Configuration method and system for preset positions of substation inspection cameras

Abstract

This disclosure provides a method and system for configuring preset positions of substation inspection cameras. The method includes: identifying the inspection cameras to be configured in the substation and controlling them to capture target video at various inspection points; determining the coordinate frame selected within the target video frame; determining the target P-parameters and target T-parameters of the inspection camera based on the coordinate frame, the current P-parameters, current T-parameters, current field of view, and rotation direction of the inspection camera; when scaling the target device, determining the target Z-parameters of the inspection camera based on its current Z-parameters and physical parameters; associating, saving, and binding the target P-parameters, target T-parameters, and target Z-parameters to the preset positions of the inspection camera, generating a single inspection configuration record for each inspection point. This method can configure preset positions for various types of equipment, avoiding detection errors and improving the efficiency of preset position configuration.

Description

Technical Field

[0001] This disclosure relates to the field of surveillance technology, and in particular to a method and system for configuring preset positions of a substation inspection camera. Background Technology

[0002] Video surveillance systems are typically used to monitor specific areas. Taking substations as an example, video surveillance systems use cameras to capture images or record videos to monitor the status of equipment within the substation. To facilitate monitoring of specific locations within the area, preset camera positions need to be set. Related technologies use target detection algorithms to detect devices in the images captured by the cameras and calculate the preset positions based on the camera's shooting parameters and the device's position in the image. However, some equipment within substations does not have a fixed shape or is small in size. When there are many types of equipment or the scene is complex, the target detection algorithm has a high error rate, resulting in low efficiency in setting preset positions. Summary of the Invention

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

[0004] In a first aspect, embodiments of this disclosure provide a method for configuring preset positions of a substation inspection camera. The method includes: determining the inspection camera to be configured in the substation and controlling the inspection camera to capture target video at various inspection points in the substation; wherein the inspection camera has several preset positions to be configured; determining a coordinate frame selected within the target image of the target video; wherein the coordinate frame surrounds the target device; determining the target P-parameter and target T-parameter of the inspection camera based on the coordinate frame, the current P-parameter, current T-parameter, current field of view, and rotation direction of the inspection camera, so as to place the target device in the central area of ​​the target image; when it is determined that the target device will be scaled, determining the target Z-parameter of the inspection camera based on the current Z-parameter and physical parameters of the inspection camera, so as to make the proportion of the coordinate frame in the target image reach a preset area threshold; associating, saving, and binding the target P-parameter, target T-parameter, and target Z-parameter to the preset positions of the inspection camera, generating a single inspection configuration information for the inspection point.

[0005] The steps described above for determining the target P-parameters and target T-parameters of the inspection camera based on the coordinate frame, the current P-parameters, current T-parameters, current field of view, and rotation direction 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-parameters based on the first offset distance, the first side length of the imaging plane, the current horizontal field of view, rotation direction, and the current P-parameters of the inspection camera; and determining the target T-parameters based on the second offset distance, the second side length of the imaging plane, the current vertical field of view, rotation direction, and the current T-parameters of the inspection camera.

[0006] The steps for 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 include: determining a first rotation angle in the horizontal direction to rotate 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 of view of the inspection camera, and the rotation direction; and determining the target P-parameter based on the first rotation angle and the current P-parameter of the inspection camera.

[0007] The steps for 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 include: determining a 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 of view of the inspection camera, and the rotation direction; and determining the target T-parameter based on the second rotation angle and the current T-parameter of the inspection camera.

[0008] The steps described above for determining the target Z-parameter of the inspection camera based on its current Z-parameter and physical parameters include: obtaining the fixed coefficients and fixed step size of the inspection camera; and determining the target Z-parameter of the inspection camera based on its current Z-parameter, fixed coefficients, and fixed step size.

[0009] The steps for obtaining the fixed coefficients and fixed step size of the inspection camera include: determining a first frame from the first video captured by the inspection camera under multiple different Z parameters; determining the point distance between a specified point in the first frame and the center point of the first frame for each Z parameter; determining the first scaling factor corresponding to the Z parameter based on the point distance; and performing fitting processing on the first scaling factor and the Z parameter to obtain the fixed coefficients and fixed step size of the inspection camera.

[0010] The steps for determining the target Z-parameter of the inspection camera based on the current Z-parameter, fixed coefficient, and fixed step size of the inspection camera include: determining the target Z-parameter of the inspection camera based on the coordinate frame, fixed coefficient, fixed step size, and the current Z-parameter of the inspection camera; wherein, in the target image of the target video captured under the target Z-parameter, the area occupied by the coordinate frame in the target image meets the preset area threshold.

[0011] The steps described above for determining the target Z-parameter of the inspection camera based on the coordinate frame, fixed coefficients, fixed step size, and the current Z-parameter of the inspection camera include: determining the target scaling factor corresponding to the preset area threshold based on the preset area threshold and the coordinate frame; and determining the target Z-parameter of the inspection camera based on the target scaling factor, the current Z-parameter of the inspection camera, the fixed step size, and the fixed coefficients.

[0012] The steps for 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 include: 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 level based on the current Z parameter of the inspection camera, the fixed step size, and the fixed coefficient; determining the updated target zoom level based on the target zoom level and the current zoom level; and determining the target Z parameter of the inspection camera based on the updated target zoom level, the fixed step size, and the fixed coefficient.

[0014] The preset position types mentioned above include: equipment appearance preset positions; equipment appearance preset positions include at least one of the following: bird nest, oil stains, dial damage, and rust.

[0015] Secondly, this disclosure provides a configuration system for preset positions of substation inspection cameras. The system includes: a video capture control module for determining the inspection cameras to be configured in the substation and controlling them to capture target videos at various inspection points within the substation; wherein the inspection cameras have several preset positions to be configured; a coordinate frame determination module for determining a coordinate frame selected within the target image of the target video; wherein the coordinate frame surrounds the target device; a PT parameter determination module for determining the target P parameter and target T parameter of the inspection camera based on the coordinate frame, the current P parameter, current T parameter, current field of view, and rotation direction of the inspection camera, so as to place the target device in the center area of ​​the target image; a Z parameter determination module for determining the target Z parameter of the inspection camera based on the current Z parameter and physical parameters of the inspection camera when scaling of the target device is determined, so that the proportion of the coordinate frame in the target image reaches a preset area threshold; and a configuration information generation module for associating, saving, and binding the target P parameter, target T parameter, and target Z parameter to the preset positions of the inspection cameras, generating a patrol configuration information for each inspection point.

[0016] The embodiments disclosed herein bring the following beneficial effects:

[0017] The above provides a method and system for configuring preset positions of substation inspection cameras. The method includes: determining the inspection cameras to be configured in the substation and controlling the inspection cameras to capture target videos at various inspection points in the substation; wherein the inspection cameras have several preset positions to be configured; determining the coordinate frame selected in the target image of the target video; wherein the coordinate frame surrounds the target device; determining the target P parameter and target T parameter of the inspection camera based on the coordinate frame, the current P parameter, current T parameter, current field of view, and rotation direction of the inspection camera, so as to place the target device in the center area of ​​the target image; when it is determined that the target device is to be scaled, 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 image reaches a preset area threshold; associating, saving, and binding the target P parameter, target T parameter, and target Z parameter to the preset positions of the inspection camera to generate an inspection configuration information for the inspection point. In this method, the coordinate frame selected in the target image of the target video captured by the inspection camera is determined. Then, based on the coordinate frame, the current PTZ parameters of the inspection camera, the current field of view, and the rotation direction, the coordinate frame surrounding the target device is calculated. When the coordinate frame is located in the center area of ​​the target image and the proportion of the coordinate frame in the target image reaches a preset area threshold, the target PTZ parameters of the inspection camera are obtained. This method can configure preset positions for various types of devices, avoid detection errors, and improve the configuration efficiency of preset positions.

[0018] Other features and advantages of this disclosure will be set forth in the following description and will be apparent in part from the description or may be learned by practicing the disclosure. The objects and other advantages of this disclosure are realized and obtained through the structures particularly pointed out in the description, claims and drawings.

[0019] To make the above-mentioned objects, features and advantages of this disclosure more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the specific embodiments of this disclosure or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 A schematic diagram illustrating a method for configuring preset positions of a substation inspection camera according to an embodiment of this disclosure;

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

[0023] Figure 3 This is a schematic diagram of a coordinate frame in a target image and an image after scaling the coordinate frame, provided in an embodiment of this disclosure.

[0024] Figure 4 A logic flowchart for configuring a preset position of an inspection camera according to an embodiment of this disclosure;

[0025] Figure 5 This is a schematic diagram of a configuration system for preset positions of a substation inspection camera provided in an embodiment of this disclosure. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0027] Currently, video surveillance systems are typically used to monitor specific areas. Taking substations as an example, video surveillance systems can monitor the status of equipment within a substation by capturing images or recording videos using cameras.

[0028] To facilitate monitoring of specific locations within a region, preset camera positions need to be set. One related technology uses target detection algorithms to detect devices in images captured by the camera and calculate the preset position based on the camera's shooting parameters and the device's location in the image. However, some objects in substations lack fixed shapes, such as oil stains on the ground or components. Classifying all components as preset positions is clearly unreasonable. Furthermore, at certain camera angles, the captured image may not show any devices or may contain very small objects. When there are many types of devices or the scene is complex, the target detection algorithm experiences significant errors, resulting in low efficiency in setting preset positions.

[0029] Based on the above, this disclosure provides a method and system for configuring preset positions of substation inspection cameras. This technology can also be applied to the configuration of camera preset positions in scenarios such as petrochemical and coal mines.

[0030] To facilitate understanding of this embodiment, a specific process of this disclosure embodiment is described below. Please refer to [link / reference]. Figure 1 One embodiment of the configuration method for preset positions of a substation inspection camera in this disclosure includes:

[0031] Step S101: Determine the inspection cameras to be configured in the substation, and control the inspection cameras to capture target videos at each inspection point in the substation; wherein, the inspection cameras have several preset positions to be configured;

[0032] The executing entity of this disclosure can be a terminal or a server, which runs an intelligent inspection system. This intelligent inspection system can set preset positions in large quantities by controlling the automatic rotation of cameras, determining the coordinate frame in the image, and calculating the target PTZ parameters of the inspection cameras. The executing entity described below uses a terminal as an example, which is usually an intelligent management terminal.

[0033] Here, the inspection camera to be configured is determined based on the substation. The inspection camera usually has several preset positions to be configured. Specifically, these can be preset positions for the appearance of equipment such as bird nests, oil stains, damaged dials, and rust, or preset positions for meter type, position status, etc.

[0034] For example, a camera is installed at a fixed location in the substation and designated as the inspection camera to be configured; or, a two-dimensional or three-dimensional image of the target monitoring area is drawn in advance on 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 rotate automatically according to the step size, and control the inspection camera to shoot target videos at each inspection point in the substation.

[0036] Step S102: Determine the coordinate frame selected within the target frame of the target video; wherein the coordinate frame encloses the target device;

[0037] Specifically, staff can draw a frame around the target device in the target video frame to obtain a rectangular coordinate frame that surrounds the target device. Here, the target device can be an irregularly shaped device such as one with oil stains on the ground, oil stains on parts, or rust. Based on the coordinate frame, the position information of the preset position in the target frame can be obtained, such as the position coordinates of multiple specified points in the target frame.

[0038] Step S103: Based on the coordinate frame, the current P parameter, current T parameter, current field of view and rotation direction of the inspection camera, determine the target P parameter and target T parameter of the inspection camera so as to place the target device in the center area of ​​the target image.

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

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

[0041] Next, the terminal calculates the target P parameters 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 parameters of the inspection camera; and calculates the target T parameters 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 parameters of the inspection camera. Under the calculated target P parameters and target T parameters, the target device is located in the center area of ​​the target image of the target video.

[0042] Step S104: When it is determined that the target device will be scaled, 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 image reaches the preset area threshold.

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

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

[0045] After the terminal receives 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 they exist, it continues to calculate the target Z parameters of the inspection camera. If they do not exist, it calculates the fixed coefficient and fixed step size of the inspection camera based on the first frame of the first video captured 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 frame surrounding the target device in the target frame reaches the preset area threshold.

[0046] Step S105: Associate, save and bind the target P parameter, target T parameter and target Z parameter to the preset position of the inspection camera to generate an inspection configuration information for the inspection point.

[0047] Specifically, after the terminal calculates the target P parameters, target T parameters, and target Z parameters, it associates and saves these parameters and binds them to the preset position of the inspection camera, generating an inspection configuration information for the inspection point. By calling the inspection configuration information, it is possible to place the target device in the center area of ​​the video frame and scale the target device to a specified size.

[0048] The above-mentioned method for configuring preset positions of substation inspection cameras involves: identifying the inspection cameras to be configured in the substation and controlling them to capture target videos at various inspection points; wherein each inspection camera has several preset positions to be configured; determining the coordinate frame selected in the target image of the target video; wherein the coordinate frame surrounds the target device; determining the target P-parameters and target T-parameters of the inspection camera based on the coordinate frame, the current P-parameters, current T-parameters, current field of view, and rotation direction, so as to place the target device in the center area of ​​the target image; when scaling the target device, determining the target Z-parameters of the inspection camera based on the current Z-parameters and physical parameters, so as to make the proportion of the coordinate frame in the target image reach a preset area threshold; associating, saving, and binding the target P-parameters, target T-parameters, and target Z-parameters to the preset positions of the inspection camera, generating a single inspection configuration information for the inspection point.

[0049] In this method, the coordinate frame selected in the target image of the target video captured by the inspection camera is determined. Then, based on the coordinate frame, the current PTZ parameters of the inspection camera, the current field of view, and the rotation direction, the coordinate frame surrounding the target device is calculated. When the coordinate frame is located in the center area of ​​the target image and the proportion of the coordinate frame in the target image reaches a preset area threshold, the target PTZ parameters of the inspection camera are obtained. This method can configure preset positions for various types of devices, avoid detection errors, and improve the configuration efficiency of preset positions.

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

[0051] In one approach, 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; a target P parameter is determined based on the first offset distance, the first side length of the imaging plane, the current horizontal field of view, the rotation direction of the inspection camera, 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, the rotation direction of the inspection camera, and the current T parameter of the inspection camera.

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

[0053] Specifically, when the coordinate frame is located on the imaging plane, the terminal can determine the first offset distance 'a' between the center of the coordinate frame and the center of the imaging plane of the inspection camera, such as the distance 'a' between the center of the coordinate frame and the center of the imaging plane of the inspection camera; and the second offset distance 'b' between the center of the coordinate frame and the center of the imaging plane of the inspection camera, such as the distance 'b' between the center of the coordinate frame and the center of the imaging plane of the inspection camera.

[0054] Next, the terminal can determine the first offset distance a, such as... Figure 2 The target P parameters of the inspection camera are 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 parameters of the inspection camera; and the target T parameters of the inspection camera are 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 parameters 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 of the inspection camera, and the rotation direction, a first rotation angle is determined to rotate the center of the coordinate frame to the center of the imaging plane in the horizontal direction; based on the first rotation angle and the current P parameters of the inspection camera, the target P parameters are determined.

[0056] Example, by formula Calculate the first rotation angle in the horizontal direction to rotate the center of the coordinate frame from its 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 (e.g., the width of the imaging plane), and α represents the current horizontal field of view of the inspection camera (e.g., ...). Figure 2 As shown.

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

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

[0059] Example, by formula Calculate the second rotation angle in the vertical direction, which rotates 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 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 method, by introducing the field of view of the inspection camera, the rotation angle of rotating the 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 a specific implementation method 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 operator can judge based on experience whether the coordinate frame needs to be scaled, 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 has a proportion in the imaging plane within a preset standard range, such as between 80% and 90%, then there is no need to scale the coordinate frame. In this case, 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 80% to 90% of the imaging plane, the coordinate frame needs to be scaled. First, it is determined from the database whether the physical parameters of the inspection camera exist. If the physical parameters of the inspection camera do not exist, the physical parameters of the inspection camera are calculated and the calculation results are saved to the database. Then, the target Z parameter of the inspection camera is calculated, and the target Z parameter is the final target Z parameter.

[0066] In one approach, the fixed coefficients and fixed step size of the inspection camera are obtained; based on the current Z-parameters, fixed coefficients, and fixed step size of the inspection camera, the target Z-parameters of the inspection camera are determined.

[0067] Specifically, the terminal controls the inspection camera to capture multiple first videos under multiple Z parameters, obtains multiple first frames from the multiple first videos, calculates a first scaling factor for each first frame under each Z parameter, and calculates the fixed coefficient and fixed step size of the inspection camera based on the multiple first scaling factors and the Z parameters corresponding to the multiple first scaling factors.

[0068] Then, based on the position information of the preset coordinate frame in the first screen, the current Z parameters of the inspection camera, and the fixed coefficient and fixed step size of the inspection camera, the target Z parameters of the inspection camera are calculated.

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

[0070] The designated point typically refers to a point in the first frame, measured in pixels. The center point typically refers to a point located at the center of the first frame, measured in pixels.

[0071] For example, the terminal controls the inspection camera to capture multiple first videos under multiple different Z parameters. A first frame is determined in each first video, resulting in n first frames. For instance, the n first frames represent images captured by the inspection camera at the same fixed position when Z=1, Z=2, ..., Z=n. After determining a specified point in each first frame, the terminal reads the n first frames and calculates the distance ΔZ between the specified point and the center point of the first frame for each Z parameter. n .

[0072] Then the terminal calculates the point distance ΔZ corresponding to each Z parameter. n The first scaling factor (Scale) corresponding to each Z parameter is calculated. n By scaling the first scaling factor (Scale) n By fitting the parameter to n, the analytical expression of the direct proportional function is obtained: Scale = k_s_rate * z + b_s_rate, which gives the fixed coefficients k_s_rate and fixed step size b_s_rate of the inspection camera. In practical applications, since the relationship between the PT parameters and the Z parameters is inversely proportional, at least 4 sets of parameters are required; since Scale and Z are directly proportional, at least 2 sets of parameters are required. Therefore, at least six sets of parameters are used for fitting.

[0073] In one implementation method, the target Z-parameter of the inspection camera is determined based on the coordinate frame, fixed coefficients, fixed step size, and the current Z-parameter of the inspection camera; wherein, in the target image of the target video captured under the target Z-parameter, the area occupied by the coordinate frame in the target image meets the preset area threshold.

[0074] The preset area threshold is usually set in advance according to the needs of the staff, such as 90%.

[0075] For example, such as Figure 3 As shown in (a), the position information of the bounding box in the target image specifically includes the coordinates of the diagonally opposite vertices. The terminal can calculate the target Z-parameters of the inspection camera based on the bounding box's position information (x1, y1, x2, y2), a fixed coefficient k_s_rate, a fixed step size b_s_rate, and the current Z-parameters of the inspection camera. This ensures that the bounding box's proportion in the target image of the target video captured by the inspection camera under the target Z-parameters reaches a preset area threshold. Figure 3 As shown in (b).

[0076] Furthermore, based on the preset area threshold and the coordinate frame, the target scaling factor corresponding to the preset area threshold is determined; based on the target scaling factor, 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 the preset region threshold is 90%, or 0.9, the terminal can calculate the target scaling factor (resize_rate) corresponding to the preset region threshold of 0.9 based on the preset region threshold of 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-parameters of the inspection camera based on the target scaling factor resize_rate, the current Z-parameters of the inspection camera, the fixed step size b_s_rate, and the fixed coefficient k_s_rate.

[0081] Furthermore, 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 scaling factor, the fixed step size of the inspection camera, and the fixed coefficient.

[0082] Here, when the terminal determines that the current Z-parameter of the inspection camera is equal to one, it calculates the target Z-parameter of the inspection camera based on the target scaling factor 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 as follows:

[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 level is determined based on the current Z-parameter of the inspection camera, the fixed step size, and the fixed coefficient; the updated target zoom level is determined based on the target zoom level and the current zoom level; and the target Z-parameter of the inspection camera is determined based on the updated target zoom level, the fixed step size, and the fixed coefficient.

[0086] Here, when the terminal determines that the current Z-parameter of the inspection camera is not equal to one, it first calculates the current scaling factor currentresize_rate based on 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, based on the target scaling factor and the current scaling factor, calculate the updated target scaling factor newresize_rate, for example, the calculation formula is:

[0089] newresize_rate=currentresize_rate*resize_rate

[0090] Then, based on the updated target scaling factor, the fixed step size of the inspection camera, and the fixed coefficient, calculate the target Z-parameters of the inspection camera. For example, the calculation formula is:

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

[0092] In the above method, 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 scale the coordinate frame to the specified size.

[0093] In one approach, the preset position type includes: equipment appearance preset position; the equipment appearance preset position includes at least one of the following: bird nest, oil stain, dial damage, and rust.

[0094] Figure 4 Taking a substation as an example, this paper introduces the specific implementation method of configuring the preset position of the inspection camera.

[0095] Step S401: Determine the inspection camera and control the inspection camera to capture the target video of the target.

[0096] Step S402: Determine the coordinate frame selected within the target frame of the target video;

[0097] Specifically, the coordinate frame perfectly encloses the target to be inspected.

[0098] Step S403: Calculate the target P parameters and target T parameters based on the field of view of the inspection camera;

[0099] Step S404: Determine whether the coordinate frame needs to be scaled. If scaling is required, proceed to step S405; if scaling is not required, proceed to step S409.

[0100] Step S405: Determine if the physical parameters exist in the database. If they do not exist, proceed to step S406; if they do exist, proceed to step S410.

[0101] Step S406: Control the inspection camera to capture the first video under multiple different Z parameters;

[0102] In step S407, the terminal uses the GetParameters algorithm to calculate the fixed coefficient and fixed step size of the inspection camera based on the first image under different Z parameters.

[0103] Step S408: Save the fixed coefficient and fixed step size of the inspection camera to the database; proceed to the next step S412.

[0104] Step S409: Set the PT of the inspection camera to the calculated target P parameters and target T parameters; proceed to the next step S412.

[0105] In step S410, the terminal calculates the target Z parameters of the inspection camera using the CalculateZ algorithm.

[0106] Step S411: Set the PT of the inspection camera to the calculated target P parameters and target T parameters; proceed to the next step S412.

[0107] Step S412: End the configuration of the preset position of the inspection camera.

[0108] For the corresponding method embodiments described above, see [link to relevant documentation]. Figure 5 The diagram shows a configuration system for preset positions of a substation inspection camera. The system includes:

[0109] The video capture control module 501 is used to determine the inspection cameras to be configured in the substation and control the inspection cameras to capture target videos at each inspection point in the substation; wherein, the inspection cameras have several preset positions to be configured;

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

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

[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 it is determined to scale the target device, so that the proportion of the coordinate frame in the target image reaches a preset area threshold.

[0113] The configuration information generation module 505 is 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 to generate a patrol configuration information for the patrol point.

[0114] The aforementioned substation inspection camera preset position configuration system identifies the inspection cameras to be configured in the substation and controls them to capture target videos at each inspection point. Each inspection camera has several preset positions to be configured. The system determines the coordinate frame selected within the target video frame, where the coordinate frame encloses the target device. Based on the coordinate frame, the current P-parameters, current T-parameters, current field of view, and rotation direction of the inspection camera, the system determines the target P-parameters and target T-parameters of the inspection camera to place the target device in the center of the target image. When scaling the target device is determined, the system determines the target Z-parameters of the inspection camera based on its current Z-parameters and physical parameters, ensuring that the proportion of the coordinate frame in the target image reaches a preset area threshold. The system associates, saves, and binds the target P-parameters, target T-parameters, and target Z-parameters to the preset positions of the inspection camera, generating a single inspection configuration record for each inspection point.

[0115] In this method, the coordinate frame selected in the target image of the target video captured by the inspection camera is determined. Then, based on the coordinate frame, the current PTZ parameters of the inspection camera, the current field of view, and the rotation direction, the coordinate frame surrounding the target device is calculated. When the coordinate frame is located in the center area of ​​the target image and the proportion of the coordinate frame in the target image reaches a preset area threshold, the target PTZ parameters of the inspection camera are obtained. This method can configure preset positions for various types of devices, avoid detection errors, and improve the configuration efficiency of preset positions.

[0116] The aforementioned target PT parameter determination module is also used to determine 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; the target P parameter is determined based on the first offset distance, the first side length of the imaging plane, the current horizontal field of view, rotation direction of the inspection camera, and the current P parameter of the inspection camera; the 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, rotation direction of the inspection camera, and the current T parameter of the inspection camera.

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

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

[0119] The aforementioned target Z-parameter determination module is also used to obtain the fixed coefficients and fixed step size of the inspection camera; and to determine the target Z-parameters of the inspection camera based on the current Z-parameters, fixed coefficients, and fixed step size of the inspection camera.

[0120] The aforementioned target Z-parameter determination module is also used to determine the first frame from the first video captured by the inspection camera under multiple different Z-parameters; for each Z-parameter first frame, determine the point distance between a specified point in the first frame and the center point of the first frame; based on the point distance, determine the first scaling factor corresponding to the Z-parameter; and perform fitting processing on the first scaling factor and the Z-parameter to obtain the fixed coefficient and fixed step size of the inspection camera.

[0121] The aforementioned target Z-parameter determination module is also used to determine the target Z-parameter of the inspection camera based on the coordinate frame, fixed coefficients, fixed step size, and the current Z-parameter of the inspection camera; wherein, in the target image of the target video captured under the target Z-parameter, the area occupied by the coordinate frame in the target image meets the preset area threshold.

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

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

[0124] The aforementioned device further includes a second target Z-parameter determination module, used to determine the current zoom level based on the current Z-parameter of the inspection camera, a fixed step size, and a fixed coefficient when the current Z-parameter of the inspection camera is not equal to one; to determine the updated target zoom level based on the target zoom level and the current zoom level; and to determine the target Z-parameter of the inspection camera based on the updated target zoom level, the fixed step size, and the fixed coefficient of the inspection camera.

[0125] The preset position types mentioned above include: equipment appearance preset positions; equipment appearance preset positions include at least one of the following: bird nest, oil stains, dial damage, and rust.

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

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

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

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

[0130] This embodiment calculates the scaling factor under different Z parameters based on function fitting, and the coordinate frame can be scaled to a specified size according to requirements.

[0131] This embodiment does not require model training, reducing time consumption and improving configuration efficiency.

[0132] This embodiment calculates the target P parameters, target T parameters, and target Z parameters using mathematical formulas, resulting in stable performance and avoiding detection errors for irregularly shaped target equipment in substations. Of course, target detection algorithms can also be combined with the algorithm of this embodiment to achieve preset position configuration.

[0133] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system and apparatus described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0134] Furthermore, in the description of the embodiments of this disclosure, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure based on the specific circumstances.

[0135] If the aforementioned functions are implemented as 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 this disclosure, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

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

[0137] Finally, it should be noted that the above embodiments are merely specific implementations of this disclosure, used to illustrate the technical solutions of this disclosure, and not to limit it. The protection scope of this disclosure is not limited thereto. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this disclosure. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this disclosure, and should all be covered within the protection scope of this disclosure. Therefore, the protection scope of this disclosure should be determined by the protection scope of the claims.

Claims

1. A method for configuring preset positions of substation inspection cameras, characterized in that, The method includes: Identify the inspection cameras to be configured in the substation, and control the inspection cameras to capture target videos at each inspection point in the substation; wherein, the inspection cameras have several preset positions to be configured; Determine the coordinate frame selected within the target frame of the target video; wherein the coordinate frame encloses the target device; Based on the coordinate frame, the current P-parameters, current T-parameters, current field of view, and rotation direction of the inspection camera, the target P-parameters and target T-parameters of the inspection camera are determined so as to place the target device in the center area of ​​the target image. 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 image 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 an inspection configuration information for the inspection point; The step of determining the target Z-parameter of the inspection camera based on its current Z-parameter and physical parameters includes: Obtain the fixed coefficient and fixed step size of the inspection camera; Based on the preset region threshold and the coordinate frame, determine the target scaling factor corresponding to the preset region threshold; 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 scaling factor, the fixed step size of the inspection camera, and the fixed coefficient. The method further includes: When the current Z parameter of the inspection camera is not equal to one, the current zoom level is determined based on the current Z parameter of the inspection camera, the fixed step size, and the fixed coefficient. Based on the target scaling factor and the current scaling factor, determine the updated target scaling factor; Based on the updated target scaling factor, the fixed step size and fixed coefficient of the inspection camera, the target Z parameter of the inspection camera is determined.

2. The method according to claim 1, characterized in that, The steps for determining the target P-parameters and target T-parameters of the inspection camera based on the coordinate frame, the current P-parameters, current T-parameters, current field of view, and rotation direction include: Determine 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; 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 parameters of the inspection camera, the target P parameters are determined. The target T parameters are 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 parameters of the inspection camera.

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

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

5. The method according to claim 1, characterized in that, The steps for obtaining the fixed coefficient and fixed step size of the inspection camera include: A first frame is determined from the first video captured by the inspection camera under multiple different Z parameters; For each of the Z parameters in the first frame, determine the point distance between a specified point in the first frame and the center point of the first frame; Based on the point distance, determine the first scaling factor corresponding to the Z parameter; The first scaling factor and the Z parameter are fitted to obtain the fixed coefficient and fixed step size of the inspection camera.

6. The method according to claim 1, characterized in that, In the target video captured under the target Z parameters, the area occupied by the coordinate frame in the target frame satisfies a preset area threshold.

7. The method according to claim 1, characterized in that, The preset position types include: equipment appearance preset positions; the equipment appearance preset positions include at least one of the following: bird nest, oil stains, dial damage, and rust.

8. A configuration system for preset positions of substation inspection cameras, characterized in that, The system includes: The video capture control module is used to determine the inspection cameras to be configured in the substation and control the inspection cameras to capture target videos at each inspection point in the substation; wherein, the inspection cameras have several preset positions to be configured; A coordinate frame determination module is used to determine a coordinate frame selected within the target frame of the target video; wherein the coordinate frame encloses the target device; The target PT parameter determination module is used to determine the target P parameter and target T parameter of the inspection camera based on the coordinate frame, the current P parameter, current T parameter, current field of view and rotation direction, so as to place the target device in the center area of ​​the target image; The target Z-parameter determination module 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 it is determined that the target device will be scaled, so that the proportion of the coordinate frame in the target image 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, and generate a patrol configuration information for the patrol point; The target Z-parameter determination module is also used to obtain the fixed coefficient and fixed step size of the inspection camera; determine the target scaling factor corresponding to the preset area threshold based on the preset area threshold and the coordinate frame; when the current Z-parameter of the inspection camera is equal to one, determine the target Z-parameter of the inspection camera based on the target scaling factor, the fixed step size and fixed coefficient of the inspection camera. The second target Z-parameter determination module is used to determine the current zoom level based on the current Z-parameter of the inspection camera, a fixed step size, and a fixed coefficient when the current Z-parameter of the inspection camera is not equal to one; determine the updated target zoom level based on the target zoom level and the current zoom level; and determine the target Z-parameter of the inspection camera based on the updated target zoom level, the fixed step size, and the fixed coefficient of the inspection camera.

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