wherein the offset distance includes a first offset distance and a second offset distance; based on the first offset distance, the first side length of the imaging plane, the current horizontal field of view of the inspection camera, the rotation direction and the current P parameter of the inspection camera, the target P parameter is determined; based on the second offset distance, the second side length of the imaging plane, the current vertical field of view of the inspection camera, the rotation direction and the current T parameter of the inspection camera, the target T parameter is determined.

[0052] Here, the coordinates of the coordinate frame, the current P parameters and current T parameters of the inspection camera, and the current horizontal field of view angle and current vertical field of view angle of the inspection camera can be passed into the preset algorithm to calculate the target P parameters and target T parameters of the inspection camera when the center of the coordinate frame surrounding the target to be inspected is located at the center of the imaging plane.

[0053] Specifically, when the coordinate frame is located in the imaging plane, the terminal can determine the first offset distance a between the frame center of the coordinate frame and the center of the imaging plane of the patrol camera, such as the distance a that the frame center of the coordinate frame is located above or below the center of the imaging plane of the patrol camera; and the second offset distance b between the frame center of the coordinate frame and the center of the imaging plane of the patrol camera, such as the distance b that the frame center of the coordinate frame is located to the left or right of the center of the imaging plane of the patrol camera.

[0054] Then, the terminal can use the first offset distance a, as shown in FIG. Figure 2 The target P parameter of the inspection camera is calculated based on the first side length w of the imaging plane, the current horizontal field of view α of the inspection camera, and the current P parameter of the inspection camera; and the target T parameter of the inspection camera can be calculated based on the second offset distance b, the second side length h of the imaging plane, the current vertical field of view β of the inspection camera, and the current T parameter of the inspection camera.

[0055] In one implementation, based on the first offset distance, the first side length of the imaging plane, the current horizontal field of view angle and rotation direction of the inspection camera, a first rotation angle for rotating the center of the coordinate frame to the center of the imaging plane in the horizontal direction is determined; based on the first rotation angle and the current P parameter of the inspection camera, a target P parameter is determined.

[0056] For example, by the formula Calculate the first rotation angle in the horizontal direction to rotate the center of the coordinate frame from the current position to the center of the imaging plane; where r_H represents the first rotation angle, a represents the first offset distance, w represents the first side length of the imaging plane, such as the width of the imaging plane, and α represents the current horizontal field of view of the inspection camera, such as Figure 2 shown.

[0057] Then by the formula Calculate the target P parameter; where P represents the current P parameter of the inspection camera, and new_P represents the target P parameter.

[0058] In one implementation, based on the second offset distance, the second side length of the imaging plane, the current vertical field of view angle and rotation direction of the inspection camera, the second rotation angle of the coordinate frame in the vertical direction to rotate to the center of the imaging plane is determined; based on the second rotation angle and the current T parameter of the inspection camera, the target T parameter is determined.

[0059] For example, by the formula Calculate the second rotation angle in the vertical direction to rotate the center of the coordinate frame from the current position to the center of the imaging plane; where r_V represents the second rotation angle, b represents the second offset distance, h represents the second side length of the imaging plane, such as the height of the imaging plane, and β represents the current vertical field of view of the inspection camera.

[0060] Then by the formula Calculate the target T parameter; where T represents the current T parameter of the inspection camera, and new_T represents the target T parameter.

[0061] In the above manner, by introducing the field of view angle of the inspection camera, the rotation angle of rotating the frame center of the coordinate frame to the center of the imaging plane is calculated, and the target P parameter and target T parameter of the inspection camera are calculated.

[0062] The following embodiments provide specific implementation methods for determining the target Z parameter of the inspection camera.

[0063] In one embodiment, the coordinate frame surrounds the target device. After the terminal rotates the center of the coordinate frame to the center of the imaging plane, the staff can determine whether the coordinate frame needs to be scaled based on experience, and then determine the final target Z parameter.

[0064] For example, if the coordinate frame corresponding to the target device located in the middle of the imaging plane accounts for a proportion in the imaging plane within a preset standard range, such as between eighty percent and ninety percent, there is no need to scale the coordinate frame, and the current Z parameter of the inspection camera is used as the final target Z parameter.

[0065] If the coordinate frame corresponding to the target device located in the middle of the imaging plane does not occupy a proportion of 80% to 90% in the imaging plane, the coordinate frame needs to be scaled. First, determine from the database whether the physical parameters of the inspection camera exist. If the physical parameters of the inspection camera do not exist, after calculating the physical parameters of the inspection camera, save the calculation results to the database, and then calculate the target Z parameters of the inspection camera, which are the final target Z parameters.

[0066] In one method, a fixed coefficient and a fixed step length of the inspection camera are obtained; and a target Z parameter of the inspection camera is determined based on the current Z parameter of the inspection camera, the fixed coefficient and the fixed step length.

[0067] Specifically, the terminal controls the inspection camera to shoot multiple first videos under multiple Z parameters, obtains multiple first pictures from the multiple first videos, and calculates the first zoom ratio for the first picture under each Z parameter; according to the multiple first zoom ratios and the Z parameters corresponding to the multiple first zoom ratios, calculates the fixed coefficient and fixed step size of the inspection camera.

[0068] Then, the target Z parameter of the inspection camera is calculated according to the position information of the preset coordinate frame in the first picture, the current Z parameter of the inspection camera, and the fixed coefficient and fixed step length of the inspection camera.

[0069] In one implementation, a first picture is determined from a first video shot by an inspection camera under multiple different Z parameters; for the first picture under each Z parameter, the point distance between a specified point in the first picture and a center point of the first picture is determined; based on the point distance, a first zoom factor corresponding to the Z parameter is determined; the first zoom factor and the Z parameter are fitted to obtain a fixed coefficient and a fixed step size of the inspection camera.

[0070] The designated point usually refers to a point in the first picture in units of pixels. The center point usually refers to a point in the center of the first picture in units of pixels.

[0071] For example, the terminal controls the inspection camera to shoot multiple first videos under multiple different Z parameters, determines the first picture in each first video, and obtains n first pictures. For example, the n first pictures are pictures of the same fixed position shot by the inspection camera when Z=1, Z=2...Z=n; after determining the specified point in each first picture, the terminal reads the n first pictures, and calculates the point distance ΔZ between the specified point and the center point of the first picture for each first picture under the Z parameter. n .

[0072] Then the terminal calculates the distance ΔZ of the point corresponding to each Z parameter n , calculate the first scaling factor Scale corresponding to each Z parameter n , by setting the first zoom factor Scale n And n are fitted to find the analytical expression of the proportional function: Scale = k_s_rate*z+b_s_rate, and the fixed coefficient k_s_rate and fixed step length b_s_rate of the inspection camera are obtained. In practical applications, since the relationship between PT parameters and Z parameters is inversely proportional, at least 4 sets of parameters are required; Scale is proportional to Z, at least two sets of parameters are required, so at least six sets of parameters are used for fitting.

[0073] In one implementation, the target Z parameter of the inspection camera is determined based on the coordinate frame, fixed coefficient, fixed step size and the current Z parameter of the inspection camera; wherein, in the target picture of the target video shot under the target Z parameter, the area size of the target picture occupied by the coordinate frame satisfies a preset area threshold.

[0074] The preset area threshold is usually preset according to the needs of the staff, such as ninety percent.

[0075] For example, Figure 3 As shown in (a), the position information of the coordinate frame in the target screen specifically includes the coordinates of the diagonal vertices. The terminal can calculate the target Z parameter of the inspection camera according to the position information (x1, y1, x2, y2) of the coordinate frame, the fixed coefficient k_s_rate, the fixed step size b_s_rate and the current Z parameter of the inspection camera, so that the proportion of the coordinate frame in the target screen of the target video shot by the inspection camera under the target Z parameter reaches the preset area threshold, such as Figure 3 As shown in (b).

[0076] Furthermore, based on the preset area threshold and the coordinate frame, the target zoom ratio corresponding to the preset area threshold is determined; based on the target zoom ratio, the current Z parameter of the inspection camera, the fixed step size and the fixed coefficient, the target Z parameter of the inspection camera is determined.

[0077] First, assuming that the preset area threshold is 90%, that is, 0.9, the terminal can calculate the target zoom ratio resize_rate corresponding to the preset area threshold 0.9 according to the preset area threshold 0.9 and the position information of the coordinate frame (x1, y1, x2, y2). For example, the calculation formula is:

[0078] resize_rate=max(0.9 / (x2-x1),0.9 / (y2-y1))

[0079] The above calculation formula can compare the results of 0.9 / (x2-x1) and 0.9 / (y2-y1) and return the maximum value of the two results.

[0080] Next, the terminal calculates the target Z parameter of the inspection camera according to the target zoom rate resize_rate, the current Z parameter of the inspection camera, the fixed step size b_s_rate and the fixed coefficient k_s_rate.

[0081] Further, when the current Z parameter of the inspection camera is equal to one, the target Z parameter of the inspection camera is determined based on the target zoom factor, the fixed step size and the fixed coefficient of the inspection camera.

[0082] Here, when the terminal determines that the current Z parameter of the inspection camera is equal to one, the target Z parameter of the inspection camera is calculated according to the target zoom rate resize_rate, the fixed step size b_s_rate of the inspection camera, and the fixed coefficient k_s_rate. For example, the calculation formula is:

[0083] new_Z=(resize_rate-b_s_rate) / k_s_rate

[0084] In the above formula, new_Z represents the target Z parameter.

[0085] In one implementation, when the current Z parameter of the inspection camera is not equal to one, the current zoom factor is determined based on the current Z parameter of the inspection camera, a fixed step size and a fixed coefficient; the updated target zoom factor is determined based on the target zoom factor and the current zoom factor; the target Z parameter of the inspection camera is determined based on the updated target zoom factor, the fixed step size and the fixed coefficient of the inspection camera.

[0086] Here, when the terminal determines that the current Z parameter of the inspection camera is not equal to one, firstly, the current zoom rate currentresize_rate is calculated according to the current Z parameter of the inspection camera, the fixed step size b_s_rate and the fixed coefficient k_s_rate. For example, the calculation formula is:

[0087] currentresize_rate=k_s_rate*z+b_s_rate

[0088] Then, according to the target zoom ratio and the current zoom ratio, the updated target zoom ratio newresize_rate is calculated. For example, the calculation formula is:

[0089] newresize_rate=currentresize_rate*resize_rate

[0090] Then, according to the updated target zoom ratio, the fixed step length and the fixed coefficient of the inspection camera, the target Z parameter of the inspection camera is calculated. For example, the calculation formula is:

[0091] new_Z=(newresize_rate-b_s_rate) / k_s_rate

[0092] In the above manner, it is determined whether the current Z parameter of the inspection camera is equal to one, and then it is determined how to calculate the target Z parameter of the inspection camera, and the coordinate frame is scaled to a specified size.

[0093] In one embodiment, the preset position types of the preset position include: equipment appearance preset position; the equipment appearance preset position includes: at least one of bird's nest, oil stain, damaged dial, and rust.

[0094] Figure 4 Taking the substation as an example, the specific implementation method of configuring the preset positions of the inspection camera is introduced.

[0095] Step S401, determining a patrol camera, and controlling the patrol camera to shoot a target screen of a target video;

[0096] Step S402, determining a coordinate frame selected in a target picture of a target video;

[0097] Specifically, the coordinate frame just surrounds the target to be inspected.

[0098] Step S403, calculating the target P parameter and the target T parameter according to the field of view of the inspection camera;

[0099] Step S404, determining whether the coordinate frame needs to be scaled, if scaling is required, executing step S405; if scaling is not required, executing step S409;

[0100] Step S405, determining whether the physical parameter exists in the database, if not, executing step S406; if exists, executing step S410;

[0101] Step S406, controlling the inspection camera to shoot a first video under multiple different Z parameters;

[0102] Step S407, the terminal calculates the fixed coefficient and fixed step length of the inspection camera according to the first picture under different Z parameters through the GetParameters algorithm;

[0103] Step S408, save the fixed coefficient and fixed step length of the inspection camera to the database; execute the next step S412;

[0104] Step S409, setting the PT of the inspection camera to the calculated target P parameter and target T parameter; executing the next step S412;

[0105] Step S410, the terminal calculates the target Z parameter of the inspection camera through the CalculateZ algorithm;

[0106] Step S411, setting the PT of the inspection camera to the calculated target P parameter and target T parameter; executing the next step S412;

[0107] Step S412, ending the configuration of the preset positions of the inspection camera.

[0108] Corresponding to the above method embodiment, see Figure 5 A schematic diagram of a configuration system for presetting positions of inspection cameras in a substation is shown, the system comprising:

[0109] The video shooting control module 501 is used to determine the inspection camera to be configured in the substation, and control the inspection camera to shoot the target video at each inspection point of the substation; wherein the inspection camera has a number of preset positions to be configured;

[0110] A coordinate frame determination module 502 is used to determine a coordinate frame selected in a target picture of a target video; wherein the coordinate frame surrounds a target device;

[0111] The target PT parameter determination module 503 is used to determine the target P parameter and the target T parameter of the inspection camera based on the coordinate frame, the current P parameter, the current T parameter, the current field of view angle and the rotation direction of the inspection camera, so as to place the target device in the center area of ​​the target picture;

[0112] The target Z parameter determination module 504 is used to determine the target Z parameter of the inspection camera based on the current Z parameter and physical parameters of the inspection camera when determining to scale the target device, so that the proportion of the coordinate frame in the target screen reaches a preset area threshold;

[0113] The configuration information generating module 505 is used to associate, save and bind the target P parameter, the target T parameter and the target Z parameter to the preset position of the inspection camera to generate a piece of inspection configuration information of the inspection point.

[0114] The configuration system of the above-mentioned substation inspection camera preset positions determines the inspection camera to be configured in the substation, and controls the inspection camera to shoot the target video at each inspection point of the substation; wherein the inspection camera has a number of preset positions to be configured; determines the coordinate frame selected in the target picture of the target video; wherein the coordinate frame surrounds the target device; based on the coordinate frame, the current P parameter, the current T parameter, the current field of view and the rotation direction of the inspection camera, the target P parameter and the target T parameter of the inspection camera are determined to place the target device in the center area of ​​the target picture; when it is determined to scale the target device, based on the current Z parameter and physical parameter of the inspection camera, the target Z parameter of the inspection camera is determined so that the proportion of the coordinate frame in the target picture reaches the preset area threshold; the target P parameter, the target T parameter and the target Z parameter are associated, saved and bound to the preset position of the inspection camera to generate a patrol configuration information of the patrol point.

[0115] In this method, the coordinate frame selected in the target screen of the target video shot by the patrol camera is determined, and then the coordinate frame surrounding the target device is calculated based on the coordinate frame, the current PTZ parameters of the patrol camera, the current field of view angle and the rotation direction. When the coordinate frame accounts for a certain area in the target screen and the target PTZ parameters of the patrol camera are reached, this method can configure preset positions for various types of equipment, avoid detection errors, and improve the configuration efficiency of preset positions.

[0116] The above-mentioned target PT parameter determination module is also used to determine the offset distance between the frame center of the coordinate frame and the center of the imaging plane of the inspection camera; wherein the offset distance includes a first offset distance and a second offset distance; based on the first offset distance, the first side length of the imaging plane, the current horizontal field of view of the inspection camera, the rotation direction and the current P parameter of the inspection camera, the target P parameter is determined; based on the second offset distance, the second side length of the imaging plane, the current vertical field of view of the inspection camera, the rotation direction and the current T parameter of the inspection camera, the target T parameter is determined.

[0117] The above-mentioned target PT parameter determination module is also used to determine the first rotation angle of rotating the center of the coordinate frame to the center of the imaging plane in the horizontal direction based on the first offset distance, the first side length of the imaging plane, the current horizontal field of view angle and rotation direction of the inspection camera; and determine the target P parameter based on the first rotation angle and the current P parameter of the inspection camera.

[0118] The above-mentioned target PT parameter determination module is also used to determine the second rotation angle of rotating the center of the coordinate frame to the center of the imaging plane in the vertical direction based on the second offset distance, the second side length of the imaging plane, the current vertical field of view angle and rotation direction of the inspection camera; and determine the target T parameter based on the second rotation angle and the current T parameter of the inspection camera.

[0119] The target Z parameter determination module is also used to obtain the fixed coefficient and fixed step length of the inspection camera; based on the current Z parameter, fixed coefficient and fixed step length of the inspection camera, the target Z parameter of the inspection camera is determined.

[0120] The above-mentioned target Z parameter determination module is also used to determine the first picture from the first video shot by the inspection camera under multiple different Z parameters; for the first picture under each Z parameter, determine the point distance between the specified point in the first picture and the center point of the first picture; based on the point distance, determine the first zoom factor corresponding to the Z parameter; fit the first zoom factor and the Z parameter to obtain the fixed coefficient and fixed step size of the inspection camera.

[0121] The above-mentioned target Z parameter determination module is also used to determine the target Z parameters of the inspection camera based on the coordinate frame, fixed coefficient, fixed step size and the current Z parameters of the inspection camera; wherein, in the target picture of the target video shot under the target Z parameters, the area size of the target picture occupied by the coordinate frame satisfies the preset area threshold.

[0122] The above-mentioned target Z parameter determination module is also used to determine the target zoom ratio corresponding to the preset area threshold based on the preset area threshold and the coordinate frame; and determine the target Z parameter of the inspection camera based on the target zoom ratio, the current Z parameter of the inspection camera, the fixed step size and the fixed coefficient.

[0123] The target Z parameter determination module is also used to determine the target Z parameter of the inspection camera based on the target zoom ratio, the fixed step size and the fixed coefficient of the inspection camera when the current Z parameter of the inspection camera is equal to one.

[0124] The above-mentioned device also includes a second target Z parameter determination module, which is used to determine the current zoom factor based on the current Z parameter, fixed step size and fixed coefficient of the patrol camera when the current Z parameter of the patrol camera is not equal to one; determine the updated target zoom factor based on the target zoom factor and the current zoom factor; determine the target Z parameter of the patrol camera based on the updated target zoom factor, the fixed step size and fixed coefficient of the patrol camera.

[0125] The preset position types of the above preset positions include: equipment appearance preset positions; equipment appearance preset positions include: at least one of bird's nest, oil stain, damaged dial, and rust.

[0126] The above embodiments of the present disclosure have the following advantages:

[0127] This embodiment calculates the P parameter and the T parameter when the target device is placed in the center of the video screen through the field of view of the inspection camera.

[0128] This embodiment describes the relationship between the zoom ratio and the Z parameter of the inspection camera by using the method of feature point extraction and feature point matching.

[0129] This embodiment automatically calculates the target Z parameter when scaling the box to the preset area threshold by inputting the box coordinates (x1, y1, x2, y2), fixed coefficients, fixed step size, and current Z parameters into the algorithm, thereby automatically configuring the preset position.

[0130] This embodiment calculates the zoom ratio under different Z parameters based on function fitting, and can scale the coordinate frame to a specified size as required.

[0131] This embodiment does not require model training, which reduces time consumption and improves configuration efficiency.

[0132] The target P parameter, target T parameter and target Z parameter calculated by the mathematical formula in this embodiment are stable and avoid the detection error of the target device with irregular shape in the substation. Of course, the target detection algorithm can also be combined with the algorithm of the embodiment of the present invention to realize the configuration of the preset position.

[0133] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system and device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0134] In addition, in the description of the embodiments of the present disclosure, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0135] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present disclosure, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0136] In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present disclosure. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0137] Finally, it should be noted that the above embodiments are only specific implementation methods of the present disclosure, which are used to illustrate the technical solutions of the present disclosure, rather than to limit them. The protection scope of the present disclosure is not limited thereto. Although the present disclosure is described in detail with reference to the above embodiments, those skilled in the art should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above embodiments within the technical scope disclosed in the present disclosure, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A method for configuring preset positions of substation inspection cameras, characterized in that: The method comprises: Determine the inspection camera to be configured in the substation, and control the inspection camera to shoot the target video at each inspection point of the substation; wherein the inspection camera has a plurality of preset positions to be configured; Determine a coordinate frame selected in a target screen of the target video; wherein the coordinate frame surrounds the target device; Based on the coordinate frame, the current P parameter, the current T parameter, the current field of view angle, and the rotation direction of the inspection camera, determine the target P parameter and the target T parameter of the inspection camera to place the target device in the center area of ​​the target picture; When it is determined to scale the target device, based on the current Z parameter and physical parameter of the inspection camera, the target Z parameter of the inspection camera is determined so that the proportion of the coordinate frame in the target screen reaches a preset area threshold; The target P parameter, the target T parameter and the target Z parameter are associated, saved and bound to the preset position of the inspection camera to generate a piece of inspection configuration information for the inspection point.

2. The method according to claim 1, characterized in that The step of determining the target P parameter and the target T parameter of the inspection camera based on the coordinate frame, the current P parameter, the current T parameter, the current field of view angle and the rotation direction of the inspection camera comprises: Determine an offset distance between the center of the coordinate frame and the center of the imaging plane of the inspection camera; wherein the offset distance includes a first offset distance and a second offset distance; Determine a target P parameter based on the first offset distance, the first side length of the imaging plane, the current horizontal field of view of the inspection camera, the rotation direction and the current P parameter of the inspection camera; A target T parameter is determined based on the second offset distance, the second side length of the imaging plane, the current vertical field of view of the inspection camera, the rotation direction and the current T parameter of the inspection camera.

3. The method according to claim 2, characterized in that The step of determining a target P parameter based on the first offset distance, the first side length of the imaging plane, the current horizontal field of view angle of the inspection camera, the rotation direction and the current P parameter of the inspection camera comprises: Based on the first offset distance, the first side length of the imaging plane, the current horizontal field angle and the rotation direction of the inspection camera, determine a first rotation angle for rotating the frame center of the coordinate frame to the center of the imaging plane in the horizontal direction; A target P parameter is determined based on the first rotation angle and a current P parameter of the inspection camera.

4. The method according to claim 2, characterized in that: The step of determining a target T parameter based on the second offset distance, the second side length of the imaging plane, the current vertical field of view angle of the inspection camera, the rotation direction and the current T parameter of the inspection camera comprises: Determine, based on the second offset distance, the second side length of the imaging plane, the current vertical field angle and the rotation direction of the inspection camera, a second rotation angle for rotating the frame center of the coordinate frame to the center of the imaging plane in the vertical direction; A target T parameter is determined based on the second rotation angle and a current T parameter of the inspection camera.

5. The method according to claim 1, characterized in that The step of determining the target Z parameter of the inspection camera based on the current Z parameter and the physical parameter of the inspection camera comprises: Obtaining a fixed coefficient and a fixed step size of the inspection camera; The target Z parameter of the patrol camera is determined based on the current Z parameter of the patrol camera, the fixed coefficient and the fixed step size.

6. The method according to claim 5, characterized in that The step of obtaining the fixed coefficient and the fixed step size of the inspection camera comprises: Determine a first picture from a first video captured by the inspection camera under a plurality of different Z parameters; For each first picture under the Z parameter, determining a point distance between a designated point in the first picture and a center point of the first picture; Based on the point distance, determining a first zoom factor corresponding to the Z parameter; The first zoom factor and the Z parameter are fitted to obtain a fixed coefficient and a fixed step size of the inspection camera.

7. The method according to claim 5, characterized in that The step of determining the target Z parameter of the inspection camera based on the current Z parameter of the inspection camera, the fixed coefficient and the fixed step size comprises: Based on the coordinate frame, the fixed coefficient, the fixed step size and the current Z parameter of the inspection camera, the target Z parameter of the inspection camera is determined; wherein, in the target picture of the target video shot under the target Z parameter, the area occupied by the coordinate frame of the target picture satisfies a preset area threshold.

8. The method according to claim 7, characterized in that The step of determining a target Z parameter of the inspection camera based on the coordinate frame, the fixed coefficient, the fixed step size and the current Z parameter of the inspection camera comprises: Based on the preset area threshold and the coordinate frame, determining a target zoom ratio corresponding to the preset area threshold; The target Z parameter of the inspection camera is determined based on the target zoom factor, the current Z parameter of the inspection camera, the fixed step size and the fixed coefficient.

9. The method according to claim 8, characterized in that The step of determining the target Z parameter of the inspection camera based on the target zoom factor, the current Z parameter of the inspection camera, the fixed step size and the fixed coefficient comprises: When the current Z parameter of the inspection camera is equal to one, the target Z parameter of the inspection camera is determined based on the target zoom factor, the fixed step size and the fixed coefficient of the inspection camera.

10. The method according to claim 9, characterized in that The method further comprises: When the current Z parameter of the inspection camera is not equal to one, determining a current zoom factor based on the current Z parameter of the inspection camera, a fixed step size, and a fixed coefficient; Determining an updated target zoom ratio based on the target zoom ratio and the current zoom ratio; The target Z parameter of the inspection camera is determined based on the updated target zoom factor, the fixed step size and the fixed coefficient of the inspection camera.

11. The method according to claim 1, characterized in that: The preset position types of the preset position include: equipment appearance preset position; the equipment appearance preset position includes: at least one preset position of bird's nest, oil stain, damaged dial, and rust.

12. A configuration system for presetting positions of inspection cameras in substations, characterized in that: The system comprises: A video shooting control module is used to determine the inspection camera to be configured in the substation, and control the inspection camera to shoot the target video at each inspection point of the substation; wherein the inspection camera has a number of preset positions to be configured; A coordinate frame determination module, used to determine a coordinate frame selected in a target picture of the target video; wherein the coordinate frame surrounds the target device; A target PT parameter determination module, used to determine the target P parameter and target T parameter of the inspection camera based on the coordinate frame, the current P parameter, the current T parameter, the current field of view angle and the rotation direction of the inspection camera, so as to place the target device in the center area of ​​the target picture; A target Z parameter determination module, used for determining the target Z parameter of the inspection camera based on the current Z parameter and physical parameter of the inspection camera when determining to scale the target device, so that the proportion of the coordinate frame in the target screen reaches a preset area threshold; The configuration information generation module is used to associate, save and bind the target P parameter, the target T parameter and the target Z parameter to the preset position of the inspection camera to generate a piece of inspection configuration information for the inspection point.

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