CN106780825A - Power network line inspection device - Google Patents
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- CN106780825A CN106780825A CN201611131810.6A CN201611131810A CN106780825A CN 106780825 A CN106780825 A CN 106780825A CN 201611131810 A CN201611131810 A CN 201611131810A CN 106780825 A CN106780825 A CN 106780825A
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- 238000007689 inspection Methods 0.000 title claims abstract description 40
- 238000013523 data management Methods 0.000 claims abstract description 62
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- 238000001514 detection method Methods 0.000 claims abstract description 29
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- 238000007726 management method Methods 0.000 abstract description 12
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- G—PHYSICS
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- G07C3/00—Registering or indicating the condition or the working of machines or other apparatus, other than vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
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- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/06—Energy or water supply
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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Abstract
The present invention relates to a kind of power network line inspection device, by setting image collecting device on unmanned plane power network line image information to be checked is obtained to gather the image of power network line to be checked, and power network line image information to be checked is transferred to data management server, failure detection result of the data management server according to power network line image information acquisition power network line to be checked, manpower can be effectively replaced to patrol and examine on foot, patrolling and examining for unmanned plane is realized, efficiency is patrolled and examined in raising.And storage management is carried out to power network line image information to be checked, failure detection result and the corresponding information of unmanned plane by data storage server, the content that attendant can be at any time to storing in data storage server is checked, that is, maintains easily personnel and check.
Description
Technical field
The present invention relates to electric power network technical field, more particularly to a kind of power network line inspection device.
Background technology
By the end of the year 2015, transmission line of electricity that national grid puts into operation (66kV to ± 1000kV) amounts to 43663 times, always
Meter length 818010.9km.The transmission line of electricity (35kV to ± 800kV) that south electric network puts into operation amounts to 13821, amounts to length
Degree 252724km.In order to ensure the safe operation of transmission line of electricity is so that electric power netting safe running is, it is necessary to patrol and examine transmission line of electricity,
To detect whether transmission line of electricity is faulty.More than 80% transmission line of electricity is located remotely from cities and towns, away from the main line of communication, meagrely-populated
High mountain high hill area, manual patrol difficulty is big, it is necessary to devote a tremendous amount of time, material resources and financial resources go to realize patrolling for transmission line of electricity
Inspection, dangerous regional transmission line of electricity more complicated for some landform cannot normally complete manual inspection, it may be necessary to other
Part could be completed, and so cause the whole manual inspection efficiency of transmission line of electricity low.
The content of the invention
Based on this, it is necessary to the problem low for efficiency is patrolled and examined, propose that a kind of raising is patrolled and examined the power network line of efficiency and patrolled
Checking device.
A kind of power network line inspection device, including unmanned plane, the image collecting device, the data pipe that are arranged at the unmanned plane
Reason server and data storage server, described image harvester are connected with the data management server, the data
Management server is connected with the data storage server；
Described image harvester gathers the image of power network line to be checked to obtain power network line image information to be checked, and will
The power network line image information to be checked is sent to data management server, and the data management server obtains the unmanned plane
Corresponding information, and the power network line image information to be checked is received, according to the power network line image information acquisition institute to be checked
State the failure detection result of power network line to be checked, by the power network line image information to be checked, the failure detection result and
The corresponding information of the unmanned plane is sent to the data storage server, and the data storage server is to the fault detect
As a result, the power network line image information to be checked and the corresponding information of the unmanned plane are stored, wherein, the unmanned plane
Corresponding information includes that unmanned plane model and unmanned plane are numbered.
Wherein in one embodiment, described image harvester includes video camera, thermal infrared imager and three-dimensional laser thunder
Up at least one in scanner.
Wherein in one embodiment, above-mentioned power network line inspection device also includes being communicated with the data management server
The intelligent terminal of connection, the data management server when receiving the information inquiry that the intelligent terminal sends and instructing, from
The corresponding information of described information query statement, and the described information query statement that will be obtained are obtained in the data storage server
Corresponding information is sent to the intelligent terminal.
Wherein in one embodiment, the corresponding information of the unmanned plane also includes storage status information.
Wherein in one embodiment, the quantity of the unmanned plane is at least two, the quantity of described image harvester
Quantity with the unmanned plane is identical, and each described image harvester is respectively arranged at the corresponding unmanned plane.
Wherein in one embodiment, above-mentioned power network line inspection device also includes being arranged at the communication dress of the unmanned plane
Put, described image harvester is connected by the communicator with the data management server, the number of the communicator
Amount is identical with the quantity of the unmanned plane.
Wherein in one embodiment, above-mentioned power network line inspection device also includes the storing up electricity dress being connected with the unmanned plane
Put, the data storage server also stores the corresponding device information of the electric storage device, described device information includes the storage
The model of electric installation and the electric storage device discharge and recharge grade.
Wherein in one embodiment, above-mentioned power network line inspection device also includes that the positioning for being arranged at the unmanned plane is led
Boat device, the positioning navigation device corresponding with the power network line to be measured that is stored with default detection route and at least one
The data management server connection of cartographic information, the data management server described default will detect route and described
Cartographic information is sent to the positioning navigation device, the positioning navigation device according to the default detection circuit and with it is described
It is default to detect that the corresponding cartographic information of circuit is navigated.
Wherein in one embodiment, the data management server is receiving the ground that the positioning navigation device sends
During figure switching command, according to Map Switch instruction switching cartographic information, and the cartographic information after switching is sent to described
Positioning navigation device, the positioning navigation device is navigated according to the cartographic information after switching.
Wherein in one embodiment, the positioning navigation device records the actual flight route information of the unmanned plane,
And by the actual flight route information back to the data management server, the data management server is by the reality
Flight path information is sent to the data storage server and is stored.
Above-mentioned power network line inspection device, by being provided for gathering the image of power network line to be checked on unmanned plane to obtain
The image collecting device of power network line image information to be checked is obtained, and collection image information is transferred to data management server, number
Power network line image information to be checked is received according to management server, and according to the failure of power network line acquisition of information power network line to be checked
Testing result, can effectively replace manpower to patrol and examine on foot, realize patrolling and examining for unmanned plane, so as to realize patrolling for power network line to be checked
Inspection, even the more complicated dangerous regional power network line of landform, can also normally complete and patrol and examine, improves power network line and patrols and examines effect
Rate.And by data storage server to power network line image information to be checked, failure detection result and the corresponding letter of unmanned plane
Breath carries out storage management, wherein, the corresponding information of unmanned plane includes that unmanned plane model and unmanned plane are numbered, i.e., deposited by data
Storage server effectively can carry out storage management to these information, i.e., effectively have recorded collection image information, the corresponding letter of unmanned plane
Breath and failure detection result, IMAQ information, failure inspection that attendant can at any time to being stored in data storage server
Survey result and the corresponding information of unmanned plane is checked, that is, maintain easily personnel and check.
Brief description of the drawings
Fig. 1 is the structural representation of the power network line inspection device of an embodiment；
Fig. 2 is the structural representation of the power network line inspection device of another embodiment；
Fig. 3 is the architectural schematic of the power network line inspection device of the present embodiment；
Fig. 4 is the structural representation of the power network line inspection device of another embodiment.
Specific embodiment
Refer to Fig. 1, there is provided a kind of power network line inspection device of implementation method, including unmanned plane 110, be arranged at nobody
The image collecting device 120 of machine 110, data management server 130 and data storage server 140, image collecting device 120
It is connected with data management server 130, data management server 130 is connected with data storage server 140.
Image collecting device 120 gathers the image of power network line to be checked to obtain power network line image information to be checked, and will
Power network line image information to be checked is sent to data management server 130, and it is corresponding that data management server 130 obtains unmanned plane
Information, and power network line image information to be checked is received, according to the event of power network line image information acquisition power network line to be checked to be checked
Barrier testing result, power network line image information to be checked, failure detection result and the corresponding information of unmanned plane are sent to data
Storage server 140, data storage server 140 is to failure detection result, power network line image information to be checked and unmanned plane
Corresponding information is stored, wherein, the corresponding information of unmanned plane includes that unmanned plane model and unmanned plane are numbered.
In the present embodiment, image collecting device 120, image collecting device 120 and data are provided with unmanned plane 110
Management server 130 is connected, and data management server 130 is connected with data storage server 140.When attendant needs to utilize
Unmanned plane 110 carries out power network line when patrolling and examining, and starts unmanned plane 110 and allows it to start flight, when unmanned plane 110 reaches power network to be checked
During circuit, the image of power network line to be checked is gathered to obtain power network line image information to be checked by image collecting device 120, and
Data management server 130 is transmitted it to, data management server 130 is treated after receiving power network line image information to be checked
Inspection power network line image information carries out image procossing and analysis and can obtain the characteristic information of power network line to be checked, to judge image
Whether middle related object such as power network line breaks down, so as to the failure detection result of power network line to be checked can be obtained, you can
Know whether power network to be checked breaks down.Then, by data storage server 140 to power network line image information to be checked, nobody
The corresponding information of machine 110 and failure detection result carry out storage management, are easy to attendant to check.
Above-mentioned power network line inspection device, image collecting device 120 is set to gather electricity to be checked by unmanned plane 110
The image on netting twine road obtains power network line image information to be checked, and power network line image information to be checked is transferred into data management clothes
Business device 130, data management server 130, can be effective according to the failure detection result of collection image information acquisition power network line
Substitution manpower patrol and examine on foot, realize patrolling and examining for unmanned plane 110, so as to realize patrolling and examining for power network line to be checked, even landform compared with
Complicated dangerous regional power network line, can also normally complete and patrol and examine, and improve power network line and patrol and examine efficiency.And by data storage
Server 140 carries out storage tube to power network line image information to be checked, failure detection result and the corresponding information of unmanned plane 110
Reason, wherein, the corresponding information of unmanned plane 110 includes that unmanned plane model and unmanned plane are numbered, i.e., by data storage server
140 effectively can carry out storage management to these information, i.e., effectively have recorded power network line image information to be checked, unmanned plane 110 pairs
The information and failure detection result answered, the grid line to be checked that attendant can at any time to being stored in data storage server 140
Road image information, failure detection result and the corresponding information of unmanned plane 110 are checked, that is, maintain easily personnel and check.Dimension
Shield personnel can effectively be dispatched by retrieving for examination the content stored in data storage server 140 to patrol task and unmanned plane
And management.
Wherein in one embodiment, image collecting device 120 includes video camera, thermal infrared imager and three-dimensional laser radar
At least one in scanner.
Specifically, at least one and data chosen in video camera, thermal infrared imager and three-dimensional laser radar scanner
Management server 130 is connected.It is capable of achieving to power network line by video camera, thermal infrared imager and three-dimensional laser radar scanner
The collection of image, so that, at least one that can be chosen in video camera, thermal infrared imager and three-dimensional laser radar scanner is arranged at
Unmanned plane 110, is capable of achieving the collection of ground image, and the collection image information of acquisition is transferred into data management server 130.It is logical
At least one crossed in video camera, thermal infrared imager and three-dimensional laser radar scanner carries out IMAQ to ensure to gather image
The integrality and accuracy of information.
Fig. 2 is referred to, wherein in one embodiment, above-mentioned power network line inspection device also includes and data management service
The intelligent terminal 150 of the communication connection of device 130, data management server 130 is receiving the information inquiry of the transmission of intelligent terminal 150
During instruction, information inquiry is obtained from data storage server 140 and instructs corresponding information, and the information inquiry instruction that will be obtained
Corresponding information is sent to intelligent terminal 150.
After intelligent terminal 150 is communicated to connect with data management server 130, intelligent terminal 150 can receive data management clothes
The content that business device 130 actively sends, also can inquire about the content stored in data storage server 140 by query statement.Specifically
Ground, data management server can from data storage server 140 obtain its storage content and transmission to intelligent terminal 150, i.e.,
Intelligent terminal 150 is connected by data management server 130 with data storage server 140, to receive data storage server
In 140 store content, attendant can at any time to intelligent terminal 150 receive content check, that is, be easy to user to check.
It is appreciated that when intelligent terminal 150 needs active inquiry, data management server is given to by sending information inquiry instruction
130, data management server 130 inquires about corresponding information simultaneously according to information inquiry instruction from data storage server 140
Intelligent terminal 150 is sent to, can so be easy to user to check information.Wherein, the corresponding information of unmanned plane also includes coming in and going out
Storehouse status information, that is to say, that can also store that unmanned plane is corresponding to be gone out to be put in storage status information in data storage server 140, example
Such as, (it is now that outbound state is believed by the status information that goes out to be put in storage of the unmanned plane when certain numbers corresponding unmanned plane Delivery
Breath) input to data management server 130, i.e. data management server 130 can receive unmanned plane go out to be put in storage status information, and
In preserving in real time in data storage server 140, user can in time understand unmanned plane and go out to be put in storage shape subsequently when being checked
State.
Above-mentioned power network line inspection device power network line inspection device uses three-layer architecture, refers to Fig. 3, that is, apply
Service unit (intelligent terminal), function services device (data management server) and data administrator (data storage service
Device).Ground floor refers mainly to user interface instrument, including PC computers, tablet terminal and barcode scanning gun for application service device
Deng hardware unit, it requires simple as far as possible, and end user is carried out any training just can easily access information.
The second layer is exactly function services device, all of application system, all concentrates on application service end using logic, control and data take
In business device, the complexity of system is also mainly reflected in function services device.The bottom is data storage server, wherein,
Store substantial amounts of data message and mathematical logic, all safety relevant with data, integrity control, the uniformity of data,
Concurrent operations etc., are all to be performed in multiple servers of the level, completed.
Wherein in one embodiment, the quantity of unmanned plane 110 is at least two, the quantity of image collecting device 120 with
The quantity of unmanned plane 110 is identical, and each image collecting device 120 is respectively arranged at corresponding unmanned plane 110.
When actually patrolling and examining, it may be necessary to which the power network line to multiple places is patrolled and examined, so that, a unmanned plane 110
It is inadequate, so that, in the present embodiment, at least two unmanned planes 110 are set, it is provided with image on every unmanned plane 110
Harvester 120, each image collecting device 120 of machine is respectively arranged at corresponding unmanned plane 110.Wherein any one can be utilized
Unmanned plane 110 is patrolled and examined, and any several unmanned planes 110 therein can also be used and is patrolled and examined, and different need are patrolled and examined to meet
Ask, efficiency is patrolled and examined to improve.
Fig. 4 is referred to, wherein in one embodiment, above-mentioned power network line inspection device also includes communicator 160, figure
As harvester 120 is connected by communicator 160 with data management server 130, the quantity and unmanned plane of communicator 160
110 quantity is identical.In the present embodiment, communicator 160 is arranged at unmanned plane 110.
That is, be provided with communicator 160 on every unmanned plane 110, with realize image collecting device 120 with
Communication between data management server 130.
Wherein in one embodiment, above-mentioned power network line inspection device also includes the storing up electricity dress being connected with unmanned plane 110
Put 170.By electric storage device 170 for unmanned plane 110 is powered, so that the normal work of unmanned plane 110.In addition, data storage service
Device 140 also stores the corresponding device information of electric storage device 170, and device information includes that the model and electric storage device of electric storage device are filled
Electric discharge grade.Specifically, the corresponding device information of electric storage device 170 is obtained by data management server 130 and is sent to
Stored to data storage server 140.Attendant can at any time check the relevant storage stored in data storage server 140
The model and electric storage device discharge and recharge class information of the corresponding electric storage device of electric installation 170, so that attendant grasps storing up electricity
The correlation circumstance of device 170, so as to realize the effective management to the relevant information of electric storage device 170, also facilitates attendant
The corresponding unmanned plane 110 of any platform electric storage device 170 is selected to be patrolled and examined.
Wherein in one embodiment, above-mentioned power network line inspection device also includes that the positioning for being arranged at unmanned plane 110 is led
Boat device, positioning navigation device default detection route corresponding with the power network line to be measured that is stored with and at least one cartographic information
Data management server 130 connect, data management server 130 by it is default detection route and cartographic information send to positioning
Guider, positioning navigation device is led according to default detection circuit and cartographic information corresponding with default detection circuit
Boat.
That is, being previously stored with the corresponding default detection road of power network line to be measured in data management server 130
Line and cartographic information, data management server 130 can detect route and advanced map information delivery to positioning navigation device by default,
Positioning navigation device is navigated according to default detection route and cartographic information, and unmanned plane 110 can be according to positioning navigation device root
Flight is carried out according to the result of default detection route guidance to patrol and examine.
Wherein in one embodiment, data management server 130 is cut in the map for receiving positioning navigation device transmission
When changing instruction, switching command switches cartographic information according to the map, and the cartographic information after switching is sent to positioning navigation device,
Positioning navigation device is navigated according to the cartographic information after switching.
In actual applications, the species of map is various, you can including at least one cartographic information, in the present embodiment, number
Map can be switched over according to management server 130, and cartographic information after changing is sent to positioning navigation device, location navigation
Device is navigated according to the cartographic information after switching.
Wherein in one embodiment, positioning navigation device records the actual flight route information of unmanned plane, and will be actual
Be sent to for actual flight route information by flight path information back to data management server 130, data management server 130
Data storage server 140 is stored.
When user subsequently needs the actual flight route for checking unmanned plane, can be read from data storage server 140 real
The playback of the log of border flight path information realization unmanned plane.
Wherein in one embodiment, above-mentioned power network line inspection device also includes being connected with data management server 130
Display device 180.Information can be shown by setting display device 180, wherein, information can be to be directed to data
Information in management server 130, can also derive from and be received from data storage server 140 by data management server 130
Information, to facilitate user's direct viewing.
By above-mentioned power network line inspection device, user can effectively realize carrying out standardization pipe to the corresponding information of unmanned plane
Reason, and the electrical network figure information to be checked that gathers, failure detection result effectively record and manage, support shaft tower path
Navigation, many Map Switchs and log playback etc. Daily Round Check in the urgent need to operation function.Support goes out to unmanned plane
Binning state is managed and battery charging and discharging condition managing, and attendant is by retrieving for examination what is stored in data storage server 140
Content, can carry out effectively dispatching and managing to patrol task and unmanned plane.
Each technical characteristic of above example can be combined arbitrarily, to make description succinct, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics do not exist lance
Shield, is all considered to be the scope of this specification record.
Above example only expresses several embodiments of the invention, and its description is more specific and detailed, but can not
Therefore it is interpreted as the limitation to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art,
Without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection model of the invention
Enclose.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of power network line inspection device, it is characterised in that including unmanned plane, be arranged at the image collector of the unmanned plane
Put, data management server and data storage server, described image harvester is connected with the data management server,
The data management server is connected with the data storage server；
Described image harvester gathers the image of power network line to be checked to obtain power network line image information to be checked, and will be described
Power network line image information to be checked is sent to data management server, and the data management server obtains the unmanned plane correspondence
Information, and receive the power network line image information to be checked, treated according to the power network line image information acquisition to be checked
The failure detection result of power network line is examined, by the power network line image information to be checked, the failure detection result and described
The corresponding information of unmanned plane is sent to the data storage server, and the data storage server is to the fault detect knot
Really, the power network line image information to be checked and the corresponding information of the unmanned plane are stored, wherein, the unmanned plane pair
The information answered includes that unmanned plane model and unmanned plane are numbered.
2. power network line inspection device according to claim 1, it is characterised in that described image harvester includes shooting
At least one in machine, thermal infrared imager and three-dimensional laser radar scanner.
3. power network line inspection device according to claim 1, it is characterised in that also including with the data management service
The intelligent terminal of device communication connection, the data management server is receiving the information inquiry instruction that the intelligent terminal sends
When, the corresponding information of described information query statement is obtained from the data storage server, and the described information of acquisition is looked into
Ask the corresponding information of instruction and be sent to the intelligent terminal.
4. power network line inspection device according to claim 1, it is characterised in that the corresponding information of the unmanned plane is also wrapped
Include binning state information.
5. power network line inspection device according to claim 1, it is characterised in that the quantity of the unmanned plane is at least two
Individual, the quantity of described image harvester is identical with the quantity of the unmanned plane, and each described image harvester is respectively arranged at
The corresponding unmanned plane.
6. power network line inspection device according to claim 1 or 5, it is characterised in that also including be arranged at it is described nobody
The communicator of machine, described image harvester is connected by the communicator with the data management server, described logical
The quantity of T unit is identical with the quantity of the unmanned plane.
7. power network line inspection device according to claim 1, it is characterised in that also including being connected with the unmanned plane
Electric storage device, the data storage server also stores the corresponding device information of the electric storage device, and described device information includes
The model of the electric storage device and the electric storage device discharge and recharge grade.
8. power network line inspection device according to claim 1, it is characterised in that also including being arranged at the unmanned plane
Positioning navigation device, the positioning navigation device default detection route and extremely corresponding with the power network line to be measured that is stored with
A kind of data management server connection of few cartographic information, the data management server will it is described it is default detect route with
And the cartographic information is sent to the positioning navigation device, the positioning navigation device according to the default detection circuit and
Navigated with the default detection corresponding cartographic information of circuit.
9. power network line inspection device according to claim 8, it is characterised in that the data management server is being received
When being instructed to the Map Switch that the positioning navigation device sends, according to Map Switch instruction switching cartographic information, and will
Cartographic information after switching is sent to the positioning navigation device, and the positioning navigation device enters according to the cartographic information after switching
Row navigation.
10. power network line inspection device according to claim 8, it is characterised in that the positioning navigation device records institute
The actual flight route information of unmanned plane is stated, and by the actual flight route information back to the data management server,
The actual flight route information is sent to the data storage server and is stored by the data management server.
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| CN201611131810.6A CN106780825A (en) | 2016-12-09 | 2016-12-09 | Power network line inspection device |
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| CN201611131810.6A CN106780825A (en) | 2016-12-09 | 2016-12-09 | Power network line inspection device |
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| CN107247463A (en) * | 2017-06-08 | 2017-10-13 | 广东容祺智能科技有限公司 | A kind of unmanned aerial vehicle station system for supporting self-defined map to access |
| CN107453912A (en) * | 2017-08-14 | 2017-12-08 | 宁波甬凌新材料科技有限公司 | A kind of power remote monitoring system device |
| CN108123543A (en) * | 2018-04-19 | 2018-06-05 | 南方电网科学研究院有限责任公司 | Power grid real-time monitoring system |
| CN108183552A (en) * | 2017-12-29 | 2018-06-19 | 武汉神宇电气有限公司 | Box-type substation maintenance management method and system |
| 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 |
| CN108305346A (en) * | 2017-12-28 | 2018-07-20 | 国网上海市电力公司 | Equipment routing inspection method, apparatus |
| CN108828399A (en) * | 2018-04-04 | 2018-11-16 | 驻马店市华宇电力设计有限公司 | A kind of remote auto lookup power transmission line failure monitoring system |
| CN109189097A (en) * | 2018-10-18 | 2019-01-11 | 国网河北省电力有限公司沧州供电分公司 | Unmanned transmission line faultlocating method |
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| CN110097656A (en) * | 2018-12-29 | 2019-08-06 | 国网北京市电力公司 | A kind of method and device for being traced to Power Material equipment fault |
| WO2020215753A1 (en) * | 2019-04-24 | 2020-10-29 | 广州煜煊信息科技有限公司 | Unmanned aerial vehicle inspection method and system for electric power system |
| CN110851557A (en) * | 2019-11-28 | 2020-02-28 | 云南电网有限责任公司电力科学研究院 | GIS data acquisition system and method for power distribution network |
| CN111604888A (en) * | 2020-05-29 | 2020-09-01 | 珠海格力电器股份有限公司 | Inspection robot control method, inspection system, storage medium and electronic device |
| CN111604888B (en) * | 2020-05-29 | 2021-09-14 | 珠海格力电器股份有限公司 | Inspection robot control method, inspection system, storage medium and electronic device |
| CN111976983A (en) * | 2020-08-26 | 2020-11-24 | 天津市特种设备监督检验技术研究院(天津市特种设备事故应急调查处理中心) | Method for detecting boiler by using unmanned aerial vehicle |
| CN113065462A (en) * | 2021-03-31 | 2021-07-02 | 广东电网有限责任公司 | Monitoring method, device, equipment and storage medium for power grid overhead line |
| CN113110577A (en) * | 2021-04-15 | 2021-07-13 | 中国南方电网有限责任公司超高压输电公司柳州局 | Unmanned aerial vehicle flight route planning management system is patrolled and examined to electric wire netting |
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