A monitoring method for electric tower deformation monitoring based on Beidou and infrared image

Abstract

The application discloses a kind of based on big dipper and infrared image's electric tower deformation monitoring monitoring method, it is related to electric tower deformation monitoring field.It includes the following steps: step 1: in initial epoch, the infrared camera of the i th deformation monitoring unit is shot to the j th electric tower, obtains the reference image of the j th electric tower;Step 2: in epoch ti, the i th deformation monitoring unit is shot to the j th electric tower, obtains the image of the j th electric tower 1;Step 3: the image target between epoch ti and t0 is matched with the same name point;Step 4: the actual displacement of the j th deformation monitoring unit is calculated;Step 5: the actual displacement of each point in the image of the j th electric tower 1 between epoch ti and t0 is calculated.The application uses the actual displacement of the encoding target determined by big dipper between current epoch and reference epoch, the pixel displacement measured by image same name point matching, calculates the ratio between electric tower image pixel displacement and actual displacement, to obtain the actual displacement of each point of electric tower.

Description

Technical Field

[0001] This invention relates to the field of power tower deformation monitoring, and more specifically, it is a monitoring method for power tower deformation monitoring based on BeiDou and infrared imagery. Background Technology

[0002] Currently, methods for monitoring the deformation of power towers include total station method, BeiDou method, and UAV inspection method. Total station method has high accuracy, but requires manual instrument setup, resulting in low observation efficiency; BeiDou method can achieve continuous observation, but one device can only monitor one point, and to comprehensively monitor the deformation of the entire tower, a large number of BeiDou devices need to be deployed, which is too costly; UAV inspection is more efficient, but cannot achieve continuous monitoring, and its accuracy is also limited.

[0003] Therefore, there is an urgent need to develop a high-precision method for monitoring power tower deformation that is both continuous and automatic, and can achieve planar and multi-point monitoring. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the above-mentioned background technology and to provide a monitoring method for power tower deformation monitoring based on Beidou and infrared imagery.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows: a monitoring method for power tower deformation monitoring based on BeiDou and infrared imagery, comprising multiple power towers, characterized in that: each power tower is equipped with a deformation monitoring unit; the deformation monitoring unit includes a BeiDou module for determining the three-dimensional geographic coordinates of the deformation monitoring unit and an infrared camera for generating image targets; each deformation monitoring unit constitutes mutual observation of adjacent deformation monitoring units;

[0006] Includes the following steps:

[0007] Step 1: At the initial epoch t0, the infrared camera of the i-th deformation monitoring unit takes a picture of the adjacent j-th power tower to obtain a reference image P of the j-th power tower. Bj (t0), i = 1, 2, ..., j = 1, 2, ..., and j ≠ i, which includes the image of the image target of the j-th deformation monitoring unit installed on the j-th power tower. The Beidou module of the i-th deformation monitoring unit records the three-dimensional geographic coordinates XAi(t0) of the i-th deformation monitoring unit at this time, and the Beidou module of the j-th deformation monitoring unit records the three-dimensional geographic coordinates XAj(t0) of the j-th deformation monitoring unit at this time.

[0008] Step 2: In epoch ti (i = 1, 2, ...), the i-th deformation monitoring unit takes a picture of the adjacent j-th power tower to obtain the image P of the j-th power tower. Bj(ti), which includes the image of the image target of the j-th deformation monitoring unit installed on the j-th power tower, the Beidou module of the i-th deformation monitoring unit records the three-dimensional geographic coordinates XAi(ti) of the i-th deformation monitoring unit at this time, and the Beidou module of the j-th deformation monitoring unit records the three-dimensional geographic coordinates XAj(ti) of the j-th deformation monitoring unit at this time.

[0009] Step 3: Perform corresponding point matching on the image target between epochs ti and t0, calculate the pixel displacement of each point on the image, and record the pixel displacement of the center point of the image target as Δd and the pixel displacement of each point on the image as Δd'.

[0010] Step 4: Calculate the actual displacement ΔD of the j-th deformation monitoring unit between epochs ti and t0: ΔD = XAj(ti) - XAj(t0);

[0011] Step 5: Calculate the actual displacement ΔD' = Δd' × ΔD / Δd of each point in the j-th power tower image between epochs ti and t0.

[0012] Compared with the prior art, the present invention has the following advantages:

[0013] 1) This invention calculates the ratio between the pixel displacement of the power tower image and the actual displacement by using the actual displacement of the coded target determined by Beidou and the pixel displacement measured by matching the corresponding points in the image between the current epoch and the reference epoch, thereby obtaining the actual displacement of each point of the power tower.

[0014] 2) This invention combines the high-precision absolute positioning of Beidou with the area observation of infrared images, so that the two complement each other and realize continuous, automatic, area, and multi-point high-precision deformation monitoring.

[0015] 3) The BeiDou system used in this invention is a satellite navigation system independently developed by my country. Utilizing BeiDou can ensure the system's autonomy and controllability.

[0016] 4) The image target generated by the infrared camera of this invention can effectively filter out invalid background information and realize the rapid extraction of power tower information; between epochs, the pixel displacement of each point on the power tower image can be accurately calculated using the same point matching algorithm; since the target and the Beidou module are physically fixed together, the geometric relationship between the pixel displacement and the actual displacement between two epochs can be determined by using the actual displacement measured by Beidou and the pixel displacement calculated by the target image, thereby obtaining the deformation information of the entire power tower. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the deformation monitoring unit of the present invention.

[0018] Figure 2 This is a schematic diagram of the structure of an embodiment.

[0019] Among them, 1-power tower, 11-first power tower, 12-second power tower, 2-deformation monitoring unit, 21-BeiDou module, 22-infrared camera, 23-image target, 241-first deformation monitoring unit, 242-second deformation monitoring unit. Detailed Implementation

[0020] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but these descriptions are not intended to limit the invention and are merely illustrative. The advantages of the present invention will become clearer and easier to understand through this description.

[0021] Referring to the accompanying drawings, a method for monitoring power tower deformation based on BeiDou and infrared imagery includes multiple power towers 1. The method is characterized in that each power tower 1 is equipped with a deformation monitoring unit 2; the deformation monitoring unit 2 includes a BeiDou module 21 for determining the three-dimensional geographic coordinates of the deformation monitoring unit 2 and an infrared camera 22 for generating an image target 23; each deformation monitoring unit 2 provides mutual observation to adjacent deformation monitoring units 2.

[0022] Includes the following steps:

[0023] Step 1: At the initial epoch t0, the infrared camera 22 of the i-th deformation monitoring unit 2 takes a picture of the adjacent j-th power tower 1 to obtain the reference image P of the j-th power tower 1. Bj (t0), i = 1, 2, ..., j = 1, 2, ..., and j ≠ i, which includes the image of the image target 23 of the j-th deformation monitoring unit 2 installed on the j-th power tower 1. The Beidou module 21 of the i-th deformation monitoring unit 2 records the three-dimensional geographic coordinates XAi(t0) of the i-th deformation monitoring unit 2 at this time. The Beidou module 21 of the j-th deformation monitoring unit 2 records the three-dimensional geographic coordinates XAj(t0) of the j-th deformation monitoring unit 2 at this time.

[0024] Step 2: In epoch ti (i = 1, 2, ...), the i-th deformation monitoring unit 2 takes a picture of the adjacent j-th power tower 1 to obtain the image P of the j-th power tower 1. Bj (ti), which includes the image of the image target 23 of the j-th deformation monitoring unit 2 installed on the j-th power tower 1, the Beidou module 21 of the i-th deformation monitoring unit 2 records the three-dimensional geographic coordinates XAi(ti) of the i-th deformation monitoring unit 2 at this time, and the Beidou module 21 of the j-th deformation monitoring unit 2 records the three-dimensional geographic coordinates XAj(ti) of the j-th deformation monitoring unit 2 at this time.

[0025] Step 3: Perform corresponding point matching on the image target 23 between epochs ti and t0, calculate the pixel displacement of each point on the image, and record the pixel displacement of the center point of the image target 23 as Δd and the pixel displacement of each point on the image as Δd'.

[0026] Step 4: Calculate the actual displacement ΔD of the j-th deformation monitoring unit 2 between epochs ti and t0: ΔD = XAj(ti) - XAj(t0);

[0027] Step 5: Calculate the actual displacement ΔD' = Δd' × ΔD / Δd of each point in the j-th power tower image between epochs ti and t0.

[0028] Example

[0029] A first deformation monitoring unit 241 is installed on the top of the first power tower 11, and a second deformation monitoring unit 242 is installed on the top of the second power tower 12. The first deformation monitoring unit 241 and the second deformation monitoring unit 242 form a mutual opposing observation mechanism. Taking the observation of the second power tower 12 by the first deformation monitoring unit 241 as an example, the following steps are included:

[0030] Step 1: At the initial epoch t0, the first deformation monitoring unit 241 takes a picture of the adjacent second power tower 12 to obtain a reference image P of the second power tower 12. B2 (t0), which includes the image of the image target 23 of the second deformation monitoring unit 242 installed on the second power tower 12, and records the three-dimensional geographic coordinates XA1(t0) and XA2(t0) of the first deformation monitoring unit 21 and the second deformation monitoring unit 242 at this time respectively.

[0031] Step 2: At epoch t1, the first deformation monitoring unit 241 takes a picture of the adjacent second power tower 12 to obtain the image P of the second power tower 12. B2 (t1), which includes the image of the image target 23 of the second deformation monitoring unit 242 installed on the second power tower 12, and records the three-dimensional geographic coordinates XA1(t1) and XA2(t1) of the first deformation monitoring unit 241 and the second deformation monitoring unit 242 at this time respectively.

[0032] Step 3: Perform corresponding point matching on the infrared images between epochs t1 and t0, calculate the pixel displacement of each point on the image, and record the pixel displacement of the center point of the image target 23 as Δd.

[0033] Step 4: Calculate the actual displacement ΔD = X of the second deformation monitoring unit 242 between epochs t1 and t0. A2 (t1)-X A2 (t0);

[0034] Step 5: Calculate the pixel displacement Δd' of each point in the image of the second power tower 12 between epochs t1 and t0, and then calculate the actual displacement ΔD' = Δd' × ΔD / Δd corresponding to each point.

[0035] All other unspecified parts belong to the prior art.

Claims

1. A monitoring method for power tower deformation monitoring based on BeiDou and infrared imagery, comprising multiple power towers (1), characterized in that: Each of the power towers (1) is equipped with a deformation monitoring unit (2); the deformation monitoring unit (2) includes a Beidou module (21) for determining the three-dimensional geographic coordinates of the deformation monitoring unit (2) and an infrared camera (22) for generating an image target (23); each deformation monitoring unit (2) forms a mutual observation relationship with adjacent deformation monitoring units (2); Includes the following steps: Step 1: At the initial epoch t0, the infrared camera (22) of the i-th deformation monitoring unit (2) takes a picture of the adjacent j-th power tower (1) to obtain the reference image P of the j-th power tower (1). Bj (t0), i = 1, 2, ..., j = 1, 2, ..., and j ≠ i, which includes the image of the image target (23) of the j-th deformation monitoring unit (2) installed on the j-th power tower (1), the Beidou module (21) of the i-th deformation monitoring unit (2) records the three-dimensional geographic coordinates XAi(t0) of the i-th deformation monitoring unit (2) at this time, and the Beidou module (21) of the j-th deformation monitoring unit (2) records the three-dimensional geographic coordinates XAj(t0) of the j-th deformation monitoring unit (2) at this time; Step 2: In epoch ti, i = 1, 2, ..., the i-th deformation monitoring unit (2) takes a picture of the adjacent j-th power tower (1) to obtain the image P of the j-th power tower (1). Bj (ti), which includes the image of the image target (23) of the j-th deformation monitoring unit (2) installed on the j-th power tower (1), the Beidou module (21) of the i-th deformation monitoring unit (2) records the three-dimensional geographic coordinates XAi(ti) of the i-th deformation monitoring unit (2) at this time, and the Beidou module (21) of the j-th deformation monitoring unit (2) records the three-dimensional geographic coordinates XAj(ti) of the j-th deformation monitoring unit (2) at this time; Step 3: Perform corresponding point matching on the image target (23) between epochs ti and t0, calculate the pixel displacement of each point on the image, and record the pixel displacement of the center point of the image target (23) as Δd and the pixel displacement of each point on the image as Δd'. Step 4: Calculate the actual displacement ΔD of the j-th deformation monitoring unit (2) between epochs ti and t0: ΔD = XAj(ti) - XAj(t0); Step 5: Calculate the actual displacement ΔD' = Δd' × ΔD / Δd of each point in the image of the j-th power tower (1) between epochs ti and t0.

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