Method, device and equipment for measuring inclination of power transmission line tower and storage medium

Abstract

The invention relates to the technical field of power transmission line towers, in particular to a power transmission line tower inclination measurement method, device and equipment and a storage medium, and the method comprises a laser emitting device, an image recognition device and a laser receiving device, and the laser emitting device and the image recognition device are fixed on a power transmission line between two towers. And the laser receiving device is fixed on the tower on any side and is vertical to the ground. The method comprises the following steps: acquiring a center real-time coordinate of a laser spot emitted by a laser emitting device on a plane of a receiving device through an image recognition device; based on the center real-time coordinates and a preset reference zero position of the receiving device, the offset of the light spot center relative to the reference zero position is calculated; the inclination angle of the pole tower on the fixed side of the receiving device is calculated based on the offset and the preset horizontal distance between the laser emitting device and the receiving device, the defect that a traditional inclination angle sensor is prone to being affected by vibration and temperature drift is overcome, and high-precision, stable and reliable pole tower inclination monitoring is achieved.

Description

Technical Field

[0001] This invention relates to the field of power transmission line tower technology, and in particular to a method, apparatus, equipment, and storage medium for measuring the tilt of power transmission line towers. Background Technology

[0002] As a critical infrastructure for power transmission, the tilt state of transmission line towers directly affects the safety and stability of the power grid. Therefore, high-precision long-term monitoring of tower tilt is essential. Current technologies often employ the method of installing independent tilt sensors on the towers for monitoring. This approach directly collects the tower tilt angle through sensors and relies on network transmission to the monitoring system.

[0003] However, such methods have significant drawbacks: on the one hand, sensors are susceptible to factors such as tower vibration and changes in ambient temperature, leading to data drift; on the other hand, during long-term monitoring, the cumulative effect of temperature drift and vibration interference can cause a significant decrease in accuracy, making it difficult to meet the high-precision requirements for long-term safety monitoring of transmission lines. Furthermore, the reliance on network data transmission can lead to data interruptions due to communication failures, further affecting monitoring reliability. Therefore, there is an urgent need for a tower tilt monitoring technology that has strong anti-interference capabilities, stable long-term monitoring accuracy, and does not require real-time network transmission.

[0004] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main objective of this invention is to provide a method, apparatus, device, and storage medium for measuring the tilt of transmission line towers. This invention aims to solve the technical problem that when monitoring is carried out by installing independent tilt sensors on the towers, the cumulative effects of temperature drift and vibration interference during long-term monitoring will cause a significant decrease in accuracy, making it difficult to meet the high-precision requirements for long-term safety monitoring of transmission lines.

[0006] To achieve the above objectives, the present invention provides a method for measuring the tilt of transmission line towers, the method comprising at least the following steps: The real-time coordinates of the center of the current laser spot area are obtained by an image recognition device. The current laser spot area is emitted by a laser emitting device and falls on the plane of a laser receiving device. The laser emitting device and the image recognition device are fixed on the power transmission line between two towers. The laser receiving device is fixed on a tower on either side of the power transmission line and is perpendicular to the ground. The offset of the center real-time coordinates is determined based on the center real-time coordinates and the preset reference zero position of the laser receiving device. The tilt angle of the tower on the fixed side of the laser receiver is determined based on the offset and the preset horizontal distance between the laser emitting device and the laser receiving device.

[0007] Optionally, before obtaining the real-time center coordinates of the current laser spot area through the image recognition device, the method further includes: The laser emitting device is horizontally calibrated, and the laser emission direction of the laser emitting device is adjusted so that the laser spot falls on the preset reference zero position of the laser receiving device; After horizontal calibration, the horizontal distance between the laser emitting device and the laser receiving device is measured and used as the preset horizontal distance.

[0008] Optionally, obtaining the real-time center coordinates of the current laser spot area through the image recognition device includes: The image recognition device acquires a color image of the current laser spot area; The color image of the light spot is converted into a gray image of the light spot, and the gray image of the light spot is then denoised using a Gaussian filter; The Otsu algorithm is used to automatically calculate the threshold and separate the gray image of the light spot from the background area; The center coordinates of the gray image of the light spot after background separation are calculated using the centroid method.

[0009] Optionally, the formula for calculating the real-time coordinates of the center of the grayscale image of the light spot after background separation using the centroid method is as follows: In the formula, the real-time coordinates of the center of the grayscale image of the light spot are (X... t ,Y t ), where n is the total number of pixels in the grayscale image of the light spot. This represents the pixel grayscale value of the grayscale image of the light spot.

[0010] Optionally, the offset includes the horizontal offset and the vertical offset of the center real-time coordinates. The calculation formula for determining the offset of the center real-time coordinates based on the center real-time coordinates and the preset reference zero position of the laser receiving device is as follows: ΔX'=X t -X0,ΔY'=Y t -Y0 In the formula, ΔX' is the horizontal offset of the center's real-time coordinates. The offset in the vertical direction of the center real-time coordinates is given by the real-time coordinates of the center of the grayscale image of the light spot (X). t ,Y t The coordinates of the preset reference zero position are (X0, Y0).

[0011] Optionally, the tower tilt angle includes the tower horizontal tilt angle and the tower vertical tilt angle. The calculation formula for determining the tower tilt angle on the fixed side of the laser receiving device based on the offset and the preset horizontal distance between the laser emitting device and the laser receiving device is as follows: In the formula, The horizontal tilt angle of the tower. The vertical tilt angle of the tower. For preset horizontal distance, The horizontal offset of the center's real-time coordinates. The offset in the vertical direction of the center's real-time coordinates.

[0012] Optionally, after determining the tower tilt angle on the fixed side of the laser receiving device based on the offset and the preset horizontal distance between the laser emitting device and the laser receiving device, the method further includes: If the laser emitting device is not horizontally calibrated, obtain the pitch angle and yaw angle of the laser emitting device, wherein the pitch angle causes an error in the vertical offset of the center real-time coordinates, and the yaw angle causes an error in the horizontal offset of the center real-time coordinates. The formula for calculating the offset error in the vertical direction is ΔY_err=L×tanγ, and the formula for calculating the offset error in the horizontal direction is ΔX_err=L×tanδ, where γ is the pitch angle and δ is the yaw angle. The corrected offset is calculated based on the horizontal and vertical offset errors, using the formula ΔX'=X t -X0-ΔX_err,ΔY'=Y t -Y0-ΔY_err; The corrected offset is substituted into the formula for calculating the tower tilt angle to determine the tower tilt angle.

[0013] Furthermore, to achieve the above objectives, the present invention also provides a transmission line tower tilt measuring device, the transmission line tower tilt measuring device comprising: The laser spot coordinate acquisition module is used to acquire the real-time center coordinates of the current laser spot area through an image recognition device. The current laser spot area is emitted by the laser emitting device and falls on the plane of the laser receiving device. The laser emitting device and the image recognition device are fixed on the power transmission line between two towers, and the laser receiving device is fixed on any tower of the power transmission line and perpendicular to the ground. The offset calculation module is used to determine the offset of the real-time coordinates of the center based on the real-time coordinates of the center and the preset reference zero position of the laser receiving device. The tilt angle calculation module is used to determine the tilt angle of the tower on the fixed side of the laser receiving device based on the offset and the preset horizontal distance between the laser emitting device and the laser receiving device.

[0014] Furthermore, to achieve the above objectives, the present invention also provides a transmission line tower tilt measurement device, the device comprising: a memory, a processor, and a transmission line tower tilt measurement program stored in the memory and executable on the processor, the transmission line tower tilt measurement program being configured to implement the steps of the transmission line tower tilt measurement method as described above.

[0015] In addition, to achieve the above objectives, the present invention also provides a storage medium storing a transmission line tower tilt measurement program, which, when executed by a processor, implements the steps of the transmission line tower tilt measurement method as described in any of the above claims.

[0016] This invention provides a method for measuring the tilt of transmission line towers. Unlike traditional contact-based measurements relying on tilt sensors, this method establishes a stable measurement baseline using a laser emitter fixed to the transmission line and a laser receiver perpendicular to the ground, avoiding the direct impact of tower vibration and temperature drift on the sensor. The optical positioning characteristics of the laser spot significantly reduce its sensitivity to environmental vibrations and eliminate reliance on the stability of the sensor itself, physically reducing the accumulation of dynamic interference and temperature drift errors, making it particularly suitable for long-term monitoring in complex outdoor environments. Image recognition technology accurately captures the real-time coordinates of the laser spot's center, and combined with a geometric model of a preset baseline zero point and a fixed horizontal distance, the offset can be converted into a high-precision tilt angle. The laser emitter and image recognition device are fixed to the transmission line, and the laser receiver is installed perpendicular to the ground, forming a fixed baseline distance, eliminating the need for external dynamic calibration or real-time network data transmission. Tilting angle calculation can be completed through local image acquisition and processing, avoiding monitoring interruptions caused by network communication failures. The system is highly independent and suitable for long-term stable operation in remote areas or communication-restricted scenarios. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the transmission line tower tilt measurement device in the hardware operating environment involved in the embodiments of the present invention; Figure 2 This is a flowchart illustrating the first embodiment of the transmission line tower tilt measurement method of the present invention; Figure 3 This is a structural block diagram of the first embodiment of the transmission line tower tilt measuring device of the present invention; Figure 4This is a schematic diagram of the overall installation of the laser emitting device, image recognition device, and laser receiving device according to an embodiment of the method for measuring the tilt of transmission line towers of the present invention. Figure 5 This is a schematic diagram of the specific installation structure of the laser emitting device and the image recognition device in an embodiment of the transmission line tower tilt measurement method of the present invention. Figure 6 This is a schematic diagram of the installation of a laser receiving device according to an embodiment of the method for measuring the tilt of transmission line towers of the present invention; Figure 7 This is a schematic diagram of the structure of a laser receiving device according to an embodiment of the method for measuring the tilt of transmission line towers of the present invention.

[0018] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0019] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0020] Reference Figure 1 , Figure 1 This is a schematic diagram of the structure of the transmission line tower tilt measurement device in the hardware operating environment involved in the embodiments of the present invention.

[0021] like Figure 1 As shown, the transmission line tower tilt measurement device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen, and optionally, it may also include a standard wired interface or a wireless interface. In this invention, the wired interface of the user interface 1003 may be a USB interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed random access memory (RAM) or a non-volatile memory (NVM), such as a disk storage device. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0022] Those skilled in the art will understand that Figure 1The structure shown does not constitute a limitation on the transmission line tower tilt measuring device, which may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0023] like Figure 1 As shown, the memory 1005, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a power transmission line tower tilt measurement program.

[0024] exist Figure 1 In the transmission line tower tilt measurement device shown, the network interface 1004 is mainly used to connect to the backend server and communicate with the backend server; the user interface 1003 is mainly used to connect to peripheral devices; the transmission line tower tilt measurement device calls the transmission line tower tilt measurement program stored in the memory 1005 through the processor 1001 and executes the transmission line tower tilt measurement method provided in this embodiment of the invention.

[0025] Based on the above hardware structure, an embodiment of the transmission line tower tilt measurement method of the present invention is proposed.

[0026] Reference Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the method for measuring the tilt of transmission line towers according to the present invention.

[0027] In the first embodiment, the method for measuring the tilt of transmission line towers includes a laser emitting device, an image recognition device, and a laser receiving device. The laser emitting device and the image recognition device are fixed on the transmission line between two towers, and the laser receiving device is fixed on any one side of the tower of the transmission line and perpendicular to the ground. The specific steps of the method include: S10: Obtain the real-time coordinates of the center of the current laser spot area through the image recognition device. The current laser spot area is emitted by the laser emitting device and falls on the plane of the laser receiving device.

[0028] It should be noted that, referring to Figure 4 , Figure 4This is a schematic diagram of the overall installation of a laser emitting device, an image recognition device, and a laser receiving device according to an embodiment of the transmission line tower tilt measurement method of the present invention. The laser emitting device is an optical emitting device installed on the transmission line between two towers, used to emit a laser beam in a specific direction. The laser emitting device emits a stable laser beam, forming a visible light spot on the plane of the laser receiving device, which serves as the optical signal source for tower tilt monitoring. The laser emitting device and the image recognition device are fixed together on the transmission line between the two towers, remaining relatively stationary with the line to ensure the stability of the laser emission direction. The image recognition device is a device integrating a camera or image sensor, fixed together with the laser emitting device on the transmission line, used to acquire images of the laser spot and analyze its position information. Through image processing algorithms (such as edge detection and centroid calculation), the center coordinates of the laser spot area are obtained in real time, providing a data basis for subsequent offset calculation. The image recognition device has real-time image acquisition and sub-pixel-level positioning accuracy, ensuring the measurement accuracy of the center coordinates of the light spot.

[0029] Specifically, refer to Figure 5 , Figure 5 This is a schematic diagram of the specific installation structure of the laser emitting device and image recognition device according to an embodiment of the transmission line tower tilt measurement method of the present invention. Figure 5 In this system, the laser emitting device is a laser transmitter used to emit a stable laser beam, which is projected onto a laser receiving plate on the tower to form a clear light spot. This laser transmitter can be a semiconductor laser with a wavelength of 650nm, a power of 5mW, and a spot diameter ≤5mm at a distance of 300m. The image acquisition module is used to capture high-definition images of the receiving plate, identify the spot position and coordinate scale, and can be a 2-megapixel industrial camera with 10x optical zoom, automatic exposure adjustment (adapting to strong / weak light), a frame rate ≥25fps, and IP65 protection. The dual-axis leveling mechanism receives gyroscope data, drives the equipment to rotate around the X and Y axes, automatically corrects tilt, and ensures the equipment is perpendicular to the ground. The leveling range is ±5°, the leveling accuracy is ±0.05°, the response time is <0.5s, and it is driven by a stepper motor (step angle 0.01°). The dual-axis gyroscope acquires the device's tilt angle (pitch angle γ, yaw angle δ) in real time. When leveling fails, the output angle is used for algorithm correction. The measurement range is ±10°, the accuracy is ±0.01°, the sampling frequency is 10Hz, and the zero drift is ≤0.005° / h.

[0030] Furthermore, referring to Figure 6 , Figure 6 This is a schematic diagram of the installation of a laser receiving device according to an embodiment of the transmission line tower tilt measurement method of the present invention. Figure 6In this transmission line, the laser receiver can be a laser receiving plate, a planar receiving device fixed on any side of the tower. Its surface is flat and perpendicular to the ground, used to receive the light spot emitted by the laser transmitter. This plane serves as the receiving surface for the light spot. Its perpendicular installation ensures that the center coordinates of the light spot initially correspond to the vertical reference of the tower, i.e., the preset reference zero point. When the tower tilts, the laser receiver tilts synchronously with the tower, causing the center coordinates of the light spot to shift relative to the reference zero point. The amount of this shift reflects the degree of tower tilt. The laser receiver is strictly installed perpendicular to the ground, forming a stable reference plane, and its normal direction serves as the reference for tilt measurement.

[0031] Specifically, refer to Figure 7 , Figure 7 This is a schematic diagram of the laser receiving device according to an embodiment of the transmission line tower tilt measurement method of the present invention. Figure 7 In the laser receiving device, the fixing mechanism secures the laser receiving plate to the tower, adaptable to different models, and features adjustable bolt clamps. During slide rail installation and debugging, the position of the receiving plate is adjusted to ensure the laser spot accurately falls on the reference zero position. The travel is 200mm, the sliding accuracy is ±0.5mm, and it has a locking function. The laser spot positioning substrate receives the laser spot and provides a coordinate reference. The substrate is perpendicular to the ground and can be a white matte PVC substrate (80cm×80cm), printed with a 1mm precision crosshair coordinate system (x-axis horizontal to the right, y-axis vertical upward), with the origin at the reference zero position (X0, Y0). The vertical calibration component ensures the receiving plate is strictly perpendicular to the ground during installation. A φ5mm plumb bob calibration hole is reserved at the top (plumb line accuracy ±0.01°), and electronic level slots are reserved on both sides (compatible with 0-360° electronic levels; a display of ≤0.1° is acceptable).

[0032] The laser spot area is the region covered by the laser beam emitted from the laser transmitter on the plane of the laser receiver, typically a circular or elliptical spot. Changes in the spot's position directly reflect the tower's tilt, and the offset of its center coordinates is the core parameter for calculating the tilt angle. The real-time center coordinates are the coordinates of the laser spot's geometric center in the laser receiver's plane coordinate system, calculated in real-time by an image recognition device. These can be two-dimensional coordinates. For example, a two-dimensional plane coordinate system can be established with the laser receiver's plane reference zero point as the origin, such as the horizontal x-axis and the vertical y-axis, to quantify the spot's position.

[0033] In a specific implementation, obtaining the real-time center coordinates of the current laser spot area through the image recognition device includes: The image recognition device acquires a color image of the current laser spot area; The color image of the light spot is converted into a gray image of the light spot, and the gray image of the light spot is then denoised using a Gaussian filter; The Otsu algorithm is used to automatically calculate the threshold and separate the gray image of the light spot from the background area; The center coordinates of the gray image of the light spot after background separation are calculated using the centroid method.

[0034] It should be noted that color images contain RGB three-channel information. The RGB three channels can be converted to single-channel grayscale values ​​using the grayscale conversion formula Gray = 0.299R + 0.587G + 0.114B, eliminating color information interference and focusing on the brightness characteristics of the laser spot. Using a Gaussian kernel function to convolve the grayscale image can suppress random noise, smooth image edges, avoid misjudging laser spot edges caused by noise, and preserve the main outline of the laser spot, providing a clean image input for subsequent thresholding. The Otsu algorithm automatically calculates the optimal threshold based on the image's grayscale distribution characteristics to accurately separate the laser spot area from the background area. The centroid method is used to calculate the real-time center coordinates of the grayscale image of the laser spot after background separation. The laser spot area is considered as a two-dimensional planar quality distribution, with grayscale values ​​as quality weights. The calculation formula is as follows: In the formula, the real-time coordinates of the center of the grayscale image of the light spot are (X... t ,Y t ), where n is the total number of pixels in the grayscale image of the light spot. This represents the pixel grayscale value of the grayscale image of the light spot.

[0035] It should be understood that after Otsu binarization Since the value is 255, the above formula can be simplified to: , .

[0036] Furthermore, before obtaining the real-time center coordinates of the current laser spot area through the image recognition device, the process also includes: The laser emitting device is horizontally calibrated, and the laser emission direction of the laser emitting device is adjusted so that the laser spot falls on the preset reference zero position of the laser receiving device; After horizontal calibration, the horizontal distance between the laser emitting device and the laser receiving device is measured and used as the preset horizontal distance.

[0037] It should be noted that the purpose of horizontal calibration is to ensure that the laser spot emitted by the laser transmitter accurately falls on the preset reference zero position (i.e., the coordinate origin (0,0)) of the laser receiver when the tower is not tilted in its initial state. Specifically, this serves several purposes: since the laser transmitter and image recognition device are fixed to the power transmission line, there may be slight angular deviations during installation (such as non-horizontal emission). By adjusting the emission direction to align the laser spot with the reference zero position, initial errors caused by equipment installation can be eliminated, ensuring that subsequent measurement offsets are caused only by tower tilt, not by the directional deviation of the transmitter itself. When the laser spot is at the reference zero position, it is assumed that the tower is in an ideal state of being perpendicular to the ground (without tilt). All subsequent changes in the laser spot position are calculated from this starting point, establishing an absolute reference benchmark for tilt measurements.

[0038] The calibration process adjusts the horizontal direction of the transmitting device (such as the pitch angle and azimuth angle) to ensure that the laser beam is projected vertically onto the plane of the receiving device (or conforms to the preset geometric relationship), avoiding beam spot deformation or positioning errors caused by oblique beam projection, and ensuring that the beam spot always falls completely and clearly within the effective area of ​​the receiving device, thus providing the prerequisite for high-precision coordinate calculation of the image recognition device.

[0039] S20: Determine the offset of the center real-time coordinates based on the center real-time coordinates and the preset reference zero position of the laser receiving device.

[0040] It should be noted that the preset reference zero point is the theoretical coordinate origin where the center of the laser spot should be located when the laser receiving device is initially installed (when the tower is not tilted), and it serves as the reference benchmark for offset calculation.

[0041] Function: By comparing the difference between the real-time center coordinates and the reference zero position, the change in the position of the light spot caused by the tower tilt is quantified. The offset is the coordinate difference between the real-time center coordinates and the preset reference zero position, reflecting the horizontal and vertical offset distance of the light spot on the receiving device plane. The magnitude of the offset is positively correlated with the degree of tower tilt and serves as an intermediate parameter connecting optical measurement data and the tilt angle.

[0042] In specific implementation, the offset includes the horizontal offset and the vertical offset of the center real-time coordinates. The calculation formula for determining the offset of the center real-time coordinates based on the center real-time coordinates and the preset reference zero position of the laser receiving device is as follows: ΔX'=X t -X0,ΔY'=Y t -Y0 In the formula, ΔX' is the horizontal offset of the center's real-time coordinates. The offset in the vertical direction of the center real-time coordinates is given by the real-time coordinates of the center of the grayscale image of the light spot (X). t ,Yt The coordinates of the preset reference zero position are (X0, Y0).

[0043] S30: Determine the tilt angle of the tower on the fixed side of the laser receiver based on the offset and the preset horizontal distance between the laser emitting device and the laser receiving device.

[0044] It should be noted that the preset horizontal distance is the horizontal straight-line distance between the laser transmitter and the laser receiver, which is determined in advance through precise measurement during installation and is used as a fixed known parameter.

[0045] Specifically, the tower tilt angle includes the tower horizontal tilt angle and the tower vertical tilt angle. The calculation formula for determining the tower tilt angle on the fixed side of the laser receiving device based on the offset and the preset horizontal distance between the laser emitting device and the laser receiving device is as follows: In the formula, The horizontal tilt angle of the tower. The vertical tilt angle of the tower. For preset horizontal distance, The horizontal offset of the center's real-time coordinates. The offset in the vertical direction of the center's real-time coordinates.

[0046] It should be noted that when the tower tilts, the receiving device tilts synchronously with the tower, causing the center coordinates of the light spot to shift from the origin to (ΔX′, ΔY′). At this time, the offsets ΔX′ and ΔY′, together with the preset horizontal distance L, form two independent right triangles (calculated separately in the X and Y directions). The tilt angle is the acute angle of the right triangle, satisfying: The tilt angle can be calculated using the arctangent function, and then the radians can be converted to degrees (multiplied by 180 / π).

[0047] In one embodiment, if the laser emitting device is not horizontally calibrated, the pitch angle and yaw angle of the laser emitting device are obtained, wherein the pitch angle causes an error in the vertical direction of the center real-time coordinates, and the yaw angle causes an error in the horizontal direction of the center real-time coordinates. The formula for calculating the offset error in the vertical direction is ΔY_err=L×tanγ, and the formula for calculating the offset error in the horizontal direction is ΔX_err=L×tanδ, where γ is the pitch angle and δ is the yaw angle. The corrected offset is calculated based on the horizontal and vertical offset errors, using the formula ΔX'=X t-X0-ΔX_err,ΔY'=Y t -Y0-ΔY_err; The corrected offset is substituted into the formula for calculating the tower tilt angle to determine the tower tilt angle.

[0048] It should be noted that if the transmitting device deflects to the left (δ>0°), the original offset will include leftward error, which needs to be corrected by subtracting the leftward error. Essentially, this involves removing systematic errors from the original measurements and retaining only the true offset caused by the tower tilt. The pitch and yaw angles can be acquired using the dual-axis gyroscope of the laser transmitting device.

[0049] Furthermore, this embodiment may also include a wireless interaction module for short-range wireless communication, allowing maintenance personnel to read data via their terminals (mobile phones / tablets). Maintenance personnel can use mobile phones / drones equipped with Bluetooth / LoRa modules to read real-time / historical data, supporting export to Excel format. Additionally, it can maintain stable monitoring even in areas without network coverage, with local data storage and on-site retrieval time of less than 2 minutes, representing a 90% improvement in efficiency compared to traditional solutions. Furthermore, this embodiment of the invention also proposes a storage medium storing a transmission line tower tilt measurement program, which, when executed by a processor, implements the steps of the transmission line tower tilt measurement method described above.

[0050] In addition, refer to Figure 3 The present invention also proposes a transmission line tower tilt measuring device, which includes: The laser spot coordinate acquisition module 10 is used to acquire the real-time center coordinates of the current laser spot area through the image recognition device. The current laser spot area is emitted by the laser emitting device and falls on the plane of the laser receiving device. Offset calculation module 20 is used to determine the offset of the real-time coordinates of the center based on the real-time coordinates of the center and the preset reference zero position of the laser receiving device; The tilt angle calculation module 30 is used to determine the tilt angle of the tower on the fixed side of the laser receiving device based on the offset and the preset horizontal distance between the laser emitting device and the laser receiving device.

[0051] Other embodiments or specific implementations of the transmission line tower tilt measuring device of the present invention can be referred to the above-described method embodiments, and will not be repeated here.

[0052] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. 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 system that includes that element.

[0053] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. In the unit claims listing several devices, several of these devices may be embodied by the same hardware item. The use of the terms first, second, and third, etc., does not indicate any order and can be interpreted as names.

[0054] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as a read-only memory image (ROM) / random access memory (RAM), magnetic disk, optical disk), and includes several instructions to cause a terminal user device (which may be a mobile phone, computer, server, air conditioner, or network user device, etc.) to execute the methods described in the various embodiments of the present invention.

[0055] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A method of measuring the inclination of a power line tower, characterized in that, The method comprises at least the following steps: acquiring the real-time coordinates of the center of the current laser spot area by an image recognition device, the current laser spot area being emitted by a laser emitting device and falling on the plane of a laser receiving device, wherein the laser emitting device and the image recognition device are fixed on the power transmission line between two towers, and the laser receiving device is fixed on the tower on the side of the power transmission line and perpendicular to the ground; determining the offset of the real-time coordinates of the center based on the real-time coordinates of the center and the preset reference zero position of the laser receiving device; determining the tower inclination angle on the fixed side of the laser receiving device based on the offset and the preset horizontal distance between the laser emitting device and the laser receiving device.

2. The method of claim 1, wherein, Before the step of acquiring the real-time coordinates of the center of the current laser spot area by the image recognition device, the method further comprises: performing horizontal calibration on the laser emitting device, adjusting the laser emitting direction of the laser emitting device, and making the laser spot fall on the preset reference zero position of the laser receiving device; after the horizontal calibration, measuring the horizontal distance between the laser emitting device and the laser receiving device as the preset horizontal distance.

3. The method of claim 1, wherein the step of measuring the inclination of the tower includes the steps of: measuring the inclination of the tower by using a laser beam. The step of acquiring the real-time coordinates of the center of the current laser spot area by the image recognition device comprises: acquiring the spot color image of the current laser spot area by the image recognition device; converting the spot color image into a spot gray image, and performing noise reduction on the spot gray image; calculating the threshold value to separate the spot gray image from the background area; calculating the real-time coordinates of the center of the spot gray image after the background separation.

4. The method of claim 3, wherein the step of determining the angle of inclination of the tower includes the steps of: determining the angle of inclination of the tower by using the angle of inclination of the tower leg and the angle of inclination of the tower arm. The calculation formula of the real-time coordinates of the center of the spot gray image after the background separation by the barycenter method is as follows: In the formula, the real-time coordinate of the center of the spot gray image is (X t ,Y t ), n is the total number of pixels of the spot gray image, and the pixel gray value of the spot gray image is.

5. The method of claim 4, wherein the step of determining the angle of inclination of the tower includes the steps of: determining the angle of inclination of the tower by using the angle of inclination of the tower leg and the angle of inclination of the tower arm. The offset comprises the offset in the horizontal direction and the offset in the vertical direction of the real-time coordinates of the center, and the calculation formula of the offset of the real-time coordinates of the center based on the real-time coordinates of the center and the preset reference zero position of the laser receiving device is as follows: ΔX' = X t - X0, ΔY' = Y t - Y0 In the formula, ΔX' is the offset of the central real-time coordinate in the horizontal direction, ΔY' is the offset of the central real-time coordinate in the vertical direction, the central real-time coordinate of the gray spot image is (X t ,Y t ), and the coordinate of the preset reference zero position is (X0, Y0).

6. The method of transmission line tower tilt measurement of claim 5, wherein, The tower inclination angle comprises the horizontal inclination angle and the vertical inclination angle of the tower, and the calculation formula of the tower inclination angle on the fixed side of the laser receiving device based on the offset and the preset horizontal distance between the laser emitting device and the laser receiving device is as follows: In the formula, is a horizontal inclination angle of the tower, is a vertical inclination angle of the tower, is a preset horizontal distance, is a horizontal offset of the center real-time coordinate, is a vertical offset of the center real-time coordinate.

7. The method of claim 6, wherein the step of determining the angle of inclination of the tower includes the steps of: determining the angle of inclination of the tower by using the angle of inclination of the tower leg and the angle of inclination of the tower arm. After the step of determining the tower inclination angle on the fixed side of the laser receiving device based on the offset and the preset horizontal distance between the laser emitting device and the laser receiving device, the method further comprises: if the laser emitting device is not horizontally calibrated, acquiring the pitch angle and the yaw angle of the laser emitting device, wherein the pitch angle causes the error of the offset in the vertical direction of the real-time coordinates of the center, and the yaw angle causes the error of the offset in the horizontal direction of the real-time coordinates of the center; the calculation formula of the error of the offset in the vertical direction is ΔY_err=L×tanγ, and the calculation formula of the error of the offset in the horizontal direction is ΔX_err=L×tanδ, wherein γ is the pitch angle and δ is the yaw angle; The corrected offset is calculated according to the horizontal offset error and the vertical offset error, and the calculation formula is ΔX'=X t - X0- ΔX_err, ΔY'=Y t - Y0- ΔY_err; substituting the corrected offset into the calculation formula of the tower inclination angle to determine the tower inclination angle.

8. A device for measuring the inclination of a power line tower, characterized in that it comprises: The power transmission line tower inclination measuring device comprises: The spot coordinate acquisition module is configured to acquire a center real-time coordinate of a current laser spot area by using the image recognition device, the current laser spot area being emitted by the laser emitting device and falling on the plane of the laser receiving device, wherein the laser emitting device and the image recognition device are fixed on the power transmission line between two towers, and the laser receiving device is fixed on the tower on any side of the power transmission line and is perpendicular to the ground. The offset calculation module is configured to determine an offset of the center real-time coordinate based on the center real-time coordinate and a preset reference zero position of the laser receiving device. The inclination angle calculation module is configured to determine a tower inclination angle of the fixed side of the laser receiving device based on the offset and a preset horizontal distance between the laser emitting device and the laser receiving device.

9. A transmission line tower tilt measuring apparatus, characterized by, The device comprises a memory, a processor, and a power transmission line tower inclination measurement program stored on the memory and executable on the processor, and the power transmission line tower inclination measurement program is configured to implement the steps of the power transmission line tower inclination measurement method according to any one of claims 1 to 7.

10. A storage medium, characterized by The storage medium stores a power transmission line tower inclination measurement program, and the power transmission line tower inclination measurement program implements the steps of the power transmission line tower inclination measurement method according to any one of claims 1 to 7 when executed by the processor.

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