CN110717061B - Transformer substation equipment positioning method and system based on camera and associated mapping - Google Patents
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Abstract
The invention discloses a transformer substation equipment positioning method and system based on a camera and associated mapping. The transformer substation equipment positioning method comprises an off-line preparation stage and an on-line positioning stage; in the off-line preparation stage, firstly, a transformer substation plane coordinate system is constructed, position coordinates of all equipment in the substation are determined, and then three association mapping relations from the equipment to the position coordinates of the equipment, a camera and a visual angle to a template image, the template image and in-image coordinates of the equipment in the image to the equipment are established; in the on-line positioning stage, a video monitoring system automatically acquires a source camera of a target image where the equipment to be positioned is located, a shooting visual angle and in-image coordinates in the target image, and then the position of the equipment to be positioned is obtained through mapping according to the three incidence mapping relations. The invention can effectively save the construction cost and the maintenance cost brought by independently constructing the positioning system, has simple and easy implementation scheme and easy popularization, and can be used as the extended function of the video monitoring system of the transformer substation.
Description
Technical Field
The invention belongs to the field of intelligent video monitoring, relates to a transformer substation equipment positioning method and system based on a camera and associated mapping, and can be applied to a video monitoring system of a transformer substation.
Background
Along with the construction of an unattended transformer substation, the application of a camera-based video monitoring technology in the transformer substation is popularized, and a reliable and effective monitoring means is provided for the safety of equipment and the surrounding environment in the transformer substation. However, as the demand for electric power continuously increases, the number of substations also increases correspondingly, and in addition, the number of devices in a substation is huge, the efficiency of the traditional working mode of confirming the device state by manually checking the monitoring video is low, and it is urgently needed to improve the intelligent level of the video monitoring of the substations and realize the intelligent identification and positioning of the abnormal state of the devices. The automatic positioning of the abnormal equipment in the transformer substation can help transformer substation operation and maintenance personnel to quickly find the abnormal equipment to check on site and perform corresponding treatment, so that the working efficiency can be effectively improved, and the equipment safety is guaranteed.
At present, methods for positioning equipment in a substation are generally divided into two types: firstly, a UWB method of a label and a base station is adopted, and secondly, a positioning method based on video monitoring is adopted. The former method has accurate positioning, but needs to establish a base station and stick a positioning label to the equipment, so that the construction cost and the maintenance cost are both high. The latter commonly used template matching method, two-dimensional code identification-based method and the like have defects of different degrees in the aspects of applicability, popularization and the like.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects in the prior art and provide a transformer substation equipment positioning method and system based on a camera and associated mapping.
In order to achieve the purpose, the invention adopts the technical scheme that: the transformer substation equipment positioning method based on the camera and the associated mapping comprises an offline preparation stage and an online positioning stage;
in the off-line preparation stage, a transformer substation plane coordinate system is firstly established, position coordinates of all equipment in the substation are determined, and then three association mapping relations from the equipment to the position coordinates of the equipment, a camera and a visual angle to a template image, the template image and in-image coordinates of the equipment in the image to the equipment are established;
in the on-line positioning stage, a video monitoring system automatically acquires a source camera of a target image where the equipment to be positioned is located, a shooting visual angle and in-image coordinates in the target image, and then the position with the positioning equipment is obtained through mapping according to the three incidence mapping relations.
As a complement to the above method, the specific steps of the offline preparation phase are as follows:
step 1, establishing a transformer substation plane coordinate system;
step 2, numbering all devices in the transformer substation, and calculating the position coordinates of the devices;
step 3, establishing a mapping relation from the equipment number to the equipment position coordinate, and recording as f (equipment number) which is the equipment position coordinate;
step 4, establishing a mapping relation from the camera and the view angle to the template image shot under the view angle, and recording as f (camera number and view angle identification) which is the template image;
and step 5, establishing a mapping relation between the in-graph coordinates of the equipment in the template image and the equipment number, and recording as f (the template image, the in-graph coordinates) which is the equipment number.
As a supplement to the above method, the specific steps of the online positioning stage are as follows:
step 6, determining the number of a source camera of a target image where the equipment to be positioned is located;
and step 11, obtaining the position of the equipment to be positioned in the planar coordinate system of the transformer substation by mapping f (equipment number) to the equipment position coordinate.
In addition to the above method, in the steps 1 and 2,
the method for establishing the planar coordinate system of the transformer substation and the position coordinate of the computing equipment comprises the following two ways: firstly, establishing a coordinate system according to a transformer substation floor plan, and calculating the coordinate of the position of equipment; second, a coordinate system is established by surveying in the field and determining the coordinates of where the device is located.
As a supplement to the above method, the offline preparation phase only needs to be executed once, but when new devices, replacement devices, and device position change occur in the substation, three mapping relationships among the new devices, the replacement devices, and the device position change need to be updated and modified correspondingly.
As a complement to the above method, the step 4 includes:
and step 44, storing the template image by taking the camera number and the view identifier as indexes, namely f (camera number and view identifier) is the template image.
As a complement to the above method, the step 5 includes:
The other technical scheme adopted by the invention is as follows: the transformer substation equipment positioning system based on the camera and the associated mapping comprises an offline preparation stage system and an online positioning stage system;
the off-line preparation phase system comprises:
the device comprises a device position coordinate determination unit, a device position coordinate determination unit and a device position coordinate determination unit, wherein the device position coordinate determination unit is used for establishing a transformer substation plane coordinate system, numbering all devices in a transformer substation and calculating device position coordinates;
a first mapping relationship establishing unit, configured to establish a mapping relationship from a device number to a device location coordinate, where f (device number) is equal to the device location coordinate;
a second mapping relationship establishing unit, configured to establish a mapping relationship between a camera and a view angle and a template image shot at the view angle, where f (camera number, view angle identifier) is recorded as a template image;
a third mapping relationship establishing unit, configured to establish a mapping relationship between in-graph coordinates of the device in the template image and the device number, where f (template image, in-graph coordinates) is the device number;
the on-line positioning stage system comprises:
the source camera number determining unit is used for determining the source camera number of the target image of the equipment to be positioned;
the visual angle identification acquisition unit is used for determining the shooting visual angle of the target image and acquiring a visual angle identification;
the template image acquisition unit is used for acquiring a template image by mapping f (camera number and visual angle identification) to the template image;
the intra-graph coordinate calculation unit is used for calculating the coordinates of the equipment to be positioned in the target image, namely intra-graph coordinates;
the device number acquiring unit is used for acquiring the device number of the device to be positioned by mapping f (template image, in-graph coordinates) to the device number;
and the coordinate acquisition unit of the equipment to be positioned can acquire the position of the equipment to be positioned in the planar coordinate system of the transformer substation by mapping f (equipment number) to the position coordinate of the equipment.
As a complement to the above system, the second mapping relationship establishing unit: firstly, numbering cameras; then, dividing the visual angle range of the camera into a plurality of parts, and identifying each visual angle; then, a picture is shot at each visual angle to serve as a template image, and all devices in the picture are required to be clearly visible; and finally, storing the template image by taking the camera number and the view identifier as indexes, namely f (the camera number and the view identifier) is the template image.
As a complement to the above system, the third mapping relationship establishing unit: firstly, establishing an in-graph coordinate system of a template image; then, finding out all devices appearing in the template image; then, calculating the in-image coordinates of all the devices in the image; and finally, the in-graph coordinates and the equipment numbers are in one-to-one correspondence to form a mapping relation f (template image, in-graph coordinates) which is the equipment numbers.
The invention provides a transformer substation equipment positioning method and system based on a camera and associated mapping, which can be applied to a transformer substation video monitoring system. Aiming at the abnormal condition of the equipment shot by the camera in the transformer substation, the abnormal equipment can be quickly positioned through the established association mapping relation in advance, and the working efficiency is improved. The invention can effectively save the construction cost and the maintenance cost brought by independently constructing the positioning system, and the implementation scheme is simple and easy to implement and easy to popularize.
Drawings
FIG. 1 is a flow chart of the method of the present invention, including an offline preparation phase and an online location phase;
FIG. 2 is a detailed flow chart of step 4 of the method of the present invention;
FIG. 3 is a detailed flow chart of step 5 of the method of the present invention;
fig. 4 is a block diagram of the system of the present invention.
Detailed Description
The preferred embodiments will be described in detail below with reference to the accompanying drawings. It should be emphasized that the following description is merely exemplary in nature and is not intended to limit the scope of the invention or its application.
Example 1
As shown in fig. 1, the method for positioning substation equipment based on a camera and associated mapping provided by the present invention includes an offline preparation phase and an online positioning phase.
The specific implementation steps of the off-line preparation stage are as follows:
step 1: and establishing a transformer substation plane coordinate system. And selecting a certain point in the transformer substation as a coordinate origin based on the transformer substation plane layout, taking the north direction as the positive Y-axis direction, and taking the east direction as the positive X-axis direction. The origin of coordinates can be a transformer substation center, a main door middle point and a corner point, and the coordinates are selected according to the field conditions and are accurate to 0.1 meter.
Step 2: and numbering all the devices in the transformer substation, and calculating the position coordinates of the devices. And (3) uniquely numbering all the equipment in the station according to a transformer substation floor plan, wherein the numbering is formed in a mode of 'equipment type character string + number'. The coordinates of the center point of each device are calculated in turn, and field measurements are taken if necessary.
And step 3: and establishing a mapping relation from the equipment number to the equipment position coordinate, and recording as f (equipment number) which is the equipment position coordinate. The mapping relation is stored in a database mode, the equipment number is used as a main key, and the position coordinate of the equipment is used as an attribute.
And 4, step 4: and establishing a mapping relation from the camera and the visual angle to the template image shot at the visual angle, and recording as f (camera number and visual angle identification) which is the template image. As shown in fig. 2, the implementation steps of step 4 are as follows:
step 41: and numbering the cameras. The numbering is composed in the form of "camera + number", the numbering being unique within the station.
Step 42: the visual angle range of the camera is divided into a plurality of parts, and each visual angle is identified. The visual angle range of the camera is fan-shaped, the visual angle identification is represented by the current visual orientation angle value, and the current visual angle orientation angle can be automatically acquired through the video monitoring system.
Step 43: taking a picture at each view angle as a template image, it is necessary to ensure that each device in the picture is clearly visible.
Step 44: and (4) storing the template image by taking the camera number and the visual angle identification as indexes, namely f (camera number and visual angle identification) is the template image. And similarly, a database is adopted to store template images, and the combination of the camera number and the visual angle identification is used as a main key.
And 5: and establishing a mapping relation from the in-graph coordinates of the equipment in the template image to the equipment number, and recording as f (template image, in-graph coordinates) which is the equipment number. As shown in fig. 3, step 5 is implemented as follows:
step 51: an intra-map coordinate system of the template image is established. And selecting a certain point in the image as a coordinate origin, wherein the coordinate origin is used as the positive direction of the Y axis, and the positive direction of the X axis is used as the right. The coordinate origin can be an image center point and four corner points, but needs to be unified, and the coordinates are accurate to pixels.
Step 52: all devices present in the template image are found.
Step 53: the in-map coordinates of all devices within the image are calculated.
Step 54: the in-graph coordinates correspond to the device numbers one by one to form a mapping relationship f (template image, in-graph coordinates) which is the device number. And storing the mapping relation through a database.
After the off-line preparation stage is completed, the equipment in the image shot by a certain camera can be positioned. For example, if an apparatus abnormality occurs in a video shot by the camera01, if the apparatus is located, the online location stage of the present invention needs to be passed, as shown in fig. 1, the implementation steps are as follows:
step 6: and determining the number of a source camera of a target image where the equipment to be positioned is located. The source camera number can be determined as camera 01.
And 7: and determining the shooting visual angle of the target image to obtain visual angle identification. And automatically acquiring the current visual angle of the camera through a video monitoring system.
And 8: and obtaining a template image by mapping f (camera number and visual angle identification) to the template image. And automatically querying a database through the mapping to obtain a corresponding template image.
And step 9: and calculating the coordinates of the equipment to be positioned in the target image, namely the coordinates in the image. The same intra-map coordinate system as the template image is established and then the intra-map coordinates of the device within the image are calculated.
Step 10: and obtaining the equipment number of the equipment to be positioned by mapping f (template image, in-graph coordinates) to the equipment number. And automatically querying the database through the mapping to obtain the equipment number.
Step 11: and obtaining the position of the equipment to be positioned in the planar coordinate system of the transformer substation by mapping f (equipment number) to the equipment position coordinate. And automatically querying the database through the mapping to obtain the device position coordinates, thereby completing the positioning of the target device.
According to the method, the coordinate system of the transformer substation is established in advance, the position coordinate of the equipment is calculated, and then the target equipment is positioned by establishing the incidence mapping relation among the equipment position, the camera in the transformer substation, the shooting visual angle and the shooting image, so that the method is simple in principle and does not need to establish a new infrastructure.
Example 2
The embodiment provides a substation equipment positioning system based on a camera and associated mapping, which comprises an offline preparation phase system and an online positioning phase system.
The off-line preparation phase system comprises:
the device comprises a device position coordinate determination unit, a device position coordinate determination unit and a device position coordinate determination unit, wherein the device position coordinate determination unit is used for establishing a transformer substation plane coordinate system, numbering all devices in a transformer substation and calculating device position coordinates;
a first mapping relationship establishing unit, configured to establish a mapping relationship from a device number to a device location coordinate, where f (device number) is equal to the device location coordinate;
a second mapping relationship establishing unit, configured to establish a mapping relationship between a camera and a view angle and a template image shot at the view angle, where f (camera number, view angle identifier) is recorded as a template image;
and a third mapping relationship establishing unit, configured to establish a mapping relationship between the in-graph coordinates of the device in the template image and the device number, where f (template image, in-graph coordinates) is equal to the device number.
The on-line positioning stage system comprises:
the source camera number determining unit is used for determining the source camera number of the target image of the equipment to be positioned;
the visual angle identification acquisition unit is used for determining the shooting visual angle of the target image and acquiring a visual angle identification;
the template image acquisition unit is used for acquiring a template image by mapping f (camera number and visual angle identification) to the template image;
the intra-graph coordinate calculation unit is used for calculating the coordinates of the equipment to be positioned in the target image, namely intra-graph coordinates;
the device number acquiring unit is used for acquiring the device number of the device to be positioned by mapping f (template image, in-graph coordinates) to the device number;
and the coordinate acquisition unit of the equipment to be positioned can acquire the position of the equipment to be positioned in the planar coordinate system of the transformer substation by mapping f (equipment number) to the position coordinate of the equipment.
The second mapping relationship establishing unit: firstly, numbering cameras; then, dividing the visual angle range of the camera into a plurality of parts, and identifying each visual angle; then, a picture is shot at each visual angle to serve as a template image, and all devices in the picture are required to be clearly visible; and finally, storing the template image by taking the camera number and the view identifier as indexes, namely f (the camera number and the view identifier) is the template image.
The third mapping relationship establishing unit: firstly, establishing an in-graph coordinate system of a template image; then, finding out all devices appearing in the template image; then, calculating the in-image coordinates of all the devices in the image; and finally, the in-graph coordinates and the equipment numbers are in one-to-one correspondence to form a mapping relation f (in-graph coordinates) which is the equipment numbers.
While the invention has been described in further detail with reference to preferred embodiments thereof, it should be emphasized that the above-described embodiments are not to be considered as limiting. After reading the above description, it will be apparent to those skilled in the art that various modifications, substitutions and alterations can be made without departing from the spirit of the invention, and all such modifications, substitutions and alterations should be considered as the scope of the invention. Accordingly, the scope of the invention should be determined from the following claims.
Claims (9)
1. The transformer substation equipment positioning method based on the camera and the associated mapping is characterized by comprising an offline preparation stage and an online positioning stage;
in the off-line preparation stage, a transformer substation plane coordinate system is firstly established, position coordinates of all equipment in the substation are determined, and then three association mapping relations from the equipment to the position coordinates of the equipment, a camera and a visual angle to a template image, the template image and in-image coordinates of the equipment in the image to the equipment are established;
in the on-line positioning stage, a video monitoring system automatically acquires a source camera of a target image where the equipment to be positioned is located, a shooting visual angle and in-image coordinates in the target image, and then the position with the positioning equipment is obtained through mapping according to the three incidence mapping relations;
the specific steps of the off-line preparation stage are as follows:
step 1, establishing a transformer substation plane coordinate system;
step 2, numbering all devices in the transformer substation, and calculating the position coordinates of the devices;
step 3, establishing a mapping relation from the equipment number to the equipment position coordinate, and recording the mapping relation asf(device number) = device location coordinates;
step 4, establishing a mapping relation between the camera and the template image shot under the visual angle, and recording the mapping relation asf(camera number, view angle identification) = template image;
step 5, establishing a mapping relation between the in-graph coordinates of the equipment in the template image and the equipment number, and recording the mapping relation as the equipment numberf(template image, in-drawing coordinates) = device number.
2. The method for positioning substation equipment based on cameras and associated mapping according to claim 1, wherein the specific steps in the online positioning phase are as follows:
step 6, determining the number of a source camera of a target image where the equipment to be positioned is located;
step 7, determining a shooting visual angle of the target image to obtain a visual angle identifier;
step 8, mappingf(camera number, view angle identification) = template image acquisition template image;
step 9, calculating the coordinates of the equipment to be positioned in the target image, namely the coordinates in the image;
step 10, mappingf(template image, in-figure coordinates) = device number obtain device number of device to be positioned;
step 11, mappingfAnd (equipment number) = equipment position coordinates, namely the position of the equipment to be positioned in the planar coordinate system of the transformer substation can be obtained.
3. The method for positioning substation equipment based on cameras and associated mapping according to claim 1 or 2, wherein in the steps 1 and 2,
the method for establishing the planar coordinate system of the transformer substation and the position coordinate of the computing equipment comprises the following two ways: firstly, establishing a coordinate system according to a transformer substation floor plan, and calculating the coordinate of the position of equipment; second, a coordinate system is established by surveying in the field and determining the coordinates of where the device is located.
4. The method for positioning substation equipment based on the camera and the associated mapping according to claim 1 or 2, wherein the offline preparation phase only needs to be executed once, but when new equipment, replacement equipment, and equipment position change occur in the substation, three mapping relationships need to be updated and modified correspondingly.
5. The method for positioning substation equipment based on the camera and the association mapping according to claim 1 or 2, wherein the step 4 comprises:
step 41, numbering the cameras;
step 42, dividing the view angle range of the camera into a plurality of parts, and identifying each view angle;
step 43, taking a picture at each view angle as a template image, and ensuring that each device in the picture is clearly visible;
step 44, storing the template image by taking the camera number and the view angle identification as indexes, namelyf(camera number, view angle identification) = template image.
6. The method for positioning substation equipment based on the camera and the association mapping according to claim 1 or 2, wherein the step 5 comprises:
step 51, establishing an in-graph coordinate system of the template image;
step 52, finding out all devices appearing in the template image;
step 53, calculating in-image coordinates of all devices in the image;
step 54, forming mapping relation by one-to-one correspondence of in-graph coordinates and equipment numbersf(template image, in-drawing coordinates) = device number.
7. The transformer substation equipment positioning system based on the camera and the associated mapping is characterized by comprising an offline preparation stage system and an online positioning stage system;
the off-line preparation phase system comprises:
the device comprises a device position coordinate determination unit, a device position coordinate determination unit and a device position coordinate determination unit, wherein the device position coordinate determination unit is used for establishing a transformer substation plane coordinate system, numbering all devices in a transformer substation and calculating device position coordinates;
a first mapping relationship establishing unit for establishing the mapping relationship from the equipment number to the equipment position coordinate, and recording asf(device number) = device location coordinates;
a second mapping relationship establishing unit for establishing the mapping relationship between the camera and the template image shot at the visual angle, and recording the mapping relationship asf(camera number, view angle identification) = template image;
a third mapping relationship establishing unit, configured to establish a mapping relationship from the in-graph coordinates of the device in the template image to the device number, which is recorded asf(template image, in-drawing coordinates) = device number;
the on-line positioning stage system comprises:
the source camera number determining unit is used for determining the source camera number of the target image of the equipment to be positioned;
the visual angle identification acquisition unit is used for determining the shooting visual angle of the target image and acquiring a visual angle identification;
a template image acquisition unit for acquiring the template image by mappingf(camera number, view angle identification) = template image acquisition template image;
the intra-graph coordinate calculation unit is used for calculating the coordinates of the equipment to be positioned in the target image, namely intra-graph coordinates;
the number acquisition unit of the equipment to be positioned mapsf(template image, in-figure coordinates) = device number obtain device number of device to be positioned;
a coordinate acquisition unit of the equipment to be positioned by mappingfAnd (equipment number) = equipment position coordinates, namely the position of the equipment to be positioned in the planar coordinate system of the transformer substation can be obtained.
8. The substation equipment positioning system based on camera and association mapping of claim 7, wherein the second mapping relationship establishing unit: firstly, numbering cameras; then, dividing the visual angle range of the camera into a plurality of parts, and identifying each visual angle; then, a picture is shot at each visual angle to serve as a template image, and all devices in the picture are required to be clearly visible; finally, the template image is saved by taking the camera number and the view angle identification as indexes, namelyf(camera number, view angle identification) = template image.
9. The substation equipment positioning system based on camera and association mapping according to claim 7 or 8, wherein the third mapping relationship establishing unit: firstly, establishing an in-graph coordinate system of a template image; then, finding out all devices appearing in the template image; then, calculating the in-image coordinates of all the devices in the image; finally, the in-graph coordinates and the equipment numbers are in one-to-one correspondence to form a mapping relationf(template image, in-drawing coordinates) = device number.
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