WO2022037281A1 - Real-time substation field operation monitoring and alarm system based on machine vision - Google Patents
Real-time substation field operation monitoring and alarm system based on machine vision Download PDFInfo
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- the invention relates to the technical field of safety monitoring, and more particularly, to a real-time monitoring and alarm system for substation field operations based on machine vision.
- the substation undertakes the tasks of regional voltage level transformation, use and power transmission.
- on-site operations must strictly follow safety regulations to ensure safe construction in compliance with regulations, and avoid casualties and economic losses caused by illegal construction. Due to the wide area of substation operations and the irregular construction location, fixed cameras cannot cover every scene.
- the existing video surveillance system only has the functions of collection, storage and playback, and lacks in intelligent analysis and processing capabilities.
- the purpose of the present invention is to aim at the deficiencies in the prior art, to provide a real-time monitoring and alarm system for substation field operations based on machine vision, using AprilTag image processing technology to determine the working position and work content of electric power workers through positioning, real-time monitoring Worker's work station information.
- a real-time monitoring and alarm system for substation field operations based on machine vision including:
- an AprilTag icon is provided on the wearable device, and the AprilTag icon has a unique ID number
- the processor processes the AprilTag icon on the wearable device based on the AprilTag image processing technology, and identifies the ID number of the icon;
- the camera is used to collect image information, capture the AprilTag icon on the wearable device, and transmit it to the processor;
- Voice system the voice system is used for voice prompting of the operation process and operation precautions or to issue a voice alarm signal
- the communication system is used to upload alarm information and video, and accept the designation of the host computer.
- the camera includes a plurality of cameras with independent angles, and the range of collecting images covers all workstations in the work area.
- the wearable device includes insulating gloves, insulating boots, work clothes and safety helmets.
- a plurality of AprilTag icons are installed on the wearable device, which are respectively arranged on the front, the back or the left and right sides of the wearable device.
- the processor includes an AprilTag icon encoding library.
- the processor determines the position and workstation of the operator according to the image information collected by the camera, and controls the voice system to make a relative response according to the determined situation.
- the determination process includes the following steps:
- R ij and T k can be calculated. s as a scale factor is unknown. Since the columns of the rotation matrix must be normalized, the size of s can be constrained according to R ij ; the columns of the rotation matrix are orthogonal, and the third column can be based on the cross of the first two columns. Multiply to get; get a rotation matrix and a translation matrix; the translation matrix T x , T y , T z is the coordinate value of the tag relative to the camera center, T X is the lateral offset of the tag center relative to the camera center, T z is the depth of the tag center from the camera;
- T X and T z values Use the T X and T z values to compare with the station coordinate system in the database to obtain the position and working station information.
- step S1 also includes comparing the ID value of the AprilTag icon with the ID value of the workstation's dressing requirements in the database, and it is judged whether it is Dress code required.
- step S1 the camera can be switched to perform image sampling from another angle for comparison.
- step S1 the voice system sends out a voice alarm signal, and the communication system uploads alarm information and video images.
- the invention can intelligently analyze and process the collected image information, determine the work position and work content of the electric power workers, and prompt the work flow and work precautions through voice. hidden danger.
- multiple comparisons can be performed based on omnidirectional cameras, the monitoring system is reliable, and the determination result is accurate.
- Figure 1 is a wearable device with an AprilTag icon
- Fig. 2 is a flow chart for determining the working position of the operator
- Figure 3 is a flow chart for the detection and automatic alarm of workers' dress violations.
- this embodiment provides a real-time monitoring and alarm system for substation field operations based on machine vision, including:
- an AprilTag icon is provided on the wearable device, and the AprilTag icon has a unique ID number
- the processor processes the AprilTag icon on the wearable device based on the AprilTag image processing technology, and identifies the ID number of the icon;
- the camera is used to collect image information, capture the AprilTag icon on the wearable device, and transmit it to the processor;
- Voice system the voice system is used for voice prompting of the operation process and operation precautions or to issue a voice alarm signal
- the communication system is used to upload alarm information and video, and accept the designation of the host computer.
- a plurality of cameras with independent angles are installed in the working area, and the range of collecting images covers all the workstations in the working area, so as to achieve full coverage of the working area.
- the wearable equipment used by the operator includes insulating gloves, insulating boots, work clothes and safety helmets.
- Multiple AprilTag icons are installed on the above-mentioned wearable equipment, which are respectively arranged on the front, back or left and right sides of the wearable equipment.
- the processor includes the AprilTag icon encoding library, which determines the position and workstation of the operator according to the image information collected by the camera, and controls the voice system to make a relative response according to the judgment.
- the determination process in this embodiment includes the following steps:
- R ij and T k can be calculated. s as a scale factor is unknown. Since the columns of the rotation matrix must be normalized, the size of s can be constrained according to R ij ; the columns of the rotation matrix are orthogonal, and the third column can be based on the cross of the first two columns. Multiply to get; get a rotation matrix and a translation matrix; the translation matrix T x , T y , T z is the coordinate value of the tag relative to the camera center, T X is the lateral offset of the tag center relative to the camera center, T z is the depth of the tag center from the camera;
- T X and T z values Use the T X and T z values to compare with the station coordinate system in the database to obtain the position and working station information, and monitor the situation of the on-site operation.
- the present embodiment provides a method for determining the working position of an operator.
- the ID values of the devices that are required to be dressed by different workstations are stored in the database.
- Step S1 also includes comparing the ID values of the AprilTag icons and the database The ID value of the dress requirements of the station is compared to determine whether it is the required dress.
- the camera can be switched to another angle to perform image sampling for comparison; after multiple comparisons fail in step S1, the voice system sends a voice alarm signal, and the communication system uploads the alarm information and the video image .
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Abstract
Description
本发明涉及安全监测技术领域，更具体地，涉及一种基于机器视觉的变电现场作业实时监控与报警系统。The invention relates to the technical field of safety monitoring, and more particularly, to a real-time monitoring and alarm system for substation field operations based on machine vision.
变电站作为电力系统的关键基础设施，承担着地区电压等级变换、使用及输电任务。为了保证变电站的可靠稳定运行，现场作业必须严格遵循安全规范，确保符合规范安全施工，避免违规施工造成的人员伤亡和经济损失。由于变电站作业具有地域广、施工位置不固定等特点，导致固定设置的摄像头无法覆盖各个场景，此外现有视频监控系统只具有采集、存储和回放功能，在智能分析和处理能力方面有所欠缺。As the key infrastructure of the power system, the substation undertakes the tasks of regional voltage level transformation, use and power transmission. In order to ensure the reliable and stable operation of the substation, on-site operations must strictly follow safety regulations to ensure safe construction in compliance with regulations, and avoid casualties and economic losses caused by illegal construction. Due to the wide area of substation operations and the irregular construction location, fixed cameras cannot cover every scene. In addition, the existing video surveillance system only has the functions of collection, storage and playback, and lacks in intelligent analysis and processing capabilities.
因此，传统的变电站现场作业还需要通过人工值班员现场巡检来保证安全，而人工方式无法实现全方位无死角管控，现场作业有短时违规行为不易察觉，存在现场作业安全隐患。由于工作场景点多面广，固定摄像头无法覆盖多个业务场景，因此需要研制多维度视觉智能终端弥补固定摄像头不足，实现可控、多维度视频采集与穿透。Therefore, traditional on-site operations of substations also need to ensure safety through on-site inspections by human on-duty personnel. However, manual methods cannot achieve all-round control without dead ends. Short-term violations of on-site operations are difficult to detect, and there are potential safety hazards in on-site operations. Due to the wide variety of work scenes, fixed cameras cannot cover multiple business scenarios. Therefore, it is necessary to develop multi-dimensional visual intelligent terminals to make up for the lack of fixed cameras and achieve controllable, multi-dimensional video capture and penetration.
发明内容SUMMARY OF THE INVENTION
本发明的目的在于针对现有技术中的不足，提供一种基于机器视觉的变电现场作业实时监控与报警系统，利用AprilTag图像处理技术，通过定位确定电力作业人员作业位置与作业内容，实时监控作业人员的工位信息。The purpose of the present invention is to aim at the deficiencies in the prior art, to provide a real-time monitoring and alarm system for substation field operations based on machine vision, using AprilTag image processing technology to determine the working position and work content of electric power workers through positioning, real-time monitoring Worker's work station information.
本发明的目的通过以下技术方案实现：The object of the present invention is achieved through the following technical solutions:
一种基于机器视觉的变电现场作业实时监控与报警系统，包括：A real-time monitoring and alarm system for substation field operations based on machine vision, including:
穿戴装备，所述穿戴设备上设置有AprilTag图标，所述AprilTag图标具有唯一ID号；Wearing equipment, an AprilTag icon is provided on the wearable device, and the AprilTag icon has a unique ID number;
处理器，所述处理器基于AprilTag图像处理技术对穿戴设备上的AprilTag图标进行处理，识别图标的ID号，；a processor, the processor processes the AprilTag icon on the wearable device based on the AprilTag image processing technology, and identifies the ID number of the icon;
摄像头，所述摄像头用于采集图像信息，捕捉穿戴设备上的AprilTag图标，并传送至处理器；a camera, the camera is used to collect image information, capture the AprilTag icon on the wearable device, and transmit it to the processor;
语音系统：所述语音系统用于语音提示作业流程与作业注意事项或发出语音 报警信号；Voice system: the voice system is used for voice prompting of the operation process and operation precautions or to issue a voice alarm signal;
通讯系统：所述通信系统用于上传报警信息与视频，接受上位机指定。Communication system: The communication system is used to upload alarm information and video, and accept the designation of the host computer.
进一步地，所述摄像头包括多个独立角度的摄像头，采集图像的范围覆盖工作区域所有工位。Further, the camera includes a plurality of cameras with independent angles, and the range of collecting images covers all workstations in the work area.
进一步地，所述穿戴设备包括绝缘手套、绝缘靴、工作服和安全帽。Further, the wearable device includes insulating gloves, insulating boots, work clothes and safety helmets.
进一步地，所述穿戴装备上安装有多个AprilTag图标，分别设置在穿戴设备的正面、背面或左右两侧。Further, a plurality of AprilTag icons are installed on the wearable device, which are respectively arranged on the front, the back or the left and right sides of the wearable device.
进一步地，所述处理器中包括AprilTag图标编码库。Further, the processor includes an AprilTag icon encoding library.
进一步地，所述处理器根据摄像头采集的图像信息对作业人员的位置和工位进行判定，并根据判定情况控制语音系统做出相对响应。Further, the processor determines the position and workstation of the operator according to the image information collected by the camera, and controls the voice system to make a relative response according to the determined situation.
进一步地，所述判定过程包括以下步骤：Further, the determination process includes the following steps:
S1.将摄像头捕捉的AprilTag图标的ID值与处理器中的AprilTag图标编码库相匹配；S1. Match the ID value of the AprilTag icon captured by the camera with the AprilTag icon encoding library in the processor;
S2.用矩形框将检测到的图像tag部分框出来，得到tag的角点在图像像素坐标系下的坐标，根据tag的实际大小，计算tag各角点的世界坐标系坐标，具体计算公式如下：S2. Use a rectangular frame to frame the detected image tag part to obtain the coordinates of the corner points of the tag in the image pixel coordinate system, and calculate the world coordinate system coordinates of each corner point of the tag according to the actual size of the tag. The specific calculation formula is as follows :
S3.将第三列去掉，使tag坐标系转化二维坐标系，补充平移矩阵得到E，具体计算公式如下：
式中，已知h ij和f x，可以计算出R ij和T k。s作为尺度因子是未知的，由于旋转矩阵的列必须是单位化的，所以可以根据R ij约束s的大小；旋转矩阵的列之间是正交的，第三列可以根据前两列的叉乘得到；得旋转矩阵和平移矩阵；所 述平移矩阵T x,T y,T z即为tag相对于摄像机中心的坐标值，T X为tag中心相对于摄像机中心的横向偏移量，T z为tag中心距离摄像机的深度； In the formula, with known h ij and f x , R ij and T k can be calculated. s as a scale factor is unknown. Since the columns of the rotation matrix must be normalized, the size of s can be constrained according to R ij ; the columns of the rotation matrix are orthogonal, and the third column can be based on the cross of the first two columns. Multiply to get; get a rotation matrix and a translation matrix; the translation matrix T x , T y , T z is the coordinate value of the tag relative to the camera center, T X is the lateral offset of the tag center relative to the camera center, T z is the depth of the tag center from the camera;
S5.利用T X、T z值与数据库中工位坐标系比较，得到位置和作业工位信息。 S5. Use the T X and T z values to compare with the station coordinate system in the database to obtain the position and working station information.
进一步地，所述数据库中储存有不同工位对着装要求的装置的ID值，步骤S1中还包括对AprilTag图标的ID值与数据库中该工位着装需求的ID值进行比对，判断是否是规定的着装。Further, the ID value of the device of different workstations is stored in the database, and step S1 also includes comparing the ID value of the AprilTag icon with the ID value of the workstation's dressing requirements in the database, and it is judged whether it is Dress code required.
进一步地，步骤S1中可切换摄像头换个角度进行图像采样进行比对。Further, in step S1, the camera can be switched to perform image sampling from another angle for comparison.
进一步地，步骤S1中多次比对失败后，所述语音系统发出语音报警信号，所述通信系统上传报警信息与视频图像。Further, after multiple comparisons fail in step S1, the voice system sends out a voice alarm signal, and the communication system uploads alarm information and video images.
与现有技术相比，本发明的有益效果如下：Compared with the prior art, the beneficial effects of the present invention are as follows:
本发明可对采集的图像信息进行智能化分析和处理，确定电力作业人员作业位置与作业内容，通过语音提示作业流程与作业注意事项，如果作业人员穿戴违规，可及时发出语音报警信号，减少安全隐患。本发明在判定过程中，可依据全方位的摄像头进行多次比对，监控系统可靠，判定结果准确。The invention can intelligently analyze and process the collected image information, determine the work position and work content of the electric power workers, and prompt the work flow and work precautions through voice. hidden danger. During the determination process of the present invention, multiple comparisons can be performed based on omnidirectional cameras, the monitoring system is reliable, and the determination result is accurate.
图1为设有AprilTag图标的穿戴装置；Figure 1 is a wearable device with an AprilTag icon;
图2为作业人员作业位置确定流程图；Fig. 2 is a flow chart for determining the working position of the operator;
图3为作业人员着装违规检测与自动报警流程图。Figure 3 is a flow chart for the detection and automatic alarm of workers' dress violations.
为了便于理解本发明，下文将结合实施例对本发明作更全面、细致地描述，但本发明的保护范围并不限于以下具体的实施例。In order to facilitate the understanding of the present invention, the present invention will be described more comprehensively and in detail below with reference to the embodiments, but the protection scope of the present invention is not limited to the following specific embodiments.
除非另有定义，下文中所使用的所有专业术语与本领域技术人员通常理解的含义相同。本文中所使用的专业术语只是为了描述具体实施例的目的，并不旨在限制本发明的保护范围。Unless otherwise defined, all technical terms used hereinafter have the same meaning as commonly understood by those skilled in the art. The technical terms used herein are only for the purpose of describing specific embodiments, and are not intended to limit the protection scope of the present invention.
除非另有特别说明，本发明中用到的各种原材料、试剂、仪器和设备等均可通过市场购买得到或者可通过现有方法制备得到。Unless otherwise specified, various raw materials, reagents, instruments and equipment used in the present invention can be purchased from the market or can be prepared by existing methods.
实施例1Example 1
如图1～2所示，本实施例提供一种基于机器视觉的变电现场作业实时监控与报警系统，包括：As shown in Figures 1-2, this embodiment provides a real-time monitoring and alarm system for substation field operations based on machine vision, including:
穿戴装备，所述穿戴设备上设置有AprilTag图标，所述AprilTag图标具有 唯一ID号；Wearing equipment, an AprilTag icon is provided on the wearable device, and the AprilTag icon has a unique ID number;
处理器，所述处理器基于AprilTag图像处理技术对穿戴设备上的AprilTag图标进行处理，识别图标的ID号，；a processor, the processor processes the AprilTag icon on the wearable device based on the AprilTag image processing technology, and identifies the ID number of the icon;
摄像头，所述摄像头用于采集图像信息，捕捉穿戴设备上的AprilTag图标，并传送至处理器；a camera, the camera is used to collect image information, capture the AprilTag icon on the wearable device, and transmit it to the processor;
语音系统：所述语音系统用于语音提示作业流程与作业注意事项或发出语音报警信号；Voice system: the voice system is used for voice prompting of the operation process and operation precautions or to issue a voice alarm signal;
通讯系统：所述通信系统用于上传报警信息与视频，接受上位机指定。Communication system: The communication system is used to upload alarm information and video, and accept the designation of the host computer.
本实施例中，在工作区域安装多个独立角度的摄像头，采集图像的范围覆盖工作区域所有工位，实现对工作区域的全覆盖。作业人员所用的穿戴设备包括绝缘手套、绝缘靴、工作服和安全帽，在上述穿戴装备上安装有多个AprilTag图标，分别设置在穿戴设备的正面、背面或左右两侧。在处理器中包括AprilTag图标编码库，根据摄像头采集的图像信息对作业人员的位置和工位进行判定，并根据判定情况控制语音系统做出相对响应。In this embodiment, a plurality of cameras with independent angles are installed in the working area, and the range of collecting images covers all the workstations in the working area, so as to achieve full coverage of the working area. The wearable equipment used by the operator includes insulating gloves, insulating boots, work clothes and safety helmets. Multiple AprilTag icons are installed on the above-mentioned wearable equipment, which are respectively arranged on the front, back or left and right sides of the wearable equipment. The processor includes the AprilTag icon encoding library, which determines the position and workstation of the operator according to the image information collected by the camera, and controls the voice system to make a relative response according to the judgment.
具体地，本实施例中的判定过程包括以下步骤：Specifically, the determination process in this embodiment includes the following steps:
S1.将摄像头捕捉的AprilTag图标的ID值与处理器中的AprilTag图标编码库相匹配；S1. Match the ID value of the AprilTag icon captured by the camera with the AprilTag icon encoding library in the processor;
S2.用矩形框将检测到的图像tag部分框出来，得到tag的角点在图像像素坐标系下的坐标，根据tag的实际大小，计算tag各角点的世界坐标系坐标，具体计算公式如下：S2. Use a rectangular frame to frame the detected image tag part to obtain the coordinates of the corner points of the tag in the image pixel coordinate system, and calculate the world coordinate system coordinates of each corner point of the tag according to the actual size of the tag. The specific calculation formula is as follows :
S3.将第三列去掉，使tag坐标系转化二维坐标系，补充平移矩阵得到E，具体计算公式如下：
式中，已知h ij和f x，可以计算出R ij和T k。s作为尺度因子是未知的，由于旋转矩阵的列必须是单位化的，所以可以根据R ij约束s的大小；旋转矩阵的列之间是正交的，第三列可以根据前两列的叉乘得到；得旋转矩阵和平移矩阵；所述平移矩阵T x,T y,T z即为tag相对于摄像机中心的坐标值，T X为tag中心相对于摄像机中心的横向偏移量，T z为tag中心距离摄像机的深度； In the formula, if h ij and f x are known, R ij and T k can be calculated. s as a scale factor is unknown. Since the columns of the rotation matrix must be normalized, the size of s can be constrained according to R ij ; the columns of the rotation matrix are orthogonal, and the third column can be based on the cross of the first two columns. Multiply to get; get a rotation matrix and a translation matrix; the translation matrix T x , T y , T z is the coordinate value of the tag relative to the camera center, T X is the lateral offset of the tag center relative to the camera center, T z is the depth of the tag center from the camera;
S5.利用T X、T z值与数据库中工位坐标系比较，得到位置和作业工位信息，监测现场作业的情况。 S5. Use the T X and T z values to compare with the station coordinate system in the database to obtain the position and working station information, and monitor the situation of the on-site operation.
实施例2Example 2
本实施例参照实施例1，提供一种作业人员作业位置的确定方法，在数据库中储存有不同工位对着装要求的装置的ID值，步骤S1中还包括对AprilTag图标的ID值与数据库中该工位着装需求的ID值进行比对，判断是否是规定的着装。本实施例中，在判定过程中可切换摄像头换个角度进行图像采样进行比对；步骤S1中多次比对失败后，所述语音系统发出语音报警信号，所述通信系统上传报警信息与视频图像。Referring to
显然，上述实施例仅仅是为清楚地说明本发明的技术方案所作的举例，而并非是对本发明的实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无需也无法对所有的实施方式予以穷举。凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明权利要求的保护范围之内。Obviously, the above-mentioned embodiments are only examples for clearly illustrating the technical solutions of the present invention, but are not intended to limit the embodiments of the present invention. For those of ordinary skill in the art, changes or modifications in other different forms can also be made on the basis of the above description. There is no need and cannot be exhaustive of all implementations here. Any modifications, equivalent replacements and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the claims of the present invention.
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