CN111741255B - Method for adjusting position of camera based on three-dimensional scene of power transmission line - Google Patents
Method for adjusting position of camera based on three-dimensional scene of power transmission line Download PDFInfo
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Abstract
The invention discloses a method for adjusting the position of a camera based on a three-dimensional scene of a power transmission line, which relates to the field of video monitoring of high-voltage power transmission lines and comprises the following steps: step 1: reading in point cloud data of the digital twin model; step 2: respectively extracting characteristic points according to point cloud classification; and step 3: reading the fed back camera parameters; and 4, step 4: iteratively reading the positions of all cameras in the adjusting range of the bracket; and 5: calculating the visual fields of all the concerned objects under each position; step 6: ranking the view quality under each position according to the weight of the attention object; and 7: giving the optimal adjusting position of the camera according to the sequencing result; and 8: adjusting the position of the camera according to the optimal adjusting position; the shielding of adjacent objects such as iron towers and the like is effectively avoided, visual blind areas are reduced, manual operation of supervision personnel can be assisted, and the efficiency and the accuracy are improved; and a 5G network can be adopted, so that the remote transmission rate is further improved.
Description
Technical Field
The invention relates to the field of video monitoring of high-voltage transmission lines, in particular to a method for adjusting the position of a camera based on a three-dimensional scene of a transmission line.
Background
In recent years, the construction of power grids is greatly promoted, strong power grids taking ultra-high and extra-high voltage overhead transmission lines as backbone grid frames are gradually formed, and the high-speed development of economy in China is effectively supported. In order to ensure safe and reliable operation of a power grid, important power transmission lines such as ultra-high voltage and extra-high voltage and key area lines are all provided with online video monitoring systems for monitoring key ground and object factors around an iron tower, key areas across the iron tower, a road and the like, health states of an iron tower body, an insulator string, a lead and the like and other surrounding environments.
With the large number of applications of monitoring systems, a number of problems are also gradually exposed:
1) because the monitoring system is arranged on the tower body, the monitoring system is easily shielded by the insulator string of the tower body and the like, and a 'dead zone' exists, the 'dead zone' is reduced or planned to a secondary attention object as much as possible. However, during actual operation, a phenomenon that a large amount of information of a concerned object is lost exists mainly because 1, the size of the same set of monitoring system support is fixed at present, and the actual surrounding environment of each base iron tower is complex and cannot be adjusted adaptively base by base; 2. after the project is delivered, a newly-added concern point appears, operation and maintenance personnel cannot design in an iterative mode, and the position of the camera is adjusted, so that the newly-added concern point is monitored conveniently.
2) The monitoring system cannot identify image information and cannot capture and focus to the position of a required attention object such as a lead, an insulator string and the like to acquire an image. In recent years, image recognition technology has been explored in this field, but the method is not effectively popularized due to the reasons that surrounding object elements are complex, the model training amount is large, the universality is not good, and the method cannot adapt to environmental changes. In actual operation, a monitoring person monitors and operates the camera in a monitoring center, manual base-by-base judgment is performed, a focusing attention object is captured, and an image is acquired, so that the workload is heavy and the strength is high.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: how to effectively avoid the sheltering of adjacent objects such as iron towers and the like and reduce visual 'blind areas'.
The invention provides a method for adjusting the position of a camera based on a three-dimensional scene of a power transmission line, which comprises the following steps,
step 1: reading in point cloud data of the digital twin model;
step 2: respectively extracting characteristic points according to point cloud classification;
and step 3: reading the fed back camera parameters;
and 4, step 4: iteratively reading the positions of all cameras in the adjusting range of the bracket;
and 5: calculating the visual fields of all the concerned objects under each position;
step 6: ranking the view quality under each position according to the weight of the attention object;
and 7: giving the optimal adjusting position of the camera according to the sequencing result;
and 8: and adjusting the position of the camera according to the optimal adjusting position.
The camera parameters comprise a camera position, a view range, a holder rotation angle, and a camera posture and a focusing point of each concerned object in the view range.
Wherein the visual field of the object of interest is calculated from the "digital twin" model, the camera position and the field of view range.
Further, the support adjusting range comprises a horizontal adjusting range m; vertical adjustment range n, adjustment step length p.
Preferably, the support comprises a horizontal adjusting support and a vertical adjusting support, the adjusting range m of the horizontal adjusting support and the adjusting range n of the vertical adjusting support are both 1m, and the adjusting step length p is 0.1 m.
And the optimal adjusting position is the optimal adjusting position of the bracket in the horizontal and vertical directions.
Further, the step 7 further includes displaying the optimal adjustment position on a screen.
Furthermore, the step 1 specifically comprises the steps of,
the wireless transmission module downloads the digital twin model from the cloud server to the local microprocessor periodically;
the vision field analysis module reads in a 'digital twin' model in a local microprocessor.
Furthermore, the digital twin model is built according to the iron tower and the surrounding actual environment, and is updated after different object identifications are classified.
Wherein the "digital twin" model is established by laser point cloud scanning or BIM techniques.
By adopting the technical scheme, the invention has the beneficial effects that: the position of the camera can be designed iteratively according to a digital twin model of the actual environment around the tower footing, and the telescopic bracket is adjusted according to the given display value, so that the shielding of adjacent objects such as an iron tower and the like is effectively avoided, and the visual blind area is reduced; the manual operation of the supervision personnel can be assisted, and the efficiency and the accuracy are improved; and a 5G network can be adopted, so that the remote transmission rate is further improved.
Drawings
The invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a schematic diagram of the apparatus of the present invention;
FIG. 2 is a schematic diagram of a video surveillance terminal device;
FIG. 3 is a flow chart for adjusting the position of a camera based on a three-dimensional scene of a power transmission line;
the drawings are labeled as follows:
2-1 horizontal adjusting bracket and 2-2 vertical adjusting bracket.
Detailed Description
Any feature disclosed in this specification may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
The invention provides a method for adjusting the position of a camera based on a three-dimensional scene of a power transmission line, which comprises video monitoring terminal equipment, a vision field analysis module, a local microprocessor, a wireless transmission module, a power supply module, a cloud server and a monitoring center, wherein the local microprocessor, the wireless transmission module, the power supply module, the cloud server and the monitoring center are shown in figure 1.
The video monitoring terminal equipment is used for collecting and monitoring images of an attention object; as shown in fig. 2, the device comprises a monitoring camera with a holder, a manual adjusting telescopic bracket and a part connected with an iron tower. The manual adjustment telescopic support comprises a horizontal adjustment support 2-1 and a vertical adjustment support 2-2 and is used for adjusting the horizontal position and the vertical position of the monitoring camera, in the embodiment, the horizontal adjustable range and the vertical adjustable range are both 1m, and the adjustable interval is 0.1 m. In addition, the monitoring camera also has a night vision function.
And the visual field analysis module calculates the visual field of each attention object based on the boundary conditions such as the digital twin model, the position of the camera, the visual field range and the like, and a three-dimensional scene and an analysis algorithm of the power transmission line in the maximum visual field range of the base tower are arranged in the visual field analysis module. The three-dimensional scene refers to a digital twinning point cloud model of the power transmission line environment in the base tower and the visual range, different attention object point clouds in the model are identified and clustered in advance, such as attention objects of iron towers, wires, insulator strings and the like, namely points of the point clouds in related areas are marked with corresponding attributes. And the digital twin model is a high-density point cloud three-dimensional space model and can be constructed by scanning modes such as laser point cloud scanning, BIM or laser radar and the like. The analysis algorithm extracts feature points of different objects of interest and calculates visible areas based on the point cloud model, and then gives camera actions of different objects based on camera parameters and visible areas and acquisition requirements of different objects of interest. In addition, the analysis algorithm can also iteratively calculate the visible field by taking 0.1m as a step length based on the adjustable boundary conditions and the attention object priority given by the telescopic support, evaluate each position point and give an evaluation value, thereby calculating the optimal position of the camera.
The local microprocessor is used for generating an automatic monitoring scheme according to the vision field analysis module result and user setting, controlling the video monitoring terminal equipment to automatically monitor, and displaying the optimal position given by the vision field analysis module on a screen, wherein the optimal position comprises parameters of a manual adjusting bracket of the camera. In addition, the local microprocessor can also respond to the manual operation action of the remote monitoring center.
The wireless transmission module is used for transmitting the acquired image information to the cloud server through the VPN, periodically downloading a three-dimensional scene digital twin model of the power transmission line updated by the cloud server end in real time to the video analysis module, and also directly connecting with a user monitoring center to transmit a camera operation instruction and return the image information. The VPN network is a 4G or 5G network.
The cloud server is used for storing image information regularly acquired by the monitoring system and a 'digital twin' model of the three-dimensional scene of the power transmission line, and transmitting and receiving data to and from the data center as required by using the data communication interface with the monitoring center.
The power supply module provides electric energy for the video monitoring terminal device, the vision field analysis module, the local microprocessor and the wireless transmission module, and comprises a solar panel and a rechargeable lithium iron phosphate battery, and the rechargeable lithium iron phosphate battery is used as an energy storage device of the solar panel.
As shown in fig. 3, the method for adjusting the position of the camera based on the three-dimensional scene of the power transmission line includes the following steps:
reading in point cloud data of a digital twin model stored in a local microprocessor by a vision field analysis module; the digital twin model is established according to the iron tower and the surrounding actual environment, is updated after different object identifications are classified, and is specifically updated in real time according to the concerned object, the environmental change and the priority change.
Step 2: respectively extracting characteristic points according to the marked point cloud classification;
and step 3: and reading the camera parameters fed back by the video monitoring terminal equipment through a local microprocessor, wherein the camera parameters specifically comprise the camera position, the view field range, the pan-tilt rotation angle and the camera posture and the focusing point of each concerned object in the view field.
And 4, step 4: iteratively reading in different camera positions within the adjustment range of the support. Wherein the support adjusting range comprises a horizontal adjusting range m; the support comprises a horizontal adjusting support 2-1 and a vertical adjusting support 2-2, the adjusting range m of the horizontal adjusting support 2-1 and the adjusting range n of the vertical adjusting support 2-2 are both 1m, and the adjusting step p is 0.1 m.
And 5: and calculating the visual field of different attention objects at each position, specifically calculating the visual field of the attention objects by a visual field analysis module according to the digital twin model, the camera position and the visual field range.
And 6: ranking the view quality at each position according to the set weight of the attention object;
and 7: giving the optimal adjusting position of the camera according to the sequencing result; the optimal adjusting position is the optimal adjusting position of the support in the horizontal and vertical directions, and the optimal adjusting position is displayed on a screen.
And step 8: and adjusting the position of the camera according to the optimal adjusting position.
The invention can also calculate the visible range and the observable object range under each gesture in the digital twin three-dimensional space model according to the position of the camera, the visual angle range and the rotation angle of the holder, and can also calculate the corresponding distance in a clustering way to assist the camera in focusing.
The invention gives the visual field of the concerned object based on the three-dimensional scene digital twin model of the power transmission line, and gives the control action of the camera for collecting different concerned objects, thereby realizing automatic monitoring, reducing the workload and improving the accuracy; and the monitoring data is automatically stored in the cloud server, and the monitoring center is not required to be started in real time. In addition, the position of the camera is iteratively designed according to a digital twin model of the actual environment around the tower footing, and the telescopic bracket is adjusted according to the given display value, so that the shielding of adjacent objects such as an iron tower and the like is effectively avoided, and a visual blind area is reduced; the digital twin model can be updated in real time according to the change of the concerned object and the environment and the change of the priority level, the automatic monitoring scheme is adjusted, the manual operation of the monitoring personnel is assisted, and the working efficiency and the accuracy are improved; the automation and the intellectualization of the video monitoring of the power transmission line are greatly improved.
While the foregoing description shows and describes a preferred embodiment of the invention, it is to be understood, as noted above, that the invention is not limited to the form disclosed herein, but is not intended to be exhaustive or to exclude other embodiments and may be used in various other combinations, modifications, and environments and may be modified within the scope of the inventive concept described herein by the above teachings or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. A method for adjusting the position of a camera based on a three-dimensional scene of a power transmission line is characterized in that: comprises the following steps of (a) carrying out,
step 1: reading in point cloud data of the digital twin model;
and 2, step: respectively extracting characteristic points according to point cloud classification;
and step 3: reading the fed back camera parameters;
and 4, step 4: iteratively reading the positions of all cameras in the adjusting range of the bracket; the support adjusting range comprises a horizontal adjusting range m; adjusting the range n vertically and the step length p;
and 5: calculating the visual fields of all the concerned objects under each position;
and 6: ranking the view quality under each position according to the weight of the attention object;
and 7: giving the optimal adjusting position of the camera according to the sequencing result;
and 8: adjusting the position of the camera according to the optimal adjusting position;
the step 1 specifically comprises the steps of,
the wireless transmission module downloads the digital twin model from the cloud server to a local microprocessor periodically;
the vision field analysis module reads in a digital twin model in a local microprocessor;
the digital twin model is established according to the iron tower and the surrounding actual environment, and is updated after different object identifications are classified; specifically, the digital twin model is updated in real time according to the attention object, the environment change and the priority level change.
2. The method for adjusting the position of a camera based on the three-dimensional scene of the power transmission line according to claim 1, characterized in that: the camera parameters comprise a camera position, a view field range, a holder rotation angle and a camera posture and a focusing point of each object of interest in the view field.
3. The method for adjusting the position of the camera based on the three-dimensional scene of the power transmission line according to claim 2, wherein: the visual field of the object of interest is calculated from the "digital twin" model, the camera position and the field of view range.
4. The method for adjusting the position of a camera based on the three-dimensional scene of the power transmission line according to claim 1, characterized in that: the support comprises a horizontal adjusting support and a vertical adjusting support, the horizontal adjusting range m of the horizontal adjusting support and the vertical adjusting range n of the vertical adjusting support are both 1m, and the adjusting step length p is 0.1 m.
5. The method for adjusting the position of a camera based on the three-dimensional scene of the power transmission line according to claim 1, characterized in that: the optimal adjusting position is the optimal adjusting position of the support in the horizontal and vertical directions.
6. The method for adjusting the position of the camera based on the three-dimensional scene of the power transmission line according to claim 1, wherein: the step 7 further comprises displaying the optimal adjustment position on a screen.
7. The method for adjusting the position of a camera based on the three-dimensional scene of the power transmission line according to claim 1, wherein the "digital twin" model is established by laser point cloud scanning or BIM technology.
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