Monitoring blind area determination method, system and device, medium and product

Abstract

The invention relates to the technical field of image monitoring, and discloses a monitoring blind area determination method, system and device, a medium and a product, and the method comprises the steps: determining each patrol space point position and the space position of each camera in a current camera layout scene through a preset three-dimensional model of a transformer substation, and screening out a plurality of non-patrol point positions; and according to the three-dimensional space range of the non-patrolling point positions, defining a patrolling range area, and cutting the area according to unit space to form a three-dimensional space area. And then, unit spaces which are not in the preset inspection included angle and have shelters are removed, the camera inspection layout areas corresponding to the non-inspection point positions are combined, and finally, the monitoring blind area of the transformer substation is determined. According to the method, the monitoring blind area is determined through the inspection point position and the camera position in the three-dimensional model space, the problems of arrangement shielding and dead angles caused by a two-dimensional drawing are effectively avoided, and the camera utilization rate and the working efficiency are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of image monitoring, and particularly to a method, system, device, medium and product for determining monitoring blind areas. Background Art

[0002] With the continuous advancement of power grid operation modes such as intelligent substations, unattended substations, and centralized monitoring of substation operations, the substation auxiliary monitoring system, as one of the important technical means necessary for power grid intelligence and safe production, provides an important guarantee for the safe and stable operation of the power grid. Ensuring comprehensive safety coverage is crucial. However, due to the complex substation facilities and dynamic environmental changes, there may be monitoring blind areas in the viewing angles and coverage ranges of cameras. Therefore, there are many monitoring installation viewing areas where cameras need to be installed but are not monitored. Therefore, before the installation design of substation cameras, accurately predicting the coverage of cameras, avoiding monitoring installation dead angles, and reducing monitoring coverage blind areas are the keys to improving the safety management level of substations.

[0003] Currently, the two-dimensional drawings used in the installation design of substation cameras, and the analysis of the camera coverage range and dead angles also use two-dimensional drawings and manual judgment methods for dead angle analysis. Based on two-dimensional drawings, it is difficult to accurately judge and estimate the occlusion relationship between components or wires between the camera and the equipment, and it is also difficult to analyze the relationship between the dead angle and the vertical angle between the inspection point and the camera based on two-dimensional drawings for prediction. This easily leads to a large number of monitoring dead angles after the cameras are installed and put into intelligent inspection, greatly reducing the utilization rate of the cameras and the work efficiency is also poor. Summary of the Invention

[0004] In view of this, the present invention provides a method, system, device, medium and product for determining monitoring blind areas, which solves the technical problems that it is difficult to accurately judge and estimate the occlusion relationship between components or wires between the camera and the equipment based on two-dimensional drawings, and it is also difficult to analyze the relationship between the dead angle and the vertical angle between the inspection point and the camera based on two-dimensional drawings for prediction. This easily leads to a large number of monitoring dead angles after the cameras are installed and put into intelligent inspection, greatly reducing the utilization rate of the cameras and the work efficiency is also poor.

[0005] The first aspect of the present invention provides a method for determining monitoring blind areas, including:

[0006] Obtaining the spatial positions of each inspection space point and the spatial positions of each camera in the current camera layout scene according to the preset three-dimensional model of the substation;

[0007] Filter out multiple non - patrolling points based on each of the patrolling space points and the three - dimensional spatial position relationships of the cameras in the current camera layout scenario; wherein, the non - patrolling points are patrolling space points that do not satisfy the visible range of the current camera layout scenario.

[0008] For each of the non - patrolling points, determine the patrolling range area according to the three - dimensional spatial range of the non - patrolling point, and cut the patrolling range area by unit space to obtain a three - dimensional space area; wherein, the three - dimensional space area includes multiple unit spaces.

[0009] Eliminate the unit spaces outside the preset patrolling angle and the unit spaces with obstacles from the three - dimensional space area to obtain the camera patrolling layout area corresponding to the non - patrolling point.

[0010] Combine the camera patrolling layout areas corresponding to each of the non - patrolling points to determine the monitoring blind area of the substation.

[0011] Preferably, the method further includes:

[0012] Obtain the global three - dimensional point cloud data of the substation, and construct the initial three - dimensional model of the substation according to the global three - dimensional point cloud data.

[0013] Determine multiple patrolling space points in the initial three - dimensional model of the substation according to the global patrolling task of the substation.

[0014] Instantiate multiple of the patrolling space points and the current camera layout scenario of the substation into the initial three - dimensional model of the substation to obtain the three - dimensional model of the substation; wherein, the three - dimensional model of the substation contains the patrolling attribute data of each of the patrolling space points and the monitoring attribute data of each of the cameras.

[0015] Preferably, the step of filtering out multiple non - patrolling points based on each of the patrolling space points and the three - dimensional spatial position relationships of the cameras in the current camera layout scenario includes:

[0016] For each of the patrolling space points, judge whether the patrolling space point falls into the visible space range of any camera in the current camera layout scenario according to the patrolling space point and the three - dimensional spatial position relationships of the cameras in the current camera layout scenario; the visible space range includes a visible angle range and a visible distance range.

[0017] When it is judged that the patrolling space point does not fall into the visible space range of any camera in the current camera layout scenario, then determine the patrolling space point as the non - patrolling point.

[0018] When it is determined that the inspection space point falls within the visible space range of any camera in the current camera layout scenario, it is determined whether there is an obstacle between the camera and the inspection space point;

[0019] When it is determined that there is an obstacle between the camera and the inspection space point, the inspection space point is determined as the non-inspectable point.

[0020] Preferably, determining whether there is an obstacle between the camera and the inspection space point includes:

[0021] Under the constraint of the visible range of the camera, the inspection space point is oriented through the lens position of the camera to generate a frustum grid object;

[0022] Use the physical engine of the digital twin engine to determine whether the frustum grid object collides with other objects;

[0023] When it is determined that the frustum grid object collides with other objects, it is determined that there is an obstacle between the camera and the inspection space point;

[0024] When it is determined that the frustum grid object does not collide with other objects, it is determined that there is no obstacle between the camera and the inspection space point.

[0025] Preferably, for each non-inspectable point, a visible range area is determined according to the three-dimensional space range of the non-inspectable point, and the visible range area is cut by unit space to obtain a three-dimensional space area, including:

[0026] For each non-inspectable point, a visible range area of the non-inspectable point is determined according to the three-dimensional space range of the non-inspectable point; wherein, the visible range area is demarcated by the area boundary determined with the inspection point position of the non-inspectable point as the center, the normal direction as the central axis, and the visible angle of the inspection point;

[0027] The visible range area is cut by unit space according to the preset step length of the unit space to obtain a three-dimensional space area.

[0028] Preferably, combining the camera visible layout areas corresponding to each non-inspectable point to determine the monitoring blind area of the substation includes:

[0029] Overlap the camera visible layout areas corresponding to each non-inspectable point according to the visible range of the camera to obtain an overlapping layout area within all camera visible layout areas;

[0030] Update the scannable deployment areas of all cameras according to the overlapping deployment areas, and merge the updated scannable deployment areas of all cameras to obtain the monitoring blind spots of the substation.

[0031] In a second aspect, the present invention further provides a monitoring blind spot determination system, including:

[0032] A spatial position acquisition module, configured to obtain the spatial positions of each patrol space point and the spatial positions of each camera within the current camera layout scenario according to a preset three-dimensional model of the substation;

[0033] A patrol point screening module, configured to screen out a plurality of non-patrolable points according to the three-dimensional spatial position relationships between each of the patrol space points and each camera within the current camera layout scenario; wherein, the non-patrolable points are patrol space points that do not satisfy the visible range of the current camera layout scenario;

[0034] An area cutting module, configured to, for each of the non-patrolable points, determine a scannable range area according to the three-dimensional spatial range of the non-patrolable point, and cut the scannable range area by unit space to obtain a three-dimensional space area; wherein, the three-dimensional space area includes a plurality of unit spaces;

[0035] A deployment area determination module, configured to remove the unit spaces that are not within the preset patrol angle and the unit spaces with obstacles from the three-dimensional space area to obtain the scannable deployment areas of the cameras corresponding to the non-patrolable points;

[0036] A blind spot determination module, configured to combine the scannable deployment areas of the cameras corresponding to each of the non-patrolable points to determine the monitoring blind spots of the substation.

[0037] In a third aspect, the present invention further provides an electronic device, where the electronic device includes a memory and a processor, and a computer program is stored in the memory. When the computer program is executed by the processor, the processor is caused to execute the steps of the monitoring blind spot determination method as described in the first aspect.

[0038] In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed, the steps of the monitoring blind spot determination method as described in the first aspect are implemented.

[0039] In a fifth aspect, the present invention further provides a computer program product, where the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer is caused to execute the steps of the monitoring blind spot determination method as described in the first aspect.

[0040] As can be seen from the above technical solutions, the present invention determines the space positions of each inspection space point and each camera in the current camera layout scene through the preset three-dimensional model of the substation, and then screens out multiple non-inspectable points. According to the three-dimensional space range of the non-inspectable points, the inspectable range area is defined, and the area is cut by unit space to form a three-dimensional space area. Subsequently, the unit spaces that are not within the preset inspection angle and have obstacles are removed, and the inspectable layout areas of the cameras corresponding to each non-inspectable point are combined to finally determine the monitoring blind area of the substation. This method determines the monitoring blind area through the inspection points and camera positions in the three-dimensional model space, effectively avoiding the problems of layout occlusion and dead angles caused by two-dimensional drawings, and significantly improving the utilization rate of cameras and work efficiency. Description of the Drawings

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0042] Figure 1 The application environment of a method for determining a monitoring blind area provided by an embodiment of the present invention;

[0043] Figure 2 The flowchart of a method for determining a monitoring blind area provided by an embodiment of the present invention;

[0044] Figure 3 The structural schematic diagram of a moving platform provided by an embodiment of the present invention;

[0045] Figure 4 For Figure 3 The enlarged schematic diagram of area A in

[0046] Figure 5 The three-dimensional semi-sectional schematic diagram of the moving platform;

[0047] Figure 6 For Figure 5 The enlarged schematic diagram of area B in

[0048] Figure 7 The structural schematic diagram of a system for determining a monitoring blind area provided by an embodiment of the present invention;

[0049] Figure 8 The structural schematic diagram of an electronic device provided by an embodiment of the present invention. Detailed Embodiments

[0050] To enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0051] The method for determining a monitoring blind area provided by the embodiments of the present application can be applied to an application environment as Figure 1 shown. Among them, the terminal 101 communicates with the server 102 through a network. The data storage system can store the data that the server 102 needs to process. The data storage system can be integrated on the server 102, or can be placed in the cloud or other network servers.

[0052] The terminal 101 can be a computer, a mobile terminal, or a server with powerful computing power.

[0053] The server 102 can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services.

[0054] As Figure 2 shown, the embodiments of the present application provide a method for determining a monitoring blind area. Taking the method applied to the Figure 1 server 102 in it as an example, the method includes the following steps S1 to S5. Among them:

[0055] Step S1: Obtain the spatial positions of each inspection space point and the spatial positions of each camera in the current camera layout scenario according to the preset three-dimensional model of the substation.

[0056] Among them, the preset three-dimensional model of the substation is obtained by three-dimensional scanning of the entire area of the substation. The preset three-dimensional model of the substation contains the spatial positions of each inspection space point and the spatial positions of each camera in the current camera layout scenario. Among them, the inspection space points are set according to the inspection task requirements, and the current camera layout scenario is the spatial layout scenario of the cameras already arranged in the substation.

[0057] Step S2: Screen out multiple non-inspectable points according to the three-dimensional spatial position relationship between each inspection space point and each camera in the current camera layout scenario; among them, the non-inspectable points are the inspection space points that do not meet the visible range of the current camera layout scenario.

[0058] Among them, in the present invention, first, according to each inspected space point position described and the three-dimensional spatial position relationship of each camera in the current camera layout scenario, a detailed screening operation is carried out to identify and select multiple specific non-inspectable point positions. These non-inspectable point positions refer to those inspected space point positions that do not satisfy the visible range of the current camera layout scenario, that is, these point positions are in the blind area of the camera and cannot be covered and monitored by the existing camera system.

[0059] Step S3: For each non-inspectable point position, determine the inspectable range area according to the three-dimensional spatial range of the non-inspectable point position, and cut the inspectable range area by unit space to obtain a three-dimensional space area; among them, the three-dimensional space area includes multiple unit spaces.

[0060] Among them, the inspectable range area refers to the inspectable range area of the three-dimensional spatial range determined by the non-inspectable point position. In the present invention, first, a three-dimensional spatial range of the non-inspectable point position is used to determine an inspectable range area to ensure that all possible non-inspectable point positions are taken into account. Once the inspectable range area is determined, the next step is to cut this area by a certain unit space to obtain a series of three-dimensional space areas. These three-dimensional space areas are realized by dividing the entire inspectable range area into smaller and more convenient-to-manage unit spaces. Each unit space is independent and has a clear boundary. In this way, the entire inspectable range area is effectively divided into multiple unit spaces, providing convenience for subsequent determination of monitoring blind areas.

[0061] Step S4: Remove the unit spaces that are not within the preset inspection angle and the unit spaces with obstacles in the three-dimensional space area to obtain the camera inspectable layout area corresponding to the non-inspectable point position.

[0062] Among them, by removing the area space point values that are not within the inspectable angle in the three-dimensional space area, we can effectively identify and exclude the area spaces with obstacles. The purpose of this process is to determine the camera inspectable layout area corresponding to those non-inspectable point positions. By this method, the camera layout dead corners of the cameras that can be installed at a single non-inspectable point position but are actually not installed can be clearly defined.

[0063] Step S5: Combine the camera inspectable layout areas corresponding to each non-inspectable point position to determine the monitoring blind area of the substation.

[0064] It should be noted that for a method for determining a monitoring blind area proposed in an embodiment of the present application, through a preset three-dimensional model of a substation, the spatial positions of each inspection space point and each camera in the current camera layout scenario are determined, and then a plurality of non-inspectable points are screened out. According to the three-dimensional spatial range of the non-inspectable points, the inspectable range area is defined, and this area is cut by unit space to form a three-dimensional space area. Subsequently, the unit spaces that are not within the preset inspection angle and have obstacles are removed, and the inspectable layout areas of the cameras corresponding to each non-inspectable point are combined to finally determine the monitoring blind area of the substation. This method determines the monitoring blind area through the inspection points and camera positions in the three-dimensional model space, effectively avoiding the problems of layout occlusion and dead angles caused by two-dimensional drawings, and significantly improving the utilization rate of cameras and work efficiency.

[0065] Among them, in the embodiment of the present application, it is also necessary to establish a three-dimensional model of the substation. In some embodiments, the process of establishing a three-dimensional model of the substation further includes:

[0066] Step S11: Obtain the global three-dimensional point cloud data of the substation, and construct an initial three-dimensional model of the substation according to the global three-dimensional point cloud data;

[0067] Step S12: Determine a plurality of inspection space points in the initial three-dimensional model of the substation according to the global inspection tasks of the substation;

[0068] Step S13: Instantiate the plurality of inspection space points and the current camera layout scenario of the substation into the initial three-dimensional model of the substation to obtain a three-dimensional model of the substation; wherein, the three-dimensional model of the substation includes the inspection attribute data of each inspection space point and the monitoring attribute data of each camera.

[0069] Among them, the inspection attribute data includes the three-dimensional space coordinate value of the inspection point, the type of the inspection point, the camera type weight, the inspectable angle range, the normal direction of the inspection point, and the inspection distance.

[0070] The monitoring attribute data is the camera manufacturer, and the monitoring attribute data is the hardware parameters mounted on the camera model file, such as magnification, heading angle range, pitch angle, inspection angle, maximum inspection distance, and minimum inspection distance.

[0071] Specifically, three-dimensional point cloud acquisition can be performed on the substation by a three-dimensional scanner, and three-dimensional model modeling can be performed based on the points to construct a three-dimensional model of the substation.

[0072] Among them, during the process of three-dimensional point cloud acquisition of a substation, since the indoor height of the substation is usually relatively high, in order to acquire a complete point cloud model, a three-dimensional scanner needs to scan at different heights. Therefore, the embodiments of the present application improve the quality of three-dimensional scanning and reduce irregular random shaking, and provide a motion platform for the motion control of the three-dimensional scanner. Among them, the motion platform is as shown in Figures 3 to 6 shown.

[0073] Among them, the motion platform includes a traveling base 1, an air pump module 2, a buffer air tank 3, a telescopic riser 4, and a mounting plate 5. The three-dimensional scanner is fixedly installed on the mounting plate 5; the air pump module 2 and the buffer air tank 3 are arranged on the traveling base 1. The lower end of the telescopic riser 4 is fixedly installed on the traveling base 1, and the upper end of the telescopic riser 4 is fixedly installed on the mounting plate 5. The telescopic riser 4 has a function of telescopic height adjustment.

[0074] An annular cavity sleeve 6 is sleeved and installed at a position near the upper end of the outer part of the telescopic riser 4. The annular cavity sleeve 6 is in sealed contact with the telescopic riser 4, and the annular cavity sleeve 6 can rotate relative to the telescopic riser 4. An air outlet window 7 is formed through the surface of the telescopic riser 4. The telescopic riser 4 is communicated with the annular cavity sleeve 6 through the air outlet window 7. A directional nozzle 8 is communicated with the surface of the annular cavity sleeve 6. An intake main pipe 9 is communicated with the outer part of the telescopic riser 4. A throttle valve 10 is arranged in the intake main pipe 9. The intake main pipe 9 and the buffer air tank 3 are communicated through a hose.

[0075] A substrate part 401 is fixedly arranged in the telescopic riser 4. A gas flow channel 403 is formed on the upper surface of the mounting plate 5. A cross-over riser 402 is communicated between the gas flow channel 403 and the substrate part 401.

[0076] An internal flow channel 404 is formed inside the substrate part 401. One end of the internal flow channel 404 is communicated with the intake main pipe 9, and the other end of the internal flow channel 404 is communicated with the cross-over riser 402. A transverse blind hole 405 is formed on the upper surface of the substrate part 401. The transverse blind hole 405 divides the internal flow channel 404 into two parts.

[0077] A closed plug 406 is inserted into the transverse blind hole 405. When the closed plug 406 moves downward, the internal flow channel 404 can be blocked and interrupted. A pressure-receiving plate 407 is fixedly arranged on the upper part of the closed plug 406. The pressure-receiving plate 407 is in sealed contact with the inner wall surface of the telescopic riser 4, and the pressure-receiving plate 407 is also in sealed contact with the cross-over riser 402. The pressure-receiving plate 407 is located below the communication port between the telescopic riser 4 and the intake main pipe 9. A return spring 408 is arranged below the pressure-receiving plate 407. A breathing bottom hole 409 is formed through the substrate part 401 up and down. The breathing bottom hole 409 can balance the air pressure below the pressure-receiving plate 407 during the up and down movement of the pressure-receiving plate 407.

[0078] A control gear ring 601 is fixedly arranged at the lower part of the annular cavity sleeve 6, and a servo motor set 602 is fixedly arranged outside the telescopic riser 4. The servo motor set 602 is used to drive the control gear ring 601 to rotate, so as to drive the annular cavity sleeve 6 to rotate and adjust.

[0079] Among them, in the embodiment of the present application, the three-dimensional scanner is moved and controlled by the traveling base 1, and the position height of the three-dimensional scanner is adjusted by the telescopic riser 4. When the telescopic riser 4 is in a contracted state and the position of the three-dimensional scanner is relatively low, as the traveling base 1 moves forward, the shaking amplitude of the three-dimensional scanner is very small, and basically does not affect the scanning quality of the three-dimensional scanner; while after the telescopic riser 4 extends to a higher position, along with the start and stop of the traveling base 1 moving forward, it will cause a large shaking of the three-dimensional scanner at the top of the telescopic riser 4, affecting the scanning quality. In the present invention, the air flow is ejected through the set directional nozzle 8 to provide a reaction thrust to suppress and weaken the shaking amplitude at the top of the telescopic riser 4.

[0080] The air pump module 2 generates compressed gas and stores it in the buffer gas tank 3. The buffer gas tank 3 is connected to the intake main pipe 9 through a pipeline. When the traveling base 1 starts to move forward from a stationary state, the servo motor set 602 drives the control gear ring 601 to rotate, driving the annular cavity sleeve 6 to rotate and adjust, so that the directional nozzle 8 faces the opposite direction of the forward movement of the traveling base 1. While the traveling base 1 is moving, the opening control valve 10 is controlled to open, so that the compressed air flow is ejected through the directional nozzle 8 to assist in pushing the top of the telescopic riser 4 to move along, weakening the shaking at the top of the telescopic riser 4. The same is true when stopping, so as to improve the quality of three-dimensional scanning and reduce random and chaotic shaking.

[0081] In the above process, when the opening control valve 10 is closed, as Figure 6 shown, the air flow in the intake main pipe 9 enters the gas flow groove 403 through the internal flow channel 404 and the cross riser 402 to dissipate heat from the three-dimensional scanner above the gas flow groove 403, ensuring that the cross-sectional diameter of the internal flow channel 404 is small enough, and avoiding excessive air flow through beam flow.

[0082] When the opening control valve 10 is opened, the compressed air flow enters the telescopic riser 4. The inside of the telescopic riser 4 is under positive pressure, and the pressure acts above the pressure receiving disc 407, so that the pressure receiving disc 407 drives the sealing plug post 406 to move downward, blocking and interrupting the internal flow channel 404, thereby stopping the exhaust of the gas flow groove 403 and making the air flow concentrate towards the directional nozzle 8.

[0083] In some embodiments, a plurality of non-inspectable points are screened according to the positions of each inspection space point and the three-dimensional spatial position relationship of each camera in the current camera layout scene, including:

[0084] Step S201: For each inspection space point, based on the inspection space point and the three-dimensional spatial position relationship of each camera in the current camera layout scenario, determine whether the inspection space point falls within the visible space range of any camera in the current camera layout scenario; the visible space range includes the visible angle range and the visible distance range.

[0085] In this system, by calculating the three-dimensional spatial position of the camera and the three-dimensional spatial position of the inspection point, the distance between the camera and the inspection space point, as well as the angle between the camera and the normal direction of the inspection space point, can be obtained. Then, the system will determine whether the distance between the camera and the inspection space point is within the inspection range of the camera, and whether the angle between the camera and the normal direction of the inspection point is within the visible angle range of the data extracted from the inspection space point. If the distance between the camera and the inspection space point is within the inspection range of the camera, and the angle between the camera and the normal direction of the inspection point is within the visible angle range of the data extracted from the inspection space point, it can be determined that the inspection space point is within the visible space range of any camera in the current camera layout scenario. Accordingly, it can be confirmed that in the current camera layout scenario, the inspection space point is in a state where it can be monitored.

[0086] Among them, the vector space of the camera facing the visual space point is:

[0087]

[0088] In the formula, is the coordinate difference of the three-dimensional spatial positions of the camera and the inspection point, , , are the three-dimensional spatial coordinates of the inspection space point respectively, , , are the three-dimensional spatial coordinates of the camera respectively, is the three-dimensional space of the camera, is the three-dimensional normal direction of the inspection point, is the distance between the three-dimensional spatial positions of the camera and the inspection point, is the inspectable angle, is a constant, is the heading angle, is the pitch angle.

[0089] Step S202: When it is determined that the inspection space point does not fall within the visible space range of any camera in the current camera layout scenario, then determine the inspection space point as an uninspectable point.

[0090] Step S203: When it is determined that the inspection space point falls within the visible space range of any camera in the current camera layout scenario, it is then determined whether there is an occlusion between the camera and the inspection space point.

[0091] It can be understood that when there is an occlusion between the camera and the inspection space point,

[0092] even though the camera can theoretically see the inspection space point, due to the existence of the occlusion, in fact the camera cannot monitor the inspection space point. Therefore, in this step, the system will further check whether there is any occlusion on the path between the camera and the inspection space point. The detection of occlusions can be achieved through various methods, such as using obstacle data in the 3D model or detecting occlusion situations in the camera's field of view through image recognition technology. If there is an occlusion between the camera and the inspection space point, then the inspection space point is also determined as an uninspectable point.

[0093] Specifically, in the embodiments of the present application, determining whether there is an occlusion between the camera and the inspection space point includes:

[0094] Step S2031: Under the constraint of the camera's visible range, generate a frustum grid object by orienting the camera's lens position towards the inspection space point;

[0095] Step S2032: Use the physical engine of the digital twin engine to determine whether the frustum grid object collides with other objects;

[0096] Step S2033: When it is determined that the frustum grid object collides with other objects, it is determined that there is an occlusion between the camera and the inspection space point;

[0097] Step S2034: When it is determined that the frustum grid object does not collide with other objects, it is determined that there is no occlusion between the camera and the inspection space point

[0098] Among them, whether there is an occlusion between the camera and the inspection space point can be detected by generating a frustum grid object at the camera position towards the inspection point position. Using the collision relationship between the digital twin engine models, it is determined whether the grid collides with other objects. If there is a collision, it is determined that there is an occlusion relationship; if it is confirmed through the physical engine collision relationship verification that there is an occlusion between the camera and the inspection point, it is determined that the camera does not have the ability to inspect this point.

[0099] Step S204: When it is determined that there is an occlusion between the camera and the inspection space point, the inspection space point is determined as an uninspectable point.

[0100] In some embodiments, for each non-inspectable point in step S3, a visible range area is determined according to the three-dimensional spatial range of the non-inspectable point, and the visible range area is cut by unit space to obtain a three-dimensional space area, including:

[0101] Step S301: For each non-inspectable point, determine the visible range area of the non-inspectable point according to the three-dimensional spatial range of the non-inspectable point; wherein, the visible range area is delimited by an area boundary determined with the position of the inspection point of the non-inspectable point as the center, the normal direction as the central axis, and the visible angle of the inspection point.

[0102] Step S302: Cut the visible range area by unit space according to the preset step length of the unit space to obtain a three-dimensional space area.

[0103] It can be understood that for each non-inspectable point, its visible range area is determined. This area is centered on the inspection point, with the normal direction as the axis and the visible angle defining the boundary. This area is cut into unit spaces according to the preset step length to form a three-dimensional space area, and each three-dimensional space area has clear three-dimensional coordinates and size information. By analyzing these three-dimensional space areas, it can be further determined which areas are the monitoring blind spots of the camera, that is, those three-dimensional space areas that cannot be covered by any camera.

[0104] In some embodiments, the camera visible deployment areas corresponding to each non-inspectable point are combined to determine the monitoring blind spots of the substation, including:

[0105] Step S401: Overlap the camera visible deployment areas corresponding to each non-inspectable point according to the visible range of the camera to obtain the overlapping deployment area within all the camera visible deployment areas.

[0106] Step S402: Update all the camera visible deployment areas according to the overlapping deployment area, and merge the updated all the camera visible deployment areas to obtain the monitoring blind spots of the substation.

[0107] Among them, in the embodiments of the present application, in order to improve the efficiency and coverage of the monitoring system, it is necessary to conduct a detailed analysis of each non-inspectable point. First, the camera visible deployment areas corresponding to these points are divided in detail, and the overlapping times of the camera deployment dead corners in each area are evaluated. Then, considering the types of inspection cameras used at the inspection points, these factors are comprehensively considered to realize the reorganization and merger of the existing deployments. Finally, for the new monitoring space formed after the reorganization and merger, according to different security level requirements, a targeted evaluation of the camera deployment dead corners is carried out to ensure that each area can be effectively monitored.

[0108] Based on the same inventive concept, an embodiment of the present application further provides a monitoring blind area determination system for implementing the monitoring blind area determination method involved above.

[0109] The implementation solution provided by this system to solve the problem is similar to the implementation solution described in the above method. Therefore, the specific limitations in one or more embodiments of the monitoring blind area determination system provided below can refer to the limitations on the monitoring blind area determination method in the above text, and will not be repeated here.

[0110] As Figure 7 shown, an embodiment of the present application further provides a monitoring blind area determination system, including:

[0111] A spatial position acquisition module 100, configured to obtain the spatial positions of each inspection space point and the spatial positions of each camera in the current camera layout scene according to a preset three-dimensional model of the substation;

[0112] An inspection point screening module 200, configured to screen out a plurality of non-inspectable points according to the three-dimensional spatial position relationship between each inspection space point and each camera in the current camera layout scene; wherein, the non-inspectable point is an inspection space point that does not meet the visible range of the current camera layout scene;

[0113] A region cutting module 300, configured to, for each non-inspectable point, determine a visible inspection range region according to the three-dimensional spatial range of the non-inspectable point, and cut the visible inspection range region by unit space to obtain a three-dimensional space region; wherein, the three-dimensional space region includes a plurality of unit spaces;

[0114] A layout region determination module 400, configured to remove the unit spaces outside the preset inspection angle and the unit spaces with obstacles from the three-dimensional space region to obtain the camera visible inspection layout region corresponding to the non-inspectable point;

[0115] A blind area determination module 500, configured to combine the camera visible inspection layout regions corresponding to each non-inspectable point to determine the monitoring blind area of the substation.

[0116] In some embodiments, this system further includes: a three-dimensional space construction module, configured to:

[0117] Obtain the global three-dimensional point cloud data of the substation, and construct an initial three-dimensional model of the substation according to the global three-dimensional point cloud data;

[0118] Determine a plurality of inspection space points in the initial three-dimensional model of the substation according to the global inspection tasks of the substation;

[0119] Instantiate multiple inspection space points and the current camera layout scenario of the substation into the initial 3D model of the substation to obtain the 3D model of the substation; wherein, the 3D model of the substation includes the inspection attribute data of each inspection space point and the monitoring attribute data of each camera.

[0120] In some embodiments, the inspection point screening module 200 is used for:

[0121] For each inspection space point, according to the inspection space point and the three-dimensional spatial position relationship of each camera in the current camera layout scenario, determine whether the inspection space point falls within the visible space range of any camera in the current camera layout scenario; the visible space range includes the visible angle range and the visible distance range;

[0122] When it is determined that the inspection space point does not fall within the visible space range of any camera in the current camera layout scenario, then determine the inspection space point as an uninspectable point;

[0123] When it is determined that the inspection space point falls within the visible space range of any camera in the current camera layout scenario, then determine whether there is an occlusion between the camera and the inspection space point;

[0124] When it is determined that there is an occlusion between the camera and the inspection space point, then determine the inspection space point as an uninspectable point.

[0125] In some embodiments, determining whether there is an occlusion between the camera and the inspection space point includes:

[0126] Under the constraint of the visible range of the camera, aim at the inspection space point through the lens position of the camera to generate a frustum grid object;

[0127] Use the physical engine of the digital twin engine to determine whether the frustum grid object collides with other objects;

[0128] When it is determined that the frustum grid object collides with other objects, it is determined that there is an occlusion between the camera and the inspection space point;

[0129] When it is determined that the frustum grid object does not collide with other objects, it is determined that there is no occlusion between the camera and the inspection space point.

[0130] In some embodiments, the area cutting module 300 is used for:

[0131] For each uninspectable point, determine the inspectable range area of the uninspectable point according to the three-dimensional spatial range of the uninspectable point; wherein, the inspectable range area is demarcated by the area boundary determined with the inspection point position of the uninspectable point as the center, the normal direction as the central axis, and the visible angle of the inspection point.

[0132] Cut the scannable range area into unit spaces according to a preset step size per unit space to obtain a three-dimensional space area.

[0133] In some embodiments, the blind area determination module 500 is configured to:

[0134] Overlap the camera scannable layout areas corresponding to each non-scannable point according to the visible range of the camera to obtain an overlapping layout area within all camera scannable layout areas;

[0135] Update all camera scannable layout areas according to the overlapping layout area, and merge the updated all camera scannable layout areas to obtain the monitoring blind area of the substation.

[0136] As Figure 8 shown, an embodiment of the present application further provides an electronic device. The electronic device 10 includes a memory 20 and a processor 30. A computer program is stored in the memory 20. When the computer program is executed by the processor 30, the processor 30 is caused to execute the steps of the monitoring blind area determination method in the above embodiment.

[0137] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed, the steps of the monitoring blind area determination method in the above embodiment are implemented.

[0138] An embodiment of the present application further provides a computer program product. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer is caused to execute the steps of the monitoring blind area determination method in the above embodiment.

[0139] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described system, electronic device, computer storage medium, and computer program product can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0140] It should be noted that the terms "first", "second", etc. in the description, claims and above-mentioned drawings of the present invention are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0141] In several embodiments provided by the present invention, it can be understood that each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the module, the program segment, or the part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in an order different from that marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved.

[0142] In several embodiments provided by the present invention, it should be understood that the disclosed systems, electronic devices, computer storage media, computer program products and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other may be indirect couplings or communication connections through some interfaces, devices or units, and may be electrical, mechanical or other forms.

[0143] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0144] In addition, in each embodiment of the present invention, each functional unit can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0145] If the above integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (English full name: Read-Only Memory, English abbreviation: ROM), random access memories (English full name: Random Access Memory, English abbreviation: RAM), magnetic disks, or optical discs that can store program codes.

[0146] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of each embodiment of the present invention.

Claims

1. A method for determining a monitoring blind area, characterized in that: include: According to the preset three-dimensional model of the substation, the spatial position of each patrol space point and the spatial position of each camera in the current camera layout scene are obtained; A plurality of non-inspectable points are screened out according to the three-dimensional spatial position relationship between each of the inspection space points and each camera in the current camera layout scene; wherein the non-inspectable points are inspection space points that do not meet the visual range of the current camera layout scene; For each of the non-patrollable points, determine a patrollable range area according to the three-dimensional spatial range of the non-patrollable point, and cut the patrollable range area into unit spaces to obtain a three-dimensional space area; wherein the three-dimensional space area includes a plurality of unit spaces; Eliminate the unit space that is not within the preset patrol angle and the unit space with obstructions in the three-dimensional space area to obtain the camera patrol layout area corresponding to the non-patrol point; The camera patrollable deployment areas corresponding to the non-patrollable points are combined to determine the monitoring blind areas of the substation.

2. The method for determining a monitoring blind area according to claim 1, characterized in that: Also includes: Acquire global three-dimensional point cloud data of the substation, and construct an initial three-dimensional model of the substation based on the global three-dimensional point cloud data; Determine a plurality of patrol space points within the initial three-dimensional model of the substation according to the global patrol task of the substation; Instantiate the multiple patrol space points and the current camera layout scene of the substation into the initial three-dimensional model of the substation to obtain the three-dimensional model of the substation; wherein the three-dimensional model of the substation includes the patrol attribute data of each patrol space point and the monitoring attribute data of each camera.

3. The method for determining a monitoring blind area according to claim 1, characterized in that: The method of screening out a plurality of non-patrollable points according to the patrol space points and the three-dimensional spatial position relationship of each camera in the current camera layout scene includes: For each patrol space point, judging whether the patrol space point falls within the visible space range of any camera in the current camera layout scene according to the patrol space point and the three-dimensional spatial position relationship of each camera in the current camera layout scene; the visible space range includes a visible angle range and a visible distance range; When it is determined that the patrol space point does not fall within the visible space range of any camera in the current camera layout scene, the patrol space point is determined as the non-patrol point; When it is determined that the patrol space point falls within the visible space range of any camera in the current camera layout scene, it is determined whether there is an obstruction between the camera and the patrol space point; When it is determined that the obstruction exists between the camera and the patrol space point, the patrol space point is determined as the non-patrollable point.

4. The method for determining a monitoring blind area according to claim 2, characterized in that: Determining whether there is an obstruction between the camera and the patrol space point includes: Under the constraint of the visual range of the camera, a viewing cone mesh object is generated by pointing the lens position of the camera toward the patrol space point; Using the physics engine of the digital twin engine to determine whether the frustum mesh object collides with other objects; When it is determined that the cone mesh object collides with the other object, it is determined that the obstruction exists between the camera and the patrol space point; When it is determined that the cone mesh object does not collide with the other objects, it is determined that there is no obstruction between the camera and the patrol space point.

5. The method for determining a monitoring blind area according to claim 1, characterized in that: For each of the non-patrollable points, determining a patrollable range area according to the three-dimensional spatial range of the non-patrollable point, and cutting the patrollable range area according to unit space to obtain a three-dimensional spatial area, including: For each of the non-patrollable points, determine the patrollable range of the non-patrollable points according to the three-dimensional spatial range of the non-patrollable points; wherein the patrollable range is obtained by demarcating the area boundary with the patrollable point position of the non-patrollable point as the center, the normal direction as the central axis, and the visible angle of the patrollable point; The patrollable range area is cut into units of space according to a preset step length of the unit space to obtain a three-dimensional space area.

6. The method for determining a monitoring blind area according to claim 1, characterized in that: The step of combining the camera patrol deployment areas corresponding to the non-patrollable points to determine the monitoring blind area of ​​the substation includes: Overlapping the patrollable camera layout areas corresponding to the non-patrollable points according to the visual range of the camera to obtain overlapping layout areas within the patrollable camera layout areas of all cameras; All camera patrollable deployment areas are updated according to the overlapping deployment areas, and all updated camera patrollable deployment areas are merged to obtain the monitoring blind area of ​​the substation.

7. A monitoring blind area determination system, characterized in that: include: The spatial position acquisition module is used to obtain the spatial position of each patrol space point and the spatial position of each camera in the current camera layout scene according to the preset three-dimensional model of the substation; A patrol point screening module, used to screen out a plurality of non-patrol points according to the patrol space points and the three-dimensional spatial position relationship of each camera in the current camera layout scene; wherein the non-patrol points are patrol space points that do not meet the visual range of the current camera layout scene; A region cutting module is used to determine the patrollable range area according to the three-dimensional spatial range of each of the non-patrolable points, and cut the patrollable range area according to the unit space to obtain a three-dimensional space area; wherein the three-dimensional space area includes a plurality of unit spaces; A layout area determination module is used to eliminate unit spaces that are not within a preset patrol angle and unit spaces with obstructions from the three-dimensional space area, and obtain a camera patrol layout area corresponding to the non-patrol point; The blind spot determination module is used to combine the camera patrol deployment areas corresponding to the non-patrollable points to determine the monitoring blind spots of the substation.

8. An electronic device, characterized in that: The electronic device includes a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the monitoring blind spot determination method as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the steps of the monitoring blind area determination method according to any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions, wherein when the program instructions are executed by a computer, the computer is caused to perform the steps of the monitoring blind spot determination method as described in any one of claims 1-6.

Images