CN109443307B - System and method for measuring settlement and inclination angle of transmission tower based on optical measurement - Google Patents
System and method for measuring settlement and inclination angle of transmission tower based on optical measurement Download PDFInfo
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Abstract
The invention discloses a system and a method for measuring the settlement and the inclination angle of a transmission tower based on optical measurement, and relates to a method for measuring the settlement and the inclination angle of the transmission tower. The invention aims to solve the defects of low efficiency, high labor intensity and incapability of quantitative judgment in the prior art. The invention comprises the following steps: preprocessing the acquired image of the fixed marker; then, carrying out angular point extraction; calculating translation matrixes of a camera coordinate system and a world coordinate system according to the extracted corner point information; repeating the steps until obtaining translation matrixes of the images of all the fixed markers and obtaining translation matrix increments; determining the settlement displacement variable quantity of the transmission tower under a world coordinate system according to the translation matrix increment to obtain the inclination angle of the transmission tower; and then, giving an alarm when the settlement displacement variation of the transmission tower or the inclination angle of the transmission tower exceeds a set corresponding threshold value. The invention is used for the field of transmission tower settlement and inclination angle measurement.
Description
Technical Field
The invention relates to the field of optical measurement, in particular to a system and a method for measuring the settlement and the inclination angle of a transmission tower based on optical measurement.
Background
With the rapid development of national economy in China, the demand of various industries on electric power is increasing, and the investment of a national power grid is also increasing continuously on the construction of electric power. As is known, the trip rate of the line caused by the inclination of the pole tower of the transmission line in China is higher than that of the prior art. Once, the workers of power supply companies in country network, heaven and county areas find that the foundation of the No. 39 pole of the No. 35 iron tower with 10KV power distribution seven ways is seriously washed by flood when the workers of the company patrol lines on the bank of the city, ha and river, the pole tower is seriously inclined, the workers can find that the foundation is fortunately and timely, and timely remedial measures are taken, otherwise, once the pole tower is washed down, the power of the whole river town is cut off, and the power consumption of the production and the living of 2300 multiple people is greatly threatened.
At present, the state detection of the transmission tower mainly depends on a manual regular inspection mode, and the manual inspection mode only depends on the eyes of an inspector to detect the settlement and inclination conditions of the transmission tower, so that the efficiency is low, the labor intensity is high, the subjectivity is high, and quantitative judgment cannot be carried out; meanwhile, most overhead transmission lines pass through complex environments such as remote mountain areas and forest areas, and great difficulty is brought to line patrol of workers.
Disclosure of Invention
The invention aims to solve the defects of low efficiency, high labor intensity and incapability of quantitative judgment in the prior art, and provides a system and a method for measuring the settlement and the inclination angle of a transmission tower based on optical measurement.
A system for measuring the settlement and inclination angle of a transmission tower based on optical measurement comprises:
the image acquisition module is used for continuously acquiring images of the fixed markers and is selected as a long-focus optical measurement camera;
the image preprocessing module is used for carrying out filtering processing operation on the image of the fixed marker acquired by the image acquisition module;
the angular point extraction module is used for carrying out angular point detection and angular point sub-pixel positioning on the image subjected to filtering processing by the image preprocessing module to obtain an angular point accurate sub-pixel position;
the translation matrix calculation module is used for calculating the distance between the camera coordinate system and the world coordinate system through the mapping and optimization processing from the three-dimensional coordinate points to the two-dimensional pixel coordinate points according to the precise sub-pixel positions of the angular points obtained by the angular point extraction module by establishing the world coordinate system: a rotation matrix and a translation matrix;
the translation matrix increment calculating and early warning module is used for calculating the translation matrix increment of the subsequent images compared with the images when the transmission tower does not sink or incline so as to obtain the inclination angle; and an alarm is given when the increment or the inclination angle of the translation matrix is larger than a set corresponding threshold value; the subsequent images are images of other continuously acquired fixed markers except for the images of the fixed markers acquired when the transmission tower is not settled or inclined.
When the image acquisition module acquires the images of the fixed markers, the images of the n frames of fixed markers are continuously acquired when the transmission tower does not sink or incline; the fixed marker is a checkerboard marker plate with black and white alternated.
When the image acquisition module acquires the image of the fixed marker, the long-focus optical measurement camera is fixedly installed on the tower so as to acquire the image of the fixed marker arranged in the geological stable area within the range of less than or equal to 100 meters away from the power transmission tower.
When the translation matrix calculation module calculates the translation matrix, the translation matrix of the fixed marker image when the transmission tower does not sink or incline is represented as T0And a translation matrix T of the n-th frame of fixed marker image without settlement and inclination starting on the transmission towern。
A method for measuring the settlement and the inclination angle of a transmission tower based on optical measurement comprises the following steps:
the method comprises the following steps: setting a fixed marker, and continuously acquiring an image of the fixed marker through an image acquisition module, wherein the image acquisition module adopts a long-focus optical measurement camera and is fixedly arranged on a tower;
step two: preprocessing the image of the fixed marker acquired in the first step through an image preprocessing module;
step three: carrying out corner extraction on the image of the fixed marker preprocessed in the step two through a corner extraction module;
step four: establishing a world coordinate system, and calculating the distance between a camera coordinate system and the world coordinate system through mapping and optimization processing from three-dimensional coordinate points to two-dimensional pixel coordinate points according to the extracted corner point information through a translation matrix calculation module: a rotation matrix and a translation matrix;
step five: repeatedly executing the second step to the fourth step until a translation matrix of the images of all the fixed markers is obtained; then, calculating the difference value of the translation matrix when the transmission tower does not sink or tilt and the translation matrix of the images of other fixed markers through a translation matrix increment module, and taking the difference value as the translation matrix increment of each frame of image; then, determining the settlement displacement variable quantity of the transmission tower under a world coordinate system according to the translation matrix increment to obtain the inclination angle of the transmission tower; and then, giving an alarm when the settlement displacement variation of the transmission tower or the inclination angle of the transmission tower exceeds a set corresponding threshold value.
The invention has the beneficial effects that:
the invention provides a method for measuring the settlement and inclination angle of a transmission tower based on optical measurement, aiming at measuring the settlement and inclination angle of the transmission tower by an optical measurement technology, identifying hidden dangers of the transmission tower, realizing automatic state detection of the transmission tower, improving the intelligent detection level of a power grid and ensuring the safe and stable operation of a power system. The core of the scheme of the invention is as follows: the optical measurement camera is arranged on the tower, markers similar to a checkerboard are arranged at places with relatively stable geology away from the transmission tower, the optical measurement camera calculates a translation matrix of the optical measurement camera relative to the markers in real time, and the amount of change of the translation matrix is obtained through forward and backward calculation to reflect the amount of change of the displacement of the transmission tower, so that automatic state detection of the transmission tower is realized.
The invention provides a method for monitoring the settlement and inclination states of a transmission tower in real time by using an optical measurement technology, which can liberate manpower, realize automatic transmission tower state detection, improve the intelligent detection level of a power grid and ensure the safe and stable operation of a power system.
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FIG. 1 is a schematic view of a fixed marker and camera mounting of the present invention;
FIG. 2 is a schematic representation of checkerboard markers;
FIG. 3 is a schematic structural diagram of a measuring system for the settlement and inclination angles of a transmission tower based on optical measurement according to the present invention;
FIG. 4 is a flow chart of the method of the present invention.
Detailed Description
The first embodiment is as follows:
the system for measuring the settlement and the inclination angle of the transmission tower based on optical measurement comprises:
the image acquisition module 1 is used for continuously acquiring images of the fixed markers 8 when the transmission tower 6 does not generate settlement and inclination, and the image acquisition module 1 is selected as a tele optical measurement camera;
the image preprocessing module 2 is used for carrying out filtering processing operation on the image of the fixed marker 8 acquired by the image acquisition module 1;
the angular point extraction module 3 is used for performing angular point detection and angular point sub-pixel positioning on the image subjected to the filtering processing of the image preprocessing module 2 to obtain an accurate angular point sub-pixel position;
the translation matrix calculation module 4 is used for calculating the distance between the camera coordinate system and the world coordinate system through the mapping and optimization processing from the three-dimensional coordinate point to the two-dimensional pixel coordinate point according to the precise sub-pixel position of the corner point obtained by the corner point extraction module 3 by establishing the world coordinate system: a rotation matrix and a translation matrix;
the translation matrix increment calculating and early warning module 5 is used for calculating the translation matrix increment of the subsequent images compared with the images of the transmission tower 6 when the images are not settled and inclined so as to obtain the inclination angle; and an alarm is given when the increment or the inclination angle of the translation matrix is larger than a set corresponding threshold value; the subsequent images are images of the fixed markers 8 which are continuously acquired, except for the images of the fixed markers 8 which are acquired when the power transmission tower 6 is not settled or inclined.
The second embodiment is as follows:
different from the first specific embodiment, in the system for measuring the settlement and the inclination angle of the transmission tower based on the optical measurement according to the present embodiment, when the image acquisition module 1 acquires the image of the fixed marker 8, the image acquisition module continuously acquires n frames of images of the fixed marker 8 when the transmission tower 6 does not have the settlement and the inclination; the fixed marker 8 is a checkerboard marker plate with alternate black and white.
The third concrete implementation mode:
different from the first or second specific embodiments, in the system for measuring the settlement and the inclination angle of the transmission tower based on the optical measurement according to the first embodiment, when the image acquisition module 1 acquires the image of the fixed marker 8, the tele optical measurement camera is fixedly installed on the tower to acquire the image of the fixed marker 8, which is arranged in the geological stable region within a distance of 100 meters or less from the transmission tower 6, wherein the fixed marker 8 is fixed on the ground through the fixing device 7.
The fourth concrete implementation mode:
different from the third specific embodiment, in the system for measuring the settlement and the inclination angle of the transmission tower based on the optical measurement according to the third embodiment, when the translation matrix calculation module 4 calculates the translation matrix, the translation matrix of the image of the fixed marker 8 when the settlement and the inclination of the transmission tower 6 do not occur is represented as T0The translation matrix T of the n-th frame of fixed marker 8 image where no settlement or onset of tilt occurs on the transmission tower 6n。
The fifth concrete implementation mode:
in this embodiment, the method for measuring the settlement and the inclination angle of the transmission tower based on the optical measurement includes the following steps:
the method comprises the following steps: setting a fixed marker, and continuously acquiring an image of the fixed marker through an image acquisition module, wherein the image acquisition module adopts a long-focus optical measurement camera and is fixedly arranged on a tower;
step two: preprocessing the image of the fixed marker acquired in the first step through an image preprocessing module;
step three: carrying out corner extraction on the image of the fixed marker preprocessed in the step two through a corner extraction module; performing corner detection and corner sub-pixel positioning on the image subjected to filtering processing by the image preprocessing module to obtain a sub-pixel position with accurate corners;
step four: establishing a world coordinate system, and calculating the distance between a camera coordinate system and the world coordinate system through mapping and optimization processing from three-dimensional coordinate points to two-dimensional pixel coordinate points according to the extracted corner point information through a translation matrix calculation module: a rotation matrix and a translation matrix;
step five: repeatedly executing the second step to the fourth step until a translation matrix of the images of all the fixed markers is obtained; then, calculating the difference value of the translation matrix when the transmission tower does not sink or tilt and the translation matrix of the images of other fixed markers through a translation matrix increment module, and taking the difference value as the translation matrix increment of each frame of image; then, determining the settlement displacement variable quantity of the transmission tower under a world coordinate system according to the translation matrix increment to obtain the inclination angle of the transmission tower; and then, giving an alarm when the settlement displacement variation of the transmission tower or the inclination angle of the transmission tower exceeds a set corresponding threshold value.
The sixth specific implementation mode:
different from the fifth embodiment, in the first step, a specific process of continuously acquiring the image of the fixed marker by the image acquisition module is as follows:
the method comprises the steps of setting fixed markers within a range less than or equal to 100 meters away from a transmission tower, selecting a long-focus optical measurement camera as an image acquisition module, adjusting the angle to enable a view field to see the markers completely and clearly, fixedly installing the camera on the tower, and continuously acquiring n frames of images of the fixed markers.
The seventh embodiment:
different from the fifth or sixth specific embodiment, in the second step, the image of the fixed marker acquired in the first step is preprocessed by the image preprocessing module, specifically: in a fixed marker set in a complex environment, objects influencing the extraction of corner points of the marker may exist in the field of view of an acquired image, so that an area of interest needs to be selected; meanwhile, the camera contains a large amount of noise in the acquired image, which affects the extraction of the feature points of the markers, and before the markers are processed, the image is subjected to filtering operation by an image preprocessing module, wherein the image preprocessing module adopts a median filtering method.
The specific implementation mode is eight:
different from the seventh specific embodiment, in the third step, the specific process of performing corner extraction on the image of the fixed marker preprocessed in the second step by using the corner extraction module is as follows:
step three, angular point detection:
the filtering template is composed of four filtering kernel functions { A, B, C and D }, for an ideal corner point, the response of { A, B } is greater than that of { C, D }, and for an non-ideal corner point, the response of { C, D } is greater than that of { A, B }, and in the corner point detection process, the probability p that a pixel y is a corner point is defined as follows:
wherein the content of the first and second substances,
for pixel y being first convolvedProbability of template being determined as ideal corner
The elements of (a) and (b),
probability of pixel y being judged as non-ideal corner by second convolution kernel template
I ═ 1,2, probability
And probability
Is defined as:
wherein the content of the first and second substances,
respectively the response of the filters A, B, C and D in the pixel y, u is the average response value, and when the probability p is greater than a set threshold thresh, the pixel y is judged to be an angular point; the angular point detection is completed by traversing all pixel points in the image; the first convolution kernel template is a convolution kernel which is formed by four filtering kernel functions { A, B, C and D } and is used for judging an ideal angular point, and the second convolution kernel template is a convolution kernel which is formed by four filtering kernel functions { A, B, C and D } and is used for judging a non-ideal angular point;
step two, after the corner detection is finished, the position of the corner is optimized by adopting a sub-pixel positioning algorithm, and the sub-pixel positioning of the corner is carried out:
the invention adopts black and white checkerboard as fixed marker, realizes sub-pixel positioning of angular point through vector orthogonality, and sets the angular point position determined in the third step as x, x and its field point qiOf the vector sum qiImage gradient g at a pointqiOrthogonality, the dot product of the two orthogonal vectors not being equal to zero due to the presence of noise, an error εiError epsiloniThe expression is as follows:
wherein q isiFor a point in the N neighborhood of the corner point x, all q are connectediPoint:
and solving the formula (4) by using a least square method, so that the accurate sub-pixel position of the corner point can be obtained.
The specific implementation method nine:
different from the eighth specific embodiment, in the fourth step, a world coordinate system is established, and the calculation between the camera coordinate system and the world coordinate system is performed through the translation matrix calculation module and the mapping and optimization processing from the three-dimensional coordinate points to the two-dimensional pixel coordinate points according to the extracted corner point information: the specific processes of rotating the matrix and translating the matrix are as follows:
a checkerboard calibration plate is used as a fixed marker, the fixed marker is installed right opposite to a transmission tower, the geometric center of the calibration plate is used as an original point, the vertical ground is upwards used as a Y axis, the direction right opposite to the transmission tower is a Z axis, and the direction parallel to the calibration plate is an X axis, so that a world coordinate system is established; setting coordinates of an angular point of the calibration plate under a world coordinate system as (X, Y, Z) and pixel coordinates of the angular point under a two-dimensional image coordinate system as (u, v), the internal parameters and the external parameters of the camera can be solved, and the conversion relation between the angular point and the camera coordinate system is as follows:
wherein, (X, Y, Z) is coordinates of fixed marker corner points in a world coordinate system, (X ', Y ', Z ') is coordinates of marker corner points in a camera coordinate system, and R and T are respectively a rotation matrix and a translation matrix between the camera coordinate system and the world coordinate system;
let the homogeneous coordinate of the marker corner point under the camera coordinate system be M ═ X ', Y ', Z ', 1)TThe homogeneous coordinate of the marker in the image coordinate system is m ═ (u, v,1)TEstablishing a geometric relation from a space point to a two-dimensional point through a camera internal reference matrix:
wherein A is a camera reference matrix, s is a scaling factor, fxIs the equivalent focal length, f, in the X direction of the camerayIs the equivalent focal length in the Y direction of the camera, (u)x,uy) Is a camera principal point; combining equation (5) and equation (6), i.e. obtaining the transformation of the marker corner points to the image coordinate system in the world coordinate system, i.e.
The error epsilon between the position of the two-dimensional marker angle point obtained by calculation through the formula (7) and the position obtained by shootingdComprises the following steps:
wherein x isrProjecting the coordinates of the corner points on the calibration plate in three-dimensional space on the position of the corner points on the two-dimensional image, xcThe detected corner position; after a mapping relation from a three-dimensional space coordinate point to a two-dimensional pixel coordinate point is established by using a formula (7), a formula (8) is optimized by a nonlinear optimization algorithm to obtain a rotation matrix R and a translation matrix T between a camera coordinate system and a world coordinate system, wherein T is [ T ═ T [ [ T ]x ty tz]T。
The detailed implementation mode is ten:
different from the ninth embodiment, in the method for measuring the settlement and the inclination angle of the transmission tower based on the optical measurement in the embodiment, the difference value between the translation matrix when the transmission tower is not settled and inclined and the translation matrix of the images of other fixed markers is calculated through the translation matrix increment module in the fifth step and is used as the translation matrix increment of each frame of image; then, determining the settlement displacement variation of the transmission tower under a world coordinate system according to the translation matrix increment, and obtaining the inclination angle of the transmission tower in the specific process that:
the translation matrix arranged when the transmission tower does not generate settlement and inclination is T0And a translation matrix T of the n-th frame of fixed marker image without settlement and inclination starting on the transmission towernCalculating the shift matrix increment d of each frame of subsequent imagest＝Tn-T0Wherein d ist＝[dx dy dz]The lower subscript n represents the image of the n-th frame of the fixed marker; when d isyIs greater than a threshold value Y0D indicates that the transmission tower is displaced in the Y-axis directionyWhen the positive number is taken, the transmission tower rises, dyWhen taking the negative sign, the transmission tower is settled; when d isxGreater than a threshold value X0When d indicates that the transmission tower is displaced in the X-axis directionzGreater than a threshold value Z0The transmission tower is explained to be displaced in the Z-axis direction;
according to the included angle of the three-dimensional coordinate system, the calculation formula for determining the inclination angle is as follows:
example 1:
a method for measuring the settlement and the inclination angle of a transmission tower based on optical measurement,
step 1): image acquisition
The area which is found to be stable in geology within 100 meters away from the transmission tower is provided with fixed markers, the markers adopt 7 x 11 black and white checkerboards, the unit length of each checkerboard is 99mm, and the checkerboard markers are shown in figure 2. The displacement change of the marker is not influenced when the transmission tower is settled or inclined; meanwhile, an optical measurement camera with the focal length of 35mm is fixed on a tower and kept, and the checkerboard can be kept in the field range of the camera completely and clearly.
Step 2): image pre-processing
When the checkerboard markers are set in a complex environment, objects which influence the extraction of the corner points of the markers may exist in the image view field range, so that an area of interest needs to be selected, and the checkerboard grids are used as target objects for area selection; meanwhile, the camera contains a large amount of noise in the acquired image, which affects the extraction of the characteristic points of the markers, and the image is subjected to filtering operation before the markers are processed, wherein a common median filtering method is adopted.
Step 3): corner extraction
In order to ensure the accuracy of the large-area marker, a 7 x 11 black-white checkerboard is used as the marker, the characteristic points are angular points of the checkerboard, the total number of the angular points is 60, and the center of the checkerboard is taken as the origin of a world coordinate system, so that the world coordinates of the 60 angular points can be determined. Meanwhile, the pixel coordinates of these 60 points can be extracted from the above theoretical knowledge.
Step 4): computing translation matrices
And (3) establishing a world coordinate system by taking the geometric center of the marker as an origin, vertically facing to an upper Y axis, facing to the transmission tower in the Z axis direction and parallel to the calibration plate in the X axis direction, obtaining the pixel coordinates of the corner points according to the step 3), and obtaining an external reference matrix R, T of the camera internal reference and world coordinate system and the camera coordinate system according to a formula (7) and a formula (8) of the translation matrix calculation module. Wherein T ═ Tx ty tz]TThat is, the translation matrix concerned by this module, the translation matrix obtained by the first calculation is taken as the initial value T0.
Step 5): translation matrix incremental computation and early warning
And (3) repeatedly calculating the translation matrix Tn by the steps 2), 3) and 4) for each frame of image, wherein n is the sequence of collecting the fixed markers.
The translation matrix arranged when the transmission tower does not generate settlement and inclination is T0And a translation matrix T of the n-th frame of fixed marker image without settlement and inclination starting on the transmission towernCalculating the shift matrix increment d of each frame of subsequent imagest＝Tn-T0Wherein d ist＝[dx dy dz]And calculating the inclination angle of the transmission tower according to the formula (9). In this example, the threshold value in the Y direction is set to 100mm when dyAnd when the calculated inclination angle theta is larger than 15 degrees, sending out the alarm of the inclination of the transmission tower.
The present invention is capable of other embodiments and its several details are capable of modifications in various obvious respects, all without departing from the spirit and scope of the present invention.
Claims (9)
1. The utility model provides a transmission tower subsides and measurement system at angle of inclination based on optical measurement which characterized in that: the composition comprises:
the image acquisition module is used for continuously acquiring images of the fixed markers and is selected as a long-focus optical measurement camera;
when the image acquisition module acquires the image of the fixed marker, the tele optical measurement camera is fixedly arranged on the tower so as to acquire the image of the fixed marker arranged in the geological stable region within the range of less than or equal to 100 meters away from the power transmission tower;
the image preprocessing module is used for carrying out filtering processing operation on the image of the fixed marker acquired by the image acquisition module;
the angular point extraction module is used for carrying out angular point detection and angular point sub-pixel positioning on the image subjected to filtering processing by the image preprocessing module to obtain an angular point accurate sub-pixel position;
the translation matrix calculation module is used for calculating the distance between the camera coordinate system and the world coordinate system through the mapping and optimization processing from the three-dimensional coordinate points to the two-dimensional pixel coordinate points according to the precise sub-pixel positions of the angular points obtained by the angular point extraction module by establishing the world coordinate system: a rotation matrix and a translation matrix;
the translation matrix increment calculating and early warning module is used for calculating the translation matrix increment of the subsequent images compared with the images when the transmission tower does not sink or incline so as to obtain the inclination angle; and an alarm is given when the increment or the inclination angle of the translation matrix is larger than a set corresponding threshold value; the subsequent images are images of other continuously acquired fixed markers except for the images of the fixed markers acquired when the transmission tower is not settled or inclined.
2. The system for measuring the settlement and the inclination angle of the transmission tower based on the optical measurement as claimed in claim 1, wherein: when the image acquisition module acquires the images of the fixed markers, the images of the n frames of fixed markers are continuously acquired when the transmission tower does not sink or incline; the fixed marker is a checkerboard marker plate with black and white alternated.
3. The system for measuring the settlement and the inclination angle of the transmission tower based on the optical measurement as claimed in claim 2, wherein: when the translation matrix calculation module calculates the translation matrix, the translation matrix of the fixed marker image when the transmission tower does not sink or incline is represented as T0And the translation matrix of the n-th frame of fixed marker image when the transmission tower is settled and inclined is represented as Tn。
4. A method for measuring the settlement and the inclination angle of a transmission tower based on optical measurement is characterized by comprising the following steps: the method for measuring the settlement and inclination angle of the transmission tower based on optical measurement comprises the following steps:
the method comprises the following steps: setting a fixed marker, and continuously acquiring images of the fixed marker through an image acquisition module, wherein the image acquisition module adopts a long-focus optical measurement camera and is fixedly arranged on a tower, and the fixed marker is arranged in a geological stable area;
step two: preprocessing the image of the fixed marker acquired in the first step through an image preprocessing module;
step three: carrying out corner extraction on the image of the fixed marker preprocessed in the step two through a corner extraction module;
step four: establishing a world coordinate system, and calculating the distance between a camera coordinate system and the world coordinate system through mapping and optimization processing from three-dimensional coordinate points to two-dimensional pixel coordinate points according to the extracted corner point information through a translation matrix calculation module: a rotation matrix and a translation matrix;
step five: repeatedly executing the second step to the fourth step until a translation matrix of the images of all the fixed markers is obtained; then, calculating the difference value of the translation matrix when the transmission tower does not sink or tilt and the translation matrix of the images of other fixed markers through a translation matrix increment module, and taking the difference value as the translation matrix increment of each frame of image; then, determining the settlement displacement variable quantity of the transmission tower under a world coordinate system according to the translation matrix increment to obtain the inclination angle of the transmission tower; and then, giving an alarm when the settlement displacement variation of the transmission tower or the inclination angle of the transmission tower exceeds a set corresponding threshold value.
5. The method for measuring the settlement and the inclination angle of the transmission tower based on the optical measurement as claimed in claim 4, wherein the method comprises the following steps: the specific process of continuously acquiring the images of the fixed markers through the image acquisition module in the first step is as follows:
the method comprises the steps of setting fixed markers within a range less than or equal to 100 meters away from a transmission tower, selecting a long-focus optical measurement camera as an image acquisition module, adjusting the angle to enable a view field to see the markers completely and clearly, fixedly installing the camera on the tower, and continuously acquiring n frames of images of the fixed markers.
6. Method for measuring the tower settlement and inclination angles based on optical measurements according to claim 4 or 5, characterized in that: in the second step, the image of the fixed marker acquired in the first step is preprocessed by the image preprocessing module specifically as follows: and carrying out filtering operation on the image through an image preprocessing module, wherein the image preprocessing module adopts a median filtering method.
7. The method for measuring the settlement and the inclination angle of the transmission tower based on the optical measurement as claimed in claim 6, wherein the method comprises the following steps: the specific process of performing corner extraction on the image of the fixed marker preprocessed in the step two by the corner extraction module in the step three is as follows:
step three, angular point detection:
the filtering template is composed of four filtering kernel functions { A, B, C and D }, for an ideal corner point, the response of { A, B } is greater than that of { C, D }, and for an non-ideal corner point, the response of { C, D } is greater than that of { A, B }, and in the corner point detection process, the probability p that a pixel y is a corner point is defined as follows:
wherein the content of the first and second substances,
probability of pixel y being determined as an ideal corner by a first convolution kernel template
The elements of (a) and (b),
probability of pixel y being judged as non-ideal corner by second convolution kernel template
I ═ 1,2, probability
And probability
Is defined as:
wherein the content of the first and second substances,
the response of the four filtering kernel functions A, B, C and D in the pixel y is respectively, u is a response average value, and when the probability p is greater than a set threshold thresh, the pixel y is judged to be an angular point; the angular point detection is completed by traversing all pixel points in the image; the first convolution kernel template is a convolution kernel which is formed by four filtering kernel functions { A, B, C and D } and is used for judging an ideal angular point, and the second convolution kernel template is a convolution kernel which is formed by four filtering kernel functions { A, B, C and D } and is used for judging a non-ideal angular point;
step two, after the corner detection is finished, the position of the corner is optimized by adopting a sub-pixel positioning algorithm, and the sub-pixel positioning of the corner is carried out:
adopting black and white checkerboards as fixed markers, realizing sub-pixel positioning of angular points through vector orthogonality, and setting the angular point position determined in the third step as x, x and the field point q thereofiOf the vector sum qiImage gradient g at a pointqiOrthogonality, the dot product of the two orthogonal vectors not being equal to zero due to the presence of noise, an error εiError epsiloniThe expression is as follows:
wherein q isiFor a point in the N neighborhood of the corner point x, all q are connectediPoint:
and solving the formula (4) by using a least square method, so that the accurate sub-pixel position of the corner point can be obtained.
8. The method for measuring the settlement and the inclination angle of the transmission tower based on the optical measurement as claimed in claim 7, wherein the method comprises the following steps: establishing a world coordinate system in the fourth step, and calculating the distance between the camera coordinate system and the world coordinate system through mapping and optimization processing from three-dimensional coordinate points to two-dimensional pixel coordinate points according to the extracted corner point information through a translation matrix calculation module: the specific processes of rotating the matrix and translating the matrix are as follows:
a checkerboard calibration plate is used as a fixed marker, the fixed marker is installed right opposite to a transmission tower, the geometric center of the calibration plate is used as an original point, the vertical ground is upwards used as a Y axis, the direction right opposite to the transmission tower is a Z axis, and the direction parallel to the calibration plate is an X axis, so that a world coordinate system is established; setting coordinates of an angular point of the calibration plate under a world coordinate system as (X, Y, Z) and pixel coordinates of the angular point under a two-dimensional image coordinate system as (u, v), the internal parameters and the external parameters of the camera can be solved, and the conversion relation between the angular point and the camera coordinate system is as follows:
wherein, (X, Y, Z) is coordinates of fixed marker corner points in a world coordinate system, (X ', Y ', Z ') is coordinates of marker corner points in a camera coordinate system, and R and T are respectively a rotation matrix and a translation matrix between the camera coordinate system and the world coordinate system;
let the homogeneous coordinate of the marker corner point under the camera coordinate system be M ═ X ', Y ', Z ', 1)TThe homogeneous coordinate of the marker in the image coordinate system is m ═ (u, v,1)TEstablishing the geometry from a space point to a two-dimensional point by a camera internal reference matrixThe relationship is as follows:
wherein A is a camera reference matrix, s is a scaling factor, fxIs the equivalent focal length, f, in the X direction of the camerayIs the equivalent focal length in the Y direction of the camera, (u)x,uy) Is a camera principal point; combining equation (5) and equation (6), i.e. obtaining the transformation of the marker corner points to the image coordinate system in the world coordinate system, i.e.
The error epsilon between the position of the two-dimensional marker angle point obtained by calculation through the formula (7) and the position obtained by shootingdComprises the following steps:
wherein x isrProjecting the coordinates of the corner points on the calibration plate in three-dimensional space on the position of the corner points on the two-dimensional image, xcThe detected corner position; after a mapping relation from a three-dimensional space coordinate point to a two-dimensional pixel coordinate point is established by using a formula (7), a formula (8) is optimized by a nonlinear optimization algorithm to obtain a rotation matrix R and a translation matrix T between a camera coordinate system and a world coordinate system, wherein T is [ T ═ T [ [ T ]x ty tz]T。
9. The method for measuring the settlement and the inclination angle of the transmission tower based on the optical measurement as claimed in claim 8, wherein: calculating the difference value of the translation matrix when the transmission tower does not sink or tilt and the translation matrix of the images of other fixed markers through a translation matrix increment module, and taking the difference value as the translation matrix increment of each frame of image; then, determining the settlement displacement variation of the transmission tower under a world coordinate system according to the translation matrix increment, and obtaining the inclination angle of the transmission tower in the specific process that:
the translation matrix arranged when the transmission tower does not generate settlement and inclination is T0And the translation matrix of the n-th frame of fixed marker image when the transmission tower is settled and inclined is TnCalculating the shift matrix increment d of each frame of subsequent imagest＝Tn-T0Wherein d ist＝[dx dy dz]The lower subscript n represents the image of the n-th frame of the fixed marker; when d isyIs greater than a threshold value Y0D indicates that the transmission tower is displaced in the Y-axis directionyWhen the positive number is taken, the transmission tower rises, dyWhen taking the negative sign, the transmission tower is settled; when d isxGreater than a threshold value X0When d indicates that the transmission tower is displaced in the X-axis directionzGreater than a threshold value Z0The transmission tower is explained to be displaced in the Z-axis direction;
according to the included angle of the three-dimensional coordinate system, the calculation formula for determining the inclination angle is as follows:
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| CN112344909B (en) * | 2020-11-06 | 2022-04-26 | 国核信息科技有限公司 | Method and device for monitoring inclination of fan tower |
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| CN113050125B (en) * | 2021-03-19 | 2023-08-08 | 太原理工大学 | Transmission tower inclination angle measurement method based on Rodrign matrix |
| CN113804161A (en) * | 2021-08-23 | 2021-12-17 | 国网辽宁省电力有限公司大连供电公司 | Method for detecting inclination state of transmission tower |
| CN113639761B (en) * | 2021-08-25 | 2023-11-10 | 吉林大学 | Two-dimensional translation and rotation displacement and speed synchronous non-contact measurement method using black-and-white grid pattern code |
| CN114279343A (en) * | 2021-12-31 | 2022-04-05 | 江苏省送变电有限公司 | Computer vision-based displacement monitoring method for double-flat-arm holding pole construction process |
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