CN113071671A - Automatic unmanned aerial vehicle that patrols and examines with real-time dynamic control power equipment - Google Patents
Automatic unmanned aerial vehicle that patrols and examines with real-time dynamic control power equipment Download PDFInfo
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- CN113071671A CN113071671A CN202110377471.4A CN202110377471A CN113071671A CN 113071671 A CN113071671 A CN 113071671A CN 202110377471 A CN202110377471 A CN 202110377471A CN 113071671 A CN113071671 A CN 113071671A
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- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims description 16
- 238000004458 analytical method Methods 0.000 claims description 11
- 238000013500 data storage Methods 0.000 claims description 10
- 230000004048 modification Effects 0.000 claims description 9
- 238000012986 modification Methods 0.000 claims description 9
- 238000012217 deletion Methods 0.000 claims description 6
- 230000037430 deletion Effects 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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Abstract
The invention relates to an automatic inspection unmanned aerial vehicle with real-time dynamic control power equipment, wherein a support is fixedly connected in the middle of the bottom of the unmanned aerial vehicle, a camera shooting mechanism is fixedly connected at the inner top of the support, anti-collision mechanisms are respectively and fixedly connected on the left side and the right side of the unmanned aerial vehicle, the camera shooting mechanism comprises a shell, the shell is fixedly connected at the inner top of the support, a motor is fixedly connected in the middle of the left side of the shell, a lead screw is rotatably connected in the shell corresponding to the motor, and the lead screw is in threaded connection with the. This unmanned aerial vehicle is patrolled and examined automatically to power equipment with real-time dynamic control, when unmanned aerial vehicle parks on power equipment, carefully inspect whole equipment through the camera, the motor starts to drive the lead screw and rotates simultaneously, drives the camera and removes on the slide rail under the vice cooperation of ball nut to carry out detailed inspection to power equipment different positions.
Description
Technical Field
The invention relates to the technical field of automatic power equipment inspection equipment, in particular to an automatic power equipment inspection unmanned aerial vehicle with real-time dynamic control.
Background
With the continuous development and progress of science and technology, detection equipment such as a high-resolution visible light camera (video camera), a high-precision thermal infrared imager, a three-dimensional laser radar scanning device and the like enriches the operation and detection means of the power transmission line. Particularly, in recent years, the policy in the field of navigation in China is gradually released, the unmanned aerial vehicle technology is rapidly improved, the unmanned aerial vehicle carries a special sensor load to inspect the power transmission line, the rapid development is achieved, and the line is promoted to be changed from the traditional manual inspection mode to the mechanical inspection mode. Compared with the traditional manual inspection, the unmanned aerial vehicle inspection system has the advantages of being high in efficiency, high in quality, free of influence of terrain conditions and the like, and is an important means for developing the power transmission line management towards a safer, efficient, fine and economic direction.
In recent years, the unmanned aerial vehicle technology is also rapidly developed, and the unmanned aerial vehicle has a wide application prospect in power inspection. At present, the ground operator mainly guides the unmanned aerial vehicle to fly and shoot in the inspection according to vision, images returned by the inspection, GPS information and the like. However, the inspection mode has high working strength and low efficiency, and cannot meet the requirements of power maintenance and power supervision in China, and meanwhile, the inspection unmanned aerial vehicle is easy to damage after being impacted, and is troublesome to operate and cannot be dynamically controlled in real time when being parked on power equipment for careful inspection, so that redesign is needed.
Disclosure of Invention
The invention aims to provide an automatic inspection unmanned aerial vehicle with real-time dynamic control for power equipment, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an unmanned aerial vehicle is patrolled and examined automatically to power equipment with real-time dynamic control, includes unmanned aerial vehicle, fixedly connected with support in the middle of the unmanned aerial vehicle bottom, top fixedly connected with camera shooting mechanism in the support, unmanned aerial vehicle left side and right side fixedly connected with anticollision institution respectively.
The camera shooting mechanism comprises an outer shell, the outer shell is fixedly connected to the inner top of the support, a motor is fixedly connected to the middle of the left side of the outer shell, a lead screw is connected to the motor in the outer shell in a rotating mode, the lead screw is connected to the middle of a ball nut pair in a threaded mode, a camera is fixedly connected to the bottom of the ball nut pair in a fixed mode, a sliding groove is formed in the middle of the bottom of the outer shell in a corresponding mode, a supporting rod is fixedly connected to the top of the camera on two sides of the ball nut pair in a rotating mode, rollers are connected to the top of the.
In particular, the motor is provided with an output shaft, and the motor is fixedly connected with a lead screw through the output shaft.
Particularly, the slide rail is provided with two, two the slide rail distributes at lead screw top front side and rear side, branch corresponds two slide rails and is provided with four, four two a set of symmetric distribution of branch are at camera top front side and rear side.
Particularly, anticollision institution includes the dead lever, dead lever fixed connection is in the unmanned aerial vehicle both sides, unmanned aerial vehicle one end fixedly connected with sliding plate is kept away from to the dead lever, the sliding plate sets up in the anticollision shell, both sides correspond sliding plate four corners fixedly connected with slide bar in the anticollision shell, dead lever one side fixedly connected with anticollision spring is kept away from to the sliding plate, anticollision spring keeps away from sliding plate one side fixedly connected with anticollision shell.
Particularly, the anti-collision shell is provided with a sliding hole corresponding to the fixing rod, and the anti-collision shell is connected with the fixing rod through the sliding hole in a sliding mode.
Particularly, the anticollision shell is provided with four, four two a set of symmetric distribution of anticollision shell are on unmanned aerial vehicle left side and right side, fixedly connected with connecting rod between two a set of anticollision shell.
Particularly, be provided with real-time control system in the unmanned aerial vehicle, real-time control system includes central treater, central treater transmitting terminal signal connection has data transmission module, operating module, wireless broadband module and VR's show module receiving terminal, data transmission module transmitting terminal signal connection has GIS's geographical analysis module receiving terminal, GIS's geographical analysis module transmitting terminal signal connection has image acquisition module and three-dimensional geographical coordinate to establish module receiving terminal, operating module transmitting terminal signal connection has the control module receiving terminal, the control module transmitting terminal signal connection has mode module receiving terminal of patrolling and examining.
Particularly, the transmitting end of the data transmission module is in signal connection with the receiving end of the data storage module, and the transmitting end of the data storage module is in signal connection with the receiving ends of the data modification module and the data deletion module.
Compared with the prior art, the invention has the beneficial effects that:
1. this unmanned aerial vehicle is patrolled and examined automatically to power equipment with real-time dynamic control, through the mechanism of making a video recording that sets up, when unmanned aerial vehicle parks on power equipment, carefully inspects whole equipment through the camera, and the motor starts to drive the lead screw and rotates simultaneously, drives the camera and removes on the slide rail under the vice cooperation of ball nut to carry out detailed inspection to power equipment different positions, can reach the purpose of convenient operation.
2. This unmanned aerial vehicle is patrolled and examined automatically to power equipment with real-time dynamic control, through the anticollision institution that sets up, can receive the striking back at unmanned aerial vehicle, the impact that the anticollision spring will receive carries out effective quick offset, and the sliding plate slides on the slide bar after the striking simultaneously for the impact only releases from the unmanned aerial vehicle both sides, thereby can effectually solve and patrol and examine the problem that unmanned aerial vehicle damaged easily after the striking.
3. The unmanned aerial vehicle with real-time dynamic control for automatic inspection of power equipment can rapidly collect power setting images and position information through an image collection module and a three-dimensional geographic coordinate building module by a camera of the unmanned aerial vehicle through a set implementation control system, rapidly analyze the collected images and position information through a geographic analysis module of a GIS to obtain accurate position information, upload the position information data to a data storage module through a data transmission module, modify and delete the position information data by a data modification module and a data deletion module which are arranged at the same time so as to update the position information in time, carry out 3D modeling on the uploaded data through a three-dimensional GIS/VR circuit real scene platform building module, and directly watch the power equipment information in real time through a VR display module under the cooperation of a wireless broadband module in the later control process, unmanned aerial vehicle patrols and examines through control module and operating module is automatic patrols and examines under the mode module of patrolling and examining this moment, can very big solution can not carry out the problem of real-time dynamic control.
Drawings
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings, in which:
FIG. 1 is a schematic view of a left-side inclined three-dimensional structure according to the present invention;
FIG. 2 is a schematic diagram of a right-side inclined three-dimensional structure according to the present invention;
FIG. 3 is a schematic bottom view of the present invention;
FIG. 4 is a schematic front cross-sectional view of a camera mechanism;
FIG. 5 is a schematic top view of the present invention;
FIG. 6 is an enlarged view of the structure at A in FIG. 5;
FIG. 7 is a schematic diagram of an implementation control system.
In the figure: 1. a support; 2. an unmanned aerial vehicle; 3. a camera mechanism; 31. a motor; 32. a housing; 33. a slide rail; 34. a chute; 35. a camera; 36. a roller; 37. a ball nut pair; 38. a strut; 39. a lead screw; 4. a crash-proof hook; 41. a connecting rod; 42. an anti-collision shell; 43. a slide hole; 44. fixing the rod; 45. a sliding plate; 46. a slide bar; 47. an anti-collision spring; 5. a real-time control system; 51. an image acquisition module; 511. a three-dimensional geographic coordinate establishing module; 52. a geographic analysis module of the GIS; 53. a data transmission module; 531. an operation module; 532. a patrol mode module; 533. a control module; 54. a data storage module; 55. a data modification module; 56. a data deletion module; 57. a three-dimensional GIS/VR circuit live-action platform building module; 571. a wireless broadband module; 58. a display module of the VR; 59. a central processor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 7, the automatic inspection unmanned aerial vehicle with real-time dynamic control power equipment comprises an unmanned aerial vehicle 2, wherein a support 1 is fixedly connected to the middle of the bottom of the unmanned aerial vehicle 2, a camera mechanism 3 is fixedly connected to the top in the support 1, and an anti-collision mechanism 4 is fixedly connected to the left side and the right side of the unmanned aerial vehicle 2 respectively.
The camera mechanism 3 comprises a shell 32, the shell 32 is fixedly connected to the inner top of the bracket 1, a motor 31 is fixedly connected to the middle of the left side of the shell 32, a screw 39 is rotatably connected to the motor 31 in the shell 32, the screw 39 is in threaded connection with the middle of a ball nut pair 37, a camera 35 is fixedly connected to the bottom of the ball nut pair 37, a chute 34 is formed in the middle of the bottom of the shell 32 corresponding to the camera 35, support rods 38 are fixedly connected to the two sides of the ball nut pair 37 at the top of the camera 35, rollers 36 are rotatably connected to the top ends of the support rods 38, the rollers 36 are slidably connected to the middle of the slide rails 33, the shell 32 is fixedly connected to the two ends of the slide rails 33, an output shaft is mounted on the motor 31, the screw 39 is fixedly connected to the motor 31 through the output shaft, the two slide rails 33 are arranged, the two slide rails 33 are distributed on the, through the mechanism of making a video recording 3 that sets up, when unmanned aerial vehicle 2 parks on power equipment, carefully inspect through camera 35 to whole equipment, motor 31 starts to drive lead screw 39 and rotates simultaneously, drives camera 35 and removes on slide rail 33 under the cooperation of ball nut pair 37 to carry out detailed inspection to power equipment different positions, can reach easy operation's purpose.
The anti-collision mechanism 4 comprises a fixed rod 44, the fixed rod 44 is fixedly connected to two sides of the unmanned aerial vehicle 2, one end of the fixed rod 44, which is far away from the unmanned aerial vehicle 2, is fixedly connected with a sliding plate 45, the sliding plate 45 is arranged in an anti-collision shell 42, two sides in the anti-collision shell 42 are fixedly connected with sliding rods 46 corresponding to four corners of the sliding plate 45, one side of the sliding plate 45, which is far away from the fixed rod 44, is fixedly connected with an anti-collision shell 42, one side of the anti-collision shell 47, which is far away from the sliding plate 45, is provided with a sliding hole 43 corresponding to the fixed rod 44, the anti-collision shell 42 is slidably connected with the fixed rod 44 through the sliding hole 43, the anti-collision shell 42 is provided with four numbers, two sets of the four anti-collision shells 42 are symmetrically distributed on the left side and, simultaneously after the striking sliding plate 45 slides on slide bar 46 for the striking is only released from unmanned aerial vehicle 2 both sides, thereby can effectually solve and patrol and examine the easy problem of damaging of unmanned aerial vehicle after the striking.
The unmanned aerial vehicle 2 is internally provided with a real-time control system 5, the real-time control system 5 comprises a central processor 59, the transmitting end of the central processor 59 is in signal connection with a data transmission module 53, an operation module 531, a wireless broadband module 571 and a VR display module 58 receiving end, the transmitting end of the data transmission module 53 is in signal connection with a GIS geographic analysis module 52 receiving end, the GIS geographic analysis module 52 transmitting end is in signal connection with an image acquisition module 51 and a three-dimensional geographic coordinate establishing module 511 receiving end, the transmitting end of the operation module 531 is in signal connection with a control module 533 receiving end, the transmitting end of the control module 533 is in signal connection with a patrol mode module 532 receiving end, the transmitting end of the data transmission module 53 is in signal connection with a data storage module 54 receiving end, the transmitting end of the data storage module 54 is in signal connection with a data modification module, the camera 35 of the unmanned aerial vehicle 2 can rapidly collect the power setting image and the position information through the image collection module 51 and the three-dimensional geographic coordinate establishment module 511, the collected power setting image and the position information are rapidly analyzed through the geographic analysis module 52 of the GIS to obtain accurate position information, the position information data are uploaded to the data storage module 54 through the data transmission module 53, the position information data can be modified and deleted through the data modification module 55 and the data deletion module 56 which are arranged at the same time, so that the position information is updated in time, the uploaded data are subjected to 3D modeling through the three-dimensional GIS/VR circuit scene platform establishment module 57, in the later control process, the electric power equipment information is directly watched in real time through the display module 58 of VR under the cooperation of the wireless broadband module 571, at the moment, the unmanned aerial vehicle 2 is automatically patrolled through the control module 533 and the operation module 531 under the patrol mode module 532, the problem that real-time dynamic control cannot be carried out is greatly solved.
When the unmanned aerial vehicle 2 is parked on an electric power device, the whole device is carefully checked through the camera 35, the motor 31 is started to drive the lead screw 39 to rotate, the camera 35 is driven to move on the sliding rail 33 under the matching of the ball nut pair 37, so that different positions of the electric power device are checked in detail, the aim of simple operation can be fulfilled, the impact force received by the anti-collision spring 47 can be effectively and quickly counteracted after the unmanned aerial vehicle 2 is impacted, the sliding plate 45 slides on the sliding rod 46 after the impact, so that the impact force is only released from two sides of the unmanned aerial vehicle 2, the problem that the inspection unmanned aerial vehicle is easily damaged after the impact can be effectively solved, the camera 35 of the unmanned aerial vehicle 2 can quickly collect the electric power setting image and the position information through the image collection module 51 and the three-dimensional geographic coordinate establishment module 511, after collection, rapid analysis is carried out through the GIS geographic analysis module 52, accurate position information is obtained, position information data are uploaded to the data storage module 54 through the data transmission module 53, the data modification module 55 and the data deletion module 56 which are arranged at the same time can modify and delete the position information data, so that the position information is updated in time, the uploaded data are subjected to 3D modeling through the three-dimensional GIS/VR circuit live-action platform building module 57, in the later control process, the electric power equipment information is directly watched under the cooperation of the wireless broadband module 571 through the VR display module 58, the unmanned aerial vehicle 2 is under the inspection mode module 532 at the moment, inspection is automatically carried out through the control module 533 and the operation module 531, and the problem that real-time dynamic control cannot be carried out is greatly solved.
In the description of the present invention, it is to be understood that the terms "longitudinal," "length," "circumferential," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for the convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus are not to be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically connected, electrically connected or can communicate with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The utility model provides an unmanned aerial vehicle is patrolled and examined automatically to power equipment with real-time dynamic control, includes unmanned aerial vehicle (2), its characterized in that: the middle of the bottom of the unmanned aerial vehicle (2) is fixedly connected with a support (1), the top in the support (1) is fixedly connected with a camera shooting mechanism (3), and the left side and the right side of the unmanned aerial vehicle (2) are respectively and fixedly connected with an anti-collision mechanism (4);
camera shooting mechanism (3) are including shell (32), shell (32) fixed connection is top in support (1), fixedly connected with motor (31) in the middle of shell (32) left side, it is connected with lead screw (39) to correspond motor (31) rotation in shell (32), lead screw (39) threaded connection is in the middle of ball nut is vice (37), ball nut is vice (37) bottom fixedly connected with camera (35), spout (34) have been seted up in the middle of shell (32) bottom to correspond camera (35), camera (35) top is at ball nut is vice (37) both sides fixedly connected with branch (38), branch (38) top is rotated and is connected with gyro wheel (36), gyro wheel (36) sliding connection is middle in slide rail (33), slide rail (33) both ends fixedly connected with shell (32).
2. The unmanned aerial vehicle with real-time dynamic control power equipment automatic inspection according to claim 1, wherein: an output shaft is installed on the motor (31), and a lead screw (39) is fixedly connected to the motor (31) through the output shaft.
3. The unmanned aerial vehicle with real-time dynamic control power equipment automatic inspection according to claim 1, wherein: slide rail (33) are provided with two, two slide rail (33) distribute at lead screw (39) top front side and rear side, branch (38) correspond two slide rail (33) and are provided with four, four two a set of symmetric distribution in camera (35) top front side and rear side of branch (38).
4. The unmanned aerial vehicle with real-time dynamic control power equipment automatic inspection according to claim 1, wherein: anticollision institution (4) include dead lever (44), dead lever (44) fixed connection is in unmanned aerial vehicle (2) both sides, unmanned aerial vehicle (2) one end fixedly connected with sliding plate (45) are kept away from in dead lever (44), sliding plate (45) set up in crashproof shell (42), both sides correspond sliding plate (45) four corners fixedly connected with slide bar (46) in crashproof shell (42), dead lever (44) one side fixedly connected with anticollision spring (47) are kept away from in sliding plate (45), anticollision spring (47) are kept away from sliding plate (45) one side fixedly connected with crashproof shell (42).
5. The automatic unmanned aerial vehicle that patrols and examines with real-time dynamic control power equipment of claim 4 characterized in that: the anti-collision shell (42) is provided with a sliding hole (43) corresponding to the fixing rod (44), and the anti-collision shell (42) is connected with the fixing rod (44) through the sliding hole (43) in a sliding mode.
6. The automatic unmanned aerial vehicle that patrols and examines with real-time dynamic control power equipment of claim 4 characterized in that: anticollision shell (42) are provided with four, four two a set of symmetric distribution of anticollision shell (42) is on unmanned aerial vehicle (2) left side and right side, fixedly connected with connecting rod (41) between two a set of anticollision shell (42).
7. The unmanned aerial vehicle with real-time dynamic control power equipment automatic inspection according to claim 1, wherein: be provided with real-time control system (5) in unmanned aerial vehicle (2), real-time control system (5) includes central treater (59), central treater (59) transmitting terminal signal connection has data transmission module (53), operating module (531), wireless broadband module (571) and VR's show module (58) receiving terminal, data transmission module (53) transmitting terminal signal connection has GIS's geographical analysis module (52) receiving terminal, GIS's geographical analysis module (52) transmitting terminal signal connection has image acquisition module (51) and three-dimensional geographic coordinate to establish module (511) receiving terminal, operating module (531) transmitting terminal signal connection has control module (533) receiving terminal, control module (533) transmitting terminal signal connection has patrol and examine mode module (532) receiving terminal.
8. The unmanned aerial vehicle for automatic inspection with real-time dynamic control of electric power equipment according to claim 7, wherein: the data transmission module (53) is connected with a data storage module (54) at the transmitting end through signals, and the data storage module (54) is connected with a data modification module (55) and a data deletion module (56) at the transmitting end through signals.
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| CN202110377471.4A CN113071671A (en) | 2021-04-08 | 2021-04-08 | Automatic unmanned aerial vehicle that patrols and examines with real-time dynamic control power equipment |
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| CN202110377471.4A CN113071671A (en) | 2021-04-08 | 2021-04-08 | Automatic unmanned aerial vehicle that patrols and examines with real-time dynamic control power equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113525666A (en) * | 2021-08-29 | 2021-10-22 | 贵州电网有限责任公司六盘水供电局 | Unmanned aerial vehicle for three-dimensional model scanning based on power transmission and transformation equipment |
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