CN106226773A - A kind of thermometric based on unmanned plane application and range-measurement system and method - Google Patents
A kind of thermometric based on unmanned plane application and range-measurement system and method Download PDFInfo
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- CN106226773A CN106226773A CN201610491500.9A CN201610491500A CN106226773A CN 106226773 A CN106226773 A CN 106226773A CN 201610491500 A CN201610491500 A CN 201610491500A CN 106226773 A CN106226773 A CN 106226773A
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- unmanned plane
- plane body
- handheld device
- temperature
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- 238000005259 measurement Methods 0.000 title claims abstract description 16
- 238000000034 method Methods 0.000 title claims abstract description 13
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 26
- 238000009529 body temperature measurement Methods 0.000 claims abstract description 22
- 230000003416 augmentation Effects 0.000 claims abstract description 14
- 230000004888 barrier function Effects 0.000 claims abstract description 6
- 238000010438 heat treatment Methods 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 9
- 230000008602 contraction Effects 0.000 claims description 7
- 230000002093 peripheral effect Effects 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 3
- 239000000523 sample Substances 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 description 5
- 239000003086 colorant Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0096—Radiation pyrometry, e.g. infrared or optical thermometry for measuring wires, electrical contacts or electronic systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Spectroscopy & Molecular Physics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of thermometric based on unmanned plane application and range-measurement system and method, including handheld device, unmanned plane body and be arranged at the flight control system on unmanned plane body, installing rack, GPS system, image real-time acquisition unit, three-axis stability augmentation The Cloud Terrace, for measuring the temperature measurement system of barrier temperature and for providing the electrical source of power of electric energy, this system and method is capable of monitoring real-time, long-range and the measurement of Substation Electric Equipment, safe and reliable.
Description
Technical field
The invention belongs to electric device maintenance field, relate to a kind of thermometric based on unmanned plane application and range-measurement system and side
Method.
Background technology
In power industry, the tour of Substation Electric Equipment is an important routine work of power transformation operation maintenance personnel.When
The position of electrical equipment is too high, and when being not easy to observe, the bushing arranged such as eminence and oil colours oil level thereof, operation maintenance personnel cannot
Clearly, being accurately observed, therefore can not judge equipment operation condition exactly, the safe operation for equipment hides some dangers for.
When electrical equipment generation problem, need operation maintenance personnel that electrical equipment is tentatively judged, but to part
The personal safety of operation maintenance personnel may be injured when problem device checks, such as transformer station's breaking out of fire, chopper, LH,
YH body seriously generates heat, 10kV single-phase earthing in standing, and SF6 gas serious leak, equipment outer insulation seriously discharge these hazardness
During big fault, a kind of long-range operation the method that can monitor in real time and measure are the most particularly important.
Summary of the invention
It is an object of the invention to the shortcoming overcoming above-mentioned prior art, it is provided that a kind of thermometric based on unmanned plane application
And range-measurement system and method, this system and method is capable of monitoring real-time, long-range and measurement, the safety of Substation Electric Equipment
Reliably.
For reaching above-mentioned purpose, thermometric based on unmanned plane application of the present invention and range-measurement system include hand-held setting
Standby, unmanned plane body and be arranged at the flight control system on unmanned plane body, installing rack, GPS system, image are adopted in real time
Collect unit, three-axis stability augmentation The Cloud Terrace, be used for measuring the temperature measurement system of barrier temperature and for providing the power current of electric energy
Source；
Unmanned plane body is provided with obstacle avoidance system, and the outfan of obstacle avoidance system is connected with the input of flight control system
Connecing, flight control system is connected with handheld device；
Temperature measurement system is fixed on the bottom of unmanned plane body by installing rack, and GPS system is fixed on unmanned plane body
Top, image real-time collecting system is fixed on the bottom of unmanned plane body by three-axis stability augmentation The Cloud Terrace, the output of GPS system
The outfan of end, the outfan of image real-time collecting system and temperature measurement system is all connected with handheld device, three-axis stability augmentation
The control end controlling end and installing rack of The Cloud Terrace is connected with handheld device.
Described unmanned plane body include fixing cabin cover, lower fixing cabin cover, contraction type undercarriage, some horns, with
And the brushless electric machine that is fixed on horn and propeller blade, upper fixing cabin cover is interlocked with lower fixing cabin cover, contraction type
Undercarriage is arranged at the bottom of lower fixing cabin cover, and each horn is circumferentially distributed along upper fixing cabin cover, and one end of horn is with upper
The outside of fixing cabin cover is fixing to be connected, and obstacle avoidance system and brushless electric machine 4 are fixed on the other end of horn, and brushless electric machine 4 is fixed
In the upper surface of horn end, obstacle avoidance system is fixed on the end face of horn, and propeller blade 1 is fixed on the output of brushless electric machine
On axle, brushless electric machine 4 is connected with flight control system by electron speed regulator.
Propeller blade is fixed on the output shaft of brushless electric machine by fastening screw.
Described obstacle avoidance system includes laser range sensor and data processing unit, the outfan of laser range sensor with
The input of data processing unit is connected, and data processing unit is connected with flight control system.
Temperature measurement system is infrared temperature probe.
Thermometric based on unmanned plane application of the present invention and distance-finding method comprise the following steps:
Handheld device controls unmanned plane body by flight control system and flies in Substation Electric Equipment, unmanned
Machine body is in flight course, and GPS system obtains the positional information of unmanned plane body in real time, and is forwarded to by described positional information
In handheld device, image real-time acquisition unit uses the image information of unmanned plane body local environment in real time simultaneously, and by described
Image information is forwarded in handheld device, and temperature measurement system gathers the temperature information of Substation Electric Equipment simultaneously, and by institute
Stating temperature information to be forwarded in handheld device, handheld device judges the temperature of Substation Electric Equipment according to described temperature information,
When the temperature of Substation Electric Equipment is more than or equal to preset value, then produces alarm signal, the first control signal and second and control
Signal, and described first control signal and the second control signal are forwarded in the control end of installing rack and three-axis stability augmentation cloud respectively
In the control end of platform, installing rack drives temperature measurement system to carry out 180 ° of rotations according to described first control signal, makes temperature survey
Amount system measures the temperature information of heating Substation Electric Equipment the most continuously, and three-axis stability augmentation The Cloud Terrace is according to second simultaneously
Control signal drives image real-time acquisition unit to carry out 360 ° of rotary takings, it is achieved the transformer station of continuous acquisition heating from different perspectives
The image information of electrical equipment, user can check temperature information and the image of heating Substation Electric Equipment by handheld device
Information；
Unmanned plane body is in flight course, and obstacle avoidance system obtains the distance letter of unmanned plane body and peripheral obstacle in real time
Breath, and judge the distance of unmanned plane body and peripheral obstacle according to described range information, when unmanned plane body and surrounding obstacles
When the distance of thing is less than or equal to pre-set threshold value, then produces the 3rd control signal, and described 3rd control signal is forwarded to flight
Control system, flight control system makes unmanned plane body hover according to described 3rd control signal, produces alerting signal simultaneously, and
Described alerting signal is forwarded in handheld device, reminds user again to plan the course of unmanned plane body.
The method have the advantages that
Thermometric based on unmanned plane application of the present invention and range-measurement system and method are when concrete operations, with unmanned plane
For carrying platform, realize the location to unmanned plane body by GPS system, realized transformer station by image real-time acquisition unit
The employing collection of electrical equipment image, realizes the temperature acquisition to Substation Electric Equipment by temperature measurement system, and user is i.e.
Can know whether Substation Electric Equipment breaks down according to the image of Substation Electric Equipment and temperature, it is achieved to transformer station's electricity
The long-range monitoring of gas equipment, it is to avoid artificially detect the security risk brought.Simultaneously in order to adapt to transformer station's narrow space, unmanned
Machine body is provided with obstacle avoidance system, is obtained the range information of unmanned plane body and barrier by obstacle avoidance system, when unmanned plane basis
When the distance of body and barrier is less than or equal to pre-set threshold value, then controls the hovering of unmanned plane body, and remind user to adjust unmanned plane
The flight path of body, so that unmanned plane is applicable to narrow and small transformer station space, simple in construction, easy to operate.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is top view of the present invention.
Wherein, 1 be propeller blade, 2 for GPS system, 3 for fastening screw, 4 for brushless electric machine, 5 for electron speed regulator, 6
For flight control system, 7 be electrical source of power, 8 be laser range sensor, 9 be horn, 10 be contraction type undercarriage, 11 for upper
Fixing cabin cover, 12 be lower fixing cabin cover, 13 be installing rack, 14 be temperature measurement system.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is described in further detail:
With reference to Fig. 1 and Fig. 2, thermometric based on unmanned plane application of the present invention and range-measurement system include handheld device,
Unmanned plane body and the flight control system 6 being arranged on unmanned plane body, installing rack 13, GPS system 2, image are adopted in real time
Collect unit, three-axis stability augmentation The Cloud Terrace, be used for measuring the temperature measurement system 14 of barrier temperature and for providing the power of electric energy
Power supply 7；Unmanned plane body is provided with obstacle avoidance system, and the outfan of obstacle avoidance system is connected with the input of flight control system 6,
Flight control system 6 is connected with handheld device；Temperature measurement system 14 is fixed on the end of unmanned plane body by installing rack 13
Portion, GPS system 2 is fixed on the top of unmanned plane body, and image real-time collecting system is fixed on unmanned by three-axis stability augmentation The Cloud Terrace
The bottom of machine body, the outfan of GPS system 2, the outfan of image real-time collecting system and the output of temperature measurement system 14
End is all connected with handheld device, and the control end controlling end and installing rack 13 of three-axis stability augmentation The Cloud Terrace is connected with handheld device.
Described unmanned plane body includes fixing cabin cover 11, lower fixing cabin cover 12, contraction type undercarriage 10, Ruo Ganji
Arm 9 and the brushless electric machine 4 being fixed on horn 9 and propeller blade 1, upper fixing cabin cover 11 and lower fixing cabin cover 12
Being interlocked, contraction type undercarriage 10 is arranged at the bottom of lower fixing cabin cover 12, and each horn 9 is along the circumference of upper fixing cabin cover 11
Distribution, one end of horn 9 is fixing with the outside of upper fixing cabin cover 11 to be connected, and obstacle avoidance system and brushless electric machine 4 are fixed on horn 9
The other end, brushless electric machine 4 is fixed on the upper surface of horn 9 end, and obstacle avoidance system is fixed on the end face of horn 9, propeller
Blade 1 is fixed on the output shaft of brushless electric machine 4, and brushless electric machine 4 is connected with flight control system 6 by electron speed regulator 5；
Propeller blade 1 is fixed on the output shaft of brushless electric machine 4 by fastening screw 3.
Described obstacle avoidance system includes laser range sensor 8 and data processing unit, the outfan of laser range sensor 8
Being connected with the input of data processing unit, data processing unit is connected with flight control system 6；Temperature measurement system 14
For infrared temperature probe.
Thermometric based on unmanned plane application of the present invention and distance-finding method comprise the following steps:
Handheld device controls unmanned plane body by flight control system 6 and flies in Substation Electric Equipment, nothing
Man-machine body is in flight course, and GPS system 2 obtains the positional information of unmanned plane body in real time, and is turned by described positional information
Sending in handheld device, image real-time acquisition unit uses the image information of unmanned plane body local environment in real time simultaneously, and will
Described image information is forwarded in handheld device, and temperature measurement system 14 gathers the temperature information of Substation Electric Equipment simultaneously,
And described temperature information is forwarded in handheld device, handheld device judges Substation Electric Equipment according to described temperature information
Temperature, when the temperature of Substation Electric Equipment is more than or equal to preset value, then produces alarm signal, the first control signal and second
Control signal, and described first control signal and the second control signal are forwarded in the control end of installing rack 13 and three axles respectively
Increasing in the control end of steady The Cloud Terrace, installing rack 13 drives temperature measurement system 14 to carry out 180 ° of rotations according to described first control signal
Turning, make temperature measurement system 14 measure the temperature information of heating Substation Electric Equipment from different perspectives continuously, three axles increase simultaneously
Steady The Cloud Terrace drives image real-time acquisition unit to carry out 360 ° of rotary takings according to the second control signal, it is achieved the most continuous
Gathering the image information of heating Substation Electric Equipment, user can check heating Substation Electric Equipment by handheld device
Temperature information and image information；
Unmanned plane body is in flight course, and obstacle avoidance system obtains the distance letter of unmanned plane body and peripheral obstacle in real time
Breath, and judge the distance of unmanned plane body and peripheral obstacle according to described range information, when unmanned plane body and surrounding obstacles
When the distance of thing is less than or equal to pre-set threshold value, then produces the 3rd control signal, and described 3rd control signal is forwarded to flight
Control system 6, flight control system 6 makes unmanned plane body hover according to described 3rd control signal, produces alerting signal simultaneously,
And described alerting signal is forwarded in handheld device, remind user again to plan the course of unmanned plane body.
Claims (6)
1. one kind based on unmanned plane application thermometric and range-measurement system, it is characterised in that include handheld device, unmanned plane body,
And be arranged on unmanned plane body flight control system (6), installing rack (13), GPS system (2), image real-time acquisition list
Unit, three-axis stability augmentation The Cloud Terrace, for measuring the temperature measurement system (14) of barrier temperature and for providing the power current of electric energy
Source (7)；
Unmanned plane body is provided with obstacle avoidance system, and the outfan of obstacle avoidance system is connected with the input of flight control system (6),
Flight control system (6) is connected with handheld device；
Temperature measurement system (14) is fixed on the bottom of unmanned plane body by installing rack (13), and GPS system (2) is fixed on unmanned
The top of machine body, image real-time collecting system is fixed on the bottom of unmanned plane body, GPS system by three-axis stability augmentation The Cloud Terrace
(2) outfan of outfan, the outfan of image real-time collecting system and temperature measurement system (14) all with handheld device phase
Connecting, the control end of the control end of three-axis stability augmentation The Cloud Terrace and installing rack (13) is connected with handheld device.
Thermometric based on unmanned plane application the most according to claim 1 and range-measurement system, it is characterised in that described unmanned plane
Body includes fixing cabin cover (11), lower fixing cabin cover (12), contraction type undercarriage (10), some horns (9), Yi Jigu
Brushless electric machine (4) on horn (9) and propeller blade (1), upper fixing cabin cover (11) and lower fixing cabin cover (12)
Being interlocked, contraction type undercarriage (10) is arranged at the bottom of lower fixing cabin cover (12), and each horn (9) is along upper fixing cabin cover
(11) circumferentially distributed, one end of horn (9) is fixing with the outside of upper fixing cabin cover (11) to be connected, obstacle avoidance system and brushless electricity
Machine (4) is fixed on the other end of horn (9), and brushless electric machine (4) is fixed on the upper surface of horn (9) end, and obstacle avoidance system is fixed
On the end face of horn (9), propeller blade (1) is fixed on the output shaft of brushless electric machine (4), and brushless electric machine (4) is by electricity
Sub-speed regulator (5) is connected with flight control system (6).
Thermometric based on unmanned plane application the most according to claim 2 and range-measurement system, it is characterised in that propeller blade
(1) it is fixed on the output shaft of brushless electric machine (4) by fastening screw (3).
Thermometric based on unmanned plane application the most according to claim 1 and range-measurement system, it is characterised in that described avoidance system
System includes laser range sensor (8) and data processing unit, the outfan of laser range sensor (8) and data processing unit
Input be connected, data processing unit is connected with flight control system (6).
Thermometric based on unmanned plane application the most according to claim 1 and range-measurement system, it is characterised in that temperature survey system
System (14) is infrared temperature probe.
6. one kind based on unmanned plane application thermometric and distance-finding method, it is characterised in that based on described in claim 1 based on nothing
The thermometric of man-machine application and range-measurement system, comprise the following steps:
Handheld device controls unmanned plane body by flight control system (6) and flies in Substation Electric Equipment, unmanned
Machine body is in flight course, and GPS system (2) obtains the positional information of unmanned plane body in real time, and is turned by described positional information
Sending in handheld device, image real-time acquisition unit uses the image information of unmanned plane body local environment in real time simultaneously, and will
Described image information is forwarded in handheld device, and temperature measurement system (14) gathers the temperature letter of Substation Electric Equipment simultaneously
Breath, and described temperature information is forwarded in handheld device, according to described temperature information, handheld device judges that transformer station electrically sets
Standby temperature, when Substation Electric Equipment temperature more than or equal to preset value time, then produce alarm signal, the first control signal and
Second control signal, and described first control signal and the second control signal are forwarded in the control end of installing rack (13) respectively
And in the control end of three-axis stability augmentation The Cloud Terrace, installing rack (13) drives temperature measurement system (14) to enter according to described first control signal
Row 180 ° rotation, makes temperature measurement system (14) measure the temperature information of heating Substation Electric Equipment from different perspectives continuously,
Three-axis stability augmentation The Cloud Terrace drives image real-time acquisition unit to carry out 360 ° of rotary takings according to the second control signal simultaneously, it is achieved never
With the image information of angle continuous acquisition heating Substation Electric Equipment, user can check heating transformer station by handheld device
The temperature information of electrical equipment and image information；
Unmanned plane body is in flight course, and obstacle avoidance system obtains the range information of unmanned plane body and peripheral obstacle in real time,
And judge the distance of unmanned plane body and peripheral obstacle according to described range information, when unmanned plane body and peripheral obstacle
When distance is less than or equal to pre-set threshold value, then produces the 3rd control signal, and described 3rd control signal is forwarded to flight control
System (6), flight control system (6) makes unmanned plane body hover according to described 3rd control signal, produces alerting signal simultaneously,
And described alerting signal is forwarded in handheld device, remind user again to plan the course of unmanned plane body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610491500.9A CN106226773A (en) | 2016-06-28 | 2016-06-28 | A kind of thermometric based on unmanned plane application and range-measurement system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610491500.9A CN106226773A (en) | 2016-06-28 | 2016-06-28 | A kind of thermometric based on unmanned plane application and range-measurement system and method |
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| Publication Number | Publication Date |
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| CN106226773A true CN106226773A (en) | 2016-12-14 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106708091A (en) * | 2016-12-26 | 2017-05-24 | 昊翔电能运动科技(昆山)有限公司 | Obstacle avoidance device |
| CN107031838A (en) * | 2017-03-27 | 2017-08-11 | 国网山东省电力公司威海供电公司 | Line selection apparatus based on unmanned air vehicle technique |
| CN107256034A (en) * | 2017-06-08 | 2017-10-17 | 西安交通大学 | A kind of changed into switchhouse multidrop environment data collecting system based on unmanned plane |
| CN108195470A (en) * | 2017-11-27 | 2018-06-22 | 国网上海市电力公司 | Grid equipment fault detection method, unmanned plane and unmanned aerial vehicle (UAV) control station |
| CN108974360A (en) * | 2018-08-24 | 2018-12-11 | 国网黑龙江省电力有限公司哈尔滨供电公司 | The three-dimensional method maked an inspection tour is made to substation using unmanned plane |
| CN109470368A (en) * | 2018-12-17 | 2019-03-15 | 国网福建省电力有限公司 | A kind of online checking system of the infrared temperature sensing device of unmanned plane power equipment |
| CN109489828A (en) * | 2018-12-17 | 2019-03-19 | 国网福建省电力有限公司 | A kind of online method of inspection of the infrared temperature sensing device of unmanned plane power equipment |
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| CN103605369A (en) * | 2013-11-22 | 2014-02-26 | 航天科工深圳（集团）有限公司 | Solar cell assembly hot spot monitoring system and method based on unmanned plane |
| CN104843176A (en) * | 2015-04-28 | 2015-08-19 | 武汉大学 | Unmanned-gyroplane system used for automatic-inspection of bridges and tunnels and navigation method |
| CN105346710A (en) * | 2015-11-30 | 2016-02-24 | 江苏优埃唯智能科技有限公司 | Six-rotor unmanned plane |
| CN205287611U (en) * | 2016-01-19 | 2016-06-08 | 四川景飞无人机科技有限公司 | Model aeroplane and model ship unmanned aerial vehicle with temperature -detecting device |
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| CN103605369A (en) * | 2013-11-22 | 2014-02-26 | 航天科工深圳（集团）有限公司 | Solar cell assembly hot spot monitoring system and method based on unmanned plane |
| CN104843176A (en) * | 2015-04-28 | 2015-08-19 | 武汉大学 | Unmanned-gyroplane system used for automatic-inspection of bridges and tunnels and navigation method |
| CN105346710A (en) * | 2015-11-30 | 2016-02-24 | 江苏优埃唯智能科技有限公司 | Six-rotor unmanned plane |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106708091A (en) * | 2016-12-26 | 2017-05-24 | 昊翔电能运动科技(昆山)有限公司 | Obstacle avoidance device |
| CN106708091B (en) * | 2016-12-26 | 2024-04-12 | 昆山合朗航空科技有限公司 | Obstacle avoidance device |
| CN107031838A (en) * | 2017-03-27 | 2017-08-11 | 国网山东省电力公司威海供电公司 | Line selection apparatus based on unmanned air vehicle technique |
| CN107256034A (en) * | 2017-06-08 | 2017-10-17 | 西安交通大学 | A kind of changed into switchhouse multidrop environment data collecting system based on unmanned plane |
| CN107256034B (en) * | 2017-06-08 | 2019-12-31 | 西安交通大学 | Change distribution room multiple spot environmental data collection system based on unmanned aerial vehicle |
| CN108195470A (en) * | 2017-11-27 | 2018-06-22 | 国网上海市电力公司 | Grid equipment fault detection method, unmanned plane and unmanned aerial vehicle (UAV) control station |
| CN108974360A (en) * | 2018-08-24 | 2018-12-11 | 国网黑龙江省电力有限公司哈尔滨供电公司 | The three-dimensional method maked an inspection tour is made to substation using unmanned plane |
| CN109470368A (en) * | 2018-12-17 | 2019-03-15 | 国网福建省电力有限公司 | A kind of online checking system of the infrared temperature sensing device of unmanned plane power equipment |
| CN109489828A (en) * | 2018-12-17 | 2019-03-19 | 国网福建省电力有限公司 | A kind of online method of inspection of the infrared temperature sensing device of unmanned plane power equipment |
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Application publication date: 20161214 |