CN108510183A - A kind of Power Line Inspection System based on unmanned plane - Google Patents
A kind of Power Line Inspection System based on unmanned plane Download PDFInfo
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Abstract
The invention discloses a kind of Power Line Inspection Systems based on unmanned plane, are related to electric system maintenance area.The present invention includes inspection platform, ground inspection station and unmanned plane；One-to-many communication is realized between inspection platform and ground inspection station；The scheduling of distribution and patrol task for unmanned plane inspection element；Ground inspection station connect the status information for obtaining unmanned plane inspection with UAV Communication, is responded to the inspection instruction of inspection platform, is managed to equipment, the personal information of inspection, uploads to dispatching platform；Unmanned plane passes sum number biography for carrying out unmanned plane inspection, by figure and is communicated with ground inspection station.The present invention is in such a way that remote monitoring and local monitor combine, make the Fast synchronization of data between inspection platform, inspection station and unmanned plane, improve informationization and the degree of automation of power grid inspection, the working dynamics and routing inspection cost for greatly reducing staff avoid the danger that the undesirable elements such as environment, weather are brought.
Description
Technical field
The invention belongs to electric system maintenance areas, more particularly to a kind of Power Line Inspection System based on unmanned plane.
Background technology
Unmanned plane line walking plays increasingly important role in polling transmission line, can mitigate electrical power services people significantly
The live load of member reduces the probability for the personnel hazard that may occur, reduces the maintenance cost of power equipment, improve the peace of power grid
Full property and reliability.
Unmanned plane polling transmission line has also related to a large amount of inspection devices and has patrolled in addition to the transmission line of electricity for being related to inspection
Inspection personnel etc..Patrol UAV is distributed in each different area, and inspection region is wide, and each patrol task mobility is big, inspection
Place and content be not fixed, the problem unloaded back and forth of inspection device easily occurs；Different patrol tasks corresponds to same and patrols
Examine between transmission line of electricity or power transmission line section, the time-constrain of inspection is stronger, need according to the importance of inspection circuit and
Restriction relation between patrol task dispatches patrol task, to realize the orderly completion of patrol task；Different patrol tasks corresponds to not
Inspection transmission line of electricity together, inspection purpose, the inspection device and inspection type of outfit also differ, and it is numerous that inspection is related to equipment
Miscellaneous, scattered, situations such as easily leaving behind and lose, lacking accessory during inspection, occurs again and again, has seriously affected the efficiency of inspection.
It is limited in inspection resource, especially patrol task is various, restriction relation is strong between patrol task, need reasonably to adjust
The resource and equipment for spending inspection avoid the unloaded back and forth of inspection device, utilize existing resource to greatest extent, complete as far as possible
More patrol tasks improves the efficiency of inspection, reduces routing inspection cost.
Carrying out polling transmission line using unmanned plane has certain risk, especially in natural environments such as mountain area, plateaus
Badly, the area of climate variability carries out polling transmission line.Unmanned plane polling transmission line both domestic and external is in pilot and examines
The core stage, need at this stage acquire and store unmanned plane inspection operating parameter, especially the state of flight information of unmanned plane,
The result data etc. of gondola status information and unmanned plane inspection realizes the effective monitoring to unmanned plane inspection.For comprehensive assessment and
The Technical Economy and reliability for analyzing existing unmanned plane line data-logging, the operation management for improving unmanned plane line data-logging provide branch
It holds, realizes the safe and reliable operation of unmanned plane line data-logging, need through up to date technics means and management method to nothing
Man-machine inspection carries out Centralized Monitoring.
Currently, the domestic system being monitored for unmanned plane inspection is seldom, the various methods proposed, mostly in examination
It tests the stage, and is monitored both for single unmanned plane, Centralized Monitoring is carried out without the unmanned plane for multiple inspections.
The object of monitoring is mostly the image data of unmanned plane inspection, to the status information, gondola information and weather information of unmanned plane inspection
Monitoring it is less, for inspection result data processing informationization and the degree of automation it is relatively low.
Invention content
The purpose of the present invention is to provide a kind of Power Line Inspection Systems based on unmanned plane, pass through remote monitoring and local prison
The mode combined is controlled, carrying out electricity, flying height, shooting angle, coordinate, speed to the unmanned plane of each access system carries out
Regulation and control enhance the synchronization of data between inspection platform, inspection station and unmanned plane, solve existing Power Line Inspection System monitoring
Data are less, the information-based problem low with the degree of automation.
In order to solve the above technical problems, the present invention is achieved by the following technical solutions：
The present invention is a kind of Power Line Inspection System based on unmanned plane, including inspection platform, ground inspection station and unmanned plane；
One-to-many communication is realized between the inspection platform and ground inspection station；For the status information according to unmanned plane, staff
Information and line information, the scheduling to the distribution and patrol task of unmanned plane inspection element；Ground inspection station and unmanned plane
The status information for obtaining unmanned plane inspection is communicated to connect, the inspection instruction of inspection platform is responded, operational staff sets
Standby and circuit elements of mission scheduling, is managed equipment, the personal information of inspection, to weather information and aircraft status information
Inspection is carried out, dispatching platform is uploaded to；The unmanned plane passes sum number for carrying out unmanned plane inspection, by figure and passes and ground inspection
Station is communicated.
Preferably, the inspection platform includes patrol checking server, personal management module, device management module, line management
Module, results management module, mission planning module, GIS modules memory module and communication module；The patrol checking server successively with
Personal management module, device management module, wire management module, results management module, mission planning module, the storage of GIS modules
Module is connected with communication module；The patrol checking server for being managed to unmanned plane inspection device, personnel, transmission line of electricity and
Scheduling, and task scheduling approach is adjusted according to inspection presence states and inspection resource, carry out task scheduling；
The personal management module for being managed to the essential information of patrol officer, patrol record and inspection qualification and
Assessment；The operation that the device management module is used to that the information of inspection device to be increased, deletes, changes and be inquired；It is described
The operation that wire management module is increased, deleted, changed and inquired for the information of inspection circuit；The results management module
For the result after the completion of each inspection to be analyzed and is stored；The mission planning module is used for unmanned plane patrol task
Carry out planning management；
The GIS modules are used for displaying and management and line information to inspection scene and unmanned plane GPS positioning information
Displaying and management；Data of the communication module between inspection platform and ground inspection station communicate, and realize that inspection refers to
Enable with mission bit stream issue with it is synchronous.
Preferably, ground inspection station includes data memory module, human-computer interaction module, tasks synchronization module, circuit
Diagnostic module, weather monitoring module, GPS module, communication module, task monitoring module, image processing module and GIS modules；Institute
State data memory module successively with human-computer interaction module, tasks synchronization module, line diagnosis module, weather monitoring module, GPS moulds
Block, communication module, task monitoring module, image processing module are connected with GIS modules；The data memory module is patrolled for storing
Inspection task, unmanned plane uploading pictures, weather information and line diagnosis result；The human-computer interaction module is for obtaining and parsing behaviour
Make personnel to order and be sent to patrol checking server；The tasks synchronization module is for synchronizing inspection platform and ground inspection station task
Information；The line diagnosis module is used to carry out line diagnosis to the picture that unmanned plane uploads；The weather monitoring module is used for
The module that weather within the scope of unmanned plane inspection is monitored；The GPS module is used to monitor the GPS of the unmanned plane course of work
Location information；Data of the communication module between ground inspection station and unmanned plane communicate, and realize inspection instruction and nobody
Machine synchronizes；The task monitoring module is for being monitored the unmanned plane during flying state in working condition；Described image processing
Module is used to carry out processing to the circuit image that unmanned plane is shot to judge that circuit whether there is hidden danger；The GIS modules are for opening up
Show transmission line of electricity and shaft tower information, and corresponding attribute, editor, mark color, importing, export are provided to corresponding transmission line information
It is operated with displaying.
Preferably, the unmanned plane includes flight control modules, GPS module, photographing module, human-computer interaction module and communication
Module；The flight control modules are connect with GPS module, photographing module, human-computer interaction module and communication module；The flight control
Molding block is used to control the fundamental operation and monitoring unmanned plane working condition of unmanned plane；The photographing module is for shooting power transmission line
Road reaches ground inspection station；The human-computer interaction module is for obtaining and parsing operator commands and be sent to unmanned plane；
The GPS module sends location information for earthward inspection station；The communication module for unmanned plane and ground inspection station it
Between data communication, realize shooting picture it is synchronous with ground inspection image processing module.
Preferably, the mission planning module is believed according in personal management module, device management module, wire management module
Breath, allocates the personnel of a patrol task, equipment and transmission line of electricity.
Preferably, the line diagnosis module is handled according to the picture that unmanned plane uploads, simultaneously to picture feature extraction
It is compared according to faulty circuit picture in data memory module, by the position of faulty circuit on picture if comparing successfully
It is labeled and is subject to explanatory note, be uploaded to data memory module.
Preferably, the working attributes of the flight control modules monitoring unmanned plane include：Unmanned plane electricity, GPS coordinate, speed
Degree, height, rotating speed, always away from, battery capacity；The flight control modules can also carry out flying for unmanned plane according to the data of monitoring
Row height, shooting angle and flight line are adjusted.
The invention has the advantages that：
(1) present invention is in such a way that remote monitoring and local monitor combine, to the unmanned plane of each access system into
Row electricity, flying height, shooting angle, coordinate, speed are regulated and controled, and are enhanced the operability of system, are improved shooting figure
The quality of piece makes the effect of inspection reach maximization.
(2) present invention improves power grid inspection by the Fast synchronization of data between inspection platform, inspection station and unmanned plane
Informationization and the degree of automation, greatly reduce the working dynamics of staff, avoid the undesirable elements such as environment, weather
The danger brought.
(3) present invention is scheduled the equipment of inspection, personnel, time and circuit by ground inspection station, limited
Under resources supplIes, more patrol tasks are completed as far as possible, improve unmanned plane routing inspection efficiency, improve the reliability of unmanned plane inspection
And safety, reduce unmanned plane routing inspection cost.
Certainly, it implements any of the products of the present invention and does not necessarily require achieving all the advantages described above at the same time.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will be described below to embodiment required
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is a kind of system block diagram of Power Line Inspection System based on unmanned plane of the present invention；
Fig. 2 is inspection platform illustrative view of functional configuration；
Fig. 3 is ground inspection station illustrative view of functional configuration；
Fig. 4 is unmanned plane illustrative view of functional configuration.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained all other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
Refering to Figure 1, the present invention is a kind of Power Line Inspection System based on unmanned plane, including inspection platform, ground
Inspection station and unmanned plane；One-to-many communication is realized between inspection platform and ground inspection station；For being believed according to the state of unmanned plane
Breath, worker information and line information, the scheduling to the distribution and patrol task of unmanned plane inspection element；Ground inspection station with
UAV Communication connects the status information for obtaining unmanned plane inspection, responds, executes to the inspection instruction of inspection platform
The scheduling of personnel, equipment and circuit elements of mission are managed equipment, the personal information of inspection, to weather information and aircraft
Status information carries out inspection, uploads to dispatching platform；Unmanned plane passes sum number biography and ground for carrying out unmanned plane inspection, by figure
Inspection station is communicated.
It please refers to shown in Fig. 2, inspection platform includes patrol checking server, personal management module, device management module, line pipe
Manage module, results management module, mission planning module, GIS modules memory module and communication module；Patrol checking server successively with people
Member's management module, device management module, wire management module, results management module, mission planning module, GIS modules store mould
Block is connected with communication module；Patrol checking server is used to that unmanned plane inspection device, personnel, transmission line of electricity to be managed and be dispatched,
And task scheduling approach is adjusted according to inspection presence states and inspection resource, carry out task scheduling；Personal management module
For the essential information of patrol officer, patrol record and inspection qualification to be managed and are assessed；Device management module for pair
The operation that the information of inspection device is increased, deleted, changed and inquired；Wire management module for inspection circuit information into
Row increases, deletes, changing and the operation of inquiry；Results management module be used for the result after the completion of each inspection carry out analysis and
Storage；Mission planning module is used to carry out planning management to unmanned plane patrol task；GIS modules are used for inspection scene and nobody
The displaying and management of machine GPS positioning information and the displaying and management of line information；Communication module is used for inspection platform and ground
Data communication between the inspection station of face, realize inspection instruction and mission bit stream issue with it is synchronous.
Wherein, mission planning module is right according to information in personal management module, device management module, wire management module
Personnel, equipment and the transmission line of electricity of patrol task are allocated；System records each patrol officer's working time, work
Property, work speciality are counted；Number of putting on record is carried out to each unmanned machine equipment, it is current that system can directly number inquiry
Man-machine state, the power grid of system inspection as needed, the suitable unmanned plane of Rapid matching and patrol officer.
It please refers to shown in Fig. 3, ground inspection station includes data memory module, human-computer interaction module, tasks synchronization module, line
Road diagnostic module, weather monitoring module, GPS module, communication module, task monitoring module, image processing module and GIS modules；
Data memory module successively with human-computer interaction module, tasks synchronization module, line diagnosis module, weather monitoring module, GPS moulds
Block, communication module, task monitoring module, image processing module are connected with GIS modules；Data memory module is appointed for storing inspection
Business, unmanned plane uploading pictures, weather information and line diagnosis result；Human-computer interaction module is for obtaining and parsing operating personnel's life
It enables and is sent to patrol checking server；Tasks synchronization module is for synchronizing inspection platform and ground inspection station mission bit stream；Circuit is examined
Disconnected module is used to carry out line diagnosis to the picture that unmanned plane uploads；Weather monitoring module is used within the scope of unmanned plane inspection
The module that weather is monitored；GPS module is used to monitor the GPS position information of the unmanned plane course of work；Communication module is for ground
Data between face inspection station and unmanned plane communicate, and realize that inspection instruction is synchronous with unmanned plane；Task monitoring module is used for work
The unmanned plane during flying state made in state is monitored；At the circuit image that image processing module is used to shoot unmanned plane
Reason judges that circuit whether there is hidden danger；GIS modules are believed for showing transmission line of electricity and shaft tower information, and to corresponding transmission line of electricity
Breath provides corresponding attribute, editor, mark color, importing, export and displaying operation.
Wherein, line diagnosis module is handled according to the picture that unmanned plane uploads, and clarity is higher reflects for selection
Not, it deletes clarity not enough or selects the picture of scape inaccuracy, the feature extraction to the picture chosen and according to data memory module
Middle faulty circuit picture is compared, and is labeled the position of faulty circuit on picture if comparing successfully and is subject to word
Illustrate, is uploaded to data memory module.
Please refer to shown in Fig. 4, unmanned plane include flight control modules, GPS module, photographing module, human-computer interaction module and
Communication module；Flight control modules are connect with GPS module, photographing module, human-computer interaction module and communication module；Flight control mould
Block is used to control the fundamental operation and monitoring unmanned plane working condition of unmanned plane；Photographing module is uploaded to for shooting transmission line of electricity
Ground inspection station；Human-computer interaction module is for obtaining and parsing operator commands and be sent to unmanned plane；GPS module be used for
Ground inspection station sends location information；Data of the communication module between unmanned plane and ground inspection station communicate, and realize shooting
Picture is synchronous with ground inspection image processing module.
It is worth noting that, in above system embodiment, included each unit is only drawn according to function logic
Point, but it is not limited to above-mentioned division, as long as corresponding function can be realized；In addition, each functional unit is specific
Title is also only to facilitate mutually distinguish, the protection domain being not intended to restrict the invention.
In addition, one of ordinary skill in the art will appreciate that realizing all or part of step in the various embodiments described above method
It is that relevant hardware can be instructed to complete by program, corresponding program can be stored in a computer-readable storage and be situated between
In matter, the storage medium, such as ROM/RAM, disk or CD.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment
All details are described, are not limited the invention to the specific embodiments described.Obviously, according to the content of this specification,
It can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to preferably explain the present invention
Principle and practical application, to enable skilled artisan to be best understood by and utilize the present invention.The present invention is only
It is limited by claims and its full scope and equivalent.
Claims (7)
1. a kind of Power Line Inspection System based on unmanned plane, including inspection platform, ground inspection station and unmanned plane, feature exist
In：
One-to-many communication is realized between the inspection platform and ground inspection station；For the status information according to unmanned plane, work
Personal information and line information, the scheduling to the distribution and patrol task of unmanned plane inspection element；
Ground inspection station connect the status information for obtaining unmanned plane inspection with UAV Communication, is patrolled to inspection platform
Inspection instruction is responded, and the scheduling of operational staff, equipment and circuit elements of mission carry out pipe to equipment, the personal information of inspection
Reason carries out inspection to weather information and aircraft status information, uploads to dispatching platform；
The unmanned plane passes sum number biography for carrying out unmanned plane inspection, by figure and is communicated with ground inspection station.
2. a kind of Power Line Inspection System based on unmanned plane according to claim 1, which is characterized in that the inspection platform
Including patrol checking server, personal management module, device management module, wire management module, results management module, mission planning mould
Block, GIS modules memory module and communication module；
The patrol checking server successively with personal management module, device management module, wire management module, results management module,
Mission planning module, GIS module memory modules are connected with communication module；
The patrol checking server is used to that unmanned plane inspection device, personnel, transmission line of electricity to be managed and be dispatched, and according to inspection
Presence states and inspection resource are adjusted task scheduling approach, carry out task scheduling；
The personal management module is for being managed and commenting to the essential information of patrol officer, patrol record and inspection qualification
Estimate；
The operation that the device management module is used to that the information of inspection device to be increased, deletes, changes and be inquired；
The operation that the wire management module is increased, deleted, changed and inquired for the information of inspection circuit；
The results management module is for being analyzed and being stored to the result after the completion of each inspection；
The mission planning module is used to carry out planning management to unmanned plane patrol task；
The GIS modules are used for inspection scene and the displaying and management of unmanned plane GPS positioning information and the exhibition of line information
Show and manages；
Data of the communication module between inspection platform and ground inspection station communicate, and realize inspection instruction and task letter
Breath issue with it is synchronous.
3. a kind of Power Line Inspection System based on unmanned plane according to claim 1, which is characterized in that the ground inspection
It stands including data memory module, human-computer interaction module, tasks synchronization module, line diagnosis module, weather monitoring module, GPS moulds
Block, communication module, task monitoring module, image processing module and GIS modules；
The data memory module successively with human-computer interaction module, tasks synchronization module, line diagnosis module, weather monitoring mould
Block, GPS module, communication module, task monitoring module, image processing module are connected with GIS modules；
The data memory module is for storing patrol task, unmanned plane uploading pictures, weather information and line diagnosis result；
The human-computer interaction module is for obtaining and parsing operator commands and be sent to patrol checking server；
The tasks synchronization module is for synchronizing inspection platform and ground inspection station mission bit stream；
The line diagnosis module is used to carry out line diagnosis to the picture that unmanned plane uploads；
The module that the weather monitoring module is used to be monitored the weather within the scope of unmanned plane inspection；
The GPS module is used to monitor the GPS position information of the unmanned plane course of work；
Data of the communication module between ground inspection station and unmanned plane communicate, and realize that inspection instruction and unmanned plane are same
Step；
The task monitoring module is for being monitored the unmanned plane during flying state in working condition；
Described image processing module is used to carry out processing to the circuit image that unmanned plane is shot to judge that circuit whether there is hidden danger；
The GIS modules provide corresponding belong to for showing transmission line of electricity and shaft tower information, and to corresponding transmission line information
Property, editor, mark color, importing, export and displaying operation.
4. a kind of Power Line Inspection System based on unmanned plane according to claim 1, which is characterized in that the unmanned plane packet
Include flight control modules, GPS module, photographing module, human-computer interaction module and communication module；
The flight control modules are connect with GPS module, photographing module, human-computer interaction module and communication module；
The flight control modules are used to control the fundamental operation and monitoring unmanned plane working condition of unmanned plane；
The photographing module is uploaded to ground inspection station for shooting transmission line of electricity；
The human-computer interaction module is for obtaining and parsing operator commands and be sent to unmanned plane；
The GPS module sends location information for earthward inspection station；
Data of the communication module between unmanned plane and ground inspection station communicate, and realize shooting picture and ground inspection figure
As processing module synchronizes.
5. a kind of Power Line Inspection System based on unmanned plane according to claim 2, which is characterized in that the mission planning
Module to the personnel of a patrol task, is set according to information in personal management module, device management module, wire management module
Standby and transmission line of electricity is allocated.
6. a kind of Power Line Inspection System based on unmanned plane according to claim 3, which is characterized in that the line diagnosis
Module is handled according to the picture that unmanned plane uploads, and is extracted to picture feature and according to faulty circuit figure in data memory module
Piece is compared, and is labeled the position of faulty circuit on picture if comparing successfully and is subject to explanatory note, is uploaded to
Data memory module.
7. a kind of Power Line Inspection System based on unmanned plane according to claim 4, which is characterized in that the flight control
The working attributes of module monitors unmanned plane include：Unmanned plane electricity, GPS coordinate, speed, height, rotating speed, always away from, battery capacity；
The flight control modules can also carry out flying height, shooting angle and the flight line of unmanned plane according to the data of monitoring
It is adjusted.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810266693.7A CN108510183A (en) | 2018-03-28 | 2018-03-28 | A kind of Power Line Inspection System based on unmanned plane |
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| CN201810266693.7A CN108510183A (en) | 2018-03-28 | 2018-03-28 | A kind of Power Line Inspection System based on unmanned plane |
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| CN109334543A (en) * | 2018-11-19 | 2019-02-15 | 国网电子商务有限公司 | Power line inspection system and method with cooperation of power inspection vehicle and unmanned aerial vehicle |
| CN109559006A (en) * | 2018-09-19 | 2019-04-02 | 中建科技有限公司深圳分公司 | A kind of monitoring method, device and the terminal device of the construction site based on unmanned plane |
| CN109573030A (en) * | 2018-12-18 | 2019-04-05 | 哈瓦国际航空技术（深圳）有限公司 | A kind of unmanned plane method for inspecting and cruising inspection system |
| CN110334820A (en) * | 2019-06-14 | 2019-10-15 | 青海三新农电有限责任公司 | A kind of power distribution network intelligent inspection system |
| CN112165699A (en) * | 2020-09-25 | 2021-01-01 | 深圳市万联航通电子科技有限公司 | Real-time data transmission method, system, medium and electronic equipment in unmanned aerial vehicle inspection |
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| CN112468994A (en) * | 2020-12-01 | 2021-03-09 | 国网福建省电力有限公司电力科学研究院 | Power line inspection unmanned aerial vehicle air networking communication system and method |
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| CN112909905A (en) * | 2021-04-08 | 2021-06-04 | 国网河北省电力有限公司沧州供电分公司 | VSC-HVDC-based offshore shore power transmission line full-line quick-acting protection device and method |
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| CN109559006A (en) * | 2018-09-19 | 2019-04-02 | 中建科技有限公司深圳分公司 | A kind of monitoring method, device and the terminal device of the construction site based on unmanned plane |
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| CN112256051A (en) * | 2020-09-07 | 2021-01-22 | 广东顺德电力设计院有限公司 | Power grid inspection accurate control method and system based on unmanned aerial vehicle |
| CN112180973A (en) * | 2020-09-21 | 2021-01-05 | 重庆中电自能科技有限公司 | Inspection system of photovoltaic power station and unmanned aerial vehicle system integration method |
| CN112165699A (en) * | 2020-09-25 | 2021-01-01 | 深圳市万联航通电子科技有限公司 | Real-time data transmission method, system, medium and electronic equipment in unmanned aerial vehicle inspection |
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| CN112714285A (en) * | 2020-12-22 | 2021-04-27 | 安徽康能电气有限公司 | 5G communication-based power transmission line high-definition video monitoring method and system |
| CN112801493A (en) * | 2021-01-22 | 2021-05-14 | 林安齐 | Road inspection safety evaluation system and method under special weather |
| CN112909905A (en) * | 2021-04-08 | 2021-06-04 | 国网河北省电力有限公司沧州供电分公司 | VSC-HVDC-based offshore shore power transmission line full-line quick-acting protection device and method |
| CN113359826A (en) * | 2021-06-02 | 2021-09-07 | 太原理工大学 | Intelligent power inspection system and method for unmanned aerial vehicle |
| CN115314854A (en) * | 2022-08-08 | 2022-11-08 | 广东智能无人系统研究院 | Unmanned inspection system and method for offshore wind power underwater facilities |
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