CN103268571A - Method and system for displaying power equipment status - Google Patents
Method and system for displaying power equipment status Download PDFInfo
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- CN103268571A CN103268571A CN201310157536XA CN201310157536A CN103268571A CN 103268571 A CN103268571 A CN 103268571A CN 201310157536X A CN201310157536X A CN 201310157536XA CN 201310157536 A CN201310157536 A CN 201310157536A CN 103268571 A CN103268571 A CN 103268571A
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- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
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Abstract
The invention relates to the technical field of power equipment, in particular to a method and system for displaying a power equipment status. The method for displaying the power equipment status comprises the steps that a three-dimensional GIS scene of a monitored area is set up, and an electric transmission and transformation device virtual model is set up; position information of a routing inspection route designated by a user is obtained and stored; a scene flying along the routing inspection route is performed in the three-dimensional GIS scene in an analogue mode according to the position information of the routing inspection route, and structural features and operation information of all electric transmission and transformation devices along the route are displayed. The system for displaying the power equipment status comprises a scene building module and a display module. The method and system for displaying the power equipment status are not limited by a shooting distance and a shooting angle of view, can directly observe various electric transmission and transformation devices along the route and visually display the operation information of the various electric transmission and transformation devices, can help working staff to master the operation condition of the electric transmission and transformation devices in the monitored area as soon as possible, and therefore the efficiency for establishing an overhauling strategy is improved.
Description
Technical field
The present invention relates to electrical equipment technical field, in particular to a kind of status of electric power display packing and system.
Background technology
Repair based on condition of component be enterprise with factors such as safety, environment, costs as considering the basis, carry out overhaul of the equipments work by means such as equipment state evaluation, risk assessment, maintenance decisions, equipment is safe and reliable to operation to reach, the rational a kind of maintenance strategy of the cost of overhaul.
Wherein, power transmission and transformation equipment state is estimated and risk assessment, be very important two links in the power transmission and transformation equipment state overhauling pattern, it mainly acts on is according to real-time status data of monitoring the combination property of power transmission and transforming equipment to be carried out evaluation analysis, obtains the maintenance decision result.Be the status information that how shows these power transmission and transforming equipments to the staff and estimate with a prerequisite of assessing to power transmission and transformation equipment state, could the staff can grasp the state of monitored power transmission and transforming equipment as early as possible.
Current, to the display mode of power transmission and transformation equipment state information, also be in modes such as comprehensive use picture, real time data, chart, monitor video in the power industry, comprehensive this multiple factor is estimated the state of power transmission and transforming equipment afterwards.Though wherein monitor video and picture are comparatively directly perceived, often owing to take visual angle and the effectively restriction of shooting distance, make monitor video and picture the information that can understand more limited; And chart and real time data etc. are comparatively abstract, often need it is analyzed and calculates, and just can draw the performance information of power transmission and transforming equipment, and the power transmission and transforming equipment situation is grasped in inconvenience rapidly, thereby have prolonged the formulation time of maintenance strategy.And, several data such as comprehensive video and chart are carried out performance evaluation to power transmission and transforming equipment, also need artificially to contact setting up between the different Data Sources, described object is unified separately, just can carry out globality and comprehensive evaluation.
To sum up, status information of equipment display mode of the prior art does not have a kind of means that more efficiently intuitively show the status information of power transmission and transforming equipment.
Summary of the invention
The object of the present invention is to provide a kind of status of electric power display packing and system, to solve the above problems.
The status of electric power display packing is provided in an embodiment of the present invention, has comprised step:
Steps A is built the three-dimension GIS scene of monitoring area, and sets up the power transmission and transforming equipment dummy model;
Step B obtains the positional information of patrolling and examining route of user's appointment and also stores;
Step C, according to described positional information of patrolling and examining route, simulation is carried out patrolling and examining the scene that route flies along described in described three-dimension GIS scene, and shows architectural feature and the operation information of each power transmission and transforming equipment on the way.
Wherein, set up the power transmission and transforming equipment dummy model in the described steps A and comprise step:
The three-dimensional modeling data storehouse is set provides the three-dimensional model of various power transmission and transforming equipments to the user;
According to user's appointed positions information, the three-dimensional model that the user is selected is fixed in the described three-dimension GIS scene.
Wherein, described step three-dimensional model that the user is selected is fixed on and also comprises step in the described three-dimension GIS scene:
Kind of information and the placement position information storage of the three-dimensional model that this user is selected;
When detecting this user and logining again, then retrieve the last three-dimensional model kind of information and the placement position information of selecting of this user, and according to the positional information that retrieves, this three-dimensional model is fixed in the three-dimension GIS scene automatically.
Wherein, show among the described step C that architectural feature and the operation information of each power transmission and transforming equipment comprise step on the way:
Obtain the information of waving of actual transmission line of electricity;
The transmission line of electricity model is waved, the situation of waving of real-time exhibition transmission line of electricity according to the situation of waving that the described information of waving reflects.
Wherein, show among the described step C that architectural feature and the operation information of each power transmission and transforming equipment also comprise step on the way:
Obtain the lead sag information of actual transmission line of electricity;
According to the represented sag degree of described lead sag information, the sag that the transmission line of electricity model is carried out is in various degree simulated and displaying.
Wherein, show among the described step C that architectural feature and the operation information of each power transmission and transforming equipment also comprise step on the way:
Obtain the temperature information of actual transmission line of electricity;
According to described temperature information, make described transmission line of electricity model by different textures and/or the different temperature information of color shows.
Wherein, described steps A is set up the power transmission and transforming equipment dummy model and is also comprised step:
Model inner structure and parts are carried out virtual modeling;
Show among the described step C that architectural feature and the operation information of each power transmission and transforming equipment also comprise step on the way:
Section is carried out in the outside of power transmission and transforming equipment model hide, show the inner structure of this power transmission and transforming equipment.
The present invention also provides a kind of status of electric power display system, comprises that scene builds module and display module;
Described scene is built module, is used for building the three-dimension GIS scene of monitoring area, and sets up the power transmission and transforming equipment dummy model;
Described display module is used for obtaining the positional information of patrolling and examining route of user's appointment and storing; And according to described positional information of patrolling and examining route, simulation is carried out patrolling and examining the scene that route flies along described in described three-dimension GIS scene, and shows architectural feature and the operation information of each power transmission and transforming equipment on the way.
Wherein, described scene is built module, is used for arranging the three-dimensional modeling data storehouse provides three-dimensional model from various power transmission and transforming equipments to the user; According to user's appointed positions information, the three-dimensional model that the user is selected is fixed in the described three-dimension GIS scene; And kind of information and the placement position information storage of the three-dimensional model that this user is selected; When detecting this user and logining again, then retrieve the last three-dimensional model kind of information and the placement position information of selecting of this user, and according to the positional information that retrieves, this three-dimensional model is fixed in the three-dimension GIS scene automatically.
Wherein, described display module is for the information of waving, lead sag information and the temperature information that obtain actual transmission line of electricity; And the transmission line of electricity model is waved according to the situation of waving that the described information of waving reflects, the situation of waving of real-time exhibition transmission line of electricity; According to the represented sag degree of described lead sag information, the sag that the transmission line of electricity model is carried out is in various degree simulated and displaying; And according to described temperature information, make described transmission line of electricity model by different textures and/or the different temperature information of color shows.
Status of electric power display packing and the system of the above embodiment of the present invention, at first build the three-dimension GIS scene of monitoring area, the topography and landform character that can clearly show the monitoring area like this, on three-dimension GIS scene basis, setting up the power transmission and transforming equipment dummy model, and the route of patrolling and examining that arranges according to the user, the scene that simulation is flown along this route, the restriction that is not subjected to shooting distance and takes the visual angle, can observe various power transmission and transforming equipments on the way intuitively, and the operation information that intuitively shows various power transmission and transforming equipments, come into plain view, help the staff to grasp the operation conditions of the power transmission and transforming equipment in the monitoring area as early as possible, thereby improved the efficient of formulating the maintenance strategy.
Description of drawings
Fig. 1 is the process flow diagram of status of electric power display packing of the present invention;
Fig. 2 is the structural representation of status of electric power display system of the present invention.
Embodiment
Also by reference to the accompanying drawings the present invention is described in further detail below by specific embodiment.
Embodiment one
The embodiment of the invention one provides a kind of status of electric power display packing, referring to shown in Figure 1, comprises step:
Step S110 builds the three-dimension GIS scene of monitoring area, and sets up the power transmission and transforming equipment dummy model.
Technical scheme provided by the present invention mainly is by Geographic Information System (two-dimensional/three-dimensional GIS), integrates virtual reality system (VR) and comes the power transmission and transformation equipment state of power industry is estimated application system.
Described GIS, i.e. Geographic Information System (Geographic Information System or Geo-Information system).
Build geography, geomorphology information according to actual altitude figures, cover by the figure that takes photo by plane, form the three-dimension GIS scene, the power transmission and transformation actual environment is carried out analogue simulation to the full extent.In conjunction with the VR technology, various power transmission and transformation models are carried out virtual emulation again, be placed in the described GIS scene, realize the three-dimensional simulation of real scene.
Wherein, in the three-dimensional scenic configuration surroundings, the three-dimensional modeling data storehouse can be set provide the three-dimensional model of various power transmission and transforming equipments to the user, and according to the positional information of the placement three-dimensional model of user's appointment, the three-dimensional model that the user is selected is fixed in the described three-dimension GIS scene.
Particularly, can provide a kind of power transmission and transforming equipment model bank based on the VR mode, the user can by drag/mode that input value is set puts into the GIS scene with the power transmission and transforming equipment model, and is convenient, build the power transmission and transformation simulated environment more clearly.
Particularly, make up the three-dimension GIS scene and can comprise with the flow process of setting up the power transmission and transformation model: begin to dispose the three-dimensional display scene, import the geography information altitude figures and carry out the geographical environment modeling, import the figure that takes photo by plane afterwards, carry out the power transmission and transformation environmental structure.In the power transmission and transformation build process, enter 3 d model library, select the three-dimensional model of corresponding power transmission and transforming equipment, by manually being drawn in the three-dimension GIS scene, perhaps import three-dimensional geographic coordinate information, the three-dimensional geographic coordinate information according to input is positioned over model in the three-dimension GIS scene.
3 d model library is divided into variety classes according to user's request, and the user can select the concrete equipment that will dispose in the big class of corresponding power equipment specialty, by pulling mode, import the geography information mode model is fixed in the three-dimension GIS environment.
Preferably, system stores kind of information and the placement position information of the three-dimensional model that this user selects, when detecting this user and logining again, then retrieve the last three-dimensional model kind of information and the placement position information of selecting of this user, and according to the positional information that retrieves, this three-dimensional model is fixed in the three-dimension GIS scene automatically.
Because deposit position information is stored with file mode or in the data-base recording mode, the user is after logining application system next time, application system will retrieve corresponding model information and place parameter from file or database, model is placed under the three-dimension GIS environment, like this, the user need not same power transmission and transformation model is all placed after landing one time at every turn, and it is more convenient to operate.
Step S111 obtains the positional information of patrolling and examining route of user's appointment and also stores.
That patrols and examines route determines to comprise flow process: formulate patrol plan, the process of patrolling and examining is carried out parameter configuration, carry out the map datum verification afterwards, judge whether current region can carry out three-dimensional and patrol and examine, cannot, then ejection system prompting, can, then in map, click, to click the path and form circuit, carry out the data storage afterwards, judge that whether this data storage file exists, and is, then roaming information is stored in data storage file,, then do not eject miscue, and carry out record as the system exception daily record.Generally speaking, arrange when patrolling and examining route, need be to the patrolling and examining route and whether can carry out virtual flight of user's appointment, then store this route, not, then prompting can't be carried out patrolling and examining of this route.
The user specifies the mode of patrolling and examining route to have multiple, can be by the mode of incoming line particular geographic location information, also can on the user interface of this system, patrol and examine route by the mouse delimitation, for example, can be in the three-dimensional scenic configuration surroundings, the user is by manually pulling, and will pull track and form a route, and this route is patrols and examines route and be stored in the middle of file or the database with ad hoc fashion.
Step S112, according to described positional information of patrolling and examining route, simulation is carried out patrolling and examining the scene that route flies along described in described three-dimension GIS scene, and shows architectural feature and the operation information of each power transmission and transforming equipment on the way.
When operating to send according to what set, the user patrols and examines route when carrying out simulated flight in system, system will read the roaming routing information of the simulated flight in several file/databases automatically, camera lens flies according to the roaming path in real time in the three-dimension GIS scene, form whole roaming flight effect, in roam procedure, the user can see transmission line equipment situation and the equipment operation information of real-time exhibition simultaneously.
In this application system, application system will be carried out real-time update to the current device monitoring running state information that collects, and the equipment operation information after the renewal will be shown in the three-dimension GIS system in mode intuitively.Described equipment situation and equipment operation information are for collecting in real time or in advance by information acquisition equipment such as sensors.
Wherein, preferably, the exhibition method that the embodiment of the invention also provides a kind of transmission line galloping based on three dimensional constitution carries out real time modelling according to real time data to the circuit situation of waving, and carries out Dynamic Display.Each power transmission and transforming equipment situation of namely showing and operation information include but not limited to that circuit waves information.
The displaying circuit is waved situation, need at first obtain the information of waving of actual transmission line of electricity.Afterwards, the transmission line of electricity model is waved according to the situation of waving that the described information of waving reflects, namely system will read circuit and wave information parameter and be reflected on the transmission line of electricity model, and real-time animation is showed the situation of waving of circuit.
Preferably, the embodiment of the invention also provides a kind of transmission line of electricity sag exhibition method based on three dimensional constitution, according to real time data lead sag degree is carried out analogue simulation, show the sag situation more intuitively, assess foundation more accurately for the equipment state evaluation provides.
Particularly, the sag situation of displaying circuit comprises step: the lead sag information of obtaining actual transmission line of electricity; According to the represented sag degree of described lead sag information, the sag that the transmission line of electricity model is carried out is in various degree simulated and displaying.Be that system will read the bank information parameter that hangs down and be reflected on the transmission line of electricity model, transmission line of electricity will carry out sag simulation in various degree according to the parameter information of real-time sag.
Preferably, the embodiment of the invention also provides a kind of transmission line of electricity temperature conditions exhibition method based on three dimensional constitution, gathers real time data conductor temperature is showed.Specifically comprise step: the temperature information that obtains actual transmission line of electricity, according to described temperature information, make described transmission line of electricity model by different textures and/or the different temperature information of color shows, be that system is reflected at the line temperature information parameter that reads on the transmission line of electricity model, the transmission line of electricity model will be showed not collinear temperature in change texture color mode.
As a kind of embodiment, the lead of different temperatures is distinguished by multiple color, and temperature comparatively approaches or identical different conductor arranges different textures to distinguish, and shows the circuit operation conditions more exactly.
Comprehensive above-mentioned information, can be to some abnormal conditions, for example overheated and icing etc. is made warning, this step specifically comprises: according to the three-dimensional model that the three-dimension GIS scene is showed, obtain the status information of power transmission and transforming equipment, and the transmission line of electricity status information from external data and database, carrying out state judges, judge whether transmission line of electricity meteorology or environment be unusual, when unusual, then will load abnormality and carry out the early warning demonstration.Abnormality comprises overheated or state such as icing.
Preferably, also by using the VR modeling pattern that equipment inner structure and parts thereof are showed, the user of service can form structure to equipment by simulated environment and intuitively understand the embodiment of the invention.
Particularly, model inner structure and parts are carried out virtual modeling, namely in modeling process, also will make model inner structure and parts.The user can pass through the VR platform, section is carried out in the outside of power transmission and transforming equipment model hide, and shows the inner structure of this power transmission and transforming equipment.Like this, the user can see the composition structure of device interior more intuitively.
Embodiment two
The embodiment of the invention two provides a kind of status of electric power display system, referring to shown in Figure 2, comprises that scene builds module 1 and display module 2.
Described scene is built module 1, is used for building the three-dimension GIS scene of monitoring area, and sets up the power transmission and transforming equipment dummy model.
Described display module 2 is used for obtaining the positional information of patrolling and examining route of user's appointment and storing; And according to described positional information of patrolling and examining route, simulation is carried out patrolling and examining the scene that route flies along described in described three-dimension GIS scene, and shows architectural feature and the operation information of each power transmission and transforming equipment on the way.
Described scene is built module 1, is used for arranging the three-dimensional modeling data storehouse provides three-dimensional model from various power transmission and transforming equipments to the user; According to the positional information of the placement three-dimensional model of user's appointment, the three-dimensional model that the user is selected is fixed in the described three-dimension GIS scene; And kind of information and the placement position information storage of the three-dimensional model that this user is selected; When detecting this user and logining again, then retrieve the last three-dimensional model kind of information and the placement position information of selecting of this user, and according to the positional information that retrieves, this three-dimensional model is fixed in the three-dimension GIS scene automatically.
Described display module 2 is for the information of waving, lead sag information and the temperature information that obtain actual transmission line of electricity; And the transmission line of electricity model is waved according to the situation of waving that the described information of waving reflects, the situation of waving of real-time exhibition transmission line of electricity; According to the represented sag degree of described lead sag information, the sag that the transmission line of electricity model is carried out is in various degree simulated and displaying; And according to described temperature information, make described transmission line of electricity model by different textures and/or the different temperature information of color shows.
The embodiment of the invention provides a kind of status monitoring mode of the power transmission and transforming equipment line walking based on GIS+VR, and the user can arrange in the three-dimension GIS scene and patrol and examine route, checks line information and geographical environment information more intuitively.The operation information that in simulated flight, shows each power transmission and transforming equipment simultaneously, for example temperature information, wave information etc., and in the VR environment detailed display device operation conditions, various information are comparatively directly perceived, be more convenient for grasping the as early as possible concrete condition of power transmission and transforming equipment has improved the efficient of formulating the maintenance strategy.
Obviously, those skilled in the art should be understood that, above-mentioned each module of the present invention or each step can realize with the general calculation device, they can concentrate on the single calculation element, perhaps be distributed on the network that a plurality of calculation elements form, alternatively, they can be realized with the executable program code of calculation element, thereby, they can be stored in the memory storage and be carried out by calculation element, perhaps they are made into each integrated circuit modules respectively, perhaps a plurality of modules in them or step are made into the single integrated circuit module and realize.Like this, the present invention is not restricted to any specific hardware and software combination.
The above is the preferred embodiments of the present invention only, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a status of electric power display packing is characterized in that, comprises step:
Steps A is built the three-dimension GIS scene of monitoring area, and sets up the power transmission and transforming equipment dummy model;
Step B obtains the positional information of patrolling and examining route of user's appointment and also stores;
Step C, according to described positional information of patrolling and examining route, simulation is carried out patrolling and examining the scene that route flies along described in described three-dimension GIS scene, and shows architectural feature and the operation information of each power transmission and transforming equipment on the way.
2. status of electric power display packing according to claim 1 is characterized in that, sets up the power transmission and transforming equipment dummy model in the described steps A and comprises step:
The three-dimensional modeling data storehouse is set provides the three-dimensional model of various power transmission and transforming equipments to the user;
According to user's appointed positions information, the three-dimensional model that the user is selected is fixed in the described three-dimension GIS scene.
3. status of electric power display packing according to claim 2 is characterized in that, the three-dimensional model that described step is selected the user is fixed on and also comprises step in the described three-dimension GIS scene:
Kind of information and the placement position information storage of the three-dimensional model that this user is selected;
When detecting this user and logining again, then retrieve the last three-dimensional model kind of information and the placement position information of selecting of this user, and according to the positional information that retrieves, this three-dimensional model is fixed in the three-dimension GIS scene automatically.
4. status of electric power display packing according to claim 1 is characterized in that, shows among the described step C that architectural feature and the operation information of each power transmission and transforming equipment comprise step on the way:
Obtain the information of waving of actual transmission line of electricity;
The transmission line of electricity model is waved, the situation of waving of real-time exhibition transmission line of electricity according to the situation of waving that the described information of waving reflects.
5. status of electric power display packing according to claim 1 is characterized in that, shows among the described step C that architectural feature and the operation information of each power transmission and transforming equipment also comprise step on the way:
Obtain the lead sag information of actual transmission line of electricity;
According to the represented sag degree of described lead sag information, the sag that the transmission line of electricity model is carried out is in various degree simulated and displaying.
6. status of electric power display packing according to claim 1 is characterized in that, shows among the described step C that architectural feature and the operation information of each power transmission and transforming equipment also comprise step on the way:
Obtain the temperature information of actual transmission line of electricity;
According to described temperature information, make described transmission line of electricity model by different textures and/or the different temperature information of color shows.
7. status of electric power display packing according to claim 1 is characterized in that, described steps A is set up the power transmission and transforming equipment dummy model and also comprised step:
Model inner structure and parts are carried out virtual modeling;
Show among the described step C that architectural feature and the operation information of each power transmission and transforming equipment also comprise step on the way:
Section is carried out in the outside of power transmission and transforming equipment model hide, show the inner structure of this power transmission and transforming equipment.
8. a status of electric power display system is characterized in that, comprises that scene builds module and display module;
Described scene is built module, is used for building the three-dimension GIS scene of monitoring area, and sets up the power transmission and transforming equipment dummy model;
Described display module is used for obtaining the positional information of patrolling and examining route of user's appointment and storing; And according to described positional information of patrolling and examining route, simulation is carried out patrolling and examining the scene that route flies along described in described three-dimension GIS scene, and shows architectural feature and the operation information of each power transmission and transforming equipment on the way.
9. status of electric power display system according to claim 8 is characterized in that:
Described scene is built module, is used for arranging the three-dimensional modeling data storehouse provides three-dimensional model from various power transmission and transforming equipments to the user; According to user's appointed positions information, the three-dimensional model that the user is selected is fixed in the described three-dimension GIS scene; And kind of information and the placement position information storage of the three-dimensional model that this user is selected; When detecting this user and logining again, then retrieve the last three-dimensional model kind of information and the placement position information of selecting of this user, and according to the positional information that retrieves, this three-dimensional model is fixed in the three-dimension GIS scene automatically.
10. status of electric power display system according to claim 8 is characterized in that:
Described display module is for the information of waving, lead sag information and the temperature information that obtain actual transmission line of electricity; And the transmission line of electricity model is waved according to the situation of waving that the described information of waving reflects, the situation of waving of real-time exhibition transmission line of electricity; According to the represented sag degree of described lead sag information, the sag that the transmission line of electricity model is carried out is in various degree simulated and displaying; And according to described temperature information, make described transmission line of electricity model by different textures and/or the different temperature information of color shows.
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| CN107274743A (en) * | 2017-08-14 | 2017-10-20 | 国家电网公司 | Transmission line of electricity visual simulating training system based on VR technologies |
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| CN109120441A (en) * | 2018-08-15 | 2019-01-01 | 亚信科技（中国）有限公司 | A kind of remote control and regulation method, device and electronic equipment |
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| CN109191613A (en) * | 2018-08-21 | 2019-01-11 | 国网江西省电力有限公司南昌供电分公司 | A kind of automatic machine room method for inspecting based on 3D technology |
| CN109405895A (en) * | 2018-12-29 | 2019-03-01 | 广州供电局有限公司 | Cable tunnel monitoring management system |
| CN110826201A (en) * | 2019-10-24 | 2020-02-21 | 深圳供电局有限公司 | Three-dimensional visualization platform for operation and maintenance management system of data center |
| CN110826201B (en) * | 2019-10-24 | 2023-11-03 | 深圳供电局有限公司 | Three-dimensional visualization platform for operation and maintenance management system of data center |
| CN111223188A (en) * | 2019-10-31 | 2020-06-02 | 中车青岛四方机车车辆股份有限公司 | Production process display method and device |
| CN112050860A (en) * | 2020-09-22 | 2020-12-08 | 国家电网有限公司 | Monitoring and analyzing method for overhead transmission line element |
| CN112598160A (en) * | 2020-12-04 | 2021-04-02 | 广东电网有限责任公司 | Electric power Internet of things shape display method, device, medium and electronic equipment |
| CN112598160B (en) * | 2020-12-04 | 2023-08-18 | 广东电网有限责任公司 | Electric power Internet of things shape display method and device, medium and electronic equipment |
| CN112765699A (en) * | 2021-01-28 | 2021-05-07 | 上海汇珏网络通信设备股份有限公司 | Three-dimensional scenarized equipment control method and system |
| CN113256836A (en) * | 2021-04-27 | 2021-08-13 | 交通运输部天津水运工程科学研究所 | Immersive intelligent inspection method for port facilities |
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