Patrol point PTZ parameter rapid configuration method and system in substation patrol system

Abstract

The invention provides a rapid configuration method and system for PTZ parameters of inspection points in a substation inspection system, and the method comprises the steps: importing a virtual scene of a substation into the inspection system, and setting a virtual camera in the virtual scene; wherein the position of the virtual camera in the virtual scene is matched with the position of an inspection camera in the transformer substation; acquiring a reference space position preset by the inspection camera, and determining a virtual reference position corresponding to the reference space position and the position of the inspection point in the virtual scene; obtaining a first PTZ parameter when the virtual camera shoots the virtual reference position; generating a second PTZ parameter corresponding to the inspection point based on the position of the inspection point, the virtual reference position and the first PTZ parameter; and the patrol point and the second PTZ parameter are stored in an associated manner, and patrol configuration information of the patrol point is obtained. According to the mode, the configuration operation of the PTZ parameters is simplified, the configuration efficiency is improved, and the configuration requirements of large-scale inspection points can be met.

Description

Technical Field

[0001] The present disclosure relates to the field of monitoring technology, and in particular to a method and system for quickly configuring PTZ parameters of patrol points in a substation patrol system. Background Art

[0002] The intelligent patrol system monitors the equipment in the substation to realize functions such as equipment status monitoring, defect identification, and temperature detection. The intelligent patrol system uses cameras to capture pictures or record videos to monitor the status of equipment in the substation. In order to facilitate the monitoring of specific locations in the substation, it is necessary to set the preset positions of the camera. In related technologies, manual operation is required to control the rotation of the camera and set the preset positions, and store the PTZ parameters inside the camera. When the area is large and there are many preset positions, the manual operation to set the preset positions is cumbersome and the setting efficiency is low, which makes it difficult to meet the configuration requirements of large-scale patrol points. Summary of the invention

[0003] In view of this, the purpose of the present invention is to provide a method and system for quickly configuring PTZ parameters of patrol points in a substation patrol system, so as to simplify the configuration operation of PTZ parameters, improve configuration efficiency, and meet the configuration requirements of large-scale patrol points.

[0004] In a first aspect, an embodiment of the present disclosure provides a method for quickly configuring the PTZ parameters of patrol points in a substation patrol system, the method comprising: importing a virtual scene of the substation into the patrol system, and setting a virtual camera in the virtual scene; wherein the position of the virtual camera in the virtual scene matches the position of a patrol camera in the substation; obtaining a preset reference space position of the patrol camera, and determining a virtual reference position corresponding to the reference space position, as well as the position of the patrol point in the virtual scene; obtaining a first PTZ parameter when the virtual camera shoots the virtual reference position; generating a second PTZ parameter corresponding to the patrol point based on the position of the patrol point, the virtual reference position and the first PTZ parameter; and associating and saving the patrol point and the second PTZ parameter to obtain patrol configuration information of the patrol point.

[0005] The above-mentioned step of obtaining the first PTZ parameters when the virtual camera shoots the virtual reference position includes: starting the virtual camera and displaying the first shooting picture of the virtual camera; determining the virtual reference position from the first shooting picture, and recording the current first PTZ parameters of the virtual camera.

[0006] The above-mentioned first PTZ parameter includes a first horizontal angle, and the second PTZ parameter includes a second horizontal angle; the above-mentioned step of generating the second PTZ parameter corresponding to the patrol point based on the position of the patrol point, the virtual reference position and the first PTZ parameter includes: determining the relative position of the patrol point and the virtual reference position; and determining the second horizontal angle based on the relative position and the first horizontal angle.

[0007] The step of determining the second horizontal angle based on the relative position and the first horizontal angle includes: determining the first angle variable based on the Y-axis position component and the X-axis position component in the relative position; and superimposing the first angle variable on the first horizontal angle to obtain the second horizontal angle.

[0008] The above-mentioned first PTZ parameter includes a first pitch angle, and the second PTZ parameter includes a second pitch angle; the above-mentioned step of generating the second PTZ parameter corresponding to the patrol point based on the position of the patrol point, the virtual reference position and the first PTZ parameter includes: determining the relative position of the patrol point and the virtual reference position; and determining the second pitch angle based on the relative position and the first pitch angle.

[0009] The step of determining the second pitch angle based on the relative position and the first pitch angle includes: determining a second angle variable based on a Z-axis position component, a Y-axis position component and an X-axis position component in the relative position; and superimposing the second angle variable on the first pitch angle to obtain a second pitch angle.

[0010] The above-mentioned first PTZ parameter includes a first zoom factor, and the second PTZ parameter includes a second zoom factor; the above-mentioned step of generating the second PTZ parameter corresponding to the patrol point based on the position of the patrol point, the virtual reference position and the first PTZ parameter includes: determining the spatial distance between the position of the patrol point and the virtual reference position; generating the second zoom factor based on the spatial distance and the first zoom factor.

[0011] The above-mentioned step of generating the second zoom factor based on the spatial distance and the first zoom factor includes: determining the zoom factor variable based on the spatial distance, the focal length parameter of the inspection camera and the shooting distance parameter of the inspection camera; and superimposing the zoom factor variable on the first zoom factor to obtain the second zoom factor.

[0012] After the above-mentioned step of generating the second PTZ parameters corresponding to the patrol point based on the position of the patrol point, the virtual reference position and the first PTZ parameters, the method also includes: obtaining a second shooting picture of the virtual camera under the second PTZ parameters; adjusting the second PTZ parameters based on the second shooting picture to obtain the adjusted second PTZ parameters.

[0013] In a second aspect, an embodiment of the present disclosure provides a system for quickly configuring PTZ parameters of patrol points in a substation patrol system, the system comprising: a scene import and camera setting module, used to import a virtual scene of the substation into the patrol system, and set a virtual camera in the virtual scene; wherein the position of the virtual camera in the virtual scene matches the position of the patrol camera in the substation; a position acquisition and determination module, used to acquire a preset reference space position of the patrol camera, and determine a virtual reference position corresponding to the reference space position, and the position of the patrol point in the virtual scene; a first parameter acquisition module, used to acquire a first PTZ parameter when the virtual camera shoots the virtual reference position; a second parameter generation module, used to generate a second PTZ parameter corresponding to the patrol point based on the position of the patrol point, the virtual reference position and the first PTZ parameter; an association saving module, used to associate and save the patrol point and the second PTZ parameter to obtain the patrol configuration information of the patrol point.

[0014] The embodiments of the present disclosure bring the following beneficial effects:

[0015] The above provides a method and system for quickly configuring the PTZ parameters of patrol points in a substation patrol system, wherein the method includes: importing the virtual scene of the substation into the patrol system, and setting a virtual camera in the virtual scene; wherein the position of the virtual camera in the virtual scene matches the position of the patrol camera in the substation; obtaining the preset reference space position of the patrol camera, and determining the virtual reference position corresponding to the reference space position and the position of the patrol point in the virtual scene; obtaining the first PTZ parameter when the virtual camera shoots the virtual reference position; based on the position of the patrol point, the virtual reference position and the first PTZ parameter, generating the second PTZ parameter corresponding to the patrol point; associating and saving the patrol point and the second PTZ parameter, obtaining the patrol configuration information of the patrol point. In this method, the virtual scene of the substation is imported into the patrol system, the virtual camera is set in the virtual scene and the virtual reference position is determined, so that the position of the virtual camera and the first PTZ parameter match the patrol camera, and then the second PTZ parameter corresponding to the patrol point is generated according to the position of the patrol point, the virtual reference position and the first PTZ parameter. This method simplifies the configuration operation of the PTZ parameters, improves the configuration efficiency, and can meet the configuration requirements of large-scale patrol points.

[0016] 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.

[0017] 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

[0018] 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.

[0019] Figure 1 A schematic diagram of a method for quickly configuring PTZ parameters of patrol points in a substation patrol system provided by an embodiment of the present disclosure;

[0020] Figure 2 A schematic diagram of a first shooting picture provided by an embodiment of the present disclosure;

[0021] Figure 3 A schematic diagram of a position of a virtual camera, a virtual reference position and positions of patrol points in a virtual space provided by an embodiment of the present disclosure;

[0022] Figure 4 A logic flow chart for quickly configuring PTZ parameters of patrol points in a substation patrol system provided by an embodiment of the present disclosure;

[0023] Figure 5 A logic flow chart of a patrol task process in a patrol system provided by an embodiment of the present disclosure;

[0024] Figure 6 A schematic diagram of a system for quickly configuring PTZ parameters of patrol points in a substation patrol system provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0025] 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.

[0026] At present, the intelligent patrol system monitors the equipment in the substation to realize functions such as equipment status monitoring, defect identification, and temperature detection. The intelligent patrol system uses cameras to capture pictures or record videos to monitor the status of equipment in the substation. However, in the process of applying the intelligent patrol system, the configuration of patrol points has become a technical bottleneck for the promotion of the system. A substation usually needs to be configured with thousands or even tens of thousands of patrol points. In order to facilitate the monitoring of specific locations in the substation, each patrol point needs to accurately set the preset position of the camera.

[0027] In the related art, manual operation is required to control the rotation of the camera and set the preset position, store the PTZ parameters inside the camera, and then associate the preset position with the patrol point in the intelligent patrol system. However, when the area is large and there are many preset positions, the manual operation to set the preset position is cumbersome and inefficient. At the same time, the number of preset positions is limited by the hardware storage capacity of the camera, which is difficult to meet the configuration requirements of large-scale patrol points.

[0028] Based on the above, the embodiments of the present disclosure provide a method and system for quickly configuring PTZ parameters of patrol points in a substation patrol system. This technology can also be applied to petrochemical, coal mine and other scenarios to quickly configure the PTZ parameters of patrol cameras corresponding to patrol points.

[0029] 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 quickly configuring PTZ parameters of patrol points in a substation patrol system in an embodiment of the present disclosure includes:

[0030] Step S101, importing a virtual scene of the substation into the patrol system, and setting a virtual camera in the virtual scene; wherein the position of the virtual camera in the virtual scene matches the position of the patrol camera in the substation;

[0031] 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 configure the PTZ parameters corresponding to the patrol points in batches by loading virtual scenes, calculating PTZ parameters, checking and adjusting PTZ parameters, configuring and storing patrol points, etc. The following execution subject is described by taking a terminal as an example, and the terminal is usually an intelligent management terminal.

[0032] The virtual scene usually refers to a three-dimensional virtual visualization scene of a substation, which includes a three-dimensional virtual model of the substation. In actual implementation, the substation is scanned by laser point cloud to accurately establish a digital twin model of the substation, and then the virtual scene is imported into the patrol system.

[0033] Specifically, the terminal loads the virtual scene and imports the virtual scene of the substation into the patrol system. The virtual scene may specifically include substation equipment, environmental structure, and the layout of virtual cameras, thereby providing digital three-dimensional virtual technical support for the configuration of patrol points.

[0034] Then set the virtual camera in the virtual scene and obtain the three-dimensional coordinates (x camera ,y camera ,z camera ); By adjusting the position of the virtual camera, the position of the virtual camera in the virtual scene matches the position of the inspection camera in the substation.

[0035] Step S102, obtaining a preset reference space position of the inspection camera, and determining a virtual reference position corresponding to the reference space position and a position of the inspection point in the virtual scene;

[0036] The reference spatial position generally refers to the real spatial position corresponding to the reference point at the center of the shooting picture of the inspection camera in the real scene of the substation.

[0037] The virtual reference position generally refers to a virtual space position corresponding to a reference point at the center of a shooting picture of a virtual camera in a virtual scene of a substation; the virtual reference position matches the reference space position.

[0038] Specifically, the terminal controls the inspection camera to start, and displays the shooting picture of the inspection camera on the screen; the user selects a preset reference space position (x base ,y base ,z base ), and according to the reference space position, determine a virtual reference position corresponding to the reference space position in the virtual scene.

[0039] Here, the user can control the terminal device to perform operations, select the target device or target area in the virtual scene, and then determine the location of the patrol point in the virtual scene. For example, the user controls the mouse to click the target device or target area in the virtual scene to add a patrol point, and then the three-dimensional coordinates (x target ,y target ,z target ), and establish the spatial relationship between the patrol points and the virtual reference position of the virtual camera.

[0040] Step S103, obtaining a first PTZ parameter when the virtual camera shoots the virtual reference position;

[0041] Specifically, when the reference point of the center of the shooting picture of the virtual camera matches the virtual space position, the terminal obtains the first PTZ parameter when the virtual camera shoots the virtual reference position. The first PTZ parameter includes a first horizontal angle P1, that is, φ base , which represents the horizontal angle of the camera when shooting the reference space position; the first pitch angle T1, that is, θ base , which indicates the pitch angle of the camera when shooting the reference space position; the first zoom factor Z1, i.e. z base , which indicates the zoom factor when the camera captures the reference space position.

[0042] Step S104, generating a second PTZ parameter corresponding to the patrol point based on the position of the patrol point, the virtual reference position and the first PTZ parameter;

[0043] The second PTZ parameters include a second horizontal angle P2, i.e. φ, which represents the horizontal angle of the camera when shooting the position of the patrol point; a second pitch angle T2, i.e. θ, which represents the pitch angle of the camera when shooting the position of the patrol point; and a second zoom factor Z2, i.e. z, which represents the zoom factor of the camera lens when shooting the position of the patrol point.

[0044] Specifically, the relative position is calculated based on the position of the patrol point and the virtual reference position, and the relative position generally includes an X-axis position component Δx, a Y-axis position component Δy, and a Z-axis position component Δz. Next, the first angle variable is calculated based on the X-axis position component and the Y-axis position component in the relative position and superimposed on the first horizontal angle to obtain the second horizontal angle; the second angle variable is calculated based on the X-axis position component, the Y-axis position component, and the Z-axis position component in the relative position and superimposed on the first pitch angle to obtain the second pitch angle.

[0045] Furthermore, the spatial distance between the patrol point and the virtual reference position is calculated, and then the magnification variable is calculated based on the spatial distance, the focal length parameter of the patrol camera and the shooting distance parameter and superimposed on the first zoom factor to obtain the second zoom factor.

[0046] Here, users can choose whether to adjust the second PTZ parameters based on whether the images captured by the virtual camera under the second PTZ parameters meet expectations; the patrol system supports users to mark key areas, and users can filter multiple images and save the adjusted second PTZ parameters.

[0047] Step S105 , the patrol point and the second PTZ parameter are associated and saved to obtain patrol configuration information of the patrol point.

[0048] Specifically, the terminal associates the patrol point with the second PTZ parameter and stores it in the patrol system to obtain patrol configuration information of the patrol point. The patrol configuration information can be a patrol point configuration table. The patrol point configuration data is stored in a standardized manner through the configuration table to facilitate task calling or docking between systems.

[0049] In one embodiment, the patrol points and the second PTZ parameters in the patrol system are exported as a standard format file, which can be applied to other systems; or, the patrol configuration information is imported from other systems to quickly update or migrate the patrol point data.

[0050] The above provides a method for quickly configuring the PTZ parameters of patrol points in a substation patrol system, which imports a virtual scene of the substation into the patrol system and sets a virtual camera in the virtual scene; wherein the position of the virtual camera in the virtual scene matches the position of the patrol camera in the substation; the preset reference space position of the patrol camera is obtained, and the virtual reference position corresponding to the reference space position and the position of the patrol point are determined in the virtual scene; the first PTZ parameter when the virtual camera shoots the virtual reference position is obtained; based on the position of the patrol point, the virtual reference position and the first PTZ parameter, the second PTZ parameter corresponding to the patrol point is generated; the patrol point and the second PTZ parameter are associated and saved to obtain the patrol configuration information of the patrol point.

[0051] In this method, a virtual scene of the substation is imported into the patrol system, a virtual camera is set in the virtual scene and a virtual reference position is determined, so that the position of the virtual camera and the first PTZ parameter match the patrol camera, and then the second PTZ parameter corresponding to the patrol point is generated according to the position of the patrol point, the virtual reference position and the first PTZ parameter. This method simplifies the configuration operation of the PTZ parameters, improves the configuration efficiency, and can meet the configuration requirements of large-scale patrol points.

[0052] In one method, a virtual camera is started and a first shooting picture of the virtual camera is displayed; a virtual reference position is determined from the first shooting picture, and a current first PTZ parameter of the virtual camera is recorded.

[0053] Specifically, the terminal controls the virtual camera to start, and displays the first shooting picture of the virtual camera on the terminal screen, such as Figure 2 As shown, the user can determine the virtual reference position according to the center point of the first shooting picture, and the virtual reference position matches the preset reference space position of the inspection camera; after determining the virtual reference position, the current first PTZ parameter record of the virtual camera is saved in the inspection system.

[0054] The following embodiment provides a specific implementation method for generating the second PTZ parameter corresponding to the patrol point.

[0055] The first PTZ parameter includes a first horizontal angle, and the second PTZ parameter includes a second horizontal angle. In one embodiment, the relative position between the patrol point and the virtual reference position is determined; and the second horizontal angle is determined based on the relative position and the first horizontal angle.

[0056] The relative position generally refers to the relative coordinates between the position of the patrol point and the virtual reference position, and may specifically include an X-axis position component Δx, a Y-axis position component Δy, and a Z-axis position component Δz.

[0057] like Figure 3 In the example of , in the three-dimensional virtual space, when the virtual camera shoots the virtual reference position, the line between the position of the virtual camera and the virtual reference position is as follows Figure 3 When shooting a tour point, the line between the position of the virtual camera and the position of the tour point is as follows: Figure 3 The projection of the patrol point direction on the XY two-dimensional plane is as follows: Figure 3 Horizontal projection in .

[0058] Specifically, according to the location of the patrol point (x target ,y target ,z target ) and the virtual reference position (x base ,y base ,z base ), calculate the relative position of the patrol point and the virtual reference position, such as the calculation formula: Δx = x target -x base , Δy=y target -y base , Δz=z target -z base .

[0059] Then according to the relative position and the first horizontal angle φ base , and the second horizontal angle φ is calculated.

[0060] Furthermore, based on the Y-axis position component and the X-axis position component in the relative position, a first angle variable is determined; the first angle variable is superimposed on the first horizontal angle to obtain a second horizontal angle.

[0061] Specifically, according to the Y-axis position component Δy and the X-axis position component Δx in the relative position, the angle between the position of the patrol point and the virtual reference position in the horizontal direction is calculated, and the following is obtained: Figure 3 The first angle variable in is calculated as follows: Then the first angle is superimposed on the first horizontal angle to obtain the second horizontal angle, such as the calculation formula:

[0062] In practical applications, the horizontal motion range of the second horizontal angle needs to be corrected to the horizontal motion range of the camera, that is, 0 degrees to 360 degrees.

[0063] The first PTZ parameter includes a first pitch angle, and the second PTZ parameter includes a second pitch angle. In one embodiment, the relative position between the patrol point and the virtual reference position is determined; and the second pitch angle is determined based on the relative position and the first pitch angle.

[0064] Specifically, the relative positions Δx, Δy, and Δz between the positions of the patrol points and the virtual reference position are calculated according to the positions of the patrol points and the virtual reference position.

[0065] Then according to the relative position and the first pitch angle θ base , the second pitch angle θ is calculated.

[0066] Furthermore, based on the Z-axis position component, the Y-axis position component and the X-axis position component in the relative position, a second angle variable is determined; and the second angle variable is superimposed on the first pitch angle to obtain a second pitch angle.

[0067] Specifically, the included angle between the position of the patrol point and the virtual reference position in the vertical direction is calculated according to the Z-axis position component Δz, the Y-axis position component Δy and the X-axis position component Δx in the relative position, and the angle is obtained as follows: Figure 3 The second angle variable in is calculated as follows: Then the second angle is superimposed on the first pitch angle to obtain the second pitch angle, such as the calculation formula:

[0068] In practical applications, the vertical motion range of the second pitch angle needs to be corrected to the vertical motion range of the camera, that is, from negative 90 degrees to positive 90 degrees.

[0069] The first PTZ parameter includes a first zoom factor, and the second PTZ parameter includes a second zoom factor. In one embodiment, a spatial distance between the position of the patrol point and the virtual reference position is determined; and a second zoom factor is generated based on the spatial distance and the first zoom factor.

[0070] Specifically, according to the position of the patrol point and the virtual reference position, the spatial distance between the position of the patrol point and the virtual reference position is calculated, such as the calculation formula is:

[0071] Then according to the spatial distance and the first zoom factor z base , calculate and obtain the second zoom factor z.

[0072] Furthermore, based on the spatial distance, the focal length parameter of the inspection camera and the shooting distance parameter of the inspection camera, a magnification variable is determined; the magnification variable is superimposed on the first zoom magnification to obtain a second zoom magnification.

[0073] The focal length parameter may specifically include the minimum focal length z of the optical zoom parameter of the camera. min and maximum focal length z max ; The shooting distance parameter may specifically include the farthest distance d that the camera can shoot max and the closest distance d min .

[0074] Specifically, the second zoom factor can be calculated by linear interpolation. Here, a multiplication operation is performed according to the spatial distance d, the focal length parameter of the inspection camera, and the shooting distance parameter of the inspection camera to obtain a multiple variable, such as the calculation formula: Then the second zoom factor variable is added to the first zoom factor to obtain the second zoom factor, such as the calculation formula:

[0075] In practical applications, it is necessary to ensure that the second zoom factor is within the zoom range of the camera.

[0076] In one method, a second shooting picture of the virtual camera under a second PTZ parameter is obtained; based on the second shooting picture, the second PTZ parameter is adjusted to obtain the adjusted second PTZ parameter.

[0077] That is to say, when the shooting picture displayed on the terminal screen does not meet the user's shooting expectations for the patrol points, the user can adjust the PTZ parameters corresponding to the patrol points in the patrol system.

[0078] Specifically, the patrol system retrieves the second PTZ parameter corresponding to the patrol point, displays the second shooting picture on the terminal screen, and displays the parameter adjustment control and the confirmation control. If the user confirms that the second shooting picture meets expectations, the user can click the confirmation control; if the second PTZ parameter does not meet expectations, the user can enter the correction parameter Δφ to adjust the second horizontal angle to φ+Δφ, or enter the correction parameter Δθ to adjust the second pitch angle to θ+Δθ, or enter the correction parameter Δz to adjust the second zoom factor to z+Δz. And, after the user clicks the confirmation control, the adjusted second PTZ parameter record is saved in the patrol system as the final configuration data of the patrol point.

[0079] In one embodiment, if Figure 4 As shown in the figure, the logical process of quick configuration of PTZ parameters of patrol points in the substation patrol system is introduced.

[0080] Step S401, loading a three-dimensional virtual scene of a substation;

[0081] Specifically, the digital twin model of the substation generated by laser point cloud scanning is imported into the patrol system, and the three-dimensional virtual scene of the substation is loaded, which includes all equipment, environmental structure and camera layout in the substation.

[0082] Step S402, configuring the virtual camera position and determining the virtual reference position;

[0083] Specifically, the virtual camera in the three-dimensional virtual scene is adjusted to make its position consistent with the actual device layout, and the virtual reference position coordinates and the first PTZ parameters when the virtual camera shoots the virtual reference position are recorded.

[0084] Step S403, adding a patrol point;

[0085] Specifically, the user controls the mouse to click on the target device or target area in the virtual scene, adds a patrol point in the scene, and records the three-dimensional coordinates of the patrol point.

[0086] Step S404, calculating a second PTZ parameter;

[0087] Specifically, the second PTZ parameter of the patrol point is automatically calculated according to the spatial relationship between the patrol point and the virtual reference position.

[0088] Step S405, checking and adjusting the second PTZ parameter;

[0089] Specifically, the patrol system displays the second shooting picture corresponding to the current patrol point in real time for the user to confirm whether the coverage range is appropriate. The user can verify the second shooting picture of the virtual camera corresponding to each patrol point and adjust the second PTZ parameters as needed; the patrol system supports users to mark key areas, filter the best views and save the adjusted parameters.

[0090] Step S406, determining whether the second shot image meets expectations; if so, executing the next step S407; if not, executing the next step S405;

[0091] Step S407, the patrol point is associated with the second PTZ parameter and stored;

[0092] Specifically, the three-dimensional coordinates of the patrol points are associated with the calculated or adjusted second PTZ parameters and stored to form a patrol point configuration table.

[0093] Step S408, data import and export;

[0094] Specifically, it supports exporting patrol points and PTZ parameters into standard format files; and supports importing configuration data from external files to quickly update or migrate patrol points.

[0095] Step S409, end.

[0096] In one embodiment, if Figure 5 As shown, the process of running patrol tasks in the patrol system is introduced in detail.

[0097] Step S501, loading patrol tasks;

[0098] Specifically, the points that need to be inspected are loaded through the inspection system.

[0099] Step S502, establishing a communication connection with the inspection camera;

[0100] Specifically, a communication connection is established with the inspection camera, and preparation is made to adjust the inspection camera to locate the inspection point.

[0101] Step S503, the inspection camera locates and photographs the inspection point;

[0102] Specifically, during the patrol process, the patrol camera rotates and positions according to the current patrol point and the calculated second PTZ parameter, and shoots a picture including the patrol point.

[0103] Step S504, data storage and analysis;

[0104] Specifically, the image data obtained during the inspection process is saved and preliminarily processed or subsequently analyzed.

[0105] Step S505, dynamic adjustment;

[0106] Specifically, during the execution of the task, if there is a situation where the patrol point is not covered or the data collection is abnormal, the patrol system can dynamically adjust the parameters of the patrol camera.

[0107] Step S506, determine whether the data is abnormal; if the data is abnormal, then execute the next step S505; if the data is not abnormal, then execute the next step S507;

[0108] Step S507, determine whether the patrol task is completed; if the patrol task is completed, then execute the next step S508; if the patrol task is not completed, then execute the next step S503;

[0109] Step S508, generating a patrol report;

[0110] Specifically, after completing the inspection tasks of all inspection points, the inspection system generates an inspection report.

[0111] Step S509, end.

[0112] Corresponding to the above method embodiment, see Figure 6 A schematic diagram of a method for quickly configuring PTZ parameters of patrol points in a substation patrol system is shown, and the system includes:

[0113] The scene import and camera setting module 601 is used to import the virtual scene of the substation into the patrol system and set a virtual camera in the virtual scene; wherein the position of the virtual camera in the virtual scene matches the position of the patrol camera in the substation;

[0114] The position acquisition and determination module 602 is used to acquire the reference space position preset by the inspection camera, and determine the virtual reference position corresponding to the reference space position and the position of the inspection point in the virtual scene;

[0115] A first parameter acquisition module 603, used to acquire a first PTZ parameter when the virtual camera shoots a virtual reference position;

[0116] A second parameter generating module 604, configured to generate a second PTZ parameter corresponding to the patrol point based on the position of the patrol point, the virtual reference position and the first PTZ parameter;

[0117] The associated saving module 605 is used to associate and save the patrol point and the second PTZ parameter to obtain patrol configuration information of the patrol point.

[0118] The above provides a system for quickly configuring the PTZ parameters of patrol points in a substation patrol system, which imports a virtual scene of the substation into the patrol system and sets a virtual camera in the virtual scene; wherein the position of the virtual camera in the virtual scene matches the position of the patrol camera in the substation; obtains the preset reference space position of the patrol camera, and determines the virtual reference position corresponding to the reference space position and the position of the patrol point in the virtual scene; obtains the first PTZ parameter when the virtual camera shoots the virtual reference position; generates the second PTZ parameter corresponding to the patrol point based on the position of the patrol point, the virtual reference position and the first PTZ parameter; associates and saves the patrol point and the second PTZ parameter to obtain the patrol configuration information of the patrol point.

[0119] In this method, a virtual scene of the substation is imported into the patrol system, a virtual camera is set in the virtual scene and a virtual reference position is determined, so that the position of the virtual camera and the first PTZ parameter match the patrol camera, and then the second PTZ parameter corresponding to the patrol point is generated according to the position of the patrol point, the virtual reference position and the first PTZ parameter. This method simplifies the configuration operation of the PTZ parameters, improves the configuration efficiency, and can meet the configuration requirements of large-scale patrol points.

[0120] The first parameter acquisition module is further used to start the virtual camera and display the first shooting picture of the virtual camera; determine the virtual reference position from the first shooting picture, and record the current first PTZ parameter of the virtual camera.

[0121] The first PTZ parameter includes a first horizontal angle, and the second PTZ parameter includes a second horizontal angle; the second parameter generation module is further used to determine the relative position between the patrol point and the virtual reference position; and determine the second horizontal angle based on the relative position and the first horizontal angle.

[0122] The above-mentioned second parameter generation module is also used to determine the first angle variable based on the Y-axis position component and the X-axis position component in the relative position; and superimpose the first angle variable on the first horizontal angle to obtain the second horizontal angle.

[0123] The first PTZ parameter includes a first pitch angle, and the second PTZ parameter includes a second pitch angle; the second parameter generation module is further used to determine the relative position between the patrol point and the virtual reference position; based on the relative position and the first pitch angle, the second pitch angle is determined.

[0124] The above-mentioned second parameter generation module is also used to determine the second angle variable based on the Z-axis position component, the Y-axis position component and the X-axis position component in the relative position; and superimpose the second angle variable on the first pitch angle to obtain the second pitch angle.

[0125] The first PTZ parameter includes a first zoom factor, and the second PTZ parameter includes a second zoom factor. The second parameter generation module is further used to determine the spatial distance between the position of the patrol point and the virtual reference position; and to generate the second zoom factor based on the spatial distance and the first zoom factor.

[0126] The second parameter generation module is also used to determine the magnification variable based on the spatial distance, the focal length parameter of the inspection camera and the shooting distance parameter of the inspection camera; and superimpose the magnification variable on the first zoom factor to obtain the second zoom factor.

[0127] The above device also includes a second parameter adjustment module, which is used to obtain a second shooting picture of the virtual camera under the second PTZ parameters; based on the second shooting picture, adjust the second PTZ parameters to obtain the adjusted second PTZ parameters.

[0128] The above-mentioned embodiments of the present disclosure improve the efficiency and accuracy of substation patrol point configuration by introducing three-dimensional scene interaction, camera model configuration and PTZ parameter verification and adjustment, and have the following advantages and beneficial effects.

[0129] In this embodiment, by using a three-dimensional visualized virtual scene, the user can add a new patrol point in the patrol system by clicking on the patrol point, without manually controlling the camera to adjust the viewing angle, thereby improving the patrol point configuration efficiency.

[0130] This embodiment directly stores the PTZ parameters of the patrol points, and is not limited by the number of preset positions stored; it supports the configuration of any number of patrol points, and meets the actual needs of large-scale, multiple patrol point scenes.

[0131] In this embodiment, the patrol system generates PTZ parameters by combining the patrol point coordinates and virtual reference positions in the three-dimensional virtual scene to ensure that the coverage of each patrol point meets the requirements; the user can view the images of the patrol points in real time and fine-tune the parameters as needed to avoid overlapping shots or missing target areas.

[0132] This embodiment adopts a three-dimensional visual interactive interface, and the user can quickly select the patrol point by clicking on the device or the target area. The operation is intuitive and convenient, which optimizes the user's operating experience.

[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 quickly configuring PTZ parameters of patrol points in a substation patrol system, characterized in that: The method comprises: Importing a virtual scene of the substation into the patrol system, and setting a virtual camera in the virtual scene; wherein the position of the virtual camera in the virtual scene matches the position of the patrol camera in the substation; Acquire a preset reference space position of the inspection camera, and determine a virtual reference position corresponding to the reference space position and a position of a patrol point in the virtual scene; Acquire a first PTZ parameter when the virtual camera shoots the virtual reference position; generating a second PTZ parameter corresponding to the patrol point based on the position of the patrol point, the virtual reference position and the first PTZ parameter; The patrol point and the second PTZ parameter are associated and saved to obtain patrol configuration information of the patrol point.

2. The method according to claim 1, characterized in that: The step of obtaining a first PTZ parameter when the virtual camera shoots the virtual reference position comprises: Starting the virtual camera and displaying a first shot image of the virtual camera; The virtual reference position is determined from the first shooting picture, and the current first PTZ parameter of the virtual camera is recorded.

3. The method according to claim 1, characterized in that The first PTZ parameter includes a first horizontal angle, and the second PTZ parameter includes a second horizontal angle; The step of generating a second PTZ parameter corresponding to the patrol point based on the position of the patrol point, the virtual reference position and the first PTZ parameter comprises: Determining the relative position of the patrol point and the virtual reference position; Based on the relative position and the first horizontal angle, a second horizontal angle is determined.

4. The method according to claim 3, characterized in that The step of determining a second horizontal angle based on the relative position and the first horizontal angle comprises: Determine a first angle variable based on the Y-axis position component and the X-axis position component in the relative position; The first angle variable is added to the first horizontal angle to obtain a second horizontal angle.

5. The method according to claim 1, characterized in that The first PTZ parameter includes a first pitch angle, and the second PTZ parameter includes a second pitch angle; The step of generating a second PTZ parameter corresponding to the patrol point based on the position of the patrol point, the virtual reference position and the first PTZ parameter comprises: Determining the relative position of the patrol point and the virtual reference position; Based on the relative position and the first pitch angle, a second pitch angle is determined.

6. The method according to claim 5, characterized in that The step of determining a second pitch angle based on the relative position and the first pitch angle comprises: Determine a second angle variable based on the Z-axis position component, the Y-axis position component and the X-axis position component in the relative position; The second angle variable is added to the first pitch angle to obtain a second pitch angle.

7. The method according to claim 1, characterized in that The first PTZ parameter includes a first zoom factor, and the second PTZ parameter includes a second zoom factor; The step of generating a second PTZ parameter corresponding to the patrol point based on the position of the patrol point, the virtual reference position and the first PTZ parameter comprises: Determining a spatial distance between the position of the patrol point and the virtual reference position; A second zoom factor is generated based on the spatial distance and the first zoom factor.

8. The method according to claim 7, characterized in that The step of generating a second zoom factor based on the spatial distance and the first zoom factor comprises: Determine a multiple variable based on the spatial distance, a focal length parameter of the inspection camera, and a shooting distance parameter of the inspection camera; The magnification variable is added to the first zoom magnification to obtain a second zoom magnification.

9. The method according to claim 1, characterized in that: After the step of generating a second PTZ parameter corresponding to the patrol point based on the position of the patrol point, the virtual reference position and the first PTZ parameter, the method further includes: Acquire a second shooting picture of the virtual camera under the second PTZ parameter; Based on the second shooting picture, the second PTZ parameters are adjusted to obtain the adjusted second PTZ parameters.

10. The PTZ parameter quick configuration system for patrol points in the substation patrol system is characterized by: The system comprises: The scene import and camera setting module is used to import the virtual scene of the substation into the patrol system and set a virtual camera in the virtual scene; wherein the position of the virtual camera in the virtual scene matches the position of the patrol camera in the substation; A position acquisition and determination module, used to acquire a preset reference space position of the inspection camera, and determine a virtual reference position corresponding to the reference space position and a position of a patrol point in the virtual scene; A first parameter acquisition module, used for acquiring a first PTZ parameter when the virtual camera shoots the virtual reference position; A second parameter generating module, configured to generate a second PTZ parameter corresponding to the patrol point based on the position of the patrol point, the virtual reference position and the first PTZ parameter; The associated saving module is used to associate and save the patrol point and the second PTZ parameter to obtain the patrol configuration information of the patrol point.

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