CN108259858A - The monitoring method and device of substation's scene and equipment - Google Patents
The monitoring method and device of substation's scene and equipment Download PDFInfo
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- CN108259858A CN108259858A CN201810315632.5A CN201810315632A CN108259858A CN 108259858 A CN108259858 A CN 108259858A CN 201810315632 A CN201810315632 A CN 201810315632A CN 108259858 A CN108259858 A CN 108259858A
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- 230000000007 visual effect Effects 0.000 claims description 10
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
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Abstract
The embodiment of the present invention provides the monitoring method and device of a kind of substation's scene and equipment.The monitoring method of substation's scene and equipment includes：Obtain the first image sequence data of substation's scene of collecting device acquisition；Analog reconstruction is carried out to substation's scene according to described first image sequence data and obtains the simulation scene photo of substation's scene；The second image data of the substation equipment of the collecting device acquisition is obtained, textures update is carried out to the simulation scene photo according to second image data, obtains the real-time status simulation drawing of the substation equipment.Substation fortune inspection personnel can grasp the substation field situation in real time.
Description
Technical field
The present invention relates to field of computer technology, in particular to a kind of substation's scene and the monitoring method of equipment
And device.
Background technology
In unattended operation transformer station, based on safety and to the requirement that accident timely responds to, necessity is needed to configure
Real-time automatically-monitored means, grasp the variable condition of substation equipment and transformer equipment operation conditions, improve substation's fortune
The efficiency of work is examined, reduces the invalid and inefficient amount of labour.
Invention content
The method for real-time monitoring and device that are designed to provide a kind of substation's scene and equipment of the embodiment of the present invention.
The monitoring method of a kind of substation's scene and equipment of the present invention includes：
Obtain the first image sequence data of substation's scene of collecting device acquisition；
Substation's scene is simulated according to described first image sequence data to obtain substation's scene
Simulate scene photo；
The second image data of the substation equipment state that the collecting device acquires in real time is obtained, according to described
Two image datas obtain the real-time status mould of the substation equipment to the simulation scene photo part area data textures update
Intend figure.
The embodiment of the present invention also provides the monitoring device of a kind of substation's scene and equipment, the supervisory control of substation device packet
It includes：
First acquisition module, for obtaining the first image sequence data of substation's scene of collecting device acquisition；
Reconstructed module obtains for carrying out analog reconstruction to substation's scene according to described first image sequence data
The simulation scene photo of substation's scene；
Second acquisition module, for obtaining the second figure of the substation equipment state that the collecting device acquires in real time
As data；
Update module, for simulating scene photo part area data textures more to described according to second image data
Newly, the real-time status simulation drawing of the substation equipment is obtained.
Compared with prior art, the monitoring method and device of substation's scene of the embodiment of the present invention and equipment, with reference to regarding
Frequency evidence and substation's region scene data carry out analog reconstruction to obtain by image data to substation's region scene first
The simulation scene photo of substation's region scene；Secondly, it is contemplated that substation's fortune inspection safety and efficiently, based on substation's cloth
Point video camera, gives full play to monitoring and the fine picture of collecting device data, and collecting device status data information is existing to the simulation
Field figure part area data updates to obtain the real-time status simulation drawing of the substation equipment；Finally, substation's fortune inspection personnel can
The substation field situation is grasped by the equipment real-time status simulation drawing in real time；It facts have proved the method to substation
O＆M is with practical value.
For the above objects, features and advantages of the present invention is enable to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
It in order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described.It is to be appreciated that the following drawings illustrates only certain embodiments of the present invention, therefore it is not construed as pair
The restriction of range, for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the flow chart of the monitoring method of substation's scene that present pre-ferred embodiments provide and equipment.
Fig. 2 is the detailed of the step S104 of the monitoring method of substation's scene that present pre-ferred embodiments provide and equipment
Flow chart.
Fig. 3 is the detailed of the step S1042 of the monitoring method of substation's scene that present pre-ferred embodiments provide and equipment
Thin flow chart.
Fig. 4 is the block diagram of electric terminal that present pre-ferred embodiments provide.
Fig. 5 is that the function module of the monitoring device of substation's scene that present pre-ferred embodiments provide and equipment is illustrated
Figure.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be configured to arrange and design with a variety of different herein.Cause
This, the detailed description of the embodiment of the present invention to providing in the accompanying drawings is not intended to limit claimed invention below
Range, but it is merely representative of the selected embodiment of the present invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Go out all other embodiments obtained under the premise of creative work, shall fall within the protection scope of the present invention.
It should be noted that：Similar label and letter represents similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need to that it is further defined and explained in subsequent attached drawing.Meanwhile the present invention's
In description, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that instruction or hint relative importance.
Three-dimensional reconstruction is based on one group of orderly or unordered picture or image for having certain degree of overlapping, using calculating
Machine vision and multiple view solid geometry principle, construct the three-dimensional scenic close with the scene of multi-angle picture presentation, supply
User grasps the situation of change of monitored scene more fully hereinafter.
Due to the raising of laser scanner scans precision, upsurge of the people to Three Dimensional Reconfiguration is excited, target is logical
Cross the precision that cheap cost reaches scanner；With the development of artificial intelligence technology and to some NP (Non-
Deterministic Polynomial Problems, there are the indecisive problems that multinomial algorithm can solve) problem
It solves, more and more intelligent visuals are applied by familiar and understanding, are caused in archaeology of cultural relic, design field and manufacturing industry
Power in by Three Dimensional Reconfiguration come model restore or automatic modeling, preferably preserve or displaying model；Our product simultaneously
It also is intended to combine relevant application, realizes the virtual visualization intelligent real-time monitoring of equipment.
In a scene of unattended operation transformer station, based on safety and unexpected high efficiency consideration, Wo Menjie occurs
Video data and substation's scene image are closed, using high-definition camera acquisition substation regional area scene image combination video prison
Target device video data (security consideration, certain clearer images of equipment can not shooting at close range) is controlled, with target object
Geometry integrality and visual effect be target, realize target object reconstruct virtual visualization equipment displaying；Automatic collection is supervised
The video data of equipment state variation is controlled, image is based on using increment reconstruct and the newer mode of textures and video is combined realization
The real-time update of virtual scene equipment state；It facts have proved that the method is with practical value to the O＆M of substation, effectively improves and patrols
It examines working efficiency, reduce labor intensity.It is described in detail below by several embodiments.
Embodiment 1
Referring to Fig. 1, it is the stream for the supervisory control of substation method applied to electric terminal that present pre-ferred embodiments provide
Cheng Tu.Idiographic flow shown in FIG. 1 will be described in detail below.
Step S101 obtains the first image sequence data of substation's scene of collecting device acquisition.
In the present embodiment, the collecting device can be video camera, and using band, there are one the video cameras of central projection distortion
Projection model；I.e.：
Wherein, f represents focal length；S represents distortion factor；cx,cyRepresent camera center coordinate.
Represent the spin matrix of video camera；Represent the translation of video camera；
I.e.
Image characteristic pointSpatial point corresponding with the simulation scene photoBetween geometrical relationship.
In one embodiment, the collecting device can be communicated to connect with the electric terminal, the collecting device
After collecting described first image sequence data, described first image sequence data is transferred to by the electronics end by network
End.In another embodiment, after the collected described first image sequence data of the collecting device, by first figure
As sequence data is imported by data line in the electric terminal.In another embodiment, it is stored in the electric terminal
Described first image sequence data obtains described first image sequence data from memory when needing to use.
Further, to ensure that result integrality and visual quality, the collecting device can be high-definition cameras.It uses
High-definition camera shoots the image data of substation's scene, and overlaying graphics degree is preferably more than 60%.Specifically, the height
Clear video camera is shot at visual angle for 5~15 degree of ranges, the target object number of iterations at least three in substation's scene.
Step S102 carries out substation's scene according to described first image sequence data described in analog reconstruction obtains
The simulation scene photo of substation's scene.
In the present embodiment, the simulation scene photo can be graphics.
In the present embodiment, the reconstruct of point cloud, surface reconstruction, surface optimization and surface can be included by building the simulation scene photo
Several steps such as textures, the Three Dimensional Reconfiguration of view-based access control model projection realize sparse cloud reconstruct, together using increment SFM algorithms
When obtain accurate camera parameters information and matching characteristic point data；Approximate adjacent domains searching algorithm based on patch sampling is real
Existing dense reconstruct；Based on CGAL (Computational Geometry Algorithms Library, computational geometry algorithms library)
Generate surface triangle gridding；Algorithm is cut based on minimal graph and carries out surface optimization；Based on model surface segmentation, Surface Parameterization and line
The method that reason is packaged realizes surface textures.
Step S103 obtains the second image data of the substation equipment state of the collecting device acquisition.
In the present embodiment, the substation equipment periphery is equipped with collecting device, for example, it may be monitor camera, institute
State the image data that collecting device acquires the substation equipment state according to default presetting bit.
In the present embodiment, second image data can include：1) device status data of single image, for example, regarding
Frequency sectional drawing, form JPG；2) video stream data of monitoring objective object collecting device；3) in the case of multiple monitor cameras,
Take the image or video stream data of monitor camera overlapping region.The video stream data of the acquisition is converted to picture number by frame per second
According to for example, form JPG can be converted to.
Step S104 according to second image data to the simulation scene photo part area data textures update, is obtained
To the real-time status simulation drawing of the substation equipment.
In the present embodiment, the real-time status simulation drawing can be the reality presented with the update of second image data
When three-dimensional picture.
The step S104 includes increment reconstruct and the newer process of textures.In detail, as shown in Fig. 2, being described as two
Step.
Step S1041, the second image data of acquisition are added in a manner of increment in described first image sequence data,
It is added in grouping image according to visible features point number, based on triangulation location, bundle adjustment and filter false matching characteristic point
Alternative manner calculates the collecting device parameter and matching characteristic point.
Step S1041 provides guarantee for textures update.
Step S1042 is raw according to the plane projection between the characteristic point and the simulation scene photo and back projection's relationship
Into conformal figure；Cascade connection extraction texture between image based on visibility constraints and conformal figure and second image data
Data update texture atlas, to be updated by part area data textures.
Specifically.The textures update can be a kind of texture replacement method of the Surface Parameterization of characteristic point, it is contemplated that
Instrument and switch are that the texture of plane is replaced, projection and back projection generation conformal of the characteristic point based on plane of single image data
Figure extracts data texturing based on the cascade connection between visibility constraints and conformal figure and image data, updates texture atlas, real
Existing textures update；Based on multiple image datas, optimal view, the patch based on individual view are selected according to characteristic point visibility constraints
Figure update method realizes that texture is replaced.
Increment reconstruct according to the different step S1041 of the type of second image data uses different processing sides
Method is described in detail below, in one embodiment, when the device status data that second image data is single image
When, based on increment reconfiguration principle, calculate monitor camera parameter information and matching characteristic point correspondence；It is updated based on textures former
Reason realizes equipment state update.
In another embodiment, when second image data is video stream data, the video streaming data packet
It includes：Unchanged video flowing and the video flowing of PTZ controls；When the video stream data is unchanged video flowing, reconstructed using increment
Method calculates the parameter of collecting device and matching characteristic point；It is described when the video flowing that the video stream data is controlled for PTZ
Video stream data is the image data converted by frame per second, when image number is more than or equal to three, using increment SFM algorithms, is calculated
Camera parameters and matching characteristic point；When image number is less than three, using increment reconfiguration principle, the parameter of collecting device is calculated
With matching characteristic point.
When second image data is video stream data, it is divided by situation as unchanged video flowing and PTZ (Pan/
Tilt/Zoom) the video flowing of control；The first situation can be converted at the device status data situation of the single image
Reason.The second situation, the video stream data are the image datas (JPG) converted by frame per second, are more than or equal to three in image data
When, using increment SFM algorithms, calculate camera parameters information and matching characteristic point；Image number uses increment weight when being less than three
Structure principle calculates the parameter of collecting device and matching characteristic point；Based on the second situation in textures more new principle, equipment shape is realized
State updates.
In another embodiment, when multiple monitor cameras being installed in the range of substation's restriction, monitoring is taken to take the photograph
The image or video stream data of camera overlapping region, video flowing are converted to the image data (lattice of the image data of conversion by frame per second
Formula is JPG).It is interpreted as, according to the characteristic point of overlapping region, calculates characteristic point and simulate the relationship between scene photo, such feelings
The method that condition determines to reconstruct using increment SFM or increment according to image number；In addition, if the data of collecting device acquisition are without weight
Folded or degree of overlapping is less, and the probability that leads to the failure is larger, and such situation in scene is fewer at present, therefore omits.
In the present embodiment, the equipment being monitored in substation's scene is broadly divided into three types：A, instrument；B, it switchs
(character type or character type switch)；C, disconnecting switch and disconnecting link (state change).Instrument and the result of on off state variation use
The newer technology of textures；According to current method, the feelings such as the existing gap during textures are newer is effectively solved, blocks
Condition；There are larger differences for collecting device acquisition data resolution and the first image sequence data resolution ratio, and visual effect is bad, adopts
It is solved with fusion super resolution technologies.
The image considered in the second image data is blocked or is pasted from circumstance of occlusion, image and video monitoring image
Figure has the gap, illumination etc., situation, to improve visual effect, in the present embodiment, as shown in Figure 3.The step S1042 can also be wrapped
It includes：Step S10421 and step S10422.
Step S10421, the calculating geometry simulated between scene photo and target view in the second image data is corresponding to close
System, determines the camera parameters information of optimal view image and matching characteristic point, and edge feature point is verified based on plane equation.
In the present embodiment, the target view can be the opposite better view of matching in second image data.
In the present embodiment, the instrument and switch are Planar Mappings, i.e., using plane equation：
F(xi,yi,zi):Axi+Byi+Czi+ D=0； (3)
3 points can determine a plane；
Wherein, (Xr,Xl)、(Yr,Yl)、(Zr,Zl) the corresponding simulation scene photo of image boundary characteristic point is represented respectively
Target scene formed spatial point X, Y, Z value.Based on the model space point corresponding to plane equation authentication image characteristic point
Whether in approximately the same plane, if error is too small, can optimize；Error is excessive, illustrates two kinds of situations：1st, camera parameters need excellent
Change or matching characteristic point has exterior point, using triangulation location and the alternative manner of light-stream adjustment, verify matching characteristic point and optimization
Camera parameters；2nd, image data acquiring fails, and can directly terminate.
Further, to x, y, z difference derivation, you can obtain normal line vector：
That is,Arbitrary straight line its normal vector connected in plane is the same；Needle
To normal vector unanimous circumstances, unified approach processing may be used in boundary, effectively improves computational efficiency, while improves vision effect
Fruit.
Step S10422, based on it is described simulation scene photo and the second image data characteristic point between geometrical correspondence,
Projection and image of the scene photo to image are simulated to the reversed of model scene photo using the Surface Parameterization method of feature based point
The plane bidirectional projection relationship of projection generates conformal figure；Feature based visibility of a point constrains and tri patch region extension principle
Conformal figure and the cascade connection of image data are established, generates data texturing, updates conformal atlas, by data texturing update to model
Surface realizes that texture is replaced, and then obtains the real-time status simulation drawing of the substation equipment.
Specifically,
π surfaces forward projection, β represent back projection；
Based on the correspondence (formula 2) between the simulation scene photo and the second image data characteristic point, feature based
Point correspondence Surface Parameterization method (simulation scene photo to image projection and image to model scene photo reversed throwing
Shadow) two-way plane projection relationship, generate conformal figure；Feature based visibility of a point constrains (formula 4) and tri patch extension principle
Conformal figure and the image cascade connection of the second image data are established, generates data texturing, updates conformal atlas, by data texturing more
Newly to model surface, realize that texture is replaced, obtain the real-time status simulation drawing of the substation equipment.It is to result impact factor
Distortion and illumination for being generated when the accuracy of matching characteristic point and camera parameters, shooting photo etc..
A kind of substation's scene of the embodiment of the present invention and the monitoring method of equipment, with reference to video data and substation region
Contextual data carries out analog reconstruction to substation's region scene by the first image sequence data first and obtains the area of substation
The simulation scene photo of domain scene；Secondly, acquisition substation equipment status data updates to obtain the change to the simulation scene photo
The real-time status simulation drawing of power station equipment；The method of base in this present embodiment, on the basis of gathered data is effective, reconstructs geometry
Substation's scenario simulation figure of integrality and high visual quality, substation fortune inspection personnel can grasp the substation field feelings in real time
Condition；It facts have proved that the method is with practical value to the O＆M of substation.
Embodiment 2
As shown in figure 4, it is the block diagram of an electric terminal 100.The electric terminal 100 is filled including supervisory control of substation
Put 110, memory 111, storage control 112, processor 113, Peripheral Interface 114, input-output unit 115, display unit
116.It will appreciated by the skilled person that structure shown in Fig. 4 is only to illustrate, not to the knot of electric terminal 100
It is configured to limit.For example, electric terminal 100 may also include more either less components than shown in Fig. 4 or have and figure
Different configuration shown in 4.Electric terminal 100 described in the present embodiment can be personal computer, image processing server or
Mobile electronic device etc. has the computing device of image-capable.
The memory 111, storage control 112, processor 113, Peripheral Interface 114, input-output unit 115 and aobvious
Show that 116 each element of unit is directly or indirectly electrically connected between each other, to realize the transmission of data or interaction.For example, these
Element can be realized by one or more communication bus or signal wire be electrically connected between each other.The supervisory control of substation device
110 can be stored in the memory 111 or be solidificated in institute including at least one in the form of software or firmware (Firmware)
State the software function module in the operating system (Operating System, OS) of electric terminal 100.The processor 113 is used
In performing the executable module that is stored in memory, for example, the software function module that includes of the supervisory control of substation device 110 or
Computer program.
Wherein, the memory 111 may be, but not limited to, random access memory (Random Access
Memory, RAM), read-only memory (Read Only Memory, ROM), programmable read only memory (Programmable
Read-Only Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only
Memory, EPROM), electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only
Memory, EEPROM) etc..Wherein, memory 111 is for storing program, the processor 113 after execute instruction is received,
Described program is performed, the method performed by electric terminal 100 that the process that any embodiment of the embodiment of the present invention discloses defines can
To be applied to realize in processor 113 or by processor 113.
The processor 113 may be a kind of IC chip, have the processing capacity of signal.Above-mentioned processor
113 can be general processor, including central processing unit (Central Processing Unit, abbreviation CPU), network processes
Device (Network Processor, abbreviation NP) etc.；It can also be digital signal processor (DSP), application-specific integrated circuit
(ASIC), field programmable gate array (FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components.It can realize or perform disclosed each method, step and the logic diagram in the embodiment of the present invention.It is general
Processor can be microprocessor or the processor can also be any conventional processor etc..
Various input/output devices are coupled to processor 113 and memory 111 by the Peripheral Interface 114.At some
In embodiment, Peripheral Interface 114, processor 113 and storage control 112 can be realized in one single chip.Other one
In a little examples, they can be realized by independent chip respectively.
The input-output unit 115 is used to be supplied to user input data.The input-output unit 115 can be,
But it is not limited to, mouse and keyboard etc..
The display unit 116 provided between the electric terminal 100 and user an interactive interface (such as user behaviour
Make interface) or for display image data give user reference.In the present embodiment, the display unit can be liquid crystal display
Or touch control display.Can be the capacitance type touch control screen or resistance for supporting single-point and multi-point touch operation if touch control display
Formula touch screen etc..Single-point and multi-point touch operation is supported to refer to that touch control display can sense on the touch control display one
Or the touch control operation generated simultaneously at multiple positions, and processor is transferred to be calculated and located the touch control operation that this is sensed
Reason.
Specifically, operating system is stored in the memory 111, in an example, the operating system can be
Windows 764bit, naturally it is also possible to be the operating system of higher configuration.The memory of the electric terminal can be 16gb
RAM, 128gb SSD for the OS, 1TB HDD for main (programs and data were run from the
HDD).The video card of the electric terminal 100 can be nVidia GTX 970GPU, and certainly, the video card can also be configured more
High video card.The processor 113 can be with Intel Core i7-4790K CPU (4cores/8threads, up to
4.4Ghz), certainly, the processor 113 can preferably be located by the processor or processing capacity of processing capacity
Manage device.Specifically, those skilled in the art can select the configuration of each accessory of the electric terminal 100 according to demand.
Referring to Fig. 5, it is the function mould of the supervisory control of substation device 110 described in Fig. 4 of present pre-ferred embodiments offer
Block schematic diagram.Modules in supervisory control of substation device 110 and unit in the embodiment of the present invention are for performing the above method
Each step in embodiment.The supervisory control of substation device 110 includes：First acquisition module 1101, reconstructed module 1102,
Two acquisition modules 1103 and update module 1104.
First acquisition module 1101, for obtaining the first image sequence number of substation's scene of collecting device acquisition
According to.
The reconstructed module 1102, for being simulated according to described first image sequence data to substation's scene
Reconstruct obtains the simulation scene photo of substation's scene.
Second acquisition module 1103, for obtaining the substation equipment state that the collecting device acquires in real time
The second image data.
The update module 1104, for simulating scene photo part area data to described according to second image data
Textures update, and obtain the real-time status simulation drawing of the substation equipment.
In the present embodiment, the update module 1104 may include：Characteristic point acquiring unit and textures unit.
The characteristic point acquiring unit reconstructs for increment, increment reconstruct include the second image data of acquisition with
The mode of increment is added in described first image sequence data, is added in grouping image, is based on according to visible features point number
The alternative manner of triangulation location, bundle adjustment and filter false matching characteristic point is calculated the collecting device parameter and obtains
Take matching characteristic point.
The textures unit updates for textures, and the textures update includes existing according to the characteristic point and the simulation
Plane projection and back projection's relationship between the figure of field, generate conformal figure；Based on visibility constraints and conformal figure and second figure
As data image between cascade connection extract data texturing, update texture atlas, and pass through part area data textures more
Newly.
In the present embodiment, it is single image equipment shape that the characteristic point acquiring unit, which is additionally operable to when second image data,
During state data, based on increment reconstructing method, the parameter of collecting device and matching characteristic point are calculated；When second image data is
During video stream data, the video stream data includes：Unchanged video flowing and the video flowing of PTZ controls；The video stream data
During for unchanged video flowing, based on increment reconstructing method, the parameter of collecting device and matching characteristic point are calculated；When the video flowing
During the video flowing that data are controlled for PTZ, the video stream data is pressed to the image data of frame per second conversion, when image data number is big
When equal to three, using increment SFM algorithms, camera parameters and matching characteristic point are calculated；When image data number 3, use
Increment reconfiguration principle calculates the parameter of collecting device and matching characteristic point.
The textures unit is additionally operable to calculate the geometry pair in the simulation scene photo and the second image between optimal view
It should be related to, determine the camera parameters of target view and matching characteristic point, characteristic point is verified based on plane equation；Based on the mould
Intend the geometrical correspondence between scene photo and the second image data characteristic point, simulated using the Surface Parameterization method of characteristic point
Projection and image of the scene photo to image generate conformal figure to the plane bidirectional projection relationship of the back projection of model scene photo；
Feature based visibility of a point constrains and tri patch region extension principle establishes conformal figure and the cascade connection of image data, generates
Data texturing updates conformal atlas, by data texturing update to model surface, realizes that texture is replaced, to obtain the substation
The real-time status simulation drawing of equipment.
In the present embodiment, first acquisition module 1101 is additionally operable to obtain the visual angle of the collecting device at 5~15 degree,
And the image of the target object in substation repeats the first image sequence data that the image of number at least three is formed.
Other details about the present embodiment can further refer to the description in above method embodiment, herein no longer
It repeats.
The supervisory control of substation device of the embodiment of the present invention is reconstructed to obtain substation by using image data
The simulation scene photo of substation is stated, then the simulation scene photo is updated to obtain institute by collected second image data
Real-time status simulation drawing is stated, related personnel can be enable to check the substation field feelings by the real-time status simulation drawing
Condition.In addition, making monitored picture vivider by simulation drawing, related personnel can more clearly understand the field condition of substation.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, flow chart and block diagram in attached drawing
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flow chart or block diagram can represent the one of a module, program segment or code
Part, a part for the module, program segment or code include one or more and are used to implement holding for defined logic function
Row instruction.It should also be noted that at some as in the realization method replaced, the function that is marked in box can also be to be different from
The sequence marked in attached drawing occurs.For example, two continuous boxes can essentially perform substantially in parallel, they are sometimes
It can perform in the opposite order, this is depended on the functions involved.It is it is also noted that every in block diagram and/or flow chart
The combination of a box and the box in block diagram and/or flow chart can use function or the dedicated base of action as defined in performing
It realizes or can be realized with the combination of specialized hardware and computer instruction in the system of hardware.
In addition, each function module in each embodiment of the present invention can integrate to form an independent portion
Point or modules individualism, can also two or more modules be integrated to form an independent part.
If the function is realized in the form of software function module and is independent product sale or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme of the present invention is substantially in other words
The part contribute to the prior art or the part of the technical solution can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, is used including some instructions so that a computer equipment (can be
People's computer, server or network equipment etc.) perform all or part of the steps of the method according to each embodiment of the present invention.
And aforementioned storage medium includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.It needs
Illustrate, herein, relational terms such as first and second and the like be used merely to by an entity or operation with
Another entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this realities
The relationship or sequence on border.Moreover, term " comprising ", "comprising" or its any other variant are intended to the packet of nonexcludability
Contain so that process, method, article or equipment including a series of elements not only include those elements, but also including
It other elements that are not explicitly listed or further includes as elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, also there are other identical elements in article or equipment.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, that is made any repaiies
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should be noted that：Similar label and letter exists
Similar terms are represented in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and is explained.
The above description is merely a specific embodiment, but protection scope of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in change or replacement, should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (10)
- A kind of 1. monitoring method of substation's scene and equipment, which is characterized in that the monitoring side of substation's scene and equipment Method includes：Obtain the first image sequence data of substation's scene of collecting device acquisition；Substation's scene is simulated according to described first image sequence data, obtains the simulation of substation's scene Scene photo；Obtain the second image data of the substation equipment state of the collecting device acquisition；According to second image data to the simulation scene photo part area data textures update, obtain the substation and set Standby real-time status simulation drawing.
- 2. the monitoring method of substation's scene as described in claim 1 and equipment, which is characterized in that described according to described second Image data obtains the real-time status simulation of the substation equipment to the simulation scene photo part area data textures update Figure, step：Increment reconstructs, and the second image data that the increment reconstruct includes obtaining is added to described first image in a manner of increment In sequence data, added in grouping image according to visible features point number, based on triangulation location, bundle adjustment and filter false Alternative manner with characteristic point calculates the collecting device parameter and matching characteristic point；Textures update, and the textures update is including according to the plane projection between the characteristic point and the simulation scene photo and instead Projection relation generates conformal figure；Cascade between image based on visibility constraints and conformal figure and second image data Relationship extracts data texturing, updates texture atlas, and pass through part area data textures and update.
- 3. the monitoring method of substation's scene as claimed in claim 2 and equipment, which is characterized in that the increment reconstruct packet It includes：When second image data is the device status data of single image, based on increment reconstructing method, calculates acquisition and set Standby parameter and matching characteristic point；When second image data is video stream data, the video stream data includes：Unchanged video flowing and there are PTZ controls The video flowing of system；When the video stream data is unchanged video flowing, based on increment reconstructing method, the parameter of collecting device is calculated With matching characteristic point；When the video flowing that the video stream data is controlled for PTZ, the video stream data is converted to by frame per second When image data number is more than or equal to three, camera parameters and matching characteristic are calculated using increment SFM algorithms for image data Point；When image data number is less than three, the parameter of collecting device and matching characteristic point are calculated using increment reconfiguration principle.
- 4. the monitoring method of substation's scene as claimed in claim 2 and equipment, which is characterized in that the newer step of textures Suddenly include：A) geometrical correspondence between optimal view in the simulation scene photo and the second image is calculated, determines that target view is taken the photograph Camera parameter and matching characteristic point verify characteristic point based on plane equation；B) based on the geometrical correspondence between the simulation scene photo and the second image data characteristic point, using feature based point Surface Parameterization method simulation scene photo it is two-way to the projection of image and the plane of image to the back projection of model scene photo Projection relation generates conformal figure；Feature based visibility of a point constrains and tri patch region extension principle establishes conformal figure and second The cascade connection generation data texturing of the image of image data, updates conformal atlas, real by data texturing update to model surface Existing texture is replaced, and then obtain the real-time status simulation drawing of the substation equipment.
- 5. the monitoring method of substation's scene as described in claim 1 and equipment, which is characterized in that the acquisition collecting device The step of first image sequence data of the substation of acquisition, includes：The image for obtaining target object of the collecting device acquisition visual angle between 5~15 degree, in substation repeats number extremely The first image sequence data that image three few is formed.
- A kind of 6. monitoring device of substation's scene and equipment, which is characterized in that the monitoring dress of substation's scene and equipment Put including：First acquisition module, for obtaining the first image sequence data of substation's scene of collecting device acquisition；Reconstructed module, for being reconstructed to obtain the change to substation's scenario simulation according to described first image sequence data The simulation scene photo of power station scene；Second acquisition module, for obtaining the second picture number of the substation equipment state that the collecting device acquires in real time According to；Update module, for updating to obtain to the simulation scene photo part area data textures according to second image data The real-time status simulation drawing of the substation equipment.
- 7. the monitoring device of substation's scene as claimed in claim 6 and equipment, which is characterized in that the update module packet It includes：Characteristic point acquiring unit reconstructs for increment, and the second image data that the increment reconstruct includes obtaining is with the side of increment Formula is added in described first image sequence data, according to visible features point number add in grouping image in, based on triangulation location, The alternative manner of bundle adjustment and filter false matching characteristic point calculates the collecting device parameter and matching characteristic point；Textures unit updates for textures, and the textures update is included according between the characteristic point and the simulation scene photo Plane projection and back projection's relationship, generate conformal figure；Based on visibility constraints and conformal figure and second image data Cascade connection extraction data texturing between image, updates texture atlas, and pass through part area data textures and update.
- 8. the monitoring device of substation's scene as claimed in claim 7 and equipment, which is characterized in that the characteristic point obtains single Member is used for：When second image data is the device status data of single image, based on increment reconstructing method, calculates acquisition and set Standby parameter and matching characteristic point；When second image data is video stream data, the video stream data includes：Unchanged video flowing and PTZ controls Video flowing；When the video stream data is unchanged video flowing, using increment reconstructing method, calculate collecting device parameter and Matching characteristic point；When the video flowing that the video stream data is controlled for PTZ, the video stream data is the figure converted by frame per second As data, when image data number is more than or equal to three, camera parameters and matching characteristic point are calculated using increment SFM algorithms； When image data number is less than three, the parameter of collecting device and matching characteristic point are calculated using increment reconfiguration principle.
- 9. the monitoring device of substation's scene as claimed in claim 7 and equipment, which is characterized in that the textures unit is also used In：The geometrical correspondence between optimal view in the simulation scene photo and the second image is calculated, determines taking the photograph for target view Camera parameter and matching characteristic point, and characteristic point is verified based on plane equation；Based on the geometrical correspondence between the simulation scene photo and the second image data characteristic point, using feature based point Surface Parameterization method simulates plane two-way throwing of the scene photo to the projection and image to the back projection of model scene photo of image Shadow relationship generates conformal figure；Feature based visibility of a point constrains and tri patch region extension principle establishes conformal figure and picture number According to cascade connection generate data texturing, update conformal atlas, by data texturing update to model surface, realize that texture is replaced, And then obtain the real-time status simulation drawing of the substation equipment.
- 10. the monitoring device of substation's scene as claimed in claim 6 and equipment, which is characterized in that described first obtains mould Block is additionally operable to, and obtaining the collecting device acquisition visual angle, the image of target object repeats number between 5~15 degree, in substation The image of at least three forms the first image sequence data.
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