Measuring equipment and measuring method for rapidly measuring verticality of tower body in non-contact manner

Abstract

The invention discloses measuring equipment and a measuring method for quickly measuring the perpendicularity of a tower body in a non-contact manner, and the measuring equipment carrying a camera is erected on one side of a tower crane, so that the tower body is clearly imaged in a picture of the camera; shooting a tower body picture as a reference picture; establishing an image coordinate system x-o-y of the tower crane, selecting a starting point and an ending point of a line segment in the reference image, and rotating for one circle to obtain a target image; the included angle of the line segment relative to the y axis under the image coordinate system is calculated, the included angle of the line segment relative to the gravity center direction of the tower body is calculated, and the perpendicularity of the tower body is calculated. According to the measurement method, the gray information of the digital image can be analyzed and calculated, manual point marking is not needed, the safety risk caused by climbing operation of measurement personnel is effectively reduced, and the working efficiency is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of special equipment measurement, and in particular to a measuring device and a measuring method for quickly and non-contactly measuring the verticality of a tower body. Background Art

[0002] Tower cranes are widely used in high-rise building construction, and the verticality of the tower is the most important safety indicator for evaluating lifting equipment. According to Article 5.2.4, Item i of "Tower Crane" (GB / T 5031-2019): The lateral verticality error of the axis of the tower in the independent state (the tower above the highest attachment point in the attached state) shall not exceed 0.4%. At present, the following four methods are commonly used to measure the verticality of tower cranes.

[0003] (1) Wireline measurement method: During measurement, the tower crane needs to remain unloaded and stationary to ensure that the surveyor can climb to the highest point of the tower. This method is inefficient and unsafe. When laying out the wire, obstacles inside or outside the tower crane and environmental wind can easily change the vertical distance of the wireline, resulting in large errors in the measurement results. Manual recording and calculation of measurement results result in large errors in human operation and a low degree of automation.

[0004] (2) Total station measurement method: Before measurement, personnel need to climb the tower crane to set up the prism, which is inefficient and unsafe. During measurement, the tower crane needs to remain unloaded and stationary to ensure that the total station can be centered, leveled and aimed. The operation is cumbersome and requires the cooperation of multiple people, which is costly. The measurement frequency is high, and the tower crane can only be measured point by point, and the results cannot be viewed in real time.

[0005] (3) Laser ranging method: This method also requires surveyors to climb to the highest point of the tower, which is not safe and convenient.

[0006] (4) Inclination sensor method: Although the inclinometer has a very high accuracy, it requires personnel to climb up to place sensors at different locations before measurement. It also requires wiring, wiring and power supply. After use, it needs to be dismantled. The operation is complicated, time-consuming and labor-intensive, with low cost-effectiveness, and it is impossible to obtain real-time verticality during work. Summary of the invention

[0007] The purpose of the present invention is to provide a measuring device and a measuring method for quickly and non-contactly measuring the verticality of a tower body in view of the problems existing in the prior art.

[0008] To achieve the above object, the technical solution adopted by the present invention is:

[0009] A method for quickly and non-contactly measuring the verticality of a tower body comprises the following steps:

[0010] Establish the camera's image coordinate system xoy;

[0011] When the tower crane is in a stationary state, the camera takes a picture of the tower body as a reference picture;

[0012] In the reference image, select the line segment AB parallel to the tower axis of the tower crane, and obtain the pixel (x 1 ,y 1 ) and the pixel (x 2 ,y 2 );

[0013] The tower crane rotates one circle, and the camera takes N pictures of the tower body in the entire rotation process in real time as the target picture;

[0014] According to the mapping relationship between each point (x, y) in the reference image and each point (x′, y′) in the target image, the starting point A′ (x′) of the line segment in each target image is calculated. 1 ′,y 1 ′) and the end point B'(x 2 ′,y 2 ′);

[0015] Calculate the angle θ of the line segment relative to the y-axis in the image coordinate system of the camera;

[0016] Obtain the roll angle β of the camera, and establish the tower body centroid image coordinate system x′-0-y′ relative to the camera image coordinate system;

[0017] Based on the angle θ, calculating the angle Φ of the line segment relative to the gravity direction y′ axis in the tower gravity image coordinate system;

[0018] The verticality of the tower body is calculated to be tanΦ.

[0019] This measurement method can analyze and calculate the grayscale information of digital images (pictures) without the need for manual marking points, effectively reducing the safety risks caused by surveyors' high-altitude operations and greatly improving work efficiency.

[0020] When this measurement method is applied to the verticality measurement of a tower crane, it is only necessary to rotate the measuring device to aim at the object to be measured when the crane is unloaded, and to capture the image of the object during its rotation to obtain the verticality in real time. No cooperative target is required, and there is no need for measurement personnel to work at height. Compared with existing measurement methods, this method has the advantages of safety, convenience, efficiency, real-time, and high precision.

[0021] Furthermore, the line segment AB in the reference diagram is selected based on the structural nodes of the tower body, and the Harris corner point recognition method is used to assist in point selection, so that the line segment AB formed by the selected points A and B is parallel to the tower body axis.

[0022] Furthermore, the starting point A'(x 1 ′,y 1 ′) and the end point B′(x 2 ′,y 2 The calculation method of ′) is as follows:

[0023] The mapping relationship between each point (x, y) in the reference image and each point (x′, y′) in the target image is:

[0024]

[0025] Let p=[u,u x ,u y ,v,v x ,v y ] T ,

[0026] Where u, v are the pixel displacement values ​​of the sub-region center of the reference image in the x and y directions, respectively; (Δx, Δy) is the pixel distance from the point (x′, y′) to the sub-region center (x, y) of the reference image; ux, uy, vx, vy are the pixel displacement gradients of the sub-region of the target image; and P is the deformation parameter vector;

[0027] Normalized least square distance correlation function C for zero mean ZNSSD (p) Taking a partial derivative we get And order By using the inverse combined Gauss-Newton algorithm to optimize and solve, the deformation parameter vector p is obtained:

[0028] Then the deformation parameter vector p and line segment AB are solved at the starting point A (x 1 ,y 1 ) and the end point B(x 2 ,y 2 ) into the above mapping relationship, we can get the starting point A'(x 1 ′,y 1 ′) and the end point B'(x 2 ′,y 2 ′).

[0029] Furthermore, the angle θ is the angle θ of the i-th image in the N target images. i The calculation model is as follows:

[0030]

[0031] In the formula, i represents the i-th image among the N target images collected during one rotation of the tower, (x' i1 , y' i1) is the starting point A of the line segment A'B' in the i-th target image i 'Pixel coordinates, (x' i2 , y' i2 ) is the end point B of line segment A'B' in the i-th target image i 'Pixel coordinates.

[0032] The angle θ is a general term (set). In the process of a tower crane rotating one circle, the line segment AB can be solved to obtain N angles θ corresponding to N target images. i , the calculation model of these angles is the same, the angle θ of the i-th image i It represents a corner in one of the pictures.

[0033] Similarly, the angle Φ of the line segment relative to the y′ axis in the center of gravity direction in the tower body center of gravity image coordinate system is also a general term (set), Φ i is the angle Φ in the i-th image among N target images. In the process of a tower crane rotating one circle, there are N such angles Φ i , and finally the angle Φ is selected i The verticality of the tower is calculated by taking the angle with the maximum value among them.

[0034] Furthermore, the tower body centroid image coordinate system x′-0-y′ is the image coordinate system after the camera image coordinate system xoy is rotated by β around the origin o.

[0035] Furthermore, when solving the angle Φ of the line segment relative to the center of gravity of the tower body, analysis and calculation are performed according to the tilt direction of the tower body approaching or away from the y-axis, and the clockwise or counterclockwise rotation direction of the tower body center of gravity image coordinate system x′-0-y′ around the origin relative to the camera image coordinate system xoy, including the following situations.

[0036] Case 1: The tower is tilted towards the y-axis. The image coordinate system x′-0-y′ of the tower's center of gravity rotates clockwise around the origin o by an angle β relative to the image coordinate system x-0-y of the camera. Then φ i =|θ i |+|β|;

[0037] Case 2: The tower is tilted towards the y-axis. The image coordinate system x′-0-y′ of the tower's center of gravity rotates counterclockwise around the origin o by an angle β relative to the image coordinate system x-0-y of the camera. Then φ i =||θ i |-|β||;

[0038] Case 3: The tower is tilted away from the y-axis. The image coordinate system x′-0-y′ of the center of gravity of the tower rotates clockwise around the origin o by an angle β relative to the image coordinate system x-0-y of the camera. Then φ i=||θ i |-|β||;

[0039] Case 4: The tower is tilted away from the y-axis. The image coordinate system x′-0-y′ of the center of gravity of the tower rotates counterclockwise around the origin o by an angle β relative to the image coordinate system x-0-y of the camera. Then φ i =|θ i |+|β|;

[0040] The verticality of the tower is calculated as tanφ=tan(maxφ i ),

[0041] Among them, Φ i is the angle Φ of the i-th target image among N target images. Whether it rotates clockwise or counterclockwise is determined by the positive or negative value of β. β is a positive angle, which means it rotates counterclockwise; β is a negative angle, which means it rotates clockwise. i means the i-th target image among N target images collected during one rotation of the tower body.

[0042] A measuring device for quickly and non-contactly determining the verticality of a tower body, the measuring device is used in the above-mentioned measuring method for quickly and non-contactly determining the verticality of a tower body, the measuring device comprises a device end and a processing end connected to the device end; the device end comprises a tripod, the tripod is provided with a three-dimensional pan-tilt, the three-dimensional pan-tilt is provided with a camera, and a battery, an angle sensor and a communication module electrically connected to the camera, the camera is used to photograph the tower body, the angle sensor is used to obtain the pitch angle and roll angle of the camera, the communication module is used to connect to the processing end, and the processing end is used to receive and process the angle data and image data of the camera.

[0043] Compared with the prior art, the present invention has the following beneficial effects: 1. The measuring device has a simple structure and is easy to use. It can be used to quickly and non-contactly measure the verticality of the tower body. There is no need for centering and leveling during measurement. The device can be set up and measured immediately. Only one person is required to set up the measuring device and align it with the object to be measured. The device can continuously take clear images of the object to be measured to obtain the verticality of the object to be measured in real time. The operation is convenient and efficient.

[0044] 2. When using this measuring device, there is no need for personnel to climb up to place sensors at different locations, nor is there any need for wiring, wiring, or external power supply. After use, there is no need to remove sensors and lines. It is easy to operate, hassle-free, and has a high cost-effectiveness. In addition, the verticality can be obtained in real time during the measurement process.

[0045] 3. After the measuring equipment is set up, the method for quickly and non-contactly measuring the verticality of the tower body can basically realize the automation of the measuring process without manual intervention, thus improving the product intelligence level and work efficiency;

[0046] 4. This measurement method can analyze and calculate the grayscale information of digital images (pictures) without the need for manual marking points, effectively reducing the safety risks of surveyors performing height operations. Compared with existing measurement methods, it has the advantages of safety, convenience, efficiency, real-time, and high precision. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is an overall schematic diagram of a measuring device for quickly and non-contactly measuring the verticality of a tower body according to the present invention;

[0048] Figure 2 It is a schematic diagram of the use state of a measuring device for quickly and non-contactly measuring the verticality of a tower body according to the present invention;

[0049] Figure 3 It is a schematic diagram of selecting points at structural nodes of the present invention;

[0050] Figure 4 A schematic diagram of a reference image taken by the camera of the present invention;

[0051] Figure 5 A schematic diagram of a target image captured by the camera of the present invention;

[0052] Figure 6 It is a schematic diagram of the situation in which the line segment rotates relative to the center of gravity of the tower body in the present invention;

[0053] Figure 7 The second example is a diagram showing the rotation of the line segment relative to the center of gravity of the tower body in the present invention;

[0054] Figure 8 The third schematic diagram is a case where the line segment rotates relative to the center of gravity of the tower body in the present invention;

[0055] Fig. 9 The fourth example is a diagram showing the situation in which the line segment rotates relative to the center of gravity of the tower body in the present invention;

[0056] Fig.10 This is a schematic diagram of data obtained by measuring an actual tower crane according to the present invention;

[0057] In the picture: 1. Tripod; 2. 3D pan / tilt; 3. Camera; 4. Angle sensor; 5. Battery; 6. Wireless router; 7. Laptop computer. DETAILED DESCRIPTION

[0058] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0059] In the description of the present invention, it should be noted that the directions or positional relationships indicated by terms such as "middle", "upper", "lower", "left", "right", "inside" and "outside" are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0060] like Figure 1 As shown, a measuring device for quickly and non-contactly determining the verticality of a tower body, the measuring device includes a device end and a processing end connected to the device end; the device end includes a tripod 1, a three-dimensional pan-tilt 2 is provided on the tripod 1, a camera 3 is provided on the three-dimensional pan-tilt 2, and a battery 5, an angle sensor 4 and a communication module electrically connected to the camera 3, the camera 3 is used to photograph the tower body, the angle sensor 4 is used to obtain two postures of the camera, such as the pitch angle and the roll angle, the communication module is used to connect to the processing end, and the processing end is used to receive and process the angle data and image data of the camera.

[0061] The measuring device has a simple structure and is easy to use. It can be used to quickly and contactlessly measure the verticality of the tower body. There is no need for centering and leveling during measurement. It can be set up and measured immediately. Only one person is required to set up the measuring device, aim it at the object to be measured, and continuously take clear images of the object to be measured to obtain the verticality of the object to be measured in real time. The operation is convenient and efficient.

[0062] The camera 3 is an industrial camera, which is detachably mounted on the three-dimensional pan-tilt platform 2. Lenses of different focal lengths can be replaced according to actual needs to achieve verticality measurement of the entire or partial tower body, thereby improving the scope of application and applicability of the measuring device. The three-dimensional pan-tilt platform can adjust the posture of the camera in three directions, so that it can better and more accurately shoot tall tower cranes at a certain distance.

[0063] When using this measuring equipment, there is no need for personnel to climb up to place sensors at different locations, nor is there any need for wiring, wiring, and external power supply. After use, there is no need to remove sensors and lines. It is easy to operate, neither troublesome nor laborious, has a high cost-effectiveness, and can obtain verticality in real time during the measurement process.

[0064] Furthermore, the communication module is a wireless router 6, which is connected to the processing end via WiFi; the processing end is an electronic device, such as a high-performance laptop computer 7, including at least one processor, at least one memory and a communication interface, the processor, memory and communication interface communicate with each other, the memory stores program instructions executed by the processor, and the processor calls the program instructions to execute the algorithm.

[0065] The laptop computer 7 can be used to remotely collect and process data, and the battery 5 can power the wireless router 6, the angle sensor 4 and the camera 3. If the three-dimensional gimbal 2 is electric, it can also be powered by the battery and perform remote posture control.

[0066] Combination Figure 2 to Figure 5 As shown, a method for quickly and non-contactly measuring the verticality of a tower body is provided, and the method comprises the following steps:

[0067] Step 1: Set up a measuring device with a camera at a certain distance on one side of the tower crane, and use the three-dimensional pan-tilt platform to adjust the posture of the camera to align with the tower body of the tower crane so that the tower body can be clearly imaged in the center of the camera's screen.

[0068] Step 2: Establish the image coordinate system xoy of the camera, with the upper left corner of the image as the origin o, the x-axis as the horizontal direction, and the y-axis as the vertical direction.

[0069] Step 3: When the tower crane is in a stationary state, the camera takes a picture of the tower body as a reference picture.

[0070] Step 4: In the reference diagram, select a point at the highest attachment point of the tower as the starting point of the line segment A (x 1 ,y 1 ), select a point at the highest point of the tower crane as the end point of the line segment B (x 2 ,y 2 ); select points based on the structural nodes of the tower body or the tower cap, and use the Harris corner point recognition method to assist in point selection so that the line segment AB formed by the selected points A and B is parallel to the tower body axis, that is, parallel to the center of gravity of the tower body.

[0071] Step 5: The tower crane rotates one circle, and the camera takes N pictures of the entire rotation process in real time as target pictures.

[0072] Step 6: According to the mapping relationship between each point (x, y) in the reference image and each point (x′, y′) in the target image, the zero-mean normalized least square distance correlation function C ZNSSD (p) Taking a partial derivative we get And order By using the reverse combined Gauss-Newton algorithm to optimize and solve, the deformation parameter vector p is obtained, and the starting point A'(x 1 ′,y 1 ′) and the end point B'(x 2 ′,y 2 ′);

[0073] The mapping relationship between each point (x, y) in the reference image and each point (x′, y′) in the target image is:

[0074]

[0075] Let p=[u,u x ,u y ,v,v x ,v y ] T ,,

[0076] Where u, v are the pixel displacement values ​​of the sub-region center of the reference image in the x and y directions respectively, (Δx, Δy) is the pixel distance from the point (x′, y′) to the sub-region center (x, y) of the reference image, and ux, uy, vx, vy are the pixel displacement gradients of the sub-region of the target image.

[0077] Step 7: Obtain the roll angle β of the camera and establish the tower body centroid image coordinate system x′-0-y′ relative to the camera image coordinate system;

[0078] Step 8: Calculate the angle θ of the line segment relative to the y′ axis in the tower body centroid image coordinate system. The angle θ of the i-th image in the N target images is i ;

[0079]

[0080] In the formula, i represents the i-th image among the N target images collected during one rotation of the tower, (x' i1 , y' i1 ) is the starting point A of the line segment A'B' in the i-th target image i 'Pixel coordinates, (x' i2 , y' i2 ) is the end point B of line segment A'B' in the i-th target image i 'Pixel coordinates.

[0081] Step 9: Based on the angle θ, calculate the angle Φ of the line segment relative to the center of gravity of the tower body; analyze and calculate according to the inclination direction of the tower body close to or away from the y-axis, and the clockwise or counterclockwise rotation direction of the tower body center of gravity image coordinate system x′-0-y′ relative to the camera image coordinate system xoy around the origin, combined with Figure 6 to Figure 9 As shown, it includes the following situations.

[0082] Case 1: The tower leans towards the y-axis (the tower leans left x 1 ′>x 2′), the tower body centroid image coordinate system x′-0-y′ rotates clockwise around the origin o by an angle β relative to the camera image coordinate system x-0-y, then φ i =|θ i |+|β|;

[0083] Case 2: The tower leans towards the y-axis (the tower leans left x 1 ′>x 2 ′), the tower body centroid image coordinate system x′-0-y′ rotates counterclockwise around the origin o by an angle β relative to the camera image coordinate system x-0-y, then φ i =||θ i |-|β||;

[0084] Case 3: The tower body tilts away from the y-axis (the tower body tilts right x 1 ′<x 2 ′), the tower body centroid image coordinate system x′-0-y′ rotates clockwise around the origin o by an angle β relative to the camera image coordinate system x-0-y, then φ i =||θ i |-|β||;

[0085] Case 4: The tower body tilts away from the y-axis (the tower body tilts right x 1 ′<x 2 ′), the tower body centroid image coordinate system x′-0-y′ rotates counterclockwise around the origin o by an angle β relative to the camera image coordinate system x-0-y, then φ i =|θ i |+|β|;

[0086] Among them, Φ i is the angle Φ of the i-th image among N target images, β can be obtained by the angle sensor, and clockwise rotation or counterclockwise rotation is determined by the positive or negative value of β. β is a positive angle, which is counterclockwise; β is a negative angle, which is clockwise.

[0087] Step 9: Calculate the verticality of the tower as tanφ=tan(maxφ i ).

[0088] After the measuring equipment is set up, the method for quickly and non-contactly measuring the verticality of the tower body can basically realize the automation of the measuring process without the need for human intervention, thereby improving the intelligence level of the product.

[0089] This measurement method can analyze and calculate the grayscale information of digital images (pictures) without the need for manual marking points, effectively reducing the safety risks caused by surveyors' high-altitude operations and greatly improving work efficiency.

[0090] When this measurement method is applied to the verticality measurement of a tower crane, it is only necessary to rotate the measuring device to aim at the object to be measured when the crane is unloaded, and to capture the image of the object during its rotation to obtain the verticality in real time. No cooperative target is required, and there is no need for measurement personnel to work at height. Compared with existing measurement methods, this method has the advantages of safety, convenience, efficiency, real-time, and high precision.

[0091] The following is a detailed description from two aspects: indoor accuracy verification and outdoor actual tower crane measurement.

[0092] Implementation case 1: Conduct accuracy verification test indoors.

[0093] The present invention is applied to the angle accuracy measurement of the tilt. According to the measurement method provided by the present invention, the measurement process is as follows:

[0094] (1) A tilt sensor with an accuracy of 0.005° and two cross markers are fixed on the cross beam, and the cross beam is fixed on a tripod, with the tilt sensor located in the middle and the two cross markers respectively set at both ends.

[0095] (2) The measuring device is set up at a distance of 33.5 m from the inclination sensor.

[0096] (3) Adjust the aperture of the camera and focus it so that the two cross marks on the beam are clearly imaged, and one cross mark is used as the starting point of the line segment, and the other cross mark is used as the end point of the line segment. The test makes the inclination sensor tilt 0.945°, 2.243°, 5.033°, 10.098°, 15.144° and 19.830° respectively, and uses the measurement device and method to measure its inclination angle in real time. Each inclination is measured 7 times continuously. The specific measurement results are shown in Table 1.

[0097] It can be clearly seen from the measurement results that the maximum indication error is 0.101°, which meets the verticality requirement of four thousandths (0.229°) in Article 5.2.3, Item i of "Tower Crane" (GBT5031-2008). This shows that the method of the present invention is capable of verticality measurement on the one hand, and the measurement results are accurate on the other hand.

[0098] Table 1 Continuous measurement results of inclination

[0099]

[0100] Implementation case 2: Conducting measurement tests off-site.

[0101] The measuring device of the present invention is used to detect the verticality of the tower body above the highest attachment point of a tower crane in an attached state at a construction site. According to the measuring method provided by the present invention, the measuring process is as follows:

[0102] (1) The measuring equipment is installed at a distance of about 300 m from the tower crane.

[0103] (2) Using the three-dimensional gimbal, the camera posture is adjusted to align with the tower body, and the tower body is clearly imaged in the center of the camera screen.

[0104] (3) Figure 3 As shown, a tower body structural node (or structural hinge point) 1 is selected near the highest attachment point of the tower body as the starting point of the line segment, and a structural node (or structural hinge point) 2 is selected near the highest point of the tower body as the end point of the line segment.

[0105] (4) The tower crane is operated in a process of being empty, loaded, rotating one circle in a certain direction, and unloading. The camera is simultaneously used to record images of the entire operation process in real time, and the method of the present invention is used to calculate and analyze the images in real time, thereby obtaining the angle changes in the entire process in real time.

[0106] (5) Combination Fig.10 As shown, when the tower crane rotates one circle, there will be two situations where the cantilever frame is parallel to the camera screen, and two maximum angles will be generated at this time. The tangent value of the maximum angle of 0.32039° is the verticality of the tower crane, which is 0.00559. The initial spatial position of the crane is in a random state relative to the camera coordinate system, and the camera coordinate system is in a two-dimensional state, and the verticality of the camera depth direction (perpendicular to the camera coordinate system direction) cannot be measured. Generally speaking, the verticality of the crane during the rotation process is a fixed value, so the crane needs to rotate one circle. When the plane where the crane arm and the tower body are located is parallel to the plane where the camera image coordinate system is located, the measured angle is the true verticality of the tower body, and the angle at this moment is the largest. From the measurement results, the measurement method of the present invention can fully reflect the change of the verticality of the tower crane during operation, and this feature is reflected in the angle change curve obtained by real-time calculation. Implementation Case 2 not only proves the feasibility of the measurement method of the present invention, but also reflects the reliability and correctness of the measurement method, as well as its convenience.

[0107] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for quickly and contactlessly measuring the verticality of a tower, characterized in that: The measuring method comprises the following steps: Establish the camera's image coordinate system xoy; When the tower crane is in a stationary state, the camera takes a picture of the tower body as a reference picture; In the reference image, a line segment AB parallel to the tower axis of the tower crane is selected to obtain the pixel (x1, y1) of the starting point A of the line segment in the reference image and the pixel (x2, y2) of the end point B of the line segment in the reference image; The tower crane rotates one circle, and the camera takes N pictures of the tower body in the entire rotation process in real time as the target picture; According to the mapping relationship between each point (x, y) in the reference image and each point (x′, y′) in the target image, the starting point A′(x1′, y1′) and the end point B′(x2′, y2′) of the line segment in each target image are calculated; Calculate the angle θ of the line segment relative to the y-axis in the image coordinate system of the camera; Obtain the roll angle β of the camera, and establish the tower body centroid image coordinate system x′-0-y′ relative to the camera image coordinate system; Based on the angle θ, calculate the angle Φ of the line segment relative to the centroid direction y′ axis in the tower body centroid image coordinate system; The verticality of the tower body is calculated to be tanΦ.

2. The method for quickly and contactlessly measuring the verticality of a tower body according to claim 1 is characterized in that: The AB line segment in the reference diagram is selected based on the structural nodes of the tower body. Harris corner point recognition method is used to assist in point selection so that the line segment AB formed by the selected points A and B is parallel to the tower body axis.

3. The method for quickly and non-contactly measuring the verticality of a tower body according to claim 1 is characterized in that: The calculation method of the starting point A'(x1', y1') and the end point B'(x2', y2') in the target graph is as follows: The mapping relationship between each point (x, y) in the reference image and each point (x′, y′) in the target image is: Let p = [u, u x , u y , v, v x , v y T ,​ Where u and v are the pixel displacement values ​​of the sub-region center of the reference image in the x and y directions, respectively; (Δx, Δy) is the pixel distance from point (x′, y′) to the sub-region center (x, y) of the reference image; and u x ,u y , v x , v y is the pixel displacement gradient of the sub-area of ​​the target image, and P is the deformation parameter vector; Normalized least square distance correlation function C for zero mean ZNSSD (p) Taking a partial derivative we get And order By using the reverse combined Gauss-Newton algorithm to optimize and solve, the deformation parameter vector p is obtained; Then substitute the solved deformation parameter vector p and the starting point A(x1, y1) and end point B(x2, y2) of the line segment AB in the reference graph into the above mapping relationship to obtain the starting point A'(x1′, y1′) and end point B'(x2′, y2′) of the line segment AB in the target graph.

4. The method for quickly and contactlessly measuring the verticality of a tower body according to claim 1 is characterized in that: The angle θ is the angle θ of the i-th image in N target images. i The calculation model is as follows: In the formula, i represents the i-th image among the N target images collected during one rotation of the tower, (x' i1 , y' i1 ) is the starting point A of the line segment A'B' in the i-th target image i 'Pixel coordinates, (x' i2 , y' i2 ) is the end point B of line segment A'B' in the i-th target image i 'Pixel coordinates.

5. The method for quickly and contactlessly measuring the verticality of a tower body according to claim 1 is characterized in that: The tower body centroid image coordinate system x′-0-y′ is the image coordinate system after the camera image coordinate system xoy is rotated by β around the origin o.

6. The method for quickly and contactlessly measuring the verticality of a tower body according to claim 1 is characterized in that: When solving the angle Φ of the line segment relative to the center of gravity of the tower body, analysis and calculation are performed according to the tilt direction of the tower body approaching or away from the y-axis, and the clockwise or counterclockwise rotation direction of the tower body center of gravity image coordinate system x′-0-y′ around the origin relative to the camera image coordinate system xoy.

7. The method for quickly and contactlessly measuring the verticality of a tower body according to claim 6 is characterized in that: Case 1: The tower is tilted towards the y-axis. The image coordinate system x′-0-y′ of the tower's center of gravity rotates clockwise around the origin o by an angle β relative to the image coordinate system x-0-y of the camera. Then φ i =|θ i |+|β|; Case 2: The tower is tilted towards the y-axis. The image coordinate system x′-0-y′ of the tower's center of gravity rotates counterclockwise around the origin o by an angle β relative to the image coordinate system x-0-y of the camera. Then φ i =||θ i |-|β||; Case 3: The tower is tilted away from the y-axis. The image coordinate system x′-0-y′ of the center of gravity of the tower rotates clockwise around the origin o by an angle β relative to the image coordinate system x-0-y of the camera. Then φ i =||θ i |-|β||; Case 4: The tower is tilted away from the y-axis. The image coordinate system x′-0-y′ of the tower's center of gravity rotates counterclockwise around the origin o by an angle β relative to the image coordinate system x-0-y of the camera. Then φ i =|θ i |+|β|; The verticality of the tower is calculated as tanφ=tan(maxφ i ), Among them, Φ i is the angle Φ of the i-th image among the N target images. Whether it rotates clockwise or counterclockwise is determined by the positive or negative value of β. If β is a positive angle, it is counterclockwise; if β is a negative angle, it is clockwise.

8. A measuring device for rapid non-contact determination of the verticality of a tower, characterized in that: The measuring device is used for the measuring method for quickly and non-contactly determining the verticality of the tower body as described in any one of claims 1 to 7, and the measuring device includes a device end and a processing end connected to the device end; the device end includes a tripod, the tripod is provided with a three-dimensional pan-tilt, the three-dimensional pan-tilt is provided with a camera, and a battery, an angle sensor and a communication module electrically connected to the camera, the camera is used to take an image of the tower body, the angle sensor is used to obtain the roll angle β of the camera, the communication module is used to connect to the processing end, the processing end is used to receive and process the angle data and image data of the camera, and execute the measuring method described in any one of claims 1 to 7.

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