CN103400428A - Multipoint combination polling method of three-dimensional transformer substation polling system - Google Patents
Multipoint combination polling method of three-dimensional transformer substation polling system Download PDFInfo
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- CN103400428A CN103400428A CN2013103187316A CN201310318731A CN103400428A CN 103400428 A CN103400428 A CN 103400428A CN 2013103187316 A CN2013103187316 A CN 2013103187316A CN 201310318731 A CN201310318731 A CN 201310318731A CN 103400428 A CN103400428 A CN 103400428A
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Abstract
The invention relates to the technical field of transformer substations and discloses a multipoint combination polling method of a three-dimensional transformer substation polling system for improving the polling efficiency. The method comprises the following steps of: firstly finding out polling points of each to-be-polled electrical device model, and seqencing all polling points in two ordered sequences according to the distance relationship; then combining adjacent polling points into routing point combinations, and searching for the shortest polling path of each routing point combination respectively, then combining all the polling paths in sequence to form an ordered path sequence; and then polling the polling paths in the path sequence of a virtual polling person model one by one. The method provided by the invention is suitable for a 3D (three dimensional) transformer substation polling system and can improve the polling efficiency.
Description
Technical field
The present invention relates to transformer station's technology, particularly relate to a kind of technology of three-dimensional substation inspection system multi-point combination method for inspecting.
Background technology
Patrol and examine the electrical equipment in transformer station, can in time hold the ruuning situation of transformer station, in time find potential faults, thereby guarantee the normal operation of transformer station.
Transformer station's entity is mostly built in remoter place, adopt manpower to patrol and examine and need to expend a large amount of human and material resources transformer station on the spot, and the patrol officer need to enter transformer station and searches and patrol and examine target, and check one by one and patrol and examine item, complex operation not only, and be in for a long time in transformer station also dangerous.
the many scarce limit of patrolling and examining on the spot based on transformer station, occurred at present and can carry out long-range 3D used for intelligent substation patrol system of patrolling and examining to transformer station, the monitoring variable that this system is patrolled and examined electrical equipment with various need in transformer station (comprises digital quantity, analog quantity) be uploaded to by the telecommunication mode terminal of patrolling and examining that is arranged on the center of patrolling and examining, be built-in with the three-dimensional transformer station virtual scene of setting up based on transformer station's entity in patrolling and examining terminal, the electrical equipment model that includes road model and each need inspection device in three-dimensional transformer station virtual scene, road model is consistent with laying mode and transformer station's entity of each electrical equipment model, the duty of corresponding device in the monitoring variable imitating substation that each electrical equipment model is uploaded according to transformer station, the patrol officer controls virtual portrait in three-dimensional transformer station virtual scene and walks on the road model of virtual scene, check the related electric device model by the visual angle of virtual portrait, realize patrolling and examining related electric equipment in transformer station.
But, existing 3D used for intelligent substation patrol system all needs operating personnel to find by hand patrolling and examining a little of electrical equipment model, the manual polling path of finding, and can only seek footpath for single electrical equipment model at every turn, if patrolling and examining in work, single have a plurality of electrical equipment models to patrol and examine, need repeatedly the manual footpath of seeking, therefore existing 3D used for intelligent substation patrol system to patrol and examine efficiency not high.
Summary of the invention
For the defect that exists in above-mentioned prior art, technical matters to be solved by this invention is to provide a kind of three-dimensional substation inspection system multi-point combination method for inspecting that can improve many equipment routing inspections of single efficiency.
In order to solve the problems of the technologies described above, a kind of three-dimensional substation inspection system multi-point combination method for inspecting provided by the present invention, relate to three-dimensional substation inspection system, described three-dimensional substation inspection system comprises three-dimensional transformer station virtual scene, include virtual person model, the road model of patrolling and examining in described three-dimensional transformer station virtual scene, and a plurality of electrical equipment models, it is characterized in that, the concrete steps of the method are as follows:
1) set up two and be initially empty ordered sequences, one of them ordered sequence is first to patrol and examine sequence Lp, and another ordered sequence is second to patrol and examine sequence Lt;
2) the front door location point in three-dimensional transformer station virtual scene is designated as a Pm, a Pm be set to first patrol and examine sequence Lp first patrol and examine a little;
At least one electrical equipment model to be inspected in selected three-dimensional transformer station virtual scene, search each electrical equipment model to be inspected and patrol and examine a little, and patrolling and examining of each electrical equipment model to be inspected a little put into respectively first patrol and examine sequence Lp;
3) patrolling and examining first in sequence Lp with first patrols and examines and moves into second and patrol and examine sequence Lt;
4) patrol and examine in sequence Lp first, apart from the second a little nearest patrolling and examining of patrolling and examining of patrolling and examining sequence Lt row tail, a little move to second and patrol and examine sequence Lt row tail, back and forth carry out this step, until first to patrol and examine sequence Lp be sky;
5) second patrol and examine in sequence Lt, one of the formation of patrolling and examining that every two front and back are adjacent is sought the combination of footpath point, search respectively the shortest polling path that each seeks the combination of footpath point, and each polling path that will search, be combined in the second precedence of patrolling and examining in sequence Lt by respectively seeking the footpath point, sequentially form an orderly path sequence Line;
In every polling path, the path starting point for corresponding seek in the combination of footpath before patrol and examine a little, path termination for corresponding seek in the combination of footpath after patrol and examine a little;
6) polling path that article one was not patrolled and examined from before getting path sequence Line, make the virtual person model of patrolling and examining according to this polling path, march to path termination from the path starting point of this polling path, thereby complete patrolling and examining of this polling path, repeat this step, until all polling paths in path sequence Line are all completed and patrolled and examined;
In described step 2, search the step that the electrical equipment model patrols and examines a little as follows:
2.1) central point of electrical equipment model is designated as a P20;
2.2) set N2 dispersal direction, and set up a diffusion point set A2 who is initially sky, setting the diffusion step-length is S2, the diffusion variable is L2;
Wherein, L2=S2, N2 〉=4;
2.3) take a P20 as starting point, take L2 as diffusion length, N2 dispersal direction ray type diffusion to setting, obtain N2 diffusion point;
2.4) N2 diffusion point that step 2.3 is obtained be included into a diffusion point set A2;
2.5) get a diffusion point from diffusion point set A2, be set as current diffusion point, and should spread a little from spreading to gather A2 and remove;
2.6) straight line can satisfy condition 1 simultaneously, condition 2 if exist, go to step 2.8, otherwise go to step 2.7;
Condition 1: the Y-axis of this straight line parallel in 3-D walls and floor, and through current diffusion point;
Condition 2: this straight line and road model intersect;
2.7) if diffusion point set A2 non-NULL goes to step 2.5, otherwise first the value of L2 increased S2, then goes to step 2.3;
2.8) current diffusion point is labeled as patrolling and examining a little of electrical equipment model;
In described step 5, search and singlely seek footpath point combination the step of short polling path is as follows:
3.1) set seek in footpath point combination before patrol and examine and a little be starting point, seek footpath point in making up after to patrol and examine be some impact point, starting point is designated as a Ps, impact point is designated as a Pe;
3.2) set N3 dispersal direction, and set that to spread step-length be L3, N3 〉=4 are arranged;
3.3) unidirectional search tree Tr take a Ps as root of generation, set up one and be initially empty diffusion point set A3, and two ordered sequences that are initially sky, one of them ordered sequence is first node sequence Op, another ordered sequence is Section Point sequence C l;
3.4) will put Ps and put into first node sequence Op;
3.5), if first node sequence Op is empty, shows and seek the footpath failure, go to step 3.14;
3.6) take out first point in first node sequence Op,, if this overlaps with impact point Pe, this point is labeled as impact point Pe, and goes to step 3.13, otherwise this point is labeled as a Pn, and should moves into Section Point sequence C l from first node sequence Op by point;
3.7) take a Pn as starting point, take L3 as diffusion length, N3 dispersal direction ray type diffusion to setting, obtain N3 diffusion point;
3.8) N3 diffusion point that step 3.7 is obtained be included into a diffusion point set A3;
3.9) get a diffusion point from diffusion point set A3, be set as current diffusion point, and should spread a little from spreading to gather A3 and remove;
3.10) if current diffusion point is not included in first node sequence Op and Section Point sequence C l, and current diffusion point do not comprise by the electrical equipment model, and drop on road model, go to step 3.11, otherwise go to step 3.12;
3.11) current diffusion point is added unidirectional search tree Tr, and the father node of current diffusion point is set to a Pn, and current diffusion point is added first node sequence Op;
After current diffusion point adds first node sequence Op, with each in first node sequence Op according to assessment values from little to large order, sequence successively from front to back, the assessment values computing formula of point is:
f(P)?=?g(P)?+?h(P)；
Dex?=?|Pe.x?–?P.x|；
Dey?=?|Pe.y?–?P.y|；
Dez?=?|Pe.z?–?P.z|；
Dsx?=?|Ps.x?–?P.x|；
Dsy?=?|Ps.y?–?P.y|；
Dsz?=?|Ps.z?–?P.z|；
In formula, f (P) is the assessment values of appraisal point, and Ps.x, Ps.y, Ps.z are the D coordinates value of starting point Ps, and Pe.x, Pe.y, Pe.z are the D coordinates value of impact point Pe, and P.x, P.y, P.z are for evaluating the D coordinates value of point;
3.12) if diffusion point set A3 non-NULL goes to step 3.9, otherwise goes to step 3.5;
3.13) in unidirectional search tree Tr, from impact point Pe, date back starting point Ps, and it is recalled line marker is to seek the shortest polling path that footpath point makes up;
3.14) seek footpath and finish.
Three-dimensional substation inspection system multi-point combination method for inspecting provided by the invention, adopt multi-direction progressively diffusion way to find patrolling and examining a little of electrical equipment model, adopt multi-direction pointwise diffusion way to seek footpath, and each polling path is made up, the footpath of seeking a little can be once realized patrolling and examining more, the efficiency of patrolling and examining of the many equipment of single can be improved.
Embodiment
Below in conjunction with specific embodiment, the present invention is described in further detail, but the present embodiment is not limited to the present invention, every employing analog structure of the present invention and similar variation thereof, all should list protection scope of the present invention in.
A kind of three-dimensional substation inspection system multi-point combination method for inspecting that the embodiment of the present invention provides, relate to three-dimensional substation inspection system, described three-dimensional substation inspection system comprises three-dimensional transformer station virtual scene, include virtual person model, the road model of patrolling and examining in described three-dimensional transformer station virtual scene, and a plurality of electrical equipment models, it is characterized in that, the concrete steps of the method are as follows:
1) set up two and be initially empty ordered sequences, one of them ordered sequence is first to patrol and examine sequence Lp, and another ordered sequence is second to patrol and examine sequence Lt;
2) the front door location point in three-dimensional transformer station virtual scene is designated as a Pm, a Pm be set to first patrol and examine sequence Lp first patrol and examine a little;
At least one electrical equipment model to be inspected in selected three-dimensional transformer station virtual scene, search each electrical equipment model to be inspected and patrol and examine a little, and patrolling and examining of each electrical equipment model to be inspected a little put into respectively first patrol and examine sequence Lp;
3) patrolling and examining first in sequence Lp with first patrols and examines and moves into second and patrol and examine sequence Lt;
4) patrol and examine in sequence Lp first, apart from the second a little nearest patrolling and examining of patrolling and examining of patrolling and examining sequence Lt row tail, a little move to second and patrol and examine sequence Lt row tail, back and forth carry out this step, until first to patrol and examine sequence Lp be sky;
5) second patrol and examine in sequence Lt, one of the formation of patrolling and examining that every two front and back are adjacent is sought the combination of footpath point, search respectively the shortest polling path that each seeks the combination of footpath point, and each polling path that will search, be combined in the second precedence of patrolling and examining in sequence Lt by respectively seeking the footpath point, sequentially form an orderly path sequence Line;
In every polling path, the path starting point for corresponding seek in the combination of footpath before patrol and examine a little, path termination for corresponding seek in the combination of footpath after patrol and examine a little;
6) polling path that article one was not patrolled and examined from before getting path sequence Line, make the virtual person model of patrolling and examining according to this polling path, march to path termination from the path starting point of this polling path, thereby complete patrolling and examining of this polling path, repeat this step, until all polling paths in path sequence Line are all completed and patrolled and examined.
In the embodiment of the present invention, search the step that the electrical equipment model patrols and examines a little as follows:
2.1) central point of electrical equipment model is designated as a P20;
2.2) set N2 dispersal direction, and set up a diffusion point set A2 who is initially sky, setting the diffusion step-length is S2, the diffusion variable is L2;
Wherein, L2=S2, N2=4, dispersal direction also can be set as (as 8) more than 4, and dispersal direction is more, and the coordinate figure of finally patrolling and examining a little is just more accurate, and computing velocity also relatively can be slower;
2.3) take a P20 as starting point, take L2 as diffusion length, N2 dispersal direction ray type diffusion to setting, obtain N2 diffusion point, each diffusion point is L2 with the spacing of some P20;
2.4) N2 diffusion point that step 2.3 is obtained be included into a diffusion point set A2;
2.5) get a diffusion point from diffusion point set A2, be set as current diffusion point, and should spread a little from spreading to gather A2 and remove;
2.6) straight line can satisfy condition 1 simultaneously, condition 2 if exist, go to step 2.8, otherwise go to step 2.7;
Condition 1: the Y-axis (longitudinal axis) of this straight line parallel in 3-D walls and floor, and through current diffusion point;
Condition 2: this straight line and road model intersect;
2.7) if diffusion point set A2 non-NULL goes to step 2.5, otherwise first the value of L2 increased S2, then goes to step 2.3;
2.8) current diffusion point is labeled as patrolling and examining a little of electrical equipment model.
In the embodiment of the present invention, search and singlely seek footpath point combination the step of short polling path is as follows:
3.1) set seek in footpath point combination before patrol and examine and a little be starting point, seek footpath point in making up after to patrol and examine be some impact point, starting point is designated as a Ps, impact point is designated as a Pe;
3.2) set N3 dispersal direction, and to set the diffusion step-length be L3, and N3=4 are arranged, and dispersal direction also can be set as (as 8) more than 4, and dispersal direction is more, and the calculating of short polling path is just more accurate, and computing velocity also relatively can be slower;
3.3) unidirectional search tree Tr take a Ps as root of generation, set up one and be initially empty diffusion point set A3, and two ordered sequences that are initially sky, one of them ordered sequence is first node sequence Op, another ordered sequence is Section Point sequence C l;
3.4) will put Ps and put into first node sequence Op;
3.5), if first node sequence Op is empty, shows and seek the footpath failure, go to step 3.14;
3.6) take out first point in first node sequence Op,, if this overlaps with impact point Pe, this point is labeled as impact point Pe, and goes to step 3.13, otherwise this point is labeled as a Pn, and should moves into Section Point sequence C l from first node sequence Op by point;
3.7) take a Pn as starting point, take L3 as diffusion length, N3 dispersal direction ray type diffusion to setting, obtain N3 diffusion point, each diffusion point is L3 with the spacing of some Pn;
3.8) N3 diffusion point that step 3.7 is obtained be included into a diffusion point set A3;
3.9) get a diffusion point from diffusion point set A3, be set as current diffusion point, and should spread a little from spreading to gather A3 and remove;
3.10) if current diffusion point is not included in first node sequence Op and Section Point sequence C l, and current diffusion point do not comprise by the electrical equipment model, and drop on road model, go to step 3.11, otherwise go to step 3.12;
3.11) current diffusion point is added unidirectional search tree Tr, and the father node of current diffusion point is set to a Pn, and current diffusion point is added first node sequence Op;
After current diffusion point adds first node sequence Op, with each in first node sequence Op according to assessment values from little to large order, sequence successively from front to back, the assessment values computing formula of point is:
f(P)?=?g(P)?+?h(P)；
Dex?=?|Pe.x?–?P.x|；
Dey?=?|Pe.y?–?P.y|；
Dez?=?|Pe.z?–?P.z|；
Dsx?=?|Ps.x?–?P.x|；
Dsy?=?|Ps.y?–?P.y|；
Dsz?=?|Ps.z?–?P.z|；
In formula, f (P) is the assessment values of appraisal point, and Ps.x, Ps.y, Ps.z are the D coordinates value of starting point Ps, and Pe.x, Pe.y, Pe.z are the D coordinates value of impact point Pe, and P.x, P.y, P.z are for evaluating the D coordinates value of point;
3.12) if diffusion point set A3 non-NULL goes to step 3.9, otherwise goes to step 3.5;
3.13) in unidirectional search tree Tr, from impact point Pe, date back starting point Ps, and it is recalled line marker is to seek the shortest polling path that footpath point makes up;
3.14) seek footpath and finish.
In the embodiment of the present invention, described three-dimensional transformer station virtual scene, according to transformer station's entity, is set up according to 3-D walls and floor, and described 3-D walls and floor refers to X-axis (transverse axis), Y-axis (longitudinal axis), the Z axis (vertical pivot) in rectangular space coordinate.
Claims (1)
1. three-dimensional substation inspection system multi-point combination method for inspecting, relate to three-dimensional substation inspection system, described three-dimensional substation inspection system comprises three-dimensional transformer station virtual scene, include virtual person model, the road model of patrolling and examining in described three-dimensional transformer station virtual scene, and a plurality of electrical equipment models, it is characterized in that, the concrete steps of the method are as follows:
1) set up two and be initially empty ordered sequences, one of them ordered sequence is first to patrol and examine sequence Lp, and another ordered sequence is second to patrol and examine sequence Lt;
2) the front door location point in three-dimensional transformer station virtual scene is designated as a Pm, a Pm be set to first patrol and examine sequence Lp first patrol and examine a little;
At least one electrical equipment model to be inspected in selected three-dimensional transformer station virtual scene, search each electrical equipment model to be inspected and patrol and examine a little, and patrolling and examining of each electrical equipment model to be inspected a little put into respectively first patrol and examine sequence Lp;
3) patrolling and examining first in sequence Lp with first patrols and examines and moves into second and patrol and examine sequence Lt;
4) patrol and examine in sequence Lp first, apart from the second a little nearest patrolling and examining of patrolling and examining of patrolling and examining sequence Lt row tail, a little move to second and patrol and examine sequence Lt row tail, back and forth carry out this step, until first to patrol and examine sequence Lp be sky;
5) second patrol and examine in sequence Lt, one of the formation of patrolling and examining that every two front and back are adjacent is sought the combination of footpath point, search respectively the shortest polling path that each seeks the combination of footpath point, and each polling path that will search, be combined in the second precedence of patrolling and examining in sequence Lt by respectively seeking the footpath point, sequentially form an orderly path sequence Line;
In every polling path, the path starting point for corresponding seek in the combination of footpath before patrol and examine a little, path termination for corresponding seek in the combination of footpath after patrol and examine a little;
6) polling path that article one was not patrolled and examined from before getting path sequence Line, make the virtual person model of patrolling and examining according to this polling path, march to path termination from the path starting point of this polling path, thereby complete patrolling and examining of this polling path, repeat this step, until all polling paths in path sequence Line are all completed and patrolled and examined;
In described step 2, search the step that the electrical equipment model patrols and examines a little as follows:
2.1) central point of electrical equipment model is designated as a P20;
2.2) set N2 dispersal direction, and set up a diffusion point set A2 who is initially sky, setting the diffusion step-length is S2, the diffusion variable is L2;
Wherein, L2=S2, N2 〉=4;
2.3) take a P20 as starting point, take L2 as diffusion length, N2 dispersal direction ray type diffusion to setting, obtain N2 diffusion point;
2.4) N2 diffusion point that step 2.3 is obtained be included into a diffusion point set A2;
2.5) get a diffusion point from diffusion point set A2, be set as current diffusion point, and should spread a little from spreading to gather A2 and remove;
2.6) straight line can satisfy condition 1 simultaneously, condition 2 if exist, go to step 2.8, otherwise go to step 2.7;
Condition 1: the Y-axis of this straight line parallel in 3-D walls and floor, and through current diffusion point;
Condition 2: this straight line and road model intersect;
2.7) if diffusion point set A2 non-NULL goes to step 2.5, otherwise first the value of L2 increased S2, then goes to step 2.3;
2.8) current diffusion point is labeled as patrolling and examining a little of electrical equipment model;
In described step 5, search and singlely seek footpath point combination the step of short polling path is as follows:
3.1) set seek in footpath point combination before patrol and examine and a little be starting point, seek footpath point in making up after to patrol and examine be some impact point, starting point is designated as a Ps, impact point is designated as a Pe;
3.2) set N3 dispersal direction, and set that to spread step-length be L3, N3 〉=4 are arranged;
3.3) unidirectional search tree Tr take a Ps as root of generation, set up one and be initially empty diffusion point set A3, and two ordered sequences that are initially sky, one of them ordered sequence is first node sequence Op, another ordered sequence is Section Point sequence C l;
3.4) will put Ps and put into first node sequence Op;
3.5), if first node sequence Op is empty, shows and seek the footpath failure, go to step 3.14;
3.6) take out first point in first node sequence Op,, if this overlaps with impact point Pe, this point is labeled as impact point Pe, and goes to step 3.13, otherwise this point is labeled as a Pn, and should moves into Section Point sequence C l from first node sequence Op by point;
3.7) take a Pn as starting point, take L3 as diffusion length, N3 dispersal direction ray type diffusion to setting, obtain N3 diffusion point;
3.8) N3 diffusion point that step 3.7 is obtained be included into a diffusion point set A3;
3.9) get a diffusion point from diffusion point set A3, be set as current diffusion point, and should spread a little from spreading to gather A3 and remove;
3.10) if current diffusion point is not included in first node sequence Op and Section Point sequence C l, and current diffusion point do not comprise by the electrical equipment model, and drop on road model, go to step 3.11, otherwise go to step 3.12;
3.11) current diffusion point is added unidirectional search tree Tr, and the father node of current diffusion point is set to a Pn, and current diffusion point is added first node sequence Op;
After current diffusion point adds first node sequence Op, with each in first node sequence Op according to assessment values from little to large order, sequence successively from front to back, the assessment values computing formula of point is:
f(P)?=?g(P)?+?h(P)；
Dex?=?|Pe.x?–?P.x|；
Dey?=?|Pe.y?–?P.y|；
Dez?=?|Pe.z?–?P.z|；
Dsx?=?|Ps.x?–?P.x|；
Dsy?=?|Ps.y?–?P.y|；
Dsz?=?|Ps.z?–?P.z|；
In formula, f (P) is the assessment values of appraisal point, and Ps.x, Ps.y, Ps.z are the D coordinates value of starting point Ps, and Pe.x, Pe.y, Pe.z are the D coordinates value of impact point Pe, and P.x, P.y, P.z are for evaluating the D coordinates value of point;
3.12) if diffusion point set A3 non-NULL goes to step 3.9, otherwise goes to step 3.5;
3.13) in unidirectional search tree Tr, from impact point Pe, date back starting point Ps, and it is recalled line marker is to seek the shortest polling path that footpath point makes up;
3.14) seek footpath and finish.
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| CN104484909A (en) * | 2014-10-28 | 2015-04-01 | 用友软件股份有限公司 | Method and device for routing inspection point determination, interaction method and interaction device |
| CN106156888A (en) * | 2016-06-30 | 2016-11-23 | 广东电网有限责任公司电力科学研究院 | A kind of polling path method and device for planning of crusing robot |
| CN106780739A (en) * | 2017-02-07 | 2017-05-31 | 贵州电网有限责任公司电力科学研究院 | A kind of intelligent substation patrol three-dimension GIS system method for building up |
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| CN111158358A (en) * | 2019-11-29 | 2020-05-15 | 中国电力科学研究院有限公司 | Method and system for self-optimization routing inspection of transformer/converter station based on three-dimensional model |
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| CN104484909A (en) * | 2014-10-28 | 2015-04-01 | 用友软件股份有限公司 | Method and device for routing inspection point determination, interaction method and interaction device |
| CN107527395A (en) * | 2016-06-21 | 2017-12-29 | 中兴通讯股份有限公司 | A kind of unmanned plane method for inspecting, device and unmanned plane |
| CN106156888A (en) * | 2016-06-30 | 2016-11-23 | 广东电网有限责任公司电力科学研究院 | A kind of polling path method and device for planning of crusing robot |
| CN106156888B (en) * | 2016-06-30 | 2020-02-04 | 广东电网有限责任公司电力科学研究院 | Routing inspection path planning method and device for routing inspection robot |
| CN106780739A (en) * | 2017-02-07 | 2017-05-31 | 贵州电网有限责任公司电力科学研究院 | A kind of intelligent substation patrol three-dimension GIS system method for building up |
| CN110852929A (en) * | 2018-08-21 | 2020-02-28 | 中国移动通信集团广东有限公司 | Network line inspection method and equipment |
| CN110852929B (en) * | 2018-08-21 | 2022-07-01 | 中国移动通信集团广东有限公司 | Network line inspection method and equipment |
| CN112179397A (en) * | 2019-07-01 | 2021-01-05 | 内蒙古中煤蒙大新能源化工有限公司 | Unmanned inspection method for chemical device |
| CN111158358A (en) * | 2019-11-29 | 2020-05-15 | 中国电力科学研究院有限公司 | Method and system for self-optimization routing inspection of transformer/converter station based on three-dimensional model |
| CN111798036A (en) * | 2020-06-11 | 2020-10-20 | 上海申瑞继保电气有限公司 | Multi-path combined inspection path optimization method for overhead line |
| CN111798036B (en) * | 2020-06-11 | 2023-10-03 | 上海申瑞继保电气有限公司 | Overhead line multipath combined inspection path optimization method |
| CN114089770A (en) * | 2021-11-23 | 2022-02-25 | 广东电网有限责任公司 | Inspection point position generation method and related device for inspection robot of transformer substation |
| CN114089770B (en) * | 2021-11-23 | 2024-04-12 | 广东电网有限责任公司 | Inspection point position generation method and related device for substation inspection robot |
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