Automatic iron tower inclination angle measuring method based on machine vision system

Abstract

The invention provides an automatic iron tower inclination angle measuring method based on a machine vision system. The machine vision system comprises an unmanned aerial vehicle carrier, a visual light camera and an identifier measuring device. The automatic measuring method based on the machine vision system comprises the steps that 1, the unmanned aerial vehicle carrier flies to a designated preset position under the control of a flight control system; 2, after the unmanned aerial vehicle carrier flies to the preset position, unmanned aerial vehicle carrier posture adjustment is performed; 3, after the unmanned aerial vehicle carrier reaches a predetermined posture, the visual light camera shoots images, an onboard embedded processor repeatedly reads the shot images and detects red round identifying plates at the upper and lower position of an iron tower; 4, after the two red round identifying plates are successively detected, the onboard embedded processor calculates the inclination angle eta of the iron tower. The visual light camera is carried by utilizing the unmanned aerial vehicle carrier, measurement of the iron tower inclination angle can be automatically completed, the working strength of measurement is reduced, and meanwhile the measurement efficiency is improved.

Description

technical field [0001] The invention relates to the field of installation and testing of transmission line iron towers, in particular to a method for automatically measuring the inclination angle of iron towers based on a machine vision system. Background technique [0002] During the erection process of the transmission line tower, due to the gravity of the wire, the tower will be tilted, and the tilt of the tower will lead to accidents such as tower collapse and line breakage. Running is important. [0003] There are mainly two traditional methods for measuring the inclination of iron towers: one is to install measuring equipment on the iron tower to measure the inclination angle in real time, and transmit the measurement results to the detection center through the communication network. An online monitoring system and monitoring method for the inclination of a UHV tower. The monitoring method uses a dual-axis angle sensor installed on the iron tower to measure the angle,...

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Problems solved by technology

[0003] There are mainly two kinds of traditional iron tower inclination measurement methods: one is to install the measuring equipment on the iron tower to measure the inclination angle in real time, and transmit the measurement results to the detection center through the communication network. The Chinese patent with the announcement number CN103162667B discloses An online monitoring system and monitoring method for the inclination of an ultra-high voltage tower. The monitoring method uses a dual-axis angle sensor installed on the iron tower to measure the angle, and then uses the processing module in the main controller to process the angle, and finally obtains the lateral inclination of the tower. , inclination along the line, and comprehensive inclination. This scheme adopts the method of installing measuring equipment on the iron tower, which requires complex operations such as deployment, calibration, and communication of the equipment, and the life of the equipment is short, and multiple maintenance requires a lot of manpower; One method is that operation and maintenance personnel carry measuring equipment, use instruments on the ground to observe and measure the inclination angle of the iron tower, and perform manual measurement on the ground. Special operation and maintenance personnel are required to carry instruments for measurement, which is greatly affected by terrain factors. The measurement efficiency is low, and the operation is cumbersome and the degree of automation is low

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