Sag measurement and tower inclination rapid detection device and method

Abstract

The invention relates to a sag measurement and tower inclination rapid detection device and method. The device comprises a control rotating shaft, a rotating disc, a laser range finder, a high-definition camera, a motor, an embedded development board, a mechanical arm, a battery, a base and the like, can automatically identify and track feature points of a tower and a wire, and is combined with the laser range finder to complete space coordinate data extraction and perform non-contact rapid measurement; the measuring method comprises the following steps: initializing the measuring device, acquiring characteristic points of a line and a pole tower by using a camera, controlling a motor to guide a laser range finder to align and accurately measure, calculating the inclination of the pole tower and the sag of the line by establishing a geometric model and a catenary model respectively, and finally storing a measuring result. The problems that an existing measuring device is not ideal in detection efficiency and precision and insufficient in environmental adaptability are effectively solved, efficient and accurate data support is provided for operation and maintenance of the power transmission line, and the advantages of being high in detection precision, high in automation degree, convenient to operate and high in environmental adaptability are achieved.

Description

Technical Field

[0001] This invention relates to the field of power construction technology, specifically to a rapid detection device and method for sag measurement and tower tilt. Background Technology

[0002] With the rapid advancement of ultra-high voltage (UHV) power grid construction in my country, the total length of transmission lines has exceeded one million kilometers, forming a nationwide energy transmission network. In UHV / UHV transmission systems, towers, as the core structure supporting conductors and ground wires, are directly threatened by their tilting deformation; conductor sag is a key parameter reflecting the thermal expansion and contraction of the line and its mechanical load, and abnormal changes in sag can lead to major safety hazards such as phase-to-phase discharge and insufficient ground clearance. Statistics show that line faults caused by tower instability or excessive sag account for 37% of all transmission accidents, making the establishment of an efficient and accurate monitoring system an urgent need to ensure the safe operation of the power grid.

[0003] Currently, four main technical solutions are used in the field of power transmission line inspection: Traditional total station measurement requires manual operation of theodolites and distance measuring instruments, and spatial coordinate calculation is completed by aiming at multiple points. The inspection of a single tower takes about 45 minutes, and there is a risk of instrument drift in environments with high temperature differences and strong electromagnetic interference; Although the three-dimensional laser scanning system can achieve millimeter-level modeling accuracy, the purchase cost of a single set of equipment is as high as 800,000 to 1.2 million yuan, and point cloud data registration and feature extraction require offline processing by professional personnel, which is difficult to meet the needs of routine inspections; The drone inspection solution is restricted by airspace control policies, and the flight altitude in dense corridor areas must be strictly controlled below 120 meters. The visible light camera it carries is significantly affected by lighting conditions, and the measurement error of conductor sag can reach ±0.5 meters; The traditional manual observation method relies on visual estimation and tape measure measurement. The data difference rate between different observers exceeds 15%, and it is impossible to trace and analyze historical data.

[0004] Existing technical solutions suffer from three common drawbacks: First, there is a significant conflict between detection efficiency and accuracy, with manual intervention leading to operation cycles of 7-10 days per 100 kilometers of line; second, environmental adaptability is insufficient, with equipment failure rates increasing by 40% in rain, snow, and freezing weather; and third, the depth of data value mining is limited, lacking spatiotemporal correlation analysis methods for multi-source measurement data. With the accelerated intelligent transformation of the power grid, transmission line operation and maintenance units have an increasingly urgent need for portable, all-weather intelligent detection equipment, requiring devices with centimeter-level measurement accuracy, minute-level response speed, and support for collaborative operation with edge computing and cloud platforms.

[0005] Application No. 201010500583.6, "A Status Monitoring Device for Transmission Line Tower-Line System," is the closest prior art. This technology uses quasi-distributed optical fiber sensors on transmission conductors and towers to detect changes in conductor temperature, strain, acceleration, and tower stress. After processing by an optical modulator-demodulator, a computer system calculates parameters such as sag and tower tilt angle to achieve status monitoring of the tower-line system.

[0006] However, the deployment and maintenance costs of this existing technology are extremely high: multiple types of fiber optic sensors (strain, temperature, acceleration, etc.) need to be installed one by one at specific locations on the conductors and towers, the optical cables need to be fixed with clamps every 30 centimeters, and optical insulators need to be connected in series to prevent electro-corrosion when connected to the tower. The initial deployment process is complicated and the labor and material costs are high. The sensors are exposed to the outdoors for a long time and are easily damaged by icing, galloping and other factors. The replacement and maintenance in the later stage requires power outages, which further increases the operation and maintenance costs.

[0007] The measurement accuracy has limitations: the tower tilt angle is indirectly calculated based on the stress changes at multiple points, without directly measuring the spatial coordinates of the tower's characteristic points. Errors in the stress transmission process can easily lead to deviations in the tilt angle calculation. The sag is obtained by converting conductor stress and temperature, without directly collecting conductor surface morphology data, making it difficult to accurately reflect the actual sag state under complex working conditions.

[0008] Insufficient flexibility and versatility: The sensors need to be adapted to specific power transmission lines for installation. The sensor layout needs to be redesigned for lines with different voltage levels and spans, and it cannot be quickly migrated to other lines. It does not have mobile detection capabilities and can only achieve long-term monitoring of fixed points, which is difficult to meet the needs of temporary inspections, fault diagnosis and other mobile needs.

[0009] Poor data timeliness and readability: Sensor data needs to be transmitted via optical fiber to a remote demodulator and computer system for processing. The data link is long and the real-time performance is insufficient. The output results rely on professional software analysis and lack on-site visualization, making it impossible for maintenance personnel to quickly obtain test results. Summary of the Invention

[0010] To address the shortcomings of the aforementioned technologies, the present invention aims to provide a rapid detection device and method for measuring transmission line sag and tower tilt based on a depth camera. By fusing a depth camera and a laser rangefinder to acquire spatial coordinate data, and combining a motor-driven rotating shaft and turntable structure, the device achieves automatic identification, positioning, and precise measurement of feature points. This solves the problems of insufficient detection efficiency and accuracy, and inadequate environmental adaptability, in existing tower tilt and conductor sag measurement devices. The device offers advantages such as high measurement accuracy, fast detection efficiency, strong environmental adaptability, high level of intelligence, and convenient operation.

[0011] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A rapid detection device for sag measurement and tower tilt includes a base 13, an embedded development board 11 installed inside the base 13, a stepper motor 10 mounted on the base 13, the output shaft of the stepper motor 10 connected to a second rotating shaft 9 via a coupling, a longitude direction turntable 8 fixed to the output end of the second rotating shaft 9, a servo motor 7 mounted on the longitude direction turntable 8, the output shaft of the servo motor 7 connected to the power input end of a first rotating shaft 6 via a coupling, the power output end of the first rotating shaft 6 fixedly connected to one end of a robotic arm 5, the other end of the robotic arm 5 connected to a latitude direction turntable 4, a secondary camera 1, a laser rangefinder 2 and a main camera 3 mounted on the latitude direction turntable 4, the main camera 3 and the laser rangefinder 2 being coaxially aligned.

[0012] The embedded development board 11 is connected to the controllers of the secondary camera 1, the main camera 3, the laser rangefinder 2, the servo motor 7, and the stepper motor 10 via data cables.

[0013] The second rotating shaft 9 is driven by a stepper motor 10, with a rotation range of ±180° and an angular resolution of 0.01°.

[0014] The first rotating shaft 6 is driven by a servo motor 7, with a rotation range of -90° to +90° and an angular resolution of 0.005°.

[0015] The embedded development board 11 includes a motor control module, a data acquisition module, an image processing module, a calculation module, and a storage module. The motor control module controls the motor to guide the laser rangefinder 2 to align with the feature point area. The data acquisition module uses the secondary camera 1 to acquire feature points on the line and tower. The image processing module uses the field of view of the main camera 3 to locate the target point in the feature point area. The calculation module uses laser ranging and image matching for tilt calculation and conductor sag measurement. The storage module stores the measured data.

[0016] A detection method based on the rapid detection device for sag measurement and tower tilt according to any one of claims 1 to 5, comprising: Step 1: Initialize the measuring device; Step 2: Use secondary camera 1 to acquire feature points on the line and towers; Step 3: Control the motor to guide the laser rangefinder 2 to align with the feature point area; Step 4: Locate the target point and measure the distance in the feature point area; use the measured data to calculate the tower tilt and line sag; Step 5: Save the measured data to the embedded development board 11, including tilt angle θ, sag f, and original coordinates.

[0017] Step 1 initializes the measuring device, including camera initialization and image preprocessing, which includes image denoising and image enhancement.

[0018] Step 2 specifically involves: Aim the secondary camera 1 at the target tower and identify and mark the following feature points (such as...). Figure 3 (as shown) Side edge 1 bottom point P 1底 (x1, y1, z1), top point P 1顶 (x3,y3,z3); Side edge 2 bottom point P 2底 (x2, y2, z2), top point P 2顶 (x4,y4,z4).

[0019] The specific steps of step 4 are as follows: switch to the field of view of the main camera (3), and fine-tune the laser spot to the center of the feature point through the template matching algorithm, with a positioning error of <1 pixel; Calculate the top midpoint P 顶中 Midpoint P at the bottom 底中 Construct the centerline direction vector V of the tower, where the direction vector is the line connecting the top midpoint to the bottom midpoint: in 4.1) Inclination Calculation The unit vector of the vertical direction is n=(0,0,1), and the angle between vector V and the vertical line is calculated using the dot product formula: The final tilt angle is: 4.2) Conductor sag measurement procedure 4.2.1): Suspension point calibration The control unit sequentially aims at suspension points A and B at both ends of the conductor, and obtains the coordinates A(x) through laser ranging and image matching. A ,y A ,z A )B(x B ,y B ,z B ), Calculate the horizontal span L and elevation difference Δ Z : 4.2.2): Intermediate point acquisition Three measurement points C were detected along the traverse. i (x i ,y i ,z i (i=1,2,3) Repeat the laser alignment and coordinate calculation steps.

[0020] 4.2.3): Catenary Fitting Based on the three middle measurement points C i The catenary model is used to fit the conductor curve: Where H is the horizontal tension of the conductor and w is the weight per unit length, the values ​​of H and w are optimized by the least squares method.

[0021] The maximum sag f occurs at the lowest point x of the conductor. m The calculation formula is as follows: .

[0022] Compared with the prior art, the beneficial effects of the present invention include: This invention addresses three core pain points in existing transmission line sag and tower tilt measurement technologies—namely, the "efficiency-accuracy contradiction," "poor environmental adaptability," and "low level of intelligence"—through a technical solution combining "hardware integration innovation + algorithm model optimization + automated process design." Its beneficial effects can be detailed from six dimensions: measurement efficiency, accuracy control, environmental adaptability, ease of operation, data value, and cost-effectiveness, as follows: I. Measurement Efficiency: Breaking free from reliance on manual labor, achieving minute-level closed-loop detection. In existing technologies, traditional total station measurements of a single tower require manual operation of theodolites and rangefinders to aim and record data point by point, taking about 45 minutes per tower. Although 3D laser scanning has high accuracy, point cloud data registration and feature extraction require offline processing by professionals, and the inspection cycle for a single line segment (10 kilometers) can be as long as 7-10 days. UAV inspections are subject to airspace application and flight planning restrictions, and the effective inspection range of a single flight is limited.

[0023] This invention constructs a closed-loop process of "automatic identification - precise positioning - rapid calculation - data storage" through automated hardware linkage and intelligent algorithm collaboration. On the hardware level: The embedded development board 11 controls the stepper motor 10 and servo motor 7 to drive the dual-axis gimbal (longitude turntable 8 + latitude turntable 4), enabling the laser rangefinder 2 and the camera to turn rapidly in all space without the need for manual adjustment of the device attitude, and the feature point aiming response time is <10 seconds. At the algorithm level: the secondary camera 1 quickly extracts the feature points of the tower side edge (P1 bottom, P1 top, P2 bottom, P2 top) through the fisheye lens + SIFT algorithm. The main camera 3 and the laser rangefinder 2 are coaxial. Combined with the template matching algorithm, a positioning accuracy of <1 pixel is achieved, eliminating the need for repeated manual calibration steps. At the process level: the tilt measurement of a single tower is fully automated from “feature point identification - laser ranging - tilt angle calculation”, taking ≤5 minutes; the sag measurement of conductors is completed within 20 minutes by “collecting data from 3 intermediate points + fitting a catenary model”, which improves efficiency by 6-9 times compared with traditional technology and meets the “daily clearing and settlement” requirements of large-scale line inspection.

[0024] II. Measurement Accuracy: Multi-technology integration achieves centimeter-level error control. Existing technologies have significant shortcomings in accuracy: manual observation methods rely on visual estimation, with a data discrepancy rate exceeding 15%; visible light cameras on drones are affected by illumination and atmospheric scattering, resulting in sag measurement errors of up to ±0.5 meters; traditional laser rangefinders require manual alignment, which is prone to coordinate deviations of >10 centimeters due to hand tremors and viewing angle deviations.

[0025] This invention constructs a high-precision measurement system through multi-sensor collaboration and mathematical model optimization. Hardware accuracy assurance: The laser rangefinder 2 adopts a phase-type module with a range of 0.5-500 meters, a ranging accuracy of ±2mm, and an angle measurement accuracy of ±2″; in the dual-axis gimbal, the second axis 9 has an angular resolution of 0.01°, and the first axis 6 has an angular resolution of 0.005°, ensuring that the laser spot is accurately aligned with the feature point; Algorithm accuracy optimization: The tower tilt angle calculation uses the "two-point midpoint method" to construct the centerline vector (V), and combines it with the dot product formula of the vertical unit vector (n) to eliminate the influence of single feature point deviation, with a tilt angle calculation error of <0.1°; the conductor sag adopts the catenary model, and optimizes the horizontal tension (H) and unit length weight (w) through the least squares method of 3 midpoints (Ci), with a maximum sag (f) calculation error of <3 cm, which is far better than the ±0.5 meter error of UAV inspection; Additional calibration mechanism: The device supports calibrating the camera's internal and external parameters using a calibration target to eliminate image distortion; it also performs system error calibration on the laser rangefinder using known reference points at 20 meters, 50 meters, and 100 meters to ensure long-term measurement stability and solve the accuracy attenuation problem caused by "temperature drift and electromagnetic interference" in traditional equipment.

[0026] III. Ease of Use: Low barrier to entry, reducing reliance on specialized skills Existing technologies place high demands on operators: 3D laser scanning requires professionals to master point cloud processing software (such as CloudCompare); traditional total stations require operators to have professional skills in "centering, leveling, and aiming," with a training period of 1-2 months; UAV inspections require certified operation, and flight planning and data interpretation require collaboration among multiple positions.

[0027] This invention achieves "foolproof" operation through integrated design and automated processes: Hardware integration: The base 13 integrates components such as the secondary camera 1, laser rangefinder 2, main camera 3, dual-axis gimbal, and embedded development board 11. The overall weight is light and can be carried by a single person without on-site assembly. Software automation: After the device is started, it automatically completes equipment self-test (such as communication test of camera, motor, rangefinder). The measurement process is automatically executed according to "initialization - feature point recognition - laser alignment - calculation - storage". The operator only needs to press the start button and does not need to intervene in the intermediate steps. Data visualization: The embedded development board 11 supports SD card storage (128GB), and the data is exported in JSON format, which can be directly imported into the power transmission operation and maintenance system, eliminating the traditional manual data entry and format conversion steps and reducing the reliance on professional data processing skills.

[0028] IV. Data Value: End-to-End Data Management to Support Intelligent Operation and Maintenance Existing technologies fail to fully realize the value of data: manual measurement data is mostly recorded on paper, making it difficult to trace historical changes; drone inspection data lacks spatiotemporal correlation with tower tilt and sag data, making trend analysis impossible; 3D laser scanning point cloud data is large in volume, but feature extraction efficiency is low, making it difficult to integrate into the power grid operation and maintenance platform.

[0029] This invention enhances the value of data applications through end-to-end data management and remote collaboration. Data integrity: The measurement results include tilt angle (θ), sag (f), original coordinates (such as P1 base (x1,y1,z1), suspension point A (xA,yA,zA)), and also record the measurement time and equipment number, forming a "spatiotemporal-data" associated archive, supporting historical data comparison and analysis; Remote collaboration capability: Measurement data from the embedded development board 11 can be uploaded to a remote server for backup in real time. Maintenance personnel can view the real-time data in the background, realizing "on-site measurement - background analysis" collaboration without having to wait for data results on-site. Operation and maintenance decision support: The data can be directly connected to the transmission line condition evaluation system, predict the risk of tower instability by the trend of tilt angle change, and analyze the thermal expansion and contraction of conductors by the change of sag, providing data support for "condition-based maintenance", replacing the traditional "periodic inspection" mode and reducing operation and maintenance costs.

[0030] V. Cost-effectiveness: High cost-performance ratio, reducing procurement and maintenance costs. Existing technologies are costly: traditional manual measurement requires 2-3 people to work together, resulting in high labor costs.

[0031] This invention achieves high cost-effectiveness through low-cost hardware selection and efficient operation and maintenance design. Low operation and maintenance costs: The device has a simple structure and no easily damaged parts (such as drone propellers), which greatly reduces long-term operation and maintenance expenses; Labor cost savings: Traditional manual measurement of a single line section requires 2-3 people, while this invention can be operated by a single person. Calculated based on the inspection of 100 kilometers of line, it can reduce the labor input by more than 50%, while shortening the inspection cycle and indirectly reducing supporting costs such as transportation and accommodation.

[0032] In summary, this invention addresses the core pain points of existing transmission line measurement technologies through technological innovations such as efficiency improvement, accuracy optimization, environmental adaptation, operation simplification, data value enhancement, and cost reduction. It provides an efficient, accurate, and low-cost detection solution for the intelligent operation and maintenance of ultra-high voltage / extra-high voltage power grids, and has significant engineering application value and industrialization prospects. Attached Figure Description

[0033] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0034] Figure 1 This is a schematic diagram of the structure of the device after installation.

[0035] Figure 2 This is a flowchart of the on-site workflow of the present invention.

[0036] Figure 3 This is a distribution diagram of characteristic points on the side edge of the tower.

[0037] Figure 4 This is a schematic diagram illustrating the principle of catenary fitting calculation.

[0038] Reference numerals: 1, secondary camera; 2, laser rangefinder; 3, main camera; 4, latitude direction turntable; 5, robotic arm; 6, first rotating shaft; 7, servo motor; 8, longitude direction turntable; 9, second rotating shaft; 10, stepper motor; 11, embedded development board; 12, battery; 13, base. Detailed Implementation

[0039] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0040] Example 1: Implementation of a rapid detection device for sag measurement and tower tilt. like Figure 1 As shown, the present invention provides a rapid detection device for sag measurement and tower tilt, including a secondary camera 1, a laser rangefinder 2, a main camera 3, a latitude direction turntable 4, a robotic arm 5, a first rotating shaft 6, a servo motor 7, a longitude direction turntable 8, a second rotating shaft 9, a stepper motor 10, an embedded development board 11, a battery 12, and a base 13.

[0041] The stepper motor 10, embedded development board 11 and battery 12 are disposed inside the base 13. The motor 10 drives the second rotating shaft 9 to rotate through a coupling. The second rotating shaft 9 is vertically installed at the center of the base and fixed to the base structure by bolts. The longitude direction turntable 8 is installed on the upper surface of the second rotating shaft 9. The servo motor 7 is fixedly installed on the upper surface of the longitude direction turntable 8 and drives the first rotating shaft 6 to rotate through a coupling.

[0042] The embedded development board 11 includes a motor control module, a data acquisition module, an image processing module, a calculation module, and a storage module. The motor control module controls the motor to guide the laser rangefinder 2 to align with the feature point area. The data acquisition module uses the secondary camera 1 to acquire feature points on the line and tower. The image processing module uses the field of view of the main camera 3 to locate the target point in the feature point area. The calculation module uses laser ranging and image matching for tilt calculation and conductor sag measurement. The storage module stores the measured data.

[0043] One end of the first rotating shaft 6 is connected to the motor 7 via a coupling, and the other end is welded to the robotic arm 5. The other end of the robotic arm 5 is connected to the latitude direction turntable 4 via bolts, forming a dual-axis gimbal structure. The secondary camera 1, the laser rangefinder 2, and the main camera 3 are mounted on the latitude direction turntable 4. The main camera 3 is embedded into the eyepiece position of the laser rangefinder 2 via a snap-fit ​​structure, ensuring that the optical axis of the main camera 3 is coaxial with that of the laser rangefinder 2.

[0044] Device structure and performance details: Laser rangefinder 2: It adopts a phase-type laser ranging module with a range of 0.5 to 500 meters, a ranging accuracy of ±2 mm, and an angle measurement accuracy of ±2″. It integrates a Bluetooth 5.0 module, which can realize the wireless real-time transmission of ranging data.

[0045] Main camera 3: With a resolution of 1920×1080 and a frame rate of 30fps, it is embedded in the eyepiece of the laser rangefinder to assist in the precise alignment of the ranging spot with feature points.

[0046] Secondary camera 1: Using a fisheye lens with a horizontal field of view of 360° and a vertical field of view of 180°, panoramic views of towers and conductors are generated using image stitching and distortion correction algorithms, enabling large-scene assisted analysis and visualization.

[0047] Dual-axis gimbal control: The second rotating shaft 9 is driven by a stepper motor 10, with a rotation range of ±180° and an angular resolution of 0.01°. The first rotating shaft 6 is driven by a servo motor 7, with a rotation range of -90° to +90° and an angular resolution of 0.005°. Dual-axis linkage enables full-space rotation and target tracking of the laser rangefinder and camera components.

[0048] Control and communication module: Embedded Development Board 11 uses NVIDIA Jetson Xavier NX, runs an embedded real-time operating system (RTOS), and has the following built-in functional modules: Motor control module: Based on PID closed-loop algorithm, it realizes high-precision positioning and stable control of the latitude and longitude axis; Image processing module: Calls the OpenCV library to complete image analysis tasks such as feature point extraction, matching, calibration, and pose estimation; Communication module: Supports 4G / 5G wireless communication and RS-485 industrial bus protocol to ensure efficient and stable data upload.

[0049] Assembly and debugging instructions: Mechanical assembly: The laser rangefinder 2, main camera 3, and secondary camera 1 are mounted on the latitude direction turntable 4 with screws. The optical axis angle between the main camera and the laser rangefinder is controlled to be ≤0.5° to achieve consistent field of view. The base 13 adopts a metal structure to ensure overall stability.

[0050] Electrical connection: Battery 12 is a 24V / 10Ah lithium polymer battery pack, which is installed inside the base 13 using a bracket and limit buckle structure; the embedded development board 11, motor 7 and motor 10 and each sensor are powered by a DC-DC power module, with a continuous working time of ≥8 hours; the development board communicates with the two motors via CAN bus, with a communication delay of <10ms.

[0051] Calibration: The intrinsic and extrinsic parameters of the secondary camera 1 are calibrated using a calibration target to eliminate image distortion. Select known reference points (such as 20 meters, 50 meters, and 100 meters) to perform system error calibration on the laser rangefinder 2 to ensure that the ranging accuracy meets the requirements of engineering applications.

[0052] Example 2: Implementation of a rapid detection method for sag measurement and tower tilt. Based on the device provided by this invention, this invention provides a rapid method for measuring sag and detecting tower tilt, the specific measurement process is as follows: Figure 2 As shown.

[0053] Step 1: Initialize the measuring device; Device self-test: After startup, the embedded development board 11 automatically detects the status of each device. If the laser rangefinder 2 and the two cameras have abnormal communication, an alarm will be triggered.

[0054] Image preprocessing: The raw images captured by secondary camera 1 are processed as follows: Noise reduction: Non-local means filtering is used to eliminate rain and snow interference; Enhancement: Improve conductor contrast under low-light conditions based on the Retinex algorithm; Feature extraction: Key features such as tower corners and conductor suspension points are identified using the SIFT algorithm.

[0055] Step 2: Use secondary camera 1 to acquire feature points on the line and towers; Control the dual-axis gimbal to aim the secondary camera 1 at the target tower, identify and mark the following feature points (such as...). Figure 3 (as shown) Side edge 1 bottom point P 1底 (x1, y1, z1), top point P 1顶 (x3,y3,z3); Side edge 2 bottom point P 2底 (x2, y2, z2), top point P 2顶 (x4,y4,z4); Step 3: Control the motor to guide the laser rangefinder 2 to align with the feature point area according to the panoramic image coordinates; Step 4: Locate the target point and measure the distance in the feature point area; use the measured data to calculate the tower tilt and line sag; Switching to the main camera's 3-view field of view, the laser spot is finely adjusted to the center of the feature point using a template matching algorithm, with a positioning error of less than 1 pixel.

[0056] 4.1) Calculate the midpoint P at the top. 顶中 Midpoint P at the bottom 底中 Construct the centerline direction vector V of the tower, where the direction vector is the line connecting the top midpoint to the bottom midpoint: in 4.2) Inclination Calculation The unit vector of the vertical direction is n=(0,0,1), and the angle between vector V and the vertical line is calculated using the dot product formula: The final tilt angle is: 4.3) Conductor sag measurement procedure 4.3.1): Suspension point calibration The control unit sequentially aims at suspension points A and B at both ends of the conductor, and obtains the coordinates A(x) through laser ranging and image matching. A ,y A ,z A )B(x B ,y B ,z B ), Calculate the horizontal span L and elevation difference Δ Z : 4.3.2): Midpoint Acquisition Three measurement points C were detected along the traverse. i (x i ,y i ,z i (i=1,2,3) Repeat the laser alignment and coordinate calculation steps.

[0057] 4.3.3): Catenary fitting (e.g.) Figure 4 (As shown) Based on the three middle measurement points C i The catenary model is used to fit the conductor curve: Where H is the horizontal tension of the conductor and w is the weight per unit length, the values ​​of H and w are optimized by the least squares method.

[0058] The maximum sag f occurs at the lowest point x of the conductor. m The calculation formula is as follows: .

[0059] Step 5: Save the measured data to the embedded development board 11, including the tilt angle θ, sag f, and original coordinates. The data is stored on the SD card of the embedded development board 11 (capacity 128GB) and supports export in JSON format.

[0060] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the present invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of protection claimed by the present invention. Scope of Protection of the Present Invention.

[0061] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of the present invention, and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

Claims

1. A device for rapid detection of sag and tower inclination, comprising a base (13), characterized in that, The base (13) is internally provided with an embedded development board (11), the base (13) is provided with a stepping motor (10), the output shaft of the stepping motor (10) is connected with the second rotating shaft (9) through a shaft coupling, the output end of the second rotating shaft (9) is fixedly provided with a longitude direction rotating disc (8), the longitude direction rotating disc (8) is provided with a servo motor (7), the output shaft of the servo motor (7) is connected with the power input end of the first rotating shaft (6) through a shaft coupling, the power output end of the first rotating shaft (6) is fixedly connected with one end of a mechanical arm (5), the other end of the mechanical arm (5) is connected with a latitude direction rotating disc (4), a secondary camera (1), a laser range finder (2) and a primary camera (3) are arranged on the latitude direction rotating disc (4), and the primary camera (3) is coaxially aligned with the optical axis of the laser range finder (2).

2. A device for rapid detection of sag and tower tilt as claimed in claim 1 wherein, The embedded development board (11) is connected with the secondary camera (1), the primary camera (3), the laser range finder (2), the servo motor (7) and the controller of the stepping motor (10) through data lines.

3. A device for quick detection of sag and tower tilt as claimed in claim 1 wherein, The second rotating shaft (9) is driven by the stepping motor (10), the rotating range is ±180°, and the angular resolution is 0.01°.

4. A device for quick detection of sag and tower tilt as claimed in claim 1 wherein, The first rotating shaft (6) is driven by the servo motor (7), the rotating range is -90° to +90°, and the angular resolution is 0.005°.

5. A device for fast detection of sag and tower tilt as claimed in claim 1 or 2 wherein, The embedded development board (11) comprises a motor control module, a data acquisition module, an image processing module, a calculation module and a storage module; the motor control module is used for controlling the motor to guide the laser range finder (2) to align with the feature point region; the data acquisition module acquires the feature points on the line and the tower by using the secondary camera (1); the image processing module positions the target point in the feature point region by using the field of view of the primary camera (3); the calculation module is used for calculating the inclination and the conductor sag by laser ranging and image matching; and the storage module stores the measured data.

6. A detection method of the rapid detection device for the conductor sag and the tower inclination according to any one of claims 1 to 5, comprising: Step 1, initializing the measuring device; Step 2, acquiring the feature points on the line and the tower by using the secondary camera 1; Step 3, controlling the motor to guide the laser range finder (2) to align with the feature point region; Step 4, positioning the target point in the feature point region and measuring the distance; calculating the inclination of the tower and the conductor sag by using the measured data; Step 5, saving the measured data to the embedded development board 11, including the inclination angle θ, the sag f and the original coordinate number.

7. The method of claim 6, wherein the method further comprises: The step 1 of initializing the measuring device comprises camera initialization and image preprocessing, and the preprocessing comprises image denoising and image enhancement.

8. The method of claim 6, wherein the method further comprises: The step 2 is specifically as follows: Aligning the secondary camera (1) with the target tower, and identifying and marking the following feature points: Side edge 1 bottom point P 1底 (x1,y1,z1), top point P 1顶 (x3,y3,z3); Side edge 2 bottom point P 2底 (x2,y2,z2), top point P 2顶 (x4,y4,z4).

9. The method of claim 6, wherein the method further comprises: The step 4 is specifically as follows: switching to the field of view of the primary camera (3), finely adjusting the laser spot to the center of the feature point by using a template matching algorithm, and the positioning error is less than 1 pixel; Compute top midpoint P 顶中 With bottom midpoint P 底中 Constructing a tower center line direction vector V, and the direction vector is the connecting line from the top midpoint to the bottom midpoint: 4.1) Inclination calculation ​ The unit vector of the plumb line direction is n = (0, 0, 1), and the angle between the vector V and the plumb line is calculated by the dot product formula: The final tilt angle is: 4.2) Arc measurement process of the traverse 4.2.1): Calibration of the suspension point The gimbal controls the two ends of the wire hanging points A and B in turn, and the coordinates A(x A ,y A ,z A )B(x B ,y B ,z B ) are obtained through laser ranging and image matching, and the horizontal span L and the elevation difference Δ Z are calculated. 4.2.2): Collection of intermediate points Three measurement points C are detected along the guide wire i (x i ,y i ,z i ) are repeated laser alignment and coordinate calculation steps; 4.2.3): Fitting of the catenary Based on the middle three measuring points C i The catenary model is used to fit the curve of the wire: where H is the horizontal tension of the traverse, and w is the weight per unit length. The values of H and w are optimized by the least squares method. The maximum sag f occurs at the lowest point x of the conductor. m The calculation formula is as follows: 。

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