Multi-axis sensing lightweight transmission tower tilt monitoring method and device

Abstract

The application discloses a kind of multi-axis sensing light weight transmission tower tilt monitoring method and device, it is related to transmission line operation monitoring technical field, comprising: according to the height structure of transmission tower and component connection direction determine monitoring position, the three-axis acceleration and angular velocity of monitoring position are obtained, and according to the attitude change direction of adjacent position and axial linkage state are associated, form multi-axis attitude collaborative state;According to the time sequence change of multi-axis attitude collaborative state, adjacent state is associated along the attitude change direction, and attitude change is expanded along the spatial distribution of monitoring position, form attitude evolution field, extract attitude offset sequence;According to the time sequence extension and spatial distribution of attitude offset sequence, the attitude offset of continuous time is backtracked, and cumulative correlation is carried out, form tilt evolution chain, determine tower tilt state;The application is tracked by multi-axis attitude collaboration and tilt evolution chain, solve the problem that tower tilt range and direction are difficult to accurately and continuously monitor.

Description

Technical Field

[0001] This invention relates to the field of power transmission line operation monitoring technology, and more specifically, to a multi-axis sensing lightweight power transmission tower tilt monitoring method and device. Background Technology

[0002] With the continuous expansion of power transmission lines, transmission towers are constantly affected by factors such as wind loads, icing, foundation settlement, and changes in line tension, making them prone to structural attitude changes such as tilting and offset. Existing technologies typically involve placing tilt or attitude sensors at the tower feet, body, and top to collect data such as tilt angle and acceleration at different locations, and then judging the tower's tilt state based on the differences in data between measurement points. However, fixed measurement point deployment requires a large number of sensors and specific installation locations, making it difficult to simultaneously account for attitude changes at different tower heights and component orientations. Furthermore, single-point or multi-point data mainly reflects local attitude changes, making it difficult to continuously describe the extension direction and range of attitude offset within the tower's spatial structure, and easily confusing local component deformation with overall tower tilt. Therefore, it is necessary to propose a multi-axis sensing lightweight transmission tower tilt monitoring method that reduces the number of monitoring locations while spatially correlating and continuously tracking multi-axis attitude changes of the tower, thereby improving the monitoring capability of the tower's tilt direction, range, and state.

[0003] The above-disclosed embodiments have at least the following technical problems:

[0004] In traditional technologies, transmission tower tilt monitoring relies heavily on fixed measuring points and single-point tilt angle data. The large number of monitoring points makes it difficult to fully reflect multi-axis attitude changes and their spatial transmission process. Furthermore, it is difficult to distinguish between local component deformation and the overall tilt state, resulting in insufficient accuracy in judging the tilt direction, range of influence, and continuous evolution state.

[0005] To address the above problems, this invention proposes a solution. Summary of the Invention

[0006] To overcome the above-mentioned defects of the prior art, embodiments of the present invention provide a multi-axis sensing lightweight transmission tower tilt monitoring method and device, which solves the problem of difficulty in accurately and continuously monitoring the tilt range and direction of the tower through multi-axis attitude coordination and tilt evolution chain tracking.

[0007] To achieve the above objectives, the present invention provides the following embodiments: A multi-axis sensing lightweight transmission tower tilt monitoring method includes: determining the monitoring position based on the height, structure, and component connection direction of the transmission tower; acquiring the triaxial acceleration and angular velocity at the monitoring position and associating them according to the attitude change direction and axial linkage state of adjacent positions to form a multi-axis attitude coordination state; associating adjacent states along the attitude change direction based on the temporal change of the multi-axis attitude coordination state and extending the attitude change along the spatial distribution of the monitoring position to form an attitude evolution field; extracting the attitude offset sequence based on the temporal extension and spatial expansion state of the attitude evolution field; backtracking the attitude offset at consecutive moments based on the temporal extension and spatial distribution of the attitude offset sequence and accumulating and associating it along the extension direction of the attitude offset to form a tilt evolution chain; and determining the tower tilt state based on the directional extension and cumulative change of the tilt evolution chain.

[0008] In a preferred embodiment, the process of determining the monitoring position based on the height, structure, and component connection direction of the transmission tower, acquiring the triaxial acceleration and angular velocity of the monitoring position, and associating them according to the attitude change direction and axial linkage state of adjacent positions to form a multi-axis attitude coordination state, specifically involves: acquiring the spatial connection structure of the transmission tower's base, body, head, and components; dividing the structure into segments based on the tower height change and component connection direction; determining the monitoring position according to the component connection path between adjacent structural segments; establishing positional adjacency relationships based on the structural segment, spatial height, and structural connection direction of the monitoring position; determining the attitude transmission direction based on the structural connection direction between adjacent monitoring positions; and forming a spatial adjacency structure for the monitoring positions. The attitude transfer direction is used to obtain the triaxial acceleration and angular velocity of the monitoring position. The attitude change components of each axis are decomposed according to the attitude reference of the monitoring position, and the change direction and continuous state of adjacent time moments are associated along the time direction to form an attitude change sequence. Based on the attitude transfer direction, the attitude change sequence of adjacent monitoring positions is associated, and the offset direction of each axis attitude change component is extracted along the continuous time moment. According to the offset direction, the attitude change of adjacent monitoring positions is associated along the attitude transfer direction, the transfer change of each axial offset direction is tracked and organized to form a multi-axis attitude cooperative change structure. According to the spatial extension and temporal inheritance state of the multi-axis attitude cooperative change structure, the cooperative offset change of adjacent monitoring positions is associated, and the cooperative change of continuous positions is converged along the attitude transfer direction to form a multi-axis attitude cooperative state.

[0009] In a preferred embodiment, the process of obtaining the triaxial acceleration and angular velocity of the monitoring position based on the attitude transmission direction in the spatially adjacent structure of the monitoring position, decomposing the attitude change components of each axis according to the attitude reference of the monitoring position, and associating the change direction and duration of adjacent moments along the time direction to form an attitude change sequence is as follows: The triaxial acceleration and angular velocity of each monitoring position are obtained, and the main structural direction extending from the tower foot to the tower head is determined based on the adjacent positions and attitude transmission direction in the spatially adjacent structure of the monitoring position, forming a longitudinal structural reference; a transverse structural reference is determined based on the transverse component connection direction of the structural section where the monitoring position is located, and a vertical structural reference is determined by combining the spatial relationship between the longitudinal and transverse structural references, forming a structural attitude reference; the connection is performed according to the structural attitude reference of the monitoring position. The three-axis acceleration and angular velocity at consecutive time points are mapped to directions, and the responses of each axis are assigned to the longitudinal, lateral, and vertical structural directions. The changes in acceleration and angular velocity in the same direction are correlated to form attitude change components for each axis. The attitude change components for each axis are correlated in chronological order, and the changes in the same direction in adjacent time points are extended, and the switching positions between different directions are recorded to form attitude change segments for each axis. The extension positions of the attitude change segments for each axis are tracked along the time direction, and the change segments at consecutive time points are connected in series according to direction and duration. The multi-axis attitude change trajectory is organized according to the directional transitions between change segments. The starting position, extension position, and switching position of each axis change are traced back in chronological order according to the multi-axis attitude change trajectory, and the directional changes and durations at consecutive time points are correlated to form a multi-axis attitude change sequence.

[0010] In a preferred embodiment, the step of associating the coordinated offset changes of adjacent monitoring positions based on the spatial extension and temporal inheritance state of the multi-axis attitude coordinated change structure, and converging the coordinated changes of consecutive positions along the attitude transmission direction to form a multi-axis attitude coordinated state, specifically involves: acquiring the monitoring position, axial offset direction, and occurrence time of each multi-axis attitude coordinated change structure; arranging the monitoring positions in chronological order along the attitude transmission direction to form a coordinated offset position sequence; associating the axial offset changes of adjacent monitoring positions according to the coordinated offset position sequence, using the offset occurrence time of the previous position as a reference to correspond to the offset occurrence time of the next position, forming a coordinated offset temporal sequence; and based on the coordinated offset... The axial offset transmission direction and time interval in the time-series transition are determined by arranging the offset changes of adjacent positions along the attitude transmission direction and organizing them according to the transmission order of the same axis to form an axial offset extension segment. The axial offset extension segments are spatially cross-correlated to extract the axial conversion positions. The axial conversion positions are connected to the axial offset extension segments reaching and extending outward from the position to determine the transition order of the axial offset and associate each axial conversion position to form a multi-axis collaborative offset extension band. Based on the spatial coverage, time extension order and axial conversion positions of the multi-axis collaborative offset extension band, the collaborative offset changes of each monitoring position are associated and converged along the attitude transmission direction to form a multi-axis attitude collaborative state.

[0011] In a preferred embodiment, the step of associating adjacent states along the attitude change direction based on the temporal change of the multi-axis attitude cooperative state, and extending the attitude change along the spatial distribution of the monitoring position to form an attitude evolution field, and extracting the attitude offset sequence based on the temporal extension and spatial expansion of the attitude evolution field, specifically as follows: Obtaining the multi-axis attitude cooperative state at adjacent monitoring times and its covered monitoring positions, offset directions, and axial changes, and establishing a correspondence between adjacent state positions according to the attitude transfer direction; mapping the attitude change position of the monitoring position at the previous time to the spatial position at the next time according to the correspondence between adjacent state positions, recording the migration direction and migration position of the attitude change, forming an attitude state migration unit; tracking the spatial offset of attitude changes along each axis along the attitude transfer direction according to the migration direction and spatial position in the attitude state migration unit, and performing spatial... The system is reorganized to form a multi-axis attitude distribution structure. Based on this structure, attitude changes at adjacent monitoring locations are correlated along the attitude transfer direction and spatially organized according to the convergence sequence of different axial changes to form an attitude evolution zone. Based on the spatial coverage and attitude change direction of the attitude evolution zone, the system tracks the extension of the attitude evolution zone along the spatial distribution of monitoring locations and organizes its extensional changes to form an attitude extension boundary. The system correlates the attitude extension boundaries at adjacent moments along the time direction, tracks the extension range of attitude changes based on the spatial migration, extension direction, and axial transformation of the boundary positions, and organizes this temporal sequence to form an attitude evolution field. Based on the spatial position and extension direction of the attitude extension boundaries at each moment in the attitude evolution field, the system establishes a correspondence between the preceding and following boundary positions along the time direction, tracks the spatial extension and directional changes of attitude offset, and correlates the axial transformation positions to form an attitude offset sequence.

[0012] In a preferred embodiment, the step of tracking the spatial offset of attitude changes along the attitude transfer direction and forming a multi-axis attitude distribution structure based on the migration direction and spatial position of the attitude state transfer unit is as follows: The initial monitoring position, migration position, migration direction, and axial change of the attitude state transfer unit are obtained; the migration positions are rearranged according to the spatial adjacency structure of the monitoring positions, and the attitude transfer direction is used as the spatial unfolding direction to form an attitude migration position sequence; the migration direction of adjacent monitoring positions is tracked according to the attitude migration position sequence; attitude state transfer units with the same migration direction and passing through adjacent monitoring positions are connected in direction, and the monitoring positions where the migration direction changes are recorded. This process involves: forming axial offset continuation segments; spatially expanding the longitudinal, lateral, and vertical offsets within these segments; comparing the offset directions of adjacent positions to extract offset bifurcation and convergence points; and associating the axial offset continuation segments with directional continuity and axial switching based on the spatial adjacency relationships of these bifurcation, convergence, and axial transition points to form an attitude offset spatial skeleton. Cross-checking is performed on the axial offset continuation segments within the attitude offset spatial skeleton to determine the axial transition points between each axial offset. Each axial offset continuation segment is then associated according to the attitude transmission direction, and adjacent axial offsets are connected by their axial transition points. These segments are then arranged in conjunction with the spatial extension and bifurcation / convergence states of the offsets to form a multi-axis attitude distribution structure.

[0013] In a preferred embodiment, the step of associating attitude changes of adjacent monitoring positions along the attitude transmission direction based on the multi-axis attitude distribution structure, and spatially organizing them according to the convergence sequence of different axial changes to form an attitude evolution zone, specifically involves: extracting the axial offset and spatial position of each monitoring position in the multi-axis attitude distribution structure; arranging adjacent monitoring positions according to the attitude transmission direction; matching the axial offsets of adjacent positions in the same direction to determine the forward and backward extension range of the axial offset; connecting adjacent offset bifurcation positions and offset convergence positions along the extension direction of the axial offset continuation segment; dividing the offset extension segment according to the attitude transmission sequence between each position to determine the axial offset direction; tracing the determined axial transformation position along the attitude transmission direction of the offset extension segment, and extracting... The axial offsets before and after the position change are determined, and the order of the offsets before and after the change is determined. The offsets before and after the change at the same axial change position are paired, and the longitudinal, lateral, and vertical offsets are recorded as the axial offsets before and after the change, respectively. The entry and exit directions of the axial offsets at the change position are determined. According to the attitude transmission sequence of the axial change positions, the offset extension segments between adjacent axial change positions are connected in series, and the segments passing through the same offset bifurcation position or offset convergence position are kept in a branching and converging structure to form a multi-axis variation extension structure. Adjacent multi-axis variation extension structures are connected along the attitude transmission direction, and spatially unfolded according to the spatial extension, bifurcation, convergence, and axial change sequence of each axial offset to form an attitude evolution zone.

[0014] In a preferred embodiment, the attitude shifts at consecutive moments are traced back according to the temporal extension and spatial distribution of the attitude shift sequence, and cumulative correlation is performed along the extension direction of the attitude shifts to form a tilt evolution chain. The tilt state of the tower is determined based on the directional extension and cumulative changes of the tilt evolution chain, specifically as follows: The occurrence positions and time sequence of each shift are traced back along the attitude shift sequence; the spatial extension positions of adjacent moments are correlated according to the attitude transmission direction, and the shift direction and axial conversion position are correlated to form a spatiotemporal continuity structure of attitude shifts; based on the spatial correspondence in the spatiotemporal continuity structure of attitude shifts, the extension path of the shift direction along the attitude transmission direction is traced, and different axial shifts are connected at the axial conversion position to form a shift change continuity segment; according to the attitude... At the moment of offset occurrence, adjacent offset change segments are sequentially connected, and the spatial extension direction and position of each segment are recorded to form a tilt evolution chain. The spatial continuity of the offset direction is traced along the tilt evolution chain, and the offsets of the same direction arriving at the same monitoring position at different times are spatiotemporally converged. The offset directions before and after the axial conversion position are connected to form the dominant tilt offset channel and its expansion range. Based on the height extension range and axial conversion position of the dominant tilt offset channel, combined with the directional extension and spatial accumulation state of the tilt evolution chain, the tilt influence zone of the tower is divided. Based on the directional continuity and spatial penetration state between each tilt influence zone, the offset channel that penetrates multiple height zones is used as the tilt characterization to determine the tower's tilt direction, tilt range, and tilt state.

[0015] In a preferred embodiment, the process of dividing the tower's tilt influence zone based on the height extension range and axial conversion position of the dominant tilt offset channel, combined with the directional extension and spatial accumulation state of the tilt evolution chain, is as follows: The monitoring positions, height levels, and spatial extension ranges traversed by the dominant tilt offset channel are obtained; the monitoring positions are arranged according to the direction from the tower foot to the tower head to establish a height extension sequence of the dominant channel; the offset traversal state of the tilt evolution chain at each monitoring position is tracked along the height extension sequence, mapping the same-direction offsets formed at different times to the same height position, and the offset accumulation range at each height position is statistically analyzed to form a height offset accumulation zone; the offset direction continuity state of adjacent height positions is tracked along the height offset accumulation zone, and the offset direction continuity from the previous... The offsets extending from one height position to the next height position are concatenated, and the height positions where the offset direction changes are recorded. The determined axial transformation positions are mapped to the height offset accumulation zone, and the offset direction and spatial extension range before and after the transformation position are associated. The axial transformation positions are matched with the positions where the offset direction changes to form height change nodes. The offset extension between height change nodes is traced along the direction from the tower foot to the tower head. The tilt evolution chains at different height positions are spatially superimposed, and the height penetration and offset accumulation state of the dominant channel are associated. Based on the offset accumulation direction and axial transformation position after spatial superposition, the offset extensions of adjacent height ranges are merged, and the segment boundaries are organized according to the offset changes at the axial transformation points to form tilt influence segments.

[0016] A device for a multi-axis sensing lightweight transmission tower tilt monitoring method includes a coordination module, an attitude evolution module, and a tilt module, which are interconnected. The coordination module determines the monitoring position based on the height structure and component connection direction of the transmission tower, acquires the triaxial acceleration and angular velocity at the monitoring position, and associates them according to the attitude change direction and axial linkage state of adjacent positions to form a multi-axis attitude coordination state. The attitude evolution module associates adjacent states along the attitude change direction based on the temporal change of the multi-axis attitude coordination state, and extends the attitude change along the spatial distribution of the monitoring position to form an attitude evolution field. It extracts the attitude offset sequence based on the temporal extension and spatial expansion state of the attitude evolution field. The tilt module backseats the attitude offsets at consecutive moments based on the temporal extension and spatial distribution of the attitude offset sequence, and accumulates and associates them along the extension direction of the attitude offset to form a tilt evolution chain. It determines the tower tilt state based on the directional extension and cumulative change of the tilt evolution chain.

[0017] The technical effects and advantages of the multi-axis sensing lightweight transmission tower tilt monitoring method and device of the present invention are as follows: 1. This invention decomposes the triaxial acceleration and angular velocity according to the longitudinal, lateral and vertical structural benchmarks of the tower, and forms a multi-axis attitude coordination state based on the attitude transmission direction and axial linkage state between adjacent monitoring positions. It can correlate the dispersed multi-axis attitude changes according to spatial position and time sequence, avoiding misjudgment caused by judging the tower tilt based on a single sensor or a single axial change.

[0018] 2. This invention forms a tilt evolution chain by performing spatiotemporal backtracking and extended accumulation of attitude offset sequences, and divides tilt influence sections according to the offset accumulation state at axial conversion positions and different height positions. It can distinguish between local component attitude changes and overall tilt changes that span multiple height sections, thereby improving the accuracy of determining the tilt direction, tilt range, and tilt state of the tower. Attached Figure Description

[0019] Figure 1 This is a flowchart illustrating a multi-axis sensing lightweight transmission tower tilt monitoring method according to the present invention.

[0020] Figure 2 This is a schematic diagram of the device structure for a multi-axis sensing lightweight transmission tower tilt monitoring method according to the present invention. Detailed Implementation

[0021] The embodiments of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0022] Example 1, Figure 1 This invention provides a lightweight, multi-axis sensing method for monitoring the tilt of power transmission towers, comprising: S1. The monitoring position is determined based on the height, structure, and component connection direction of the transmission tower. The triaxial acceleration and angular velocity of the monitoring position are obtained and correlated according to the attitude change direction and axial linkage state of adjacent positions to form a multi-axis attitude coordination state. In this embodiment, the monitoring position is determined based on the height, structure, and component connection direction of the transmission tower. The triaxial acceleration and angular velocity at the monitoring position are obtained, and the positions are correlated according to the attitude change direction and axial linkage state of adjacent positions to form a multi-axis attitude coordination state, as detailed below: The spatial connection structure of the tower feet, tower body, tower head and components of the power transmission tower is obtained. The structural sections are divided according to the tower height change and the connection direction of the components. The monitoring position is determined according to the component connection path between adjacent structural sections. The components include tower columns, diagonal members and crossarms. Establish positional adjacency relationships according to the structural segment, spatial height, and structural connection direction of the monitoring location, and determine the attitude transfer direction according to the structural connection direction between adjacent monitoring locations to form a spatial adjacency structure for the monitoring locations. The triaxial acceleration and angular velocity of the monitoring position are obtained according to the attitude transmission direction in the spatial adjacency structure of the monitoring position. The attitude change components of each axis are decomposed according to the attitude reference of the monitoring position, and the change direction and continuous state of adjacent moments are associated along the time direction to form an attitude change sequence. The attitude change components of each axis include longitudinal, lateral and vertical attitude change components. Based on the attitude change sequence of adjacent monitoring positions associated with the attitude transfer direction, the offset direction of each axial attitude change component is extracted along continuous time intervals. The attitude changes of adjacent monitoring positions are associated with the offset direction along the attitude transmission direction. The transmission changes of each axial offset direction at adjacent positions and consecutive moments are tracked and organized according to the spatial extension state of different axial offsets to form a multi-axis attitude collaborative change structure. Specifically, the longitudinal, lateral and vertical offset directions in the attitude change sequence of the monitoring position are obtained, and adjacent monitoring positions are arranged according to the attitude transmission direction in the spatial adjacency structure of the monitoring position. The offset direction at a certain moment of the current monitoring position is taken as the spatial transmission starting point. The axial offset changes of adjacent monitoring positions at adjacent moments are found along the attitude transmission direction, and the time and spatial position of the offset are matched. The extension position of the same axial offset on adjacent monitoring positions is associated according to the time sequence. For example, if the longitudinal offset extends from the lower monitoring position to the upper monitoring position, the spatial transmission direction and the time succession relationship of the longitudinal offset are recorded. The longitudinal, lateral and vertical offset changes are tracked along the attitude transmission direction respectively, and the different axial offsets are combined according to the transmission order of adjacent monitoring positions and consecutive moments to form a multi-axis offset collaborative structure. The multi-axis offset collaborative structure is continuously organized along the attitude transmission direction, and the spatial extension range, time succession order and axial switching position of each axial offset are recorded to form a multi-axis attitude collaborative change structure. Based on the spatial extension and temporal inheritance state of the multi-axis attitude cooperative change structure, the cooperative offset changes of adjacent monitoring positions are associated, and the cooperative changes of continuous positions are converged along the attitude transmission direction to form a multi-axis attitude cooperative state.

[0023] In this embodiment, the spatial connection structure of the tower feet, tower body, tower head, and components of the transmission tower is obtained. The structure is divided into sections according to the changes in tower height and the connection direction of the components. The monitoring location is determined according to the connection path of the components between adjacent structural sections, as detailed below: Obtain the three-dimensional coordinates of the tower feet, tower body, tower head and components, the connection positions of the components and the extension direction of the components. Determine the connection positions of the components according to the actual intersection positions of the connections between the components, and establish spatial connections in sequence according to the connection relationship of adjacent components to form a tower structure connection network. The structural connection network is layered along the tower height. Height layers are defined based on the height of component connection locations and adjacent connection relationships. Inter-layer connections are established according to the component connection relationships of adjacent height layers to form a layered tower structure. Specifically, the three-dimensional coordinates of component connection locations are obtained, the height coordinates of component connection locations are extracted, and they are sorted from the tower foot to the tower head according to height. Adjacent component connection locations are compared according to height order, and connection locations within the same structural connection height range with component connections are grouped into the same height layer. The height layers are arranged according to the tower height from bottom to top, and the connection positions between upper and lower layers are determined based on the actual component connection relationships between adjacent height layers. The inter-layer connection direction is recorded based on the component type and extension direction between upper and lower layer connection locations. Adjacent height layers and their inter-layer connections are combined to form a layered tower structure. Starting from the height of the tower foot, trace along the inter-layer connection towards the tower head, arrange the connection positions of the connected components in order of height, and connect them according to the height difference between adjacent connection positions and the extension direction of the components to form a structural connection chain from the tower foot to the tower head. The local connection direction and spatial distribution of the connection positions of adjacent components are extracted along the structural connection chain. The connection positions are spatially mapped according to the extension direction of the components, and the structural connection change positions are formed according to the turning point of the local connection direction, the convergence of the connection positions and the spatial offset. Connect adjacent structural connection changes according to the extension order of the structural connection chain, and trace the component connection positions along the actual component connection path between adjacent changes. Divide the structural transfer segments according to the distribution of connection positions to form a structural attitude transfer path. Specifically, obtain the structural connection changes formed in the previous step, arrange them according to their order in the structural connection chain, and determine the connection relationship between adjacent changes according to their positions in the structural connection chain. Use the adjacent structural connection changes as the starting and ending points of the segment, trace the actual component connection relationship between them along the tower structural connection network formed in the previous step, and record the component connection positions and connecting components in sequence to form continuous connection segments between changes. Arrange the component connection positions in each continuous connection segment according to the height distribution, spatial interval and connection direction of the component connection positions, and classify the continuous component connection positions between adjacent changes into the same structural transfer segment. Connect each structural transfer segment in sequence according to the extension order of the tower from the tower foot to the tower head, and retain the connection direction and change position between each segment to form a structural attitude transfer path. Based on the height span, connection direction changes, and component connection position distribution of each structural transmission section in the structural attitude transmission path, the structural connection change position is selected as the monitoring position, and monitoring positions are set according to the connection path in the transmission section between adjacent change positions, so that the monitoring positions are distributed along the direction from the tower foot to the tower head.

[0024] The process involves extracting the local connection direction and spatial distribution of adjacent component connection positions along the structural connection chain, spatially mapping the connection positions according to the component extension direction, and forming structural connection change positions based on the turning points of the local connection directions, the convergence of connection positions, and spatial offsets, as detailed below: Obtain the three-dimensional coordinates of the connection positions of adjacent components in the structural connection chain, read the extension direction of the component connected to the connection position, and arrange the adjacent connection positions according to the order of the structural connection chain to form a continuous connection position sequence. The local connection range is formed by the connection position of each component and its adjacent connection positions before and after it. The extension direction of the components within this range is extracted, and the extension direction of the adjacent components is transformed to a unified tower space coordinate system. Project each connection position along the structural connection chain direction to a unified structural extension direction, and arrange adjacent connection positions according to the projection position and longitudinal, lateral, and vertical coordinates to form a spatial sequence of connection positions; Based on the spatial sequence of connection positions, the extension direction of components at adjacent positions is associated, and the direction change is mapped to the adjacent connection positions. Combined with the number of components entering at the same connection position and the connection direction, the local change characteristics of the connection position are formed. Based on the continuous transmission of local change characteristics along the spatial sequence of connection positions, the locations of directional turning, component convergence, and spatial offset are associated to form the structural connection change positions.

[0025] Furthermore, for example, suppose there are five component connection positions A, B, C, D, and E along the height of the tower body. A to E are continuously connected by tower columns. First, project A to E onto a unified structural extension direction according to the structural connection chain direction, and arrange them according to the longitudinal, lateral, and vertical coordinates of each connection position to form a spatial sequence of connection positions. The extension directions of the tower columns at positions A, B, D, and E are basically continuous, while position C connects tower columns, diagonal members, and crossarms simultaneously. This causes a change in the extension direction of components between position C and the preceding and following connection positions, forming a local connection pattern where multiple components converge towards position C. At the same time, a lateral spatial offset occurs between C and D. Thus, a local change feature containing directional turning, component convergence, and spatial offset is formed in the spatial sequence of connection positions. Then, by associating the local change features of C and its adjacent positions along the spatial sequence of connection positions, structural connection change positions are formed, thereby determining the areas where the connection direction, component convergence, and spatial position of the tower components change.

[0026] In this embodiment, the triaxial acceleration and angular velocity of the monitoring position are obtained according to the attitude transfer direction in the spatial adjacency structure of the monitoring position. The attitude change components of each axis are decomposed according to the attitude reference of the monitoring position, and the change direction and duration of adjacent moments are associated along the time direction to form an attitude change sequence, as follows: The triaxial acceleration and angular velocity of each monitoring position are obtained, and the main structural direction extending from the tower foot to the tower head is determined based on the adjacent positions and attitude transmission direction in the spatial adjacent structure of the monitoring position, thus forming a longitudinal structural reference. The transverse structural reference is determined based on the connection direction of the transverse components in the structural section where the monitoring location is located, and the vertical structural reference is determined by combining the spatial relationship between the longitudinal and transverse structural references, thus forming the structural attitude reference for the monitoring location. Based on the structural attitude reference of the monitoring position, the three-axis acceleration and angular velocity at continuous time are directionally mapped, and the response of each axis is assigned to the longitudinal, lateral and vertical structural directions. The acceleration and angular velocity changes in the same direction are correlated to form attitude change components in each axis. By associating the attitude change components of each axis in chronological order, the changes in the same direction at adjacent moments are extended, and the switching positions between different directions are recorded to form attitude change segments of each axis. The extension positions of attitude change segments along the time direction are tracked, the change segments at consecutive moments are connected in series according to direction and continuous position, and the multi-axis attitude change trajectory is organized according to the directional turning between the change segments. By tracing back the starting position, extension position, and switching position of each axis change in chronological order of the multi-axis attitude change trajectory, and associating the directional changes and continuous states at consecutive moments, a multi-axis attitude change sequence is formed.

[0027] In this embodiment, based on the spatial extension and temporal inheritance state of the multi-axis attitude cooperative change structure, the cooperative offset changes of adjacent monitoring positions are associated, and the cooperative changes of continuous positions are converged along the attitude transfer direction to form a multi-axis attitude cooperative state, as detailed below: The monitoring position, axial offset direction and occurrence time of each multi-axis attitude cooperative change structure are obtained and arranged in order of the monitoring position in the attitude transfer direction to form a cooperative offset position sequence; The axial offset changes of adjacent monitoring positions are associated with the coordinated offset position sequence, and the offset occurrence time of the previous position is used as the reference to correspond to the offset occurrence time of the next position, thus forming a coordinated offset time sequence. Based on the axial offset transmission direction and time interval in the coordinated offset timing sequence, the offset changes of adjacent positions are arranged along the attitude transmission direction, and the offset changes of each position are organized according to the transmission order of the same axis to form an axial offset extension segment. Spatial cross-correlation is performed on the axial offset extension segment to extract the locations where different axial offsets coincide, alternate, and change direction at adjacent monitoring positions, forming axial conversion positions; The axial shifting position is connected to the axial offset extension segment that reaches the position and extends outward from the position. The axial offset transition sequence is determined according to the occurrence time of the front and rear extension segments and the attitude transmission direction. The axial shifting positions are associated with each axial shifting position along the spatial distribution of the monitoring position to form a multi-axis collaborative offset extension band. Based on the spatial coverage, temporal extension sequence, and axial conversion position of the multi-axis collaborative offset extension band, the collaborative offsets with spatial continuity are converged along the attitude transfer direction to form a multi-axis attitude collaborative state.

[0028] S2, based on the temporal changes of the multi-axis attitude cooperative state, associate adjacent states along the attitude change direction and extend the attitude change along the spatial distribution of the monitoring position to form an attitude evolution field. Extract the attitude offset sequence based on the temporal extension and spatial expansion of the attitude evolution field. In this embodiment, based on the temporal changes of the multi-axis attitude cooperative state, adjacent states are associated along the attitude change direction, and the attitude changes are extended along the spatial distribution of the monitoring position to form an attitude evolution field. The attitude offset sequence is extracted based on the temporal extension and spatial expansion of the attitude evolution field, as follows: The multi-axis attitude coordination state at adjacent monitoring times is obtained, along with the monitoring position, offset direction, and axial change it covers. The state position correspondence at adjacent times is established according to the attitude transfer direction. Based on the correspondence between adjacent time states and positions, the attitude change position of the monitoring position at the previous time is mapped to the spatial position at the next time, and the migration direction and migration position of the attitude change are recorded to form an attitude state migration unit. Based on the migration direction and spatial position in the attitude state transfer unit, the spatial offset of attitude change along each axis is tracked along the attitude transfer direction, and spatial reorganization is performed according to the offset direction and axial conversion position of adjacent positions to form a multi-axis attitude distribution structure. Based on the axial offset distribution and axial transformation position in the multi-axis attitude distribution structure, the attitude changes of adjacent monitoring positions are correlated along the attitude transmission direction, and spatial organization is carried out according to the intersection sequence of different axial changes to form an attitude evolution zone. Based on the spatial coverage of the attitude evolution zone and the direction of attitude change, the extension position of the attitude evolution zone is tracked along the spatial distribution of the monitoring position, and the extension changes are organized according to the expansion direction of adjacent positions and the axial transformation position to form the attitude extension boundary. The attitude extension boundary is associated with adjacent moments along the time direction. The range of attitude change is tracked according to the spatial migration, extension direction and axial transformation of the boundary position. The attitude is then organized temporally according to the attitude transfer direction to form an attitude evolution field. Based on the spatial position and extension direction of the attitude extension boundary at each moment in the attitude evolution field, the corresponding positions of the front and rear boundaries are established along the time direction. The spatial extension and directional changes of the attitude offset are tracked, and the axial transformation positions are associated in chronological order to form an attitude offset sequence. For example, at time t1, the boundary extends from A to B, at time t2 it extends from B to C, at time t3 it extends from C to D and changes from horizontal to vertical at C, and at time t4 it extends from D to E. The above changes are organized according to the spatial order of A→B→C→D→E and the temporal order of t1→t4 to form an attitude offset sequence.

[0029] In this embodiment, based on the migration direction and spatial position in the attitude state transfer unit, the spatial offset of attitude changes along each axis is tracked along the attitude transfer direction, and spatial reorganization is performed according to the offset direction and axial transformation position of adjacent positions to form a multi-axis attitude distribution structure, as detailed below: The starting monitoring position, migration position, migration direction and axial change of the attitude state transfer unit are obtained. The migration positions are rearranged according to the spatial adjacency structure of the monitoring positions, and the attitude transfer direction is used as the spatial unfolding direction to form an attitude migration position sequence. Based on the attitude migration position sequence, the migration direction of adjacent monitoring positions is tracked. Attitude state migration units with the same migration direction and passing through adjacent monitoring positions are connected in direction, and the monitoring positions where the migration direction changes are recorded to form axial offset connection segments. The longitudinal, lateral and vertical offsets in the axial offset continuation segment are spatially expanded respectively. The offset directions of adjacent positions are compared. When the same axial offset extends to multiple adjacent positions, it is recorded as the offset bifurcation position. When multiple offset directions converge at the same position, it is recorded as the offset convergence position. Based on the spatial adjacency relationship of the offset bifurcation position, offset convergence position and axial transformation position, the directional continuity and axial switching of the associated axial offset continuation segment are connected to form the attitude offset spatial skeleton. Cross-checking is performed on the axial offset segments in the attitude offset spatial skeleton. Different axial offsets occurring at the same monitoring position are associated with the preceding and following segments to determine the axial transition positions between longitudinal, lateral, and vertical offsets. Specifically, the monitoring positions traversed by each axial offset segment in the attitude offset spatial skeleton are obtained, the preceding and following positions of each segment are arranged according to the attitude transfer direction, and the longitudinal, lateral, and vertical offsets at each monitoring position are recorded. Different axial offsets at the same monitoring position are compared to extract monitoring positions where two or more axial offsets exist simultaneously, and the preceding and following segments connected by each axial offset are checked. Track the connecting segments along the attitude transmission direction. When one axial offset connecting segment reaches the monitoring position, and another axial offset connecting segment continues to extend backward from that position, establish a connection between the two. Combine the directions of different axial offsets that establish a connection, for example, change from longitudinal offset to lateral offset or from lateral offset to vertical offset, and record the monitoring position where such axial change occurs. Correspond the axial change at the same monitoring position to the connecting segments. When the position simultaneously satisfies the conditions that the previous axial offset ends, the next axial offset begins, and the two axes are different, the monitoring position is determined as the axial transition position. Associating each axial offset segment with the attitude transmission direction, and connecting adjacent axial offsets with the axial conversion position, and arranging them in combination with the spatial extension and bifurcation convergence state of the offset, a multi-axis attitude distribution structure is formed.

[0030] Based on the spatial adjacency relationships of the offset bifurcation position, offset convergence position, and axial transformation position, the directional continuity and axial switching of the axial offset continuation segments are associated to form an attitude offset spatial skeleton, as detailed below: The monitoring positions of each offset bifurcation position, offset convergence position, and axial transformation position in the tower structure are obtained, and the adjacency relationship of each changed position is determined according to the attitude transmission direction. Based on the spatial adjacency relationship between the changing positions, extract the axial offset continuation segments connecting adjacent changing positions, and record the axial offset direction of each continuation segment entering and leaving the changing position. Match the front and rear directions of adjacent axial offset joint segments. When the departure direction of the previous joint segment and the entry direction of the next joint segment can be connected along the attitude transmission direction, the two segments will be connected in the direction of direction. When multiple axial offset joints enter the same offset convergence position, the entry directions of each joint are converged and associated. When the same offset bifurcation position extends to different monitoring positions, branch associations will be established for each departure direction; When adjacent axial offset joint segments change longitudinally, laterally, or vertically at the same monitoring position, the axial conversion position at that position is used as the conversion position for the preceding and following segments, and the axial offset joint segments before and after the conversion are connected. Finally, the axial offset segments with directional connection, bifurcation, convergence and axial conversion relationships are connected in sequence according to the attitude transfer direction to form the attitude offset spatial skeleton.

[0031] Furthermore, for example, there are five monitoring positions M1, M2, M3, M4, and M5 along the direction from the tower foot to the tower head of a power transmission tower. The distances between M1 and M2, and between M2 and M3, are all longitudinal offsets. The distance between M3 and M4 is a lateral offset, and the distance between M3 and M5 is a vertical offset. First, the longitudinal offsets from M1 to M2 to M3 are connected. Since M3 extends to both M4 and M5, M3 is determined as the offset bifurcation point. At the same time, the longitudinal offset at M3 changes to both lateral and vertical offsets. This point is determined as the axial conversion point, and the lateral and vertical offset connection segments are connected respectively. Finally, an attitude offset spatial skeleton is formed, which extends from the longitudinal offset connection segment to the lateral and vertical offset branches.

[0032] The structure associates each axial offset segment according to the attitude transmission direction, connects adjacent axial offsets by axial transformation positions, and arranges them in combination with the spatial extension and bifurcation convergence states of the offsets to form a multi-axis attitude distribution structure, as detailed below: Obtain the monitoring positions and attitude transmission directions of the axial offset joint segments, and arrange adjacent axial offset joint segments according to the attitude transmission order from the tower foot to the tower head. The positions of adjacent axial offset segments are matched. When the starting position of the next segment is adjacent to the ending position of the previous segment, the two are spatially connected, and the longitudinal, lateral or vertical offset direction of each segment is preserved. When the axial direction of adjacent segments changes, the axial conversion position that has been determined is read, and the axial conversion position is used as the connection position for the two axial offsets to connect the axial offset segments before and after the conversion. If the offset continuation segment passes through the offset fork position, then a continuation segment is connected to subsequent continuation segments in different directions respectively; If multiple segments converge at the same offset convergence position, then all segments will be converged to the same position, thus preserving the bifurcation and convergence state of the offset. The axial offset segments that have been connected are arranged in space according to the attitude transmission direction, while preserving the axial direction, extension position, axial transformation, bifurcation and convergence state of each segment, forming a multi-axis attitude distribution structure.

[0033] In this embodiment, based on the axial offset distribution and axial transformation position in the multi-axis attitude distribution structure, the attitude changes of adjacent monitoring positions are associated along the attitude transfer direction, and spatially organized according to the intersection sequence of different axial changes to form an attitude evolution zone, as follows: Extract the axial offset and spatial position of each monitoring position in the multi-axis attitude distribution structure, arrange adjacent monitoring positions according to the attitude transmission direction, and match the axial offsets of adjacent positions in the same direction to determine the front and rear extension range of the axial offset. Connect adjacent offset bifurcation positions and offset convergence positions along the extension direction of the axial offset continuation segment, and divide the offset extension segment according to the attitude transmission sequence between each position to determine the axial offset direction of each segment. The determined axial conversion position is traced along the attitude transfer direction of the offset extension segment, the axial offset before and after the conversion position is extracted, and the order of the offset before and after the conversion is determined according to the attitude transfer direction. Pair the pre-conversion offset and post-conversion offset at the same axial conversion position, record the longitudinal, lateral, and vertical offsets as the pre-conversion axial and post-conversion axial respectively, and determine the entry and exit directions of the axial offset at the conversion position; According to the attitude transmission sequence of the axial transformation position, the offset extension segments between adjacent axial transformation positions are connected in series, and the segments that pass through the same offset bifurcation position or offset convergence position are kept in a branching and converging structure to form a multi-axis variation extension structure. Adjacent multi-axis variation extension structures are connected along the attitude transmission direction, and spatial expansion is carried out in accordance with the spatial extension, bifurcation and convergence and axial transformation sequence of each axial offset to form an attitude evolution zone.

[0034] The process involves sequentially transmitting the attitude at the axial transformation positions, connecting adjacent offset extension segments, and maintaining the branching and converging structures of segments passing through the same offset bifurcation or convergence position to form a multi-axis variable extension structure, as detailed below: Obtain the spatial position of each axial conversion position in the tower structure, and arrange them according to their order along the attitude transmission direction. For example, the conversion positions T1, T2, and T3 are obtained in sequence. Tracing from T1 along the attitude transfer direction to T2, finding the determined offset extension segment, connecting the passed segments in sequence, and then connecting the offset extension segments between T2 and T3 in the same way, so that a continuous spatial connection is formed between adjacent axial transformation positions. Based on the entry and exit directions of the offset extension section at the axial conversion position, determine whether the previous offset and the next offset are connected at that position. For example, if the longitudinal offset extends to T1 and then converts to the lateral offset, then the longitudinal section and the lateral section are connected in the order of "entry-conversion-exit". When an offset extension segment extends in two or more directions after passing a certain offset bifurcation position, these extension segments are not merged. Instead, they are connected from the bifurcation position to their respective subsequent offset extension segments, so that one axial offset corresponds to multiple spatial extension directions. When multiple offset extension segments enter the same offset convergence position in different directions, each entering segment is connected to the convergence position, and then the convergence position connects to its subsequent segments, thus preserving the structure of "multiple segments entering - one convergence - continued extension". By combining the offset extension sections between the aforementioned axial transformation positions, the axial transformation positions, and the bifurcation and convergence positions according to the attitude transmission direction, a multi-axis variation extension structure that can reflect both axial transformation and spatial bifurcation and convergence is obtained.

[0035] Furthermore, for example, there are three axial transition positions T1, T2, and T3 in sequence along the direction from the tower foot to the tower head. Before T1, it is a longitudinal offset, and after T1, it becomes a lateral offset. The lateral offset forks before T2, extending to two adjacent components respectively. The two lateral offset paths then converge at T2 and, after T2, become a vertical offset, continuing to extend to T3. At this point, T1, T2, and T3 are not simply connected in a straight line, but are organized according to the actual spatial transmission sequence of longitudinal → T1 → lateral → forking → convergence → T2 → vertical → T3, ultimately forming a multi-axis variable extension structure.

[0036] In this embodiment, based on the spatial coverage and attitude change direction of the attitude evolution band, the outer position of the attitude evolution band is tracked along the spatial distribution of the monitoring location, and the outer changes are organized according to the expansion direction and axial transformation position of adjacent positions to form the attitude expansion boundary, as follows: The monitoring positions along the attitude evolution band are obtained, and the adjacent monitoring positions not included in the attitude evolution band are checked along the attitude transfer direction. The adjacent positions to which the attitude change continues to extend are taken as the extension positions. Track adjacent attitude extension positions along the attitude change direction, extend sequentially according to the spatial connection direction of adjacent positions, and record the expansion direction of each attitude extension position; When the attitude evolution zone extends in different spatial directions, the attitude extension position in each direction is tracked, and the extension path is organized according to the spatial position in each direction. When the extension path passes through the determined axial transformation position, connect the attitude extension positions before and after the transformation position according to the axial direction before and after the transformation, and record the position of change in extension direction. Continue tracking along each extension direction. When the subsequent monitoring position no longer follows the current attitude change direction or the attitude change turns to other axial extensions, the current attitude extension position is determined as the extension termination position. Connect the outer termination positions of each extension direction according to the attitude transfer direction, and take the axial transformation positions as the boundary direction change positions to form the attitude extension boundary.

[0037] Furthermore, for example, the attitude evolution zone covers four monitoring positions A, B, C, and D on the tower. From position C, it extends sequentially along the lateral attitude change direction to positions E and F, and from position D, it extends along the vertical attitude change direction to position G. Then, E, F, and G are determined as attitude extension positions. When the adjacent monitoring position after position F no longer receives lateral attitude changes, and the adjacent monitoring position after position G no longer receives vertical attitude changes, F and G are determined as the lateral and vertical extension termination positions, respectively. Then, F and G are connected with the axial transformation positions passed through by the extension path according to the attitude transmission direction to form the attitude extension boundary.

[0038] In this embodiment, the attitude extension boundaries of adjacent time points are associated along the time direction. The extension range of attitude change is tracked according to the spatial migration, extension direction, and axial transformation of the boundary position. The attitude evolution field is then organized temporally according to the attitude transfer direction, as follows: Obtain the attitude extension boundary at adjacent time points. According to the spatial adjacency structure of the monitoring positions, match the monitoring positions on the boundary at the previous time point with the boundary positions at the next time point that are close in space or have the same attitude transmission direction, and determine the correspondence between the boundary positions. Using the boundary position at the next moment as the target, examine the spatial changes between the boundary position at the previous moment and the boundary position at the previous moment along the attitude transfer direction, record the direction and range of the boundary moving from the original position to the new position, and thus determine the spatial migration state of the boundary. Compare the coverage of the attitude extension boundary at adjacent time points. When the boundary at the next time point continues to extend to a monitoring position that was not covered by the previous time point, the newly covered position is connected to the boundary termination position of the previous time point to determine the extension direction and range of the boundary. When the boundary range shrinks, the boundary retreat position is recorded. Corresponding to the axial transformation positions passed by the boundary at adjacent time points, when the boundary passes through the same or adjacent axial transformation positions at previous and subsequent time points, connecting them according to the longitudinal, lateral and vertical change directions before and after the transformation, and recording the positions where the boundary expansion direction changes; According to the time sequence, the spatial migration, extension and axial transformation positions of the boundary are connected in sequence, so that the boundary positions of the same attitude change at different times are connected one after the other, forming a boundary temporal extension chain. By organizing the boundary temporal extension chains at each moment along the attitude transfer direction, the spatial migration range, expansion direction, and axial transformation position at different times are superimposed onto a unified monitoring position space, forming an attitude evolution field that reflects the expansion and migration of attitude changes over time. Specifically, the boundary temporal extension chains at each moment are mapped to a unified monitoring position space, and the spatial migration, expansion direction, and axial transformation at different moments at the same monitoring position are accumulated temporally. The accumulated changes at adjacent positions are then connected along the attitude transfer direction, so that attitude changes at different times form a continuous sequence at the same spatial position, thus forming an attitude evolution field.

[0039] Furthermore, for example, at time t1, the attitude expansion boundary covers four monitoring positions A, B, C, and D on the tower. At time t2, the boundary continues to expand from position D along the attitude transfer direction to positions E and F. At time t3, it expands again from position F to position G, and an axial transformation from lateral attitude to vertical attitude occurs at position F. Then, the position D at time t1 is spatially correlated with the positions E and F at time t2, and the position F at time t2 is correlated with the position G at time t3. The spatial migration and expansion direction of the boundary from D to E, F, and then to G is recorded, and the axial transformation at position F is also recorded. The boundary changes at each time are connected in chronological order to form an attitude evolution field that reflects the expansion, migration, and axial transformation of the attitude change range to different positions on the tower over time.

[0040] S3. Based on the temporal extension and spatial distribution of the attitude offset sequence, the attitude offset at consecutive moments is backtracked and cumulatively correlated along the extension direction of the attitude offset to form a tilt evolution chain. The tilt state of the tower is determined based on the directional extension and cumulative changes of the tilt evolution chain. In this embodiment, based on the temporal extension and spatial distribution of the attitude offset sequence, the attitude offsets at consecutive moments are backtracked, and cumulative correlation is performed along the extension direction of the attitude offsets to form a tilt evolution chain. The tilt state of the tower is determined based on the directional extension and cumulative changes of the tilt evolution chain, as follows: By tracing back the occurrence position and time sequence of each offset along the attitude offset sequence, the spatial extension positions of adjacent moments are matched according to the attitude transfer direction, and the offset direction and axial conversion position are associated to form a spatiotemporal continuity structure of attitude offset. Based on the spatial correspondence in the attitude migration spatiotemporal continuity structure, the extension path of the migration direction along the attitude transmission direction is traced, and different axial migrations are connected by axial transformation positions to form migration change continuity segments. Specifically, the monitoring positions corresponding to each adjacent moment are obtained from the attitude migration spatiotemporal continuity structure, as well as the longitudinal, lateral, or vertical migration direction at each position. Starting from one migration position, the spatially corresponding next position is found according to the attitude transmission direction, and the migration is traced sequentially along the established spatial correspondence, so that the migration positions form a forward and backward extension. The axial comparison of the traced adjacent migrations is performed, and the longitudinal → longitudinal, lateral → longitudinal is transformed into the longitudinal, lateral → ... The offsets from axial to lateral or vertical to vertical are connected sequentially to form a continuous extension path for offsets along the same axis. When the tracking path passes through a determined axial transformation position, the transformation is not re-determined; instead, the existing transformation information at that position is read, and the offset path before and after the transformation is connected. The aforementioned coaxial extension paths and the offsets before and after passing through the axial transformation position are uniformly connected to form an offset change continuation segment. For example, the previous step has obtained the attitude offset spatiotemporal continuation structure: A→B→C→D, where A to B and B to C are longitudinal offsets, C is a determined axial transformation position, and C to D is a lateral offset. Now, tracking starts from A along the attitude transfer direction. First, the longitudinal offset A→B→C is extended. At C, the existing longitudinal → lateral transformation information is read, and then the lateral offset C→D is connected to the previous path, finally forming the offset change continuation segment A→B→C→D, while retaining the axial transformation at C. According to the time of occurrence of attitude shift, adjacent shift change segments are connected sequentially, and the spatial extension direction and extension position of each segment are recorded to form a tilt evolution chain. By tracing the spatial continuity of the offset direction along the tilted evolution chain, the same-direction offsets that arrive at the same monitoring position at different times are spatiotemporally converged, and the offset directions before and after the axial conversion position are connected to form the tilted offset dominant channel and its extended range. Based on the height extension range and axial conversion position of the dominant tilt offset channel, combined with the directional extension and spatial accumulation state of the tilt evolution chain, the tilt influence zone of the tower is divided. Based on the directional continuity and spatial penetration between each tilt-affected section, the offset channel penetrating multiple height sections is used as a tilt characterization to determine the tower's tilt direction, tilt range, and tilt state. Specifically, the start and end heights, offset directions, and spatial coverage of the tilt-affected sections are obtained. The offsets of adjacent sections are checked along the tower foot to tower head direction to see if they can be continuously connected. The offsets before and after the conversion are connected in conjunction with the determined axial conversion position, so that the offsets that are directionally continuous and spatially penetrate multiple height sections form a penetrating channel. The tower's tilt direction is then determined based on the overall extension direction of the penetrating channel. The tilt range is determined by the lowest and highest heights covered by the channel. Finally, the tower's tilt state is determined by combining the degree of continuous penetration of the channel and the axial change state.

[0041] In this embodiment, the occurrence positions and time sequence of each offset are traced back along the attitude offset sequence. The spatial extension positions of adjacent moments are matched according to the attitude transfer direction, and the offset direction and axial transformation position are associated to form a spatiotemporal continuity structure for attitude offset, as detailed below: Obtain the occurrence time, starting position, spatial extension position, offset direction, and axial transformation position of each attitude offset, and arrange them according to the occurrence time; The attitude offsets at two adjacent times are grouped together. The spatial extension positions at the previous time and the next time are read, and the attitude transfer path between them is determined based on the spatial adjacency structure of the monitored positions. Check the offset positions of the two moments before and after along the attitude transfer direction, and match the offset position of the second moment on the attitude transfer path of the first moment with the spatial extension position of the first moment, so that the spatial position of the same attitude change is connected at different times. The longitudinal, lateral, and vertical offsets recorded at corresponding positions before and after are correlated, and the spatial extension direction of the offset from the previous position to the next position is preserved. If there is an axial change between the previous and next positions, the change is correlated with the already determined axial transformation position. The spatial positions, offset directions, and axial transformation positions of each adjacent moment are organized according to the time sequence and attitude transmission direction to form an attitude offset spatiotemporal continuity structure with the characteristics of time continuity, spatial continuity, and axial transformation.

[0042] Furthermore, for example, in the attitude offset sequence, at time t1, the monitoring position A shifts longitudinally to B, at time t2, the longitudinal offset continues from B to C, and at time t3, the lateral offset occurs from C to D. Since C is a determined axial transformation position, the offset positions at times t1, t2, and t3 are matched along the attitude transfer direction according to the time sequence to form a spatial continuity of A→B→C→D. The axial change from longitudinal to lateral transformation is associated at position C. In this way, the offset positions, extension directions, and axial transformations at different times are uniformly organized to form a spatiotemporal continuity structure for attitude offset.

[0043] In this embodiment, the spatial continuation of the offset direction is traced along the tilted evolution chain. Co-directional offsets arriving at the same monitoring position at different times are spatiotemporally converged, and the offset directions before and after the axial conversion are connected according to the axial conversion position to form the dominant tilted offset channel and its extended range, as detailed below: The monitoring positions, offset directions, occurrence times, and axial conversion positions along the tilt evolution chain are obtained, and the monitoring positions are arranged according to the attitude transfer direction. Tracing backward along the inclined evolution chain from the starting position, the offsets already formed between the previous and next monitoring positions are extended and connected, preserving the spatial direction of the offset from one monitoring position to the next; The positions of the tilted evolution chains formed at different times are compared. When the offsets at different times all pass through the same monitoring position, the offset direction at that position is read. If these offsets have the same axis and the same extension direction, they are classified into the same spatial convergence position. By connecting the spatial convergence points of multiple moments according to the attitude transmission direction, the monitoring points that are repeatedly passed through and whose offset direction is maintained are connected in series to form the dominant extension channel with repeated offset convergence. When the dominant extension channel passes through the determined axial conversion position, read the axial direction before and after the conversion at that position, and connect the extension direction before the conversion with the extension direction after the conversion so that the dominant channel will not be interrupted due to longitudinal, lateral or vertical offset conversion. The spatial range is determined by taking the starting and ending monitoring positions of the dominant extension channel as the spatial range, and combining the bifurcation, convergence and axial transformation positions of the channel.

[0044] The spatial range is determined by using the starting and ending monitoring positions along the main extension channel as the spatial range, and combining this with the bifurcation, convergence, and axial transformation positions along the channel, as detailed below: Read each monitoring position along the attitude transmission direction of the dominant extension channel, determine the monitoring position that the channel passes through first as the starting position, and determine the monitoring position that the channel passes through last as the ending position; Read all the monitoring positions between the start and end positions, arrange them according to the attitude transmission direction, and obtain the spatial extension range of the dominant channel; The branching and converging points of the main channel are associated, and the offset paths branching out from the main channel and the offset paths that rejoin the main channel are included in the spatial coverage area to avoid only retaining the trunk path. The axial transformation position in the channel is used as the change node within the spatial range. The offset extension positions before and after the transformation are connected to form a unified spatial coverage of longitudinal, lateral and vertical offsets. The starting position, ending position, bifurcation position, convergence position, and axial conversion position are connected according to spatial adjacency to obtain the set of monitoring positions actually covered by the dominant extension channel. This set is then determined as the spatial extension range of the tilt offset.

[0045] Furthermore, for example, if the dominant extension channel starts at position A at the tower foot, passes through B, C, and D to reach position E on the upper part of the tower; at position C, a path branches laterally to position F, and then merges back into the channel at position D, where position D is also the point of transition from longitudinal to lateral offset, then first determine A as the starting position and E as the ending position. Then, consider A→B→C→D→E as the main body of the dominant channel, while incorporating the branch path from C to F and retaining the axial transition at D. The resulting spatial extension range is not simply a line from A to E, but a complete offset coverage area encompassing the dominant extension, branch extension, convergence, and axial transition.

[0046] In this embodiment, based on the height extension range and axial conversion position of the dominant tilt offset channel, combined with the directional extension and spatial accumulation state of the tilt evolution chain, the tilt influence zone of the tower is divided as follows: Obtain the monitoring locations, height levels, and spatial extension range of the dominant tilt offset channel, arrange the monitoring locations according to the direction from the tower foot to the tower head, and establish the height extension sequence of the dominant channel; The offset of the tilt evolution chain at each monitoring location is traced along the height extension sequence. The same-direction offsets formed at different times are mapped to the same height position, and the cumulative offset range at each height position is calculated to form a height offset cumulative band. The offset direction of adjacent height positions is traced along the height offset accumulation band, the offsets extending from the previous height position to the next height position are connected in series, and the height positions where the offset direction changes are recorded. The determined axial transformation position is mapped to the height offset accumulation zone, the offset direction and spatial extension range before and after the transformation position are associated, and the axial transformation position is mapped to the position of the offset direction change to form a height change node; The offset extension between height change nodes is traced along the direction from the tower foot to the tower head. The tilt evolution chain at different height positions is spatially superimposed, and the height penetration and offset accumulation state of the dominant channel are associated. For example, the iron tower has five height monitoring positions A, B, C, D and E from the tower foot to the tower head. At times t1 and t2, the tilt evolution chain passes through A→B→C→D, and at time t3, it passes through B→C→D→E. The offsets at the three times are spatially superimposed according to the monitoring positions. It is found that there are continuous offsets at positions B, C and D, and the dominant channel continuously penetrates through B, C and D. At the same time, the offset directions at different times are interconnected. Therefore, B to D is determined as the height range with continuous offset accumulation, and its dominant channel penetration state is recorded. Based on the cumulative offset direction and axial transformation position after spatial superposition, the offset extensions of adjacent height ranges are merged, and the segment boundaries are organized according to the offset changes at the axial transformation point to form tilt influence segments. For example, the offset accumulation results of positions A to E of the tower body obtained in the previous stage are as follows: the longitudinal offset of positions A to C extends continuously, the lateral offset of positions C to E also continues continuously, and position C has been determined as the axial transformation position from longitudinal to lateral. Therefore, along the direction from the tower foot to the tower head, A to C are merged into a continuous longitudinal offset range, and C to E are merged into a continuous lateral offset range. The axial transformation at C is used as the organizational boundary of the two ranges to form tilt influence segments with different height extension ranges and axial change characteristics.

[0047] Example 2, Figure 2 The present invention provides a device for a multi-axis sensing lightweight transmission tower tilt monitoring method, comprising a coordination module, an attitude evolution module, and a tilt module, with connections between the modules; The coordination module is used to determine the monitoring position based on the height, structure, and component connection direction of the transmission tower, obtain the triaxial acceleration and angular velocity of the monitoring position, and associate them according to the attitude change direction and axial linkage state of adjacent positions to form a multi-axis attitude coordination state. The attitude evolution module is used to associate adjacent states along the attitude change direction based on the temporal changes of the multi-axis attitude cooperative state, and to extend the attitude change along the spatial distribution of the monitoring position to form an attitude evolution field. The attitude offset sequence is extracted based on the temporal extension and spatial expansion of the attitude evolution field. The tilt module is used to backtrack the attitude offsets at consecutive moments based on the temporal extension and spatial distribution of the attitude offset sequence, and to accumulate and correlate them along the extension direction of the attitude offset to form a tilt evolution chain. The tilt state of the tower is determined based on the directional extension and cumulative changes of the tilt evolution chain.

[0048] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, in the form of a computer program product.

[0049] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the implementation. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

[0050] In addition, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module.

[0051] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0052] In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A lightweight, multi-axis sensing method for monitoring the tilt of power transmission towers, characterized in that, include: The monitoring position is determined based on the height, structure, and component connection direction of the transmission tower. The triaxial acceleration and angular velocity of the monitoring position are obtained and correlated according to the attitude change direction and axial linkage state of adjacent positions to form a multi-axis attitude coordination state. Based on the temporal changes of the multi-axis attitude cooperative state, adjacent states are associated along the attitude change direction, and the attitude changes are extended along the spatial distribution of the monitoring position to form an attitude evolution field. The attitude offset sequence is extracted based on the temporal extension and spatial expansion of the attitude evolution field. Based on the temporal extension and spatial distribution of the attitude offset sequence, the attitude offsets at consecutive moments are backtracked and cumulatively correlated along the extension direction of the attitude offset to form a tilt evolution chain. The tilt state of the tower is determined based on the directional extension and cumulative changes of the tilt evolution chain.

2. The method for monitoring the tilt of a lightweight transmission tower using multi-axis sensing according to claim 1, characterized in that, The monitoring position is determined based on the height, structure, and component connection direction of the transmission tower. The triaxial acceleration and angular velocity of the monitoring position are obtained, and the positions are correlated according to the attitude change direction and axial linkage state of adjacent positions to form a multi-axis attitude coordination state, as detailed below: The spatial connection structure of the tower feet, tower body, tower head and components of the power transmission tower is obtained. The structural sections are divided according to the changes in tower height and the connection direction of the components. The monitoring location is determined according to the connection path of the components between adjacent structural sections. Establish positional adjacency relationships according to the structural segment, spatial height, and structural connection direction of the monitoring location, and determine the attitude transfer direction according to the structural connection direction between adjacent monitoring locations to form a spatial adjacency structure for the monitoring locations. The triaxial acceleration and angular velocity of the monitoring position are obtained according to the attitude transmission direction in the spatial adjacency structure of the monitoring position. The attitude change components of each axis are decomposed according to the attitude reference of the monitoring position, and the change direction and continuous state of adjacent moments are associated along the time direction to form an attitude change sequence. Based on the attitude change sequence of adjacent monitoring positions associated with the attitude transfer direction, the offset direction of each axial attitude change component is extracted along continuous time intervals. Based on the offset direction, the attitude changes of adjacent monitoring positions are associated with the attitude transmission direction. The transmission changes of each axial offset direction are tracked and organized to form a multi-axis attitude cooperative change structure. Based on the spatial extension and temporal inheritance state of the multi-axis attitude cooperative change structure, the cooperative offset changes of adjacent monitoring positions are associated, and the cooperative changes of continuous positions are converged along the attitude transmission direction to form a multi-axis attitude cooperative state.

3. The method for monitoring the tilt of a lightweight transmission tower using multi-axis sensing according to claim 2, characterized in that, The process involves obtaining the triaxial acceleration and angular velocity of the monitoring location based on the attitude transmission direction in the spatial adjacency structure of the monitoring location, decomposing the attitude change components along each axis according to the attitude reference of the monitoring location, and associating the change direction and duration of adjacent moments along the time direction to form an attitude change sequence, as detailed below: The triaxial acceleration and angular velocity of each monitoring position are obtained, and the main structural direction extending from the tower foot to the tower head is determined based on the adjacent positions and attitude transmission direction in the spatial adjacent structure of the monitoring position, thus forming a longitudinal structural reference. The transverse structural reference is determined based on the connection direction of the transverse components in the structural section where the monitoring location is located, and the vertical structural reference is determined by combining the spatial relationship between the longitudinal and transverse structural references, and the structural attitude reference is formed by combining them. Based on the structural attitude reference of the monitoring position, the three-axis acceleration and angular velocity at continuous time are directionally mapped, and the response of each axis is assigned to the longitudinal, lateral and vertical structural directions. The acceleration and angular velocity changes in the same direction are correlated to form attitude change components in each axis. By associating the attitude change components of each axis in chronological order, the changes in the same direction at adjacent moments are extended, and the switching positions between different directions are recorded to form attitude change segments of each axis. The extension positions of attitude change segments along the time direction are tracked, the change segments at consecutive moments are connected in series according to direction and continuous position, and the multi-axis attitude change trajectory is organized according to the directional turning between the change segments. By tracing back the starting position, extension position, and switching position of each axis change in chronological order of the multi-axis attitude change trajectory, and associating the directional changes and continuous states at consecutive moments, a multi-axis attitude change sequence is formed.

4. The method for monitoring the tilt of a lightweight transmission tower using multi-axis sensing according to claim 2, characterized in that, The process involves associating the coordinated offset changes of adjacent monitoring positions with the spatial extension and temporal inheritance state of the multi-axis attitude cooperative change structure, and converging the coordinated changes of continuous positions along the attitude transmission direction to form a multi-axis attitude cooperative state, as detailed below: The monitoring positions, axial offset directions, and occurrence times of each multi-axis attitude cooperative change structure are obtained and arranged in chronological order of the monitoring positions in the attitude transfer direction to form a cooperative offset position sequence. The axial offset changes of adjacent monitoring positions are associated with the coordinated offset position sequence, and the offset occurrence time of the previous position is used as the reference to correspond to the offset occurrence time of the next position, thus forming a coordinated offset time sequence. Based on the axial offset transmission direction and time interval in the coordinated offset timing sequence, the offset changes of adjacent positions are arranged along the attitude transmission direction and organized according to the transmission sequence of the same axis to form an axial offset extension segment. Spatial cross-correlation is performed on the axial offset extension segment to extract the axial transformation position; By connecting the axial conversion position to the axial offset extension segment extending outward from that position, the transition sequence of axial offset is determined, and each axial conversion position is associated to form a multi-axis cooperative offset extension band. Based on the spatial coverage, temporal extension sequence, and axial conversion position of the multi-axis coordinated offset extension band, the coordinated offset changes of each monitoring position are associated with the attitude transfer direction and converge to form a multi-axis attitude coordinated state.

5. The method for monitoring the tilt of a lightweight transmission tower using multi-axis sensing according to claim 1, characterized in that, The process involves associating adjacent states along the direction of attitude change based on the temporal changes of the multi-axis attitude cooperative state, and extending the attitude changes along the spatial distribution of the monitoring positions to form an attitude evolution field. The attitude offset sequence is then extracted based on the temporal extension and spatial expansion of the attitude evolution field, as detailed below: The multi-axis attitude coordination state at adjacent monitoring times is obtained, along with the monitoring position, offset direction, and axial change it covers. The state position correspondence at adjacent times is established according to the attitude transfer direction. Based on the correspondence between adjacent time states and positions, the attitude change position of the monitoring position at the previous time is mapped to the spatial position at the next time, and the migration direction and migration position of the attitude change are recorded to form an attitude state migration unit. Based on the migration direction and spatial position in the attitude state transfer unit, the spatial offset of attitude change along each axis is tracked along the attitude transfer direction, and spatial reorganization is performed to form a multi-axis attitude distribution structure. Based on the multi-axis attitude distribution structure, the attitude changes of adjacent monitoring positions are correlated along the attitude transmission direction, and spatially organized according to the intersection sequence of different axial changes to form attitude evolution zones. Based on the spatial coverage of the attitude evolution zone and the direction of attitude change, the extension position of the attitude evolution zone is tracked along the spatial distribution of the monitoring location, and the extension changes are organized to form the attitude extension boundary. The attitude extension boundary is associated with adjacent moments along the time direction. The range of attitude change is tracked according to the spatial migration, extension direction and axial transformation of the boundary position, and the time sequence is organized to form an attitude evolution field. Based on the spatial position and extension direction of the attitude extension boundary at each moment in the attitude evolution field, the corresponding positions of the front and rear boundaries are established along the time direction. The spatial extension and directional changes of the attitude offset are tracked, and the axial transformation position is associated to form an attitude offset sequence.

6. The method for monitoring the tilt of a lightweight transmission tower using multi-axis sensing according to claim 5, characterized in that, The process involves tracking the spatial offset of attitude changes along each axis based on the migration direction and spatial position in the attitude state transfer unit, and then spatially reorganizing the data to form a multi-axis attitude distribution structure, as detailed below: The starting monitoring position, migration position, migration direction and axial change of the attitude state transfer unit are obtained. The migration positions are rearranged according to the spatial adjacency structure of the monitoring positions, and the attitude transfer direction is used as the spatial unfolding direction to form an attitude migration position sequence. Based on the attitude migration position sequence, the migration direction of adjacent monitoring positions is tracked. Attitude state migration units with the same migration direction and passing through adjacent monitoring positions are connected in direction, and the monitoring positions where the migration direction changes are recorded to form axial offset connection segments. Spatial expansion is performed on the longitudinal, lateral and vertical offsets in the axial offset continuation segment. The offset directions of adjacent positions are compared, and the offset bifurcation position and offset convergence position are extracted. Based on the spatial adjacency relationship of the offset bifurcation position, offset convergence position and axial transformation position, the directional continuity and axial switching of the associated axial offset continuation segment are connected to form the attitude offset spatial skeleton. Cross-check the axial offset segments in the attitude offset space skeleton to determine the axial transition positions between each axial offset. Associating each axial offset segment with the attitude transmission direction, and connecting adjacent axial offsets with the axial conversion position, and arranging them in combination with the spatial extension and bifurcation convergence state of the offset, a multi-axis attitude distribution structure is formed.

7. The method for monitoring the tilt of a lightweight transmission tower using multi-axis sensing according to claim 5, characterized in that, Based on the multi-axis attitude distribution structure, attitude changes at adjacent monitoring positions are correlated along the attitude transmission direction, and spatially organized according to the intersection sequence of changes in different axes to form attitude evolution zones, as detailed below: Extract the axial offset and spatial position of each monitoring position in the multi-axis attitude distribution structure, arrange adjacent monitoring positions according to the attitude transmission direction, and match the axial offsets of adjacent positions in the same direction to determine the front and rear extension range of the axial offset. Connect adjacent offset bifurcation positions and offset convergence positions along the extension direction of the axial offset continuation segment, and divide the offset extension segment according to the attitude transmission sequence between each position to determine the axial offset direction; The determined axial conversion position is traced along the attitude transfer direction of the offset extension segment, the axial offset before and after the conversion position is extracted, and the order of the offset before and after the conversion position is determined. Pair the pre-conversion offset and post-conversion offset at the same axial conversion position, record the longitudinal, lateral, and vertical offsets as the pre-conversion axial and post-conversion axial respectively, and determine the entry and exit directions of the axial offset at the conversion position; According to the attitude transmission sequence of the axial transformation position, the offset extension segments between adjacent axial transformation positions are connected in series, and the segments that pass through the same offset bifurcation position or offset convergence position are kept in a branching and converging structure to form a multi-axis variation extension structure. Adjacent multi-axis variation extension structures are connected along the attitude transmission direction, and spatial expansion is carried out in accordance with the spatial extension, bifurcation and convergence and axial transformation sequence of each axial offset to form an attitude evolution zone.

8. The method for monitoring the tilt of a lightweight transmission tower using multi-axis sensing according to claim 1, characterized in that, The process involves backtracking the attitude shifts at consecutive moments based on their temporal extension and spatial distribution, and accumulating correlations along the direction of the attitude shifts to form a tilt evolution chain. The tilt state of the tower is then determined based on the directional extension and cumulative changes of the tilt evolution chain, as detailed below: By tracing back the occurrence position and time sequence of each offset along the attitude offset sequence, the spatial extension positions of adjacent moments are matched according to the attitude transfer direction, and the offset direction and axial conversion position are associated to form a spatiotemporal continuity structure of attitude offset. Based on the spatial correspondence in the attitude offset spatiotemporal continuity structure, the extension path of the offset direction along the attitude transmission direction is traced, and different axial offsets are received at the axial conversion position to form an offset change continuity segment. According to the time of occurrence of attitude shift, adjacent shift change segments are connected sequentially, and the spatial extension direction and extension position of each segment are recorded to form a tilt evolution chain. By tracing the spatial continuity of the offset direction along the tilted evolution chain, the same-direction offsets that arrive at the same monitoring position at different times are spatiotemporally converged, and the offset directions before and after the axial conversion position are connected to form the tilted offset dominant channel and its extended range. Based on the height extension range and axial conversion position of the dominant tilt offset channel, combined with the directional extension and spatial accumulation state of the tilt evolution chain, the tilt influence zone of the tower is divided. Based on the directional connection and spatial penetration between each tilt-affected section, the offset channel that penetrates multiple height sections is used as a tilt characterization to determine the tilt direction, tilt range, and tilt state of the tower.

9. The method for monitoring the tilt of a lightweight transmission tower using multi-axis sensing according to claim 8, characterized in that, Based on the height extension range and axial conversion position of the dominant tilt offset channel, combined with the directional extension and spatial accumulation state of the tilt evolution chain, the tilt influence zones of the tower are divided as follows: Obtain the monitoring locations, height levels, and spatial extension range of the dominant tilt offset channel, arrange the monitoring locations according to the direction from the tower foot to the tower head, and establish the height extension sequence of the dominant channel; The offset of the tilt evolution chain at each monitoring location is traced along the height extension sequence. The same-direction offsets formed at different times are mapped to the same height position, and the cumulative offset range at each height position is calculated to form a height offset cumulative band. The offset direction of adjacent height positions is traced along the height offset accumulation band, the offsets extending from the previous height position to the next height position are connected in series, and the height positions where the offset direction changes are recorded. The determined axial transformation position is mapped to the height offset accumulation zone, the offset direction and spatial extension range before and after the transformation position are associated, and the axial transformation position is mapped to the position of the offset direction change to form a height change node; The offset extension between height change nodes is traced along the direction from the tower foot to the tower head, the tilt evolution chain at different height positions is spatially superimposed, and the height penetration and offset accumulation state of the dominant channel are correlated. Based on the cumulative offset direction and axial transformation position after spatial superposition, the offset extensions of adjacent height ranges are merged, and the segment boundaries are organized according to the offset changes at the axial transformation point to form tilted influence segments.

10. An apparatus using the multi-axis sensing lightweight transmission tower tilt monitoring method as described in any one of claims 1-9, characterized in that, It includes a coordination module, an attitude evolution module, and a tilting module, and there are connections between the modules; The coordination module is used to determine the monitoring position based on the height, structure, and component connection direction of the transmission tower, obtain the triaxial acceleration and angular velocity of the monitoring position, and associate them according to the attitude change direction and axial linkage state of adjacent positions to form a multi-axis attitude coordination state. The attitude evolution module is used to associate adjacent states along the attitude change direction based on the temporal changes of the multi-axis attitude cooperative state, and to extend the attitude change along the spatial distribution of the monitoring position to form an attitude evolution field. The attitude offset sequence is extracted based on the temporal extension and spatial expansion of the attitude evolution field. The tilt module is used to backtrack the attitude offsets at consecutive moments based on the temporal extension and spatial distribution of the attitude offset sequence, and to accumulate and correlate them along the extension direction of the attitude offset to form a tilt evolution chain. The tilt state of the tower is determined based on the directional extension and cumulative changes of the tilt evolution chain.

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