CN111932558A - High-temperature dangerous area positioning method - Google Patents
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Abstract
The invention relates to a high-temperature dangerous area positioning method, which comprises the following steps: mounting a binocular camera and an infrared camera on a holder of the same detection device, and adjusting the cameras into parallel optical axes; acquiring an infrared image by an infrared camera, and determining a high-temperature dangerous area according to the infrared image; collecting a pitch angle and a rotation angle of the optical axis at the moment; acquiring a binocular image containing a high-temperature dangerous area by using a binocular camera to serve as a target area; determining a target interesting area of the binocular image according to the target area and the high-temperature dangerous area, and realizing target segmentation; calculating the center position of the binocular target according to the target segmentation result; calculating the target parallax according to the center position of the binocular target; calculating a target distance according to the distance-parallax model; calculating to obtain a target coordinate value according to the pitch angle, the rotation angle and the target distance; and calculating to obtain the physical position of the target according to the physical coordinate of the detection device and the coordinate value of the target, thereby realizing the positioning of the high-temperature dangerous area. The positioning method can realize accurate positioning of the high-temperature dangerous area.
Description
Technical Field
The invention belongs to the technical field of positioning and detecting of a heat value of a transformer substation, and particularly relates to a high-temperature dangerous area positioning method applied to the transformer substation.
Background
In an electric power system, an abnormality often occurs in the temperature of equipment, resulting in an unnecessary failure. Thus, by monitoring various temperature state changes of the power equipment, a diagnosis of a fault of the equipment can be made. Various power transformation equipment is arranged in an open air in a transformer substation, wherein components such as a disconnecting link contact, a wiring bar and a switch need to be subjected to real-time and accurate temperature monitoring, and when the temperature of a detection point exceeds a certain set value, an alarm is given, so that electric power personnel can find, track and eliminate faults in time, and the safe operation of the electric power equipment is ensured.
The conventional distance measurement method is greatly influenced by ambient illumination, temperature and humidity, and the like, so that the distance measurement result is inaccurate, and further deviation occurs in positioning of high-temperature dangerous points.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a high-temperature dangerous area positioning method applied to a transformer substation.
The technical problem to be solved by the invention is realized by the following technical scheme:
a high temperature hazard zone locating method, comprising:
mounting a binocular camera and an infrared camera on a holder of the same detection device, and adjusting the cameras into parallel optical axes; the binocular camera and the infrared camera generate an optical axis pitch angle and a rotation angle along with the rotation of the holder;
the infrared camera collects infrared images and determines a high-temperature dangerous area according to the infrared images; collecting a pitch angle and a rotation angle of the optical axis at the moment;
the binocular camera collects a binocular image containing the high-temperature dangerous area as a target area;
determining a target interesting area of the binocular image according to the target area and the high-temperature dangerous area to realize target segmentation;
calculating the center position of the binocular target according to the target segmentation result;
calculating target parallax according to the binocular target center position;
calculating a target distance according to the distance-parallax model;
calculating to obtain a target coordinate value according to the pitch angle, the rotation angle and the target distance;
and calculating to obtain the physical position of the target according to the physical coordinate of the detection device and the coordinate value of the target, thereby realizing the positioning of the high-temperature dangerous area.
In an embodiment provided by the present invention, the determining a target region of interest of the binocular image according to the target region and the high temperature dangerous region to realize target segmentation includes:
finding a target expansion area according to the target area and the high-temperature dangerous area; the target extension area contains the target area;
finding out a maximum target expansion area according to the target finite set scale relation; the maximum target expansion area comprises the high temperature danger area and the target area;
and taking the maximum target expansion area as a target interesting area of the binocular image to realize target segmentation.
In an embodiment of the present invention, the calculating the center position of the binocular target according to the target segmentation result includes:
determining I according to target interested region of left eye imagelDetermining geometric center coordinates (x) of a target region of interest of a left eye imagecl,ycl)；
Target region of interest I from Right eye imagerDetermining geometric center coordinates (x) of a target region of interest of a right eye imagecr,ycr)。
In an embodiment of the present invention, the calculating the target parallax according to the binocular target center position includes:
geometric center coordinates (x) of a target region of interest from the left eye imagecl,ycl) And the geometric center coordinates (x) of the target region of interest of the right eye imagecr,ycr) Disclosure of the inventionCalculating the target parallax delta of the target interesting region of the binocular image according to the following target parallax formula:
Δ＝sqrt[(xcl-xcr)2+(ycl-ycr)2]。
in an embodiment of the present invention, the calculating the target distance according to the distance-parallax model includes:
calculating the target distance D according to the following target parallax piecewise linear compensation model:
D＝kDiΔ+bDi,Δ∈[Δi,Δi+1],i＝0,1,2…,n
where Δ is the target parallax, kDiIs the linear model scale coefficient of the No. Di section, bDiCoefficient of variation, Δ, of the No. section Linear modeliStarting the target disparity, Δ, for the i-th segment of the linear modeli+1The ith linear model ends the target disparity.
In an embodiment of the present invention, the calculating a target coordinate value according to the pitch angle, the rotation angle, and the target distance includes:
calculating a target coordinate value (x) according to the pitch angle, the rotation angle and the target distance by using the following formula1,y1,z1)：
Wherein D is the target distance, alpha is the pitch angle, and beta is the rotation angle.
In an embodiment provided by the present invention, the calculating the physical position of the target according to the physical coordinates of the detection device and the target coordinate values to realize the positioning of the high temperature dangerous area includes:
let the physical coordinates of the detection device be (x)0,y0,z0) According to said target coordinate value (x)1,y1,z1) The coordinates (x, y, z) of the target in the physical world are calculated by:
compared with the prior art, the invention has the beneficial effects that:
1. according to the high-temperature dangerous area positioning method, the high-temperature dangerous area can be accurately positioned by adopting a binocular distance measuring method assisted by an infrared camera.
2. The binocular range finding method adopts the assistance of an infrared camera, when the infrared temperature measuring camera detects a high-temperature target, the white light camera determines a target region of interest (ROI) according to the infrared camera so as to reduce a detection region, then performs target detection in the ROI, and finally calculates the accurate distance between the high-temperature target and a detection point by using binocular target deviation; compared with the traditional method, the distance measuring method has the advantages of high measuring precision, wide application field and good measuring stability.
Drawings
FIG. 1 is a flow chart of a method for locating a high-temperature dangerous area according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a system for locating and collecting a calorific value of a regional dangerous target according to an embodiment of the present invention;
fig. 3 is a schematic circuit structure diagram of a pose measurement and control device of a regional dangerous target heat value positioning and collecting system provided by an embodiment of the invention;
FIG. 4 is a schematic structural diagram of a device for locating and collecting a calorific value of a regional dangerous target according to an embodiment of the present invention;
FIG. 5 is a diagram of the relationship between the high temperature danger zone, the binocular ROI zone and the dimensions of the detected target provided by the embodiment of the invention;
FIG. 6 is a graph of the relationship between the binocular ROI area and the dimension of the detected target provided by the embodiment of the invention;
fig. 7 is a diagram of a positional relationship between an object and a detection device according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to specific examples, but the embodiments of the present invention are not limited thereto.
Example one
Referring to fig. 1, fig. 1 is a flowchart illustrating a method for locating a high-temperature dangerous area according to an embodiment of the present invention; the high-temperature dangerous area positioning method of the embodiment comprises the following steps:
s101, mounting a binocular camera and an infrared camera on a holder of the same detection device, and adjusting the binocular camera and the infrared camera into parallel optical axes; the binocular camera and the infrared camera generate an optical axis pitch angle and a rotation angle along with the rotation of the holder.
The binocular camera is a white light camera, and the infrared camera comprises a thermal infrared imager, an infrared camera and the like; when the three-eye camera consisting of the two white light cameras and the infrared camera is installed on the detection equipment, the three-eye camera is arranged at the same horizontal position of the holder, so that the three-eye camera is adjusted to be parallel to the optical axis, and the image information of the three cameras can be shared.
S102, an infrared camera collects infrared images, a high-temperature dangerous area is determined according to the infrared images, and a pitch angle and a rotation angle of an optical axis at the moment are collected.
The infrared camera monitors the temperature condition of the power equipment of the transformer substation in real time, when the monitored area temperature is higher than a set normal temperature threshold value, the area is determined to be a high-temperature dangerous area, and the pitch angle and the rotation angle of an optical axis when the infrared camera identifies the high-temperature dangerous area are collected.
S103, acquiring a binocular image containing the high-temperature dangerous area by using a binocular camera to serve as a target area.
When the infrared camera detects a high-temperature target, the left target camera and the right target camera respectively collect a left target image and a right target image which correspond to the high-temperature target and serve as a target area of the left target image and a target area of the right target image.
S104, determining a target interesting area of the binocular image according to the target area and the high-temperature dangerous area, and realizing target segmentation.
As an embodiment, this step may comprise the following refinement steps:
s1041, finding a target expansion area according to the target area and the high-temperature dangerous area; the target expansion area comprises a target area of the binocular image;
s1042, finding out a maximum target expansion area according to the target finite set scale relation; the maximum target extension area includes a high temperature hazard area and a target area.
It should be noted that the finite set of target scale relationship means that the number of included targets is finite in the field of view region, and the scale of each target is also finite, that is, the constraint defined by the following formula:
wherein the content of the first and second substances,
is the ith target extension area and is,
is the maximum target extension area in the field.
And S1043, taking the maximum target expansion area as a target interesting area of the binocular image, and realizing target segmentation.
And S105, calculating the center position of the binocular target according to the target segmentation result.
As an embodiment, the step may specifically be:
obtaining a target interesting region I of the left eye image according to a target segmentation resultlDetermining geometric center coordinates (x) of a target region of interest of a left eye imagecl,ycl) (ii) a And a target region of interest I from the right eye imagerDetermining geometric center coordinates (x) of a target region of interest of a right eye imagecr,ycr)。
It should be noted that the geometric center of the region of interest of the object is calculated from the extracted object, and is included in the maximum object extension, but its coordinates are different from the center of the region, and depend on the position of the object in the maximum object extension region.
And S106, calculating the target parallax according to the center position of the binocular target.
As an embodiment, the step may specifically be:
according to the left eye image target interested area IlAnd a right eye image target region of interest IrTarget j geometric center coordinate (x)cl,ycl) And (x)cr,ycr) And calculating the target parallax of the target interesting region of the binocular image by the following target parallax formula:
Δ＝sqrt[(xcl-xcr)2+(ycl-ycr)2]
and S107, calculating the target distance according to the distance-parallax model.
As an embodiment, the step may specifically be:
calculating the target distance D according to the following target parallax piecewise linear compensation model:
D＝kDiΔ+bDi,Δ∈[Δi,Δi+1],i＝0,1,2…,n
where Δ is the target parallax, kDiIs the linear model scale coefficient of the No. Di section, bDiCoefficient of variation, Δ, of the No. section Linear modeliStarting the target disparity, Δ, for the i-th segment of the linear modeli+1The ith linear model ends the target disparity.
The target distance is the distance between the high-temperature dangerous area determined by the infrared camera and the detection equipment comprising the trinocular camera.
And S108, calculating to obtain a target coordinate value according to the pitch angle, the rotation angle and the target distance.
As an embodiment, the step may specifically be:
calculating a target coordinate value (x) according to the pitch angle, the rotation angle and the target distance by using the following formula1,y1,z1)：
Wherein D is the target distance, alpha is the pitch angle, and beta is the rotation angle.
And S109, calculating to obtain the physical position of the target according to the physical coordinates of the detection device and the coordinate values of the target, and realizing the positioning of the high-temperature dangerous area.
As an embodiment, the step may specifically be:
let the physical coordinates of the detection device be (x)0,y0,z0) According to said target coordinate value (x)1,y1,z1) The coordinates (x, y, z) of the target in the physical world are calculated by:
and the coordinates of the target in the physical world are calculated, so that the high-temperature dangerous area is accurately positioned.
According to the high-temperature dangerous area positioning method provided by the embodiment of the invention, an infrared camera assisted binocular distance measurement method is adopted, when an infrared temperature measurement camera detects a high-temperature target, a white light camera determines a target interest area according to the infrared camera so as to reduce a detection area, then target detection is carried out in the target interest area, and finally, the accurate distance between the high-temperature target and a detection point is calculated by utilizing binocular target deviation; compared with the traditional method, the distance measuring method has the advantages of high measuring precision, wide application field and good measuring stability; the accurate target distance measured by the method is combined with the pitch angle and the rotation angle of the three-eye camera to obtain the accurate coordinate value of the high-temperature dangerous area, and then the accurate coordinate value is combined with the physical coordinate of the monitoring device to further realize the accurate positioning of the high-temperature dangerous area.
Example two
Referring to fig. 2, fig. 2 is a schematic structural diagram of a system for locating and collecting a calorific value of a regional dangerous target according to an embodiment of the present invention; the regional dangerous target calorific value location collection system of this embodiment includes:
the distance measurement and temperature measurement module comprises binocular cameras (a left eye camera and a right eye camera), an infrared camera and an image processing device; the binocular camera and the infrared camera are arranged on a holder of the same detection device and are adjusted into parallel optical axes; the image processing device is respectively connected with the binocular camera and the infrared camera; the image processing device identifies the target according to the images collected by the binocular camera and the infrared camera and measures the target distance.
The pose measurement and control module comprises a holder motor, an encoder and a pose measurement and control device; the holder motor and the encoder are respectively connected with the pose measurement and control device; the holder motor is also connected with the holder and used for adjusting the angle of the holder according to the control of the pose measurement and control device so as to enable the binocular camera and the infrared camera to generate an optical axis pitch angle and a rotation angle; the encoder is used for measuring the pitch angle and the rotation angle and feeding back the pitch angle and the rotation angle to the pose measurement and control device.
Specifically, two cradle head motors can be arranged, wherein the first cradle head motor is a pitching motor, and the second cradle head motor is a horizontal motor; the pitching motor and the horizontal motor are respectively controlled by the pose measurement and control device to adjust the rotating angle of the holder in the vertical direction and the horizontal direction so as to achieve the purpose of adjusting the pitching angle and the rotating angle of the optical axis of the three-eye camera. Correspondingly, two encoders are needed, the first encoder is arranged on the pitching motion shaft of the pan-tilt head, and the second encoder is arranged on the horizontal motion shaft of the pan-tilt head; the pitch angle and the rotation angle of the optical axis of the three-eye camera can be measured by the two encoders along with the corresponding movement of the holder; the angle information is fed back to the pose measuring and controlling device by the encoder and then further fed back to the image processing device. The schematic circuit structure diagram of the pose measurement and control device is shown in fig. 3.
The image processing device is connected with the pose measurement and control device, and calculates the target temperature according to the target distance and the target initial temperature acquired by the infrared camera and the distance-temperature model; and obtaining the physical position of the target according to the target distance, the pitch angle, the rotation angle and the physical coordinate of the detection device, and realizing the positioning of the thermal value point.
It should be noted that, in this embodiment, the image processing apparatus identifies the target according to the images acquired by the binocular camera and the infrared camera, and measures the target distance, and the specific method may be the same as the binocular distance measurement method using infrared assistance in the first embodiment; therefore, the detailed description of the distance measurement method of the image processing apparatus of this embodiment is omitted.
The image processing device calculates the target temperature according to the target distance and the target initial temperature collected by the infrared camera and the distance-temperature model.
And obtaining the physical position of the target according to the target distance, the pitch angle, the rotation angle and the physical coordinate of the detection device, and realizing the positioning of the thermal value point.
According to the regional dangerous target heat value positioning and collecting system provided by the embodiment of the invention, the image processing device can be connected and communicated with the upper computer through the RS485 and the Ethernet bus, a certain region can be manually selected by the upper computer according to the needs of a detector to carry out distance measurement, temperature measurement and positioning, and the system can start automatic distance measurement, temperature measurement and positioning on the high-temperature dangerous region when the infrared camera identifies the high-temperature dangerous region.
According to the heat value positioning and collecting system provided by the embodiment of the invention, the target temperature is detected by using the infrared camera, the current state of the equipment is judged according to the temperature value, the high temperature point is found according to the regional temperature distribution, the equipment which is close to or exceeds the temperature is positioned as the dangerous point, and the danger of the equipment is evaluated; according to the temperature change history of a certain device, the future development trend of the device is estimated, and the running state of the device can be predicted.
EXAMPLE III
Referring to fig. 4, fig. 4 is a schematic structural diagram of a device for locating and collecting a calorific value of a regional dangerous target according to an embodiment of the present invention; the device for positioning and collecting the regional dangerous target heat value of the embodiment of the invention adopts a serial structure and sequentially comprises the following components from top to bottom: cloud platform 100, pitch angle adjusting device 200, horizontal angle adjusting device 300, control storehouse 400, can also be provided with below the control storehouse 400 with control storehouse fixed connection's base 500.
The holder 100 is provided with a binocular camera and an infrared camera 103, the binocular camera can be composed of a left eye camera 101 and a right eye camera 102 which are two white light cameras, and the infrared camera 103 can be any device utilizing an infrared temperature measurement imaging principle; when the three-eye camera composed of the two white light cameras and the infrared camera 103 is installed on the detection device, the three-eye camera is arranged at the same horizontal position, so that the three-eye camera is adjusted to be parallel to the optical axis, and image information of the three cameras can be shared. In order to improve the image capturing effect, a light supplement lamp 104 may be further disposed on the pan/tilt head 100, and specifically, the light supplement lamp may be disposed above the three-view camera and parallel to the optical axis of the three-view camera in the vertical direction.
The pitch angle adjusting device 200 is disposed below the cradle head 100, and is connected to the cradle head 100 for adjusting the pitch angle of the cradle head 100. The horizontal angle adjusting device 300 is disposed below the pitch angle adjusting device 200, and is connected to the pitch angle adjusting device 200 for adjusting the rotation angle of the pan/tilt head 100. The pan/tilt head 100 rotates to adjust the direction angles of the optical axes of the three cameras. The pitch angle adjusting means 200 includes a pitch motor, and the horizontal angle adjusting means 300 includes a horizontal motor to adjust the pitch angle and the rotation angle of the optical axis, respectively; the pitch angle adjusting device 200 and the horizontal angle adjusting device 300 have high-precision encoders mounted on their axes of motion, respectively, so that the adjustment angles can be measured.
The control cabin 400 is provided with a control system, and the control system is the regional dangerous target heat value positioning and collecting system of the above embodiment.
The position and orientation measurement and control device controls the rotation of the pitching motor and the horizontal motor so as to adjust the pitching angle and the rotation angle of the three-eye camera on the holder, the specific angle values of the pitching angle and the rotation angle are measured by the encoder and fed back to the position and orientation measurement and control device, and the position and orientation measurement and control device feeds back the two angle values to the image processing device.
The image processing device is connected and communicated with the upper computer, receives a control command of the upper computer, controls the left eye camera, the right eye camera and the infrared camera to acquire images of different directions of the device along with the rotation of the left eye camera, the right eye camera and the infrared camera, and displays temperature values of areas in real time through the infrared images acquired by the infrared camera; the image processing device can calculate the target distance of the high-temperature dangerous area identified by the infrared camera according to an algorithm arranged in the image processing device, calculate the accurate temperature of the high-temperature dangerous area through a temperature distance compensation model, and simultaneously obtain the physical position of the target according to the target distance, the pitch angle and the rotation angle of the holder fed back by the pose measurement and control device and the physical coordinate of the positioning and acquisition device, so that the positioning of the heat value point is realized.
The distance measuring, temperature measuring and positioning methods of the regional dangerous target heat value positioning and collecting device provided by the embodiment of the invention are the same as the corresponding methods of the regional dangerous target heat value positioning and collecting system, and are not repeated herein.
The position and orientation measurement and control device controls the rotation of the pitching motor and the horizontal motor so as to adjust the pitching angle and the rotation angle of the three-eye camera on the holder, the specific angle values of the pitching angle and the rotation angle are measured by the encoder and fed back to the position and orientation measurement and control device, and the position and orientation measurement and control device feeds back the two angle values to the image processing device.
The image processing device is connected and communicated with the upper computer, receives a control command of the upper computer, controls the left eye camera, the right eye camera and the infrared camera to acquire images of different directions of the device along with the rotation of the left eye camera, the right eye camera and the infrared camera, and displays temperature values of areas in real time through the infrared images acquired by the infrared camera; the image processing device can calculate the target distance of the high-temperature dangerous area identified by the infrared camera according to an algorithm arranged in the image processing device, calculate the accurate temperature of the high-temperature dangerous area through the temperature distance compensation model, and simultaneously obtain the physical position of the target according to the target distance, the pitch angle and the rotation angle of the holder fed back by the pose measurement and control device and the physical coordinate of the detection device, so that the positioning of the heat value point is realized.
It should be noted that by the scheme provided by the embodiment of the invention, distance measurement, temperature measurement and positioning can be realized for any heat source point of any equipment in the substation field; both can carry out range finding, temperature measurement and location according to some region of inspector's needs manual selection through the host computer, also can be when infrared camera discerns the high temperature danger area system start to the automatic range finding of high temperature danger area, temperature measurement and location.
According to the scheme provided by the embodiment of the invention, for a given field, the detection equipment can continuously detect the whole field by adjusting the pitch angle and the rotation angle, the detection result is unified with a field three-dimensional map to obtain the temperature distribution of the whole field, the operation condition of the equipment in the whole field is judged according to the deviation between the actual detection value and the normal value and the deviation distribution, and when the target temperature is close to the critical point, the equipment is regarded as a dangerous point, needs to be accurately positioned and pay more attention to, and is timely reported to an upper system.
Example four
The present embodiment describes the principles and methods of ranging, thermometry, and positioning in detail.
When the infrared temperature measuring camera detects a high-temperature target, the white light camera determines a target region of interest (ROI) according to the infrared camera so as to reduce a detection area, then performs target detection in the ROI, and then calculates a target distance by using binocular target deviation.
Specifically, let W be the high-temperature dangerous area detected by the infrared cameratAt a target detection scale of WOThe ROI area detected by the left camera is WlRight camera detects ROI area as WrAnd alpha is the field angle proportionality coefficient of the infrared camera and the white light camera. Outside the minimum detection distance, WtAnd the other three regions are:
i.e. WtIncluded in the other three regions are examples of relationships as shown in fig. 5. FIG. 5(a) shows WtAnd WoFIG. 5(b) is a graph of WtAnd WlFIG. 5(c) is a graph of WtAnd WrA relationship graph; the relationship between the four regions can be seen visually in the figure.
In general, WO，Wl，WrAll are the minimum envelope rectangle of the target, so the relationship between the three is:
that is, the dimensions of the binocular ROI region and the target region phase are not less than the maximum dimensions of the two, and the relationship between the three is shown in fig. 6. The relationship between the binocular ROI and the target region can be visualized from fig. 6.
According to the definition, the binocular ROI area and the target area have relevance and difference of scales, the relevance exists because the optical axes of the binocular ROI area and the target area are parallel and aim at the same target, the difference exists because the optical axes of the three cameras are not coincident, and the characteristics of the target in the infrared camera and the white light camera are different.
Let WO，Wl，WrAre respectively defined as:
WO＝rect(xO,yO,wO,hO) (3)
Wl＝rect(xl,yl,wl,hl) (4)
Wr＝rect(xr,yr,wr,hr) (5)
according to the relation between all the areas, one area always exists, and the extended area of the target can be generated
The region expansion increment is represented, namely, the periphery is increased on the basis of the original image; make binocular ROI area sum
The following conditions are satisfied:
due to the difference in targets, there is one accurate value for each different target that is difficult to determine accurately when thermometering in the field, where for each different target
For simplification, the region is expanded by the maximum target in the field
And (4) substitution.
Has the following characteristics:
in binocular ranging, for any target j, the area can be expanded at the maximum target
The target is extracted and is arranged in a binocular image IlAnd IrIn (c), the geometric center coordinate of the target j is (x)cl,ycl) And (x)cr,ycr) Then the target disparity is defined as:
Δ＝sqrt[(xcl-xcr)2+(ycl-ycr)2] (9)
according to the relation between the parallax delta and the distance D, the target distance can be calculated, and the distance is calculated by adopting a piecewise linear compensation model, namely:
D＝kDiΔ+bDi,Δ∈[Δi,Δi+1],i＝0,1,2…,n (10)
after the distance is obtained, the relationship between the target distance D and the target temperature can be measured by comparative experiments, or by black body calibration. According to experiments, the temperature change and the distance are in a cubic function relationship, and in order to simplify compensation, a multipoint linear fitting method is adopted for temperature correction.
Δt＝kiD+bi,D∈[Di,Di+1] (11)
t＝t0+Δt (12)
The determination of the physical location of the target is explained as follows:
the detection device determines the relative coordinates of the detected target relative to the detection device according to the two rotation angles and the target distance. The positional relationship between the set object and the detection device is shown in fig. 7.
Setting the target binocular detection distance as a target distance D, and setting the target coordinate value as:
where α is a pitch angle and β is a rotation angle.
When the physical coordinate of the detection device is (x)0,y0,z0) According to the above formula, the coordinates (x, y, z) of the target in the physical world are:
the distance measurement, temperature measurement and positioning of the field are realized through the above principles and methods.
The scheme provided by the embodiment of the invention is an intelligent online detection device for detecting and judging the working state of the substation equipment in real time, realizing target area state detection, dangerous point temperature detection, dangerous point positioning, dangerous point state evaluation, prediction and the like, and providing new detection equipment and means for substation working state evaluation.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (7)
1. A method for locating a high temperature hazard zone, comprising:
mounting a binocular camera and an infrared camera on a holder of the same detection device, and adjusting the cameras into parallel optical axes; the binocular camera and the infrared camera generate an optical axis pitch angle and a rotation angle along with the rotation of the holder;
the infrared camera collects infrared images and determines a high-temperature dangerous area according to the infrared images; collecting a pitch angle and a rotation angle of the optical axis at the moment;
the binocular camera collects a binocular image containing the high-temperature dangerous area as a target area;
determining a target interesting area of the binocular image according to the target area and the high-temperature dangerous area to realize target segmentation;
calculating the center position of the binocular target according to the target segmentation result;
calculating target parallax according to the binocular target center position;
calculating a target distance according to the distance-parallax model;
calculating to obtain a target coordinate value according to the pitch angle, the rotation angle and the target distance;
and calculating to obtain the physical position of the target according to the physical coordinate of the detection device and the coordinate value of the target, thereby realizing the positioning of the high-temperature dangerous area.
2. The method for positioning the high-temperature dangerous area according to claim 1, wherein the determining the target region of interest of the binocular image according to the target area and the high-temperature dangerous area to realize target segmentation comprises:
finding a target expansion area according to the target area and the high-temperature dangerous area; the target extension area contains the target area;
finding out a maximum target expansion area according to the target finite set scale relation; the maximum target expansion area comprises the high temperature danger area and the target area;
and taking the maximum target expansion area as a target interesting area of the binocular image to realize target segmentation.
3. The method for locating the high-temperature dangerous area according to claim 1, wherein the calculating the center position of the binocular target according to the target segmentation result comprises:
determining I according to target interested region of left eye imagelDetermining geometric center coordinates (x) of a target region of interest of a left eye imagecl,ycl)；
Target region of interest I from Right eye imagerDetermining geometric center coordinates (x) of a target region of interest of a right eye imagecr,ycr)。
4. The method for locating the high-temperature dangerous area according to claim 1, wherein the calculating the target parallax according to the binocular target center position comprises:
geometric center coordinates (x) of a target region of interest from the left eye imagecl,ycl) And the geometric center coordinates (x) of the target region of interest of the right eye imagecr,ycr) And calculating the target parallax delta of the target interesting region of the binocular image by the following target parallax formula:
Δ＝sqrt[(xcl-xcr)2+(ycl-ycr)2]。
5. the method as claimed in claim 4, wherein the calculating the target distance according to the distance-parallax model comprises:
calculating the target distance D according to the following target parallax piecewise linear compensation model:
D＝kDiΔ+bDi，Δ∈[Δi，Δi+1]，i＝0，1，2...，n
where Δ is the target parallax, kDiIs the linear model scale coefficient of the No. Di section, bDiCoefficient of variation, Δ, of the No. section Linear modeliStarting the target disparity, Δ, for the i-th segment of the linear modeli+1The ith linear model ends the target disparity.
6. The high temperature dangerous area positioning method according to claim 1, wherein the calculating target coordinate values according to the pitch angle, the rotation angle and the target distance comprises:
calculating a target coordinate value (x) according to the pitch angle, the rotation angle and the target distance by using the following formula1,y1,z1)：
Wherein D is the target distance, alpha is the pitch angle, and beta is the rotation angle.
7. The method for locating a high-temperature dangerous area according to claim 6, wherein the step of calculating the physical position of the target according to the physical coordinates of the detection device and the coordinate values of the target to locate the high-temperature dangerous area comprises the following steps:
let the physical coordinates of the detection device be (x)0,y0,z0) According to said target coordinate value (x)1,y1,z1) The coordinates (x, y, z) of the target in the physical world are calculated by:
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