CN205300519U - Iron tower warp measuring device - Google Patents

Abstract

The utility model provides an iron tower warp measuring device, the device includes: a camera device, the 2nd camera device, image acquisition device and treater, a camera device with the 2nd camera device sets up in the position of difference, all is used for taking an iron tower and takes place to be out of shape the fore -and -after image, the image acquisition device with a camera device reaches the 2nd camera device connects respectively, is used for gathering a camera device with the 2nd camera device takes the fore -and -after image takes place to warp for the iron tower, the treater with the image acquisition device is connected, receives the fore -and -after image takes place to warp for the iron tower, and output monitoring point on the iron tower is in the fore -and -after displacement takes place to warp for the iron tower. The utility model discloses a device can can't harm, accurate, convenient, swiftly test the deformation condition of iron tower.

Description

Iron tower deformation measuring device

Technical Field

The utility model relates to an electric power tech field especially relates to an iron tower deformation measuring device.

Background

The large transmission tower is a carrier for large-load electric energy transmission, particularly a large-span transmission tower, has the characteristics of high tower body height, large span, high flexibility and the like, is sensitive to environmental loads such as earthquake, wind, lead icing and the like, can generate deformation in various forms, and is easy to generate vibration fatigue damage and dynamic collapse damage under extreme conditions. Therefore, the transmission tower should have sufficient strength to ensure the normal operation of the transmission system.

At present, various effective deformation testing technologies are applied to deformation monitoring of transmission towers, but due to factors such as working principles, technical levels and the like, the technologies still have certain limitations.

The early monitoring of the power transmission tower is mainly realized in a manual inspection mode, the detection mode is low in speed and accuracy, and the manual inspection is very difficult especially under the condition of disaster weather. Due to the development of the electrical measurement technology, the application of the displacement sensor and the strain gauge greatly improves the measurement accuracy.

However, the test method belongs to contact measurement, and has the defects of limited sampling point, limited measuring range of the sensor, easy interference from external environment and the like, and meanwhile, the dead weight of the sensor and the connecting wire thereof can increase the load of the tower structure, thereby influencing the test result. Although optical surveying and mapping instruments such as a level gauge, a total station and the like can provide higher measuring accuracy, the detection range is limited, only point-by-point monitoring can be realized, the full-field large-scale test cannot be realized, the strain of the iron tower material cannot be obtained, and the dynamic deformation monitoring under the condition of iron tower vibration is difficult to achieve.

Recently, video monitoring systems are used for monitoring the operation conditions of towers at certain key positions of the ultra-high voltage transmission line. However, the monitoring technology only transmits the video image back to the observation point, and the working condition of the power transmission tower needs to be judged by the staff through the video image, so that the working strength is high, and quantitative tower deformation data cannot be provided. Methods based on satellite monitoring, GPS positioning technology and the like are also applied to steel tower deformation testing, but the accuracy is difficult to guarantee.

At present, the displacement of a key point in a domestic tower safety experiment is measured by using a total station. The total station is a measuring device which comprehensively utilizes light, mechanical and electrical technologies. Has matured very well over the years of development. However, total stations currently perform position detection by manual operation using point-by-point scanning. The first disadvantage of this method is that the operation is complicated, and the second disadvantage is that the manual operation brings large measurement errors.

In summary, the development level of the existing iron tower deformation testing technology still has certain limitations.

SUMMERY OF THE UTILITY MODEL

The utility model provides an iron tower deformation measuring device to solve one or more disappearance among the prior art.

The utility model provides an iron tower deformation measuring device, the device includes: the system comprises a first camera device, a second camera device, an image acquisition device and a processor; the first camera device and the second camera device are arranged at different positions and are used for shooting images of an iron tower before and after deformation; the image acquisition device is respectively connected with the first camera device and the second camera device and is used for acquiring images of the iron tower before and after deformation, which are shot by the first camera device and the second camera device; the processor is connected with the image acquisition device, receives images of the iron tower before and after deformation, and outputs displacement of the monitoring points on the iron tower before and after deformation.

In one embodiment, the apparatus further comprises: and the positioning device is used for measuring the space coordinates of a plurality of set points in the space within the field of view of the two camera devices.

In one embodiment, the positioning device is a total station.

In one embodiment, a connecting line between the first camera device and the iron tower and a connecting line between the second camera device and the iron tower form a set included angle.

In one embodiment, the first image pickup device includes: the system comprises a first digital shooting instrument, a first tripod and a first cradle; the first tripod head is mounted on the first tripod, and the first digital shooting instrument is mounted on the first tripod head; the first holder is used for adjusting the shooting direction and angle of the first camera device; the first digital shooting instrument is a digital camera or a digital video camera.

In one embodiment, the second image pickup device includes: the second digital shooting instrument, the second tripod head and the second tripod; the second tripod head is mounted on the second tripod, and the second digital shooting instrument is mounted on the second tripod head; the second holder is used for adjusting the shooting direction and angle of the second camera device; the second digital shooting instrument is a digital camera or a digital video camera.

The utility model discloses an iron tower deformation measuring device uses optical principle to measure, can carry out the nondestructive non-contact test, can survey each node three-dimensional deformation of iron tower, can provide the measured data of all nodes in the camera viewing range to the full field distribution condition that analysis structure warp. The utility model discloses iron tower deformation measurement method can be used for static test, also can be used to dynamic test, and application scope is wider, has convenient operation swift, advantage that the portability is good moreover.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts. In the drawings:

fig. 1 is a schematic structural diagram of an iron tower deformation measuring device according to an embodiment of the present invention;

fig. 2 is a schematic diagram of positions of a set point and a detection point of an iron tower according to an embodiment of the present invention;

Fig. 3 is a schematic view of a shooting principle of the camera according to an embodiment of the present invention;

fig. 4 is a schematic view of the parallel binocular vision measurement principle according to an embodiment of the present invention;

fig. 5 is a schematic diagram of the intersecting binocular vision measuring principle in an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention are described in further detail below with reference to the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.

The utility model provides an iron tower deformation measuring device. The device carries out deformation measurement on the power transmission iron tower on the basis of a binocular vision principle and a digital image correlation method (DIC), can provide an effective means for realizing accurate monitoring of the whole deformation of the power transmission iron tower, and provides an experimental basis for reliability analysis of the power transmission iron tower.

Fig. 1 is a schematic structural diagram of an iron tower deformation measuring device according to an embodiment of the present invention. As shown in fig. 1, the iron tower deformation measuring device includes: a first camera device 200, a second camera device 300, an image acquisition device 400 and a processor 500.

The first camera device 200 and the second camera device 300 are arranged at different positions and are used for shooting images before and after the iron tower 100 is deformed. The image acquisition device 400 is connected to the first camera device 200 and the second camera device 300, respectively, and is configured to acquire images of the iron tower 100 before and after deformation, which are captured by the first camera device 200 and the second camera device 300. The processor 500 is connected to the image acquisition device 400, receives the images of the iron tower 100 before and after deformation, and outputs the displacement of the monitoring point on the iron tower 100 before and after deformation of the iron tower 100. The processor calculates to obtain world coordinates by using the two images according to a binocular vision measurement principle, and further obtains the displacement is a common technical means in the prior art.

The utility model discloses iron tower deformation measuring device can trail each key node three-dimensional deformation condition of iron tower to the realization is to the measurement of the whole deformation condition of iron tower. For traditional detection device, the utility model discloses the device uses optical imaging's method to monitor, can carry out nondestructive measurement, moreover, still has the advantage that the operation is swift, the portability is good. The utility model discloses a device can be used to measure steel pylons overall structure's the deformation condition, and its deformation data of surveying can be used to iron tower running state analysis, judges iron tower safety degree.

The first and second imaging devices 200 and 300 may be used to take still pictures or moving video images, so that the images before and after the deformation of the iron tower 100 may be still pictures or video images. Therefore, the utility model discloses device application scope is wider, can be used to static test, also can be used to dynamic test.

The first and second image pickup devices 200 and 300 may be composed of different fixing devices and photographing instruments. Preferably, the first camera device 200 and the second camera device 300 are composed of the same fixing device and shooting instrument, and the shooting direction and angle can be conveniently adjusted.

As shown in fig. 1, the first image pickup device 200 may include: a first digital photographing apparatus 201, a first tripod head 202 and a first tripod 203. The first tripod head 202 is mounted on a first tripod 203, which may be a three-dimensional tripod head, for fixing the first digital photographing apparatus 201; the first digital shooting instrument 201 is mounted on the first cradle head 202; the first pan/tilt head 202 can be used to adjust the shooting direction and angle (e.g., horizontal rotation angle and pitch angle) of the first digital shooting apparatus 201. The first digital photographing apparatus 201 may be a digital camera or a digital video camera.

As further shown in fig. 1, the second image capturing device 300 may include: a second digital photographing apparatus 301, a second pan/tilt head 302, and a second tripod 303. The second tripod head 302 is mounted on the second tripod 303, and may be a three-dimensional tripod head, for example, and is used for fixing the second digital shooting instrument 301; the second digital shooting instrument 301 is mounted on the second pan-tilt 302; the second pan/tilt head 302 is used to adjust the shooting direction and angle (e.g., horizontal rotation angle and pitch angle) of the second digital shooting device 301. The second digital photographing apparatus 301 may be a digital camera or a digital video camera.

In a preferred embodiment, the first camera device 200 and the second camera device 300 can be both as shown in fig. 1, and the first digital camera 201 and the second digital camera 301 and their respective lenses can be of the same type and the same specification. The first pan/tilt head 202 and the second pan/tilt head 302 may be the same pan/tilt head. The first tripod 203 and the second tripod 303 may be identical tripods for fixing the pan/tilt head and the photographing apparatus with equal effect.

In one embodiment, a connection line between the first camera device 200 and the tower 100 and a connection line between the second camera device 300 and the tower 100 form a set angle. Or a set included angle is formed between the direction of the first camera device 200 shooting the iron tower 100 and the direction of the second camera device 300 shooting the iron tower 100. In this way, both the first camera device 200 and the second camera device 300 can easily capture the entire view of the iron tower 100.

The image capturing device 400 is used for transmitting the images or video images captured by the first camera device 200 and the second camera device 300 to the processor 500. In a preferred embodiment, the image capturing device 400 can be further configured to control the first image capturing device 200 (the first digital image capturing apparatus 201) and the second image capturing device 300 (the second digital image capturing apparatus 301) to capture images synchronously, so that the first image capturing device 200 (the first digital image capturing apparatus 201) and the second image capturing device 300 (the second digital image capturing apparatus 301) can capture images of the iron tower 100 in the same deformation state at the same time, which is beneficial to analyzing the deformation condition of the iron tower conveniently and accurately.

The processor 500 may analyze images (dynamic or static) acquired by two cameras or cameras (the first digital camera 201 and the second digital camera 301 or the first camera 200 and the second camera 300), and calculate a displacement condition of each node of the iron tower 100 before and after the deformation of the iron tower 100. The processor 500 only needs to use the binocular vision measurement principle and the digital image correlation function method, and obtains the world coordinates of the iron tower 100 before and after deformation by using the two cameras to obtain the images of the iron tower 100 before and after deformation, thereby obtaining the displacement. The processor 500 may be, for example, a computer or server equipped with corresponding software, which may be existing digital image processing software.

As shown in fig. 1, the iron tower deformation measuring device according to the embodiment of the present invention may include a positioning device 600 for determining spatial coordinates of a plurality of set points in a space within a field range of two of the above-mentioned cameras (the first camera 200 and the second camera 300 or the first digital camera 201 and the second digital camera 301) to calibrate spatial parameters of the above-mentioned first camera and the above-mentioned second camera, where the above-mentioned spatial parameters are used for calculating the above-mentioned displacement.

The positioning device 600 may be any device that can be used to measure the world coordinates of a point in space, such as a total station or a viable laser positioning device. The positioning device 600 may measure the world coordinates of a plurality of set points, such as the world coordinates (spatial location parameters) of several key nodes before deformation of the tower 100. The spatial parameters of the digital cameras (the first digital camera 201 and the second digital camera 301) can be calibrated by using the world coordinates or the spatial position parameters of the set points. Therefore, by using the space parameters and the internal parameters of the digital shooting instrument, a simplified projection matrix for converting the image coordinates of the monitoring points of the iron tower 100 in the shot images or images into world coordinates is obtained.

The utility model discloses iron tower deformation measuring device compares with traditional monitoring devices, only utilizes the world coordinate/space parameter that positioner measured a few points, and the space parameter of each monitoring point on the iron tower all can obtain through the two mesh images of this check point, and it is more convenient to measure. The binocular image may refer to images of monitoring points photographed by the first and second cameras 200 and 300, respectively.

In one embodiment, if the world coordinates of the set points are known, a projection matrix for converting the image coordinates of the monitoring points of the tower 100 in the captured image or video to the world coordinates can be obtained according to the known world coordinates and the image coordinates of the set points. The coordinates of the set points may be obtained by processing the set points by the processor 500 according to the images of the set points captured by the first and second imaging devices 200 and 300. Therefore, the deformation condition of the iron tower can be obtained more conveniently.

Fig. 2 is a schematic diagram of positions of a set point and a detection point of an iron tower according to an embodiment of the present invention. As shown in fig. 2, the set point may be a point in the two camera views, such as a point on the tower, preferably two or more of the key nodes a-H on the tower 100. The monitoring points may be monitoring points J1 to J9 on the iron tower 100, or may be points at other positions on the iron tower 100, and may be determined as required. The world coordinates in the above embodiments may be a point in space as the origin of coordinates. Preferably, a point on the iron tower is used as the coordinate origin, as shown in fig. 2, for example, the key node D is used as the coordinate origin, so that the calculation is simple and the calculation amount of the processor 600 is reduced.

Fig. 3 is a schematic view of a shooting principle of the camera according to an embodiment of the present invention. As shown in FIG. 3, taking a pinhole camera as an example, the principal point position of the image plane may be (c)_x，c_y) I.e. the intersection of the image plane and the optical axis of the camera is (c)_x，c_y). For a point Q on a certain object in the space, the world coordinate in the world coordinate system is (X, Y, Z), the point Q passes through the pinhole plane of the pinhole camera and then is projected to the image plane of the shooting instrument, and the image coordinate is (X)_screen，y_screen). World coordinates (X, Y, Z) and image coordinates (X) of the point Q_screen，_yscreen) The conversion relationship between the two conforms to the following conditions:

$x_{screen}=f_x\left(\frac{X}{Z}\right)+c_x,y_{screen}=f_y\left(\frac{Y}{Z}\right)+c_y.---\left(1\right)$

in fig. 3, f is the focal length of the camera, Z is the distance of the camera from the object, and X is the height of the object. In the formula (1), the focal length value f_xIs the physical focal length f and the individual image element length s_xProduct between, focal length value f_yIs the physical focal length and the individual image element length s_yThe product between these two focal length values f during camera calibration_x、f_yAnd principal point coordinates c_x、c_yMay be measured by a camera calibration procedure.

Corresponds to a point Q in space₁Coordinate (X) of₁，Y₁，Z₁) And the point Q₁Image coordinates (x) of a projection point on a projection plane (image plane) of a camera₁，_y1) The relationship between may be referred to as a projective transformation relationship. When such a conversion is made, homogeneous coordinates may be used to facilitate the calculation. Homogeneous coordinates are represented by a vector of one n-dimension of space with n +1 dimensions. The embodiment of the present invention provides an image plane, which can be a projection space, and is a two-dimensional space, and a point on the image plane is represented by using a three-dimensional vector (x, y, w). Since the scale values (the scales after zooming in and out for different focal lengths) of all points in projection space are equal, the actual pixel coordinates can be divided by w, and the camera parameter data can be converted into a 3 × 3 matrix, called the internal reference matrix. The relationship of points in physical space and projected points in the camera can be expressed as:

q＝MQ，(2)

Wherein, $q=\left[\begin{array}{c}x\\ y\\ w\end{array}\right],M=\left[\begin{array}{ccc}{f}_x& 0& c_x\\ 0& f_y& C_y\\ 0& 0& 1\end{array}\right]Q=\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right].$

in formula (2), Q is a coordinate in the image coordinate system, Q is a coordinate in the world coordinate system, and M is a coefficient matrix. Since the homogeneous coordinate system is used here, it is necessary to divide the first component and the second component of q by w after the image coordinate q is calculated, and therefore, the equations (2) and (1) can achieve equal effects.

The binocular vision measurement principle/binocular vision is a method for acquiring three-dimensional information based on parallax, through information of a plurality of images and according to an optical triangulation principle. The depth information of the scene can be calculated through a triangle established between the plane of the camera and the measured object, the three-dimensional geometrical information of the object is recovered, and the shape and the position of the surrounding scenery are reconstructed. The binocular vision is divided into parallel type binocular vision and intersection type binocular vision according to the orientation of the optical axis of the camera.

In one embodiment, in step S120, a parallel binocular vision measurement principle may be used, and the displacement of the monitoring point on the iron tower before and after the deformation of the iron tower is calculated by using the images before and after the deformation of the iron tower and the world coordinates of the multiple set points in the space within the field range of the two cameras.

Fig. 4 is a schematic diagram of the parallel binocular vision measurement principle in an embodiment of the present invention. As shown in FIG. 4, the optical axes 612, 622 of the two cameras are parallel to each other, the distance between the optical axes 612, 622 of the two cameras is B, and the images of a point P in space on the target surfaces of the two cameras are P_LAnd P_R. Ordinate y on left image 611 and right image 621 due to point P_LAnd y_RSame, i.e. y ═ y_L＝y_RThe abscissa of the point P on the left image 611 and the right image 621 is x, respectively_LAnd x_RTherefore, from the triangular geometry, one can obtain:

$x_L=f\frac{X_c}{Z_c},x_R=f\frac{(X_c-B)}{Z_c},y=f\frac{Y_c}{Z_c},---\left(3\right)$

wherein f is the focal length of the camera.

And calculating the parallax according to the matched characteristic points of the left and right camera images, and obtaining the coordinates of the point in the three-dimensional space. The method has the advantages of simple model and convenient calculation.

In another embodiment, in step S120, the displacement of the monitoring point on the iron tower before and after the deformation of the iron tower may be calculated by using the intersection binocular vision measurement principle, and the images before and after the deformation of the iron tower and the world coordinates of the multiple set points in the space within the field range of the two cameras.

Fig. 5 is a schematic diagram of the intersecting binocular vision measuring principle in an embodiment of the present invention. As shown in fig. 5, the convergent binocular vision consists of two cameras whose shooting directions form a certain angle. O is ₁And O_rThe optical centers of the left and right camera lens are shown. Any point A in the space is on the rake surfaces C of the left and right cameras₁And C_rThe upper projected image point is a₁(u₁，v₁) And_ar(u_r，v_r) I.e. the image coordinates. Wherein, the rake face C of the left camera₁Image coordinate system ofPoint is o₁Right side camera rake face C_rHas an origin of o_r. Connecting image points a₁(u₁，v₁) And a_r(u_r，v_r) Optical center O of lens of their respective cameras₁And O_rObtaining a projection line a₁O₁And a_rO_r. The intersection of these two projection lines is the object point a in space. According to the lens mapping relation of the camera instrument, passing through two projection lines a₁O₁And a_rO_rThe intersection of (a) can determine the location of the target object point a, i.e., world coordinates (X, Y, Z). The world coordinate of the point A takes the point O as the coordinate origin. The projection mapping relationship and the angle of the projection line of the camera instrument can be determined by internal and external parameters of the camera instrument, respectively.

According to the pinhole camera model, homogeneous coordinates are adopted, and the digital image coordinate system and the camera coordinate system have the following relation:

$s\left[\begin{array}{c}u\\ v\\ 1\end{array}\right]=\left[\begin{array}{cccc}{f}_x& 0& u_0& 0\\ 0& f_y& v_0& 0\\ 0& 0& 1& 0\end{array}\right]\left[\begin{array}{c}x\\ y\\ z\\ 1\end{array}\right],---\left(4\right)$

wherein, $\begin{array}{c}{f}_x=f\×d_x\\ f_y=f\×d_y\end{array}.$

in formula (4), u and v are pixel coordinates of the point A on the image coordinate system,f is the focal length of the lens of the shooting equipment. u. of₀，v₀Is the position of the image center in the camera coordinate system (e.g., camera coordinate system). Focal length value f _xIs the physical focal length and the individual image element length d_xThe product between, similarly, the focal length value f_yIs the physical focal length and the individual image element length d_yProduct between, focal length value f_xFocal length value f_yPhotographic instrument coordinate u₀And camera coordinate system v₀May be referred to as the internal parameters of the camera. According to the pinhole imaging model of the camera, the relationship between the point a (X, Y, Z) in space and its image point (X, Y, Z) can be expressed by the external parameters of the camera, i.e. the transformation relationship between the world coordinate system and the camera coordinate system can be:

$\left[\begin{array}{c}x\\ y\\ z\\ 1\end{array}\right]=\left[\begin{array}{cccc}{r}_1& r_2& r_3& t_1\\ r_4& r_5& r_6& t_2\\ r_7& r_8& r_9& t_3\\ 0& 0& 0& 1\end{array}\right]\left[\begin{array}{c}X\\ Y\\ Z\\ 1\end{array}\right],---\left(5\right)$

can order $r=\left[\begin{array}{ccc}{r}_1& r_2& r_3\\ r_4& r_5& r_6\\ r_7& r_8& r_9\end{array}\right]t=\left[\begin{array}{c}{t}_1\\ t_2\\ t_3\end{array}\right].$

The coefficient matrix [ rt ] in equation (5) can be calibrated by taking a known spatial coordinate system of the internal parameters and set points in the instrument.

Combining equation (4) and equation (5) together, one can obtain:

$s\left[\begin{array}{c}u\\ v\\ 1\end{array}\right]=\left[\begin{array}{cccc}{f}_x& 0& u_0& 0\\ 0& f_y& v_0& 0\\ 0& 0& 1& 0\end{array}\right]\left[\begin{array}{cccc}{r}_1& r_2& r_3& t_1\\ r_4& r_5& r_6& t_2\\ r_7& r_8& r_9& t_3\\ 0& 0& 0& 1\end{array}\right]\left[\begin{array}{c}X\\ Y\\ Z\\ 1\end{array}\right].---\left(6\right)$

the embodiment of the utility model provides an in, according to the image that a plurality of instruments of making a video recording shot, can obtain a plurality of matrix equations according to formula (6), according to these matrix equations, binocular vision measures the principle promptly, can obtain its world coordinate by the image coordinate of monitoring point.

When a plurality of cameras are intersected to form a system, 2i equations can be obtained so as to form an over-determined equation set, and thus the equations can be solved by a least square method to obtain the coordinates of the space object points. In general, the product of the two transformation matrices in (6) is denoted as projection matrix H, i.e.:

$H=\left[\begin{array}{cccc}{f}_x& 0& u_0& 0\\ 0& f_y& v_0& 0\\ 0& 0& 1& 0\end{array}\right]\left[\begin{array}{cccc}{r}_1& r_2& r_3& t_1\\ r_4& r_5& r_6& t_2\\ r_7& r_8& r_9& t_3\\ 0& 0& 0& 1\end{array}\right]=\left[\begin{array}{cccc}{m}_{11}& m_{12}& m_{13}& m_{14}\\ m_{21}& m_{22}& m_{23}& m_{24}\\ m_{31}& m_{32}& m_{33}& m_{34}\end{array}\right].---\left(7\right)$

In the embodiment of the present invention, in the process of using the correlation method to match the feature points, two digital images at the same time are first taken, one is used as the reference image, and the other is used as the matching image. The reference image and the matching image have gray-scale distributions f (x, y) and g (x, y), respectively. The displacement of the feature point is calculated by searching the matching image for a subregion having the highest degree of similarity to a subregion of (2M +1) × (2M +1) size centered on the feature point/monitor point in a block of the reference image. The degree of similarity of the two sub-regions is defined by a correlation function. The expression for the correlation function may be:

$C\left(P\right)=-\underset{\mathrm{\Δ}x,\mathrm{\Δ}y=-M}{\overset{M}{\Σ}}\frac{f(x_0+\mathrm{\Δ}x,y_0+\mathrm{\Δ}y)-\stackrel{\‾}{f}}{\left|\right|f-\stackrel{\‾}{f}\left|\right|}\·\frac{g\left(x\right(P),y(P\left)\right)-\stackrel{\‾}{g}}{\left|\right|g-\stackrel{\‾}{g}\left|\right|}.---\left(8\right)$

in one embodiment, all the world coordinate systems use a node on the tower as an origin. In the embodiment of the present invention, the calculation of the above displacement can be simplified by using a node on the above iron tower as the origin.

In one embodiment, first, two cameras are respectively erected in front of an iron tower at a certain distance; then, connecting two cameras to the graphic device, and connecting the image acquisition device to the computer; then observing the imaging effect of the two cameras on a computer, adjusting the cradle head to enable the iron tower to be positioned in the center of the image, and adjusting the magnification factor and the focal length of the cameras to enable the imaging to be clear; furthermore, a plurality of nodes on the iron tower are randomly selected, the space coordinates of the key points are determined by using a laser positioning device, as shown in table 1, the nodes are corresponding to the image coordinates in the two images shot by the two cameras (as shown in table 1), and the space parameters of the two cameras (as shown in table 2) are further calibrated, wherein the space parameters comprise the space coordinates of the cameras and the included angles between the space coordinates and the coordinate axes of the space coordinate system. Selecting monitoring points on the iron tower, and automatically calculating the space coordinates of the monitoring points by a computer, as shown in table 3; and (3) synchronously shooting images of the deformation process of the iron tower by using a computer-controlled camera, and calculating the displacement condition of the measured point, as shown in tables 4 to 12.

TABLE 1 Camera space parameters calibration point coordinates and image coordinates

TABLE 2 Camera spatial parameters

Measuring point	X	Y	Z
				1	13.5	0.595	8.5
2	13.6995	0.3955	5.65
				3	13.8955	0.1995	2.85
4	15.17	-0.7	-10

5	16.19	-1.295	-18.5
				6	14.095	0	0
7	14.27	-0.175	-2.5
				8	23	0.595	8.5
9	22	0	0

TABLE 3 spatial coordinates of monitoring points

TABLE 4 Displacement measurement of Point 1

TABLE 5 Displacement measurement of Point 2

TABLE 6 Displacement measurement of Point 3

TABLE 7 Displacement measurement of Point 4

TABLE 8 Displacement measurement of Point 5

TABLE 9 Displacement measurement of Point 6

TABLE 10 Displacement measurement of Point 7

TABLE 11 Displacement measurement of Point 8

TABLE 12 Displacement measurement of Point 9

The utility model discloses an iron tower deformation measuring device uses optical principle to measure, can carry out the nondestructive non-contact test, can survey each node three-dimensional deformation of iron tower, can provide the measured data of all nodes in the camera viewing range to the full field distribution condition that analysis structure warp. The utility model discloses iron tower deformation measuring device can be used for static test, also can be used to dynamic test, and application scope is wider, has convenient operation swift moreover, advantage that the portability is good.

Claims (6)

1. A device for measuring deformation of an iron tower, the device comprising: the system comprises a first camera device, a second camera device, an image acquisition device and a processor;

the first camera device and the second camera device are arranged at different positions and are used for shooting images of an iron tower before and after deformation;

the image acquisition device is respectively connected with the first camera device and the second camera device and is used for acquiring images of the iron tower before and after deformation, which are shot by the first camera device and the second camera device;

the processor is connected with the image acquisition device, receives images of the iron tower before and after deformation, and outputs displacement of the monitoring points on the iron tower before and after deformation.

2. The iron tower deformation measuring device of claim 1, wherein the device further comprises: and the positioning device is used for measuring the space coordinates of a plurality of set points in the space within the field of view of the two camera devices.

3. The tower deformation measuring device of claim 2, wherein the positioning device is a total station.

4. The iron tower deformation measuring device according to claim 1, wherein a connecting line between the first camera device and the iron tower and a connecting line between the second camera device and the iron tower form a set included angle.

5. The iron tower deformation measuring device according to claim 1, wherein the first camera device comprises: instrument, first cloud platform and first tripod are shot to first digit:

the first tripod head is mounted on the first tripod, and the first digital shooting instrument is mounted on the first tripod head; the first holder is used for adjusting the shooting direction and angle of the first camera device; the first digital shooting instrument is a digital camera or a digital video camera.

6. The iron tower deformation measuring device according to any one of claims 1 to 5, wherein the second camera device comprises: the second digital shooting instrument, the second tripod head and the second tripod;

the second tripod head is mounted on the second tripod, and the second digital shooting instrument is mounted on the second tripod head; the second holder is used for adjusting the shooting direction and angle of the second camera device; the second digital shooting instrument is a digital camera or a digital video camera.