A high-voltage transmission line tower pole inclination monitoring system

Abstract

This application provides a high-voltage transmission line tower tilt monitoring system, relating to the field of tower structural health monitoring technology. The system includes: a laser transmitter, mounted on a base, for emitting a laser beam towards the tower, the laser beam covering a predetermined spatial range; a reflector, mounted on the tower, for reflecting the laser beam, the reflector's travel range during tower movement not exceeding the spatial range covered by the laser beam; and a laser receiver, mounted on the base, for receiving the laser beam reflected by the reflector and outputting an image containing a light spot. The position of the light spot in the image changes with the tower's tilt angle, and the tower's tilt angle is determined based on the change in the light spot's position. This application achieves non-contact, high-precision, real-time monitoring of tower tilt by integrating the laser transmitter and receiver onto the same base, thus fixing the geometric parameters between the transmitting and receiving optical paths, eliminating the need for on-site calibration.

Description

Technical Field

[0001] This application relates to the field of tower structure health monitoring technology, and in particular to a high-voltage transmission line tower tilt monitoring system. Background Technology

[0002] As a crucial supporting structure for overhead transmission lines, towers are exposed to harsh outdoor environments for extended periods. Subjected to the combined effects of strong winds, torrential rain, snow, and freeze-thaw cycles, tower foundations are prone to settlement or the tower itself to tilt and deform. In severe cases, this can lead to major safety accidents such as tower collapse and line breakage, posing a serious threat to the safe and stable operation of transmission lines. Therefore, real-time and accurate monitoring of tower tilt is of significant practical engineering importance.

[0003] Currently, the following methods are mainly used for tower tilt monitoring.

[0004] I. Manual Measurement Methods. Traditional manual measurement mainly relies on optical measuring instruments such as theodolites and total stations, with surveyors periodically going to the site to detect the tower tilt. This method is cumbersome, greatly affected by weather conditions, terrain, and the technical skill level of the surveyors, resulting in low measurement efficiency. It is difficult to meet the needs of high-frequency, large-scale monitoring, and it cannot satisfy the requirement for real-time online monitoring of the tower tilt status.

[0005] II. Drone Inspection Method. Drone inspection systems equipped with lidar or high-definition cameras are used to detect the operational status of towers. This method acquires spatial attitude data of the tower through periodic aerial photography or laser scanning by the drone, and then analyzes the data to determine if the tower is tilted. However, this method is significantly limited by environmental factors such as lighting conditions, rain, snow, and wind speed, and the drone's limited endurance prevents continuous, real-time monitoring in all weather conditions. Furthermore, changes in external temperature can adversely affect the measurement accuracy of lidar, leading to data errors.

[0006] III. Fixed Sensor Monitoring Method. This method employs fiber optic grating sensors for tower strain and tilt monitoring. Its measurement principle is based on the fiber optic grating sensor and an adaptive variational mode decomposition denoising algorithm, primarily aiming to suppress signal noise interference caused by environmental vibration. However, this type of measurement method mainly addresses vibration noise issues; its algorithm complexity is high, placing stringent demands on the computing power of edge computing devices, and it does not effectively compensate for the impact of temperature drift on measurement accuracy.

[0007] IV. Optical Measurement Methods. This method involves fixing a laser emitter and an image recognition device to the power transmission line, while the laser receiver is mounted on the tower. Offset detection is achieved through the relative displacement between the emitter and receiver. For example, the method for measuring the tilt of a power transmission line tower disclosed in Chinese patent CN121632067A uses a split structure, placing the emitter on the power transmission line. However, the emitter is susceptible to line sway and wind vibration, requiring high installation and calibration standards, and the vibration of the emitter cannot be effectively compensated. Furthermore, this method does not consider the impact of temperature drift on the measurement results, and the measurement accuracy and long-term stability need improvement.

[0008] In summary, existing transmission line tower tilt monitoring technologies have varying degrees of shortcomings in terms of real-time performance, environmental adaptability, measurement accuracy, and temperature drift compensation. Therefore, there is an urgent need to propose a high-precision tower tilt monitoring scheme with all-weather real-time monitoring and temperature self-compensation capabilities. Summary of the Invention

[0009] To address the aforementioned technical problems, this application provides a high-voltage transmission line tower tilt monitoring system. By integrating a laser transmitter and receiver onto a base and using a reflector mounted on the tower, it achieves non-contact, real-time measurement of the tower tilt angle using the laser triangulation principle. Simultaneously, based on a pre-configured temperature compensation model, it corrects for measurement errors caused by ambient temperature, thereby improving the accuracy of the measured tower tilt angle. The technical solution is as follows: This application provides a high-voltage transmission line tower tilt monitoring system, including: A laser emitter, mounted on a base, is used to emit a laser beam toward the tower, the laser beam covering a predetermined spatial range; A reflector is mounted on the tower and moves synchronously with the tower's tilt to reflect the laser beam emitted by the laser emitter. The travel range of the reflector during its movement with the tower does not exceed the space covered by the laser beam. A laser receiver, mounted on the base, is used to receive the laser beam reflected by the reflector and output an image containing a light spot. The position of the light spot in the image changes with the tilt angle of the tower, so as to determine the tilt angle of the tower based on the position change of the light spot. The base and the tower are independent of each other and are located in a stable area.

[0010] In one possible implementation, the reflector is positioned at a preset measuring point on the tower, and the reflective surface of the reflector is oriented towards the laser transmitter and the laser receiver.

[0011] In one possible implementation, the laser receiver includes a collimating lens and a CMOS image sensor; The collimating lens is disposed on the base and located in the reflected light path of the reflector. The collimating lens satisfies the following condition: within the travel range of the reflector as it moves with the tower, all laser beams reflected by the reflector can be incident into the effective aperture of the collimating lens and imaged onto the photosensitive surface of the CMOS image sensor after being transmitted through the collimating lens.

[0012] In one possible implementation, a processor is also included, which is communicatively connected to the CMOS image sensor and is used to calculate the tower tilt angle based on the position of the light spot on the image.

[0013] In one possible implementation, the processor uses a Gaussian fitting algorithm to locate the centroid coordinates of the light spot in the image, and calculates the tower tilt angle based on the displacement of the centroid coordinates combined with a laser triangulation model.

[0014] In one possible implementation, a temperature sensor is also included, which is used to collect ambient temperature. The processor is equipped with a temperature compensation model, which takes the tower tilt angle and the ambient temperature as inputs and temperature drift error as outputs to correct the tower tilt angle. The smoothing factor of the temperature compensation model is determined through quadruple cross-validation.

[0015] In one possible implementation, the optical axis of the collimating lens is set at a preset angle with the photosensitive surface of the CMOS image sensor to satisfy the Scheimpflug condition.

[0016] In one possible implementation, a gateway is also included, which is used to receive the image containing the light spot and output the image to a remote monitoring platform, or to receive and output the tower tilt angle to a remote monitoring platform.

[0017] In one possible implementation, the base has an installation space within which both the laser transmitter and the laser receiver are located; the outer shell of the base is made of metal.

[0018] In one possible implementation, the outer shell of the base is made of aluminum.

[0019] The technical solutions provided in this application can achieve the following technical effects.

[0020] (1) By integrating the laser transmitter and laser receiver onto the same base and installing reflectors on the tower that move synchronously with the tower's tilt, non-contact, high-precision, real-time measurement of the tower's tilt angle is achieved using the laser triangulation principle. Simultaneously, the integrated design of the laser transmitter and receiver ensures that the geometric parameters between the transmitting and receiving optical paths are precisely calibrated and fixed at the factory, eliminating the need for cumbersome optical path calibration on-site, reducing installation difficulty and technical requirements for on-site operators. The integrated packaging structure also provides excellent vibration resistance, effectively suppressing interference from external environmental vibrations on the relative positions of the transmitter and receiver, ensuring the long-term stability of the monitoring system.

[0021] (2) By inputting the initial tower tilt angle and ambient temperature into the trained temperature compensation model, the predicted value of temperature drift error is obtained, and the initial tower tilt angle is corrected accordingly, which significantly improves the accuracy of the measured tower tilt angle and effectively overcomes the technical problem of decreased accuracy caused by temperature drift in traditional laser measurement schemes. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. In the drawings: Figure 1 This paper illustrates an example of the operating environment of a high-voltage transmission line tower tilt monitoring system according to an embodiment of this application. Figure 2 This application shows a structural diagram of a high-voltage transmission line tower tilt monitoring system according to an embodiment of the present application; Figure 3 A block diagram of a high-voltage transmission line tower tilt monitoring system according to an embodiment of this application is shown; Figure 4 An example diagram is shown in Embodiment 1 of this application, illustrating the calculation of the tower tilt angle based on an image containing light spots. Figure 5 A block diagram of a high-voltage transmission line tower tilt monitoring system according to another embodiment of this application is shown.

[0023] Explanation of reference numerals in the attached diagram: 1. Tower; 2. Reflector; 3. Laser triangular tilt sensor; 31. Base; 32. Laser emitter; 33. Laser receiver; 331. Collimating lens; 332. CMOS image sensor; 4. Gateway; 5. Processor; 6. Temperature sensor; 7. Monitoring center. Detailed Implementation

[0024] Exemplary embodiments of the present application will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the scope of the present application to those skilled in the art.

[0025] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such use can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the term "comprising" and its variations should be interpreted as open-ended terms meaning "including but not limited to."

[0026] Example 1 In order to overcome the shortcomings of existing high-voltage transmission line tower tilt monitoring technology in terms of real-time performance, environmental adaptability and temperature drift compensation, this application proposes a high-voltage transmission line tower tilt monitoring system.

[0027] Figure 1 This diagram illustrates an example of the operating environment for a high-voltage transmission line tower tilt monitoring system according to an embodiment of this application. Figure 1 As shown, this scenario depicts a power transmission line, which includes at least one tower 1. A reflector 2 is installed on tower 1 to reflect the incident laser beam and convert the tower 1's tilt angle information into a change in the position of the reflected light spot. A laser triangulation tilt sensor 3 is installed in a stable area near tower 1, such as a stable point on the ground away from tower 1 or on a dedicated mounting platform. This sensor, in conjunction with the reflector 2, emits a laser beam and receives the reflected light spot from the reflector 2, using the laser triangulation principle to achieve non-contact, high-precision measurement of the tower 1's tilt angle. A gateway 4 is also installed in this scenario. The gateway 4 communicates with the laser triangulation tilt sensor 3, for example, via a 4G / 5G or LoRa communication module. Its main purpose is to upload the tower tilt angle data measured by the laser triangulation tilt sensor 3 to a monitoring center 7. The monitoring center 7 is located in the cloud and allows maintenance personnel to remotely view the health status of tower 1 on the power transmission line, including but not limited to the tower 1's tilt angle, tilt change trend, and over-threshold warning information.

[0028] The reflector 2, the laser triangular tilt sensor 3, and the gateway 4 in the above scenario constitute the high-voltage transmission line tower tilt monitoring system of this application. Figure 2A structural diagram of a high-voltage transmission line tower tilt monitoring system according to an embodiment of this application is shown. The following is a detailed description of each component of the monitoring system.

[0029] The reflector 2 is fixedly mounted on the tower 1 and moves synchronously with the tilt of the tower 1. The reflective surface of the reflector 2 faces the laser triangular tilt sensor 3 to reflect the laser beam emitted by the laser triangular tilt sensor 3. The reflector 2 is a mirror or other device with reflective function. In this embodiment, a mirror is preferred, and its reflective surface is coated with a high reflectivity film, which has a reflectivity of more than 95% for the laser beam. Further, the mirror is fixed on the tower 1 at a preset measuring point position where the displacement is the largest or which best reflects the overall tilt trend of the tower. The measuring point position includes, but is not limited to, the top of the tower 1, the four corners, or the edges. Among them, the top of the tower 1 has the largest horizontal displacement when tilting. According to the lever amplification principle, setting the mirror here can maximize the spot displacement at the same tilt angle, thereby effectively improving the monitoring sensitivity of the monitoring system. For the quadrilateral cross-section of the tower 1, the displacement characteristics of its four corners are the most obvious when tilting, and the reflective surface is easy to align with the laser triangular tilt sensor 3, reducing the installation difficulty. In practical applications, the appropriate measuring point position can be customized as needed.

[0030] The travel range of the reflector during the movement of the tower 1 does not exceed the spatial range covered by the laser beam emitted by the laser triangular tilt sensor 3, so as to ensure that the reflector is always in the illumination area of ​​the laser beam within the normal tilt monitoring range of the tower 1, thus ensuring the continuity of the optical path.

[0031] The laser triangulation tilt sensor 3 is mounted on a base 31, which is located in a stable area near the tower 1, such as a stable ground surface or a concrete foundation platform away from the tower 1. The laser triangulation tilt sensor 3 includes a laser transmitter 32 and a laser receiver 33. Since both the laser transmitter 32 and the laser receiver 33 are mounted on the same base 31, they are an integrated design. The advantages of this integrated design are twofold: firstly, the geometric parameters between the transmitting and receiving optical paths, such as the baseline distance and the included angle of the optical axis, are precisely calibrated and fixed at the factory, eliminating the need for cumbersome optical path calibration on-site, thus reducing installation difficulty and the technical requirements for on-site operators; secondly, the integrated packaging structure has excellent vibration resistance, effectively suppressing the interference of external environmental vibrations on the relative position of the laser transmitter 32 and the laser receiver 33, ensuring the long-term stability of the monitoring system.

[0032] The base 31 has an installation space within which both the laser emitter 32 and the laser receiver 33 are housed. The outer shell of the base 31 is made of metal, preferably aluminum. Aluminum has advantages such as low density, high thermal conductivity, and good processing performance, which facilitates on-site installation and handling, and also helps to quickly dissipate the heat generated by the laser emitter 32 during operation, reducing the impact of heat accumulation on measurement accuracy. In addition, the base 31 is also provided with a transparent window. The laser beam emitted by the laser emitter 32 is directed to a reflector through this transparent window, and the reflected light enters the laser receiver 33 through the same or another transparent window.

[0033] The laser emitter 32 is used to emit a laser beam towards the tower 1, and the laser beam covers a predetermined spatial range. In this embodiment, the laser emitter 32 is a semiconductor laser, and its emitted beam is collimated to form a parallel laser beam with a diameter of approximately 3mm to 10mm. The beam divergence angle is controlled within 1mrad to ensure that it still has sufficient beam energy density and a small spot size when transmitted to the reflector, which is beneficial for the accurate positioning of the spot centroid.

[0034] like Figure 3 As shown, the laser receiver 33 consists of a collimating lens 331 and a CMOS image sensor 332. The collimating lens 331 is mounted on the base 31 and located in the reflected light path of the reflector. This collimating lens 331 satisfies the following condition: within the travel range of the reflector as it moves with the tower 1, the laser beam reflected by the reflector can enter the effective aperture of the collimating lens 331 and be imaged onto the photosensitive surface of the CMOS image sensor 332 after transmission through the collimating lens 331. To achieve this function, the aperture of the collimating lens 331 needs to be designed according to the maximum travel range of the reflector. Specifically, based on the maximum tilt angle and height of the tower 1, the maximum offset of the reflected beam at the collimating lens 331 is calculated, and a collimating lens 331 with an appropriate aperture is selected to ensure that the reflected beam can enter the effective aperture of the lens throughout the entire travel range. The CMOS image sensor 332 is located in the output light path of the collimating lens 331 and is used to receive the laser beam transmitted through the collimating lens 331 and form an image containing a light spot. In this embodiment, the CMOS image sensor 332 is an industrial-grade area array image sensor with high resolution and high frame rate, which can meet the requirements of real-time monitoring for data acquisition speed and accuracy.

[0035] In this embodiment, the optical axis of the collimating lens 331 is set at a preset angle with the photosensitive surface of the CMOS image sensor 332 to satisfy the Scheimpflug condition, thereby ensuring that the light spots reflected by the mirror at different tilt angles can be clearly imaged on the CMOS image sensor 332.

[0036] To calculate the tilt angle of tower 1 from an image containing a light spot, the monitoring system also includes a processor 5. Processor 5, also mounted on the base 31, is communicatively connected to a CMOS image sensor 332. It receives the image containing the light spot output by the CMOS image sensor 332 and calculates the tower tilt angle based on the position of the light spot in the image. Specifically, processor 5 uses a Gaussian fitting algorithm to locate the centroid coordinates of the light spot in the image. By fitting a two-dimensional Gaussian function to the grayscale distribution of the light spot image, it obtains the sub-pixel-level accurate coordinates of the light spot centroid. Compared to the traditional grayscale centroid method, the Gaussian fitting algorithm effectively suppresses the influence of image noise on the accuracy of light spot positioning, improving the accuracy to the sub-pixel level. After obtaining the sub-pixel-level coordinates of the light spot centroid, processor 5 tracks the changes in the centroid coordinates in real time, calculates the displacement of the light spot on the photosensitive surface of the CMOS image sensor 332, and then combines this with a laser triangulation model to calculate the tower tilt angle. Figure 4 As shown, the specific calculation process of the laser triangulation model is as follows: Assume point A is the point where the laser beam hits the reflector under normal conditions, and point B is the point where the laser beam hits the reflector when the reflector tilts with tower 1. Dot and Let points A and B represent the light spots in the CMOS image sensor 332, respectively. Based on the principles of geometric optics imaging and laser triangulation, the imaging relationship of the light spots in the CMOS sensor is obtained as follows: , in, μ and v These represent the distances between the collimating lens 331 and the incident point of the laser beam, and the CMOS image sensor 332, respectively. θ and α These represent the angles between the laser beam and the optical axis of the collimating lens, and the angles between the collimating lens 331 and the CMOS image sensor 332, respectively. This represents the transverse magnification of the image captured by the CMOS image sensor 332. This relationship reflects the inherent constraints between the geometric parameters of the monitoring system, such as angles, within the laser triangulation optical path that satisfies the Scheimpflug condition. θ and α ,distance μ and v When tower 1 tilts, the incident point on the reflector moves from point A to point B, and correspondingly, the imaging spot on the CMOS image sensor 332 changes from point A to point B. Move to The displacement of the light spot on the CMOS photosensitive surface and the actual displacement of the reflector are mapped through the above imaging relationship, thereby realizing the accurate calculation of the tower tilt angle.

[0037] Furthermore, x This indicates the upward movement distance of the reflector. This represents the distance the light spot moves in the CMOS image sensor 332. After simplification, we get: , By comparison x and From the relationship, we can obtain: , Furthermore, it can be calculated that: , Finally, the tower tilt angle was calculated: .

[0038] Therefore, the tower tilt angle can be calculated simply by calculating the displacement of the light spot acquired by the CMOS image sensor 332.

[0039] Meanwhile, to improve the accuracy of the calculated tower tilt angle, a temperature compensation model is also configured in processor 5. This model corrects for measurement errors caused by changes in ambient temperature in the laser triangular tilt sensor 3. In practical applications, changes in ambient temperature can lead to various temperature drift effects: drift in the emitted wavelength and power of the laser emitter 32, changes in the refractive index and radius of curvature of the collimating lens 331, and fluctuations in the dark current and responsivity of the CMOS image sensor 332. Under the combined effect of these factors, the position of the light spot on the CMOS image sensor 332 at the same tilt angle will experience an additional shift not caused by tilting factors, thus introducing temperature drift errors and affecting measurement accuracy. This embodiment uses a temperature compensation model based on a Generalized Regression Neural Network (GRNN). GRNN is a feedforward neural network based on nonlinear regression, using sample data as a posterior condition for Parzen nonparametric estimation, and calculating the network output estimate based on the maximum probability principle. , is represented as: , in, n Indicates the number of samples. It is the first The target output for each sample It is the first The output of the Parzen window function for each sample is typically a network input. and sample points The distance between them is a Gaussian function based on, and , The smoothing factor represents the Gaussian function and is used to control the shape of the function. The model estimates the new input by calculating a weighted average of all sample points. The output.

[0040] Specifically, the process of establishing the temperature compensation model is as follows: S1: Under different ambient temperature conditions, the actual tilt angle of tower 1 is calibrated using an inclinometer. At the same time, the initial tilt angle calculated by processor 5 and the ambient temperature collected by temperature sensor 6 are recorded to construct a training sample set. Each sample contains three data points: ambient temperature, initial tilt angle, and temperature drift error. The temperature drift error is the difference between the initial tilt angle and the actual tilt angle.

[0041] S2: Set the smoothing factor The initial values ​​are determined, and the samples in S1 are randomly divided into four groups.

[0042] S3: Select one set of samples as test samples and the other three sets as training samples to build a temperature compensation model, that is, the ratio of test samples to training samples is 1:3.

[0043] S4: Validate the test samples using the trained temperature compensation model to obtain the predicted temperature drift error, and calculate the absolute error between the predicted and actual values, defining it as the loss function, expressed as: , S5: Repeat S3 and S4 until all four groups of samples have been validated as test samples once, and calculate the average loss function value of the four validations.

[0044] S6: Change the smoothing factor Repeat steps S2 to S5 to find the smoothing factor that minimizes the average loss function value. This was determined as the optimal propagation parameter.

[0045] S7: Use all training samples and the optimal smoothing factor The final temperature compensation model is constructed, which has two inputs (ambient temperature and initial tilt angle) and one output (predicted temperature drift error).

[0046] In the actual monitoring process, processor 5 first calculates the preliminary tower tilt angle based on the spot image acquired by CMOS image sensor 332, and simultaneously reads the current ambient temperature acquired by temperature sensor 6. Then, the preliminary tower tilt angle and ambient temperature are input into the trained temperature compensation model, which outputs the predicted value of temperature drift error. Finally, the predicted value of temperature drift error is subtracted from the preliminary tower tilt angle to obtain the corrected tower tilt angle, expressed as: , in, β This is the initial tower tilt angle. This is the temperature drift regression value, which is correlated with the predicted value of the temperature drift error; specifically, it is the negative value of the predicted temperature drift error. β c This is the corrected tower tilt angle.

[0047] Therefore, it can be seen that the temperature compensation model can effectively eliminate the influence of ambient temperature changes on measurement accuracy, and achieve high-precision tilt measurement over a wide temperature range.

[0048] The temperature sensor 6 mentioned above can be installed on the base 31 as part of the monitoring system, or it can be an independent device specifically used to monitor the ambient temperature. Its measurement data can be transmitted to the processor 5 via wired or wireless means to ensure the real-time performance and accuracy of temperature compensation.

[0049] Gateway 4 communicates with processor 5 and is primarily used to receive tower tilt angle data output by processor 5 and upload it to remote monitoring center 7. In practical applications, the number of gateways 4 can be flexibly deployed according to the actual conditions of the transmission line. For example, one gateway 4 can be deployed near each tower 1, or only one gateway 4 can be set up between multiple towers 1. In this case, one gateway 4 communicates with multiple processors 5 to receive and forward tower tilt angle data output by multiple processors 5. Furthermore, when processor 5 determines that the tilt angle of tower 1 exceeds a preset threshold, processor 5 sends an early warning signal to remote monitoring center 7 through gateway 4, notifying maintenance personnel to conduct timely on-site investigation and handling. Of course, gateway 4 can also receive instructions from remote monitoring center 7, such as adjusting the monitoring frequency and modifying the early warning threshold, to achieve remote configuration and management of the monitoring system.

[0050] In summary, the implementation principle of a high-voltage transmission line tower tilt monitoring system in Embodiment 1 of this application is as follows: First, a laser beam is emitted from a laser emitter 32 towards the tower 1. After being reflected by a reflector on the tower 1, the emitted laser beam forms a light spot on a CMOS image sensor 332 through a collimating lens 331. When the tower 1 tilts, the reflector deflects accordingly, causing the position of the light spot on the sensor's photosensitive surface to shift. The processor 5 uses a two-dimensional Gaussian fitting algorithm to perform sub-pixel-level positioning of the light spot image, accurately calculates the displacement of the light spot, and combines it with a laser triangulation model to calculate the preliminary tower tilt angle. Second, in order to eliminate the influence of ambient temperature changes on measurement accuracy, the monitoring system introduces a temperature compensation model. By inputting the preliminary tower tilt angle and ambient temperature into the trained temperature compensation model, the model outputs a predicted value of temperature drift error through nonlinear mapping. Finally, the processor 5 uses the temperature drift regression value to correct the preliminary tower tilt angle to obtain a compensated high-precision tower tilt angle. Therefore, this application can achieve the goal of all-weather, high-precision, real-time online monitoring of the tilt status of high-voltage transmission line towers, effectively overcoming the shortcomings of traditional monitoring methods that are greatly affected by environmental factors and have poor real-time performance, thus ensuring the safe and stable operation of the power grid.

[0051] Example 2 The difference between Example 2 and Example 1 is that the monitoring system in Example 2 does not include a processor 5; that is, the base 31 only integrates a laser transmitter 32, a laser receiver 33, and a gateway 4. Figure 5 As shown, in this embodiment, the image data containing light spots output by the laser receiver 33 is directly uploaded to the remote monitoring center 7 via the gateway 4. The server or computing platform of the remote monitoring center 7 calculates the tower tilt angle based on the image data. This cloud computing mode transfers the computing task to the monitoring center 7, which reduces the power consumption and hardware cost of the base-end equipment on the one hand, and facilitates the unified upgrading of algorithm models at the monitoring center 7 on the other hand, reducing the maintenance workload of the field equipment. At the same time, since the base-end does not need to be equipped with a processor 5, the number of system failure points is reduced, and the reliability and service life of the field equipment are further improved, which is especially suitable for applications with high requirements for equipment cost and maintenance convenience in large-scale deployment scenarios.

[0052] In summary, the implementation principle of a high-voltage transmission line tower tilt monitoring system in Embodiment 2 of this application is as follows: First, a laser beam is emitted from a laser emitter 32 towards the tower 1. After being reflected by a reflector on the tower 1, the emitted laser beam forms a light spot on the CMOS image sensor 332 through a collimating lens 331. When the tower 1 tilts, the reflector deflects accordingly, causing the position of the light spot on the sensor's photosensitive surface to shift. The image data containing the light spot is uploaded to the remote monitoring center 7 via the gateway 4. The server of the remote monitoring center 7 uses a Gaussian fitting algorithm to perform sub-pixel-level positioning of the light spot image, obtains the precise coordinates of the light spot's centroid, and maps the light spot displacement to the actual displacement of the reflector based on the displacement of the light spot on the photosensitive surface of the CMOS image sensor 332, combined with a laser triangulation model based on the Scheimpflug condition, thereby calculating the tower tilt angle. Meanwhile, the server of the remote monitoring center 7 is also equipped with the same temperature compensation model as in Example 1. After acquiring the ambient temperature data, the model performs temperature drift correction on the initially calculated tower tilt angle, and finally obtains the compensated high-precision tower tilt angle.

[0053] In Example 2, the ambient temperature data can be collected by the temperature sensor 6 installed on the base 31 and uploaded through the gateway 4, or it can be obtained from the meteorological data source by the remote monitoring center 7. This example does not impose any restrictions.

[0054] It should be noted that the sequence numbers of the steps in the above embodiments do not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. In practical applications, all the above possible implementation methods can be arbitrarily combined in a combined manner to form possible embodiments of this application, which will not be described in detail here.

[0055] It should also be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them; although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that within the spirit and principles of this application, modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the corresponding technical solutions to leave the protection scope of this application.

Claims

1. A high-voltage transmission line tower tilt monitoring system, characterized in that, include: A laser emitter (32) is mounted on a base (31) for emitting a laser beam toward the tower (1) and the laser beam covers a predetermined spatial range. A reflector (2) is mounted on the tower (1) and moves synchronously with the tower (1) as it tilts. It is used to reflect the laser beam emitted by the laser emitter (32). The travel range of the reflector (2) during its movement with the tower (1) does not exceed the space covered by the laser beam. A laser receiver (33) is disposed on the base (31) for receiving the laser beam reflected by the reflector (2) and outputting an image containing a light spot. The position of the light spot in the image changes with the tilt angle of the tower (1) so as to determine the tilt angle of the tower (1) based on the position change of the light spot. The base (31) and the tower (1) are independent of each other and are located in a stable area.

2. The high-voltage transmission line tower tilt monitoring system according to claim 1, characterized in that, The reflector (2) is set at a preset measuring point position on the tower (1), and the reflective surface of the reflector (2) is set towards the laser emitter (32) and the laser receiver (33).

3. The high-voltage transmission line tower tilt monitoring system according to claim 1, characterized in that, The laser receiver (33) includes a collimating lens (331) and a CMOS image sensor (332); The collimating lens (331) is disposed on the base (31) and located in the reflected light path of the reflector (2). The collimating lens (331) satisfies the following conditions: within the travel range of the reflector (2) moving with the tower (1), the laser beam reflected by the reflector (2) can be incident into the effective light-passing aperture of the collimating lens (331) and imaged on the photosensitive surface of the CMOS image sensor (332) after being transmitted through the collimating lens (331).

4. The high-voltage transmission line tower tilt monitoring system according to claim 3, characterized in that, It also includes a processor (5), which is communicatively connected to the CMOS image sensor (332) and is used to calculate the tower tilt angle based on the position of the light spot on the image.

5. The high-voltage transmission line tower tilt monitoring system according to claim 4, characterized in that, The processor (5) uses a Gaussian fitting algorithm to locate the centroid coordinates of the light spot in the image, and calculates the tilt angle of the tower based on the displacement of the centroid coordinates and the laser triangulation model.

6. The high-voltage transmission line tower tilt monitoring system according to claim 4, characterized in that, It also includes a temperature sensor (6) for collecting ambient temperature; The processor (5) is equipped with a temperature compensation model, which takes the tower tilt angle and the ambient temperature as inputs and temperature drift error as outputs to correct the tower tilt angle. The smoothing factor of the temperature compensation model is determined through quadruple cross-validation.

7. The high-voltage transmission line tower tilt monitoring system according to claim 3, characterized in that, The optical axis of the collimating lens (331) is set at a preset angle with the photosensitive surface of the CMOS image sensor (332) to satisfy the Scheimpflug condition.

8. The high-voltage transmission line tower tilt monitoring system according to claim 1 or 4, characterized in that, It also includes a gateway (4), which is used to receive the image containing the light spot and output the image to the remote monitoring platform (7), or to receive and output the tower tilt angle to the remote monitoring platform (7).

9. The high-voltage transmission line tower tilt monitoring system according to claim 1, characterized in that, The base (31) has an installation space, and the laser emitter (32) and the laser receiver (33) are both located in the installation space; the outer shell of the base (31) is made of metal.

10. The high-voltage transmission line tower tilt monitoring system according to claim 9, characterized in that, The outer shell of the base (31) is made of aluminum.

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