A method and device for monitoring a ball based on edge devices

Abstract

The application discloses a kind of based on edge device's cooperative monitoring method and device of ball control ball, it is related to electric power construction monitoring field;Among them, method includes: obtaining the first field video stream of first ball control ball shooting;First field video stream is detected to image quality, and according to the image quality statistical result of continuous multiple frames, whether first ball control ball is continuously photographed low-quality image is judged;If first ball control ball continuously photographs low-quality image, then pan-tilt swivel swing instruction is sent to first ball control ball;Second field video stream is obtained, and second field video stream is detected to image quality, whether first ball control ball is continuously photographed low-quality image is judged;If first ball control ball continuously photographs low-quality image, then the monitoring area information of first ball control ball is obtained;Monitoring area information is sent to second ball control ball according to the replacement monitoring instruction, to make second ball control ball replace monitoring task. The technical scheme provided in the application can solve the problem that the monitoring continuity is poor.

Description

Technical Field

[0001] This application relates to the field of power construction monitoring, specifically to a method and device for collaborative monitoring of control balls based on edge devices. Background Technology

[0002] Power construction is characterized by dispersed work sites, dynamically changing environments, and concurrent high-risk procedures, while its safety supervision faces challenges due to the large number of work sites, wide coverage, and high mobility. Surveillance spheres, with their rapid deployment, wireless transmission, and continuous operation capabilities, have become the mainstream equipment for remote monitoring of power construction.

[0003] However, during long-term operation at power construction sites, the video quality of deployed PTZ cameras is prone to continuous decline due to factors such as dust accumulation on the lens, overexposure under strong light, rain and fog obstruction, and PTZ malfunction, sometimes even resulting in a complete loss of identifiable footage. Currently, the typical approach to handling such malfunctions is for backend monitoring personnel to detect the abnormal video feed and then notify on-site maintenance personnel for repair. The recovery time from the occurrence of a malfunction often takes several minutes or even longer. During this period, the high-risk work area covered by the PTZ camera will be in a monitoring blind spot. Because high-risk power construction work is continuous, even a short blind spot can lead to undetected violations and potential safety accidents, highlighting a problem of poor monitoring continuity.

[0004] Therefore, there is an urgent need for a collaborative monitoring method and device based on edge-mounted devices for ball control. Summary of the Invention

[0005] This application provides a method and device for collaborative monitoring of deployed balls based on edge devices, which solves the problem of poor monitoring continuity.

[0006] This application provides a method for collaborative monitoring of surveillance cameras based on edge devices in its first aspect. The method includes: acquiring a first on-site video stream captured by a first surveillance camera, which is pre-positioned at a power construction site; performing image quality detection on the first on-site video stream and determining, based on the statistical results of image quality across multiple consecutive frames, whether the first surveillance camera is continuously capturing low-quality images, where low-quality images are those with a quality score below a preset quality threshold; if the first surveillance camera is continuously capturing low-quality images, sending a pan-tilt-zoom (PTZ) command to the first surveillance camera; acquiring a second on-site video stream, performing image quality detection on the second on-site video stream, and determining whether the first surveillance camera is continuously capturing low-quality images, where the second on-site video stream is video data captured by the first surveillance camera after executing the PTZ command; if the first surveillance camera is continuously capturing low-quality images, acquiring monitoring area information of the first surveillance camera; selecting a second surveillance camera at the power construction site based on the monitoring area information, and sending a substitute monitoring command to the second surveillance camera, the substitute monitoring command carrying monitoring area information, so that the second surveillance camera can take over the monitoring task.

[0007] By adopting the above technical solution, the video stream acquired by the first surveillance sphere is first subjected to image quality detection. If it is determined that the sphere is continuously capturing low-quality images, a pan-tilt-zoom command is automatically sent to attempt self-cleaning. If the image quality remains low after self-cleaning, the monitoring area information is obtained, and a second surveillance sphere is selected to take over the monitoring task. This solution realizes automatic detection, self-healing attempt, and task takeover completion in the event of a surveillance sphere failure, ensuring monitoring continuity without manual intervention. It solves the problem of monitoring blind spots caused by single-point failures in existing technologies and improves the fault tolerance of the power construction site monitoring system.

[0008] Optionally, based on the statistical results of image quality across multiple consecutive frames, it is determined whether the first surveillance sphere is continuously capturing low-quality images. Specifically, this includes: obtaining the quality score of each frame in the first scene video stream, where the quality score is obtained by performing image quality detection on the first scene video stream; counting the number of low-quality frames with quality scores lower than a preset quality threshold within a preset time window, and calculating the ratio of the number of low-quality frames to the total number of frames within the time window to obtain the frame percentage; determining whether the frame percentage is greater than a preset percentage threshold; if the frame percentage is greater than the preset percentage threshold, then the time window is determined to be a low-quality window; obtaining the determination results for N consecutive time windows, where if all N consecutive time windows are low-quality windows, then the first surveillance sphere is determined to be continuously capturing low-quality images, where N is an integer greater than or equal to 2.

[0009] By employing the above technical solution, the proportion of low-quality frames is counted in time windows, and a persistent low-quality state is only determined after N consecutive windows are all low-quality windows. This solution effectively distinguishes between sporadic interference and persistent faults, avoiding misjudgments caused by single frames or short-term fluctuations, and improving the accuracy and reliability of fault detection.

[0010] Optionally, a gimbal swing command is sent to the first control ball, specifically including: obtaining the current horizontal rotation angle and vertical rotation angle of the gimbal on the first control ball; generating a gimbal swing trajectory based on the horizontal rotation angle and vertical rotation angle, the gimbal swing trajectory including a reciprocating motion sequence from the current position, first rotating in a first direction by a first preset angle, then rotating in a second direction by a second preset angle, and finally returning to the current position; and sending the gimbal swing command to the first control ball, the gimbal swing command carrying the gimbal swing trajectory.

[0011] By employing the above technical solution, the current horizontal and vertical rotation angles of the first control ball are obtained, a gimbal swing trajectory containing a reciprocating motion sequence is generated, and sent to the control ball to complete the self-cleaning action. This solution utilizes the centrifugal force and airflow disturbance generated by the gimbal swing to remove floating dust or water droplets adhering to the lens surface. As a low-cost, hardware-free self-healing method, it can attempt to restore video quality without human intervention.

[0012] Optionally, before obtaining the monitoring area information of the first surveillance sphere if it continuously captures low-quality images, the method further includes: obtaining a low-quality feature combination based on the image quality detection results of the second on-site video stream, wherein the low-quality feature combination includes at least two of the following: blur value, average brightness value, noise level value, and occlusion ratio; inputting the low-quality feature combination into a preset fault classification model to obtain a low-quality type, wherein the low-quality type includes at least one of lens dirt, lens occlusion, focus failure, PTZ jamming, and signal interference; generating corresponding alarm information based on the low-quality type, and sending the alarm information to the construction site monitoring terminal, wherein the alarm information includes a fault type description and handling suggestions.

[0013] By employing the above technical solution, after self-cleaning proves ineffective, a combination of multi-dimensional low-quality features such as blurriness, brightness, noise, and occlusion is extracted and input into a fault classification model to identify specific fault types such as lens dirt, occlusion, focus failure, gimbal jamming, or signal interference, and alarm information with processing suggestions is generated. This solution achieves automatic diagnosis and classification of fault root causes, providing maintenance personnel with fault location and handling guidance, and shortening fault troubleshooting time.

[0014] Optionally, the monitoring area information includes the first physical location of the first deployment ball and monitoring perspective parameters. The first physical location is the GPS coordinates of the first deployment ball at the power construction site. The monitoring perspective parameters include the current pan-tilt horizontal rotation angle, pan-tilt vertical rotation angle, and lens focal length of the first deployment ball. The monitoring perspective parameters are used to characterize the monitoring area range of the first deployment ball.

[0015] By adopting the above technical solution, the monitoring area information is specifically defined as the GPS physical location of the first monitoring sphere and monitoring perspective parameters such as the pan-tilt-zoom (PTZ) angle, vertical rotation angle, and lens focal length. These parameters can fully characterize the monitoring area range of the monitoring sphere, providing accurate spatial basis for subsequent selection of replacement monitoring spheres, and ensuring that the second monitoring sphere can accurately turn to the fault area and take over the monitoring task.

[0016] Optionally, a second surveillance sphere is selected from the power construction site based on the monitoring area information. This includes: obtaining the second physical location and pan-tilt capability parameters of other surveillance spheres, where other surveillance spheres are those other than the first surveillance sphere in the power construction site; the pan-tilt capability parameters include the maximum horizontal rotation angle range and the maximum vertical rotation angle range; calculating the spatial distance based on the first and second physical locations, where the spatial distance is the distance between the first surveillance sphere and other surveillance spheres; calculating the target horizontal rotation angle and target vertical rotation angle required by other surveillance spheres to cover the monitoring area based on the monitoring area information and the spatial distance; when the spatial distance is less than or equal to a preset distance threshold, and the target horizontal rotation angle is within the maximum horizontal rotation angle range, and the target vertical rotation angle is within the maximum vertical rotation angle range, other surveillance spheres are selected as candidate surveillance spheres; if there is only one candidate surveillance sphere, it is selected as the second surveillance sphere; if there are multiple candidate surveillance spheres, the surveillance sphere with the smallest spatial distance among the candidate surveillance spheres is selected as the second surveillance sphere.

[0017] By employing the above technical solution, the positions and pan-tilt-zoom (PTZ) capability parameters of other monitored spheres are obtained. The spatial distance between these spheres and the first monitored sphere, as well as the target rotation angle required to cover the fault monitoring area, are calculated. Candidate monitored spheres that meet both distance and angle requirements are selected, and the one with the smallest spatial distance is chosen as the second monitored sphere. This solution automates the selection of monitoring spheres for replacement, prioritizing the nearest neighbor monitored sphere while ensuring PTZ coverage, thus improving the response speed and success rate of task handover.

[0018] Optionally, after sending the monitoring instruction to the second surveillance sphere, the method further includes: in response to the successful takeover confirmation instruction sent by the second surveillance sphere, marking the first surveillance sphere as pending maintenance; generating an equipment maintenance work order, and sending the maintenance work order to the operation and maintenance management platform, wherein the equipment maintenance work order includes the equipment identifier, first physical location, and low quality type of the first surveillance sphere.

[0019] By adopting the above technical solution, upon receiving the confirmation instruction of successful replacement of the second deployment ball, the first deployment ball is marked as pending maintenance, and a maintenance work order containing equipment identification, physical location, and low-quality type is automatically generated and sent to the operation and maintenance platform. This solution realizes the status tracking of faulty equipment and the automatic initiation of maintenance processes, improving the operation and maintenance efficiency of the power construction site monitoring system.

[0020] In a second aspect, this application provides a collaborative monitoring device for a deployment ball based on an edge device, the device including an acquisition unit, a processing unit and a transmission unit;

[0021] The acquisition unit is used to acquire the first on-site video stream captured by the first surveillance camera, which is pre-set at the power construction site; it is also used to acquire the monitoring area information of the first surveillance camera if the first surveillance camera continues to capture low-quality images. The processing unit is used to perform image quality detection on the first on-site video stream and determine whether the first control ball continuously captures low-quality images based on the statistical results of image quality of multiple consecutive frames. Low-quality images are images with a quality score lower than a preset quality threshold. The processing unit is also used to acquire the second on-site video stream, perform image quality detection on the second on-site video stream, and determine whether the first control ball continuously captures low-quality images. The second on-site video stream is the video data captured by the first control ball after executing the gimbal swing command. The sending unit is used to send a pan-tilt-zoom command to the first surveillance sphere if it continues to capture low-quality images; it is also used to select a second surveillance sphere in the power construction site according to the monitoring area information, and send a substitute monitoring command to the second surveillance sphere, which carries the monitoring area information so that the second surveillance sphere can take over the monitoring task.

[0022] Optionally, the acquisition unit is used to acquire the quality score of each frame in the first scene video stream, the quality score being obtained by performing image quality detection on the first scene video stream; acquire the judgment result of N consecutive time windows, if all N consecutive time windows are low quality windows, then it is determined that the first control ball is continuously shooting low quality images, where N is an integer greater than or equal to 2; the processing unit is used to count the number of low quality frames with quality scores lower than a preset quality threshold within a time window of preset duration, and calculate the ratio of the number of low quality frames to the total number of frames within the time window to obtain the frame percentage; determine whether the frame percentage is greater than a preset percentage threshold; if the frame percentage is greater than the preset percentage threshold, then the time window is determined to be a low quality window.

[0023] Optionally, the acquisition unit is used to acquire the current horizontal rotation angle and vertical rotation angle of the gimbal of the first control ball; the processing unit is used to generate a gimbal swing trajectory based on the horizontal rotation angle and vertical rotation angle of the gimbal, the gimbal swing trajectory including a reciprocating motion sequence of first rotating a first preset angle in a first direction from the current position, then rotating a second preset angle in a second direction, and finally returning to the current position; the sending unit is used to send a gimbal swing command to the first control ball, the gimbal swing command carrying the gimbal swing trajectory.

[0024] Optionally, the acquisition unit is used to acquire low-quality feature combinations based on the image quality detection results of the second site video stream. The low-quality feature combinations include at least two of the following: blur value, average brightness value, noise level value, and occlusion ratio. The processing unit is used to input the low-quality feature combinations into a preset fault classification model to obtain low-quality types. The low-quality types include at least one of lens dirt, lens occlusion, focus failure, gimbal jamming, and signal interference. The sending unit is used to generate corresponding alarm information based on the low-quality type and send the alarm information to the construction site monitoring terminal. The alarm information includes a fault type description and processing suggestions.

[0025] Optionally, the acquisition unit is used to obtain the second physical location and pan-tilt capability parameters of other deployed spheres. The other deployed spheres are those other than the first deployed sphere in the power construction site. The pan-tilt capability parameters include the maximum horizontal rotation angle range and the maximum vertical rotation angle range. The processing unit is used to calculate the spatial distance based on the first physical location and the second physical location. The spatial distance is the distance between the first deployed sphere and other deployed spheres. Based on the monitoring area information and the spatial distance, the processing unit calculates the target horizontal rotation angle and target vertical rotation angle required by the other deployed spheres to cover the monitoring area. When the spatial distance is less than or equal to a preset distance threshold, and the target horizontal rotation angle is within the maximum horizontal rotation angle range, and the target vertical rotation angle is within the maximum vertical rotation angle range, the other deployed spheres are selected as candidate deployed spheres. If there is only one candidate deployed sphere, it is selected as the second deployed sphere. If there are multiple candidate deployed spheres, the deployed sphere with the smallest spatial distance among the candidate deployed spheres is selected as the second deployed sphere.

[0026] Optionally, the processing unit is used to mark the first deployment ball as pending maintenance in response to the successful replacement confirmation command sent by the second deployment ball; the sending unit is used to generate an equipment maintenance work order and send the maintenance work order to the operation and maintenance management platform. The equipment maintenance work order includes the equipment identifier, first physical location, and low quality type of the first deployment ball.

[0027] In a third aspect, this application provides an electronic device including a processor, a memory, a user interface, and a network interface. The memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory to cause the electronic device to perform the first aspect or any possible implementation of the first aspect.

[0028] In a fourth aspect, this application provides a computer-readable storage medium storing a computer program, which is executed by a processor as described in the first aspect or any possible implementation thereof.

[0029] In summary, one or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: 1. The video stream acquired by the first surveillance sphere undergoes image quality detection. If it is determined that the sphere is continuously capturing low-quality images, a pan-tilt-zoom command is automatically sent to attempt self-cleaning. If the image quality remains low after self-cleaning, the monitoring area information is obtained, and a second surveillance sphere is selected to take over the monitoring task. This solution achieves automatic detection, self-healing attempt, and task takeover completion in the event of a surveillance sphere failure, ensuring monitoring continuity without manual intervention. It solves the problem of blind spots caused by single-point failures in existing technologies and improves the fault tolerance of the power construction site monitoring system.

[0030] 2. Obtain the current horizontal and vertical rotation angles of the first control ball, generate a gimbal swing trajectory containing a reciprocating motion sequence, and send it to the control ball to complete the self-cleaning action. This solution utilizes the centrifugal force and airflow disturbance generated by the gimbal swing to remove floating dust or water droplets attached to the lens surface. As a low-cost, hardware-free self-healing method, it can attempt to restore video quality without human intervention.

[0031] 3. The system has achieved automated selection of the best monitoring and control ball, prioritizing the nearest neighboring ball while ensuring coverage by the PTZ camera, thus improving the response speed and success rate of task handover. Attached Figure Description

[0032] Figure 1 This is a flowchart illustrating a collaborative monitoring method for a control ball based on an edge device, provided in an embodiment of this application.

[0033] Figure 2 This is a schematic diagram of the structure of a collaborative monitoring device based on an edge device provided in an embodiment of this application.

[0034] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0035] Explanation of reference numerals in the attached drawings: 201, acquisition unit; 202, processing unit; 203, transmission unit; 300, electronic device; 301, processor; 302, communication bus; 303, user interface; 304, network interface; 305, memory. Detailed Implementation

[0036] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0037] In the description of the embodiments of this application, the words "for example" or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design that is described as "for example" or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design options. Rather, the use of the words "for example" or "for instance" is intended to present the relevant concepts in a specific manner.

[0038] In the description of the embodiments of this application, the term "multiple" means two or more. For example, multiple systems means two or more systems, and multiple screen terminals means two or more screen terminals. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. The terms "comprising," "including," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0039] During long-term operation at power construction sites, the quality of video captured by surveillance cameras is prone to continuous degradation due to factors such as dust accumulation on the lens, overexposure under strong light, rain and fog obstruction, and PTZ malfunction. Currently, the time from the occurrence of a fault to the restoration of monitoring often takes several minutes or even longer. During this period, the high-risk work area covered by the surveillance camera will be in a monitoring blind spot. Since high-risk operations in power construction are continuous, even a short period of blind spot can lead to violations going undetected, resulting in safety accidents, indicating a problem of poor monitoring continuity. Therefore, this embodiment provides a collaborative monitoring method and device for surveillance cameras based on edge devices.

[0040] The collaborative monitoring method for deployed ball control based on edge devices provided in this application can be referenced. Figure 1 , Figure 1 This is a flowchart illustrating a collaborative monitoring method for edge devices based on a deployment ball, provided in an embodiment of this application. The method includes steps S101 to S106.

[0041] S101. Obtain the first on-site video stream captured by the first surveillance camera. The first surveillance camera is pre-set at the power construction site.

[0042] In the above steps, the edge device receives, in real time, the first on-site video stream collected by the first surveillance sphere deployed at the power construction site via a wired communication interface or wireless network. The first surveillance sphere, and the second surveillance sphere in subsequent steps, do not specifically refer to any particular sphere. The edge device is pre-installed at the power construction site. The first surveillance sphere is typically fixed on a tripod or mobile support and erected at key locations such as foundation pits, high-altitude work areas, and large machinery operation areas. It continuously collects on-site footage at a preset frame rate and resolution to monitor the construction work. After acquiring the video stream, the edge device temporarily stores it in its local memory for identification and judgment in subsequent steps.

[0043] S102. Perform image quality detection on the first scene video stream, and determine whether the first control ball continuously captures low-quality images based on the statistical results of image quality of multiple consecutive frames. Low-quality images are images with a quality score lower than a preset quality threshold.

[0044] In the above steps, the edge device performs image quality detection frame by frame on the first live video stream, calculating a quality score for each frame. Quality detection includes evaluation across multiple dimensions, such as whether the screen is black or too dark, whether the image is blurry, whether it is obstructed by foreign objects, and whether the noise level is too high. Each dimension can be quantified into a specific score, and the final weighted average yields a comprehensive quality score. The specific weighting coefficients can be preset by the staff based on the working environment and actual needs. Then, using a fixed-duration time window, the percentage of frames with quality scores below a preset quality threshold is counted. If this percentage exceeds the preset threshold for multiple consecutive time windows, it is determined that the first surveillance camera is continuously capturing low-quality images. This time-window and multi-window-based judgment mechanism effectively filters out occasional interference such as birds flying by, instantaneous strong light, and network fluctuations, avoiding accidental triggering of fault handling procedures due to brief fluctuations.

[0045] In one possible implementation, determining whether the first surveillance sphere is continuously capturing low-quality images based on the statistical results of image quality across multiple consecutive frames specifically includes: acquiring the quality score of each frame in the first on-site video stream, the quality score being obtained by performing image quality detection on the first on-site video stream; counting the number of low-quality frames with quality scores lower than a preset quality threshold within a preset time window, and calculating the ratio of the number of low-quality frames to the total number of frames within the time window to obtain the frame percentage; determining whether the frame percentage is greater than a preset percentage threshold; if the frame percentage is greater than the preset percentage threshold, then determining the time window as a low-quality window; acquiring the determination results of N consecutive time windows, and if all N consecutive time windows are low-quality windows, then determining that the first surveillance sphere is continuously capturing low-quality images, where N is an integer greater than or equal to 2.

[0046] Specifically, the edge device first acquires the quality score of each frame in the first live video stream, which is generated by the image quality detection step. Then, using a preset time window as a unit, it counts the number of low-quality frames with a quality score lower than a preset quality threshold within the window, and calculates the ratio of the number of low-quality frames to the total number of frames in the window to obtain the frame percentage. When the frame percentage is greater than a preset percentage threshold, the time window is marked as a low-quality window. The edge device continuously monitors the judgment results of N consecutive time windows. Only when all N consecutive windows are low-quality windows is it finally determined that the first surveillance ball is continuously capturing low-quality images, where N is an integer greater than or equal to 2. For example, if the time window duration is set to 5 seconds, and the first surveillance camera captures video at a frame rate of 30 frames per second, then each time window contains 150 frames. Assuming a preset quality threshold of 60 points and a preset proportion threshold of 80%, the edge device counts 130 frames within the window with a quality score below 60 points. The frame percentage is 130 / 150, approximately 86.7%, which is greater than 80%. Therefore, this window is marked as a low-quality window. If three windows of the same size but containing different specific frames are continuously monitored, and the frame percentage of each window exceeds 80%, then it is determined that the first surveillance camera is continuously capturing low-quality images. This multi-window continuous judgment mechanism avoids false triggering of fault handling due to occasional anomalies in a single frame or window, significantly improving the reliability of fault detection.

[0047] S103. If the first control ball continues to capture low-quality images, a gimbal swing command is sent to the first control ball.

[0048] In the above steps, once it is determined that the first control sphere is continuously capturing low-quality images, the edge device immediately generates a gimbal swing command and sends it to the first control sphere via a communication interface or wireless network. This command carries a preset swing trajectory, for example, controlling the gimbal to first rotate rapidly 30 degrees to the left, then 45 degrees to the right, and finally return to its original position, forming one or more cycles of reciprocating motion. The centrifugal force and airflow disturbance generated during the gimbal swing can dislodge dust, small water droplets, or mud adhering to the lens surface in an attempt to restore video quality.

[0049] In one possible implementation, sending a gimbal swing command to the first control ball specifically includes: acquiring the current horizontal rotation angle and vertical rotation angle of the gimbal on the first control ball; generating a gimbal swing trajectory based on the horizontal and vertical rotation angles, the gimbal swing trajectory including a reciprocating motion sequence starting from the current position, first rotating in a first direction by a first preset angle, then rotating in a second direction by a second preset angle, and finally returning to the current position; and sending the gimbal swing command to the first control ball, the gimbal swing command carrying the gimbal swing trajectory.

[0050] Specifically, the edge device first acquires the current horizontal and vertical rotation angles of the first control ball's gimbal. Then, it generates a gimbal swing trajectory based on these two angles. This trajectory is designed as a reciprocating motion sequence: starting from the current position, it first rotates a first preset angle in a first direction, then a second preset angle in a second direction, and finally returns to the current position. For example, it first rotates 30 degrees to the left, then 60 degrees to the right, and then resets. This trajectory can be repeated multiple times to enhance the cleaning effect. The edge device sends the gimbal swing command carrying this swing trajectory to the first control ball, and the control ball performs the swing action according to the trajectory.

[0051] S104. Obtain the second scene video stream, perform image quality detection on the second scene video stream, and determine whether the first control ball is continuously shooting low-quality images. The second scene video stream is the video data shot by the first control ball after executing the gimbal swing command.

[0052] In the above steps, after the gimbal swing action is completed, the edge device acquires a new video stream from the first control sphere, which is recorded as the second on-site video stream. The same image quality detection and persistent low-quality judgment as in step S102 are repeated on this video stream. If the quality of the second on-site video stream returns to normal, it indicates successful self-healing, and the system continues normal monitoring; if it is still judged as continuously capturing low-quality images, it indicates that the gimbal swing has failed to resolve the fault, and the subsequent fault monitoring process needs to be initiated.

[0053] S105. If the first surveillance camera continues to capture low-quality images, then obtain the monitoring area information of the first surveillance camera.

[0054] In the above steps, if self-cleaning fails and the second site video stream continues to capture low-quality images, the edge device reads the monitoring area information currently configured for the first surveillance sphere. This information includes the GPS physical coordinates of the first surveillance sphere at the power construction site, as well as its pan-tilt-zoom (PTZ) angles (horizontal and vertical) and lens focal length. These parameters collectively define the spatial area originally monitored by the first surveillance sphere, providing precise spatial basis for subsequent selection of replacement surveillance spheres.

[0055] In one possible implementation, before acquiring the monitoring area information of the first surveillance sphere if it continuously captures low-quality images, the method further includes: acquiring a low-quality feature combination based on the image quality detection results of the second on-site video stream, wherein the low-quality feature combination includes at least two of blur value, average brightness value, noise level value, and occlusion ratio; inputting the low-quality feature combination into a preset fault classification model to obtain a low-quality type, wherein the low-quality type includes at least one of lens dirt, lens occlusion, focus failure, PTZ jamming, and signal interference; generating corresponding alarm information based on the low-quality type, and sending the alarm information to the construction site monitoring terminal, wherein the alarm information includes a fault type description and handling suggestions.

[0056] Specifically, after completing image quality detection of the second-scene video stream, the edge device has obtained the quality score for each frame and detailed detection data for each frame in terms of sharpness, brightness, noise, occlusion, etc. Then, the edge device selects all low-quality frames (frames with quality scores below a preset threshold) within the continuous time window previously used to determine persistent low quality. For these low-quality frames, the edge device calculates the blur value, average brightness, noise level, and occlusion ratio for each frame, and summarizes these multi-dimensional features to form a low-quality feature combination. In one specific embodiment, the continuous time window used to determine persistent low quality is three windows, each 5 seconds long, totaling 450 frames, of which 380 are low-quality frames. The edge device calculates four features for these 380 frames: blur using Laplacian variance, average brightness using average grayscale value, noise level using high-frequency component ratio, and occlusion ratio using foreground area proportion. The feature values ​​of all frames are averaged to obtain a feature combination representing the current low-quality state. For example, the average blurriness is 45, the average brightness is 120, the noise level is 0.25, and the occlusion ratio is 0.35. This feature combination is input into a pre-trained fault classification model, which outputs the specific low-quality type, such as lens dirt, lens occlusion, focus failure, gimbal jamming, or signal interference. Based on the identified fault type, the edge device generates corresponding alarm information, which includes a description of the fault type and suggested handling measures. This alarm information is then sent to the construction site monitoring terminal to facilitate maintenance personnel in quickly locating the problem and taking targeted repairs.

[0057] In one possible implementation, the monitoring area information includes the first physical location of the first deployment ball and monitoring perspective parameters. The first physical location is the GPS coordinates of the first deployment ball at the power construction site. The monitoring perspective parameters include the current pan-tilt horizontal rotation angle, pan-tilt vertical rotation angle, and lens focal length of the first deployment ball. The monitoring perspective parameters are used to characterize the monitoring area range of the first deployment ball.

[0058] Specifically, the monitoring area information includes the first physical location and monitoring viewpoint parameters of the first monitoring sphere. The first physical location is the GPS coordinates of the first monitoring sphere at the power construction site, uniquely identifying its spatial position. The monitoring viewpoint parameters include the current horizontal and vertical rotation angles of the first monitoring sphere's pan / tilt unit, as well as the lens focal length. These three parameters together determine the monitoring sphere's field of view direction and range, thus fully characterizing the monitoring area covered by the first monitoring sphere. By combining the physical location and viewpoint parameters, subsequent monitoring spheres can accurately turn to the same spatial area, achieving seamless handover.

[0059] S106. Select a second surveillance sphere at the power construction site based on the monitoring area information, and send a substitute monitoring command to the second surveillance sphere. The substitute monitoring command carries the monitoring area information so that the second surveillance sphere can take over the monitoring task.

[0060] In the above steps, after the edge device acquires the monitoring area information of the first monitoring sphere, it iterates through all other monitoring spheres in the power construction site, calculating the spatial distance between each monitoring sphere and its monitoring area, as well as the target pan-tilt rotation angle required to cover that area. Monitoring spheres with a spatial distance less than a preset threshold and a target rotation angle within their own pan-tilt capabilities are selected as candidates, and the one with the smallest spatial distance is chosen as the second monitoring sphere. Subsequently, the edge device sends a monitoring command to the second monitoring sphere, carrying the monitoring area information of the first monitoring sphere. Upon receiving the command, the second monitoring sphere automatically turns to the corresponding spatial area and begins performing the monitoring task, thus taking over the work of the faulty monitoring sphere and ensuring uninterrupted monitoring of high-risk work areas.

[0061] In one possible implementation, selecting a second surveillance sphere at the power construction site based on the monitoring area information specifically includes: obtaining the second physical location and pan-tilt capability parameters of other surveillance spheres, wherein the other surveillance spheres are those other than the first surveillance sphere at the power construction site, and the pan-tilt capability parameters include the maximum horizontal rotation angle range and the maximum vertical rotation angle range; calculating the spatial distance based on the first and second physical locations, wherein the spatial distance is the distance between the first surveillance sphere and other surveillance spheres; calculating the target horizontal rotation angle and target vertical rotation angle required by the other surveillance spheres to cover the monitoring area based on the monitoring area information and the spatial distance; when the spatial distance is less than or equal to a preset distance threshold, and the target horizontal rotation angle is within the maximum horizontal rotation angle range, and the target vertical rotation angle is within the maximum vertical rotation angle range, the other surveillance sphere is selected as a candidate surveillance sphere; if there is only one candidate surveillance sphere, then the candidate surveillance sphere is selected as the second surveillance sphere; if there are multiple candidate surveillance spheres, then the surveillance sphere with the smallest spatial distance among the candidate surveillance spheres is selected as the second surveillance sphere.

[0062] Specifically, the edge device acquires the second physical location of other monitored spheres and their pan-tilt capability parameters, including the maximum horizontal rotation angle range and the maximum vertical rotation angle range. Based on the first and second physical locations, the spatial distance between the first monitored sphere and other monitored spheres is calculated. Then, based on the monitoring viewpoint parameters in the monitoring area information and the spatial distance, the target horizontal rotation angle and target vertical rotation angle required by each other monitored sphere to cover the monitoring area of ​​the first monitored sphere are calculated. Only when the spatial distance is less than or equal to a preset distance threshold, and the target horizontal rotation angle is within the maximum horizontal rotation angle range of the monitored sphere, and the target vertical rotation angle is within its maximum vertical rotation angle range, is the monitored sphere listed as a candidate monitored sphere. In this step, the selection criteria for candidate monitored spheres can be further enhanced, such as selecting monitored spheres that do not currently monitor any targets; if there is only one candidate monitored sphere, it is directly used as the second monitored sphere; if there are multiple candidates, the one closest in order of increasing spatial distance is selected as the second monitored sphere. In a specific embodiment, a total of 5 monitored spheres are deployed at the power construction site. The GPS coordinates of the first surveillance sphere are (100, 200), and its monitoring area information shows that it is monitoring an area with a radius of 15 meters centered at (110, 205). The preset distance threshold is 50 meters. The coordinates of the other four surveillance spheres are: sphere A (120, 210), sphere B (90, 190), sphere C (150, 220), and sphere D (30, 180). The edge device calculates the spatial distance between each sphere and the first surveillance sphere: sphere A is 22.4 meters, sphere B is 14.1 meters, sphere C is 53.9 meters, and sphere D is 72.1 meters. The distances between spheres C and D exceed 50 meters, so they are directly excluded. Next, the edge device calculates the target pan-tilt angles required for spheres A and B to cover the area based on the monitoring area information. Assuming sphere A's pan-tilt unit is currently pointing due north, calculations show it needs to rotate 35 degrees horizontally to the right and 10 degrees vertically downwards to cover the monitoring area. Sphere A's maximum horizontal rotation range is -45 to +45 degrees, and its maximum vertical rotation range is -30 to +30 degrees. Therefore, 35 degrees and 10 degrees are within the acceptable range, making sphere A qualified. Sphere B requires a 25-degree horizontal rotation to the left and a 15-degree vertical rotation upwards, also within its pan-tilt unit's capabilities. Thus, both spheres A and B are candidate deployment spheres. Since sphere B's spatial distance of 14.1 meters is less than sphere A's 22.4 meters, the edge device ultimately selects sphere B as the second deployment sphere and sends a monitoring command. This selection mechanism ensures that the selected second deployment sphere has sufficient pan-tilt unit coverage and can take over the monitoring task with the shortest possible response time.

[0063] In one possible implementation, after sending a monitoring instruction to the second surveillance sphere, the method further includes: in response to a successful takeover confirmation instruction sent by the second surveillance sphere, marking the first surveillance sphere as pending maintenance; generating an equipment maintenance work order, and sending the maintenance work order to the operation and maintenance management platform, wherein the equipment maintenance work order includes the equipment identifier, first physical location, and low quality type of the first surveillance sphere.

[0064] Specifically, after the second surveillance sphere successfully turns around and takes over the monitoring task, it returns a successful takeover confirmation command to the edge device. Upon receiving this confirmation command, the edge device marks the status of the first surveillance sphere as pending maintenance and stops sending monitoring commands to the first surveillance sphere until it receives a command confirming that the first surveillance sphere has completed maintenance, in order to avoid conflicts. Simultaneously, the edge device automatically generates an equipment maintenance work order, which includes at least the equipment identifier of the first surveillance sphere, its physical location, and the previously diagnosed low-quality type. This work order is sent to the operation and maintenance management platform, notifying maintenance personnel to promptly go to the site to handle the faulty equipment.

[0065] This application also provides a collaborative monitoring device for deployed ball surveillance based on an edge device, referring to... Figure 2 The device is an edge device, which includes an acquisition unit 201, a processing unit 202, and a sending unit 203.

[0066] The acquisition unit 201 is used to acquire the first on-site video stream captured by the first surveillance ball, which is pre-set at the power construction site; it is also used to acquire the monitoring area information of the first surveillance ball if the first surveillance ball continues to capture low-quality images.

[0067] The processing unit 202 is used to perform image quality detection on the first on-site video stream and determine whether the first control ball continuously captures low-quality images based on the statistical results of image quality of multiple consecutive frames. Low-quality images are images with a quality score lower than a preset quality threshold. It is also used to acquire a second on-site video stream, perform image quality detection on the second on-site video stream, and determine whether the first control ball continuously captures low-quality images. The second on-site video stream is the video data captured by the first control ball after executing the gimbal swing command.

[0068] The sending unit 203 is used to send a pan-tilt swing command to the first surveillance ball if the first surveillance ball continues to capture low-quality images; it is also used to select a second surveillance ball in the power construction site according to the monitoring area information, and send a substitute monitoring command to the second surveillance ball, the substitute monitoring command carrying the monitoring area information, so that the second surveillance ball can take over the monitoring task.

[0069] In one possible implementation, the acquisition unit 201 is used to acquire the quality score of each frame in the first on-site video stream, the quality score being obtained by performing image quality detection on the first on-site video stream; acquire the determination results of N consecutive time windows, and if all N consecutive time windows are low-quality windows, then determine that the first surveillance ball is continuously capturing low-quality images, where N is an integer greater than or equal to 2; the processing unit 202 is used to count the number of low-quality frames with quality scores lower than a preset quality threshold within a time window of preset duration, and calculate the ratio of the number of low-quality frames to the total number of frames within the time window to obtain the frame percentage; determine whether the frame percentage is greater than a preset percentage threshold; if the frame percentage is greater than the preset percentage threshold, then determine that the time window is a low-quality window.

[0070] In one possible implementation, the acquisition unit 201 is used to acquire the current horizontal rotation angle and vertical rotation angle of the gimbal of the first control ball; the processing unit 202 is used to generate a gimbal swing trajectory based on the horizontal rotation angle and vertical rotation angle of the gimbal, the gimbal swing trajectory including a reciprocating motion sequence of first rotating a first preset angle in a first direction from the current position, then rotating a second preset angle in a second direction, and finally returning to the current position; the sending unit 203 is used to send a gimbal swing command to the first control ball, the gimbal swing command carrying the gimbal swing trajectory.

[0071] In one possible implementation, the acquisition unit 201 is used to acquire a low-quality feature combination based on the image quality detection result of the second on-site video stream. The low-quality feature combination includes at least two of the following: blur value, average brightness value, noise level value, and occlusion ratio. The processing unit 202 is used to input the low-quality feature combination into a preset fault classification model to obtain a low-quality type. The low-quality type includes at least one of lens dirt, lens occlusion, focus failure, gimbal jamming, and signal interference. The sending unit 203 is used to generate corresponding alarm information based on the low-quality type and send the alarm information to the construction site monitoring terminal. The alarm information includes a fault type description and processing suggestions.

[0072] In one possible implementation, the acquisition unit 201 is used to acquire the second physical location and pan-tilt capability parameters of other deployed spheres. The other deployed spheres are those other than the first deployed sphere in the power construction site. The pan-tilt capability parameters include the maximum horizontal rotation angle range and the maximum vertical rotation angle range. The processing unit 202 is used to calculate the spatial distance based on the first physical location and the second physical location. The spatial distance is the distance between the first deployed sphere and other deployed spheres. Based on the monitoring area information and the spatial distance, the processing unit 202 calculates the target horizontal rotation angle and the target vertical rotation angle required by the other deployed spheres to cover the monitoring area. When the spatial distance is less than or equal to a preset distance threshold, and the target horizontal rotation angle is within the maximum horizontal rotation angle range, and the target vertical rotation angle is within the maximum vertical rotation angle range, the other deployed spheres are selected as candidate deployed spheres. If there is only one candidate deployed sphere, it is selected as the second deployed sphere. If there are multiple candidate deployed spheres, the deployed sphere with the smallest spatial distance among the candidate deployed spheres is selected as the second deployed sphere.

[0073] In one possible implementation, the processing unit 202 is used to mark the first deployment ball as pending maintenance in response to the success confirmation instruction sent by the second deployment ball; the sending unit 203 is used to generate an equipment maintenance work order and send the maintenance work order to the operation and maintenance management platform. The equipment maintenance work order includes the equipment identifier, first physical location, and low quality type of the first deployment ball.

[0074] It should be noted that the above embodiments of the apparatus are only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0075] This application also provides an electronic device. (See reference...) Figure 3 , Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device 300 may include: at least one processor 301, at least one communication bus 302, at least one user interface 303, a network interface 304, and a memory 305.

[0076] The communication bus 302 is used to enable communication between these components.

[0077] The user interface 303 may include a display screen and a camera. Optionally, the user interface 303 may also include a standard wired interface and a wireless interface.

[0078] The network interface 304 may include standard wired interfaces and wireless interfaces (such as Wi-Fi interfaces).

[0079] The processor 301 may include one or more processing cores. The processor 301 connects to various parts of the server using various interfaces and lines, and performs various server functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in memory 305, and by calling data stored in memory 305. Optionally, the processor 301 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 301 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content required for display; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 301 and may be implemented as a separate chip.

[0080] The memory 305 may include random access memory (RAM) or read-only memory. Optionally, the memory 305 may include a non-transitory computer-readable storage medium. The memory 305 may be used to store instructions, programs, code, code sets, or instruction sets. The memory 305 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. The memory 305 may also be at least one storage device located remotely from the aforementioned processor 301. (Refer to...) Figure 3 The memory 305, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and an application program for a collaborative monitoring method for deployment balls based on edge devices.

[0081] exist Figure 3 In the illustrated electronic device 300, the user interface 303 is mainly used to provide an input interface for the user and acquire user input data; while the processor 301 can be used to call an application program of a collaborative monitoring method for a deployment ball based on an edge device stored in the memory 305. When executed by one or more processors 301, the electronic device 300 performs one or more methods as described in the above embodiments. It should be noted that, for the foregoing method embodiments, for the sake of simplicity, they are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, because according to this application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0082] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0083] This application also provides a computer-readable storage medium storing instructions. When executed by one or more processors, these instructions cause an electronic device to perform one or more of the methods described in the above embodiments.

[0084] In the various embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some service interface; the indirect coupling or communication connection between apparatuses or units may be electrical or other forms.

[0085] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0086] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0087] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, 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. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, portable hard drives, magnetic disks, or optical disks.

[0088] The foregoing description is merely an exemplary embodiment of this disclosure and should not be construed as limiting the scope of this disclosure. Any equivalent changes and modifications made in accordance with the teachings of this disclosure shall still fall within the scope of this disclosure. Other embodiments of this disclosure will be readily apparent to those skilled in the art upon consideration of the specification disclosure.

[0089] This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not described in this disclosure. The specification and embodiments are to be considered exemplary only, and the scope of this disclosure is defined by the claims.

Claims

1. A method for monitoring a surveillance ball based on edge devices, characterized in that, The method includes: Acquire the first on-site video stream captured by the first surveillance camera, which is pre-positioned at the power construction site; The first on-site video stream is subjected to image quality detection, and based on the statistical results of image quality of multiple consecutive frames, it is determined whether the first control ball continuously captures low-quality images. The low-quality images are those with a quality score lower than a preset quality threshold. If the first control ball continues to capture the low-quality images, a gimbal swing command is sent to the first control ball. Acquire a second on-site video stream, perform image quality detection on the second on-site video stream, and determine whether the first control ball continuously captures the low-quality image. The second on-site video stream is the video data captured by the first control ball after executing the gimbal swing command. If the first surveillance camera continues to capture the low-quality images, then the monitoring area information of the first surveillance camera is obtained; Based on the monitoring area information, a second surveillance sphere is selected at the power construction site, and a substitute monitoring instruction is sent to the second surveillance sphere. The substitute monitoring instruction carries the monitoring area information so that the second surveillance sphere can take over the monitoring task.

2. The method according to claim 1, characterized in that, The step of determining whether the first surveillance ball continuously captures low-quality images based on the statistical results of image quality across multiple consecutive frames specifically includes: The quality score of each frame in the first on-site video stream is obtained, and the quality score is obtained by performing the image quality detection on the first on-site video stream; Using a preset time window as a unit, count the number of low-quality frames whose quality score is lower than the preset quality threshold within the time window, and calculate the ratio of the number of low-quality frames to the total number of frames within the time window to obtain the frame percentage. Determine whether the percentage of frames is greater than a preset percentage threshold; If the percentage of frames is greater than the preset percentage threshold, then the time window is determined to be a low-quality window. Obtain the determination results of N consecutive time windows. If all N consecutive time windows are low-quality windows, then determine that the first control ball continues to capture the low-quality images, where N is an integer greater than or equal to 2.

3. The method according to claim 1, characterized in that, Sending the gimbal swing command to the first control ball specifically includes: Obtain the current horizontal and vertical rotation angles of the gimbal of the first control ball. Based on the horizontal rotation angle and the vertical rotation angle of the gimbal, a gimbal swing trajectory is generated. The gimbal swing trajectory includes a reciprocating motion sequence that starts from the current position, first rotates to the first direction by a first preset angle, then rotates to the second direction by a second preset angle, and finally returns to the current position. The gimbal swing command is sent to the first control ball, and the gimbal swing command carries the gimbal swing trajectory.

4. The method according to claim 1, characterized in that, Before obtaining the monitoring area information of the first surveillance ball if it continues to capture the low-quality image, the method further includes: Based on the image quality detection results of the second on-site video stream, a low-quality feature combination is obtained, which includes at least two of the following: blur value, average brightness value, noise level value, and occlusion ratio. The low-quality features are combined and input into a preset fault classification model to obtain low-quality types, which include at least one of lens dirt, lens obstruction, focus failure, gimbal jamming, and signal interference. Based on the low-quality type, a corresponding alarm message is generated and sent to the construction site monitoring terminal. The alarm message includes a description of the fault type and a handling suggestion.

5. The method according to claim 1, characterized in that, The monitoring area information includes the first physical location and monitoring angle parameters of the first deployment ball. The first physical location is the GPS coordinates of the first deployment ball in the power construction site. The monitoring angle parameters include the current pan-tilt horizontal rotation angle, pan-tilt vertical rotation angle, and lens focal length of the first deployment ball. The monitoring angle parameters are used to characterize the monitoring area range of the first deployment ball.

6. The method according to claim 5, characterized in that, The step of selecting a second surveillance sphere at the power construction site based on the monitoring area information specifically includes: The second physical location and gimbal capability parameters of other deployed spheres are obtained. The other deployed spheres are deployed spheres other than the first deployed sphere in the power construction site. The gimbal capability parameters include the maximum horizontal rotation angle range and the maximum vertical rotation angle range. The spatial distance is calculated based on the first physical location and the second physical location, and the spatial distance is the distance between the first control ball and the other control balls. Based on the monitoring area information and the spatial distance, calculate the target horizontal rotation angle and target vertical rotation angle required for the other deployed balls to cover the monitoring area. When the spatial distance is less than or equal to a preset distance threshold, and the target horizontal rotation angle is within the range of the maximum horizontal rotation angle, and the target vertical rotation angle is within the range of the maximum vertical rotation angle, the other control balls are selected as candidate control balls. If there is only one candidate control ball, then the candidate control ball will be used as the second control ball; if there are multiple candidate control balls, then the control ball with the smallest spatial distance among the candidate control balls will be selected as the second control ball according to the size of the spatial distance.

7. The method according to claim 4, characterized in that, After sending the monitoring command to the second surveillance ball, the method further includes: In response to the successful handover confirmation command sent by the second deployment ball, the first deployment ball is marked as pending maintenance. A device maintenance work order is generated and sent to the operation and maintenance management platform. The device maintenance work order includes the device identifier of the first control ball, the first physical location of the first control ball, and the low quality type.

8. A collaborative monitoring device for deployed ball surveillance based on edge devices, characterized in that, The device includes an acquisition unit (201), a processing unit (202), and a sending unit (203): The acquisition unit (201) is used to acquire the first on-site video stream captured by the first deployment ball, which is pre-set at the power construction site; The processing unit (202) is used to perform image quality detection on the first on-site video stream, and determine whether the first control ball continuously captures low-quality images based on the image quality statistics of multiple consecutive frames. The low-quality images are images with a quality score lower than a preset quality threshold. The sending unit (203) is used to send a gimbal swing command to the first control ball if the first control ball continues to capture the low-quality image; The processing unit (202) is also used to acquire a second on-site video stream, perform the image quality detection on the second on-site video stream, and determine whether the first control ball continues to capture the low-quality image. The second on-site video stream is the video data captured by the first control ball after executing the gimbal swing command. The acquisition unit (201) is further configured to acquire the monitoring area information of the first control ball if the first control ball continues to capture the low-quality image; The sending unit (203) is also used to select a second surveillance ball in the power construction site according to the monitoring area information, and send a substitute monitoring instruction to the second surveillance ball. The substitute monitoring instruction carries the monitoring area information so that the second surveillance ball can take over the monitoring task.

9. An electronic device, characterized in that, The device includes a processor (301), a memory (305), a user interface (303), and a network interface (304). The memory (305) is used to store instructions. The user interface (303) and the network interface (304) are used to communicate with other devices. The processor (301) is used to execute the instructions stored in the memory (305) to cause the electronic device (300) to perform the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 7 above.

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