Transmission tower state monitoring method and device and medium

Abstract

The invention discloses a state monitoring method and device for a power transmission tower and a medium, and the method comprises the steps: determining an initial state of the tower, and determining an initial acceleration corresponding to the initial state; acquiring image data of the tower through a camera mounted on the tower, and determining real-time acceleration according to the image data; and comparing the initial acceleration with the real-time acceleration to obtain difference data, judging the change condition of the tower according to the difference data, and determining the vibration condition of the tower according to the change condition. According to the invention, image monitoring and data analysis are carried out on the tower from the mounting position from top to bottom, so that real-time monitoring of the state of the tower is realized, the workload of line patrol personnel is reduced, and the monitoring efficiency is higher; the X-axis acceleration, the Y-axis acceleration and the Z-axis acceleration of the tower are detected through the three-axis acceleration sensor, the vibration condition of the transmission tower affected by external force is judged, the inclination angle of the tower is measured, the machining precision and the installation difficulty of the installation support are reduced, and the comprehensive cost of equipment is reduced.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to a method, device and medium for monitoring the condition of power transmission towers. Background Technology

[0002] Power transmission safety is an important guarantee for national security, social stability, and people's lives. Overhead power transmission is an important method of power transmission. Both overhead lines and overhead line towers are built directly on the ground and exposed outdoors. The condition of overhead line towers plays a crucial role in ensuring the safety of power transmission lines.

[0003] Different regions have diverse geological types, and transmission line towers need to be built on various geological structures. In addition, transmission lines may also pass through mining subsidence areas. When monitoring the condition of transmission towers in real time in these geologically unstable areas, it is often impossible to detect unhealthy conditions of the towers in a timely manner, thus failing to eliminate potential safety hazards to the transmission lines in a timely manner. Summary of the Invention

[0004] To address the aforementioned issues, this application proposes a method for monitoring the condition of transmission towers, comprising: determining the initial state of the tower and determining the initial acceleration corresponding to the initial state; acquiring image data of the tower using a camera installed on the tower, and determining real-time acceleration based on the image data; comparing the real-time acceleration with the initial acceleration to obtain difference data, judging the changes in the tower based on the difference data, and determining the vibration of the tower based on the changes.

[0005] In one example, image analysis is performed on the image data to determine the vibration signal of the tower, and a three-axis acceleration is determined based on the vibration signal; a three-axis displacement is calculated based on the three-axis acceleration, wherein the three-axis acceleration includes x-axis acceleration, y-axis acceleration, and z-axis acceleration, and the three-axis displacement includes x-axis displacement, y-axis displacement, and z-axis displacement; an adjustment direction is determined based on the three-axis displacement, and the position of the camera is adjusted according to the adjustment direction and the three-axis displacement to cancel out the vibration signal.

[0006] In one example, the method further includes: calculating the spatial angle of the tower based on the initial acceleration to obtain the initial angle of the tower, wherein the formula for calculating the spatial angle is:

[0007]

[0008] Wherein, α is the spatial angle, x is the X-axis acceleration of the initial acceleration, y is the Y-axis acceleration of the initial acceleration, z is the Z-axis acceleration of the initial acceleration, and g is the gravitational acceleration.

[0009] In one example, before obtaining the initial angle of the tower, the method further includes: performing a relational verification on the initial acceleration, wherein the relational verification formula is:

[0010] x 2 +y 2 +z 2 =g 2

[0011] If the initial acceleration conforms to the relationship, then the spatial angle is calculated based on the initial acceleration.

[0012] In one example, before acquiring image data of the pole using a camera installed on the pole, the method further includes: taking a picture of the pole using the camera to obtain image data, comparing the image data with the initial state to determine the tilt state of the pole; and determining the sampling frequency of the accelerometer installed on the pole based on the tilt state.

[0013] In one example, comparing the real-time acceleration with the initial acceleration specifically includes: acquiring multiple sets of acceleration data of the tower using the acceleration sensor according to the sampling frequency; performing triaxial decomposition on the multiple sets of acceleration data to obtain multiple sets of real-time acceleration; and comparing the multiple sets of real-time acceleration with the initial acceleration to obtain multiple sets of difference data.

[0014] In one example, determining the changes in the tower and identifying its vibration status based on those changes specifically includes: analyzing multiple sets of differential data; if the values ​​corresponding to the multiple sets of differential data are different, then determining that the tower is vibrating; if the values ​​corresponding to the multiple sets of differential data are the same, then determining that the tower is not vibrating.

[0015] In one example, after determining that the tower has not vibrated, the method further includes: verifying the relationship between the real-time acceleration and the initial acceleration; if the relationship verification of the initial acceleration passes, determining the real-time angle of the tower based on the real-time acceleration; determining the initial angle corresponding to the initial acceleration; and determining the tilt angle based on the real-time angle and the initial angle.

[0016] On the other hand, this application also proposes a condition monitoring device for transmission towers, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the condition monitoring device for transmission towers to perform: determining an initial state of the tower and determining an initial acceleration corresponding to the initial state; acquiring image data of the tower through a camera installed on the tower, and determining real-time acceleration based on the image data; comparing the real-time acceleration with the initial acceleration to obtain difference data, judging the changes in the tower based on the difference data, and determining the vibration of the tower based on the changes.

[0017] On the other hand, this application also proposes a non-volatile computer storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured to: determine the initial state of the tower and determine the initial acceleration corresponding to the initial state; acquire image data of the tower through a camera installed on the tower, and determine the real-time acceleration based on the image data; compare the real-time acceleration with the initial acceleration to obtain difference data, determine the changes in the tower based on the difference data, and determine the vibration of the tower based on the changes.

[0018] This application enables real-time monitoring of the tower's status by performing image monitoring and data analysis from the installation location from top to bottom, reducing the workload of patrol personnel and improving monitoring efficiency. Furthermore, this application uses a three-axis accelerometer to detect the X, Y, and Z-axis acceleration of the tower, determining the vibration caused by external forces and measuring the tower's tilt angle. This reduces the processing precision and installation difficulty of the mounting bracket, thereby lowering the overall equipment cost. Attached Figure Description

[0019] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0020] Figure 1 This is a flowchart illustrating a method for monitoring the condition of a transmission tower according to an embodiment of this application;

[0021] Figure 2 This is a schematic diagram of the tilt state of the transmission tower in the embodiments of this application;

[0022] Figure 3 This is a schematic diagram of a status monitoring device for a power transmission tower according to an embodiment of this application. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0025] like Figure 1 As shown, in order to solve the above problems, this application provides a method for monitoring the condition of transmission towers, the method including:

[0026] S101. Determine the initial state of the tower and determine the initial acceleration corresponding to the initial state.

[0027] Before installing the transmission tower, a camera is installed at the top of the tower to monitor it from above. In addition, a 4G wireless communication module is installed on the tower to transmit photos or videos captured by the camera to a backend server for data analysis. The transmission tower is also equipped with a three-axis accelerometer that can detect acceleration along the X, Y, and Z axes. When the device is stationary, the acceleration values ​​of the X, Y, and Z axes remain constant. If the acceleration value of any one of the three axes changes, it is determined that the transmission tower is vibrating due to external forces. The camera, accelerometer, and communication module are the monitoring devices used to monitor the tower's condition.

[0028] After the monitoring equipment is powered on, it takes pictures of the tower from top to bottom using a downward-facing camera at the installation location, and transmits the tower photos to the server as the initial photos of the tower's initial state.

[0029] In one embodiment, when the tower tilt is measured for the first time, the tower detection device in the initial installation state is always subjected to a gravitational acceleration of 1g due to the effect of gravitational acceleration. In three-dimensional space, gravitational acceleration can be decomposed into three axes: X, Y, and Z. The acceleration data can be measured by the acceleration sensor and decomposed into three-axis accelerations: X, Y, and Z, i.e., the initial acceleration.

[0030] In one embodiment, the tower itself is exposed outdoors and is easily affected by the environment. Therefore, a relationship verification algorithm is added to filter out abnormal data. After obtaining the triaxial acceleration, the relationship of the triaxial acceleration is verified. The relationship verification formula is as follows:

[0031] x 2 +y2 +z 2 =g 2

[0032] Where x is the X-axis acceleration of the initial acceleration, y is the Y-axis acceleration of the initial acceleration, z is the Z-axis acceleration of the initial acceleration, and g is the gravitational acceleration.

[0033] If the initial acceleration conforms to the above formula, the initial spatial angle of the tower is further calculated based on the initial acceleration. If the initial acceleration does not conform to the above formula, the acceleration data is determined to be invalid and no angle calculation is performed.

[0034] In one embodiment, the spatial angle along the Z-axis can be calculated by inverse trigonometric functions. The formula for calculating this spatial angle is as follows:

[0035]

[0036] Where α is the spatial angle. Substituting the initial acceleration into the above spatial angle calculation formula, the initial angle α1 of the tower is obtained. The initial angle α1 is stored in the server memory.

[0037] In one embodiment, when the server calculates the tower tilt angle according to the formula, it needs to perform inverse trigonometric function calculations, requiring the MCU to have strong computing capabilities. In this embodiment, the MCU can replace the inverse trigonometric function calculation with a lookup table method. That is, the tangent value of α is pre-calculated and stored inside the MCU, forming a correspondence table between the tangent value and the angle. When calculating the angle, only the tangent value needs to be calculated. The value of tanα is found by looking up a table to find the closest value, and the corresponding α is the tilt angle of the corresponding tower. Using the table lookup method avoids inverse trigonometric function calculations, simplifies the calculation complexity, saves computation time, and reduces the requirements for equipment hardware.

[0038] If the tilt angle to be measured is α∈[0°, 180°], by utilizing the interrelationships between tangent functions, it is only necessary to store the tangent value table within α∈[0°, 45°] to obtain all the tangent table values ​​from 0° to 180°, which can save MCU storage space.

[0039] S102. Collect image data of the pole using a camera installed on the pole, and determine the real-time acceleration based on the image data.

[0040] The monitoring equipment is activated, and the camera periodically captures images, i.e., video data. These images are then uploaded to the server. The server compares the uploaded images with the initial images. If a significant change in the tower's tilt is detected in the uploaded images, the server sends a command to the device to increase the tilt angle sampling frequency. The accelerometer then increases its acceleration sampling frequency, and the tower's real-time acceleration is obtained based on this increased sampling frequency.

[0041] In one embodiment, the camera captures images of the tower to obtain image data, and compares this image data with initial photographic data to determine the tower's tilt state. Figure 2 As shown, this indicates that the tower is tilted. A pre-set sampling frequency rule is established: when there is no tilt, the accelerometer operates in low-frequency sampling mode; when tilt occurs, the accelerometer operates in high-frequency sampling mode. The corresponding frequencies for low-frequency and high-frequency sampling modes can be set based on experimental records. After the camera detects the tower tilt, the accelerometer samples according to the high-frequency sampling mode.

[0042] In one embodiment, the accelerometer acquires multiple sets of acceleration data from the tower based on the sampling frequency, performs triaxial decomposition on the multiple sets of acceleration data to obtain multiple sets of real-time acceleration. By comparing the changes between the X and Y axis values ​​of the multiple sets of real-time acceleration and the X and Y axis values ​​of the initial acceleration, multiple sets of difference data are obtained.

[0043] S103. The real-time acceleration is compared with the initial acceleration to obtain difference data. The change of the tower is judged based on the difference data, and the vibration of the tower is determined based on the change.

[0044] Due to various external factors such as the machining precision of the equipment mounting bracket and the different installation positions of the tower, there is an angle of inclination between the installed monitoring equipment and the tower. Therefore, the tower inclination is first measured and taken as the initial angle α1. α2 is the angle measured at any time after the initial angle is measured, and α3 = α2 - α1 is the actual change angle of the tower. By measuring the inclination angle and subtracting the initial angle, the interference of external factors such as installation position and installation precision can be eliminated, reducing the construction difficulty and the machining precision requirements of the mounting bracket.

[0045] In one embodiment, multiple sets of differential data are analyzed. If the values ​​corresponding to the multiple sets of differential data are different, that is, the values ​​of the X and Y axes change, it is determined that the tower is vibrating, and the monitoring device sends a signal indicating that the tower is vibrating to the server; if the values ​​corresponding to the multiple sets of differential data are the same, it is determined that the tower is not vibrating.

[0046] In one embodiment, if the tower does not vibrate, a relational verification is performed on the real-time acceleration, that is, it is determined whether the real-time acceleration conforms to the relational verification formula x. 2 +y 2 +z 2 =g 2 If the verification relationship is met, the real-time angle of the tower is determined based on the real-time acceleration, such as... Figure 2 As shown, after obtaining the real-time angle α2 of the tower, the difference between the real-time angle α2 and the initial angle α1 is calculated to obtain the tilt angle α3 = α2 - α1. The monitoring device sends the tower tilt angle α3 to the server so that maintenance personnel can continuously monitor the tilt changes of the tower through the server.

[0047] In one embodiment, the tower is susceptible to external environmental influences, causing it to vibrate. This vibration inevitably leads to equipment vibration, which in turn causes blurry photos. An accelerometer can detect the equipment's acceleration in the X, Y, and Z axes, and the displacement of the equipment in these axes can be calculated using displacement formulas.

[0048] For example, in the x-axis direction, the following can be calculated from the differential relationship between velocity and acceleration:

[0049]

[0050] Where v(t) is the velocity at time t, v(x0) is the initial velocity value, and a(t) is the acceleration at time t.

[0051] It can be calculated from the differential relationship between displacement and velocity:

[0052]

[0053] Where s(t) is the displacement at time t, and s(x0) represents the initial position.

[0054] The velocity and distance functions of an object's motion are both continuously changing. However, accelerometers cannot continuously output acceleration values; they can only read acceleration values ​​at intervals. After conversion from analog to digital, the acceleration is no longer continuous but has very small intervals. Within a short time, the acceleration changes very little, approximately equal to the acceleration itself. Therefore, if the time interval is divided into small segments, and constant acceleration is used instead of variable acceleration within these segments, partial acceleration can be calculated. These fractions can then be summed to obtain the velocity at any given moment.

[0055] For example, along the x-axis, the time interval [0, t] is divided into several equal segments, including t0, t1, t2...t... n The time intervals are Δt1 = t1 - t0, Δt2 = t2 - t1, ..., Δt n=t n -t n-1 The velocities at each moment are v0, v1, v2...v n In the time interval [t] i-1 , t i [The last time τ was taken] i (t i-1 ≤τ i ≤t i ), thus obtaining Δv i =a(τ i )Δti, where i = 1, 2, ..., n

[0056] Then, at any time t j velocity v(t) j The formula for calculating ) is:

[0057]

[0058] Similarly, at any time t j displacement s(t) j The formula for calculating ) is:

[0059]

[0060] After obtaining the displacement magnitudes along the X, Y, and Z axes, the camera lens is adjusted using the micro-motor configured in the camera, moving in the opposite direction to the vibration, i.e., in the opposite direction of the three-axis displacement. This keeps the image sensor and the camera on the same horizontal line, thereby eliminating the impact of the tower's vibration on image sharpness.

[0061] In one embodiment, under relatively stable tower conditions, the vibration frequency and amplitude of the tower caused by natural wind remain essentially constant. Vibration sensors collect the vibration frequency and amplitude of the tower during normal operation. When the tower's condition changes, such as due to events like ground subsidence, mudslides, or conductor galloping, the tower's original vibration frequency and amplitude will inevitably change. By monitoring the tower's vibration frequency and amplitude, it's possible to determine if the surrounding environment has changed; if so, patrol personnel are dispatched to the site, thereby reducing the number of patrols required.

[0062] like Figure 3 As shown in the figure, this application embodiment also provides a condition monitoring device for transmission towers, including:

[0063] At least one processor; and,

[0064] A memory that is communicatively connected to at least one processor; wherein,

[0065] The memory stores instructions that can be executed by at least one processor to enable a condition monitoring device for a power transmission tower to perform the following:

[0066] Determine the initial state of the tower and the initial acceleration corresponding to the initial state;

[0067] The image data of the pole is collected by a camera installed on the pole, and the real-time acceleration is determined based on the image data;

[0068] The real-time acceleration is compared with the initial acceleration to obtain difference data. The changes in the tower are judged based on the difference data, and the vibration of the tower is determined based on the changes.

[0069] This application embodiment also provides a non-volatile computer storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured as follows:

[0070] Determine the initial state of the tower and the initial acceleration corresponding to the initial state;

[0071] The image data of the pole is collected by a camera installed on the pole, and the real-time acceleration is determined based on the image data;

[0072] The real-time acceleration is compared with the initial acceleration to obtain difference data. The changes in the tower are judged based on the difference data, and the vibration of the tower is determined based on the changes.

[0073] In the 1990s, improvements to a technology could be clearly distinguished as either hardware improvements (e.g., improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the methodology). However, with technological advancements, many methodological improvements today can be considered direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved methodology into the hardware circuit. Therefore, it cannot be said that a methodological improvement cannot be implemented using hardware physical modules. For example, a Programmable Logic Device (PLD) (such as a Field Programmable Gate Array (FPGA)) is such an integrated circuit whose logic function is determined by the user programming the device. Designers can program and "integrate" a digital system onto a PLD themselves, without needing chip manufacturers to design and manufacture dedicated integrated circuit chips. Furthermore, nowadays, instead of manually manufacturing integrated circuit chips, this programming is mostly implemented using "logic compiler" software. Similar to the software compiler used in program development, the original code before compilation must be written in a specific programming language, called a Hardware Description Language (HDL). There are many HDLs, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, and RHDL (Ruby Hardware Description Language). Currently, the most commonly used are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should understand that by simply performing some logic programming on the method flow using one of these hardware description languages ​​and programming it into an integrated circuit, the hardware circuit implementing the logical method flow can be easily obtained.

[0074] The controller can be implemented in any suitable manner. For example, it can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicon Labs C8051F320. A memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also recognize that, in addition to implementing the controller in purely computer-readable program code form, the same functionality can be achieved by logically programming the method steps to make the controller take the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the means included therein for implementing various functions can also be considered as structures within the hardware component. Alternatively, the means for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0075] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, a computer can be, for example, a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any combination of these devices.

[0076] For ease of description, the above devices are described in terms of function, divided into various units. Of course, in implementing this specification, the functions of each unit can be implemented in one or more software and / or hardware components.

[0077] The various embodiments in this application are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device and medium embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the description of the method embodiments.

[0078] The devices and media provided in this application are one-to-one with the methods. Therefore, the devices and media also have similar beneficial technical effects as their corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices and media will not be repeated here.

[0079] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0080] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0081] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0082] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0083] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0084] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0085] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0086] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0087] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for monitoring the condition of transmission towers, characterized in that, include: Determine the initial state of the tower and the initial acceleration corresponding to the initial state; The image data of the pole is collected by a camera installed on the pole, and the real-time acceleration is determined based on the image data; The real-time acceleration is compared with the initial acceleration to obtain difference data. The changes in the tower are judged based on the difference data, and the vibration of the tower is determined based on the changes.

2. The method according to claim 1, characterized in that, The method further includes: Image analysis is performed on the image data to determine the vibration signal of the tower, and the triaxial acceleration is determined based on the vibration signal; The triaxial displacements are determined by calculation based on the triaxial accelerations, wherein the triaxial accelerations include x-axis acceleration, y-axis acceleration, and z-axis acceleration, and the triaxial displacements include x-axis displacement, y-axis displacement, and z-axis displacement. The adjustment direction is determined based on the three-axis displacement, and the position of the camera lens is adjusted according to the adjustment direction and the three-axis displacement to cancel out the vibration signal.

3. The method according to claim 1, characterized in that, The method further includes: The spatial angle of the tower is calculated based on the initial acceleration to obtain the initial angle of the tower, wherein the formula for calculating the spatial angle is: Wherein, α is the spatial angle, x is the X-axis acceleration of the initial acceleration, y is the Y-axis acceleration of the initial acceleration, z is the Z-axis acceleration of the initial acceleration, and g is the gravitational acceleration.

4. The method according to claim 3, characterized in that, Before obtaining the initial angle of the tower, the method further includes: The initial acceleration is subjected to relationship verification, wherein the relationship verification formula is: x 2 +y 2 +z 2 =g 2 If the initial acceleration conforms to the relationship, then the spatial angle is calculated based on the initial acceleration.

5. The method according to claim 1, characterized in that, After acquiring image data of the pole using a camera installed on the pole, the method further includes: The tower is photographed by the camera to obtain image data, and the image data is compared with the initial state to determine the tilt state of the tower. The sampling frequency of the accelerometer installed on the tower is determined based on the tilt state.

6. The method according to claim 5, characterized in that, The method further includes: The accelerometer acquires multiple sets of acceleration data of the tower according to the sampling frequency, and performs triaxial decomposition on the multiple sets of acceleration data to obtain multiple sets of real-time acceleration. The real-time accelerations are compared with the initial accelerations to obtain multiple sets of difference data.

7. The method according to claim 6, characterized in that, Based on the difference data, the changes in the tower are determined, and based on the changes, the vibration of the tower is determined, specifically including: The multiple sets of differential data were analyzed; If the values ​​corresponding to the multiple sets of difference data are different, it is determined that the tower is vibrating; If the values ​​corresponding to the multiple sets of difference data are the same, it is determined that the tower has not vibrated.

8. The method according to claim 7, characterized in that, After determining that the tower has not vibrated, the method further includes: The relationship between the real-time acceleration and the initial acceleration is verified. If the relationship verification is successful, the real-time angle of the tower is determined based on the real-time acceleration. Determine the initial angle corresponding to the initial acceleration, and determine the tilt angle based on the real-time angle and the initial angle.

9. A condition monitoring device for transmission towers, characterized in that, include: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, which, when executed by the at least one processor, enable the condition monitoring device for a power transmission tower to perform the following: Determine the initial state of the tower and the initial acceleration corresponding to the initial state; The image data of the pole is collected by a camera installed on the pole, and the real-time acceleration is determined based on the image data; The real-time acceleration is compared with the initial acceleration to obtain difference data. The changes in the tower are judged based on the difference data, and the vibration of the tower is determined based on the changes.

10. A non-volatile computer storage medium storing computer-executable instructions, characterized in that, The computer-executable instructions are set as follows: Determine the initial state of the tower and the initial acceleration corresponding to the initial state; The image data of the pole is collected by a camera installed on the pole, and the real-time acceleration is determined based on the image data; The real-time acceleration is compared with the initial acceleration to obtain difference data. The changes in the tower are judged based on the difference data, and the vibration of the tower is determined based on the changes.

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