Automatic equipment monitoring method and system based on spatial position of camera

Abstract

The invention discloses an automatic equipment monitoring method and system based on the spatial position of a camera, and relates to the technical field of security monitoring, and the method comprises the steps: building a scene digital model corresponding to a real scene based on the deployment information of the real scene; acquiring power equipment or an equipment area to be viewed in a real scene, and acquiring a nearest virtual camera in the field of the power equipment or the equipment area in the scene digital model by using a neighborhood domain search algorithm; adjusting attribute information and spatial position information of the nearest virtual camera and the real camera to be consistent; calculating to obtain a rotation angle of the power equipment or the equipment area which can be monitored by the virtual camera in the scene digital model, and regulating and controlling a real camera corresponding to the virtual camera by using the rotation angle; the simple and direct interaction of the monitoring equipment is realized based on the spatial position relationship between the camera and the equipment, and the time for setting a preset position and adjusting the position of the camera to check the monitoring equipment is effectively saved.

Description

Technical Field

[0001] The present invention relates to the technical field of security monitoring, and more specifically, to a method and system for automatically monitoring equipment based on the spatial position of a camera. Background Art

[0002] In the security field, a large number of surveillance cameras need to be deployed to monitor equipment, environment and personnel. Especially in the power industry, a large number of surveillance cameras are deployed in business applications such as transmission, transformation and distribution. At the same time, it is necessary to set preset positions for the surveillance cameras so that they can be quickly reached when problems occur or when they are checked. For the preset position setting of surveillance cameras, an average of about 200 preset positions are set for one camera, which is a huge workload. At the same time, if no preset positions are set, manual setting is required, which takes a lot of time.

[0003] At present, the security field is mainly based on surveillance cameras, combined with preset positions for image analysis, etc.; with the development of technology, in today's digital information development, combined with the three-dimensional application of substations, by associating the location information of the camera, selecting the device you want to view on the three-dimensional model, the camera automatically rotates to the relevant position and displays the picture. More and more people have made such demands.

[0004] In order to overcome the technical difficulties, a monitoring method based on automatic camera management is proposed to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to provide a method and system for automatic monitoring of equipment based on the spatial position of a camera, which solves the problem that in practical applications, a monitoring camera needs to set a preset position in order to quickly locate the equipment position image, and effectively saves the time for setting the preset position and adjusting the camera position.

[0006] The above technical objectives of the present invention are achieved through the following technical solutions:

[0007] In a first aspect, an embodiment of the present application provides a method for automatically monitoring a device based on a spatial position of a camera, comprising the following steps:

[0008] Obtaining the property information and spatial location information of the surveillance cameras deployed in the real scene, as well as the device information and device location information of the monitored devices in the real scene;

[0009] Based on the deployment information of the real scene, a scene digital model corresponding to the real scene is established, and the deployment information includes attribute information, spatial location information, device information and device location information;

[0010] Obtain the power equipment or equipment area to be viewed in the real scene, and based on the scene digital model, use the neighboring domain search algorithm to obtain the virtual camera closest to the power equipment or equipment area in the scene digital model;

[0011] Acquire the attribute information and spatial position information of the real camera corresponding to the nearest virtual camera in the real scene, and adjust the attribute information and spatial position information of the nearest virtual camera to be consistent with that of the real camera;

[0012] Based on the scene digital model, the rotation angle of the virtual camera in the scene digital model that can monitor the power equipment or equipment area is calculated, and the rotation angle is used to adjust the real camera corresponding to the virtual camera.

[0013] The beneficial effects of the present invention are as follows: in this solution, a corresponding scene digital model is constructed by acquiring the attribute information and spatial position information of the monitoring camera in the real scene, as well as the device information and device position information of the monitored device. By simulating camera selection, angle adjustment, etc. in the scene digital model, and controlling the real camera existing in the real scene through the simulation results, simple and direct interaction with the monitoring device is achieved, effectively saving the time of setting preset positions and adjusting the camera position to view the monitoring device.

[0014] In this solution, the correspondence between the real surveillance camera position and the virtual surveillance camera spatial position is analyzed and calculated; the spatial position information of the device or the spatial position information of the device area to be viewed is selected, and the surveillance cameras in the vicinity of the device or the device area are automatically obtained. At the same time, the spatial position information and attribute information of the surveillance camera are obtained, and the rotation angle between the surveillance camera and the power equipment or the equipment area is calculated, so as to control the real camera to rotate to the device or area and display the surveillance picture; it effectively solves the problem of not setting a preset position, without manual adjustment, by selecting the device or area to be viewed, the camera automatically rotates to the device or area and displays the video picture, and can effectively save the time required to manually rotate the picture when viewing the camera.

[0015] In this solution, the real surveillance camera is mainly controlled by means of a virtual camera. The angle and focal length to be rotated are obtained by calculation based on the spatial position of the camera and the spatial position of the monitored device. Then, the real camera is driven to perform corresponding angle conversion and zoom operations to achieve the function of freely converting the camera lens based on the monitoring device. First, the device can be quickly viewed. Second, the accuracy of the function can be verified through actual application. Third, the error between the virtual and the real is within the range of 30mm. At the same time, combined with manual operation, the device to be monitored can be viewed from a distance, as a whole, locally, and in detail according to the actual situation.

[0016] Based on the above technical solution, the present invention can also be improved as follows.

[0017] Furthermore, in the above-mentioned process of establishing a scene digital model corresponding to a real scene, it further includes: establishing an association relationship between each virtual camera and a corresponding real camera, wherein the association relationship includes at least a spatial position relationship, an angle error relationship and a focal length relationship, specifically:

[0018] In a real scene, the initial state of each real camera is determined by a preset default preset position or a default watch position;

[0019] Based on the initial state of each real camera, the initial state of each virtual camera is set in the scene digital model to be consistent with the corresponding real camera, and the initial state at least includes spatial position, horizontal angle, vertical angle, and focal length;

[0020] Based on the Cartesian coordinate system preset by each virtual camera, an association relationship is established between each virtual camera and the corresponding real camera. The specific association relationship is:

[0021]

[0022] Where POS′ represents the spatial position of the virtual camera, pos represents the spatial position of the real camera; VER ′ Indicates the vertical angle of the virtual camera, ver indicates the vertical angle of the real camera, vAngle indicates the deviation value of the vertical angle, HOR′ indicates the horizontal angle of the virtual camera, hor indicates the horizontal angle of the real camera, hAngle indicates the deviation value of the horizontal angle, FOCUS ′ Represents the focal length of the virtual camera, zoom represents the zoom factor of the real camera, and minFocus represents the minimum focal length of the real camera.

[0023] Furthermore, the above-obtained attribute information and spatial position information of the real camera corresponding to the virtual camera in the real scene are specifically:

[0024] Based on the power equipment or equipment area to be viewed, obtain the equipment information and equipment location information of the power equipment or equipment area in the scene digital model;

[0025] A virtual camera that is closest to the power equipment or equipment area and takes into account direction is obtained in the scene digital model by using a neighboring domain search algorithm, and attribute information and spatial position information of a real camera corresponding to the virtual camera is obtained in the real scene;

[0026] Based on the association relationship, according to the attribute information and spatial position information of the virtual camera, and the attribute information and spatial position information of the corresponding real camera, the angle deviation between the virtual camera and the corresponding real camera is calculated, and the angle deviation includes a vertical angle deviation value and a horizontal angle deviation value;

[0027] The angle deviation is used to adjust the virtual camera in the digital model of the scene.

[0028] Furthermore, the virtual camera that is closest to the power equipment or equipment area and takes into account the directionality is obtained in the scene digital model by using the neighboring domain search algorithm, specifically:

[0029] Searching for a first camera closest to the power equipment or the equipment area in the scene digital model according to the equipment information and equipment location information of the power equipment or the equipment area to be viewed;

[0030] According to the spatial position information of the first camera and the device position information of the power device or the device area, it is determined whether the first camera and the power device or the device area are in the same direction. If not, a new first camera is searched again, and the new first camera is different from the first camera, until the new first camera and the power device or the device area are in the same direction;

[0031] If the first camera and the power equipment or equipment area are in the same direction, determine whether the monitoring angle of the first camera is blocked, and if so, search again to obtain a new first camera, and the new first camera is different from the first camera, until the monitoring angle of the new first camera is not blocked and can fully view the whole picture of the power equipment or equipment area;

[0032] Determine whether multiple first cameras are needed for joint monitoring based on the category of the power equipment or equipment area. If so, search for a preset number of multiple first cameras in the scene digital model based on the distance, and determine the same direction and monitoring angle of view for the multiple first cameras until the multiple first cameras meet the conditions of the same direction and unobstructed monitoring angle of view, and determine the multiple first cameras as the virtual cameras with the closest distance and taking into account the direction; if not, determine the first camera that meets the conditions of the same direction and unobstructed monitoring angle of view as the virtual camera with the closest distance and taking into account the direction.

[0033] Furthermore, the above determination of the same direction and monitoring angle of the first camera is specifically as follows:

[0034]

[0035] In the formula, distance represents the distance between the power equipment and the surrounding surveillance cameras, cameraPos represents the spatial position information of the virtual surveillance camera, devPos represents the spatial position information of the monitored virtual power equipment, dirForward represents the directional position relationship between the virtual camera and the power equipment; dir represents the spatial position relationship between the virtual surveillance camera and the virtual power equipment, cameraPos i It represents the spatial position information of the i-th virtual surveillance camera when there are multiple surveillance cameras around the power equipment, where distance determines the distance between the first camera and the power equipment or the equipment area, dirForward>0 means that in the scene digital model, the first camera and the power equipment or the equipment area are face to face, otherwise they are back to back; dir>0 means that in the scene digital model, the power equipment is on the right side of the surveillance camera, otherwise it is on the left side.

[0036] Furthermore, the above method also includes:

[0037] Based on the spatial position information of the virtual camera adjusted by using the angle deviation, combined with the equipment information and equipment position information of the power equipment or equipment area, the zoom factor and focal length of the virtual camera are calculated, and the attribute information includes the zoom factor and focal length;

[0038] Based on the zoom factor and focal length of the virtual camera, adjust the property information of the corresponding real camera;

[0039] The specific magnification factor and focal length are:

[0040]

[0041]

[0042] In the formula, dis represents the distance between the lens of the virtual camera and the power equipment or equipment area; sensory represents the vertical size of the lens imaging of the virtual camera; height represents the height of the power equipment or equipment area; FOCUS ′ Indicates the focal length of the virtual camera; minFocus indicates the minimum focal length in the focal length range; zoom indicates the magnification factor.

[0043] Furthermore, the above rotation angle includes vertical rotation and horizontal rotation; wherein, based on the scene digital model, the position of the real camera is obtained, the position of the real camera is simulated in the virtual scene, and the rotation angle and zoom factor from the virtual camera to the power equipment or equipment area in the scene digital model are calculated, specifically:

[0044]

[0045] Wherein, zoom represents the zoom factor, focus represents the focal length of the real camera, minFocus represents the minimum focal length within the focal length range of the real camera, verUP represents the vertical positive direction of the virtual camera lens, which changes with the rotation of the camera, verPos represents the spatial position information of the lens in the virtual camera, verPos.Y represents the Y value of the coordinate of the lens in the virtual scene in the digital scene, verPos.X represents the X value of the coordinate of the lens in the virtual scene in the digital scene, devPos represents the spatial position information of the virtual power device in the digital scene, devPos.Y represents the Y value of the coordinate of the virtual power device in the digital scene, devPos.X represents the X value of the coordinate of the virtual power device in the digital scene, horForward represents the horizontal positive direction of the virtual camera lens, which changes with the rotation of the virtual camera, horPos represents the horizontal spatial position information of the lens in the virtual camera, and VER ′ Indicates the vertical rotation angle of the virtual camera, HOR ′ Represents the horizontal rotation angle of the virtual camera, y represents the direction of the normal vector between the virtual camera lens and the spatial position of the power equipment, dirUP represents the vertical rotation direction, where dirUP>0 represents upward rotation, and dirUP<0 represents downward rotation; dirHor represents the horizontal rotation direction, where dirHor>0 represents right rotation, and dirHor<0 represents left rotation.

[0046] In a second aspect, an embodiment of the present application provides an automatic device monitoring system based on the spatial position of a camera, which is applied to an automatic device monitoring method based on the spatial position of a camera in any one of the first aspects, including:

[0047] The first module is used to obtain the attribute information and spatial location information of the surveillance cameras deployed in the real scene, as well as the device information and device location information of the monitored devices in the real scene;

[0048] The second module is used to establish a scene digital model corresponding to the real scene based on the deployment information of the real scene, and the deployment information includes attribute information, spatial location information, device information and device location information;

[0049] The third module is used to obtain the power equipment or equipment area to be viewed in the real scene, and based on the scene digital model, use the neighboring domain search algorithm to obtain the virtual camera closest to the field of the power equipment or equipment area in the scene digital model;

[0050] The fourth module is used to obtain the attribute information and spatial position information of the real camera corresponding to the nearest virtual camera in the real scene, and adjust the attribute information and spatial position information of the nearest virtual camera to be consistent with that of the real camera;

[0051] The fifth module is used to calculate the rotation angle of the virtual camera in the scene digital model based on the scene digital model so that the virtual camera can monitor the power equipment or equipment area, and use the rotation angle to adjust the real camera corresponding to the virtual camera.

[0052] In a third aspect, an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any one of the methods in the first aspect when executing the computer program.

[0053] In a fourth aspect, an embodiment of the present application provides a non-transitory computer-readable storage medium, which stores computer instructions, and the computer instructions enable a computer to execute any one of the methods in the first aspect.

[0054] Compared with the prior art, the present invention has at least the following beneficial effects:

[0055] In the present application, the corresponding scene digital model is constructed by acquiring the attribute information and spatial position information of the monitoring camera in the real scene, as well as the device information and device position information of the monitored device. By simulating camera selection, angle adjustment, etc. in the scene digital model, and controlling the real camera existing in the real scene through the simulation results, simple and direct interaction with the monitoring equipment is achieved, effectively saving the time of setting preset positions and adjusting camera positions to view the monitoring equipment.

[0056] In the present application, the correspondence between the real surveillance camera position and the virtual surveillance camera spatial position is analyzed and calculated; the spatial position information of the device or the spatial position information of the device area to be viewed is selected, and the surveillance cameras in the vicinity of the device or the device area are automatically obtained. At the same time, the spatial position information and attribute information of the surveillance camera are obtained, and the rotation angle between the surveillance camera and the power equipment or the equipment area is calculated, so as to control the real camera to rotate to the device or area and display the monitoring picture; it effectively solves the problem of not setting a preset position, and there is no need for manual adjustment. By selecting the device or area to be viewed, the camera automatically rotates to the device or area and displays the video picture, and can effectively save the time required to manually rotate the picture when viewing the camera.

[0057] In this application, the real surveillance camera is mainly controlled by means of a virtual camera. The spatial position of the camera and the spatial position of the monitored device are combined to obtain the angle and focal length to be rotated through calculation, and then the real camera is driven to perform corresponding angle conversion and zoom operations to achieve the effect of freely switching the camera lens based on the monitoring device; first, the device can be quickly viewed; second, the accuracy of the function is verified through actual application; third, the error between the virtual and the real is within the range of 30mm; at the same time, combined with manual operation, the equipment to be monitored can be viewed from a distance, as a whole, locally and in detail according to actual conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings:

[0059] Figure 1 A method flow chart of a monitoring method in an embodiment of the present invention;

[0060] Figure 2 A connection diagram of a monitoring system in an embodiment of the present invention;

[0061] Figure 3 Schematic diagram of the connection of electronic equipment in an embodiment of the present invention. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0063] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0064] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0065] In the description of the embodiments of the present invention, "plurality" means at least 2.

[0066] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with examples and drawings. The illustrative implementation scheme of the present application and its description are only used to explain the present application and are not intended to limit the present application.

[0067] At present, in the field of security, especially in the power industry, thousands of surveillance cameras are deployed every year, including dome cameras, pan / tilt cameras and gun cameras. Dome cameras and pan / tilt cameras in particular support at least 300 preset positions. In a 500kV substation, hundreds of dome cameras and pan / tilt cameras are deployed, and each device is set with 200 preset positions. It basically takes one to two months, and this arduous task can only be completed with the cooperation of two people.

[0068] With the development of business, devices that did not need to be checked before now need to be checked frequently. However, due to the large number of devices, there is no preset position to set, which requires manual adjustment, and the average adjustment time is 3 to 5 minutes. In this case, how to quickly locate the device has put forward higher requirements for the use of surveillance cameras, and it also creates a very inconvenient impression for users. Therefore, we put forward a demand, is there a way to quickly locate the device you want to check without setting a preset position? We surveyed the mainstream manufacturers of surveillance cameras, including Hikvision and Dahua, and they all expressed support for combining digital models to achieve it.

[0069] Based on this, the present invention provides an automatic equipment monitoring method and system based on the spatial position of the camera. A lot of digital modeling is also done in combination with the substation. In the virtual scene, combined with the spatial position relationship between the virtual camera and the monitored equipment, its rotation angle and zoom parameters can be automatically calculated. At the same time, by interacting with the real camera and controlling the real camera to perform corresponding operations, automatic camera monitoring can be achieved, which effectively saves the time of operation and maintenance personnel in setting preset positions and improves operation and maintenance efficiency.

[0070] Embodiment 1:

[0071] This embodiment provides a method for automatically monitoring equipment based on the spatial position of a camera. Figure 1 As shown, the following steps are included:

[0072] S1, obtaining the attribute information and spatial location information of the surveillance cameras deployed in the real scene, as well as the device information and device location information of the monitored devices in the real scene.

[0073] Among them, the attribute information of the monitoring camera may include the monitoring camera ID, name, IP, port number, user name, password, number of preset points, focal length, model, sensor type, CCD size information, pixels, magnification, focal length range, field of view angle range, horizontal range, vertical range, digital model ID, manufacturer, production date, etc.; the spatial position information of the monitoring camera may include coordinate information, horizontal angle, vertical angle, camera magnification factor, height of the monitoring camera, etc.; the equipment information of the monitored device may include equipment ID, equipment name, equipment type, equipment manufacturer, equipment owner, equipment production date, equipment installation date, digital model ID, substation to which it belongs, etc.; the equipment location information of the monitored device may include location coordinate information, equipment angle, direction, size, height, etc.

[0074] S2, based on the deployment information of the real scene, a scene digital model corresponding to the real scene is established, and the deployment information includes attribute information, spatial location information, device information and device location information.

[0075] Among them, the constructed scene digital model is a 1:1 model of the substation equipment and its spatial position relationship with all equipment. The monitoring cameras, power equipment, equipment areas, etc. are all constructed 1:1 according to the actual situation.

[0076] Optionally, in the above-mentioned process of establishing a scene digital model corresponding to a real scene, the process further includes: establishing an association relationship between each virtual camera and a corresponding real camera, wherein the association relationship includes at least a spatial position relationship, an angle error relationship, and a focal length relationship, specifically:

[0077] S21, determining the initial state of each real camera in the real scene through a preset default preset position or a default watch position.

[0078] S22, based on the initial state of each real camera, setting the initial state of each virtual camera in the scene digital model to be consistent with the corresponding real camera, the initial state at least including spatial position, horizontal angle, vertical angle, focal length.

[0079] S23, based on the Cartesian coordinate system preset by each virtual camera, establish an association relationship between each virtual camera and the corresponding real camera, the specific association relationship is:

[0080]

[0081] Where POS′ represents the spatial position of the virtual camera, pos represents the spatial position of the real camera; VER ′Indicates the vertical angle of the virtual camera, ver indicates the vertical angle of the real camera, vAngle indicates the deviation value of the vertical angle, HOR′ indicates the horizontal angle of the virtual camera, hor indicates the horizontal angle of the real camera, hAngle indicates the deviation value of the horizontal angle, FOCUS ′ It represents the focal length of the virtual camera, zoom represents the zoom factor of the real camera, minFocus represents the minimum focal length of the real camera, and the deviation value of the vertical angle and the horizontal angle can be 0.

[0082] Among them, in the digital model, the spatial position relationship between the origin of the virtual camera and the origin of the real camera is established; specifically, the information of the virtual camera can be expressed as: position information POS′(x, y, z), horizontal angle VER′, vertical angle HOR′, focal length FOCUS′; the attribute information of the real camera includes the preset position origin, the position information of the preset position (including the horizontal angle ver, the vertical angle hor, the magnification factor zoom), etc., and an association relationship is established based on the error between the angles, and at the same time, an association relationship of the focal length between the real camera and the virtual camera is established based on the magnification factor.

[0083] It should be noted that the spatial position of the virtual camera includes position coordinates, horizontal angle, vertical angle, focal length, etc.; specifically, vAngle and hAngle vary based on different surveillance cameras and the locations where the surveillance cameras are installed and deployed.

[0084] S3, obtaining the power equipment or equipment area to be viewed in the real scene, and based on the scene digital model, using the neighboring domain search algorithm to obtain the virtual camera closest to the power equipment or equipment area in the scene digital model.

[0085] Optionally, the use of the neighboring domain search algorithm to obtain the virtual camera that is closest to the power equipment or equipment area and takes into account the direction in the scene digital model is specifically:

[0086] S31, searching for a first camera closest to the power equipment or the equipment area in the scene digital model according to the equipment information and equipment location information of the power equipment or the equipment area to be viewed.

[0087] Among them, based on the neighborhood search algorithm, the nearest surveillance camera in the neighborhood of the power equipment or equipment area is obtained, and the distance between the equipment or area position and the virtual camera position is traversed. Combined with the actual situation, in addition to the distance, additional conditions such as direction and occlusion need to be considered, as follows.

[0088] S32, based on the spatial position information of the first camera and the device position information of the power equipment or the device area, determine whether the first camera and the power equipment or the device area are in the same direction; if not, re-search to obtain a new first camera, and the new first camera is different from the first camera, until the new first camera and the power equipment or the device area are in the same direction.

[0089] S33, if the first camera and the power equipment or equipment area are in the same direction, determine whether the monitoring angle of the first camera is blocked, and if so, re-search to obtain a new first camera, and the new first camera is different from the first camera, until the monitoring angle of the new first camera is not blocked and can fully view the overall picture of the power equipment or equipment area.

[0090] S34, judging whether multiple first cameras are needed for joint monitoring according to the category of the power equipment or equipment area, if so, searching for a preset number of multiple first cameras according to the distance in the scene digital model, and judging the same direction and monitoring angle of the multiple first cameras until the multiple first cameras meet the conditions of the same direction and unobstructed monitoring angle, and determining the multiple first cameras as the virtual cameras with the closest distance and taking into account the direction; if not, determining the first camera that meets the conditions of the same direction and unobstructed monitoring angle as the virtual camera with the closest distance and taking into account the direction.

[0091] Among them, the nearest surveillance camera in the power equipment or equipment area is obtained based on the neighboring domain search algorithm. For the neighboring domain search algorithm, firstly, the deployment of the surveillance camera is based on the monitored power equipment; secondly, the location where the surveillance camera is deployed may have a viewing angle deviation for the power equipment to be viewed, resulting in the inability to view the front, and requiring cameras from multiple angles to assist; thirdly, for surveillance cameras that have blind spots or are not deployed in place due to objective reasons, it is impossible to view the surveillance screen; specifically, under the premise of excluding the above special circumstances, based on the neighboring domain search algorithm, that is, according to the location and direction of the surveillance equipment to be viewed, firstly, the surveillance camera closest to the surveillance equipment in the scene is searched; secondly, it is determined whether the directions are in the same direction and whether there is any obstruction; thirdly, it is determined whether multiple cameras are required for joint monitoring based on the category of the power equipment or the equipment area.

[0092] Optionally, the above determination of the same direction and monitoring angle of view for the first camera is specifically as follows:

[0093]

[0094] In the formula, distance represents the distance between the power equipment and the surrounding surveillance cameras, cameraPos represents the spatial position information of the virtual surveillance camera, devPos represents the spatial position information of the monitored virtual power equipment, dirForward represents the directional position relationship between the virtual camera and the power equipment; dir represents the spatial position relationship between the virtual surveillance camera and the virtual power equipment, cameraPos i It represents the spatial position information of the ith virtual surveillance camera when there are multiple surveillance cameras around the power equipment, wherein distance determines the distance between the first camera and the power equipment or the equipment area, dirForward>0 in the scene digital model, the first camera and the power equipment or the equipment area are face to face, otherwise they are back to back; dir>0 in the scene digital model, the power equipment is on the right side of the surveillance camera, otherwise it is on the left side; wherein, combined with the position direction of the real camera when installed, based on the corresponding relationship with the virtual camera, the directional position relationship and spatial position relationship between the virtual camera and the virtual power equipment or the equipment area are calculated to determine whether they are in the same direction (especially the pan / tilt and ball camera can rotate 360 ​​degrees horizontally; but the gun camera is fixed); then combined with the spatial position, it is determined whether it can rotate left or right; finally, ray detection is performed to determine whether there is any obstruction in the middle.

[0095] Among them, based on different types of power equipment, such as circuit breakers, it is necessary to look at the appearance, the nameplate, and the equipment status. It is necessary to use multiple cameras for joint monitoring based on the above formula and the different monitoring objects.

[0096] S4, obtaining the attribute information and spatial position information of the real camera corresponding to the nearest virtual camera in the real scene, and adjusting the attribute information and spatial position information of the nearest virtual camera to be consistent with that of the real camera.

[0097] Optionally, the above-obtained attribute information and spatial position information of the real camera corresponding to the virtual camera in the real scene is specifically:

[0098] S41, based on the power equipment or equipment area to be viewed, obtain the equipment information and equipment location information of the power equipment or equipment area in the scene digital model.

[0099] S42, using a neighboring domain search algorithm to obtain a virtual camera that is closest to and directional within the field of the power equipment or equipment area in the scene digital model, and obtaining attribute information and spatial position information of a real camera corresponding to the virtual camera in the real scene.

[0100] S43, based on the association relationship, according to the attribute information and spatial position information of the virtual camera, and the attribute information and spatial position information of the corresponding real camera, calculate the angle deviation between the virtual camera and the corresponding real camera, and the angle deviation includes the vertical angle deviation value and the horizontal angle deviation value.

[0101] S44, adjusting the virtual camera in the scene digital model using the angle deviation.

[0102] Among them, the spatial position relationship and magnification coefficient of the real camera are obtained, the rotation angle between the virtual camera and the power equipment or equipment area is calculated, and the focal length of the virtual camera is transformed through a formula to be consistent with the magnification coefficient of the real camera.

[0103] Optionally, the above method further includes:

[0104] S45, based on the spatial position information of the virtual camera after adjustment using the angle deviation, combined with the equipment information and equipment position information of the power equipment or equipment area, the zoom factor and focal length of the virtual camera are calculated, and the attribute information includes the zoom factor and focal length.

[0105] S46, adjusting the property information of the corresponding real camera based on the zoom factor and focal length of the virtual camera.

[0106] S47, the specific magnification factor and focal length are:

[0107] or

[0108]

[0109] Where, dis represents the distance between the virtual camera lens and the power equipment or equipment area; sensory represents the vertical size of the virtual camera lens imaging; height represents the height of the power equipment or equipment area; sensorx represents the horizontal size of the virtual camera lens imaging; width represents the width of the power equipment or equipment area; FOCUS ′ Indicates the vertical focal length of the virtual camera; FOCUS ′ 1 indicates the horizontal focal length of the virtual camera, the default is FOCUS ′ Vertical focal length; minFocus indicates the minimum focal length in the focal length range; zoom indicates the magnification factor.

[0110] Among them, the camera's magnification factor and focal length can be inferred by combining the size information of the monitoring equipment in the digital scene, the object distance between the monitoring camera and the equipment, the imaging information of the camera, etc., so as to view the equipment in a complete and close distance in a suitable picture.

[0111] S5, based on the scene digital model, calculate the rotation angle of the virtual camera in the scene digital model that can monitor the power equipment or equipment area, and use the rotation angle to adjust the real camera corresponding to the virtual camera.

[0112] Among them, the focal length of the virtual camera and the angle at which the real camera needs to rotate are calculated, and the real camera is controlled to rotate to the position or direction of the power equipment or equipment area through the rotation angle, and the video monitoring screen is displayed.

[0113] Optionally, the above rotation angle includes vertical rotation and horizontal rotation; wherein, based on the scene digital model, the position of the real camera is obtained, the position of the real camera is simulated in the virtual scene, and the rotation angle and zoom factor from the virtual camera to the power equipment or equipment area in the scene digital model are calculated, specifically:

[0114]

[0115] Wherein, zoom represents the zoom factor, focus represents the focal length of the real camera, minFocus represents the minimum focal length within the focal length range of the real camera, verUP represents the vertical positive direction of the virtual camera lens, which changes with the rotation of the camera, verPos represents the spatial position information of the lens in the virtual camera, including ((x, y, z)), verPos.Y represents the Y value of the coordinate of the lens in the virtual scene in the digital scene, verPos.X represents the X value of the coordinate of the lens in the virtual scene in the digital scene, devPos represents the spatial position information of the virtual power device in the digital scene, including ((x, y, z)), devPos.Y represents the Y value of the coordinate of the virtual power device in the digital scene, devPos.X represents the X value of the coordinate of the virtual power device in the digital scene, horForward represents the horizontal positive direction of the virtual camera lens, which changes with the rotation of the camera, horPos represents the horizontal spatial position information of the lens in the virtual camera, including ((x, y, z)), ′ Indicates the vertical rotation angle of the virtual camera, HOR ′ Represents the horizontal rotation angle of the virtual camera, y represents the direction of the normal vector between the virtual camera lens and the spatial position of the power equipment, dirUP represents the vertical rotation direction, where dirUP>0 represents upward rotation, and dirUP<0 represents downward rotation; dirHor represents the horizontal rotation direction, where dirHor>0 represents right rotation, and dirHor<0 represents left rotation.

[0116] Among them, by calculating the rotation angle between the virtual camera and the device, the horizontal angle HOR of the virtual camera rotation is obtained ′and vertical angle VER ′ , use dirUP and dirHor to determine the direction of vertical and horizontal rotation, and calculate the focal length of the current camera in combination with the zoom factor; specifically, calculate the focal length of the current virtual camera in combination with the size information (length, width and height) of the current device, the distance between the virtual surveillance camera and the device, and the CCD size of the lens; calculate the zoom factor of the real camera from the focal length of the virtual camera; rotate the virtual camera to the corresponding angle, and change the focal length of the virtual camera; at the same time, control the real camera to rotate to the corresponding angle and perform zoom processing; open the monitoring screen at the same time to view the video stream; verify the error between the virtual camera and the real camera in combination with the above situations; and draw a rectangular frame on the video screen in combination with the actual needs of the user to realize the viewing of the monitoring equipment in terms of distance, overall and details.

[0117] Specifically, this solution establishes the spatial position relationship between the virtual camera and the real camera through the spatial position information and attribute information of the monitoring camera, determines the monitoring range in combination with the spatial position information and attribute information of the power equipment or equipment area, and drives the real camera to automatically and accurately monitor the equipment area and display the monitoring video screen in combination with the spatial neighborhood search algorithm and the spatial position association relationship; at the same time, the spatial information of the power equipment in the substation is combined with the real camera to achieve organic linkage, and the real-time linkage of the auxiliary monitoring equipment is achieved through model-driven auxiliary monitoring, which improves the work efficiency of intelligent operation and maintenance and saves the working time of operation and maintenance personnel.

[0118] Among them, in this scheme, the control of the real surveillance camera is mainly achieved by means of a virtual camera. The spatial position of the camera and the spatial position of the monitored device are combined to obtain the angle and focal length to be rotated through calculation, and then the real camera is driven to perform corresponding angle conversion and zoom operations, so as to achieve the effect of freely converting the camera lens based on the monitoring device; first, the device can be quickly viewed; second, the accuracy of the function can be verified through actual application; third, the error between the virtual and the real is within the range of 30mm and is up to standard; at the same time, combined with manual operation, the equipment to be monitored can be viewed from a distance, as a whole, locally and in detail according to the actual situation.

[0119] Embodiment 2:

[0120] The embodiment of the present application provides a device automatic monitoring system based on the spatial position of a camera, which is applied to a device automatic monitoring method based on the spatial position of a camera in any one of the embodiments 1, such as Figure 2 As shown, including:

[0121] The first module is used to obtain the attribute information and spatial location information of the surveillance cameras deployed in the real scene, as well as the device information and device location information of the monitored devices in the real scene.

[0122] The second module is used to establish a scene digital model corresponding to the real scene based on the deployment information of the real scene, and the deployment information includes attribute information, spatial location information, device information and device location information.

[0123] Optionally, the second module may also include:

[0124] The first submodule is used to establish an association relationship between each virtual camera and the corresponding real camera, where the association relationship includes at least a spatial position relationship, an angle error relationship, and a focal length relationship, specifically including:

[0125] The first unit is used to determine the initial state of each real camera in a real scene through a preset default preset position or a default watch position.

[0126] The second unit is used to set the initial state of each virtual camera in the scene digital model to be consistent with the corresponding real camera based on the initial state of each real camera, and the initial state at least includes spatial position, horizontal angle, vertical angle, and focal length.

[0127] The third unit is used to establish an association relationship between each virtual camera and the corresponding real camera based on the Cartesian coordinate system preset by each virtual camera. The specific association relationship is:

[0128]

[0129] Where POS′ represents the spatial position of the virtual camera, pos represents the spatial position of the real camera; VER ′ Indicates the vertical angle of the virtual camera, ver indicates the vertical angle of the real camera, vAngle indicates the deviation value of the vertical angle, HOR′ indicates the horizontal angle of the virtual camera, hor indicates the horizontal angle of the real camera, hAngle indicates the deviation value of the horizontal angle, FOCUS ′ Represents the focal length of the virtual camera, zoom represents the zoom factor of the real camera, and minFocus represents the minimum focal length of the real camera.

[0130] The third module is used to obtain the power equipment or equipment area to be viewed in the real scene, and based on the scene digital model, use the neighboring domain search algorithm to obtain the virtual camera closest to the power equipment or equipment area in the scene digital model.

[0131] Optionally, the third module may include:

[0132] The sixth submodule is used to search the scene digital model for the first camera closest to the power equipment or the equipment area according to the equipment information and equipment location information of the power equipment or the equipment area to be viewed.

[0133] The seventh submodule is used to determine whether the first camera and the power equipment or the equipment area are in the same direction according to the spatial position information of the first camera and the equipment position information of the power equipment or the equipment area. If not, re-search to obtain a new first camera, and the new first camera is different from the first camera, until the new first camera and the power equipment or the equipment area are in the same direction.

[0134] The eighth submodule is used to determine whether the monitoring angle of the first camera is blocked if the first camera and the power equipment or equipment area are in the same direction. If so, re-search to obtain a new first camera, and the new first camera is different from the first camera, until the monitoring angle of the new first camera is not blocked and can fully view the overall picture of the power equipment or equipment area.

[0135] The ninth submodule is used to determine whether multiple first cameras are needed for joint monitoring according to the category of the power equipment or equipment area. If so, a preset number of multiple first cameras are searched according to the distance in the scene digital model, and the multiple first cameras are judged to have the same direction and monitoring angle until the multiple first cameras meet the conditions of the same direction and unobstructed monitoring angle, and the multiple first cameras are determined as the virtual cameras with the closest distance and taking into account the direction; if not, the first camera that meets the conditions of the same direction and unobstructed monitoring angle is determined as the virtual camera with the closest distance and taking into account the direction.

[0136] Optionally, in the third module, the first camera is judged to be in the same direction and monitoring angle, specifically:

[0137]

[0138] In the formula, distance represents the distance between the power equipment and the surrounding surveillance cameras, cameraPos represents the spatial position information of the virtual surveillance camera, devPos represents the spatial position information of the monitored virtual power equipment, dirForward represents the directional position relationship between the virtual camera and the power equipment; dir represents the spatial position relationship between the virtual surveillance camera and the virtual power equipment, cameraPos iIt represents the spatial position information of the i-th virtual surveillance camera when there are multiple surveillance cameras around the power equipment, where distance determines the distance between the first camera and the power equipment or the equipment area, dirForward>0 means that in the scene digital model, the first camera and the power equipment or the equipment area are face to face, otherwise they are back to back; dir>0 means that in the scene digital model, the power equipment is on the right side of the surveillance camera, otherwise it is on the left side.

[0139] The fourth module is used to obtain the attribute information and spatial position information of the real camera corresponding to the nearest virtual camera in the real scene, and adjust the attribute information and spatial position information of the nearest virtual camera to be consistent with that of the real camera.

[0140] Optionally, the fourth module may include:

[0141] The second submodule is used to obtain device information and device location information of the power equipment or device area in the scene digital model based on the power equipment or device area to be viewed.

[0142] The third submodule is used to use the neighboring domain search algorithm to obtain the virtual camera that is closest to the power equipment or equipment area and takes into account the direction in the scene digital model, and obtain the attribute information and spatial position information of the real camera corresponding to the virtual camera in the real scene.

[0143] The fourth submodule is used to calculate the angle deviation between the virtual camera and the corresponding real camera based on the association relationship, according to the attribute information and spatial position information of the virtual camera and the attribute information and spatial position information of the corresponding real camera, and the angle deviation includes the deviation value of the vertical angle and the deviation value of the horizontal angle.

[0144] The fifth submodule is used to adjust the virtual camera in the scene digital model by using the angle deviation.

[0145] Optionally, the above system may further include the above method further including:

[0146] The tenth submodule is used to calculate the magnification factor and focal length of the virtual camera based on the spatial position information of the virtual camera after adjustment using the angle deviation, combined with the equipment information and equipment position information of the power equipment or equipment area, and the attribute information includes the magnification factor and focal length.

[0147] The eleventh submodule is used to adjust the property information of the corresponding real camera based on the zoom factor and focal length of the virtual camera. The zoom factor and focal length are specifically:

[0148] or

[0149]

[0150] Where, dis represents the distance between the virtual camera lens and the power equipment or equipment area; sensory represents the vertical size of the virtual camera lens imaging; height represents the height of the power equipment or equipment area; sensorx represents the horizontal size of the virtual camera lens imaging; width represents the width of the power equipment or equipment area; FOCUS ′ Indicates the vertical focal length of the virtual camera; FOCUS ′ 1 indicates the horizontal focal length of the virtual camera, the default is FOCUS ′ Vertical focal length; minFocus indicates the minimum focal length in the focal length range; zoom indicates the magnification factor.

[0151] The fifth module is used to calculate the rotation angle of the virtual camera in the scene digital model based on the scene digital model so that the virtual camera can monitor the power equipment or equipment area, and use the rotation angle to adjust the real camera corresponding to the virtual camera.

[0152] Optionally, in the fifth module, the rotation angle includes vertical rotation and horizontal rotation; wherein, based on the scene digital model, the position of the real camera is obtained, the position of the real camera is simulated in the virtual scene, and the rotation angle and zoom factor from the virtual camera to the power equipment or equipment area in the scene digital model are calculated, specifically:

[0153]

[0154] Wherein, zoom represents the zoom factor, focus represents the focal length of the real camera, minFocus represents the minimum focal length within the focal length range of the real camera, verUP represents the vertical positive direction of the virtual camera lens, which changes with the rotation of the virtual camera, verPos represents the spatial position information of the lens in the virtual camera, including ((x, y, z)), verPos.Y represents the Y value of the coordinate of the lens in the virtual scene in the digital scene, verPos.X represents the X value of the coordinate of the lens in the virtual scene in the digital scene, devPos represents the spatial position information of the virtual power device in the digital scene, including ((x, y, z)), devPos.Y represents the Y value of the coordinate of the virtual power device in the digital scene, devPos.X represents the X value of the coordinate of the virtual power device in the digital scene, horForward represents the horizontal positive direction of the virtual camera lens, which changes with the rotation of the virtual camera, horPos represents the horizontal spatial position information of the lens in the virtual camera, including ((x, y, z)), ′Indicates the vertical rotation angle of the virtual camera, HOR ′ Represents the horizontal rotation angle of the virtual camera, y represents the direction of the normal vector between the virtual camera lens and the spatial position of the power equipment, dirUP represents the vertical rotation direction, where dirUP>0 represents upward rotation, and dirUP<0 represents downward rotation; dirHor represents the horizontal rotation direction, where dirHor>0 represents right rotation, and dirHor<0 represents left rotation.

[0155] Embodiment 3:

[0156] The present application embodiment provides an electronic device, such as Figure 3 As shown, it includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, any method in Embodiment 1 is implemented.

[0157] Embodiment 4:

[0158] An embodiment of the present application provides a non-transitory computer-readable storage medium, which stores computer instructions, and the computer instructions enable a computer to execute any method in Example 1.

[0159] The above specific implementation methods further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific implementation methods of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for automatic monitoring of equipment based on the spatial position of a camera, characterized in that: The following steps are involved: Obtaining the property information and spatial location information of the surveillance cameras deployed in the real scene, as well as the device information and device location information of the monitored devices in the real scene; Based on the deployment information of the real scene, a scene digital model corresponding to the real scene is established, wherein the deployment information includes attribute information, spatial location information, device information and device location information; Acquire the power equipment or equipment area to be viewed in the real scene, and based on the scene digital model, use a neighboring domain search algorithm to acquire the virtual camera closest to the power equipment or equipment area in the scene digital model; Acquire the attribute information and spatial position information of the real camera corresponding to the nearest virtual camera in the real scene, and adjust the attribute information and spatial position information of the nearest virtual camera to be consistent with that of the real camera; Based on the scene digital model, the rotation angle of the virtual camera in the scene digital model that can monitor the power equipment or equipment area is calculated, and the real camera corresponding to the virtual camera is regulated by using the rotation angle.

2. The automatic device monitoring method based on the spatial position of a camera according to claim 1, characterized in that: In the process of establishing the scene digital model corresponding to the real scene, it further includes: establishing an association relationship between each virtual camera and the corresponding real camera, wherein the association relationship includes at least a spatial position relationship, an angle error relationship and a focal length relationship, specifically: In a real scene, the initial state of each real camera is determined by a preset default preset position or a default watch position; Based on the initial state of each real camera, the initial state of each virtual camera is set in the scene digital model to be consistent with the corresponding real camera, and the initial state at least includes spatial position, horizontal angle, vertical angle, and focal length; Based on the Cartesian coordinate system preset by each virtual camera, an association relationship is established between each virtual camera and the corresponding real camera. The specific association relationship is: Where POS′ represents the spatial position of the virtual camera, pos represents the spatial position of the real camera; VER ′ Indicates the vertical angle of the virtual camera, ver indicates the vertical angle of the real camera, vAngle indicates the deviation value of the vertical angle, HOR′ indicates the horizontal angle of the virtual camera, hor indicates the horizontal angle of the real camera, hAngle indicates the deviation value of the horizontal angle, FOCUS ′ Represents the focal length of the virtual camera, zoom represents the zoom factor of the real camera, and minFocus represents the minimum focal length of the real camera.

3. The automatic equipment monitoring method based on the spatial position of a camera according to claim 2, characterized in that: The step of obtaining the attribute information and spatial position information of the real camera corresponding to the virtual camera in the real scene is specifically as follows: Based on the electric power equipment or equipment area to be viewed, obtaining equipment information and equipment location information of the electric power equipment or equipment area in the scene digital model; A virtual camera that is closest to the power equipment or equipment area and takes into account direction is obtained in the scene digital model by using a neighboring domain search algorithm, and attribute information and spatial position information of a real camera corresponding to the virtual camera is obtained in the real scene; Based on the association relationship, according to the attribute information and spatial position information of the virtual camera, and the attribute information and spatial position information of the corresponding real camera, the angle deviation between the virtual camera and the corresponding real camera is calculated, and the angle deviation includes a vertical angle deviation value and a horizontal angle deviation value; The virtual camera in the digital model of the scene is adjusted using the angle deviation.

4. The automatic equipment monitoring method based on the spatial position of a camera according to claim 3 is characterized in that: The method of using the neighboring domain search algorithm to obtain the virtual camera that is closest to the power equipment or equipment area and takes into account the direction in the scene digital model is specifically as follows: According to the device information and device location information of the power device or device area to be viewed, searching the scene digital model for a first camera that is closest to the power device or device area; According to the spatial position information of the first camera and the device position information of the power device or the device area, determine whether the first camera and the power device or the device area are in the same direction; if not, re-search to obtain a new first camera, and the new first camera is different from the first camera, until the new first camera and the power device or the device area are in the same direction; If the first camera and the power equipment or equipment area are in the same direction, determine whether the monitoring angle of the first camera is blocked. If so, search again to obtain a new first camera, and the new first camera is different from the first camera, until the monitoring angle of the new first camera is not blocked and can fully view the whole picture of the power equipment or equipment area; Determine whether multiple first cameras are needed for joint monitoring based on the category of the power equipment or equipment area. If so, search for a preset number of multiple first cameras in the scene digital model based on the distance, and determine the same direction and monitoring angle for the multiple first cameras until the multiple first cameras meet the conditions of the same direction and unobstructed monitoring angle, and determine the multiple first cameras as the virtual cameras with the shortest distance and taking into account the direction; if not, determine the first camera that meets the conditions of the same direction and unobstructed monitoring angle as the virtual camera with the shortest distance and taking into account the direction.

5. The automatic equipment monitoring method based on the spatial position of a camera according to claim 4, characterized in that: The determination of the same direction and monitoring angle of the first camera is specifically as follows: In the formula, distance represents the distance between the power equipment and the surrounding surveillance cameras, cameraPos represents the spatial position information of the virtual surveillance camera, devPos represents the spatial position information of the monitored virtual power equipment, dirForward represents the directional position relationship between the virtual camera and the power equipment; dir represents the spatial position relationship between the virtual surveillance camera and the virtual power equipment, cameraPos i It represents the spatial position information of the i-th virtual surveillance camera when there are multiple surveillance cameras around the power equipment, where distance determines the distance between the first camera and the power equipment or the equipment area, dirForward>0 means that in the scene digital model, the first camera and the power equipment or the equipment area are face to face, otherwise they are back to back; dir>0 means that in the scene digital model, the power equipment is on the right side of the surveillance camera, otherwise it is on the left side.

6. The automatic equipment monitoring method based on the spatial position of a camera according to claim 3, characterized in that: The method further comprises: Based on the spatial position information of the virtual camera adjusted by using the angle deviation, combined with the device information and device position information of the power equipment or device area, the zoom factor and focal length of the virtual camera are calculated, and the attribute information includes the zoom factor and focal length; Based on the zoom factor and focal length of the virtual camera, adjusting the property information of the corresponding real camera; The zoom factor and focal length are specifically: In the formula, dis represents the distance between the lens of the virtual camera and the power equipment or equipment area; sensory represents the vertical size of the lens imaging of the virtual camera; height represents the height of the power equipment or equipment area; FOCUS ′ Indicates the focal length of the virtual camera; minFocus indicates the minimum focal length in the focal length range; zoom indicates the magnification factor.

7. The automatic equipment monitoring method based on the spatial position of a camera according to claim 6, characterized in that: The rotation angle includes vertical rotation and horizontal rotation; wherein, based on the scene digital model, the position of the real camera is obtained, the position of the real camera is simulated in the virtual scene, and the rotation angle and zoom factor from the virtual camera to the power equipment or equipment area in the scene digital model are calculated, specifically: Wherein, zoom represents the zoom factor, focus represents the focal length of the real camera, minFocus represents the minimum focal length within the focal length range of the real camera, verUP represents the vertical positive direction of the virtual camera lens, which changes with the rotation of the virtual camera, verPos represents the spatial position information of the lens in the virtual camera, verPos.Y represents the Y value of the coordinate of the lens in the virtual scene in the digital scene, verPos.X represents the X value of the coordinate of the lens in the virtual scene in the digital scene, devPos represents the spatial position information of the virtual power device in the digital scene, devPos.Y represents the Y value of the coordinate of the virtual power device in the digital scene, devPos.X represents the X value of the coordinate of the virtual power device in the digital scene, horForward represents the horizontal positive direction of the virtual camera lens, which changes with the rotation of the virtual camera, horPos represents the horizontal spatial position information of the lens in the virtual camera, and VER ′ Indicates the vertical rotation angle of the virtual camera, HOR ′ Represents the horizontal rotation angle of the virtual camera, y represents the direction of the normal vector between the virtual camera lens and the spatial position of the power equipment, dirUP represents the vertical rotation direction, where dirUP>0 represents upward rotation, and dirUP<0 represents downward rotation; dirHor represents the horizontal rotation direction, where dirHor>0 represents right rotation, and dirHor<0 represents left rotation.

8. An automatic equipment monitoring system based on the spatial position of a camera, applied to an automatic equipment monitoring method based on the spatial position of a camera according to any one of claims 1 to 7, characterized in that: include: The first module is used to obtain the attribute information and spatial location information of the surveillance cameras deployed in the real scene, as well as the device information and device location information of the monitored devices in the real scene; The second module is used to establish a scene digital model corresponding to the real scene based on the deployment information of the real scene, wherein the deployment information includes attribute information, spatial location information, device information and device location information; The third module is used to obtain the power equipment or equipment area to be viewed in the real scene, and based on the scene digital model, use the neighboring domain search algorithm to obtain the virtual camera closest to the power equipment or equipment area in the scene digital model; The fourth module is used to obtain the attribute information and spatial position information of the real camera corresponding to the nearest virtual camera in the real scene, and adjust the attribute information and spatial position information of the nearest virtual camera to be consistent with that of the real camera; The fifth module is used to calculate the rotation angle of the virtual camera in the scene digital model based on the scene digital model so that the virtual camera can monitor the power equipment or equipment area, and use the rotation angle to adjust the real camera corresponding to the virtual camera.

9. An electronic device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the method according to any one of claims 1 to 7 is implemented when the processor executes the computer program.

10. A non-transitory computer-readable storage medium, characterized in that: The non-transitory computer-readable storage medium stores computer instructions, which enable a computer to execute the method of any one of claims 1-7.

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