CN108956640A - Vehicle-mounted detection apparatus and detection method suitable for distribution line inspection - Google Patents
Vehicle-mounted detection apparatus and detection method suitable for distribution line inspection Download PDFInfo
- Publication number
- CN108956640A CN108956640A CN201810298940.1A CN201810298940A CN108956640A CN 108956640 A CN108956640 A CN 108956640A CN 201810298940 A CN201810298940 A CN 201810298940A CN 108956640 A CN108956640 A CN 108956640A
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- inspection
- vehicle
- roof
- distribution line
- master control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/952—Inspecting the exterior surface of cylindrical bodies or wires
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N25/00—Investigating or analyzing materials by the use of thermal means
- G01N25/72—Investigating presence of flaws
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1209—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing using acoustic measurements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1227—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials
- G01R31/1263—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials of solid or fluid materials, e.g. insulation films, bulk material; of semiconductors or LV electronic components or parts; of cable, line or wire insulation
- G01R31/1272—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials of solid or fluid materials, e.g. insulation films, bulk material; of semiconductors or LV electronic components or parts; of cable, line or wire insulation of cable, line or wire insulation, e.g. using partial discharge measurements
Abstract
The invention discloses the vehicle-mounted detection apparatus and detection method that are suitable for distribution line inspection, it include: the roof inspection device being in communication with each other and interior master control device, the roof inspection device acquires abnormal appearance, thermal defect and/or the insulation defect information of distribution line and equipment and is sent to interior master control device；The car master control device receives the information that roof inspection device is sent, while controlling inspection vehicle according to scheduled inspection link travel.Vehicle-mounted detection apparatus of the present invention mainly includes roof detection components and interior master control component two parts, without carrying out special repacking to vehicle, it is convenient to will test device and be installed on inspection car, can carry out distribution line inspection operation.
Description
Technical field
The present invention relates to distribution line inspection technical field, in particular to a kind of vehicle-mounted inspection suitable for distribution line inspection
Survey device and detection method.
Background technique
With the development of the society, power industry is also in development by leaps and bounds, China substantially enters bulk power grid, big electricity at present
Factory, large-sized unit, high-tension transmission, highly automated control new era.Bulk power grid means the increase of power transmission and transformation distribution line, institute
It is become increasingly important with the work that manages and maintains of route, the delay of any pair of fault discovery will all bring huge loss.Electricity
Power company send power distribution work area to be frequently necessary to scene progress operation in the daily work, and such as daily tour operation, failure are robbed
Operation etc. is repaired, query facilities information at the scene is needed, former staff carries a large amount of drawings to scene, the disadvantage is that drawing is inquired
Speed is slow, drawing update is not caught up with, drawing accuracy is low etc..Simultaneously because lacking effective supervision means, it is not easy to ensure to patrol
The completion guaranteed both quality and quantity on schedule depending on work (such as whether missing inspection, not tour in required time).
In view of the environment where distribution line is more complicated, route is much erected at urban district, and relatively low, the nothing of height
Man-machine routine inspection mode has very big security risk；What traditional equipment inspection generallyd use is manual patrol, manual paper delivery medium note
The working method of record, it is obvious that there is human factors is more for which, management cost is high, can not supervise patrol officer's working condition etc.
Defect.
Summary of the invention
In order to solve the deficiencies in the prior art, the present invention provides a kind of vehicle-mounted detection dresses suitable for distribution line inspection
It sets and detection method, which improves the statuses such as heavy workload, routing inspection efficiency in traditional artificial inspection be low, shortens line
The overall time of road inspection improves the work quality and efficiency of line data-logging.
To achieve the goals above, the present invention adopts the following technical scheme:
The invention discloses the vehicle-mounted detection apparatus for being suitable for distribution line inspection, comprising: the roof inspection being in communication with each other
The abnormal appearance of device and interior master control device, the roof inspection device acquisition distribution line and equipment, thermal defect and/or absolutely
Edge defect information is simultaneously sent to interior master control device；The car master control device is automatically positioned inspection vehicle, passes through line trace
And tower bar positioning, control inspection vehicle according to scheduled inspection link travel and complete line data-logging；Roof is received simultaneously to patrol
The information that checking device is sent realizes the automatic identification of distribution line and equipment deficiency.
Further, the roof inspection device includes: roof support and the holder that is mounted on roof support；It is described
Roof detection device is installed on holder.
Further, the roof detection device includes: visible light camera, infrared thermal imager and ultrasonic partial discharge
One or more of detector.
Further, the roof inspection device further include: attitude transducer and passes through Ethernet at the attitude transducer
Communication mode is communicated with interior master control device.
Further, it is contemplated that road bump can come not to visible light and infrared collecting data band in vehicle operation
Benefit influences, and attitude transducer is also mounted in roof inspection component, is filled by being accessed the attitude detection inside digital tripod head
It sets, on the one hand can be by current holder ontology posture Real-time Feedback to the vehicle-mounted inspection software systems of inspection vehicle interior distribution
Data acquisition provides necessary reference, on the other hand subsequent also to increase " holder increases steady " function inside Attitute detecting device, leads to
It crosses acquisition attitude transducer data and calculates holder pose compensation amount, ultimately produce cradle head control instruction to inhibit road bump
Influence,
Further, the roof detection device and holder are communicated by ethernet communication mode with interior master control device.
Further, the roof detection device further include: communication device, the communication device inside are equipped with ether Netcom
Believe conversion module and network hub, the communication of roof detection device and holder by ethernet communication conversion module be converted to
Then too Network Communication mode is connect after network hub is drawn with interior master control device.
Further, the interior master control device includes: vehicle-mounted industrial personal computer, the vehicle-mounted industrial personal computer and remote-control handle and
GPS positioning module is separately connected.
Further, the interior master control device further include: ultrasonic partial discharge monitors terminal, the ultrasonic partial discharge monitoring
Terminal is connect with vehicle-mounted industrial personal computer.
Vehicle-mounted detection method suitable for distribution line inspection, comprising the following steps:
It is positioned by line trace and tower bar, controls inspection vehicle along setting path and be scanned the vehicle-mounted detection of formula；
Tested equipment is positioned, according to positioning result, the ultrasonic wave for carrying out different angle to tested equipment is believed
Number scanning, equipment is detected from different angles；
After discovering device exception, holder angle is adjusted, the strongest position of ultrasonic wave sound is chosen and is accurately positioned；Ultrasound
Specific equipment pointed by wave sound sound and the maximum position of decibel value is defective equipment；
The observation of equipment appearance state is carried out to the defective equipment that detects and is taken pictures, GPS data, preservation data are recorded
And image file, defect recognition is carried out according to the data and image file.
Further, the reality of power line the line trace: is carried out using edge detection and Hough line detection algorithm
When detect, holder SERVO CONTROL is carried out according to power line position in the picture, realizes the online tracking of route, guarantees power line
Always visible light camera within sweep of the eye；
The tower spotting: judged using position of the GPS coordinate information to inspection vehicle and shaft tower, work as inspection car
Slow down when close to shaft tower or parking carries out data acquisition, shaft tower determines in the suitable deep learning model realization image of training
Then position adjusts holder angle according to shaft tower position in the picture, successively carry out shaft tower in accordance with the order from top to bottom can
The acquisition of light-exposed image is completed at the same time infrared and ultrasound data acquisition；
The defect recognition: background analysis is carried out to collected visible images, is known using image procossing and mode
Whether method for distinguishing detection route and shaft tower have the defect of Bird's Nest, the suspension of kite foreign matter, and collected infrared image is carried out
Temperature threshold alarm, alarms to the part for being more than temperature threshold.
Compared with prior art, the beneficial effects of the present invention are:
1, in the structure design of vehicle-mounted detection apparatus, meet modularization, miniaturization, feature easy to install.Vehicle-mounted detection
Device mainly includes roof detection components and interior master control component two parts, without carrying out special repacking to vehicle, it is convenient to
It will test device to be installed on inspection car, distribution line inspection operation can be carried out.
2, application through the invention will improve distribution line and make an inspection tour efficiency and make an inspection tour quality, solves artificial on-the-spot make an inspection tour
The problems such as heavy workload, big low efficiency and quality difference, the early warning of powerful support distribution network failure and actively repairing, to promote distribution
Net power supply reliability provides technical guarantee.
Detailed description of the invention
The Figure of description for constituting a part of the invention is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.
Fig. 1 is roof inspection component scheme of installation；
Fig. 2 is roof inspection component structure diagram；
Fig. 3 is roof assay device structures schematic diagram；
Fig. 4 is interior master control component scheme of installation；
Fig. 5 is schematic diagram when vehicle-mounted detection apparatus works；
Schematic diagram when Fig. 6 is vehicle-mounted detection apparatus inoperative.
Label shown in attached drawing: 1, roof inspection component；2, power supply connection；3, inspection vehicle；4, ultrasonic partial discharge is supervised
Survey terminal；5, assistant driver seat；6, interior master control component；7, GPS positioning module；8, master control assembly support；9, roof detection is set
It is standby；10, holder；11, roof support；12, attitude transducer；13, visible light camera；14, infrared thermal imager；15, ultrasonic
Wave partial discharge detection instrument；16, communication device；17, device housings；18, rain-proof cover；19, remote-control handle；20, vehicle-mounted industrial personal computer.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the present invention.Unless another
It indicates, all technical and scientific terms used herein has usual with general technical staff of the technical field of the invention
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to exemplary embodiments of the present invention.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
In order to solve the deficiencies in the prior art pointed out in background technique, the present invention utilizes Power Robot inspection technology,
Invention is suitable for the vehicle-mounted detection apparatus of distribution line inspection, integrates visible light camera, infrared thermal imager, ultrasonic partial discharge
Detector, instead of or indirect labor carry out power distribution network intelligent patrol detection.Utilize geographical coordinate positioning, visual servo and line trace skill
Art, automatically tracks in vehicle moving process and positions distribution line and equipment, and intelligent recognition distribution line and equipment appearance are different
Often, thermal defect and Insulation Problems, to achieve the purpose that real-time detection distribution line.
A kind of vehicle-mounted detection apparatus suitable for distribution line inspection proposed by the present invention mainly by roof inspection component 1 with
Interior 6 two parts of master control component composition, as shown in Fig. 1 and Fig. 4.
Roof inspection component 1 is mainly including roof detection device 9, holder 10, roof support 11 and 12 groups of attitude transducer
At as shown in Figure 2.In view of road bump can carry out unfavorable shadow to visible light and infrared collecting data band in vehicle operation
It rings, so being mounted with attitude transducer 12 in roof inspection component 1.Holder 10 and attitude transducer 12 are mounted on roof support 11
On, roof detection device 9 is mounted on holder 10, and roof support 11 is mounted on above 3 roof of inspection vehicle.Roof detection device
9 mainly by visible light camera 13, infrared thermal imager 14, ultrasonic partial discharge detector 15, communication device 16 and device housings
17 compositions, it is seen that light video camera 13, infrared thermal imager 14, ultrasonic partial discharge detector 15, communication device 16 are mounted on equipment
In shell 17, as shown in Figure 3.When vehicle-mounted detection apparatus works, 15 front end of ultrasonic partial discharge detector cannot be blocked, so ultrasonic
The front panel that the signal receiving end of wave partial discharge detection instrument 15 needs guiding through device housings 17 is exposed outside, to prevent rainwater rainy days logical
The signal receiving end for crossing ultrasonic partial discharge detector 15 enters inside equipment, and rain-proof cover need to be screwed on when vehicle-mounted detection apparatus does not work
18 protect equipment.
In view of containing visible light camera 13, infrared thermal imager 14 and ultrasonic partial discharge in roof inspection component 1
The detection device of detector 15, its output data quantity is larger during inspection, therefore roof inspection component 1 uses ethernet communication
Mode carries out data transmission with interior master control component 6.To make various detection devices and holder 10 can access network based on ethernet communication network
Network, contains ethernet communication conversion module in communication device 16 again, the control of holder 10 RS485 communication and relevant device
RS232 communication is converted into network communication, later " network hub (HUB) " inside access communications device 16.Finally, roof
The ether Netcom line of 1 external connection of inspection component is drawn by HUB and draws power supply connection 2 successively via inspection with power supply interface
Enter 3 inside of inspection car after 3 roof of vehicle, front windshield, engine housing to connect with interior master control component 6.
Interior master control component 6 is mainly made of ultrasonic partial discharge monitoring terminal 4, remote-control handle 19 and vehicle-mounted industrial personal computer 20,
Interior master control component 6 is mounted on master control assembly support 8, and master control assembly support 8 is connect with car body, is mounted on assistant driver seat 5
Rear, as shown in Figure 4.Vehicle-mounted industrial personal computer 20 is the core of interior master control component 6, and operation has distribution vehicle-mounted inspection software system thereon
System, which contains line trace and function is known in data acquisition, tower spotting and data acquisition, defect automatically.
Line trace: the real-time detection of power line is carried out using edge detection and Hough line detection algorithm, according to electric power
The position of line in the picture carries out holder SERVO CONTROL, realizes the online tracking of route, guarantees that power line is taken the photograph in visible light always
Camera is within sweep of the eye；
Tower spotting: being judged using position of the GPS coordinate information to inspection vehicle and shaft tower, when inspection vehicle is close
Slow down when shaft tower or stop and carries out data acquisition, the positioning of shaft tower in the suitable deep learning model realization image of training, then
Holder angle is adjusted according to the position of shaft tower in the picture, successively carries out the visible images of shaft tower in accordance with the order from top to bottom
Acquisition, be completed at the same time infrared and ultrasound data acquisition.
Defect recognition: background analysis is carried out to collected visible images, utilizes the side of Image Processing and Pattern Recognition
The defect whether method detection route and shaft tower have the foreign matters such as Bird's Nest, kite to hang carries out temperature for collected infrared image
Threshold Alerts alarm to the part for being more than temperature threshold.
Vehicle-mounted 20 one side connection communication device of industrial personal computer realizes that detection data accesses software systems, in addition also with remote control hand
Handle 19 and GPS positioning module 7 connect, and realize interior patrol officer to the remote control and software systems pair of roof inspection component 1
The data of 3 current operating conditions of inspection vehicle acquire, and GPS positioning module 7 is mounted on master control assembly support 8.
In addition, confession has also been devised in interior master control component 6 since vehicle-mounted cruising inspection system needs to be powered plurality of devices
Electric system, to guarantee the reliable supply of the power supply of each equipment.Ultrasonic partial discharge monitoring terminal 4 is installed to vehicle-mounted industrial personal computer 20
On, to form the real-time monitoring acquired to 14 data of ultrasonic partial discharge detector.When patrol task executes, remote-control handle peace
It is put into vehicle-mounted 21 inside card slot of industrial personal computer, after inspection, remote-control handle playback, as shown in Figure 5 and Figure 6.
The main working process that the present invention is suitable for the vehicle-mounted detection apparatus of distribution line inspection is as follows:
Specific testing process is as follows:
1) inspection automobile is scanned the vehicle-mounted detection of formula along distribution line with certain speed.
2) according to the positioning result of Visible Light Camera, the center of supersonic detection device is leaned to one side to carry out ultrasound against detected
Wave signal scanning.Since ultrasonic signal has good directionality, when moving detection along route, need to change ultrasound
The direction of detector, from different angles detects equipment.
3) it is recorded after noting abnormalities, then adjusts holder, carried out precise measurement, change the alignment angle of ultrasonic detector
Degree is chosen the strongest position of ultrasonic wave sound and is accurately positioned.Pointed by ultrasonic wave sound and the maximum position of decibel value
Specific equipment is defective equipment.
4) the defective equipment that will test carries out the observation of equipment appearance state by adjusting the focal length of Visible Light Camera,
Then it takes pictures to defective equipment, records GPS data, image file is saved, as examining report data management data.
According to ultrasonic partial discharge testing principle, the information such as waveform and propagation time to the ultrasonic signal of acquisition, to electric power
The shelf depreciation situation of equipment is qualitatively and quantitatively analyzed, and can be positioned to abort situation.Most of ultrasonic wave
Detecting instrument carries out fault distinguishing according to the amplitude of ultrasonic wave, in order to improve the accuracy of fault detection of local discharge, Ke Yiti
The various features of shelf depreciation ultrasonic signal are taken to carry out equipment partial discharge state analysis.Shelf depreciation ultrasound signal signatures extract at present
Common method have temporal analysis, frequency domain analysis and Time-Frequency Analysis method.Acquisition signal can be chosen in time-domain analysis
Variance, absolute integral average value, 5 kurtosis of ultrasonic signal, degree of bias characteristic parameters, frequency domain analysis can choose power spectrum
3 maximum value, median frequency, mean power characteristic parameters.
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, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. being suitable for the vehicle-mounted detection apparatus of distribution line inspection characterized by comprising the roof inspection device being in communication with each other
With interior master control device, abnormal appearance, thermal defect and/or the insulation of the roof inspection device acquisition distribution line and equipment are lacked
It falls into information and is sent to interior master control device；The car master control device is automatically positioned inspection vehicle, by line trace and
Tower bar positioning, control inspection vehicle according to scheduled inspection link travel and complete line data-logging；Roof inspection dress is received simultaneously
The information of transmission is set, realizes the automatic identification of distribution line and equipment deficiency.
2. being suitable for the vehicle-mounted detection apparatus of distribution line inspection as described in claim 1, which is characterized in that the roof patrols
Checking device includes: roof support and the holder that is mounted on roof support；Roof detection device is installed on the holder.
3. being suitable for the vehicle-mounted detection apparatus of distribution line inspection as claimed in claim 2, which is characterized in that the roof inspection
Measurement equipment includes: one or more of visible light camera, infrared thermal imager and ultrasonic partial discharge detector.
4. being suitable for the vehicle-mounted detection apparatus of distribution line inspection as claimed in claim 2, which is characterized in that the roof patrols
Checking device further include: attitude transducer, the attitude transducer are communicated with by ethernet communication mode with interior master control device；
The attitude transducer acquires current holder ontology posture and Real-time Feedback is to interior master control device, and the car master control fills
It sets and holder pose compensation amount is calculated according to current holder ontology attitude data, generate cradle head control instruction.
5. being suitable for the vehicle-mounted detection apparatus of distribution line inspection as claimed in claim 2, which is characterized in that the roof inspection
Measurement equipment and holder are communicated by ethernet communication mode with interior master control device.
6. being suitable for the vehicle-mounted detection apparatus of distribution line inspection as claimed in claim 5, which is characterized in that the roof inspection
Measurement equipment further include: communication device, the communication device inside are equipped with ethernet communication conversion module and network hub, roof
The communication of detection device and holder is converted to ethernet communication mode by ethernet communication conversion module, then passes through network collection
Line device is connect after drawing with interior master control device.
7. being suitable for the vehicle-mounted detection apparatus of distribution line inspection as described in claim 1, which is characterized in that described interior total
Control device includes: vehicle-mounted industrial personal computer, remote-control handle and GPS positioning module, the vehicle-mounted industrial personal computer and remote-control handle and GPS positioning
Module is separately connected.
8. being suitable for the vehicle-mounted detection apparatus of distribution line inspection as claimed in claim 7, which is characterized in that described interior total
Control device further include: ultrasonic partial discharge monitors terminal, and the ultrasonic partial discharge monitoring terminal is connect with vehicle-mounted industrial personal computer.
9. being suitable for the vehicle-mounted detection method of distribution line inspection, which comprises the following steps:
It is positioned by line trace and tower bar, controls inspection vehicle along setting path and be scanned the vehicle-mounted detection of formula；
Tested equipment is positioned, according to positioning result, the ultrasonic signal for carrying out different angle to tested equipment is swept
It retouches, equipment is detected from different angles；
After discovering device exception, holder angle is adjusted, the strongest position of ultrasonic wave sound is chosen and is accurately positioned；Ultrasonic acoustic
Specific equipment pointed by sound and the maximum position of decibel value is defective equipment；
The observation of equipment appearance state is carried out to the defective equipment that detects and is taken pictures, GPS data, preservation data and shadow are recorded
As file, defect recognition is carried out according to the data and image file.
10. being suitable for the vehicle-mounted detection method of distribution line inspection as claimed in claim 9, which is characterized in that
The line trace: the real-time detection of power line is carried out using edge detection and Hough line detection algorithm, according to electricity
The position of the line of force in the picture carries out holder SERVO CONTROL, realizes the online tracking of route, guarantees power line always in visible light
Video camera is within sweep of the eye；
The tower spotting: being judged using position of the GPS coordinate information to inspection vehicle and shaft tower, when inspection vehicle leans on
Slow down when nearly shaft tower or stop and carries out data acquisition, the positioning of shaft tower in the suitable deep learning model realization image of training, so
Holder angle is adjusted according to the position of shaft tower in the picture afterwards, successively carries out the visible light figure of shaft tower in accordance with the order from top to bottom
The acquisition of picture is completed at the same time infrared and ultrasound data acquisition；
The defect recognition: background analysis is carried out to collected visible images, utilizes Image Processing and Pattern Recognition
Whether method detection route and shaft tower have the defect of Bird's Nest, the suspension of kite foreign matter, carry out temperature for collected infrared image
Threshold Alerts alarm to the part for being more than temperature threshold.
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| CN201810298940.1A CN108956640B (en) | 2018-04-04 | 2018-04-04 | Vehicle-mounted detection device and detection method suitable for power distribution line inspection |
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| CN109946564A (en) * | 2019-03-15 | 2019-06-28 | 山东鲁能智能技术有限公司 | A kind of distribution network overhead line inspection data collection method and cruising inspection system |
| CN110243479A (en) * | 2019-06-20 | 2019-09-17 | 国网山东省电力公司济宁市任城区供电公司 | A kind of method and system improving the online fault detection accuracy rate of overhead line structures |
| CN110261741A (en) * | 2019-05-24 | 2019-09-20 | 国网河北省电力有限公司电力科学研究院 | Discharge position localization method, device and the terminal device of high-tension switch gear |
| CN111461006A (en) * | 2020-03-31 | 2020-07-28 | 哈尔滨航耀光韬科技有限公司 | Optical remote sensing image tower position detection method based on deep migration learning |
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| CN113985200A (en) * | 2021-10-25 | 2022-01-28 | 南京中科博涛科技有限公司 | Online intelligent circuit inspection and alarm device |
| CN117315515A (en) * | 2023-11-29 | 2023-12-29 | 深圳市大易电气实业有限公司 | Visual auxiliary inspection method and system for distribution line |
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| CN113601536B (en) * | 2021-10-11 | 2022-03-18 | 国网智能科技股份有限公司 | Distribution network vehicle-mounted intelligent inspection robot system and method |
| CN113910252A (en) * | 2021-10-11 | 2022-01-11 | 国网智能科技股份有限公司 | Dynamic tracking method and system for distribution network vehicle-mounted intelligent inspection robot pole tower |
| CN113910252B (en) * | 2021-10-11 | 2023-03-03 | 国网智能科技股份有限公司 | Dynamic tracking method and system for distribution network vehicle-mounted intelligent inspection robot pole tower |
| WO2023061049A1 (en) * | 2021-10-11 | 2023-04-20 | 国网智能科技股份有限公司 | Network-provisioning vehicle-mounted intelligent inspection robot system and methods based on same |
| CN113601536A (en) * | 2021-10-11 | 2021-11-05 | 国网智能科技股份有限公司 | Distribution network vehicle-mounted intelligent inspection robot system and method |
| CN113985200A (en) * | 2021-10-25 | 2022-01-28 | 南京中科博涛科技有限公司 | Online intelligent circuit inspection and alarm device |
| CN117315515A (en) * | 2023-11-29 | 2023-12-29 | 深圳市大易电气实业有限公司 | Visual auxiliary inspection method and system for distribution line |
| CN117315515B (en) * | 2023-11-29 | 2024-03-15 | 深圳市大易电气实业有限公司 | Visual auxiliary inspection method and system for distribution line |
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