CN113518180B - Vehicle-mounted camera mounting method for electric power working vehicle - Google Patents
Vehicle-mounted camera mounting method for electric power working vehicle Download PDFInfo
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- CN113518180B CN113518180B CN202110572400.XA CN202110572400A CN113518180B CN 113518180 B CN113518180 B CN 113518180B CN 202110572400 A CN202110572400 A CN 202110572400A CN 113518180 B CN113518180 B CN 113518180B
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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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- 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
- H04N23/61—Control of cameras or camera modules based on recognised objects
- H04N23/611—Control of cameras or camera modules based on recognised objects where the recognised objects include parts of the human body
Abstract
The invention discloses a method for installing a vehicle-mounted camera for an electric power working vehicle, which comprises the following steps of: acquiring an image acquired by at least one camera, wherein the image comprises a trunk of an operator and a hand during operation; identifying the trunk of an operator and the hands of the operator in the image, and calculating the position information of the trunk of the operator in the image and the position information of the hands of the operator in the image; according to the position of the hand in the image and the view angle information of the camera, the height difference of the hand of the operator relative to the camera in the image is obtained; and adjusting the position and/or angle of the camera according to the position information and the height difference of the trunk of the operator in the image until the trunk and the hands of the operator are positioned at two sides of the vertical symmetrical line of the image and the hands are positioned on the transverse symmetrical line of the image in the image collected by the camera. The camera can be automatically adjusted to collect complete operation information as far as possible, and the integrity and reliability of the evidence storage information are improved.
Description
Technical Field
The invention belongs to the technical field of camera installation, and particularly relates to a vehicle-mounted camera installation method for an electric power working vehicle.
Background
With the economic development and the improvement of the living standard of people, the requirement of users on the power supply reliability is higher and higher. To improve the reliability of power supply, the power distribution operation mode has been shifted from a power outage operation mode to a power outage operation mode in which a main power outage operation mode is used and an auxiliary power outage operation mode is used. The high-altitude operation vehicle is an auxiliary operation tool, and the operation safety of operators is related to not only the operation safety of a power grid but also the life safety of the operators when the high-altitude operation is carried out. How to realize the control to operating personnel's operation process, it is very important thing to realize operation instruction and deposit the evidence, but, directly fix a camera on electric power operation car and realize adopting like, its angle is single, and is sheltered from by operating personnel easily.
Disclosure of Invention
In order to solve the problem that the existing camera is single in installation angle and not beneficial to collecting complete operation information, the invention provides a vehicle-mounted camera installation method for an electric power operation vehicle, which can be automatically adjusted to enable a camera to collect complete operation information as much as possible, and improve the integrity and reliability of evidence storage information.
The invention is realized by the following technical scheme:
a method for installing a vehicle-mounted camera for an electric power working vehicle comprises the following steps:
acquiring an image acquired by at least one camera, wherein the image comprises a trunk of an operator and a hand during operation;
identifying the trunk of an operator and the hands of the operator in the image, and calculating the position information of the trunk of the operator in the image and the position information of the hands of the operator in the image;
according to the position of the hand in the image and the view angle information of the camera, the height difference of the hand of the operator relative to the camera in the image is obtained;
and adjusting the position and/or angle of the camera according to the position information and the height difference of the trunk of the operator in the image until the trunk and the hands of the operator are positioned at two sides of the vertical symmetrical line of the image and the hands are positioned on the transverse symmetrical line of the image in the image collected by the camera.
The invention provides a method for installing a camera of an operation vehicle, which is characterized in that trunk and hand information of an operator in an image is identified through an image identification technology, the position information of the camera is adjusted to the two sides of a vertical symmetrical line of the image and the hands are positioned on a transverse symmetrical line of the image in the image acquired by the camera, so that the video information which can be acquired by the camera contains completed operation as much as possible, the operation process is prevented from being blocked as much as possible, the camera can be installed and adjusted again when different parts are operated, the complete recording of the operation information is realized while the multi-angle adjustment is realized, and the integrity and the reliability of the evidence storage information are improved.
In one possible design, the identifying the torso of the operator and the hands of the operator in the image includes:
and inputting the image into the trained convolutional neural network and outputting the identified target information, wherein the target information comprises the trunk of the operator and the hands of the operator in the image.
In one possible design, the calculating the position information of the operator's torso in the image and the position information of the operator's hand in the image includes:
respectively identifying characteristic points of the trunk and the hands of an operator;
respectively calculating corresponding abscissa extreme values and ordinate extreme values of the trunk characteristic points and the hand characteristic points in the image, wherein the abscissa extreme value coordinates comprise an abscissa maximum value and an abscissa minimum value, and the ordinate extreme values comprise an ordinate maximum value and an ordinate minimum value;
and respectively calculating corresponding abscissas and ordinates of the trunk and the hands in the image according to the abscissas extremum, wherein the abscissas are (the maximum value of the abscissas-the minimum value of the abscissas)/2, and the ordinates are (the maximum value of the ordinates-the minimum value of the ordinates)/2.
In one possible design, the estimating the height difference of the hand of the operator relative to the camera in the image according to the position of the hand in the image, the pitch angle of the camera and the vertical visual field angle value of the camera comprises:
determining the ordinate of the corresponding position of the horizontal view line of the camera in the image according to the pitch angle of the camera and the vertical view angle of the camera, wherein the absolute value of the pitch angle of the camera is less than one half of the vertical view angle of the camera;
and calculating the difference value between the vertical coordinate corresponding to the hand of the operator in the image and the vertical coordinate of the corresponding position of the horizontal view diagonal line of the camera in the image to obtain the height difference.
In one possible design, the ordinate of the corresponding position of the horizontal view angle line of the camera in the image is (Y1-Y2)/2-t (Y1-Y2)/2 theta, wherein Y1 is the maximum value in the ordinate of all the coordinates of the image area, Y2 is the minimum value in the ordinate of all the coordinates of the image area, t is the camera pitch angle, and theta is the camera vertical view angle.
In one possible design, the adjusting the position and/or the angle of the camera according to the position information of the trunk of the operator in the image, the position information of the hand of the operator in the image and the height difference of the hand of the operator relative to the camera in the image until the trunk and the hand of the operator in the image collected by the camera are located on two sides of the vertical symmetry line of the image and the hand is located on the horizontal symmetry line of the image includes:
converting the height difference according to a preset distance to estimate a real height difference between the camera and the hand of an operator;
if the real height difference is smaller than a preset threshold value, adjusting the horizontal position of the camera until the trunk and the hands of the operator in the image collected by the camera are positioned at two sides of the vertical symmetrical line of the image and the hands are positioned on the horizontal symmetrical line of the image;
if the real height difference is larger than the preset threshold value, the height position of the camera is adjusted, the height difference is smaller than or equal to the preset threshold value, then the horizontal position of the camera is adjusted until the trunk and the hands of the operator are positioned on two sides of the vertical symmetrical line of the image and the hands of the operator are positioned on the horizontal symmetrical line of the image in the image collected by the camera.
In a possible design, if the difference in height is less than a preset threshold, then adjust the horizontal position of camera, until in the image that the camera was gathered operating personnel trunk and hand are located the both sides of the vertical symmetry line of image and the hand is located the horizontal symmetry line of image, include:
respectively calculating corresponding abscissas of the trunk characteristic points and the hand characteristic points in the image;
if the corresponding abscissa of the trunk characteristic point and the corresponding abscissa of the hand characteristic point in the image are both smaller than (X1-X2)/2, wherein X1 is the maximum value in the abscissas of all coordinates of the image area, and X2 is the minimum value in the abscissas of all coordinates of the image area, controlling the camera to move to enable the abscissas of the hand and the trunk characteristic point of the operator to be gradually increased until the trunk and the hand of the operator in the image acquired by the camera are positioned on two sides of the vertical symmetry line of the image and the hand is positioned on the horizontal symmetry line of the image;
if the corresponding abscissa of the trunk characteristic point and the corresponding abscissa of the hand characteristic point in the image are both larger than (X1-X2)/2, controlling the camera to move to enable the abscissa of the hand of the operator and the trunk characteristic point to be gradually reduced until the trunk and the hand of the operator in the image collected by the camera are positioned on two sides of the vertical symmetry line of the image and the hand is positioned on the horizontal symmetry line of the image.
In one possible design, the acquiring an image captured by a camera includes:
the horizontal position of the camera is adjusted, so that the image comprises the trunk of an operator and the hand during operation.
Compared with the prior art, the invention at least has the following advantages and beneficial effects:
1. according to the method, the position information of the camera is adjusted to the position information of the camera, wherein the trunk and the hands of an operator are positioned on the two sides of the vertical symmetrical line of the image and the hands are positioned on the transverse symmetrical line of the image in the image acquired by the camera, so that the video information acquired by the camera contains completed operations as much as possible, the operation process is avoided as much as possible from being blocked, the camera can be installed and adjusted again when different parts are operated, the multi-angle adjustment is realized, the complete recording of the operation information is realized, and the integrity and the reliability of the evidence storage information are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of the present invention.
Fig. 2 is a view illustrating a visual field of the camera.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. Specific structural and functional details disclosed herein are merely illustrative of example embodiments of the invention. The present invention may, however, be embodied in many alternate forms and should not be construed as limited to the embodiments set forth herein.
It should be understood that, for the term "and/or" as may appear herein, it is merely an associative relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, B exists alone, and A and B exist at the same time; for the term "/and" as may appear herein, which describes another associative object relationship, it means that two relationships may exist, e.g., a/and B, may mean: a exists independently, and A and B exist independently; in addition, for the character "/" that may appear herein, it generally means that the former and latter associated objects are in an "or" relationship.
It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be understood that specific details are provided in the following description to facilitate a thorough understanding of example embodiments. However, it will be understood by those of ordinary skill in the art that the example embodiments may be practiced without these specific details. For example, systems may be shown in block diagrams in order not to obscure the examples in unnecessary detail. In other instances, well-known processes, structures and techniques may be shown without unnecessary detail in order to avoid obscuring example embodiments.
The invention provides a vehicle-mounted camera mounting method for an electric power working vehicle, which can be executed on a mounting device, wherein the mounting device can be realized by an intelligent device and an attached mechanical adjusting mechanism, and the intelligent device can be a computer, a server, a portable intelligent device or other intelligent devices. The installation method specifically comprises the steps S101 to S104.
Step S101, obtaining an image collected by a camera, wherein the image comprises the trunk of an operator and the hands of the operator during operation.
The image in this scheme is the image that the camera gathered, and the camera is installed on erection equipment, and for preliminary installation, its angle, position probably can not reach the demand to the complete record of operational information, at this moment, probably have operating personnel to shelter from operating position, operating position operating condition record circumstances such as unclear. After the camera is opened, the installation equipment installs and adjusts the position of the camera according to the image information collected by the camera. If the camera is opened, the collected image information only comprises the trunk of the operator, namely the operator is arranged between the operation part and the camera, and the horizontal position of the camera needs to be adjusted first, so that the image collected by the camera not only comprises the trunk of the operator, but also comprises the hands during operation.
Step S102, recognizing the trunk of the operator and the hand of the operator in the image, and calculating the position information of the trunk of the operator and the position information of the hand of the operator in the image, specifically, the step includes steps S1021 to S1024.
And S1021, inputting the image collected by the camera into the trained convolutional neural network, and outputting the identified target information, wherein the target information comprises the trunk of the operator and the hands of the operator in the image. The convolutional neural network can be selected from a LeNet network, an AlexNet network, a VGGNet network, a ResNet network or a DenseNet network.
And step S1022, respectively identifying the characteristic points of the trunk and the hands of the operator. The feature Point may be a Corner Point or a key Point.
Step S1023, respectively calculate the corresponding abscissa extremum and ordinate extremum of the trunk and hand feature point in the image, the abscissa extremum coordinate includes the abscissa maximum and the abscissa minimum, the ordinate extremum includes the ordinate maximum and the ordinate minimum.
And constructing an abscissa in the horizontal direction and an ordinate in the vertical direction in the image. The trunk may have a plurality of feature points, the coordinate positions of the feature points in the image are different, the coordinates of the feature points of the trunk are obtained, and an abscissa extreme value and an ordinate extreme value are screened out from the coordinates. And for the hand, the hand also has a plurality of characteristic points, coordinates of the plurality of characteristic points of the hand are obtained, and an abscissa extreme value and an ordinate extreme value are screened out from the plurality of coordinates.
And step S1024, respectively calculating an abscissa and an ordinate of the torso and the hand in the image according to the abscissa extremum, where the abscissa is (maximum abscissa-minimum abscissa)/2, and the ordinate is (maximum ordinate-minimum ordinate)/2.
If the maximum value of the abscissa of the trunk is X11, the minimum value of the abscissa is X12, the maximum value of the ordinate is Y11, and the minimum value of the ordinate is Y12, the corresponding coordinates of the trunk are ((X11-X12)/2, (Y11-Y12)/2).
If the maximum value of the abscissa of the hand is X21, the minimum value of the abscissa is X22, the maximum value of the ordinate is Y21, and the minimum value of the ordinate is Y22, the corresponding coordinates of the hand are ((X21-X22)/2, (Y21-Y22)/2).
And step S103, estimating the height difference of the hand of the operator relative to the camera in the image according to the position of the hand in the image and the view angle information of the camera. The completeness of the operation process record in the image can be well confirmed by determining the hand position. For this step, it specifically includes steps S1031 to S1032.
And step S1031, determining the vertical coordinate of the corresponding position of the horizontal view angle line of the camera in the image according to the pitch angle of the camera and the vertical view angle theta of the camera. Because the camera is installed on installation device, can directly acquire the angle of pitch information of camera, in order to guarantee that operating personnel can effectively get into the field of view of camera, the absolute value of the angle of pitch of camera is less than half of the vertical field of view angle of camera, controls its angle of elevation promptly and is less than half of the vertical field of view angle of camera, controls its angle of depression and is less than half of the vertical field of view angle of camera. Here, the vertical view angle of the camera, that is, the angle value corresponding to the camera view range 11 in the vertical direction, as shown in fig. 2, the mounting apparatus directly reads the pitch angle of the camera 1, and determines the vertical coordinate of the corresponding position of the horizontal view line of the camera in the image according to the pitch angle and the camera vertical view angle θ. The vertical coordinate of the corresponding position of the horizontal view angle line of the camera in the image is (Y1-Y2)/2-t (Y1-Y2)/2 theta, wherein Y1 is the maximum value in the vertical coordinate of all coordinates of the image area, Y2 is the minimum value in the vertical coordinate of all coordinates of the image area, t is the camera pitch angle, and theta is the camera vertical view angle. When the camera is tilted upwards, the pitch angle is positive, and when the camera is tilted downwards, the pitch angle is negative.
If the lower left corner of the image is taken as an origin, the horizontal direction is taken as an abscissa to construct a coordinate system, the coordinates of the lower left corner of the image are (0, 0), and the coordinates of the upper right corner are (X, Y). If the camera is at a pitch angle of 0 degree, the vertical coordinate of the corresponding position of the horizontal view angle line of the camera in the image is placed on the horizontal middle vertical line of the image, namely the vertical coordinate Y/2 of the corresponding position of the horizontal view angle line of the camera in the image at the moment; if the pitch angle of the camera is 30 degrees, namely the elevation angle is 30 degrees, the vertical coordinate of the corresponding position of the horizontal view angle line of the camera in the image moves downwards relative to the pitch angle of 0 degree, and at the moment, the vertical coordinate of the corresponding position of the horizontal view angle line of the camera in the image is Y/2-30Y/theta. If the pitch angle of the camera is-30 degrees, namely the depression angle is 30 degrees, the horizontal view angle line of the camera moves upwards when the vertical coordinate of the corresponding position in the image is 0 degrees relative to the pitch angle, and at the moment, the vertical coordinate of the corresponding position in the image of the horizontal view angle line of the camera is Y/2+ 30Y/theta.
And step S1032, calculating a difference value between a vertical coordinate corresponding to the hand of the operator in the image and a vertical coordinate of a corresponding position of a horizontal view diagonal line of the camera in the image to obtain the height difference.
The above steps determine the coordinates of the hand as ((X21-X22)/2, (Y21-Y22)/2), if the vertical coordinate of the corresponding position of the horizontal view diagonal line of the camera in the image is Y/2+ 30Y/theta, at this moment, the height difference is (Y21-Y22)/2- (Y/2+ 30Y/theta).
And S104, adjusting the position and/or angle of the camera according to the position information of the trunk of the operator in the image, the position information of the hand of the operator in the image and the height difference of the hand of the operator relative to the camera in the image until the trunk and the hand of the operator in the image acquired by the camera are positioned at two sides of the vertical symmetrical line of the image and the hand is positioned on the horizontal symmetrical line of the image. Specifically, the step includes steps S1041 to S1042.
And S1041, converting the height difference according to a preset distance and estimating the real height difference between the camera and the hand of the operator. The mounting equipment is fixedly arranged on a frame of a standing protection frame of the distribution network electric power operation vehicle, and the standing protection frame is used for protecting operating personnel. The initial installation position of the camera is a certain distance away from the human hand, the distance can be estimated according to the actual operation condition, and the preset distance is the distance between the artificially estimated initial installation position and the operation part. The height difference between the camera and the installation position in the image, namely between the camera and the hand of a person, can be converted into the height difference in the real environment through the preset distance.
Step S1042, if the real height difference is smaller than a preset threshold, adjusting the horizontal position of the camera until the trunk and the hands of the operator in the image collected by the camera are positioned at two sides of the vertical symmetrical line of the image and the hands are positioned on the horizontal symmetrical line of the image, so that the information collected by the camera can be ensured to be as complete as possible. Specifically, respectively calculating corresponding abscissas of the characteristic points of the trunk and the hand in the image; if the hands and the trunk of the operator are both arranged on one side of the vertical symmetry line of the image, namely the horizontal coordinates of the characteristic points of the hands and the trunk of the operator are both smaller than (X1-X2)/2 or both larger than (X1-X2)/2, where X1 is the maximum value in the abscissa of all the coordinates of the image area, and X2 is the minimum value in the abscissa of all the coordinates of the image area, in this case, comparing the abscissa of the hand and the trunk characteristic point of the operator with the size of (X1-X2)/2, if the abscissa of the hand and the trunk characteristic point of the operator is larger than (X1-X2)/2, controlling the camera to move to enable the horizontal coordinates of the hand and trunk characteristic points of the operator to be gradually reduced until the trunk and the hand of the operator in the image collected by the camera are positioned on two sides of the vertical symmetrical line of the image and the hand is positioned on the horizontal symmetrical line of the image; if the abscissa of the hand and the trunk characteristic point of the operator is smaller than (X1-X2)/2, controlling the camera to move to enable the abscissa of the hand and the trunk characteristic point of the operator to be gradually increased until the trunk and the hand of the operator in the image collected by the camera are positioned on two sides of the vertical symmetrical line of the image and the hand is positioned on the horizontal symmetrical line of the image.
If the real height difference is larger than the preset threshold value, the height position of the camera is adjusted, the height difference is smaller than or equal to the preset threshold value, then the horizontal position of the camera is adjusted until the trunk and the hands of the operator are positioned on two sides of the vertical symmetrical line of the image and the hands of the operator are positioned on the horizontal symmetrical line of the image in the image collected by the camera.
The method is applied to an intelligent installation device which is provided with a controller, a memory and a series of mechanical structures, and stores an application program for realizing the method, wherein the application program executes the steps when being executed by the controller. The mechanical structure is arranged on a frame of a standing protection frame of the distribution network electric power operation vehicle and comprises a transverse position adjusting unit, a longitudinal position adjusting unit and a camera pitch angle adjusting unit, wherein the transverse position adjusting unit, the longitudinal position adjusting unit and the camera pitch angle adjusting unit can be realized by adopting the conventional mechanical structure. The horizontal position adjusting unit sets up on the horizontal limit of the bearer bar that stands, and longitudinal position adjusting unit sets up on horizontal position adjusting unit, and longitudinal position adjusting unit and the longitudinal limit parallel arrangement of the bearer bar that stands, camera angle of pitch adjusting unit set up in longitudinal position adjusting unit can, the protection is not done to the concrete structure of erection equipment this scheme, so do not give unnecessary detail here.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: modifications may be made to the embodiments described above, or equivalents may be substituted for some of the features described. And such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (7)
1. A method for installing a vehicle-mounted camera for an electric power working vehicle is characterized by comprising the following steps:
acquiring an image acquired by a camera, wherein the image comprises a trunk of an operator and a hand during operation;
identifying the trunk of an operator and the hands of the operator in the image, and calculating the position information of the trunk of the operator in the image and the position information of the hands of the operator in the image;
estimating the height difference of the hands of an operator relative to the camera in the image according to the position of the hands in the image, the pitch angle of the camera and the vertical view angle value of the camera;
converting the height difference according to a preset distance to estimate a real height difference between the camera and the hand of an operator;
if the real height difference is smaller than a preset threshold value, adjusting the horizontal position of the camera until the trunk and the hands of the operator in the image collected by the camera are positioned at two sides of the vertical symmetrical line of the image and the hands are positioned on the horizontal symmetrical line of the image;
if true difference in height is greater than predetermine the threshold value, then adjust the high position of camera, make difference in height less than or equal to predetermine the threshold value, readjust the horizontal position of camera, until in the image that the camera was gathered operating personnel truck and hand lie in the both sides of the vertical symmetry line of image and the horizontal symmetry line that the hand lies in the image.
2. The method for mounting the camera mounted on the electric power working vehicle according to claim 1, wherein the identifying the torso of the operator and the hand of the operator in the image includes:
and inputting the image into the trained convolutional neural network and outputting the identified target information, wherein the target information comprises the trunk of the operator and the hands of the operator in the image.
3. The method for mounting the camera on the vehicle for the electric power working vehicle according to claim 2, wherein the calculating the position information of the trunk of the operator and the position information of the hand of the operator in the image comprises:
respectively identifying characteristic points of the trunk and the hands of an operator;
respectively calculating corresponding abscissa extreme values and ordinate extreme values of the trunk characteristic points and the hand characteristic points in the image, wherein the abscissa extreme value coordinates comprise an abscissa maximum value and an abscissa minimum value, and the ordinate extreme values comprise an ordinate maximum value and an ordinate minimum value;
and respectively calculating corresponding abscissas and ordinates of the trunk and the hands in the image according to the abscissas extremum, wherein the abscissas are (the maximum value of the abscissas-the minimum value of the abscissas)/2, and the ordinates are (the maximum value of the ordinates-the minimum value of the ordinates)/2.
4. The method for mounting the camera on the vehicle of the electric power working vehicle according to claim 3, wherein the estimating the height difference of the hand of the operator relative to the camera in the image according to the position of the hand in the image, the pitch angle of the camera and the vertical visual field angle value of the camera comprises:
determining the ordinate of the corresponding position of the horizontal view line of the camera in the image according to the pitch angle of the camera and the vertical view angle of the camera, wherein the absolute value of the pitch angle of the camera is less than one half of the vertical view angle of the camera;
and calculating the difference value between the vertical coordinate corresponding to the hand of the operator in the image and the vertical coordinate of the corresponding position of the horizontal view diagonal line of the camera in the image to obtain the height difference.
5. The method as claimed in claim 4, wherein the vertical coordinate of the corresponding position of the horizontal view line of the camera in the image is (Y1-Y2)/2-t (Y1-Y2)/2 θ, wherein Y1 is the maximum value in the vertical coordinate of all coordinates of the image area, Y2 is the minimum value in the vertical coordinate of all coordinates of the image area, t is the camera pitch angle, and θ is the camera vertical view angle.
6. The method for installing the vehicle-mounted camera for the electric power working vehicle according to claim 1, wherein if the height difference is smaller than a preset threshold, the horizontal position of the camera is adjusted until the trunk and the hands of the operator in the image collected by the camera are positioned at two sides of the vertical symmetry line of the image and the hands are positioned on the horizontal symmetry line of the image, and the method comprises the following steps:
respectively calculating corresponding abscissas of the trunk characteristic points and the hand characteristic points in the image;
if the corresponding abscissa of the trunk characteristic point and the corresponding abscissa of the hand characteristic point in the image are both smaller than (X1-X2)/2, wherein X1 is the maximum value in the abscissas of all coordinates of the image area, and X2 is the minimum value in the abscissas of all coordinates of the image area, controlling the camera to move to enable the abscissas of the hand and the trunk characteristic point of the operator to be gradually increased until the trunk and the hand of the operator in the image acquired by the camera are positioned on two sides of the vertical symmetry line of the image and the hand is positioned on the horizontal symmetry line of the image;
if the corresponding abscissa of the trunk characteristic point and the corresponding abscissa of the hand characteristic point in the image are both larger than (X1-X2)/2, controlling the camera to move to enable the abscissa of the hand of the operator and the trunk characteristic point to be gradually reduced until the trunk and the hand of the operator in the image collected by the camera are positioned on two sides of the vertical symmetry line of the image and the hand is positioned on the horizontal symmetry line of the image.
7. The method for mounting the vehicle-mounted camera for the electric power working vehicle according to claim 1, wherein the acquiring an image acquired by the camera comprises:
the horizontal position of the camera is adjusted, so that the image comprises the trunk of an operator and the hand during operation.
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