CN108318002A - A kind of unmanned plane method for inspecting and device - Google Patents
A kind of unmanned plane method for inspecting and device Download PDFInfo
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- CN108318002A CN108318002A CN201711336897.5A CN201711336897A CN108318002A CN 108318002 A CN108318002 A CN 108318002A CN 201711336897 A CN201711336897 A CN 201711336897A CN 108318002 A CN108318002 A CN 108318002A
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- unmanned plane
- environmental data
- flight path
- region
- inspection
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
Abstract
The present invention provides a kind of unmanned plane method for inspecting and device, this method includes that unmanned plane carries out inspection according to preset measurement flight path, preserves the image data accessed by this inspection；Described image data are spliced, the environmental data in region to be inspected is calculated；It based on the environmental data, demarcates and creates capital construction region, and update the required underlying security elevation information in each position in the measurement flight path；Based on the accessed environmental data of each cruise, underlying security elevation information, administrative model is established.By this method can high frequency time, large area, inspection site operation situation over long distances reinforce capital construction management and control dynamics, project progress management and control, safety construction, environmental impact assessment water is contributed to protect supervision, external coordination evidence obtaining, the effectively working condition of control extra-high voltage construction site is to provide overall process and reinforces field surveillance inspection, the effective means of comprehensive guarantee scene inspection in place.
Description
Technical field
The present invention relates to data processing fields, in particular to a kind of unmanned plane method for inspecting and device.
Background technology
With deepening continuously for extra-high voltage project construction, reinforcement is more and more important to the supervision of construction site, but transmits electricity
Circuit is by way of the problems such as there are with a varied topography, bad environments in region, while power grid capital construction has the characteristics that point more than long lines is wide.Mesh
It is preceding live excavation of foundation pit is periodically understood generally by men working troop, situations such as basis pours, tower erection, supervision and check
Range be often construction operation point that automobile can reach.It is right if covering all around management to the realization of all construction operation points
In point more than long lines like dotted construction site, a large amount of manpowers and vehicle will be put into, management of engineering construction cost also will
It greatly improves, therefore traditional artificial inspection has been difficult to meet to the requirement in terms of economy, time and manpower.
Invention content
In view of this, the embodiment of the present invention is designed to provide a kind of unmanned plane method for inspecting and device, to alleviate
The above problem.
In a first aspect, an embodiment of the present invention provides a kind of unmanned plane method for inspecting, the method includes：Unmanned plane according to
Preset measurement flight path carries out inspection, preserves the image data accessed by this inspection；Described image data are carried out
Splicing, is calculated the environmental data in region to be inspected；Based on the environmental data, demarcates and create capital construction region, and update institute
State the required underlying security elevation information in each position measured in flight path；Based on the accessed environment of each cruise
Data, underlying security elevation information, establish administrative model.
Second aspect, an embodiment of the present invention provides a kind of unmanned plane inspection device, described device includes：Preserving module,
Inspection is carried out according to preset measurement flight path for working as unmanned plane, preserves the image data accessed by this inspection；It spells
The environmental data in region to be inspected is calculated for splicing described image data in connection module；Demarcating module is used for
It based on the environmental data, demarcates and creates capital construction region, and each position updated in the measurement flight path is required
Underlying security elevation information；Module is established, for based on the accessed environmental data of each cruise, underlying security height letter
Breath, establishes administrative model.
Compared with prior art, the beneficial effect for a kind of unmanned plane method for inspecting and device that various embodiments of the present invention propose
Fruit is：This method includes that unmanned plane carries out inspection according to preset measurement flight path, preserves the figure accessed by this inspection
As data；Described image data are spliced, the environmental data in region to be inspected is calculated；Based on the environmental data,
Calibration creates capital construction region, and updates the required underlying security elevation information in each position in the measurement flight path；
Based on the accessed environmental data of each cruise, underlying security elevation information, administrative model is established.This method being capable of high frequency
Secondary, large area, long range patrol site operation situation to reinforce capital construction management and control dynamics, contribute to project progress management and control, safety text
Supervision, external coordination evidence obtaining are protected in bright construction, environmental impact assessment water, and effectively the working condition of control extra-high voltage construction site, is to provide overall process
Reinforce field surveillance inspection, the effective means of comprehensive guarantee scene inspection in place.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structure diagram of the electronic equipment provided in an embodiment of the present invention being set on unmanned plane；
Fig. 2 is a kind of flow chart for unmanned plane method for inspecting that first embodiment of the invention provides；
Fig. 3 is the flow chart for another unmanned plane method for inspecting that first embodiment of the invention provides；
Fig. 4 is a kind of structure diagram for unmanned plane inspection device that second embodiment of the invention provides；
Fig. 5 is the structure diagram for another unmanned plane inspection device that second embodiment of the invention provides.
Specific implementation mode
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, the detailed description of the embodiment of the present invention to providing in the accompanying drawings is not intended to limit claimed invention below
Range, but it is merely representative of the selected embodiment of the present invention.Based on the embodiment of the present invention, those skilled in the art are not doing
The every other embodiment obtained under the premise of going out creative work, shall fall within the protection scope of the present invention.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.Meanwhile the present invention's
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
As shown in Figure 1, the block diagram for the electronic equipment 100 being disposed on unmanned plane.The electronic equipment 100 wraps
It includes：Unmanned plane inspection device, memory 110, storage control 120, processor 130, Peripheral Interface 140, input-output unit
150, audio unit 160, display unit 170.
The memory 110, storage control 120, processor 130, Peripheral Interface 140, input-output unit 150, sound
Frequency unit 160 and 170 each element of display unit are directly or indirectly electrically connected between each other, with realize data transmission or
Interaction.It is electrically connected for example, these elements can be realized between each other by one or more communication bus or signal wire.The nothing
Man-machine inspection device include it is at least one can be stored in the memory 110 in the form of software or firmware (firmware) or
The software function module being solidificated in the operating system (operating system, OS) of client device.The processor 130
For executing the executable module stored in memory 110, such as the software function module that the unmanned plane inspection device includes
Or computer program.
Wherein, memory 110 may be, but not limited to, random access memory (Random Access Memory,
RAM), read-only memory (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only
Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM),
Electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory, EEPROM) etc..
Wherein, memory 110 is for storing program, and the processor 130 executes described program after receiving and executing instruction, aforementioned
Method performed by the server 200 of flow definition that any embodiment of the embodiment of the present invention discloses, electronic equipment 100 can answer
It is realized in processor 130, or by processor 130.
Processor 130 may be a kind of IC chip, the processing capacity with signal.Above-mentioned processor 130 can
To be general processor, including central processing unit (Central Processing Unit, abbreviation CPU), network processing unit
(Network Processor, abbreviation NP) etc.；Can also be digital signal processor (DSP), application-specific integrated circuit (ASIC),
Ready-made programmable gate array (FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hard
Part component.It may be implemented or execute disclosed each method, step and the logic diagram in the embodiment of the present invention.General processor
Can be microprocessor or the processor can also be any conventional processor etc..
The Peripheral Interface 140 couples various input/output devices to processor 130 and memory 110.At some
In embodiment, Peripheral Interface 140, processor 130 and storage control 120 can be realized in one single chip.Other one
In a little examples, they can be realized by independent chip respectively.
The interaction that input-output unit 150 is used to that user input data to be supplied to realize user and electronic equipment 100.It is described
Input-output unit 150 may be, but not limited to, mouse and keyboard etc..
Audio unit 160 provides a user audio interface, may include that one or more microphones, one or more raises
Sound device and voicefrequency circuit.
Display unit 170 provides an interactive interface (such as user interface) between electronic equipment 100 and user
Or it is referred to user for display image data.In the present embodiment, the display unit 170 can be liquid crystal display or touch
Control display.Can be that the capacitance type touch control screen or resistance-type of single-point and multi-point touch operation is supported to touch if touch control display
Control screen etc..Single-point and multi-point touch operation is supported to refer to touch control display and can sense on the touch control display one or more
The touch control operation generated simultaneously at a position, and transfer to processor 130 to be calculated and handled the touch control operation that this is sensed.
First embodiment
Fig. 2 is please referred to, Fig. 2 is a kind of flow chart for unmanned plane method for inspecting that first embodiment of the invention provides, described
Method is applied to electronic equipment.Flow shown in Fig. 2 will be described in detail below, the method includes：
Step S110：Unmanned plane carries out inspection according to preset measurement flight path, preserves accessed by this inspection
Image data.
Wherein, it can be provided with multiple industrial cameras on unmanned plane, be used for during this inspection, every predetermined period
It takes pictures, to get the image data in region to be inspected.
Further, before step S110, electronic equipment takes the environmental data in region to be inspected, establishes and measures flight road
Line.
As an implementation, electronic equipment can by be unfolded terrain model resolution ratio, the accuracy of measuring apparatus,
Single sweep operation area coincidence degree, aircraft flight height generate the research in unmanned plane during flying course line, and device measuring function is ground in expansion
Study carefully, and carries out space measurement technical research.The resolution ratio of ground based scanning according to demand, flying height, camera resolution, rail
The information such as mark coincidence factor, the region that cooperation capital construction can influence, the flight track route of generation.
As another embodiment, spatial measurement equipment can be built on unmanned plane, being used for will be by all acquisition
Environmental data is merged, and the flight path route of the requirement for the environment overall picture that can completely generate desired zone is met；And according to electricity
The more scene objective condition wide, with a varied topography by way of region, bad environments of net capital construction scene point, in conjunction with unmanned plane itself spy
Point proposes that the unmanned plane for meeting power grid capital construction management and control demand measures key technology route suggestion.
The environmental data can also be identified in the electronic equipment, demarcate each of described measurement flight path
The required height of foundation information in position.
Further, the unmanned plane is identified the environmental data based on laser distance measuring principle.
The spatial measurement equipment, the data of acquisition are merged, and generate the measurement flight path in region to be inspected.
Step S120：Described image data are spliced, the environmental data in region to be inspected is calculated.
Step S130：Based on the environmental data, demarcates and create capital construction region, and update in the measurement flight path
The required underlying security elevation information in each position.
By the space measurement equipment carried in small drone, determine the trees for power grid capital construction environment,
The acquisition modes of the information of the environment such as building, field, river specify laser or other data acquiring modes.The laser number
It is to be based on laser distance measuring principle, by environmental scanning and distance-measuring equipment, to the object etc. in capital construction ambient enviroment according to acquisition modes
Calibration is identified.Measuring apparatus is integrated by interface and unmanned aerial vehicle control system, and real-time display spatial information can pass through control
System carries out control setting to environmental scanning and distance-measuring equipment, after the completion of operation, to analyze around the sliceable capital construction of composite software
Environment overall picture, and respective distance data are superimposed in spliced map.
Step S140：Based on the accessed environmental data of each cruise, underlying security elevation information, management mould is established
Type.
Wherein, administrative model can show the overall picture in region to be inspected.
As an implementation, Fig. 3 is please referred to, the method can also include：
Step S150：The unmanned plane is analyzed based on the obtained administrative model that flies is measured every time and waits patrolling described in obtaining
Examine the environmental change in region.
It during capital construction, can be compared by the overall picture of different administrative models, compare and generate live surrounding space change
Change data, facilitates monitoring measurement demand scene.The environment overall picture administrative model that can also be obtained by comparing different time, obtains
The change of ambient enviroment in process of construction.Cooperation changes different types of variation of corresponding position, determines green on line corridor
The breaking-up quantity and reparation of seedling and trees, expropriation of land and compensation for demolition area, environmental pollution area etc., while roustabout can be supervised
It measures.
Second embodiment
Fig. 4 is please referred to, Fig. 4 is a kind of structure diagram for unmanned plane inspection device 400 that second embodiment of the invention provides.
Structure diagram shown in Fig. 4 will be illustrated below, shown device includes：
Preserving module 410 preserves this inspection institute for carrying out inspection according to preset measurement flight path when unmanned plane
The image data got；
The environmental data in region to be inspected is calculated for splicing described image data in concatenation module 420；
Demarcating module 430 is demarcated for being based on the environmental data and creates capital construction region, and update the measurement flight
The required underlying security elevation information in each position in route；
Module 440 is established, for based on the accessed environmental data of each cruise, underlying security elevation information, establishing
Administrative model.
As an implementation, described device can also include：
Acquisition module 450, the environmental data for obtaining region to be inspected are established and measure flight path；
The demarcating module 430 is additionally operable to that the environmental data is identified, and demarcates in the measurement flight path
The required height of foundation information in each position.
As an implementation, the demarcating module 430 is specifically used for based on laser distance measuring principle to the environment number
According to being identified.
As an implementation, amount of space measurement equipment has been built on the unmanned plane, the acquisition module 450 is used for
Based on the spatial measurement equipment, the data of acquisition are merged, generate the measurement flight path in region to be inspected.
As an implementation, Fig. 5 is please referred to, described device can also include：
Analysis module 460, for based on the obtained administrative model that flies is measured every time, analysis to obtain the area to be inspected
The environmental change in domain.
The present embodiment refers to the process of the respective function of each Implement of Function Module of the device 400 of unmanned plane inspection
The content described in Fig. 1 to embodiment illustrated in fig. 3 is stated, details are not described herein again.
In conclusion a kind of unmanned plane method for inspecting and device, this method that the embodiment of the present invention proposes include nobody
Machine carries out inspection according to preset measurement flight path, preserves the image data accessed by this inspection；By described image number
According to being spliced, the environmental data in region to be inspected is calculated；Based on the environmental data, demarcates and create capital construction region, and
Update the required underlying security elevation information in each position in the measurement flight path；Accessed by each cruise
Environmental data, underlying security elevation information, establish administrative model.By this method can high frequency time, large area, patrol over long distances
Site operation situation is looked into reinforce capital construction management and control dynamics, while improving working efficiency, contributes to project progress management and control, safety text
Supervision, external coordination evidence obtaining are protected in bright construction, environmental impact assessment water, and effectively the working condition of control extra-high voltage construction site, is to provide overall process
Reinforce field surveillance inspection, the effective means of comprehensive guarantee scene inspection in place.In addition, the management established by different time
Model compares, change of the accurate perception to ambient enviroment, and the compensation to surrounding resident is established by the differentiation to different things
Quantity handles the relationship with surrounding resident well；Equally, environment is compensated, ensures to control construction rubbish and pollution environment
Reason.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, the flow chart in attached drawing and block diagram
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code
Part, a part for the module, section or code, which includes that one or more is for implementing the specified logical function, to be held
Row instruction.It should also be noted that at some as in the realization method replaced, the function of being marked in box can also be to be different from
The sequence marked in attached drawing occurs.For example, two continuous boxes can essentially be basically executed in parallel, they are sometimes
It can execute in the opposite order, this is depended on the functions involved.It is also noted that every in block diagram and or flow chart
The combination of box in a box and block diagram and or flow chart can use function or the dedicated base of action as defined in executing
It realizes, or can be realized using a combination of dedicated hardware and computer instructions in the system of hardware.
In addition, each function module in each embodiment of the present invention can integrate to form an independent portion
Point, can also be modules individualism, can also two or more modules be integrated to form an independent part.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.It needs
Illustrate, herein, relational terms such as first and second and the like be used merely to by an entity or operation with
Another entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this realities
The relationship or sequence on border.Moreover, the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should be noted that：Similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and is explained.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of unmanned plane method for inspecting, which is characterized in that the method includes：
Unmanned plane carries out inspection according to preset measurement flight path, preserves the image data accessed by this inspection；
Described image data are spliced, the environmental data in region to be inspected is calculated；
It based on the environmental data, demarcates and creates capital construction region, and update needed for each position in the measurement flight path
The underlying security elevation information wanted；
Based on the accessed environmental data of each cruise, underlying security elevation information, administrative model is established.
2. according to the method described in claim 1, it is characterized in that, the unmanned plane according to preset measurement flight path into
Before row inspection, the method further includes：
The unmanned plane obtains the environmental data in region to be inspected, establishes and measures flight path；
The environmental data is identified, the required height of foundation letter in each position measured in flight path is demarcated
Breath.
3. according to the method described in claim 2, it is characterized in that, described be identified the environmental data, including：
The unmanned plane is identified the environmental data based on laser distance measuring principle.
4. described according to the method described in claim 3, it is characterized in that, built amount of space measurement equipment on the unmanned plane
Unmanned plane, which is established, measures flight path, including：
The spatial measurement equipment, the data of acquisition are merged, and generate the measurement flight path in region to be inspected.
5. according to the method described in claim 1, it is characterized in that, the method further includes：
The unmanned plane is based on measuring the obtained administrative model that flies every time, and analysis show that the environment in the region to be inspected becomes
Change.
6. a kind of unmanned plane inspection device, which is characterized in that described device includes：
Preserving module is preserved for carrying out inspection according to preset measurement flight path when unmanned plane accessed by this inspection
Image data；
The environmental data in region to be inspected is calculated for splicing described image data in concatenation module；
Demarcating module is demarcated for being based on the environmental data and creates capital construction region, and update in the measurement flight path
The required underlying security elevation information in each position；
Module is established, for based on the accessed environmental data of each cruise, underlying security elevation information, establishing management mould
Type.
7. device according to claim 6, which is characterized in that described device further includes：
Acquisition module, the environmental data for obtaining region to be inspected are established and measure flight path；
The demarcating module is additionally operable to that the environmental data is identified, and demarcates each position measured in flight path
Set required height of foundation information.
8. device according to claim 7, which is characterized in that the demarcating module is specifically used for former based on laser ranging
The environmental data is identified in reason.
9. device according to claim 8, which is characterized in that amount of space measurement equipment has been built on the unmanned plane, it is described
Acquisition module merges the data of acquisition, the measurement for generating region to be inspected flies for being based on the spatial measurement equipment
Walking along the street line.
10. device according to claim 9, which is characterized in that described device further includes analysis module, for based on each
The obtained administrative model that flies is measured, analysis obtains the environmental change in the region to be inspected.
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| CN201711336897.5A CN108318002A (en) | 2017-12-13 | 2017-12-13 | A kind of unmanned plane method for inspecting and device |
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| CN201711336897.5A CN108318002A (en) | 2017-12-13 | 2017-12-13 | A kind of unmanned plane method for inspecting and device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109284928A (en) * | 2018-09-27 | 2019-01-29 | 广东开放大学（广东理工职业学院） | A kind of construction monitoring method and system based on unmanned air vehicle technique |
| CN109447371A (en) * | 2018-11-12 | 2019-03-08 | 北京中飞艾维航空科技有限公司 | Polling path planing method, device, electronic equipment and readable storage medium storing program for executing |
| CN110006436A (en) * | 2019-04-30 | 2019-07-12 | 国网冀北电力有限公司承德供电公司 | The method for drafting and device of the unmanned plane inspection figure of electric power facility |
| CN110991282A (en) * | 2019-11-21 | 2020-04-10 | 深圳市赛为智能股份有限公司 | Construction safety management method and device based on unmanned aerial vehicle and computer equipment |
| CN113359829A (en) * | 2021-06-10 | 2021-09-07 | 西安图迹信息科技有限公司 | Unmanned aerial vehicle power plant intelligent inspection method based on big data |
| CN115271113A (en) * | 2022-06-30 | 2022-11-01 | 国网经济技术研究院有限公司 | Intelligent inspection method for construction process of pumped storage power station |
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| CN106774410A (en) * | 2016-12-30 | 2017-05-31 | 易瓦特科技股份公司 | Unmanned plane automatic detecting method and apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106774410A (en) * | 2016-12-30 | 2017-05-31 | 易瓦特科技股份公司 | Unmanned plane automatic detecting method and apparatus |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109284928A (en) * | 2018-09-27 | 2019-01-29 | 广东开放大学（广东理工职业学院） | A kind of construction monitoring method and system based on unmanned air vehicle technique |
| CN109447371A (en) * | 2018-11-12 | 2019-03-08 | 北京中飞艾维航空科技有限公司 | Polling path planing method, device, electronic equipment and readable storage medium storing program for executing |
| CN110006436A (en) * | 2019-04-30 | 2019-07-12 | 国网冀北电力有限公司承德供电公司 | The method for drafting and device of the unmanned plane inspection figure of electric power facility |
| CN110991282A (en) * | 2019-11-21 | 2020-04-10 | 深圳市赛为智能股份有限公司 | Construction safety management method and device based on unmanned aerial vehicle and computer equipment |
| CN113359829A (en) * | 2021-06-10 | 2021-09-07 | 西安图迹信息科技有限公司 | Unmanned aerial vehicle power plant intelligent inspection method based on big data |
| CN113359829B (en) * | 2021-06-10 | 2022-12-09 | 西安图迹信息科技有限公司 | Unmanned aerial vehicle power plant intelligent inspection method based on big data |
| CN115271113A (en) * | 2022-06-30 | 2022-11-01 | 国网经济技术研究院有限公司 | Intelligent inspection method for construction process of pumped storage power station |
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Application publication date: 20180724 |