CN111491140A - Power transmission cable video line patrol method and terminal - Google Patents
Power transmission cable video line patrol method and terminal Download PDFInfo
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- CN111491140A CN111491140A CN202010410606.8A CN202010410606A CN111491140A CN 111491140 A CN111491140 A CN 111491140A CN 202010410606 A CN202010410606 A CN 202010410606A CN 111491140 A CN111491140 A CN 111491140A
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- fitting
- rotation angle
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- line patrol
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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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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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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
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The invention discloses a video line patrol method and a video line patrol terminal for a power transmission cable, wherein the method comprises the following steps: acquiring a plurality of calibration preset positions of a power transmission cable; respectively acquiring the horizontal rotation angle, the vertical rotation angle and the lens magnification of the ball machine at the plurality of calibration preset positions; fitting the change relation between the horizontal rotation angle and the vertical rotation angle by adopting a spline function to obtain a first fitting function; fitting the change relation between the calibration preset position and the lens multiplying power by adopting a spline function to obtain a second fitting function; calculating line patrol parameters of a plurality of new preset positions according to the first fitting function and the second fitting function; and the ball machine automatically patrols the transmission cable according to the line patrolling parameters of the new preset positions. The invention has smooth whole moving process and zooming process when line patrol is carried out, can automatically carry out line patrol, does not need manual calibration and has high line patrol efficiency.
Description
Technical Field
The invention relates to the technical field of electronic information, in particular to a power transmission cable video line patrol method and a terminal.
Background
In order to ensure the safety of the transmission cable channel, the power company generally adopts three modes of manual inspection, unmanned aerial vehicle inspection and online monitoring device inspection to perform cable inspection. Both manual inspection and unmanned aerial vehicle inspection require people to go to the site, inspection frequency is low, and the people cannot go to the site in severe weather; the online monitoring device can be checked at any time during inspection, but manual control is also needed to see the conditions of equipment and cables on the tower once, and time and labor are wasted.
The prior art has the following defects: the tower condition is patrolled and is all through manual control, perhaps sets up a lot of preset positions, looks in position one by one, does not have whole to watch, does not also know whether have the omission.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the power transmission cable video line patrol method and the terminal can automatically complete line patrol tasks and are high in efficiency.
In order to solve the technical problems, the invention adopts the technical scheme that:
a power transmission cable video line patrol method comprises the following steps:
acquiring a plurality of calibration preset positions of a power transmission cable;
respectively acquiring the horizontal rotation angle, the vertical rotation angle and the lens magnification of the ball machine at the plurality of calibration preset positions;
fitting the change relation between the horizontal rotation angle and the vertical rotation angle by adopting a spline function to obtain a first fitting function;
fitting the change relation between the calibration preset position and the lens multiplying power by adopting a spline function to obtain a second fitting function;
calculating line patrol parameters of a plurality of new preset positions according to the first fitting function and the second fitting function;
and the ball machine automatically patrols the transmission cable according to the line patrolling parameters of the new preset positions.
The invention adopts another technical scheme that:
a power cable video patrol terminal comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
acquiring a plurality of calibration preset positions of a power transmission cable;
respectively acquiring the horizontal rotation angle, the vertical rotation angle and the lens magnification of the ball machine at the plurality of calibration preset positions;
fitting the change relation between the horizontal rotation angle and the vertical rotation angle by adopting a spline function to obtain a first fitting function;
fitting the change relation between the calibration preset position and the lens multiplying power by adopting a spline function to obtain a second fitting function;
calculating line patrol parameters of a plurality of new preset positions according to the first fitting function and the second fitting function;
and the ball machine automatically patrols the transmission cable according to the line patrolling parameters of the new preset positions.
The invention has the beneficial effects that: curve fitting is carried out by utilizing a spline function, a line patrol track and lens multiplying power can be obtained, and more relatively continuous new preset positions can be obtained from a few calibration preset positions; the ball machine can automatically patrol the line according to the line patrol parameters of the new preset positions, when the ball machine moves on the line patrol track, the whole moving process and the zooming process are smooth, and the video is always in a smooth and visible state; the line patrol process does not need manual calibration, and the line patrol efficiency is high.
Drawings
Fig. 1 is a flowchart of a power transmission cable video line patrol method according to a first embodiment of the present invention;
FIG. 2 is a graph of a first fitting function (40 fitting points) according to a first embodiment of the present invention;
FIG. 3 is a graph of a first fitting function (11 fitting points) according to a first embodiment of the present invention;
FIG. 4 is a graph of a second fitting function (40 fitting points) according to a first embodiment of the present invention;
FIG. 5 is a graph of a second fitting function (11 fitting points) according to a first embodiment of the present invention;
fig. 6 is a schematic diagram of a power transmission cable video line patrol terminal according to a second embodiment of the present invention.
Description of reference numerals:
100. a power transmission cable video line patrol terminal; 1. a memory; 2. a processor.
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
The most key concept of the invention is as follows: utilize the spline function to carry out curve fitting, can obtain more continuous new presetting positions relatively by few demarcation presetting positions, the ball machine can be according to the line parameter of patrolling of new presetting position and patrols the line automatically, need not the manual work and marks, patrols line efficiently.
Referring to fig. 1, a power transmission cable video line patrol method includes:
acquiring a plurality of calibration preset positions of a power transmission cable;
respectively acquiring the horizontal rotation angle, the vertical rotation angle and the lens magnification of the ball machine at the plurality of calibration preset positions;
fitting the change relation between the horizontal rotation angle and the vertical rotation angle by adopting a spline function to obtain a first fitting function;
fitting the change relation between the calibration preset position and the lens multiplying power by adopting a spline function to obtain a second fitting function;
calculating line patrol parameters of a plurality of new preset positions according to the first fitting function and the second fitting function;
and the ball machine automatically patrols the transmission cable according to the line patrolling parameters of the new preset positions.
From the above description, the beneficial effects of the present invention are: and fitting a small amount of data by using a spline function to obtain a fitting curve, then generating a large amount of smoothly-transitional data according to the fitting function, taking the data as the line patrol parameters of new preset positions, and leading the ball machine to patrol according to the line patrol because the data are similar to each other, so that the patrol can be smoothly carried out. Different from the traditional cruise at preset positions, the ball machine only stays at each preset position for observation during the traditional cruise, the moving process of the ball machine from one preset position to another preset position is fast, and videos cannot be watched.
Further, the speed of the automatic line patrol is k/lens magnification, wherein k is a constant.
As can be seen from the above description, the higher the lens magnification, the slower the line speed is, and the value of k can be set as required.
Further, fitting the change relationship between the horizontal rotation angle and the vertical rotation angle by using a spline function to obtain a first fitting function specifically as follows: and fitting by adopting a spline function and taking the horizontal rotation angle as X-axis data and the vertical rotation angle as Y-axis data to obtain a first fitting function.
Further, fitting the change relationship between the calibration preset position and the lens magnification by using a spline function to obtain a second fitting function specifically comprises: and fitting by adopting a spline function and taking the serial number of the calibration preset position as X-axis data and the lens magnification as Y-axis data to obtain a second fitting function.
Referring to fig. 6, another technical solution related to the present invention is:
a power cable video patrol terminal 100 comprising a memory 1, a processor 2 and a computer program stored on said memory 1 and executable on processor 2, said processor 2 implementing the following steps when executing said computer program:
acquiring a plurality of calibration preset positions of a power transmission cable;
respectively acquiring the horizontal rotation angle, the vertical rotation angle and the lens magnification of the ball machine at the plurality of calibration preset positions;
fitting the change relation between the horizontal rotation angle and the vertical rotation angle by adopting a spline function to obtain a first fitting function;
fitting the change relation between the calibration preset position and the lens multiplying power by adopting a spline function to obtain a second fitting function;
calculating line patrol parameters of a plurality of new preset positions according to the first fitting function and the second fitting function;
and the ball machine automatically patrols the transmission cable according to the line patrolling parameters of the new preset positions.
Further, the speed of the automatic line patrol is k/lens magnification, wherein k is a constant.
Further, fitting the change relationship between the horizontal rotation angle and the vertical rotation angle by using a spline function to obtain a first fitting function specifically as follows: and fitting by adopting a spline function and taking the horizontal rotation angle as X-axis data and the vertical rotation angle as Y-axis data to obtain a first fitting function.
Further, fitting the change relationship between the calibration preset position and the lens magnification by using a spline function to obtain a second fitting function specifically comprises: and fitting by adopting a spline function and taking the serial number of the calibration preset position as X-axis data and the lens magnification as Y-axis data to obtain a second fitting function.
Example one
Referring to fig. 1 to fig. 5, a first embodiment of the invention is a power cable video line patrol method, as shown in fig. 1, including the following steps:
and S1, acquiring a plurality of calibration preset positions of the power transmission cable.
The calibration preset bits can comprise the starting point, the terminal end, the inflection point and the like of the power transmission cable, and the number of the calibration preset bits can be selected according to needs.
And S2, respectively acquiring the horizontal rotation angle, the vertical rotation angle and the lens magnification of the ball machine at the plurality of calibration preset positions.
The horizontal rotation angle is Pan in the PTZ, the vertical rotation angle is Tilt in the PTZ, and the lens magnification is Zoom in the PTZ.
And S3, fitting the change relation between the horizontal rotation angle and the vertical rotation angle by adopting a spline function to obtain a first fitting function.
Step S3 specifically includes: and fitting by adopting a spline function and taking the horizontal rotation angle as X-axis data and the vertical rotation angle as Y-axis data to obtain a first fitting function. Fig. 2 is a curve obtained by fitting data of 40 calibration preset positions, fig. 3 is a curve obtained by fitting data of 11 calibration preset positions, and numbers in the curves represent serial numbers of fitted points. As can be seen from fig. 2 and 3, the curve shapes obtained by fitting a small number of fitting points and a large number of fitting points are substantially consistent, so that a small number of points can be used for fitting, and a large number of line patrol parameters are generated according to the function obtained by fitting.
And S4, fitting the change relation between the calibration preset position and the lens magnification by adopting a spline function to obtain a second fitting function.
Step S4 specifically includes: and fitting by adopting a spline function and taking the serial number of the calibration preset position as X-axis data and the lens magnification as Y-axis data to obtain a second fitting function. The serial numbers of the calibration positions can be numbered from 1 to n in sequence, wherein n is the total number of the calibration preset bits. Fig. 4 is a curve obtained by fitting data of 40 calibration preset positions, fig. 5 is a curve obtained by fitting data of 11 calibration preset positions, and numbers in the curves represent serial numbers of fitted points. Similarly, as can be seen from fig. 4 and 5, the curve shapes obtained by fitting a small number of fitting points and a large number of fitting points are substantially consistent, so that a small number of points can be used for fitting, and a large number of line patrol parameters are generated according to the function obtained by fitting.
And S5, calculating according to the first fitting function and the second fitting function to obtain the line patrol parameters of a plurality of new preset positions.
The number of the new preset positions can be selected according to needs, for example, when the line patrol parameters of 11 new preset positions need to be obtained, the X axes of the first fitting function and the second fitting function can be respectively divided into ten parts, and then the coordinates of each bisector and two end points are obtained, that is, the line patrol parameters of the new preset positions are obtained.
And S6, the ball machine automatically patrols the transmission cable according to the line patrolling parameters of the new preset positions.
In this embodiment, the speed of the automatic line patrol is k/lens magnification, where k is a constant. The ball machine can automatically patrol a plurality of new preset positions one by one according to a certain speed without manual participation.
Example two
Referring to fig. 6, the second embodiment of the present invention is:
a power cable video patrol terminal 100 corresponding to the method of the first embodiment, comprising a memory 1, a processor 2, and a computer program stored on the memory 1 and executable on the processor 2, wherein the processor 2 implements the following steps when executing the computer program:
acquiring a plurality of calibration preset positions of a power transmission cable;
respectively acquiring the horizontal rotation angle, the vertical rotation angle and the lens magnification of the ball machine at the plurality of calibration preset positions;
fitting the change relation between the horizontal rotation angle and the vertical rotation angle by adopting a spline function to obtain a first fitting function;
fitting the change relation between the calibration preset position and the lens multiplying power by adopting a spline function to obtain a second fitting function;
calculating line patrol parameters of a plurality of new preset positions according to the first fitting function and the second fitting function;
and the ball machine automatically patrols the transmission cable according to the line patrolling parameters of the new preset positions.
Further, the speed of the automatic line patrol is k/lens magnification, wherein k is a constant.
Further, fitting the change relationship between the horizontal rotation angle and the vertical rotation angle by using a spline function to obtain a first fitting function specifically as follows: and fitting by adopting a spline function and taking the horizontal rotation angle as X-axis data and the vertical rotation angle as Y-axis data to obtain a first fitting function.
Further, fitting the change relationship between the calibration preset position and the lens magnification by using a spline function to obtain a second fitting function specifically comprises: and fitting by adopting a spline function and taking the serial number of the calibration preset position as X-axis data and the lens magnification as Y-axis data to obtain a second fitting function.
In conclusion, the power transmission cable video line patrol method and the terminal provided by the invention have the advantages that the whole moving process and the zooming process are smooth, the line patrol can be automatically carried out, manual calibration is not needed, and the line patrol efficiency is high.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.
Claims (8)
1. A power transmission cable video line patrol method is characterized by comprising the following steps:
acquiring a plurality of calibration preset positions of a power transmission cable;
respectively acquiring the horizontal rotation angle, the vertical rotation angle and the lens magnification of the ball machine at the plurality of calibration preset positions;
fitting the change relation between the horizontal rotation angle and the vertical rotation angle by adopting a spline function to obtain a first fitting function;
fitting the change relation between the calibration preset position and the lens multiplying power by adopting a spline function to obtain a second fitting function;
calculating line patrol parameters of a plurality of new preset positions according to the first fitting function and the second fitting function;
and the ball machine automatically patrols the transmission cable according to the line patrolling parameters of the new preset positions.
2. The power cable video line patrol method according to claim 1, wherein the speed of the automatic line patrol is k/lens magnification, where k is a constant.
3. The power transmission cable video line patrol method according to claim 1, wherein the fitting of the variation relationship between the horizontal rotation angle and the vertical rotation angle by using a spline function is performed to obtain a first fitting function, which is specifically: and fitting by adopting a spline function and taking the horizontal rotation angle as X-axis data and the vertical rotation angle as Y-axis data to obtain a first fitting function.
4. The power transmission cable video line patrol method according to claim 1, wherein the fitting of the variation relationship between the calibration preset position and the lens magnification by using a spline function is performed to obtain a second fitting function, which is specifically: and fitting by adopting a spline function and taking the serial number of the calibration preset position as X-axis data and the lens magnification as Y-axis data to obtain a second fitting function.
5. A power cable video patrol terminal comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program implements the steps of:
acquiring a plurality of calibration preset positions of a power transmission cable;
respectively acquiring the horizontal rotation angle, the vertical rotation angle and the lens magnification of the ball machine at the plurality of calibration preset positions;
fitting the change relation between the horizontal rotation angle and the vertical rotation angle by adopting a spline function to obtain a first fitting function;
fitting the change relation between the calibration preset position and the lens multiplying power by adopting a spline function to obtain a second fitting function;
calculating line patrol parameters of a plurality of new preset positions according to the first fitting function and the second fitting function;
and the ball machine automatically patrols the transmission cable according to the line patrolling parameters of the new preset positions.
6. The power cable video line patrol terminal according to claim 5, wherein the speed of the automatic line patrol is k/lens magnification, where k is a constant.
7. The power transmission cable video line patrol terminal according to claim 5, wherein the fitting of the variation relationship between the horizontal rotation angle and the vertical rotation angle by using a spline function is performed to obtain a first fitting function, which is specifically: and fitting by adopting a spline function and taking the horizontal rotation angle as X-axis data and the vertical rotation angle as Y-axis data to obtain a first fitting function.
8. The power transmission cable video line patrol terminal according to claim 5, wherein the fitting of the variation relationship between the calibration preset position and the lens magnification by using a spline function is performed to obtain a second fitting function, which is specifically: and fitting by adopting a spline function and taking the serial number of the calibration preset position as X-axis data and the lens magnification as Y-axis data to obtain a second fitting function.
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Cited By (1)
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