CN101381002A - Flying robot for detecting transmission line insulator - Google Patents
Flying robot for detecting transmission line insulator Download PDFInfo
- Publication number
- CN101381002A CN101381002A CNA2008102241721A CN200810224172A CN101381002A CN 101381002 A CN101381002 A CN 101381002A CN A2008102241721 A CNA2008102241721 A CN A2008102241721A CN 200810224172 A CN200810224172 A CN 200810224172A CN 101381002 A CN101381002 A CN 101381002A
- Authority
- CN
- China
- Prior art keywords
- flying robot
- transmission line
- control system
- electric transmission
- line isolator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention discloses a flying robot used for detecting transmission line insulator in the field of aircraft control and image transmission technique. The technical proposal is that the flying robot used for detecting the transmission line insulator consists of a three-axis aircraft or four-axis aircraft, a flying control system and an objective recognition system; the power part of the three-axis aircraft consists of three pairs of airscrews, three coaxial motors and three supporting arms; the power part of the four-axis aircraft consists of 4 direct-drive brushless motors and four airscrews; the flying control system consists of an on-board self-control system and a ground station control system; the objective recognition system consists of on-board mission load and a ground image processing system. By installing a precise navigation system on the flying robot, the flying robot exactly flies in the space above the insulator to be detected; by adopting the image gaining and transmission system, the zero-value insulator is exactly detected, the labor intensity is lightened, and the safety of the detection personnel is improved during the detection process.
Description
Technical field
The invention belongs to aircraft control and image transmission technology field, relate in particular to a kind of flying robot who is used to detect electric transmission line isolator.
Background technology
Insulator is to be used for lead and tower insulation bonded assembly device on the aerial high-voltage power transmission line, and is one of insulator of consumption maximum, and is especially all the more so to old circuit.When having low value or zero resistance insulator in the insulator chain, flashover fault just very easily takes place under filthy environment, over voltage even operating voltage.When lightning surge acted on zero resistance insulator, zero resistance insulator was punctured fully, and powerful lightning current and power frequency continued flow be from the porcelain spare slit flow mistake of zero resistance insulator head, will cause that zero resistance insulator is overheated to blow.Therefore, zero resistance insulator is the hidden danger that causes the transmission line of electricity grave accident.
The method of measuring zero resistance insulator at present is regularly to have a power failure or charged manual detection.These operations need be stepped on bar and be detected piecewise, belong to aloft work, and are affected by environment big and dangerous and labour intensity is big.Method at the ground survey zero resistance insulator is also arranged, but accuracy is not high enough, and very difficult judgement specifically is which sheet insulator is out of joint.
The new mode of constantly exploring both at home and abroad also has following several in addition:
(1) self-crawling type poor insulator detector: self-crawling type poor insulator detector is mainly by climbing driver train certainly and the insulation measurement device is formed, under electriferous state, measure the insulation resistance of insulator, judge according to the size of D.C. isolation resistance whether insulator is good.The method still needs manually to go up tower.
(2) corona pulse formula detector: in service at transmission line of electricity, the connection gold utensil place of insulator chain can produce corona, and forms the corona pulse electric current by in the iron tower inflow place.Adopt suitable phase place system of selection just can observe each phase pulse current respectively.This method need not be stepped on bar, but accuracy of detection has much room for improvement, and can't to differentiate be which sheet insulator has problem.
(3) electron optics detector: produce the intensity of light radiation when discharging, just know the insulating power of insulator chain according to surface local.But the electron optics detector only can judge whether there is zero resistance insulator in the insulator chain, and can not determine has several zero resistance insulators and their position on earth.
(4) thermal infrared imager detection method: the surface temperature of poor insulator and good insulation there are differences, and using thermal infrared imager can show the temperature traverse of insulator surface with directly perceived, vivid thermal image.For the porcelain insulator of glass insulator or common glaze, it is just very little just often to heat up, and when poor insulator occurring, its temperature is than only low about about 1 ℃ of other normal person, and when using at the scene, difficulty increases to some extent.
(5) laser vibration detection method: because the frequency spectrum from vibrating, the central frequency of the insulator that has ftractureed is with just often different.Evoke microvibration as the super sonic that ultrasonic generator produced is aimed at tested insulator with the parabolic type catadioptre, then with this tested insulator of laser alignment, according to the signal Spectrum Analysis that reflects, promptly whether this insulator of decidable ftractures.
More than five kinds of methods though advantage is respectively arranged, or can not solve the bar problem of stepping on, perhaps the reliability of Jian Ceing is not high.
In addition, adopt the composite material insulator to avoid the method for null value problem in addition.But because the line insulator enormous amount also can't all be replaced in considerable time, the online insulation of composite material insulator detects difficult problem especially in addition.
In sum, research need not be stepped on bar can accurately detect zero resistance insulator, can greatly reduce labor intensity, and is significant.
Summary of the invention
The objective of the invention is to, study a kind of flying robot who is used to detect electric transmission line isolator, under the situation that need not step on bar,, realize accurate detection suspension insulator by aircraft precision navigation technology and ripe computer image processing technology.
Technical scheme of the present invention is that a kind of flying robot who is used to detect electric transmission line isolator is characterized in that described flying robot is made of three aircraft or four-axle aircraft, flight control system and target identification system; The power pack section of described three aircraft is made up of 3 pairs of screw propellers, 3 pairs of coaxial motors and 3 hold-down arms, every pair of coaxial motor is made up of two motors up and down of contrarotation, and two motors up and down of every pair of coaxial motor are installed a screw propeller, and 3 hold-down arms support 3 pairs of coaxial motors respectively; The power pack section of described four-axle aircraft is made of 4 brushless motors that directly drive and 4 screw propellers; Described flight control system is made up of airborne self-control system and ground station control system; Described target identification system is made up of airborne mission payload and ground image disposal system.
Described airborne self-control system is installed on the four-axle aircraft, includes autopilot, and the flying robot is carried out autonomous flight control.
Described ground station control system is made up of hand-held remote control unit, data communication module, ground control computer.
Described airborne mission payload comprises ccd video camera, wireless image transmission equipment and image storage unit.
Described ground image disposal system is made up of pattern process computer, wireless image receptor, image pick-up card.
Described airborne self-control system cooperates with ground station control system, realizes proportional remote control pattern RC, command remote control pattern RPV, destination navigation mode UAV and four kinds of flicon patterns of computer remote control pattern CPV of flying robot.
Described autopilot is made up of GPS automatic navigation system, secondary navigation system, super sonic collision avoidance system, wireless remote-control system, gyroscope, accelerometer, barometric altimeter, electronic compass.
Described GPS automatic navigation system comprises gps antenna.
Described secondary navigation system comprises dsp controller, storage equipment.
Described super sonic collision avoidance system comprises sensor.
Described wireless remote-control system comprises receiver of remote-control sytem, communication facilities, communication antenna.
Described wireless image transmission equipment adopts the wideband digital transmission technology, and transmission bandwidth is more than 2MHZ, and image transmitted resolution reaches 528 * 384 pixels at least.
Effect of the present invention is, by precision navigation system is installed on the flying robot, can makes the flying robot arrive in the sky of insulator to be measured exactly by plane, and keep the optimum measurement distance with insulator; Simultaneously, by picture catching and transmission system, utilize computer image processing technology and wireless data transmission technology, under the situation that need not step on bar, realize accurately detecting the purpose of zero resistance insulator, greatly alleviated labour intensity, improved the safety when the detection workman detects.
Description of drawings
Fig. 1 is the system schematic that is used to detect the flying robot of electric transmission line isolator.
Fig. 2 is the four-axle aircraft birds-eye view that is used to detect the flying robot of electric transmission line isolator.
Fig. 3 is three aircraft oblique drawings that are used to detect the flying robot of electric transmission line isolator.
Fig. 4 is the flight control system work scheme drawing that is used to detect the flying robot of electric transmission line isolator.
Fig. 5 is the target identification system work scheme drawing that is used to detect the flying robot of electric transmission line isolator.
The specific embodiment
Below in conjunction with accompanying drawing, preferred embodiment is elaborated.Should be emphasized that following explanation only is exemplary, rather than in order to limit the scope of the invention and to use.
Fig. 1 is the system schematic that is used to detect the flying robot of electric transmission line isolator.Be used to detect the flying robot of electric transmission line isolator, mainly constitute by three aircraft or four-axle aircraft, flight control system and target identification system.With the four-axle aircraft is example, and brushless motor 1, control four-axle aircraft utilize the differential force of four screw propellers to change sense of motion, and the lift component in the horizontal direction that closes of four screw propeller generations has determined the direction of navigating by water, and the component of vertical direction has determined lifting.
Flight control system is made up of airborne self-control system and ground station control system.Airborne self-control system is installed on the four-axle aircraft, by autopilot aircraft is carried out automatic guidance.Autopilot is made up of GPS automatic navigation system, secondary navigation system, super sonic collision avoidance system and wireless remote-control system and gyroscope 5, accelerometer 11, barometric altimeter 12.The GPS automatic navigation system comprises gps antenna 4; Secondary navigation system comprises dsp controller 3, storage equipment 8; The super sonic collision avoidance system comprises sensor 13; Wireless remote-control system comprises receiver of remote-control sytem 7, communication facilities 9, communication antenna 10; Power supply 6 is the power supply of self-control system; 2 pairs of effects of playing to support and protect with upper-part of support.
The ground image disposal system is made up of ground image process computer 20 and ground-surface artificial antenna picture receiver 21 etc.
Airborne mission payload comprises ccd video camera 14, wireless image transmission equipment 15 and image storage unit 16.
Hand-held remote control unit 22, data communication module 23, ground control computer 24 etc. are formed ground station control system.Ground control computer 24 transmits control signal 17 by data communication module 23 to aircraft, the flight of controlling aircraft; Hand-held remote control unit 22 is to the transmit control signal flight of 18 controlling aircraft of aircraft; Airborne self-control system cooperates with ground station control system can realize four kinds of flicon patterns:
(1) RC (proportional remote control pattern); This remote control mode is the same with common remote control mode, the flight of the rotating speed controlling aircraft by hand-held remote control unit 22 direct control brushless motors 1.The longest use when landing and pid parameter adjustment.
(2) RPV (command remote control pattern); When the RPV pattern is mainly used in the PID adjustment usually, set fixing expected value, the current intelligence of observation flight device can switch the RC state of getting back to moment if enter precarious position during from RC incision RPV, and the manual operation aircraft is got back to stabilized flight condition.
(3) UAV (destination navigation mode); Closing the operation of closing receiver on remote controller or the operate ground station can allow aircraft switch to preset the automatic offline mode of destination GPS navigation.By some attributes of destination are set, can produce several different navigate modes.
(4) CPV (computer remote control pattern); Enter before the CPV master mode, need configure the height and the speed that need flight earlier.The UAV-CPV switching button of clicking on the ground control computer 24 switches to the CPV pattern, and this moment, button should be red, showed the CPV printed words.Can import the course that needs flight by hand, also can be after pressing " CPV course " button, click on map, the course that the point of being clicked by the current point of aircraft and your constitutes just becomes the set course of aircraft immediately, and aircraft will be at once towards this course flight.If aircraft is in the CPV offline mode, lose communication time and surpass 20 seconds, will be transformed into the UAV offline mode automatically.
Fig. 2 is the four-axle aircraft birds-eye view that is used to detect the flying robot of electric transmission line isolator.Among Fig. 2, brushless motor 1, the screw propeller 25 that drives four-axle aircraft rotates, and forms flying robot's power; Dsp controller 3 is by handling the data message of gps antenna 4 and gyroscope 5, for the flying robot carries out assisting navigation.
Fig. 3 is three aircraft oblique drawings that are used to detect the flying robot of electric transmission line isolator.Among Fig. 3,3 pairs of screw propellers 25 are installed in the both sides up and down of 3 pairs of coaxial motors 26 respectively, and 3 pairs of coaxial motors 26 are made up of two motors of contrarotation up and down respectively; 3 hold-down arms 27 support 3 pairs of coaxial motors 26 and airborne self-control system 28 respectively; 3 pairs of coaxial motors drive 3 pairs of screw propellers and rotate, for aircraft provides balance and flying power.
Fig. 4 is the flicon work scheme drawing that is used to detect the flying robot of electric transmission line isolator.Among Fig. 4, be used to detect the flying robot's of electric transmission line isolator flight control system, form by airborne self-control system 401 and ground station control system 402.Wherein, the control unit that design has attitude measurement, electric machine control, pick up camera control and communication apparatus to control in the dsp controller.The attitude measurement control unit is connected with gyroscope, accelerometer, electronic compass and barometric altimeter, realizes flying robot's autonomous flight control.Motor control unit provides step-by-step impulse and direction signal to four electrical motors, realizes flying robot's power control; Camera control unit is installed in ccd video camera on the flying robot by control, the state parameters such as focal length of control camera; The graphicinformation that the communication apparatus control unit is shot with video-corder ccd video camera is transferred to ground station control system, by ground station control system image is handled, and whether flies to the optimum position that insulator is measured thereby investigate the flying robot.Storage equipment is handled the view data of gathering, and stores by delivering to storage chip after filtering, the compression, sends by transmitter module when needed.Here task device has used airborne mission payload.In fact, flying robot's aerial accurately location is by airborne mission payload equipment realization.And the principle of work of camera control unit and communication apparatus control unit, in conjunction with Fig. 1, can be described as: artificial antenna image transmission devices 15 (see figure 1)s obtain analog video signal by the composite video terminal from ccd video camera 14 (see figure 1)s, and be transmitted to ground-surface artificial antenna picture receiver 21 (see figure 1)s by microwave 19 (see figure 1)s, and the data collecting card of pci interface carries out digitalisation to the output of artificial antenna image receiver module, and the result is submitted to pattern process computer 20 (see figure 1)s carry out subsequent treatment.
Here need to prove that the gyroscope survey pick up camera is at the cireular frequency output voltage signal of inertial space; Accelerometer is the oscillatory system of a single-degree-of-freedom in essence, is important dynamic characteristic correction element, reflection be the dynamic stability of aircraft; Barometric altimeter is used for measuring the flying height of aircraft; Electronic compass utilizes the geomagnetic field to measure the direction of the arctic, will record data then and be converted to electric signal, outputs to DSP.Though GPS, causes precision to reduce greatly, even can not use because its signal is often blocked by landform, atural object navigating, locate, test the speed, having a wide range of applications aspect directed.Especially in the stand in great numbers forest zone of city and dense vegetation of high building, the validity of gps signal only is 60%.And under static situation, GPS also can't provide course information.For remedying this deficiency, can adopt the method for combination assisting navigation orientation.When aircraft under GPS navigation, fly to shaft tower near in, utilize secondary navigation system, the insulator that affirmation will be measured, ultrasonic ranging system is measured distance, utilize the attitude of controlling aircraft such as gyroscope, accelerometer, barometric altimeter and electronic compass, realize the stable control of accurate in locating and aircraft, after the static flight of aircraft, utilize institute's band measurement mechanism to remove to measure insulator.
Fig. 5 is the target identification system work scheme drawing that electric transmission line isolator detects the flying robot.By being installed in ccd video camera 14 (see figure 1)s above the flying robot, the image of picked-up insulator; By wireless image transmission equipment 15 (see figure 1)s, image is sent to wireless image receptor 21 (see figure 1)s of earth station system then; By capture card the image acquisition of wireless image receptor is handled in pattern process computer 20 (see figure 1)s again.
Target identification system can realize target recognition with the method for template matches, and its performing step is:
(1) cromogram is to the conversion of gray-scale map;
(2) remove interference noise in the image transmission course;
(3) binaryzation is determined threshold value;
(4) rim detection, edge detection operator have Roberts, Prewitt, Sobel, Laplacian etc. multiple;
(5) profile extracts, and finds out the outline of object;
(6) template matches;
(7) refuse wrong target with invariant moments;
The also available algorithm based on machine learning identification of target recognition solves the identification problem of characteristic indication.Whole recognizer is divided into off-line training module and ONLINE RECOGNITION module.The off-line training module comprises that the mark pattern sample to collecting carries out pretreatment and feature extraction, sends into characteristic vector in the segregator then and trains.Because this module arithmetic amount is big and belong to off-line operation, so its function realizes in the ground base station image processing section of target identification system.The ONLINE RECOGNITION part detects the image of catching in real time according to training result, has judged whether that pattern exists, if any the position of output pattern in image then.In the process that detects, use be the windows detecting mode.
Must there be electromagnetic interference between each class of electronic devices of aircraft and between they and the task device.Electromagnetic interference source mainly is divided into interference in outer interference of subsystem and the subsystem.The design of system Electromagnetic Compatibility will be avoided the simple propagation disturbed of suppressing, the mode that promptly adopts initiatively prevention, integrated planning and " antagonism " to combine with " dredging ".Following several measures have mainly been taked in design for electromagnetic compatibility on the aircraft (EMC):
Various sensors and driving element adopt the strong device of antijamming capability; Rational component placement and wiring are adopted in the printed board design, avoid the digital circuit work time pulse towards the harmonic wave of signal analogue signal generating to be disturbed; The printed board pros and cons all applies static electricity shield layer; Signal transmssion line adopts the multiple twin shielding wire or twists shielding wire more, and screen layer adopts the single-point grounding mode; When layout, spatially arrange the equipment that disturbs easily mutually more as far as possible; In harness wiring, the minor increment between the restriction parallel lines; To inductive load, the power line filter of connecting on its circuit is eliminated conducted interference; Simultaneously the electronics package around it is provided with good electromagnetic screening, as decoupling capacitor in parallel etc.
Frequency selects to avoid the frequency range of task device, and the emitter and the antenna of task device avoided in the installation of antenna as far as possible; Be subjected to electromagnetic interference easily or produce electromagnetic interference equipment or install consideration to encapsulate with metal skin; The installation and design of equipment is considered anti-lightning strike and anti-electrostatic-discharge, carries out the electricity overlap joint.
The above; only for the preferable specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, and anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (12)
1, a kind of flying robot who is used to detect electric transmission line isolator is characterized in that described flying robot is made of three aircraft or four-axle aircraft, flight control system and target identification system; The power pack section of described three aircraft is made up of 3 pairs of screw propellers, 3 pairs of coaxial motors and 3 hold-down arms, every pair of coaxial motor is made up of two motors up and down of contrarotation, and two motors up and down of every pair of coaxial motor are installed a screw propeller, and 3 hold-down arms support 3 pairs of coaxial motors respectively; The power pack section of described four-axle aircraft is made of 4 brushless motors that directly drive and 4 screw propellers; Described flight control system is made up of airborne self-control system and ground station control system; Described target identification system is made up of airborne mission payload and ground image disposal system.
2, a kind of flying robot who is used to detect electric transmission line isolator according to claim 1 is characterized in that, described airborne self-control system is installed on the four-axle aircraft, includes autopilot, and the flying robot is carried out autonomous flight control.
3, a kind of flying robot who is used to detect electric transmission line isolator according to claim 1 is characterized in that, described ground station control system is made up of hand-held remote control unit, data communication module, ground control computer.
4, a kind of flying robot who is used to detect electric transmission line isolator according to claim 1 is characterized in that, described airborne mission payload comprises ccd video camera, wireless image transmission equipment and image storage unit.
5, a kind of flying robot who is used to detect electric transmission line isolator according to claim 1 is characterized in that, described ground image disposal system is made up of pattern process computer, wireless image receiver module, image pick-up card.
6, a kind of flying robot who is used to detect electric transmission line isolator according to claim 1, it is characterized in that, described airborne self-control system cooperates with ground station control system, realizes proportional remote control pattern RC, command remote control pattern RPV, destination navigation mode UAV and four kinds of flicon patterns of computer remote control pattern CPV of flying robot.
7, a kind of flying robot who is used to detect electric transmission line isolator according to claim 2, it is characterized in that described autopilot is made up of GPS automatic navigation system, secondary navigation system, super sonic collision avoidance system, wireless remote-control system, gyroscope, accelerometer, barometric altimeter, electronic compass.
8, a kind of flying robot who is used to detect electric transmission line isolator according to claim 7 is characterized in that, described GPS automatic navigation system comprises gps antenna.
9, a kind of flying robot who is used to detect electric transmission line isolator according to claim 7 is characterized in that described secondary navigation system comprises dsp controller, storage equipment.
10, a kind of flying robot who is used to detect electric transmission line isolator according to claim 7 is characterized in that, described super sonic collision avoidance system comprises sensor.
11, a kind of flying robot who is used to detect electric transmission line isolator according to claim 7 is characterized in that described wireless remote-control system comprises receiver of remote-control sytem, communication facilities, communication antenna.
12, a kind of flying robot who is used to detect electric transmission line isolator according to claim 4, it is characterized in that, described wireless image transmission equipment adopts the wideband digital transmission technology, and transmission bandwidth is more than 2MHZ, and image transmitted resolution reaches 528 * 384 pixels at least.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102241721A CN101381002B (en) | 2008-10-24 | 2008-10-24 | Flying robot for detecting transmission line insulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102241721A CN101381002B (en) | 2008-10-24 | 2008-10-24 | Flying robot for detecting transmission line insulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101381002A true CN101381002A (en) | 2009-03-11 |
| CN101381002B CN101381002B (en) | 2011-04-27 |
Family
ID=40461103
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008102241721A Expired - Fee Related CN101381002B (en) | 2008-10-24 | 2008-10-24 | Flying robot for detecting transmission line insulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101381002B (en) |
Cited By (43)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101914893A (en) * | 2010-07-09 | 2010-12-15 | 重庆交通大学 | Bridge detection robot based on four-axle aircraft |
| CN102034244A (en) * | 2010-12-03 | 2011-04-27 | 福建省电力有限公司厦门电业局 | Insulator real-time target recognizing and tracking device based on motion background |
| CN102177480A (en) * | 2009-07-23 | 2011-09-07 | 空中客车运营有限公司 | Method for providing a pilot warning signal for a pilot of an aircraft, computer program product, and warning device |
| CN102183955A (en) * | 2011-03-09 | 2011-09-14 | 南京航空航天大学 | Transmission line inspection system based on multi-rotor unmanned aircraft |
| CN102412530A (en) * | 2011-12-23 | 2012-04-11 | 北京国网富达科技发展有限责任公司 | Line navigation amphibious power circuit comprehensive maintenance robot and circuit maintenance method thereof |
| CN102874399A (en) * | 2012-10-13 | 2013-01-16 | 广西电网公司南宁供电局 | Unmanned automatic-driving airship for inspecting power transmission lines |
| CN102941920A (en) * | 2012-12-05 | 2013-02-27 | 南京理工大学 | High-tension transmission line inspection robot based on multi-rotor aircraft and method using robot |
| CN103019243A (en) * | 2012-12-24 | 2013-04-03 | 杭州电子科技大学 | Cross-flow fan based automatic navigation aircraft |
| CN103171763A (en) * | 2013-04-22 | 2013-06-26 | 王麒麟 | Novel unmanned plane |
| CN103309290A (en) * | 2012-03-12 | 2013-09-18 | 杨余旺 | Precise prevention and control airborne system for crop pests and diseases |
| CN103474911A (en) * | 2013-09-29 | 2013-12-25 | 国家电网公司 | Electric transmission line patrol device and method for line patrol with same |
| CN103809596A (en) * | 2012-11-12 | 2014-05-21 | 哈尔滨恒誉名翔科技有限公司 | Quadrotor unmanned aircraft platform based on hybrid control method |
| CN103905790A (en) * | 2014-03-14 | 2014-07-02 | 深圳市大疆创新科技有限公司 | Video processing method, device and system |
| CN104029817A (en) * | 2014-07-01 | 2014-09-10 | 国家电网公司 | Unmanned aerial vehicle |
| CN104044725A (en) * | 2014-07-01 | 2014-09-17 | 国家电网公司 | Unmanned plane |
| CN104242151A (en) * | 2014-09-10 | 2014-12-24 | 国家电网公司 | Electrified removed-foreign-matter separation, collection and releasing device |
| CN104483561A (en) * | 2014-11-28 | 2015-04-01 | 北京必可测科技股份有限公司 | Method and equipment for detecting insulator |
| CN104477398A (en) * | 2014-12-02 | 2015-04-01 | 山东省分析测试中心 | Ionizing radiation detecting device based on remotely-piloted quadcopter |
| CN104535649A (en) * | 2014-12-25 | 2015-04-22 | 刘凯 | Unmanned intelligent detection machine for cracks |
| US9016617B2 (en) | 2012-11-15 | 2015-04-28 | SZ DJI Technology Co., Ltd | Unmanned aerial vehicle and operations thereof |
| CN104683759A (en) * | 2015-01-23 | 2015-06-03 | 中国计量学院 | Wireless video monitoring equipment and method based on aircraft for chimney inner wall corrosion condition |
| CN104787318A (en) * | 2015-04-20 | 2015-07-22 | 吴李海 | Multi-rotor unmanned aerial vehicle with function of loaded long-time flying |
| CN104995575A (en) * | 2014-07-21 | 2015-10-21 | 深圳市大疆创新科技有限公司 | Method and device of data processing and aircraft |
| CN105067484A (en) * | 2015-07-22 | 2015-11-18 | 国网河南省电力公司濮阳供电公司 | Unmanned plane based live-line test apparatus for hydrophobicity of composite insulator of power transmission line |
| CN105141851A (en) * | 2015-09-29 | 2015-12-09 | 杨珊珊 | Control system and control method for unmanned aerial vehicle and unmanned aerial vehicle |
| CN105151288A (en) * | 2015-10-08 | 2015-12-16 | 黎建军 | Four-rotor aircraft and control device thereof |
| CN105170523A (en) * | 2015-09-23 | 2015-12-23 | 云南电网有限责任公司电力科学研究院 | Electrified insulator cleaning method based on unmanned aerial vehicle |
| CN105173081A (en) * | 2015-09-14 | 2015-12-23 | 国家电网公司 | System and method for insulator pollution removal by using unmanned aerial vehicle |
| CN105185083A (en) * | 2015-09-21 | 2015-12-23 | 深圳飞豹航天航空科技有限公司 | Intelligent device and system capable of controlling mobile device to follow |
| CN105807776A (en) * | 2016-05-25 | 2016-07-27 | 国网山东省电力公司诸城市供电公司 | Machine room unmanned inspection robot |
| CN106093729A (en) * | 2016-07-26 | 2016-11-09 | 国网福建省电力有限公司 | The intelligent analysis method of the transmission line insulator flashover of feature based identification |
| CN106143910A (en) * | 2015-03-27 | 2016-11-23 | 中国矿业大学徐海学院 | Can many rotors air-robot of gliding flight |
| CN106708071A (en) * | 2015-11-17 | 2017-05-24 | 北京鸣鑫航空科技有限公司 | Highly-integrated autonomous flight micro UAV flight control system |
| DE102017008875B3 (en) * | 2017-04-23 | 2017-12-14 | Claudio Crazzolara | Airborne device and method for collecting aerosol particles from the air |
| CN107608375A (en) * | 2017-09-13 | 2018-01-19 | 广西电网有限责任公司北海供电局 | Faulty insulator detecting system and method based on unmanned plane |
| CN108614551A (en) * | 2016-12-12 | 2018-10-02 | 财团法人工业技术研究院 | Remote operation carrier and carrier control device and control method thereof |
| CN109812712A (en) * | 2017-11-22 | 2019-05-28 | 香港中华煤气有限公司 | Gas leak test equipment |
| CN110412383A (en) * | 2019-08-07 | 2019-11-05 | 国网电力科学研究院武汉南瑞有限责任公司 | Flight formula suspension insulator detection method and device |
| KR102134325B1 (en) * | 2019-06-11 | 2020-07-16 | (주)투비시스템 | drone for safety checking of pylon |
| CN111583200A (en) * | 2020-04-26 | 2020-08-25 | 国网浙江省电力有限公司宁波供电公司 | Large-span power transmission line early warning system and method |
| KR20210090489A (en) * | 2020-01-10 | 2021-07-20 | 한국전력공사 | CAMERA DRONE for INSPECTING TRANSMISSION TOWER and SHOOTING METHOD of POWER LINE or TRANSMISSION TOWER |
| CN113514778A (en) * | 2021-04-29 | 2021-10-19 | 广东电网有限责任公司 | Method and related device for detecting electric leakage of flood area |
| CN117570911A (en) * | 2024-01-15 | 2024-02-20 | 张家口市际源路桥工程有限公司 | System and method for detecting construction space deviation of cast-in-situ box girder steel bars for bridge |
-
2008
- 2008-10-24 CN CN2008102241721A patent/CN101381002B/en not_active Expired - Fee Related
Cited By (72)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102177480B (en) * | 2009-07-23 | 2014-03-26 | 空中客车运营有限公司 | Method for providing a pilot warning signal for a pilot of an aircraft, computer program product, and warning device |
| CN102177480A (en) * | 2009-07-23 | 2011-09-07 | 空中客车运营有限公司 | Method for providing a pilot warning signal for a pilot of an aircraft, computer program product, and warning device |
| US8878699B2 (en) | 2009-07-23 | 2014-11-04 | Airbus Operations Gmbh | Method for providing a pilot warning signal for a pilot of an aircraft, computer program product and warning device |
| CN101914893B (en) * | 2010-07-09 | 2011-07-27 | 重庆交通大学 | Bridge detection robot based on four-axle aircraft |
| CN101914893A (en) * | 2010-07-09 | 2010-12-15 | 重庆交通大学 | Bridge detection robot based on four-axle aircraft |
| CN102034244A (en) * | 2010-12-03 | 2011-04-27 | 福建省电力有限公司厦门电业局 | Insulator real-time target recognizing and tracking device based on motion background |
| CN102183955A (en) * | 2011-03-09 | 2011-09-14 | 南京航空航天大学 | Transmission line inspection system based on multi-rotor unmanned aircraft |
| CN102412530A (en) * | 2011-12-23 | 2012-04-11 | 北京国网富达科技发展有限责任公司 | Line navigation amphibious power circuit comprehensive maintenance robot and circuit maintenance method thereof |
| CN102412530B (en) * | 2011-12-23 | 2014-04-09 | 北京国网富达科技发展有限责任公司 | Line navigation amphibious power circuit comprehensive maintenance robot and circuit maintenance method thereof |
| CN103309290A (en) * | 2012-03-12 | 2013-09-18 | 杨余旺 | Precise prevention and control airborne system for crop pests and diseases |
| CN102874399A (en) * | 2012-10-13 | 2013-01-16 | 广西电网公司南宁供电局 | Unmanned automatic-driving airship for inspecting power transmission lines |
| CN103809596A (en) * | 2012-11-12 | 2014-05-21 | 哈尔滨恒誉名翔科技有限公司 | Quadrotor unmanned aircraft platform based on hybrid control method |
| US10196137B2 (en) | 2012-11-15 | 2019-02-05 | SZ DJI Technology Co., Ltd. | Unmanned aerial vehicle and operations thereof |
| US11338912B2 (en) | 2012-11-15 | 2022-05-24 | SZ DJI Technology Co., Ltd. | Unmanned aerial vehicle and operations thereof |
| US9221536B2 (en) | 2012-11-15 | 2015-12-29 | Sz Dji Technology, Co., Ltd | Unmanned aerial vehicle and operations thereof |
| US9233754B1 (en) | 2012-11-15 | 2016-01-12 | SZ DJI Technology Co., Ltd | Unmanned aerial vehicle and operations thereof |
| US9284049B1 (en) | 2012-11-15 | 2016-03-15 | SZ DJI Technology Co., Ltd | Unmanned aerial vehicle and operations thereof |
| US9321530B2 (en) | 2012-11-15 | 2016-04-26 | SZ DJI Technology Co., Ltd | Unmanned aerial vehicle and operations thereof |
| US9221537B2 (en) | 2012-11-15 | 2015-12-29 | Sz Dji Technology, Co., Ltd. | Unmanned aerial vehicle and operations thereof |
| US9394048B2 (en) | 2012-11-15 | 2016-07-19 | SZ DJI Technology Co., Ltd | Unmanned aerial vehicle and operations thereof |
| US10472056B2 (en) | 2012-11-15 | 2019-11-12 | SZ DJI Technology Co., Ltd. | Unmanned aerial vehicle and operations thereof |
| US10272994B2 (en) | 2012-11-15 | 2019-04-30 | SZ DJI Technology Co., Ltd. | Unmanned aerial vehicle and operations thereof |
| US10155584B2 (en) | 2012-11-15 | 2018-12-18 | SZ DJI Technology Co., Ltd. | Unmanned aerial vehicle and operations thereof |
| US9016617B2 (en) | 2012-11-15 | 2015-04-28 | SZ DJI Technology Co., Ltd | Unmanned aerial vehicle and operations thereof |
| US10189562B2 (en) | 2012-11-15 | 2019-01-29 | SZ DJI Technology Co., Ltd. | Unmanned aerial vehicle and operations thereof |
| CN102941920A (en) * | 2012-12-05 | 2013-02-27 | 南京理工大学 | High-tension transmission line inspection robot based on multi-rotor aircraft and method using robot |
| CN103019243A (en) * | 2012-12-24 | 2013-04-03 | 杭州电子科技大学 | Cross-flow fan based automatic navigation aircraft |
| CN103019243B (en) * | 2012-12-24 | 2015-11-25 | 杭州电子科技大学 | Based on the self-navigation aircraft of cross flow fan |
| CN103171763A (en) * | 2013-04-22 | 2013-06-26 | 王麒麟 | Novel unmanned plane |
| CN103474911A (en) * | 2013-09-29 | 2013-12-25 | 国家电网公司 | Electric transmission line patrol device and method for line patrol with same |
| CN103474911B (en) * | 2013-09-29 | 2016-04-13 | 国家电网公司 | Power transmission line inspection device and utilize the method for this line inspection device line walking |
| CN103905790A (en) * | 2014-03-14 | 2014-07-02 | 深圳市大疆创新科技有限公司 | Video processing method, device and system |
| CN104044725A (en) * | 2014-07-01 | 2014-09-17 | 国家电网公司 | Unmanned plane |
| CN104029817A (en) * | 2014-07-01 | 2014-09-10 | 国家电网公司 | Unmanned aerial vehicle |
| CN104995575A (en) * | 2014-07-21 | 2015-10-21 | 深圳市大疆创新科技有限公司 | Method and device of data processing and aircraft |
| CN104995575B (en) * | 2014-07-21 | 2018-12-14 | 深圳市大疆创新科技有限公司 | A kind of data processing method, device and aircraft |
| CN104242151B (en) * | 2014-09-10 | 2017-01-11 | 国家电网公司 | Electrified removed-foreign-matter separation, collection and releasing device |
| CN104242151A (en) * | 2014-09-10 | 2014-12-24 | 国家电网公司 | Electrified removed-foreign-matter separation, collection and releasing device |
| CN104483561A (en) * | 2014-11-28 | 2015-04-01 | 北京必可测科技股份有限公司 | Method and equipment for detecting insulator |
| CN104477398A (en) * | 2014-12-02 | 2015-04-01 | 山东省分析测试中心 | Ionizing radiation detecting device based on remotely-piloted quadcopter |
| CN104535649A (en) * | 2014-12-25 | 2015-04-22 | 刘凯 | Unmanned intelligent detection machine for cracks |
| CN104683759A (en) * | 2015-01-23 | 2015-06-03 | 中国计量学院 | Wireless video monitoring equipment and method based on aircraft for chimney inner wall corrosion condition |
| CN106143910A (en) * | 2015-03-27 | 2016-11-23 | 中国矿业大学徐海学院 | Can many rotors air-robot of gliding flight |
| CN104787318A (en) * | 2015-04-20 | 2015-07-22 | 吴李海 | Multi-rotor unmanned aerial vehicle with function of loaded long-time flying |
| CN105067484A (en) * | 2015-07-22 | 2015-11-18 | 国网河南省电力公司濮阳供电公司 | Unmanned plane based live-line test apparatus for hydrophobicity of composite insulator of power transmission line |
| CN105067484B (en) * | 2015-07-22 | 2018-01-26 | 国网河南省电力公司濮阳供电公司 | Hydrophobicity of composite insulator of power transmission line live testing device based on unmanned plane |
| CN105173081B (en) * | 2015-09-14 | 2020-09-08 | 国家电网公司 | System and method for insulator decontamination by using unmanned aerial vehicle |
| CN105173081A (en) * | 2015-09-14 | 2015-12-23 | 国家电网公司 | System and method for insulator pollution removal by using unmanned aerial vehicle |
| CN105185083A (en) * | 2015-09-21 | 2015-12-23 | 深圳飞豹航天航空科技有限公司 | Intelligent device and system capable of controlling mobile device to follow |
| CN105170523A (en) * | 2015-09-23 | 2015-12-23 | 云南电网有限责任公司电力科学研究院 | Electrified insulator cleaning method based on unmanned aerial vehicle |
| CN105141851A (en) * | 2015-09-29 | 2015-12-09 | 杨珊珊 | Control system and control method for unmanned aerial vehicle and unmanned aerial vehicle |
| CN105141851B (en) * | 2015-09-29 | 2019-04-26 | 杨珊珊 | Unmanned vehicle control system, unmanned vehicle and control method |
| CN105151288A (en) * | 2015-10-08 | 2015-12-16 | 黎建军 | Four-rotor aircraft and control device thereof |
| CN106708071A (en) * | 2015-11-17 | 2017-05-24 | 北京鸣鑫航空科技有限公司 | Highly-integrated autonomous flight micro UAV flight control system |
| CN105807776A (en) * | 2016-05-25 | 2016-07-27 | 国网山东省电力公司诸城市供电公司 | Machine room unmanned inspection robot |
| CN106093729A (en) * | 2016-07-26 | 2016-11-09 | 国网福建省电力有限公司 | The intelligent analysis method of the transmission line insulator flashover of feature based identification |
| CN108614551A (en) * | 2016-12-12 | 2018-10-02 | 财团法人工业技术研究院 | Remote operation carrier and carrier control device and control method thereof |
| CN108614551B (en) * | 2016-12-12 | 2021-04-13 | 财团法人工业技术研究院 | Remote operation carrier and carrier control device and control method thereof |
| DE202017002114U1 (en) * | 2017-04-23 | 2018-07-25 | Claudio Crazzolara | Airborne device for collecting aerosol particles from the air |
| DE102017008875B3 (en) * | 2017-04-23 | 2017-12-14 | Claudio Crazzolara | Airborne device and method for collecting aerosol particles from the air |
| CN107608375B (en) * | 2017-09-13 | 2021-01-15 | 广西电网有限责任公司北海供电局 | Degraded insulator detection system and method based on unmanned aerial vehicle |
| CN107608375A (en) * | 2017-09-13 | 2018-01-19 | 广西电网有限责任公司北海供电局 | Faulty insulator detecting system and method based on unmanned plane |
| CN109812712A (en) * | 2017-11-22 | 2019-05-28 | 香港中华煤气有限公司 | Gas leak test equipment |
| KR102134325B1 (en) * | 2019-06-11 | 2020-07-16 | (주)투비시스템 | drone for safety checking of pylon |
| CN110412383A (en) * | 2019-08-07 | 2019-11-05 | 国网电力科学研究院武汉南瑞有限责任公司 | Flight formula suspension insulator detection method and device |
| KR20210090489A (en) * | 2020-01-10 | 2021-07-20 | 한국전력공사 | CAMERA DRONE for INSPECTING TRANSMISSION TOWER and SHOOTING METHOD of POWER LINE or TRANSMISSION TOWER |
| KR102344195B1 (en) * | 2020-01-10 | 2021-12-28 | 한국전력공사 | SHOOTING METHOD of POWER LINE |
| CN111583200A (en) * | 2020-04-26 | 2020-08-25 | 国网浙江省电力有限公司宁波供电公司 | Large-span power transmission line early warning system and method |
| CN113514778A (en) * | 2021-04-29 | 2021-10-19 | 广东电网有限责任公司 | Method and related device for detecting electric leakage of flood area |
| CN113514778B (en) * | 2021-04-29 | 2023-07-18 | 广东电网有限责任公司 | Flood area electric leakage detection method and device |
| CN117570911A (en) * | 2024-01-15 | 2024-02-20 | 张家口市际源路桥工程有限公司 | System and method for detecting construction space deviation of cast-in-situ box girder steel bars for bridge |
| CN117570911B (en) * | 2024-01-15 | 2024-03-26 | 张家口市际源路桥工程有限公司 | System and method for detecting construction space deviation of cast-in-situ box girder steel bars for bridge |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101381002B (en) | 2011-04-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101381002B (en) | Flying robot for detecting transmission line insulator | |
| KR102147192B1 (en) | System for monitoring electric equipment having distribution line between utility pole by using drone | |
| EP3104184B1 (en) | Method and apparatus for locating faults in overhead power transmission lines | |
| US10656096B2 (en) | Method and system for inspecting a surface area for material defects | |
| Menendez et al. | Robotics in power systems: Enabling a more reliable and safe grid | |
| CN102510011B (en) | Method for realizing the intelligent tour-inspection of power tower based on miniature multi-rotor unmanned helicopter | |
| CN110466760A (en) | A kind of power patrol unmanned machine auxiliary mechanical arm and its control system | |
| US8880241B2 (en) | Vertical takeoff and landing (VTOL) small unmanned aerial system for monitoring oil and gas pipelines | |
| KR102554336B1 (en) | Apparatus and method for monitoring power facilities | |
| JP6954044B2 (en) | How to control an unmanned aircraft | |
| KR102553453B1 (en) | Apparatus and method of unmaned aerial vehicle for power facilities inspection monitoring | |
| KR102178393B1 (en) | Transmission line monitoring apparatus using unmanned aerial vehicles | |
| WO2016149513A1 (en) | Flight planning for unmanned aerial tower inspection with long baseline positioning | |
| CN107450585B (en) | Automatic high-speed rail contact net inspection method based on unmanned aerial vehicle | |
| WO2016140985A1 (en) | Flight planning for unmanned aerial tower inspection | |
| KR101954902B1 (en) | Stability inspection system of power transmission tower using drone | |
| CN103675609A (en) | Power line patrol equipment and system | |
| CN208873047U (en) | A kind of inspection device based on multi-rotor unmanned aerial vehicle | |
| KR20140037998A (en) | Flight apparatus for checking structure | |
| CN111896794A (en) | Overhead line unmanned aerial vehicle electricity testing method and device | |
| JP6954021B2 (en) | How to control an unmanned aircraft | |
| CN106695883A (en) | Method of detecting vacuum circuit breaker of live operation robot | |
| JP7201416B2 (en) | Continuity inspection method for pull-down conductor in blade of wind power generator | |
| WO2017199273A1 (en) | Search system | |
| KR102298313B1 (en) | Inspection system of transmission method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110427 Termination date: 20121024 |