CN105635698B - A method of Optimal Supervisory Control position is generated according to monitoring objective position - Google Patents
A method of Optimal Supervisory Control position is generated according to monitoring objective position Download PDFInfo
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- CN105635698B CN105635698B CN201610207199.4A CN201610207199A CN105635698B CN 105635698 B CN105635698 B CN 105635698B CN 201610207199 A CN201610207199 A CN 201610207199A CN 105635698 B CN105635698 B CN 105635698B
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 85
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000003384 imaging method Methods 0.000 claims description 7
- 239000002699 waste material Substances 0.000 abstract description 5
- 230000007812 deficiency Effects 0.000 abstract description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
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- 238000011900 installation process Methods 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The invention discloses a kind of methods generating Optimal Supervisory Control position according to monitoring objective position, including carry out successively：The three-dimensional physical model in monitored region is established, the center position and appearance and size of monitoring objective in three-dimensional physical model, acquisition camera lens parameters are obtained；Video camera is calculated at a distance from monitoring objective；Obtain optimal three big step of monitoring position.The method provided through the invention, preset positions of camera can be automatically generated according to the position of monitoring objective, video camera is set fast and accurately to go to presetting bit, the deficiency that the flexibility of range estimation layout method is insufficient, accuracy is low, precision is low is avoided, avoids and repeatedly carries out the fund waste that scene exploration on the spot is brought.
Description
Technical field
The present invention relates to image acquisition camera installation point choosing method technical fields, more particularly to a kind of according to monitoring
The method that target location generates Optimal Supervisory Control position.
Background technology
Substation's unattended system can realize the unattended surveillance of substation's complex environment, realize to remotely setting
Standby distributed monitoring and centralized management, wherein video monitoring system as Image Acquisition analytic unit, be substation nobody
The important component of system on duty.
The video monitoring system basis unattended as support substation, needs the operating status of real-time monitoring equipment.
Currently as the video camera of video monitoring system headend equipment, layout is all first to be installed according to two-dimentional drawing, after installing again
Identify that the position of adjustment video camera, the installation method of such video camera belong to range estimation layout method according to naked eyes.This method lacks
Weary flexibility, precision is low, and differs and surely accurately monitor corresponding equipment according to the image acquisition request of design；Meanwhile it adopting
With range estimation layout method, generally require repeatedly to carry out scene on the spot to survey, debug repeatedly, the fund also brought in this way, the time and
The waste of manpower.
Invention content
The video camera in middle video monitoring system is generally installed using range estimation layout method for the above-mentioned prior art,
Adopt this method that flexibility is low, installation accuracy is low, is unfavorable for image quality, meanwhile, installation process is also unfavorable for fund, time
The problems such as being controlled with human cost, the present invention provides a kind of methods generating Optimal Supervisory Control position according to monitoring objective position.
In view of the above-mentioned problems, a kind of method generating Optimal Supervisory Control position according to monitoring objective position provided by the invention is logical
Following technical essential is crossed to achieve the goal：A method of Optimal Supervisory Control position, including sequence are generated according to monitoring objective position
The following steps of progress：
S1：The three-dimensional physical model in monitored region is established, the center point of monitoring objective in three-dimensional physical model is obtained
It sets and appearance and size；Acquisition camera lens parameters, the lens parameters include lens imaging element width and camera lens at
The focal length of element；
S2：Video camera is obtained at a distance from monitoring objective, the distance is obtained and realizes by the following method：Dis=
(Wf)/(wλ)
Wherein, f is the focal length of lens imaging element in above formula, W is monitoring objective width, w is camera lens into pixel
The width of part, Dis are video camera at a distance from monitoring objective, and λ is that monitoring objective is shown in ratio shared on gained image；
S3：Optimal monitoring position is obtained, the monitoring position is obtained and realizes by the following method：With in monitoring objective
Heart point is the centre of sphere, makees the spherical surface that radius is Dis；It is prison to be taken above monitoring objective center position with central point distance
The horizontal plane of target width is controlled, the intersection circle of the horizontal plane and the spherical surface is Optimal Supervisory Control position.
In above scheme, since the appearance and size of monitoring objective and the central point of monitoring objective can be measured easily, adopt
Camera lens parameter is also visual data can automatically give birth in conjunction with three-dimensional physical model according to the position of monitoring objective
At preset positions of camera, video camera is enable fast and accurately to go to presetting bit, avoids the flexibility of range estimation layout method insufficient, accurate
The deficiency that really property is low, precision is low avoids and repeatedly carries out the fund waste that scene exploration on the spot is brought.
Further technical solution is：
For ease of quantifying to camera position and monitoring objective position, the three-dimensional physical model is established in three-dimensional
In rectangular coordinate system in space.
To obtain the accurate location coordinate of video camera, monitoring objective center point in three dimensions rectangular coordinate system
It is O (O to set the position coordinates in three dimensions rectangular coordinate systemx, Oy, Oz), the concrete numerical value of the Optimal Supervisory Control position coordinates
Meet following equation：
Wherein, x, y, z indicates the horizontal axis coordinate of Optimal Supervisory Control position respectively
Value, ordinate of orthogonal axes value and vertical pivot coordinate value；R be camera lens with cross monitoring objective central point vertical line at a distance from, i.e., level
The radius for intersecting circle in face and the spherical surface；The angle is camera lens line and horizontal axis at a distance from the vertical line
Angle；In three dimensions rectangular coordinate system, X-axis is horizontal axis, and Y-axis is the longitudinal axis, and Z axis is vertical pivot.
To enable video camera to collect the general image on the upside of monitoring objective, the monitoring objective width W is monitoring
The maximum width of target width.
To enable monitoring objective to occupy larger ratio in camera review, so that camera review can be accurate
Really, the operating status of intuitive reaction monitoring target, is conducive to camera supervised effect, and the monitoring objective is shown in gained image
The value range of upper shared ratio lambda is between 0.8 to 0.95.
The invention has the advantages that：
Since the appearance and size of monitoring objective and the central point of monitoring objective can be measured easily, the video camera mirror of use
Head parameter is also visual data can automatically generate camera preset in conjunction with three-dimensional physical model according to the position of monitoring objective
Position, enables video camera fast and accurately to go to presetting bit, avoids that range estimation layout method flexibility is insufficient, accuracy is low, precision is low
Deficiency, avoid repeatedly carry out on the spot scene exploration bring fund waste.
Description of the drawings
Fig. 1 is that a kind of method one generating Optimal Supervisory Control position according to monitoring objective position of the present invention is specific real
Apply the implementation flow chart of example.
Specific implementation mode
With reference to embodiment, the present invention is described in further detail, but the present invention structure be not limited only to it is following
Embodiment.
Embodiment 1：
As shown in Figure 1, a kind of method generating Optimal Supervisory Control position according to monitoring objective position, including sequence carry out with
Lower step：
S1：The three-dimensional physical model in monitored region is established, the center point of monitoring objective in three-dimensional physical model is obtained
It sets and appearance and size；Acquisition camera lens parameters, the lens parameters include lens imaging element width and camera lens at
The focal length of element；
S2：Video camera is obtained at a distance from monitoring objective, the distance is obtained and realizes by the following method：Dis=
(Wf)/(wλ)
Wherein, f is the focal length of lens imaging element in above formula, W is monitoring objective width, w is camera lens into pixel
The width of part, Dis are video camera at a distance from monitoring objective, and λ is that monitoring objective is shown in ratio shared on gained image；
S3：Optimal monitoring position is obtained, the monitoring position is obtained and realizes by the following method：With in monitoring objective
Heart point is the centre of sphere, makees the spherical surface that radius is Dis；It is prison to be taken above monitoring objective center position with central point distance
The horizontal plane of target width is controlled, the intersection circle of the horizontal plane and the spherical surface is Optimal Supervisory Control position.
In the present embodiment, since the appearance and size of monitoring objective and the central point of monitoring objective can be measured easily, adopt
Camera lens parameter is also visual data can automatically give birth in conjunction with three-dimensional physical model according to the position of monitoring objective
At preset positions of camera, video camera is enable fast and accurately to go to presetting bit, avoids the flexibility of range estimation layout method insufficient, accurate
The deficiency that really property is low, precision is low avoids and repeatedly carries out the fund waste that scene exploration on the spot is brought.
Embodiment 2：
The present embodiment is further qualified on the basis of embodiment 1：For ease of to camera position and monitoring objective
Position is quantified, and the three-dimensional physical model is established in three dimensions rectangular coordinate system.
To obtain the accurate location coordinate of video camera, monitoring objective center point in three dimensions rectangular coordinate system
It is O (O to set the position coordinates in three dimensions rectangular coordinate systemx, Oy, Oz), the concrete numerical value of the Optimal Supervisory Control position coordinates
Meet following equation：
Wherein, x, y, z indicates the horizontal axis coordinate of Optimal Supervisory Control position respectively
Value, ordinate of orthogonal axes value and vertical pivot coordinate value；R be camera lens with cross monitoring objective central point vertical line at a distance from, i.e., level
The radius for intersecting circle in face and the spherical surface；The angle is camera lens line and horizontal axis at a distance from the vertical line
Angle；In three dimensions rectangular coordinate system, X-axis is horizontal axis, and Y-axis is the longitudinal axis, and Z axis is vertical pivot.
Embodiment 3：
The present embodiment is further qualified on the basis of embodiment 1：To enable video camera to collect monitoring objective
The general image of upside, the monitoring objective width W are the maximum width of monitoring objective width.
Embodiment 4：
The present embodiment is further qualified on the basis of embodiment 1：To enable monitoring objective in camera review
In occupy larger ratio so that camera review is capable of the operating status of accurate, intuitive reaction monitoring target, conducive to taking the photograph
Camera monitoring effect, the monitoring objective be shown in the value range of shared ratio lambda on gained image between 0.8 to 0.95 it
Between.
Citing：
Monitor an outdoor main transformer in substation, facilitate calculating for citing, set the main transformer appearance and size as：It is long
5m, wide 2.5m, the cube of high 2.5m, using the cubical bottom center as the space system origin of three-dimensional system of coordinate, (X, Y, Z are sat
It is designated as 0), then the cube center origin coordinate is X=0, Y=0, Z=1.25, and eight apex coordinates of cube are：(2.5,
1.25,0), (2.5, -1.25,0), (- 2.5, -1.25,0), (- 2.5,1.25,0), (2.5,1.25,2.5), (2.5, -1.25,
2.5), (- 2.5, -1.25,2.5), (- 2.5,1.25,2.5), set the main transformer length, width and height sideline and three-dimensional system of coordinate X,
Y, Z coordinate system is parallel, then angle is 90 ° in formula, sets monitor camera model Samsung SNP-3301HP, the video camera
Valid pixel is 752 (H) × 582 (V), focal length:3.5-105mm (30X), image-forming component size are 4.8mm (H) × 3.6mm
(V)；Monitored object is set as the positive side of the transformation (plane of long 5m, high 2.5m) center.Since video camera valid pixel is
752 (H) × 582 (V), the effective the ratio of width to height of image is 752 ÷, 582 ≈ 1.292, and the positive side the ratio of width to height of monitored object is 5 ÷ 2.5
=2, so in order to which the overall picture of the positive side can be showed in monitored picture, then it should be with the positive side of transformer wide (5m) for base
Standard calculates camera position.Since focal length of camera is 3.5-105mm (30X), according to practical experience, for convenience in needs
When further or zoom out camera views, observation locally or globally, take under normal circumstances focal length close to minimum focus certain
One numerical value, so when calculating camera position, we set current camera focal length 17.5mm (5X) and are taken to calculate focal length, λ
Value 0.8, since f with w units are identical, and respectively molecule denominator, unit can not have to conversion, according to formula Dis=(Wf)/(w
λ) bring calculating into：W=5m, f=17.5mm, w=4.8mm, λ=0.8 calculate video camera and monitoring objective centre distance Dis
≈22.786m.According to formulaIn the monitored object video camera, angle is 90 °, r
=1.25m, Wy=Dis ≈ 22.786m, coordinate origin are transformer bottom center, and it is x to bring into and camera coordinates are calculated
=0+1.25 × cos (90 °)=0, y=0+22.786=22.786, z=0+1.25 × sin (90 °)=1.25, thus according to
On obtain position of the monitor camera in three-dimensional coordinate system be (X=0, Y=22.786, Z=1.25).In the application,
The origin of entire three-dimensional system of coordinate is fixed, and for different monitored object, corresponding prison can be calculated according to above formula
Control camera coordinates.
The above content is combine specific preferred embodiment to the further description of the invention made, and it cannot be said that originally
The specific implementation mode of invention is confined to these explanations.For those of ordinary skill in the art to which the present invention belongs,
The other embodiment obtained in the case where not departing from technical scheme of the present invention, should be included within the scope of the present invention.
Claims (3)
1. a kind of method generating Optimal Supervisory Control position according to monitoring objective position, which is characterized in that including sequence carry out with
Lower step：
S1：Establish the three-dimensional physical model in monitored region, obtain in three-dimensional physical model the center position of monitoring objective and
Appearance and size；Acquisition camera lens parameters, the lens parameters include the width and lens imaging member of lens imaging element
The focal length of part；
S2：Video camera is obtained at a distance from monitoring objective, the distance is obtained and realizes by the following method：Dis=(Wf)/(w
λ)
Wherein, f is the focal length of lens imaging element in above formula, W is monitoring objective width, w is camera lens image-forming component
Width, Dis are video camera at a distance from monitoring objective, and λ is that monitoring objective is shown in ratio shared on gained image；
S3：Optimal monitoring position is obtained, the monitoring position is obtained and realizes by the following method：With the central point of monitoring objective
For the centre of sphere, make the spherical surface that radius is Dis；It is monitoring mesh to be taken above monitoring objective center position with central point distance
The horizontal plane of width is marked, the intersection circle of the horizontal plane and the spherical surface is Optimal Supervisory Control position；
The three-dimensional physical model is established in three dimensions rectangular coordinate system；
Position coordinates of the monitoring objective center position in three dimensions rectangular coordinate system are O (Ox, Oy, Oz), it is described most
The concrete numerical value of excellent monitoring position coordinates meets following equation：
Wherein, x, y, z indicates the horizontal axis coordinate value of Optimal Supervisory Control position, indulges respectively
Axial coordinate value and vertical pivot coordinate value；R be camera lens at a distance from the vertical line of mistake monitoring objective central point, i.e. horizontal plane and institute
State the radius of the intersection circle of spherical surface；The angle is the angle of camera lens line and horizontal axis at a distance from the vertical line；Three
In dimension space rectangular coordinate system, X-axis is horizontal axis, and Y-axis is the longitudinal axis, and Z axis is vertical pivot, Wy=Dis.
2. a kind of method generating Optimal Supervisory Control position according to monitoring objective position according to claim 1, feature exist
In the monitoring objective width W is the maximum width of monitoring objective width.
3. a kind of method generating Optimal Supervisory Control position according to monitoring objective position according to claim 1, feature exist
In the monitoring objective is shown in the value range of shared ratio lambda on gained image between 0.8 to 0.95.
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| CN114640800B (en) * | 2020-12-16 | 2023-10-27 | 虫极科技（北京）有限公司 | Camera arrangement method and system |
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| CN104700409A (en) * | 2015-03-13 | 2015-06-10 | 国网四川省电力公司电力科学研究院 | Method for automatically adjusting preset position of camera in accordance with monitoring target |
| CN104850693A (en) * | 2015-01-19 | 2015-08-19 | 安科智慧城市技术（中国）有限公司 | Monitoring equipment layout method and device |
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| CN104850693A (en) * | 2015-01-19 | 2015-08-19 | 安科智慧城市技术（中国）有限公司 | Monitoring equipment layout method and device |
| CN104700409A (en) * | 2015-03-13 | 2015-06-10 | 国网四川省电力公司电力科学研究院 | Method for automatically adjusting preset position of camera in accordance with monitoring target |
Non-Patent Citations (2)
| Title |
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| 变电站智能布点系统中摄像机安装方案;姚毅，李莺，常政威，罗毅，刘勇;《压电与声光》;20151231;第37卷(第6期);全文 * |
| 变电站视频监控系统三维智能布点软件开发与应用;谢晓娜，常政威，冯世林;《四川电力技术》;20150630;第38卷(第3期);全文 * |
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