CN109118515A - A kind of video tracing method and device of power equipment - Google Patents
A kind of video tracing method and device of power equipment Download PDFInfo
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- CN109118515A CN109118515A CN201810674183.3A CN201810674183A CN109118515A CN 109118515 A CN109118515 A CN 109118515A CN 201810674183 A CN201810674183 A CN 201810674183A CN 109118515 A CN109118515 A CN 109118515A
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- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
- G06T7/251—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments involving models
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Abstract
The embodiment of the present invention discloses the video tracing method and device of a kind of power equipment, is used for wear-type display terminal, and method includes: the video image for acquiring current power equipment, and video image includes several first image datas；The image recognition file of video image for identification is downloaded from server, image recognition file includes the unique number of several second picture data power equipment corresponding with the image recognition file；Every first image data is matched with every width second picture data, determines that target image corresponding with current power equipment identifies file；The unique number of the current power equipment of file acquisition is identified according to target image；According to unique number, the default three-dimensional coordinate of the threedimensional model and current power equipment of current power equipment in the three-dimensional model is downloaded from server.The operating condition of current power equipment more can be intuitively presented, and then improve the operating efficiency of electric operating personnel with the 3-D image of the current power equipment of locating and tracking in the present invention.
Description
Technical field
The present invention relates to power equipment inspection technical fields, and in particular to a kind of video tracing method and dress of power equipment
It sets.
Background technique
With the development of IT technology, during the inspection of electric operating, since power equipment operating area is complicated, component
Logic is not objective, especially the highly integrated module and more complicated logical relation of intelligent station, and fortune inspection personnel can not complete independently
Task, it is high to producer's dependency degree, maloperation easily occurs in operation process, is strayed into the dangerous situations such as interval, causes casualties
Event, so the inspection for combining augmented reality to carry out power equipment is generally required, augmented reality (Augmented Reality,
It AR) is one kind position of calculating camera image and angle and technology for adding respective image, video, 3D model in real time,
A variety of sensing technologies and efficient image processing algorithm are generally utilized, is combined with wearable technology, without additional in substation
Base station or sensor are disposed, electric operating personnel carry out image trace to power equipment by wearing wearable device to realize
The guidance and maintenance of live electric operating task.
The video tracing method of conventional electric power equipment at present, since the wearable device that user wears is only capable of showing electricity
The wearable device that the flat image of power equipment, i.e. user are worn carries out two dimensional image to power equipment using augmented reality
Identification, using two-dimensional image characteristic point to power equipment carry out recognition and tracking, i.e., can only for some fixed pan into
Line trace, if user is in the process of moving, the angle of relative power equipment or position are changed, and will lead to electric power
The tracking of equipment fails.
Summary of the invention
Therefore, technical problems to be solved of the embodiment of the present invention are the video tracking side of power equipment in the prior art
Method, because that can only be tracked for some fixed pan, if user is in the process of moving, the angle of relative power equipment
Or position is changed, and will lead to the tracking failure of power equipment.
For this purpose, the embodiment of the invention provides following technical solutions:
The embodiment of the present invention provides a kind of video tracing method of power equipment, is used for wear-type display terminal, including such as
Lower step:
The video image of current power equipment is acquired, the video image includes several first image datas；
The image recognition file of the video image for identification is downloaded from server, described image identifies that file includes more
The unique number of width second picture data power equipment corresponding with described image identification file；
By every width second picture number in every first image data of the video image and described image identification file
According to being matched, determining target image identification file corresponding with the current power equipment；
According to the unique number of current power equipment described in target image identification file acquisition；
According to the unique number, from the associated data of server downloading and the current power equipment, the pass
The threedimensional model and the current power equipment that connection data include at least the current power equipment are in the threedimensional model
Default three-dimensional coordinate；
The associated data is superimposed upon in the video image and carries out scene interactivity；
Obtain the moving displacement of electric operating personnel；
According to the moving displacement and the default three-dimensional coordinate, by adjusting the threedimensional model in the scene interactivity
In current three-dimensional coordinate to track the current power equipment.
Optionally, the video image obtains several described first image datas, the figure by way of point cloud segmentation
As identification file obtains several described second picture data also by the mode of the point cloud segmentation.
Optionally, every width in every first image data by the video image and described image identification file
The step of second picture data are matched, and determining target image corresponding with the current power equipment identifies file include:
Every first image data is compared to obtain the similarity of the two with every width second picture data；
Judge whether the similarity is less than or equal to default similarity threshold；
If the similarity is less than or equal to the default similarity threshold, every first image data and institute
State every width second picture Data Matching；
The determining target image identification file corresponding with the current power equipment.
Optionally, the associated data further includes the electrical parameter of the current power equipment.
Optionally, described according to the moving displacement and the default three-dimensional coordinate, exist by adjusting the threedimensional model
The step of current three-dimensional coordinate in the scene interactivity is to track the current power equipment include:
The threedimensional model is calculated in the electric operating personnel according to the moving displacement and the default three-dimensional coordinate
Amendment coordinate value after movement；
The current power equipment is tracked according to the amendment coordinate value.
The embodiment of the present invention provides a kind of video tracking device of power equipment, is used for wear-type display terminal, comprising:
Image capture module, for acquiring the video image of current power equipment, the video image include several first
Image data；
First download module, it is described for downloading the image recognition file of the video image for identification from server
Image recognition file includes several second picture data power equipment corresponding with the image recognition file of video image described in this
Unique number；
Matching module, it is every in file for identifying every first image data of the video image with described image
Width second picture data are matched, determining target image identification file corresponding with the current power equipment；
Unique number obtains module, the institute for the current power equipment according to target image identification file acquisition
State unique number；
Second download module, for being downloaded and the current power equipment from the server according to the unique number
Associated data, the associated data include at least the current power equipment threedimensional model and the current power equipment
Default three-dimensional coordinate in the threedimensional model；
Data investigation module carries out scene interactivity for the associated data to be superimposed upon in the video image；
Moving displacement obtains module, for obtaining the moving displacement of electric operating personnel；
Tracking module is used for according to the moving displacement and the default three-dimensional coordinate, by adjusting the threedimensional model
Current three-dimensional coordinate in the scene interactivity is to track the current power equipment.
Optionally, the matching module includes:
Submodule is compared, for every first image data to be compared with every width second picture data
To the similarity of the two；
Judging submodule, for judging whether the similarity is less than or equal to default similarity threshold；
Matched sub-block, if being less than or equal to the default similarity threshold, every width for the similarity
First image data and every width second picture Data Matching；
Submodule is determined, for the determining target image identification file corresponding with the current power equipment.
Optionally, the tracking module includes:
Computational submodule, for calculating the threedimensional model in institute according to the moving displacement and the default three-dimensional coordinate
Amendment coordinate value after stating electric operating personnel movement；
Submodule is tracked, for tracking the current power equipment according to the amendment coordinate value.
The embodiment of the present invention provides a kind of computer readable storage medium, is stored thereon with computer instruction, the instruction quilt
The step of video tracing method of power equipment described in claim is realized when processor executes.
The embodiment of the present invention provides a kind of wear-type display terminal, including memory, processor and storage are on a memory
And the computer program that can be run on a processor, the processor realize the view for weighing the power equipment when executing described program
The step of frequency tracking.
Technical solution of the embodiment of the present invention, has the advantages that
The embodiment of the present invention provides the video tracing method and device of a kind of power equipment, is used for wear-type display terminal,
Method includes: the video image for acquiring current power equipment, and video image includes several first image datas；It is downloaded from server
The image recognition file of video image for identification, image recognition file include several second picture data and image recognition text
The unique number of the corresponding power equipment of part；Every first image data is matched with every width second picture data, is determined
Target image corresponding with current power equipment identifies file；The current power equipment of file acquisition is identified only according to target image
One number；According to unique number, the threedimensional model and current power equipment for downloading current power equipment from server are in three-dimensional
Default three-dimensional coordinate in model.The present invention can more intuitively can be in the 3-D image of the current power equipment of locating and tracking
The now operating condition of current power equipment, and then improve the operating efficiency of electric operating personnel.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the flow chart of the video tracing method of power equipment in the embodiment of the present invention 1；
Fig. 2 is to determine that target image identifies the flow chart of file in the embodiment of the present invention 1；
Fig. 3 is the schematic diagram of the moving displacement of electric operating personnel in the embodiment of the present invention 1；
Fig. 4 is the structural block diagram of the video tracking device of power equipment in the embodiment of the present invention 2；
Fig. 5 is the structural block diagram of matching module in the embodiment of the present invention 2；
Fig. 6 is the structural block diagram of tracking module in the embodiment of the present invention 2；
Fig. 7 is the hardware schematic of wear-type display terminal in this embodiment of the present invention 4.
Specific embodiment
It is clearly and completely described below in conjunction with technical solution of the attached drawing to the embodiment of the present invention, it is clear that described
Embodiment be a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is general
Logical technical staff every other embodiment obtained without making creative work belongs to what the present invention protected
Range.
In the description of the embodiment of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right",
The orientation or positional relationship of the instructions such as "vertical", "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings,
It is merely for convenience of the description embodiment of the present invention and simplifies description, rather than the device or element of indication or suggestion meaning must have
There is specific orientation, be constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " the
One ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the embodiment of the present invention, it should be noted that unless otherwise clearly defined and limited, term " peace
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can also be the connection inside two elements, can be wireless connection, be also possible to wired connection.For the common skill of this field
For art personnel, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
As long as in addition, the non-structure each other of technical characteristic involved in invention described below different embodiments
It can be combined with each other at conflict.
Embodiment 1
The embodiment of the present invention provides a kind of video tracing method of power equipment, is used for wear-type display terminal, wear-type
Display terminal is generally head-mounted display (HMD), i.e., head is aobvious, is shown by various heads to eyes and is sent optical signalling, Ke Yishi
The different-effects such as existing virtual reality (VR), augmented reality (AR), mixed reality (MR).The present embodiment just combines wear-type display eventually
End and augmented reality carry out panorama displaying and video tracking to power equipment.As shown in Figure 1, power equipment in the present embodiment
Video tracing method includes the following steps:
The video image of S11, the current power equipment of acquisition, video image include several first image datas.View herein
Frequency image is the image of the current power equipment for the wear-type display terminal acquisition that electric operating personnel wear, such as: in electric power
There are the breaker in power equipment around operating personnel, wear-type display terminal can collect the video of the breaker
Image.Since video is made of a series of or a frame frame picture, so video image can be by way of point cloud segmentation
Be divided into several pictures or multiframe picture, point cloud segmentation in 3-D image processing using relatively broad, the purpose is to for
Extract the different images feature in point cloud.So video image may include several the first image datas, more first figures of good fortune
Sheet data is the image data that wear-type display terminal acquires current power equipment.
S12, from the image recognition file of server downloading video image for identification, image recognition file include several the
The unique number of two image datas power equipment corresponding with the image recognition file.Image recognition file herein is server
The picture file made in advance.Specifically, server passes through the different electric power of camera acquisition being arranged in around power equipment
The Video Image Segmentation is more by way of point cloud segmentation in the video image of different illumination conditions and different angle by equipment
Width or multiframe picture, by these several or multiframe picture be ranked up according to time acquisition order, by power equipment and several or
Multiframe picture is associated binding, such as: there is power equipment A in substation, sets A for different illumination conditions and angle acquisition electric power
Standby picture be n width, according to acquisition n width picture time sequencing n width picture is ranked up, and power equipment A only
Under one number N to n width picture carry out file designation, be N_1, N_2, N_3, N_4, N_5 ... N_n.So image recognition file is
It is named according to the time acquisition order of power equipment unique number and several second picture data.
S13, by every width second picture data in every of video image the first image data and image recognition file into
Row matching determines that target image corresponding with current power equipment identifies file.Since every width second picture data are server
The picture made in advance can be with so the picture in image recognition file is the canonical reference photo as power equipment
Current power equipment for identifying that the wear-type display terminal that electric operating personnel wear acquires is specifically any equipment.Matching
Purpose in order to which server is downloaded to, corresponding with current power equipment target image identifies file, can be known with application target image
Data in file carry out three-dimensional scenic interaction.
As shown in Fig. 2, every second in above-mentioned the first image data of every by video image and image recognition file
Image data is matched, and determines that the step S13 of target image identification file corresponding with current power equipment includes:
S131, every first image data is compared to obtain the similarity of the two with every width second picture data.This
The similarity at place is the comparison result of every first image data Yu every width second picture data.Such as: D (K) is similarity,
Every first image data is N (i, j), and every width second picture data are
S132, judge whether similarity is less than or equal to default similarity threshold.Default similarity threshold herein can be with
It is set as T, is compared to judge the size of similarity with default similarity threshold T by similarity D (K).
If S133, similarity are less than or equal to default similarity threshold, every first image data with every second
Image data matching.Such as: (K)≤T illustrates every first image data and every width second picture Data Matching, phase to similarity D
It is 1 like degree matching result.
If similarity is greater than default similarity threshold, every first image data and every width second picture data
Match.That is D (K) > T illustrates that every first image data and every width second picture data mismatch, and similarity mode result is 0.
S134, determination target image corresponding with current power equipment identify file.If similarity is less than or equal to pre-
If similarity threshold, then every first image data and every width second picture Data Matching.Similarity mode result is 1, can be with
Determine that the corresponding image recognition file of every width second picture data matched can be used as the target image of current power equipment
Identify file.
Above-mentioned steps S131, step S132, step S133, S134 can be stated by following formula:
Wherein, D (K) is similarity, and N (i, j) is every first image data,For every width second picture data,
T is similarity threshold.Determining target image corresponding with current power equipment identifies that the recognition result of file isWherein H is dot matrix height, and w is dot matrix width, and A is of standard picture dot matrix collection
Number, finally available target image corresponding with current power equipment identifies file.
S14, the unique number that the current power equipment of file acquisition is identified according to target image.Because image recognition file is
It is named according to the unique number of power equipment and the time acquisition order of several second picture data, such as: image is known
The unique number of file entitled N_3, N the expression power equipment of other file, and the serial number of 3 expression power equipments, so root
According to the unique number of the target image identification available current power equipment of file.
S15, according to unique number, from the associated data of server downloading and current power equipment, associated data is at least wrapped
Include the default three-dimensional coordinate of the threedimensional model and current power equipment of current power equipment in the three-dimensional model.Association herein
Data are mainly used for the augmented reality Tracing Registration data that power equipment carries out image recognition tracking, are the enhancings based on SLAM
Real Tracing Registration algorithm is to threedimensional model needed for current power equipment progress scene interactivity and in the threedimensional model
Default three-dimensional coordinate, default three-dimensional coordinate can be (a0, b0,c0), which can also include the electricity of current power equipment
Parameter, such as: electrical parameter is operation power or rated current or voltage rating, which can also include that current electric power is set
The standby date of manufacture and maintenance personnel.
S16, it associated data is superimposed upon in video image carries out scene interactivity.Associated data is superimposed upon current electric power to set
On standby video image, i.e., the threedimensional model corresponding with current power equipment downloaded from server and three-dimensional preset coordinate with
The panoramic scene that current video image carries out data investigation progress augmented reality shows and interacts, and the purpose of scene interactivity is for general
Wear-type display terminal acquisition current video image with downloaded from server image progress actual situation in conjunction with to power equipment into
Row SLAM locating and tracking.
S17, the moving displacement for obtaining electric operating personnel.Moving displacement herein leads to wear-type display terminal and acquires in electricity
The time difference of two width pictures of the mobile front and back of power operating personnel calculates the moving displacement of electric operating personnel.Movement herein in fact
Displacement is exactly SLAM short distance estimated displacement algorithm, i.e., according to preceding object object plane, the vision front of electric operating personnel
Vertical line and with former and later two time points of beam of laser distance calculate two time points between moving distance.Such as Fig. 3 institute
Show, AB is preceding object object plane, and AB is the place plane of current power equipment herein, O point is before electric operating personnel are mobile
Position, point C is the position after electric operating personnel are mobile, the moving distance of OC electric operating personnel, θ1、θ2For electric operating
Vertical line and wear-type display terminal scan the angle of the scanning ray of current power equipment immediately ahead of the vision of personnel, according to head
The first time and the second time of scanning C point for wearing formula display terminal scanning O point, calculate the difference of the second time and first time
Then value calculates the moving displacement X of electric operating personnel by difference and the product of the light velocity0。
S18, according to moving displacement and default three-dimensional coordinate, by adjusting current three-dimensional of the threedimensional model in scene interactivity
Coordinate is to track current power equipment.Due to electric operating, personnel are moved, from server download associated data with wear
During the video image of formula display terminal acquisition carries out three-dimensional fusion, this will will lead to threedimensional model and also and then move, i.e.,
Default three-dimensional coordinate can also shift, and often this offset is with the movement of electric operating personnel on the contrary, i.e. electric operating personnel
It travels forward, threedimensional model can move backward.For electric operating personnel it can clearly be seen that current power equipment, it is necessary to
Locating and tracking is carried out to the 3-D image of power equipment.
Specifically, firstly, calculating threedimensional model in electric operating personnel movement according to moving displacement and default three-dimensional coordinate
Amendment coordinate value afterwards；Then, current power equipment is tracked according to amendment coordinate value.
Since default three-dimensional coordinate is (a0, b0,c0), it can be reversed amendment threedimensional model and work as first three in scene interactivity
Coordinate is tieed up, is calculated by the following formula:
(a1,b1,c1)=[((a0-α)·X0),((b0-α)·X0),((c0-α)·X0)]
Wherein, (a1,b1,c1) it is amendment coordinate value of the threedimensional model after electric operating personnel are mobile, α is modifying factor,
X0For the moving displacement of electric operating personnel.The final purpose of the embodiment of the present invention is will current electricity in the way of SLAM positioning
The 3-D image of power equipment is located in electric operating personnel at the moment, and image data and the wear-type display downloaded from server are eventually
The image data at end is merged, and three can clearly be watched convenient for electric operating personnel by carrying out image trace to current power equipment
Image in dimension module can be mentioned substantially so that electric operating personnel more get information about the operating condition of equipment
The working efficiency of high electric operating personnel.
Embodiment 2
The embodiment of the present invention provides a kind of video tracking device of power equipment, as shown in figure 4, eventually for wear-type display
End, comprising:
Image capture module 41, for acquiring the video image of current power equipment, video image includes several first figures
Sheet data.
First download module 42, for downloading the image recognition file of video image for identification from server, image is known
Other file includes unique volume of the corresponding power equipment of image recognition file of several second picture data video images
Number.
Matching module 43, for by every second in every of video image the first image data and image recognition file
Image data is matched, and determines that target image corresponding with current power equipment identifies file.
Unique number obtains module 44, for identifying unique volume of the current power equipment of file acquisition according to target image
Number.
Second download module 45, for downloading the associated data with current power equipment from server according to unique number,
Associated data includes at least the default three-dimensional of the threedimensional model and current power equipment of current power equipment in the three-dimensional model
Coordinate.
Data investigation module 46 carries out scene interactivity for associated data to be superimposed upon in video image.
Moving displacement obtains module 47, for obtaining the moving displacement of electric operating personnel.
Tracking module 48 is used for according to moving displacement and default three-dimensional coordinate, by adjusting threedimensional model in scene interactivity
In current three-dimensional coordinate to track current power equipment.
The video tracking device of power equipment, video image are obtained more by way of point cloud segmentation in the embodiment of the present invention
The first image data, image recognition file obtain several second picture data by way of point cloud segmentation.
The video tracking device of power equipment in the embodiment of the present invention, as shown in figure 5, matching module 43 includes:
Submodule 431 is compared, for every first image data to be compared to obtain two with every width second picture data
The similarity of person；
Judging submodule 432, for judging whether similarity is less than or equal to default similarity threshold；
Matched sub-block 433, if being less than or equal to default similarity threshold, every first picture number for similarity
According to every width second picture Data Matching；
Submodule 434 is determined, for determining that target image corresponding with current power equipment identifies file.
The video tracking device of power equipment in the embodiment of the present invention, the associated data further include that the current electric power is set
Standby electrical parameter.
The video tracking device of power equipment in the embodiment of the present invention, as shown in fig. 6, tracking module 48 includes:
Computational submodule 481, for calculating threedimensional model in electric operating people according to moving displacement and default three-dimensional coordinate
Amendment coordinate value after member is mobile；
Submodule 482 is tracked, for tracking current power equipment according to amendment coordinate value.
The video tracking device of power equipment in the embodiment of the present invention can be by the 3-D image downloaded from server
Data fusion is carried out with the current video image of wear-type display terminal acquisition, in electric operating people in the way of SLAM positioning
During member is mobile by threedimensional model be located in electric operating personnel at the moment so that electric operating personnel can be more
The 3-D image in model is clearly watched, so that electric operating personnel more get information about the operating condition of equipment, it can
Greatly improve the working efficiency of electric operating personnel.
Embodiment 3
The embodiment of the present invention provides a kind of computer readable storage medium, is stored thereon with computer instruction, the instruction quilt
The step of video tracing method of power equipment in embodiment 1 is realized when processor executes.On the computer readable storage medium
The image that wear-type display terminal acquires the video image data of current power equipment and downloads from server is also stored with to know
Other file.
Wherein, storage medium can be magnetic disk, CD, read-only memory (Read-Only Memory, ROM), random
Storage memory (Random Access Memory, RAM), flash memory (Flash Memory), hard disk (Hard Disk
Drive, abbreviation: HDD) or solid state hard disk (Solid-State Drive, SSD) etc.；The storage medium can also include above-mentioned
The combination of the memory of type.
It is that can lead to it will be understood by those skilled in the art that realizing all or part of the process in above-described embodiment method
Computer program is crossed to instruct relevant hardware and complete, program can be stored in a computer-readable storage medium, the journey
Sequence is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, storage medium can for magnetic disk, CD, read-only deposit
Store up memory body (ROM) or random access memory (RAM) etc..
Embodiment 4
The embodiment of the present invention provides a kind of wear-type display terminal, including memory, processor and storage are on a memory
And the computer program that can be run on a processor, the video tracking side of the power equipment of embodiment 1 when processor executes program
The step of method.Fig. 7 is the hard of the wear-type display terminal of the processing method of execution list items operation provided in an embodiment of the present invention
Part structural schematic diagram, as shown in fig. 7, the wear-type display terminal includes one or more processors 710 and memory 720,
In Fig. 7 by taking a processor 710 as an example.
The equipment for executing the processing method of list items operation can also include: acquisition device 730.
Processor 710, memory 720 and acquisition device 730 can be connected by bus or other modes, in Fig. 7 with
For being connected by bus.
Processor 710 can be central processing unit (Central Processing Unit, CPU).Processor 710 may be used also
Think other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
The combination of the chips such as discrete hardware components or above-mentioned all kinds of chips.General processor can be microprocessor or the processing
Device is also possible to any conventional processor etc..
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes still within the protection scope of the invention.
Claims (10)
1. a kind of video tracing method of power equipment is used for wear-type display terminal, which comprises the steps of:
The video image of current power equipment is acquired, the video image includes several first image datas；
From the image recognition file of the server downloading video image for identification, described image identify file include several the
The unique number of two image datas power equipment corresponding with described image identification file；
By every first image data of the video image and described image identification file in every width second picture data into
Row matching, determining target image corresponding with the current power equipment identify file；
According to the unique number of current power equipment described in target image identification file acquisition；
According to the unique number, from the associated data of server downloading and the current power equipment, the incidence number
It is pre- in the threedimensional model according to the threedimensional model and the current power equipment that include at least the current power equipment
If three-dimensional coordinate；
The associated data is superimposed upon in the video image and carries out scene interactivity；
Obtain the moving displacement of electric operating personnel；
According to the moving displacement and the default three-dimensional coordinate, by adjusting the threedimensional model in the scene interactivity
Current three-dimensional coordinate is to track the current power equipment.
2. the video tracing method of power equipment according to claim 1, which is characterized in that the video image passes through a cloud
The mode of segmentation obtains several described first image datas, and described image identification file is obtained also by the mode of the point cloud segmentation
To several described second picture data.
3. video tracing method according to claim 1, which is characterized in that every first by the video image
Image data is matched with every width second picture data in described image identification file, the determining and current power equipment
Corresponding target image identifies that the step of file includes:
Every first image data is compared to obtain the similarity of the two with every width second picture data；
Judge whether the similarity is less than or equal to default similarity threshold；
If the similarity is less than or equal to the default similarity threshold, every first image data and described every
Width second picture Data Matching；
The determining target image identification file corresponding with the current power equipment.
4. the video tracing method of power equipment according to claim 1, which is characterized in that the associated data further includes institute
State the electrical parameter of current power equipment.
5. the video tracing method of power equipment according to claim 1, which is characterized in that described according to the moving displacement
With the default three-dimensional coordinate, by adjusting current three-dimensional coordinate of the threedimensional model in the scene interactivity to track
The step of stating current power equipment include:
It is mobile in the electric operating personnel that the threedimensional model is calculated according to the moving displacement and the default three-dimensional coordinate
Amendment coordinate value afterwards；
The current power equipment is tracked according to the amendment coordinate value.
6. a kind of video tracking device of power equipment is used for wear-type display terminal characterized by comprising
Image capture module, for acquiring the video image of current power equipment, the video image includes several first pictures
Data；
First download module, for downloading the image recognition file of the video image for identification, described image from server
Identify file comprising several second picture data power equipment corresponding with the image recognition file of video image described in this only
One number；
Matching module, for by every the in every first image data of the video image and described image identification file
Two image datas are matched, determining target image identification file corresponding with the current power equipment；
Unique number obtains module, for according to the target image identify file acquisition described in described in current power equipment only
One number；
Second download module, for downloading the pass with the current power equipment from the server according to the unique number
Join data, the threedimensional model and the current power equipment that the associated data includes at least the current power equipment are in institute
State the default three-dimensional coordinate in threedimensional model；
Data investigation module carries out scene interactivity for the associated data to be superimposed upon in the video image；
Moving displacement obtains module, for obtaining the moving displacement of electric operating personnel；
Tracking module is used for according to the moving displacement and the default three-dimensional coordinate, by adjusting the threedimensional model in institute
The current three-dimensional coordinate in scene interactivity is stated to track the current power equipment.
7. video tracking device according to claim 6, which is characterized in that the matching module includes:
Submodule is compared, for every first image data to be compared to obtain two with every width second picture data
The similarity of person；
Judging submodule, for judging whether the similarity is less than or equal to default similarity threshold；
Matched sub-block, if for the similarity be less than or equal to the default similarity threshold, described every first
Image data and every width second picture Data Matching；
Submodule is determined, for the determining target image identification file corresponding with the current power equipment.
8. video tracking device according to claim 6, which is characterized in that the tracking module includes:
Computational submodule, for calculating the threedimensional model in the electricity according to the moving displacement and the default three-dimensional coordinate
Amendment coordinate value after power operating personnel is mobile；
Submodule is tracked, for tracking the current power equipment according to the amendment coordinate value.
9. a kind of computer readable storage medium, is stored thereon with computer instruction, which is characterized in that the instruction is held by processor
The step of any one of the claim 1-5 video tracing method of the power equipment is realized when row.
10. a kind of wear-type display terminal, including memory, processor and storage can be run on a memory and on a processor
Computer program, which is characterized in that the processor realizes any one of claim 1-5 electric power when executing described program
The step of video tracing method of equipment.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810674183.3A CN109118515B (en) | 2018-06-26 | 2018-06-26 | Video tracking method and device for power equipment |
| PCT/CN2019/092956 WO2020001464A1 (en) | 2018-06-26 | 2019-06-26 | Model display method and device, model providing method and device, terminal, server, system and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810674183.3A CN109118515B (en) | 2018-06-26 | 2018-06-26 | Video tracking method and device for power equipment |
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| CN109118515B CN109118515B (en) | 2022-04-01 |
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| CN109118515B (en) | 2022-04-01 |
| WO2020001464A1 (en) | 2020-01-02 |
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