Camera and cloud mirror linkage control method and system for digital twin system of transformer substation

Abstract

The invention relates to a camera and cloud mirror linkage control method and system for a digital twin system of a transformer substation. The method comprises the following steps: randomly capturing positioning parameters of a focus point in the digital twin system of the transformer substation; acquiring predetermined parameters of at least one camera within a certain spatial distance from the focus point; performing intervisibility analysis on the obtained at least one camera, and screening out intervisibility cameras which are not shielded with the concern; obtaining a pointing parameter of the intervisibility camera to the focus point; converting the obtained pointing parameter into a PTZ parameter of the physical camera; adjusting a physical camera according to the PTZ parameter; updating the state of a virtual camera in the digital twin system of the transformer substation according to the PTZ parameter of the physical camera; and obtaining monitoring information of the physical camera, and displaying the monitoring information in the digital twin system of the transformer substation. Through a mode of capturing the focus point, the adjustment mode of the camera is greatly simplified, the efficiency is improved, the linkage of multiple cameras is really realized, and the real-time picture of the focus point can be displayed in multiple directions.

Description

Technical Field

[0001] The present invention belongs to the technical field of substation digital twin systems, and particularly relates to a camera pan-tilt-zoom linkage control method and system for a substation digital twin system, mainly used to achieve the linkage control of cameras in the substation digital twin system. Background Art

[0002] In a general substation video monitoring system, the operation of the pan-tilt is achieved through the control interface provided by the equipment manufacturer. It is required that the monitoring personnel manually control the azimuth angle and elevation angle of the camera by adjusting the rotation speed and operation time of the pan-tilt manually, so as to point the camera at the focus point at a predetermined position.

[0003] The disadvantages of this operation method are as follows:

[0004] 1. It cannot accurately control the camera to accurately point at the focus point. It is necessary to repeatedly adjust to roughly point at the focus point, which is time-consuming and laborious, and also requires the monitoring personnel to have a high technical level.

[0005] 2. The focus points are all preset and cannot be arbitrarily pointed at any position. To add a focus point, it must be pre-configured in advance, resulting in the inability to monitor positions that are not set in advance. When a situation occurs outside the preset focus points, it cannot be handled. Therefore, in order to avoid omissions during presetting, there are often too many preset focus points, increasing the monitoring difficulty.

[0006] 3. It cannot achieve multi-camera linkage, that is, it cannot make multiple cameras point at the focus point simultaneously, and cannot achieve a panoramic and omni-directional monitoring of the focus point without dead angles. This not only makes the use of cameras cumbersome, but also causes serious waste of resources due to the inability to coordinate multiple cameras.

[0007] In summary, the current substation video monitoring system has a cumbersome operation process, is time-consuming and laborious, has low efficiency, is difficult to achieve precise positioning, cannot quickly and accurately adjust the camera to point at the focus point, and has high requirements for the quality of monitoring personnel. Summary of the Invention

[0008] In order to solve the above problems, the object of the present invention is to provide a camera pan-tilt-zoom linkage control method for a substation digital twin system, which can enable the monitoring personnel to control the camera more simply and easily.

[0009] In order to achieve the above object, the main technical solutions provided by the present invention include:

[0010] A camera pan-tilt-zoom linkage control method for a substation digital twin system, which includes the following steps:

[0011] S1. Grab the positioning parameters (3D coordinates) of any focus point (which can also be called a predetermined point or point of interest) in the substation digital twin system;

[0012] S2. Obtain the predetermined parameters of at least one camera within a certain spatial distance from the focus point;

[0013] S3. Conduct a visibility analysis on the at least one camera obtained, and filter out the unobstructed visible cameras with respect to the focus point;

[0014] S4. Obtain the pointing parameters of the visible cameras with respect to the focus point;

[0015] S5. Convert the obtained pointing parameters into the PTZ parameters of the physical camera;

[0016] S6. Adjust the physical camera according to the PTZ parameters;

[0017] S7. Update the status of the virtual camera in the substation digital twin system according to the PTZ parameters of the physical camera;

[0018] S8. Obtain the monitoring information of the physical camera and display it in the substation digital twin system.

[0019] With the above technical solution, the camera pan-tilt-zoom linkage control method for the substation digital twin system of the present invention grabs the positioning parameters (such as 3D coordinates) of the predetermined point (also called the point of interest or focus point) in the substation digital twin system, and takes this as the reference point to select several cameras that can effectively monitor the point of interest. Then, based on the relative positions of each camera with respect to the point of interest, the optimal monitoring pointing parameters are calculated, and accordingly, each physical camera is adjusted to achieve real-time monitoring of the point of interest. Since the monitoring personnel only need to grab the point of interest, instead of the way of manually adjusting the camera to monitor the predetermined point virtualized in the human brain as in the existing technology, that is, by arbitrarily grabbing to set the physicalized point of interest in real time, a basis for the automatic adjustment of the camera is constructed, making the automatic control of the camera possible. Furthermore, it simplifies the control method of the camera, speeds up the adjustment efficiency of the camera, improves the adjustment accuracy of the camera, and at the same time reduces the quality requirements for the monitoring personnel, enabling the monitoring personnel not to need to be familiar with the effective monitoring areas of each camera, nor to be familiar with the specific control methods, adjustment methods, and control adjustment skills of each camera. It also enables different monitoring personnel to communicate simply, conveniently, and effectively about the points they want to monitor in their minds, without the need for "pointing and gesturing" communication.

[0020] In one embodiment of the present invention, in step S1, the positioning parameters of the concerned points are captured in the substation digital twin system by means of point selection. Specifically, in implementation, it can be achieved through human-computer interaction methods such as mouse point selection, touch point selection, visual tracking, or perceptual interaction.

[0021] In one embodiment of the present invention, in step S1, the positioning parameters of the concerned points are captured in the substation digital twin system by inputting coordinates.

[0022] In a preferred embodiment of the present invention, in step S1, the concerned points are selected and captured in the digital twin scene to obtain the three-dimensional coordinates of the concerned points.

[0023] In one embodiment of the present invention, before step S1, there is also a step:

[0024] S0. Construct a digital twin scene of the substation (including its equipment, buildings, and environment).

[0025] In one embodiment of the present invention, step S0 includes the following steps:

[0026] S01. Construct a digital twin scene of the equipment, buildings, and environment in the substation;

[0027] S02. Construct an accurate mapping of each physical camera in the digital twin scene;

[0028] S03. Establish a data mapping between each physical camera and the corresponding virtual camera to achieve virtual-real interaction.

[0029] In one embodiment of the present invention, in step S02, the accurate mapping of each physical camera in the digital twin scene includes any one or several of the following parameters: spatial position, upward direction, forward direction, pitch angle, azimuth angle.

[0030] In one embodiment of the present invention, step S03 includes:

[0031] S031. The virtual camera adjusts its state in the digital twin scene by obtaining the PTZ (Pan / Tilt / Zoom) parameters of the physical camera;

[0032] S032. The virtual camera sets the PTZ parameters of the physical camera through the feedback control service to change the pitch angle and azimuth angle of the physical camera.

[0033] In one embodiment of the present invention, in step S031, the PTZ parameters refer to the all-round (left / right / up / down) movement of the camera pan-tilt head and the control of lens zooming and variable focal length.

[0034] In one embodiment of the present invention, in step S2, within a certain spatial distance refers to within the visible distance of the camera.

[0035] In one embodiment of the present invention, in step S2, the predetermined parameters of at least one camera include the ID, three-dimensional coordinates, and visible distance of the camera.

[0036] In one embodiment of the present invention, in step S3, the visibility analysis refers to determining whether the camera is blocked when looking from the camera at the focus point. For example, whether it is blocked by other objects.

[0037] In one embodiment of the present invention, in step S4, the pointing parameters include the pitch angle and the azimuth angle.

[0038] In one embodiment of the present invention, the pitch angle and the azimuth angle respectively refer to the angles between the line of sight connecting the camera focus and the focus point and the upward direction and the positive direction of the camera.

[0039] In one embodiment of the present invention, in step S6, it means to send a control command to the unobstructed cameras according to the PTZ coordinates of the unobstructed camera pan-tilt heads obtained by conversion in step S5, so that all unobstructed cameras point to the focus point.

[0040] In one embodiment of the present invention, in step S7, the virtual cameras in the substation digital twin system update their states and point to the focus point according to the obtained PTZ coordinates of the physical camera pan-tilt heads.

[0041] In one embodiment of the present invention, in step S8, the real-time monitoring images of the physical cameras are obtained, and the real-time states of the focus points are comprehensively displayed in the substation digital twin system.

[0042] On the other hand, the present invention also provides a camera pan-tilt-zoom linkage control system for a substation digital twin system, which includes:

[0043] A focus point capturing module, configured to arbitrarily capture the positioning parameters (three-dimensional coordinates) of a focus point (which can also be called a predetermined point or an interest point) in the substation digital twin system;

[0044] A camera parameter acquisition module, configured to acquire the predetermined parameters of at least one camera within a certain spatial distance from the focus point;

[0045] An unobstructed camera screening module, configured to perform visibility analysis on the acquired at least one camera, and screen out the unobstructed cameras that have no occlusion with the focus point;

[0046] A pointing parameter acquisition module, configured to acquire the pointing parameters of the unobstructed cameras with respect to the focus point;

[0047] A PTZ parameter conversion module, configured to convert the acquired pointing parameters into the PTZ parameters of the physical cameras;

[0048] A camera adjustment module for adjusting a physical camera according to PTZ parameters;

[0049] A status update module for updating the status of a virtual camera in a substation digital twin system according to the PTZ parameters of the physical camera;

[0050] A monitoring display module for obtaining monitoring information of the physical camera and displaying it in the substation digital twin system.

[0051] With the above technical solution, the camera pan-tilt-zoom linkage control system for a substation digital twin system of the present invention can, through the focus capture module, capture the positioning parameters (such as three-dimensional coordinates) of the focus point (also called the point of interest) in the substation digital twin system, and taking this as a reference point, select several cameras that can effectively monitor the point of interest through the visible camera screening module, and then through the pointing parameter acquisition module, calculate the best monitoring pointing parameters according to the relative positions of each camera to the point of interest, and the camera adjustment module adjusts each physical camera accordingly to achieve real-time monitoring of the point of interest. Since the monitoring personnel only need to capture the point of interest, rather than the way of manually adjusting the camera as in the prior art to monitor the predetermined point virtualized in the human brain, that is, the way of setting the physicalized point of interest by capture constructs a basis for the automatic adjustment of the camera, making the automatic control of the camera possible, thus simplifying the control method of the camera, accelerating the adjustment efficiency of the camera, improving the adjustment accuracy of the camera, and at the same time reducing the quality requirements for the monitoring personnel, so that the monitoring personnel do not need to be familiar with the effective monitoring areas of each camera, nor do they need to be familiar with the specific control methods, adjustment methods and control adjustment skills of each camera, and it also enables different monitoring personnel to communicate simply, conveniently and effectively about the points they want to monitor in their minds, without the need for "pointing and gesturing" communication.

[0052] The beneficial effects of the embodiments of the present invention include:

[0053] The camera pan-tilt-zoom linkage control method and system for a substation digital twin system of the present invention, by the way that the monitoring personnel actively and arbitrarily capture the point of interest, make the presented effect highly match the actual business requirements. The operation and maintenance personnel only need to select the point of interest in the three-dimensional scene, and the system will automatically select the relevant cameras and quickly and accurately point to the point of interest, while presenting the real-time video image, which brings great convenience to the operation and maintenance. It not only greatly reduces the cumbersome work of adjusting the camera and improves the work efficiency, but also through the multi-camera linkage, presents the real-time images of the point of interest from multiple directions, greatly reducing the occurrence of visual dead angles. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1Schematic diagram of the overall process of the camera pan-tilt-zoom linkage control method for the substation digital twin system in an embodiment of the present invention;

[0055] Figure 2 Schematic diagram of the overall process of constructing the substation digital twin scenario in the camera pan-tilt-zoom linkage control method for the substation digital twin system in an embodiment of the present invention;

[0056] Figure 3 Schematic diagram of the overall framework structure of the camera pan-tilt-zoom linkage control system for the substation digital twin system in an embodiment of the present invention;

[0057] Figure 4 Schematic diagram of the framework structure of the substation digital twin scenario construction module in the camera pan-tilt-zoom linkage control system for the substation digital twin system in an embodiment of the present invention;

[0058] Figure 5 Schematic diagram of the control process of the camera pan-tilt-zoom linkage control system for the substation digital twin system in an embodiment of the present invention. Detailed implementation manners

[0059] For better explaining the present invention and facilitating understanding, the present invention will be described in detail below with reference to the accompanying drawings.

[0060] See Figure 1 , the camera pan-tilt-zoom linkage control method for the substation digital twin system in an embodiment of the present invention includes the following steps:

[0061] S1. Grab the three-dimensional coordinates of the points of interest in the substation digital twin system;

[0062] S2. Obtain the predetermined parameters of at least one camera within a certain spatial distance from the predetermined point;

[0063] S3. Perform a visibility analysis on the at least one obtained camera (the visibility analysis refers to whether the line of sight from the camera to the point of interest is blocked by other entities), and filter out the cameras without occlusion between the predetermined point and the cameras, which are called visible cameras (also called associated cameras) for use in subsequent processing steps;

[0064] S4. Obtain the pointing parameters of the visible cameras to the predetermined point;

[0065] S5. Convert the obtained pointing parameters into the PTZ parameters of the physical camera;

[0066] S6. Adjust the physical camera according to the PTZ parameters;

[0067] S7. Update the state of the virtual camera in the substation digital twin system according to the PTZ parameters of the physical camera;

[0068] S8. Obtain the monitoring information of the physical camera and display it in the substation digital twin system.

[0069] With the above technical solution, the user selects an interest point in the digital twin scenario. The digital twin system automatically selects relevant cameras through spatial calculation, obtains the control parameters of multiple cameras and camera pan-tilt-zoom units related to the interest point, and simultaneously controls all relevant cameras to accurately point to the interest point, so as to obtain the real-time video of the interest point in all directions. It is not only easy to operate, but also can quickly and accurately adjust the camera to point to the interest point, bringing great convenience to operation and maintenance. It not only greatly reduces the cumbersome work of adjusting the camera and improves work efficiency, but also, due to no longer being limited by the limitation of only controlling one camera, realizes the linkage of multiple cameras, can display the real-time picture of the interest point in multiple directions, and also greatly reduces the occurrence of visual dead angles.

[0070] Any of the above camera pan-tilt-zoom linkage control methods can be implemented through Figure 3 the camera pan-tilt-zoom linkage control system for the substation digital twin system shown in the figure. The system includes:

[0071] An interest point capture module, used to capture the positioning parameters (three-dimensional coordinates) of a predetermined point (interest point) in the substation digital twin system;

[0072] A camera parameter acquisition module, used to acquire the predetermined parameters of at least one camera within a certain spatial distance from the predetermined point;

[0073] A visible camera screening module, used to perform visibility analysis on the acquired at least one camera and screen out the visible cameras without occlusion from the predetermined point;

[0074] A pointing parameter acquisition module, used to acquire the pointing parameters of the visible camera to the predetermined point;

[0075] A PTZ parameter conversion module, used to convert the acquired pointing parameters into the PTZ parameters of the physical camera;

[0076] A camera adjustment module, used to adjust the physical camera according to the PTZ parameters;

[0077] A status update module, used to update the status of the virtual camera in the substation digital twin system according to the PTZ parameters of the physical camera;

[0078] A monitoring display module, used to obtain the monitoring information of the physical camera and display it in the substation digital twin system.

[0079] During specific implementation, refer to Figure 2 , in an embodiment of the camera pan-tilt-zoom linkage control method of the present invention, before step S1, there is also a step:

[0080] S0. Build a digital twin scenario of a substation (including its equipment, buildings, and environment).

[0081] Specifically, step S0 includes the following steps:

[0082] S01. Build digital twin scenarios of the equipment, buildings, and environment in the substation;

[0083] S02. Build an accurate mapping of each physical camera in the digital twin scenario, including the following parameters: spatial position, upward direction, forward direction, pitch angle, and azimuth angle;

[0084] S03. Establish data mapping between each physical camera and the corresponding virtual camera to achieve virtual-real interaction.

[0085] Specifically, when implemented, step S03 includes:

[0086] S031. The virtual camera adjusts its state in the digital twin scenario by obtaining the PTZ (Pan / Tilt / Zoom) parameters of the physical camera. Here, the PTZ parameters refer to the omnidirectional (left / right / up / down) movement of the camera pan-tilt head and the control of lens zooming and focusing;

[0087] S032. The virtual camera sets the PTZ parameters of the physical camera through a feedback control service to change the pitch angle and azimuth angle of the physical camera.

[0088] Any of the above camera pan-tilt-zoom linkage control methods can be implemented through Figure 4 The camera pan-tilt-zoom linkage control system for a substation digital twin system shown in the figure. The substation digital twin scenario construction module of this system includes:

[0089] An equipment digital twin construction sub-module for building a digital twin scenario of the equipment in the substation;

[0090] A building digital twin construction sub-module for building a digital twin scenario of the buildings in the substation;

[0091] An environment digital twin construction sub-module for building a digital twin scenario of the environment in the substation;

[0092] A camera mapping sub-module for building an accurate mapping of each physical camera in the digital twin scenario;

[0093] An interaction sub-module for establishing data mapping between each physical camera and the corresponding virtual camera to achieve virtual-real interaction.

[0094] Among them, preferably, the interaction sub-module further includes:

[0095] A virtual camera status adjustment unit, which is used for the virtual camera to adjust its status in the digital twin scenario by obtaining the PTZ parameters of the physical camera;

[0096] A camera feedback control service unit, which is used for the virtual camera to set the PTZ parameters of the physical camera through the feedback control service to change the pitch angle and azimuth angle of the physical camera.

[0097] With the above camera pan-tilt-zoom linkage control system for the substation digital twin system in the embodiment, substation operation and maintenance personnel only need to click on the point of interest in the twin scenario, and the digital twin system automatically obtains the associated camera, accurately controls the pan-tilt head, makes the camera accurately point to the point of interest, and fully displays the real-time video image of the point of interest, truly achieving "look where you point" for camera control.

[0098] See Figure 5 , an embodiment of the present invention is a camera pan-tilt-zoom linkage control method and system for a substation digital twin system, and its specific implementation process is as follows:

[0099] 1. Construct a substation digital twin scenario:

[0100] (1) Construct a digital twin scenario of substation equipment, buildings, and the environment;

[0101] (2) Construct an accurate mapping of the camera in the digital twin scenario, especially the spatial position, up direction, forward direction, pitch angle, and azimuth angle;

[0102] 2. Establish data mapping between the physical camera and the virtual camera to achieve virtual-real interaction:

[0103] (1) The virtual camera adjusts its status in the digital twin scenario by obtaining the PTZ (the abbreviation of Pan / Tilt / Zoom in security monitoring applications, representing the full-range movement of the pan-tilt head left / right and up / down and the lens zoom and focus control) parameters of the physical camera;

[0104] (2) The virtual camera sets the PTZ parameters of the physical camera through the feedback control service to change the pitch angle and azimuth angle of the physical camera;

[0105] 3. Click on the point of interest in the digital twin scenario to obtain the three-dimensional coordinates of the point of interest:

[0106] 4. Calculate the spatial distance between the camera and the point of interest, select several cameras with the shortest distance for visibility analysis, that is, judge whether there is an obstruction when looking from the camera to the point of interest, and only select the unobstructed cameras for the next analysis;

[0107] 5. Through spatial calculation, obtain the angles between the line of sight connecting the camera focus and the point of interest and the upward direction and the positive direction of the camera respectively, that is, the pitch angle and the azimuth angle;

[0108] 6. Convert the pitch angle and the azimuth angle into the PTZ coordinates of the camera pan-tilt head, and at the same time send a control command to the camera to make all cameras point to the point of interest;

[0109] 7. The virtual camera in the digital twin scene obtains the PTZ coordinates of the physical camera pan-tilt head, updates the state and points to the point of interest;

[0110] 8. Obtain the real-time video images of the associated cameras and comprehensively display the real-time state of the point of interest.

[0111] Through actual production verification, the effect presented by the embodiments of the present invention matches the actual business requirements very well. When the operation and maintenance personnel select a point of interest in the three-dimensional scene, the system automatically selects relevant cameras and quickly and accurately points to the point of interest, and at the same time presents real-time video images, which brings great convenience to operation and maintenance. It not only greatly reduces the cumbersome work of adjusting the cameras and improves work efficiency, but also through the multi-camera linkage, comprehensively displays the real-time images of the point of interest from multiple directions, greatly reducing the occurrence of visual dead angles.

[0112] In any of the above embodiments, the physical camera is a camera with a pan-tilt head.

[0113] When specifically applied, the present invention can be implemented through the following steps:

[0114] Step 0. Prerequisites for camera pan-tilt head linkage control:

[0115] 1) It is necessary to use a camera with a pan-tilt head that can accurately obtain and set the PTZ state of the pan-tilt head;

[0116] 2) It is necessary to accurately model the monitoring scene and the camera to ensure the consistency of spatial positions;

[0117] 3) Convention: The upward direction of the pan-tilt head camera is vertically upward as the Y axis, the positive direction points from the camera focus O to the point of concern as the Z axis, and the X axis forms a right-handed Cartesian coordinate system with the Y axis and the Z axis; the angle of rotation of the OXZ plane around the X axis is the pitch angle, and when the angle between the OXZ plane and the Y axis is less than 90°, that is, when the pitch angle is rotated upward, it is positive, and when the angle between the OXZ plane and the Y axis is greater than 90°, that is, when the pitch angle is rotated downward, it is negative; the rotation of the OYZ plane around the Y axis is the azimuth angle, and when the angle between the OYZ plane and the X axis is less than 90°, the azimuth angle is positive, and when the angle between the OYZ plane and the X axis is greater than 90°, the azimuth angle is negative. This convention is consistent with the PTZ parameter definition of the camera pan-tilt head. When the angle is expressed in radians, it is the corresponding PTZ parameter.

[0118] Step 1. Arbitrarily select a point in the 3D scene to obtain the screen coordinates (x, y).

[0119] Step 2. Traverse each camera, and calculate the coordinates (x, y, z) of the screen coordinates on the near plane through the perspective camera model established by the camera parameters. Establish a ray ray from the camera position (x 0 , y 0 , z 0 ) pointing to the selected position point.

[0120] Step 3. Visibility check; use the ray method to calculate the intersection points of the ray ray and each model in the scene, and obtain the point (x 1 , y 1 , z 1 ) closest to the camera position. If this point and (x, y, z) are the same point, then this camera can observe the focus point; otherwise, the camera is blocked and this camera cannot observe the focus point.

[0121] Step 4. Calculate the azimuth angle:

[0122] The azimuth angle is the rotation angle of the camera in the horizontal direction relative to the initial state, and its spatial geometric model is the angle between the projection vector of the ray Ray on the OXZ plane and the OZ axis.

[0123] Step 5. Calculate the pitch angle:

[0124] The pitch angle is the rotation angle of the camera in the vertical direction relative to the initial state, and its calculation model is related to the azimuth angle:

[0125] When the absolute value of the azimuth angle is less than or equal to 45°, its spatial geometric model is the angle between the projection vector of the ray Ray on the OYZ plane and the OZ axis;

[0126] When the absolute value of the azimuth angle is greater than or equal to 45°, its spatial geometric model is the angle between the projection vector of the ray Ray on the OZY plane and the OX.

[0127] Step 6. Obtain the current PTZ parameters of the camera:

[0128] Step 7. Convert the pitch angle and azimuth angle into the PTZ parameters of the camera; and calculate the PTZ parameters that the camera should adjust.

[0129] Step 8. Use the multi-threaded method to simultaneously send instructions to adjust the PTZ parameters to the camera, and the camera pan-tilt head starts to move.

[0130] Step 9. Use the multi-threaded method to simultaneously monitor in real time. According to the PTZ parameters of the camera, convert them into the rotation matrix of the camera model, and update the rotation parameters of the camera.

[0131] Step 10. As the camera rotates, the monitored video shows the multi-angle videos of the focus point in real time.

[0132] In the above way, in the substation digital twin system (referred to as the system), any position in the three-dimensional scene is selected as the focus point. The system automatically filters the cameras through visibility check, obtains the camera control parameters through spatial geometry calculation, and automatically sends pan-tilt control commands to the filtered cameras. The digital twin body of the camera and the physical camera move synchronously and finally point to the focus point at the same time, and the monitored video is returned. In this way, the function of "point and view" is realized through the pan-tilt linkage control of multiple cameras, that is, in the three-dimensional scene of the digital twin system, wherever you point, the physical camera will look there. Specifically, through the pan-tilt linkage control of the cameras in the digital twin system, not only does the system have the function of "point and view", but also the user does not need to preset the focus point. Any position can be used as the focus point at any time, and you can look wherever you want; through automatic spatial calculation and precise control, the camera will look wherever the user points; through the linkage of multiple cameras, the real-time situation of the focus point can be viewed without dead angles and all-round, and you can view it however you want.

[0133] In summary, for the pan-tilt linkage control method and system of cameras used in the substation digital twin system, the interaction scheme of the camera linkage control changes the general video control method of directly controlling the camera to point to the point of interest. The solution of the present invention realizes the pan-tilt linkage control of the cameras in the substation digital twin system by arbitrarily selecting the point of interest, calculating which cameras can see the point of interest, and calculating the control parameters of the cameras, so as to achieve the collaborative control and precise control of multiple cameras. Combined with visibility check (that is, determining whether the line of sight between the camera and the point of interest is blocked. If not, it is considered an associated camera) and pan-tilt parameter calculation (calculating the azimuth angle and pitch angle of the camera according to the line of sight between the camera and the point of interest, as well as the spatial position, forward direction, and upward direction of the camera, so as to achieve precise control of the camera). When the operation and maintenance personnel select any point of interest in the twin scene, the digital twin system automatically obtains the associated cameras and precisely controls the pan-tilt, so that the cameras precisely point to the point of interest and fully display the real-time video image of the point of interest, truly achieving "point and view" of camera control. Compared with the existing method of controlling the camera to "point and view", the operation method is significantly simplified, which not only greatly reduces the cumbersome work of adjusting the camera and improves work efficiency, but also through the linkage of multiple cameras, the real-time images of the point of interest are displayed in multiple directions, greatly reducing the occurrence of visual dead angles and bringing great convenience to operation and maintenance.

[0134] For those skilled in the art, based on the technical solutions disclosed in the present invention, it is obvious to combine the above embodiments or some of the technical features therein into a new embodiment without contradiction.

Claims

1. A camera cloud mirror linkage control method for a substation digital twin system, comprising the following steps: S1, arbitrarily capture the positioning parameters of the focus points in the substation digital twin system; S2, obtaining predetermined parameters of at least one camera within a certain spatial distance from the focus point; S3, performing a visibility analysis on at least one acquired camera, and selecting cameras with unobstructed visibility to the focus point; S4, obtaining the pointing parameters of the through-view camera to the focus point; S5, converting the acquired pointing parameters into PTZ parameters of the physical camera; S6. Adjust the physical camera according to the PTZ parameters; S7. Update the status of the virtual camera in the substation digital twin system according to the PTZ parameters of the physical camera; S8. Obtain monitoring information from the physical camera and display it in the substation digital twin system.

2. The camera cloud mirror linkage control method for the substation digital twin system according to claim 1, characterized in that: In step S1, click and capture the focus point in the digital twin scene to obtain the three-dimensional coordinates of the focus point.

3. The camera cloud mirror linkage control method for the substation digital twin system according to claim 1, characterized in that: Before step S1, the method further includes the following steps: S0. Build a digital twin scenario for substations.

4. The camera cloud mirror linkage control method for the substation digital twin system according to claim 3, characterized in that: Step S0 includes the following steps: S01. Build digital twin scenarios of equipment, buildings, and environments in substations; S02. Construct accurate mapping of each physical camera in the digital twin scene; S03. Establish data mapping between each physical camera and the corresponding virtual camera to achieve virtual-real interaction.

5. The camera cloud mirror linkage control method for the substation digital twin system according to claim 4, characterized in that: In step S02, the precise mapping of each physical camera in the digital twin scene includes any one or more of the following parameters: spatial position, upward direction, positive direction, pitch angle, and azimuth angle.

6. The camera cloud mirror linkage control method for the substation digital twin system according to claim 4, characterized in that: Step S03 includes: S031. The virtual camera adjusts its status in the digital twin scene by obtaining the PTZ parameters of the physical camera; S032. The virtual camera sets the PTZ parameters of the physical camera through the feedback control service to change the pitch angle and azimuth angle of the physical camera.

7. The electronic stake as claimed in claim 6, characterized in that: In step S031, the PTZ parameters refer to the left-right and up-and-down omnidirectional movement of the camera pan / tilt and the zoom control of the lens.

8. The electronic stake as claimed in claim 1, characterized in that: In step S2, the predetermined parameters of at least one camera include the ID, three-dimensional coordinates, and visible distance of the camera.

9. The camera cloud mirror linkage control method for the substation digital twin system according to claim 1, characterized in that Any one or more of the following: In step S2, the certain spatial distance refers to the visible distance of the camera; In step S3, the inter-visibility analysis refers to determining whether the camera is blocked when looking from the camera to the focus point; In step S4, the pointing parameters include a pitch angle and an azimuth angle; In step S6, according to the PTZ coordinates of the pan / tilt of the viewing camera obtained by the conversion in step S5, a control instruction is sent to the viewing camera so that all the viewing cameras point to the focus point; In step S7, the virtual camera in the substation digital twin system updates the status and points to the point of interest according to the PTZ coordinates of the physical camera pan / tilt obtained; In step S8, the real-time monitoring screen of the physical camera is obtained, and the real-time status of the focus point is fully displayed in the substation digital twin system.

10. A camera cloud mirror linkage control system for a substation digital twin system, characterized in that: It includes: The focus point capture module is used to capture the positioning parameters of any focus point in the substation digital twin system; A camera parameter acquisition module, used to acquire predetermined parameters of at least one camera within a certain spatial distance from the focus point; A through-view camera screening module is used to perform a through-view analysis on at least one acquired camera, and screen out through-view cameras that are not blocked from the focus point; A pointing parameter acquisition module is used to obtain the pointing parameters of the viewing camera to the focus point; The PTZ parameter conversion module is used to convert the acquired pointing parameters into the PTZ parameters of the physical camera; The camera adjustment module is used to adjust the physical camera according to the PTZ parameters; The status update module is used to update the status of the virtual camera in the substation digital twin system according to the PTZ parameters of the physical camera; The monitoring display module is used to obtain the monitoring information of the physical camera and display it in the substation digital twin system.

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