A fast non-contact measurement method for tower verticality

Abstract

The present invention discloses a method for rapidly and non-contactly measuring the verticality of a tower body. The method comprises: mounting a measuring device equipped with a camera on the side of a tower crane so that the tower body is clearly imaged in the camera's image; taking a picture of the tower body as a reference image; establishing an x-o-y image coordinate system for the tower crane; selecting the starting and ending points of a line segment in the reference image, rotating the image in a circle, and obtaining a target image; calculating the angle of the line segment relative to the y-axis in the image coordinate system, and calculating the angle of the line segment relative to the center of gravity of the tower body to calculate the verticality of the tower body. This method can analyze and calculate the grayscale information of a digital image without the need for manual marking points, effectively reducing the safety risks associated with surveyors performing height-based operations and significantly improving work efficiency.

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 frequently used in high-rise building construction, and tower verticality is a key safety metric for lifting equipment. According to Article 5.2.4, Paragraph i, of the "Tower Crane" standard (GB / T 5031-2019), the lateral verticality error of the axis of the tower in its free-standing state (the tower above the highest attachment point in its attached state) must not exceed 0.4%. Currently, the following four methods are commonly used to measure tower crane verticality.

[0003] (1) Hanging wire measurement method: During measurement, the tower crane needs to remain unloaded and stationary to ensure that the measurement personnel 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 hanging wire, 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 place 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: It 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 inclination sensor has very high accuracy, it requires personnel to climb up and place the sensor at different locations before measurement. It also requires wiring, wiring and power supply. It also needs to be dismantled after use. The operation is complicated, time-consuming and labor-intensive, with low cost-effectiveness, and it is impossible to obtain the real-time verticality during operation. 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, a line segment AB parallel to the tower axis of the tower crane is selected, and 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 are obtained;

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

[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' (x1′, y1′) and the end point B' (x2′, y2′) of the line segment in each target image are calculated;

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

[0016] Obtain the roll angle β of the camera and establish the tower body center of gravity 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 body gravity image coordinate system;

[0018] The verticality of the tower body is calculated as 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 tower cranes, it is only necessary to rotate the measuring equipment with the object to be measured when the crane is unloaded, and capture the image of the object during 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 axis of the tower body.

[0022] Furthermore, the starting point A' (x1', y1') and the end point B' (x2', y2') in the target graph are calculated 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] make ,

[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; (∆x, ∆y) is the pixel distance from 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) Take a partial derivative to get sC ZNSSD (p), and let sC ZNSSD (p)=0, and the deformation parameter vector p is obtained by optimizing the solution using the reverse combined Gauss-Newton algorithm:

[0028] 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 image 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 image.

[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] Where i represents the i-th target image among the N target images collected during one rotation of the tower. is the starting point A of the line segment A'B' in the i-th target image i 'Pixel coordinates, 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). During one rotation of the tower crane, 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 picture i It represents the corner of one of the pictures.

[0033] Similarly, the angle Φ of the line segment relative to the y′ axis in the center of gravity image coordinate system of the tower body is also a general term (set), Φ i is the angle Φ in the i-th image among N target images. During one rotation of the tower crane, 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.

[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′ relative to the camera image coordinate system xoy around the origin, including the following situations.

[0036] Case 1: The tower body is tilted towards the y-axis. The image coordinate system x′-0-y′ of the tower body'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 ;

[0037] Case 2: The tower body is tilted towards the y-axis. The image coordinate system x′-0-y′ of the tower body'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 ;

[0038] Case 3: The tower body tilts away from the y-axis. The image coordinate system x′-0-y′ of the tower body'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 ;

[0039] Case 4: The tower body tilts away from the y-axis. The image coordinate system x′-0-y′ of the tower body'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 ;

[0040] Calculate the verticality of the tower body as ,

[0041] Among them, Φ i is the angle Φ in the i-th target image among N target images. Whether the rotation is 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. i represents 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 being used in the above-mentioned method for quickly and non-contactly determining the verticality of a tower body, comprising a device end and a processing end connected to the device end; the device end comprising a tripod, the tripod being provided with a three-dimensional pan-tilt platform, the three-dimensional pan-tilt platform being provided with a camera, and a battery, an angle sensor, and a communication module electrically connected to the camera, the camera being used to photograph the tower body, the angle sensor being used to obtain the pitch angle and roll angle of the camera, the communication module being used to connect to the processing end, and the processing end being used to receive and process angle data and image data from the camera.

[0043] Compared with the prior art, the present invention has the following advantages: 1. The measuring device has a simple structure and is easy to use. It can be used for rapid non-contact measurement of the verticality of the tower body. No centering or leveling is required during measurement. The device can be set up and measured immediately. Only one person is required to set up the measuring device, align it with the object to be measured, and continuously capture 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 high to lay out sensors at different locations, nor is there any need for wiring, cabling, or external power supply. After use, there is no need to remove the sensors and wiring. 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, this method for quickly and non-contactly measuring the verticality of the tower body can basically realize the automation of the measurement process without manual intervention, thereby 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 caused by surveyors' high-altitude 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 This 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 This is a schematic diagram of a measuring device for quickly and non-contactly measuring the verticality of a tower body in use according to the present invention;

[0049] Figure 3 This is a schematic diagram of point selection at a structural node of the present invention;

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

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

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

[0054] Figure 8 This is a third example of the situation in which the line segment rotates relative to the center of gravity of the tower body in the present invention;

[0055] Figure 9 This is a fourth example of the situation in which the line segment rotates relative to the center of gravity of the tower body in the present invention;

[0056] Figure 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 following will clearly and completely describe the technical solution of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0059] In the description of the present invention, it should be noted that the terms "middle", "upper", "lower", "left", "right", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the present invention.

[0060] like Figure 1As shown, a measuring device for quickly and non-contactly determining the verticality of a tower body is provided. The measuring device includes a device end and a processing end connected to the device end. The device end includes a tripod 1, on which a three-dimensional pan-tilt head 2 is provided. The three-dimensional pan-tilt head 2 is provided with a camera 3, 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, and 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 for fast non-contact measurement of 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] Camera 3 is an industrial camera, detachably mounted on the 3D pan-tilt platform 2. Lenses of varying focal lengths can be interchanged as needed to measure verticality across the entire tower or a portion of it, thus increasing the applicability and versatility of the measurement device. The 3D pan-tilt platform can adjust the camera's posture in three directions, enabling better and more accurate photography of tall tower cranes at a distance.

[0063] 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, cabling, and external power supply. After use, there is no need to remove the sensors and lines. It is easy to operate, neither troublesome nor laborious, and has a high cost-effectiveness. In addition, the verticality can be obtained 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, and 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 pan-tilt head 2 is electric, it can also be powered by the battery and remote posture control can be performed.

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

[0067] Step 1: Set up a measuring device with a camera at a certain distance on one side of a tower crane, and use the three-dimensional pan-tilt platform to adjust the posture of the camera to align with the tower crane so that the tower 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 body as the starting point A (x1, y1) of the line segment, and select a point at the highest point of the tower crane as the end point B (x2, y2) of the line segment; select points based on the structural nodes of the tower body or 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 images.

[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) Take a partial derivative to get sC ZNSSD (p), and let sC ZNSSD (p)=0, the deformation parameter vector p is obtained by optimizing and solving using the reverse combined Gauss-Newton algorithm, and the starting point A'(x1', y1') and the end point B'(x2', y2') of the line segment in each target image are calculated;

[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] make ,,

[0076] 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; (∆x, ∆y) is the pixel distance from point (x′, y′) to the sub-region center (x, y) of the reference image; ux, uy, vx, and 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 center of gravity 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] Where i represents the i-th target image among the N target images collected during one rotation of the tower. is the starting point A of the line segment A'B' in the i-th target image i 'Pixel coordinates, 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 tilt 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 Figures 6 to 9 As shown, it includes the following situations.

[0082] Case 1: The tower leans towards the y-axis (the tower leans left x1′>x2′), and the tower's centroid image coordinate system x′-0-y′ rotates clockwise around the origin o by an angle β relative to the camera's image coordinate system x-0-y. ;

[0083] Case 2: The tower leans towards the y-axis (the tower leans left x1′>x2′), and the tower's centroid image coordinate system x′-0-y′ rotates counterclockwise around the origin o by an angle β relative to the camera's image coordinate system x-0-y. ;

[0084] Case 3: The tower body is tilted away from the y-axis (the tower body is tilted to the right x1′<x2′), and the image coordinate system x′-0-y′ of the tower body's center of gravity is rotated clockwise around the origin o by an angle β relative to the image coordinate system x-0-y of the camera. Then ;

[0085] Case 4: The tower body tilts away from the y-axis (the tower body tilts to the right x1′<x2′), and the tower body's centroid image coordinate system x′-0-y′ rotates counterclockwise around the origin o by an angle β relative to the camera's image coordinate system x-0-y. ;

[0086] Among them, Φ i is the angle Φ of the i-th image in N target images, β can be obtained by the angle sensor, and clockwise or counterclockwise rotation 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.

[0087] Step 9: Calculate the verticality of the tower body as .

[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 tower cranes, it is only necessary to rotate the measuring equipment with the object to be measured when the crane is unloaded, and capture the image of the object during 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: Conducting accuracy verification test indoors.

[0093] The present invention is applied to the measurement of the angle accuracy 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 beam, and the beam is fixed on a tripod, with the tilt sensor located in the middle and the two cross markers set at both ends.

[0095] (2) The measuring device is set up 33.5 m away 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. 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 tilt sensor is tilted by 0.945°, 2.243°, 5.033°, 10.098°, 15.144°, and 19.830°, respectively. The tilt angle is measured in real time using the measuring device and method. Each tilt angle is measured seven 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 requirement of verticality of 0.229° in Article 5.2.3, Clause i of "Tower Cranes" (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 set up about 300 m away from the tower crane.

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

[0104] (3) If Figure 3 As shown, a structural node (or structural hinge point) 1 of the tower body 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 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 during the entire process in real time.

[0106] (5) Combination Figure 10As shown, during one rotation of the tower crane, the boom becomes parallel to the camera image twice, resulting in two maximum angles. The tangent of this maximum angle, 0.32039°, is the tower crane's verticality of 0.00559. The crane's initial spatial position relative to the camera coordinate system is random, and the camera coordinate system is two-dimensional, making it impossible to measure verticality in the camera's depth direction (perpendicular to the camera coordinate system). Generally speaking, verticality during a crane's rotation is a constant. Therefore, the crane needs to rotate once. When the plane containing the boom and tower is parallel to the plane containing the camera image coordinate system, the measured angle represents the tower's true verticality, and this angle is at its maximum. The measurement results show that the measurement method of the present invention can fully reflect the changes in the tower crane's verticality during operation, a feature reflected in the angle change curve calculated in real time. Example 2 demonstrates not only the feasibility of the measurement method of the present invention but also its reliability, accuracy, and convenience.

[0107] While 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 these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A method for quickly and non-contactly measuring the verticality of a tower body, 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 crane as a reference picture; In the reference image, a line segment AB parallel to the tower axis of the tower crane is selected, and 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 are obtained; The tower crane rotates one circle, and the camera takes N pictures of the tower body during the entire rotation process in real time as target pictures; Based on 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 as follows: The mapping relationship between each point (x, y) in the reference image and each point (x′, y′) in the target image is: ， make , Where u, v are the pixel displacement values ​​of the sub-region center of the reference image in the x and y directions, respectively; (∆x, ∆y) is the pixel distance from 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. Normalized least square distance correlation function C for zero mean ZNSSD (p) Take a partial derivative to get s CZNSSD (p), and let sC ZNSSD (p)=0, the deformation parameter vector p is obtained by optimizing and solving using the reverse combined Gauss-Newton algorithm; 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. Calculate the angle θ of the line segment relative to the y-axis in the camera's image coordinate system; Obtain the roll angle β of the camera and establish the tower body center of gravity image coordinate system x′-0-y′ relative to the camera image coordinate system; Based on the angle θ, calculating the angle Φ of the line segment relative to the gravity direction y′ axis in the tower body gravity image coordinate system; The verticality of the tower body is calculated as tanΦ.

2. The method for quickly and non-contactly measuring the verticality of a tower body according to claim 1, 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, 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: ， Where i represents the i-th target image among the N target images collected during one rotation of the tower. is the starting point A of the line segment A'B' in the i-th target image i 'Pixel coordinates, is the end point B of line segment A'B' in the i-th target image i 'Pixel coordinates.

4. The method for quickly and non-contactly measuring the verticality of a tower body according to claim 1, 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.

5. The method for quickly and non-contactly measuring the verticality of a tower body according to claim 1, 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′ relative to the camera image coordinate system xoy around the origin.

6. The method for quickly and non-contactly measuring the verticality of a tower body according to claim 5, characterized in that: Case 1: The tower body is tilted towards the y-axis. The image coordinate system x′-0-y′ of the tower body'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 ; Case 2: The tower body is tilted towards the y-axis. The image coordinate system x′-0-y′ of the tower body'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 ; Case 3: The tower body tilts away from the y-axis. The image coordinate system x′-0-y′ of the tower body'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 ; Case 4: The tower body tilts away from the y-axis. The image coordinate system x′-0-y′ of the tower body'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 ; Calculate the verticality of the tower body as , Among them, Φ i The angle Φ is the angle of the i-th image in the N target images. Whether the rotation is 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.

Images