CN116962649B - Image monitoring and adjustment system and line construction model - Google Patents
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Abstract
Description
技术领域Technical field
本发明涉及监控系统部署技术领域，具体地说，涉及一种图像监控调整系统。The present invention relates to the technical field of monitoring system deployment, and specifically to an image monitoring and adjustment system.
背景技术Background technique
在线路施工过程中，能够通过部署视频监控系统的方式，实现对施工现场的监控，以达到辅助管控的目的。在部署视频监控系统时，需要考虑如下问题：During the line construction process, the construction site can be monitored by deploying a video surveillance system to assist management and control. When deploying a video surveillance system, you need to consider the following issues:
1、如何实现视频监控系统的覆盖率，尤其是对于输电通道等狭长的施工区段，需要对相邻相机间的拍摄角度进行反复的调整，以实现最大覆盖率的获取，也即最大程度地降低监控盲区；1. How to achieve the coverage of the video surveillance system, especially for long and narrow construction sections such as power transmission channels, it is necessary to repeatedly adjust the shooting angles between adjacent cameras to achieve maximum coverage, that is, to maximize the coverage. Reduce monitoring blind spots;
2、考虑到目前图像识别算法的成熟运用，使得将成熟的图像识别算法运用于监控画面的自动检测、识别等成为可能；就图像识别检测算法的原理而言，其有个前提条件，就是需要所拍摄的监控画面的参数不能发生过大变化，否则就需要再次对相应的图像识别检测算法的参数进行调整；但输电线路施工中，考虑到施工进度的进行和施工现场的较恶劣环境，所部署视频监控系统的监测点处的相机会存在必然的移动及不可预见的偏移等；这也将必然导致难以保证图像识别检测算法在进行运用时的结果稳定性。2. Considering the mature application of current image recognition algorithms, it is possible to apply mature image recognition algorithms to automatic detection and identification of surveillance images. As far as the principle of image recognition detection algorithms is concerned, there is a prerequisite, which is the need The parameters of the captured monitoring pictures cannot change too much, otherwise the parameters of the corresponding image recognition detection algorithm need to be adjusted again; however, during the construction of transmission lines, taking into account the progress of the construction progress and the harsh environment of the construction site, so The camera at the monitoring point where the video surveillance system is deployed will have certain movements and unforeseen offsets; this will inevitably make it difficult to ensure the stability of the results of the image recognition detection algorithm when used.
发明内容Contents of the invention
本发明提供了一种图像监控调整系统，其能够克服现有视频监控系统在进行部署时，所存在单个相机的拍摄角度难以精确调整的问题。The present invention provides an image monitoring and adjustment system, which can overcome the problem that the shooting angle of a single camera is difficult to accurately adjust when the existing video monitoring system is deployed.
根据本发明的一种图像监控调整系统，其用于分别实现2个相邻相机的拍摄角度的调整，其包括：An image monitoring and adjustment system according to the present invention is used to adjust the shooting angles of two adjacent cameras, which includes:
点云数据库，其用于存储施工现场的空间点云数据；Point cloud database, which is used to store spatial point cloud data on construction sites ;
三维点云生成单元，其用于自空间点云数据中获取所述2个相邻相机的重叠区域的空间点云数据/>，并分别将空间点云数据/>变换至所述2个相邻相机的坐标系中，以获取分别对应所述2个相邻相机的三维点云/>和三维点云/>；3D point cloud generation unit for self-space point cloud data Obtain the spatial point cloud data of the overlapping area of the two adjacent cameras/> , and respectively convert the spatial point cloud data/> Transform into the coordinate systems of the two adjacent cameras to obtain three-dimensional point clouds corresponding to the two adjacent cameras/> and 3D point cloud/> ;
旋转矩阵计算单元，其用于基于所述2个相邻相机的初始旋转矩阵为、内参矩阵为/>、初始旋转矩阵为/>和内参矩阵为/>，获取所述2个相邻相机的目标旋转矩阵为/>和目标旋转矩阵为/>；A rotation matrix calculation unit, which is used to calculate the initial rotation matrix based on the two adjacent cameras as , the internal parameter matrix is/> , the initial rotation matrix is/> and the internal parameter matrix is/> , obtaining the target rotation matrix of the two adjacent cameras is/> and the target rotation matrix is/> ;
其中，in,
， ,
； ;
其中，坐标点为三维点云/>中的任一点，坐标点/>为三维点云/>中的任一点；Among them, the coordinate point For 3D point cloud/> Any point in , coordinate point/> For 3D point cloud/> any point in;
目标旋转矩阵为、初始旋转矩阵为/>、内参矩阵为/>和三维点云/>，对应所述2个相邻相机的其一；The target rotation matrix is , the initial rotation matrix is/> , the internal parameter matrix is/> and 3D point cloud/> , corresponding to one of the two adjacent cameras;
目标旋转矩阵为、初始旋转矩阵为/>、内参矩阵为/>和三维点云/>，对应所述2个相邻相机的另一；The target rotation matrix is , the initial rotation matrix is/> , the internal parameter matrix is/> and 3D point cloud/> , corresponding to the other of the two adjacent cameras;
以及角度调节单元，其以作为航向角并以/>作为俯仰角对所述2个相邻相机的所述其一的角度进行调整，以/>作为航向角并以/>作为俯仰角对应所述2个相邻相机的所述另一的角度进行调整。and an angle adjustment unit, which features as heading angle and /> The angle of one of the two adjacent cameras is adjusted as the pitch angle to/> as heading angle and /> The pitch angle is adjusted corresponding to the other angle of the two adjacent cameras.
作为优选，所述2个相邻相机在安装完毕后，通过标定获取初始旋转矩阵为、内参矩阵为/>、初始旋转矩阵为/>和内参矩阵为/>；Preferably, after the two adjacent cameras are installed, the initial rotation matrix is obtained through calibration as , the internal parameter matrix is/> , the initial rotation matrix is/> and the internal parameter matrix is/> ;
其中，in,
。 .
作为优选，三维点云生成单元通过分别获取所述2个相邻相机各自的相机坐标系与空间点云数据所在的世界坐标系的转换矩阵，实现三维点云/>和三维点云/>的获取。Preferably, the three-dimensional point cloud generation unit obtains the camera coordinate system and spatial point cloud data of each of the two adjacent cameras. The transformation matrix of the world coordinate system to realize the three-dimensional point cloud/> and 3D point cloud/> of acquisition.
作为优选，旋转矩阵计算单元在计算目标旋转矩阵为和目标旋转矩阵为/>时，坐标点/>采用三维点云/>的重心；Preferably, the rotation matrix calculation unit calculates the target rotation matrix as and the target rotation matrix is/> When, coordinate point/> Using 3D point cloud/> center of gravity;
其中，in,
， ,
， ,
； ;
其中，M为三维点云中的坐标点总数，/>为三维点云/>中第m个点的坐标。Among them, M is the three-dimensional point cloud The total number of coordinate points in ,/> For 3D point cloud/> The coordinates of the m-th point in .
作为优选，旋转矩阵计算单元在计算目标旋转矩阵为和目标旋转矩阵为/>时，坐标点/>采用三维点云/>的重心；Preferably, the rotation matrix calculation unit calculates the target rotation matrix as and the target rotation matrix is/> When, coordinate point/> Using 3D point cloud/> center of gravity;
其中，in,
， ,
， ,
； ;
其中，N为三维点云中的坐标点总数，/>为三维点云/>中第n个点的坐标。Among them, N is the three-dimensional point cloud The total number of coordinate points in ,/> For 3D point cloud/> The coordinates of the nth point in .
作为优选，角度调节单元包括相机云台，所述2个相邻相机分别通过对应的相机云台设置于安装点处。Preferably, the angle adjustment unit includes a camera platform, and the two adjacent cameras are respectively installed at the installation points through corresponding camera platforms.
作为优选，在任一相机与多个相机间均存在重叠区域时，旋转矩阵计算单元分别获取基于两两相邻的相应重叠区域获取该任一相机的多个旋转矩阵，并以该多个旋转矩阵的均值作为最终的目标旋转矩阵。Preferably, when there are overlapping areas between any camera and multiple cameras, the rotation matrix calculation unit obtains multiple rotation matrices of any camera based on corresponding overlapping areas that are adjacent to each other, and uses the multiple rotation matrices to The mean value is used as the final target rotation matrix.
此外，本发明还提供了一种线路施工模型，其具有输电线路点云建立单元及任一上述的图像监控调整系统，输电线路点云建立单元用于实现空间点云数据的获取及更新。In addition, the present invention also provides a line construction model, which has a transmission line point cloud creation unit and any one of the above image monitoring and adjustment systems. The transmission line point cloud creation unit is used to realize spatial point cloud data. Obtain and update.
作为优选，输电线路点云建立单元包括无人机，空间点云数据通过无人机航拍获取。As an option, the transmission line point cloud creation unit includes drones and spatial point cloud data. Obtained through drone aerial photography.
本发明具有如下有益效果：The invention has the following beneficial effects:
1、所提供的图像监控调整系统，能够首先基于施工现场的空间点云数据以及所需部署的相机总数以及每个相机的拍摄范围，对所有相机的安装点位进行预估，进而获取任意两两相邻相机的大概安装位置；而后，在将所有相机安装至所预估的安装点位后，将不再需要对其进行严格的角度调整，而是只需要结合实际的安装位置对任意两两相邻相机的重叠区域进行划分获取，即可基于所需得到的重叠区域实现每个相机实际所需的空间角度的获取，进而实现每个相机角度的自动调整；1. The image monitoring and adjustment system provided can first be based on the spatial point cloud data of the construction site As well as the total number of cameras to be deployed and the shooting range of each camera, estimate the installation points of all cameras, and then obtain the approximate installation positions of any two adjacent cameras; then, install all cameras to the estimated After the installation point is determined, there is no need to strictly adjust the angle. Instead, you only need to divide and obtain the overlapping area of any two adjacent cameras based on the actual installation position, and then you can obtain the overlapping area based on the desired Realize the acquisition of the actual spatial angle required by each camera, and then realize the automatic adjustment of each camera angle;
2、所提供的图像监控调整系统，能够有效地实现每个相机拍摄角度的较精准调节，从而能够较佳地基于预想的所需拍摄覆盖率，实现最大实际监控覆盖率的获取。同时，由于本发明的系统是基于相邻2个相机间的重叠区域应该保持不变的思路，实现单个相机的拍摄角度的调整，故在任一相机的位置发生变化时，能够基于预设的固定的应有的重叠区域，实现任一相机的拍摄角度的自适应调节；此能够为下一步的如图像识别检测等，提供更为稳定的原始图像；2. The provided image monitoring adjustment system can effectively achieve more precise adjustment of the shooting angle of each camera, thereby achieving the maximum actual monitoring coverage based on the expected required shooting coverage. At the same time, because the system of the present invention is based on the idea that the overlapping area between two adjacent cameras should remain unchanged, it realizes the adjustment of the shooting angle of a single camera. Therefore, when the position of any camera changes, it can be based on the preset fixed The due overlap area enables adaptive adjustment of the shooting angle of any camera; this can provide a more stable original image for the next step such as image recognition and detection;
3、所提供的线路施工模型，能够较佳地实现输电线路点云数据的获取，并能够基于所获取的输电线路点云数据，实现对施工现场的监控系统部署的指引，尤其是能够较佳地实现单个相机的拍摄角度的自动调整。3. The line construction model provided can better achieve the acquisition of transmission line point cloud data, and can provide guidance for the deployment of monitoring systems at the construction site based on the obtained transmission line point cloud data. In particular, it can better achieve Automatically adjust the shooting angle of a single camera.
附图说明Description of the drawings
图1为实施例1中的图像监控调整系统的布置示意图。Figure 1 is a schematic layout diagram of the image monitoring and adjustment system in Embodiment 1.
具体实施方式Detailed ways
为进一步了解本发明的内容，结合附图和实施例对本发明作详细描述。应当理解的是，实施例仅仅是对本发明进行解释而并非限定。In order to further understand the content of the present invention, the present invention will be described in detail with reference to the accompanying drawings and embodiments. It should be understood that the embodiments are only for explanation of the present invention but not for limitation.
实施例1Example 1
结合图1所示，本实施例提供了一种图像监控调整系统，其用于分别实现2个相邻相机的拍摄角度的调整，其包括：As shown in FIG. 1 , this embodiment provides an image monitoring and adjustment system, which is used to adjust the shooting angles of two adjacent cameras, which includes:
点云数据库，其用于存储施工现场的空间点云数据；Point cloud database, which is used to store spatial point cloud data on construction sites ;
三维点云生成单元，其用于自空间点云数据中获取所述2个相邻相机的重叠区域的空间点云数据/>，并分别将空间点云数据/>变换至所述2个相邻相机的坐标系中，以获取分别对应所述2个相邻相机的三维点云/>和三维点云/>；3D point cloud generation unit for self-space point cloud data Obtain the spatial point cloud data of the overlapping area of the two adjacent cameras/> , and respectively convert the spatial point cloud data/> Transform into the coordinate systems of the two adjacent cameras to obtain three-dimensional point clouds corresponding to the two adjacent cameras/> and 3D point cloud/> ;
旋转矩阵计算单元，其用于基于所述2个相邻相机的初始旋转矩阵为、内参矩阵为/>、初始旋转矩阵为/>和内参矩阵为/>，获取所述2个相邻相机的目标旋转矩阵为/>和目标旋转矩阵为/>；A rotation matrix calculation unit, which is used to calculate the initial rotation matrix based on the two adjacent cameras as , the internal parameter matrix is/> , the initial rotation matrix is/> and the internal parameter matrix is/> , obtaining the target rotation matrix of the two adjacent cameras is/> and the target rotation matrix is/> ;
其中，in,
， ,
； ;
其中，坐标点为三维点云/>中的任一点，坐标点/>为三维点云/>中的任一点；Among them, the coordinate point For 3D point cloud/> Any point in , coordinate point/> For 3D point cloud/> any point in;
目标旋转矩阵为、初始旋转矩阵为/>、内参矩阵为/>和三维点云/>，对应所述2个相邻相机的其一；The target rotation matrix is , the initial rotation matrix is/> , the internal parameter matrix is/> and 3D point cloud/> , corresponding to one of the two adjacent cameras;
目标旋转矩阵为、初始旋转矩阵为/>、内参矩阵为/>和三维点云/>，对应所述2个相邻相机的另一；The target rotation matrix is , the initial rotation matrix is/> , the internal parameter matrix is/> and 3D point cloud/> , corresponding to the other of the two adjacent cameras;
以及角度调节单元，其以作为航向角并以/>作为俯仰角对所述2个相邻相机的所述其一的角度进行调整，以/>作为航向角并以/>作为俯仰角对应所述2个相邻相机的所述另一的角度进行调整。and an angle adjustment unit, which features as heading angle and /> The angle of one of the two adjacent cameras is adjusted as the pitch angle to/> as heading angle and /> The pitch angle is adjusted corresponding to the other angle of the two adjacent cameras.
通过上述，能够首先基于施工现场的空间点云数据以及所需部署的相机总数以及每个相机的拍摄范围，对所有相机的安装点位进行预估，进而获取任意两两相邻相机的大概安装位置；而后，在将所有相机安装至所预估的安装点位后，将不再需要对其进行严格的角度调整，而是只需要结合实际的安装位置对任意两两相邻相机的重叠区域进行划分获取，即可基于所需得到的重叠区域实现每个相机实际所需的空间角度的获取，进而实现每个相机角度的自动调整。Through the above, we can first use the spatial point cloud data of the construction site to As well as the total number of cameras to be deployed and the shooting range of each camera, estimate the installation points of all cameras, and then obtain the approximate installation positions of any two adjacent cameras; then, install all cameras to the estimated After the installation point is determined, there is no need to strictly adjust the angle. Instead, you only need to divide and obtain the overlapping area of any two adjacent cameras based on the actual installation position, and then you can obtain the overlapping area based on the desired Realize the acquisition of the actual spatial angle required by each camera, and then realize the automatic adjustment of each camera angle.
基于此种手段，能够有效地实现每个相机拍摄角度的较精准调节，从而能够较佳地基于预想的所需拍摄覆盖率，实现最大实际监控覆盖率的获取。同时，由于本发明的系统是基于相邻2个相机间的重叠区域应该保持不变的思路，实现单个相机的拍摄角度的调整，故在任一相机的位置发生变化时，能够基于预设的固定的应有的重叠区域，实现任一相机的拍摄角度的自适应调节；此能够为下一步的如图像识别检测等，提供更为稳定的原始图像。Based on this method, the shooting angle of each camera can be effectively adjusted more accurately, so that the maximum actual monitoring coverage can be obtained based on the expected required shooting coverage. At the same time, because the system of the present invention is based on the idea that the overlapping area between two adjacent cameras should remain unchanged, it realizes the adjustment of the shooting angle of a single camera. Therefore, when the position of any camera changes, it can be based on the preset fixed The due overlap area enables adaptive adjustment of the shooting angle of any camera; this can provide a more stable original image for the next step, such as image recognition and detection.
本实施例中，航向角对应的是水平方向的偏移量，俯仰角对应的是竖直方向的偏移量。In this embodiment, the heading angle corresponds to the offset in the horizontal direction, and the pitch angle corresponds to the offset in the vertical direction.
可以理解的是，本实施例中，任意两两相邻相机的重叠区域的分割，能够以盲区最小（即覆盖率最高）作为优化目标，并采用现有的优化算法计算获取。此不涉及本发明的改进点，本实施例中不予过多描述。It can be understood that in this embodiment, the segmentation of the overlapping areas of any two adjacent cameras can be performed with the smallest blind area (that is, the highest coverage) as the optimization goal, and can be calculated and obtained using existing optimization algorithms. This does not involve improvements of the present invention, and will not be described in detail in this embodiment.
本实施例中，所述2个相邻相机在安装完毕后，通过标定获取初始旋转矩阵为、内参矩阵为/>、初始旋转矩阵为/>和内参矩阵为/>；In this embodiment, after the two adjacent cameras are installed, the initial rotation matrix is obtained through calibration as , the internal parameter matrix is/> , the initial rotation matrix is/> and the internal parameter matrix is/> ;
其中，in,
。 .
通过上述，能够较佳地在相机首次安装完成后，通过诸如棋盘格等标定方法即可实现对每个相机的相关参数矩阵的较便捷获取，从而不再需要对任一相机的安装位置有所要求。可以理解的是，下述的相机坐标系与世界坐标系的转换矩阵，也能够通过标定一并获取。Through the above, after the camera is installed for the first time, the relevant parameter matrix of each camera can be obtained more conveniently through calibration methods such as checkerboard, so that there is no need to know the installation position of any camera. Require. It can be understood that the following transformation matrix between the camera coordinate system and the world coordinate system can also be obtained through calibration.
本实施例中，三维点云生成单元通过分别获取所述2个相邻相机各自的相机坐标系与空间点云数据所在的世界坐标系的转换矩阵，实现三维点云/>和三维点云/>的获取。故而能够较佳地实现三维点云/>和三维点云/>的获取。In this embodiment, the three-dimensional point cloud generation unit obtains the camera coordinate system and spatial point cloud data of each of the two adjacent cameras. The transformation matrix of the world coordinate system to realize the three-dimensional point cloud/> and 3D point cloud/> of acquisition. Therefore, the three-dimensional point cloud can be better realized/> and 3D point cloud/> of acquisition.
本实施例中，旋转矩阵计算单元在计算目标旋转矩阵为和目标旋转矩阵为/>时，坐标点/>采用三维点云/>的重心；In this embodiment, the rotation matrix calculation unit calculates the target rotation matrix as and the target rotation matrix is/> When, coordinate point/> Using 3D point cloud/> center of gravity;
其中，in,
， ,
， ,
； ;
其中，M为三维点云中的坐标点总数，/>为三维点云/>中第m个点的坐标。Among them, M is the three-dimensional point cloud The total number of coordinate points in ,/> For 3D point cloud/> The coordinates of the m-th point in .
通过基于重心计算旋转矩阵，故而能够较佳地提升精度。By calculating the rotation matrix based on the center of gravity, the accuracy can be improved better.
本实施例中，旋转矩阵计算单元在计算目标旋转矩阵为和目标旋转矩阵为/>时，坐标点/>采用三维点云/>的重心；In this embodiment, the rotation matrix calculation unit calculates the target rotation matrix as and the target rotation matrix is/> When, coordinate point/> Using 3D point cloud/> center of gravity;
其中，in,
， ,
， ,
； ;
其中，N为三维点云中的坐标点总数，/>为三维点云/>中第n个点的坐标。Among them, N is the three-dimensional point cloud The total number of coordinate points in ,/> For 3D point cloud/> The coordinates of the nth point in .
通过基于重心计算旋转矩阵，故而能够较佳地提升精度。By calculating the rotation matrix based on the center of gravity, the accuracy can be improved better.
本实施例中，角度调节单元包括相机云台，所述2个相邻相机分别通过对应的相机云台设置于安装点处。故而能够较佳地实现对监控设备的自动调整。In this embodiment, the angle adjustment unit includes a camera pan/tilt, and the two adjacent cameras are respectively installed at the installation points through corresponding camera pan/tilts. Therefore, automatic adjustment of the monitoring equipment can be better realized.
本实施例中，在任一相机与多个相机间均存在重叠区域时，旋转矩阵计算单元分别获取基于两两相邻的相应重叠区域获取该任一相机的多个旋转矩阵，并以该多个旋转矩阵的均值作为最终的目标旋转矩阵。故而能够较佳地提升调整精度。In this embodiment, when there are overlapping areas between any camera and multiple cameras, the rotation matrix calculation unit obtains multiple rotation matrices of any camera based on corresponding overlapping areas that are adjacent to each other, and uses the multiple rotation matrices The mean value of the rotation matrix is used as the final target rotation matrix. Therefore, the adjustment accuracy can be better improved.
实施例2Example 2
本实施例提供了一种线路施工模型，其具有输电线路点云建立单元及实施例1中所述的图像监控调整系统，输电线路点云建立单元用于实现空间点云数据的获取及更新。This embodiment provides a line construction model, which has a transmission line point cloud creation unit and the image monitoring and adjustment system described in Embodiment 1. The transmission line point cloud creation unit is used to realize spatial point cloud data. Obtain and update.
通过本实施例的线路施工模型，能够较佳地实现输电线路点云数据的获取，并能够基于所获取的输电线路点云数据，实现对施工现场的监控系统部署的指引，尤其是能够较佳地实现单个相机的拍摄角度的自动调整。Through the line construction model of this embodiment, the point cloud data of the transmission line can be better obtained, and based on the obtained point cloud data of the transmission line, guidance on the deployment of the monitoring system at the construction site can be achieved, especially the point cloud data of the transmission line can be better obtained. Automatically adjust the shooting angle of a single camera.
本实施例中，输电线路点云建立单元包括无人机，空间点云数据通过无人机航拍获取。故而能够较佳地实现空间点云数据/>的获取。In this embodiment, the transmission line point cloud creation unit includes a drone, and the spatial point cloud data Obtained through drone aerial photography. Therefore, spatial point cloud data can be better realized/> of acquisition.
以上示意性的对本发明及其实施方式进行了描述，该描述没有限制性，附图中所示的也只是本发明的实施方式之一，实际的结构并不局限于此。所以，如果本领域的普通技术人员受其启示，在不脱离本发明创造宗旨的情况下，不经创造性的设计出与该技术方案相似的结构方式及实施例，均应属于本发明的保护范围。The present invention and its embodiments are schematically described above. This description is not limiting. What is shown in the drawings is only one embodiment of the present invention, and the actual structure is not limited thereto. Therefore, if a person of ordinary skill in the art is inspired by the invention and without departing from the spirit of the invention, can devise structural methods and embodiments similar to the technical solution without inventiveness, they shall all fall within the protection scope of the invention. .
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