CN109038821A - A kind of intelligent substation distributed image cruising inspection system - Google Patents
A kind of intelligent substation distributed image cruising inspection system Download PDFInfo
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- CN109038821A CN109038821A CN201810912227.1A CN201810912227A CN109038821A CN 109038821 A CN109038821 A CN 109038821A CN 201810912227 A CN201810912227 A CN 201810912227A CN 109038821 A CN109038821 A CN 109038821A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00001—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by the display of information or by user interaction, e.g. supervisory control and data acquisition systems [SCADA] or graphical user interfaces [GUI]
Abstract
The invention discloses a kind of intelligent substation distributed image cruising inspection systems, including power supply, infrared image acquisition sensor, visible light camera, WIFI wireless communication module and arm processor, the arm processor includes infrared image acquisition TU task unit, visible images acquisition tasks unit, infrared image analysis TU task unit, visible images analysis task unit, unit exception comprehensive analysis TU task unit and telecommunication TU task unit, and infrared picture data FIFO dedicated buffering and visible images data FIFO dedicated buffering are provided in the arm processor.Intelligent substation distributed image cruising inspection system of the invention, can independently realize the diagnostic analysis to power system transformer substation internal environment and equipment state.
Description
Technical field
The present invention relates to a kind of intelligent substation distributed image cruising inspection systems.
Background technique
In order to keep the stable operation of electric system, periodic inspection operation is carried out to electric system and is very important
Operation and maintenance.In the huge power grid in China, the personnel for specializing in inspection operation are more than 300,000, large labor intensity and
Error frequency occurs.Existing inspection operation experience exposes a series of significant weakness of manual inspection operation, main to wrap
Include: 1) noncontinuity cannot continue the state of tracking equipment, period distances of status checkout 1 day or a couple of days, before and after successive
Equipment breaks down during Inspection and high progression not can be carried out timely processing then；2) interference caused by subjective factors is big, artificial
During inspection, since the direct participation of people causes operation to have certain subjectivity, often patrolled what personal experience combined
It examines in operation process, leads to the intentional missing inspection of people or ignore some significant field datas, accident is caused to generate and deteriorate.3) it lacks
The charge book of weary complete specifications and system, charge book for analysis phenomenon of the failure behind the reason of and when development course very
Important.Under manual work mode, a small number of information that individual observes are write on paper by the mode of filling in a form, and are not easy to data
Subsequent analysis and storage utilize, data are imperfect.
Substation is carried out in view of various drawbacks of electric system manual inspection operation, development and using robot moving platform
Automation inspection increasingly obtains the attention of power departments at different levels；Full-featured robot moving platform is developed, realizes robot
It is one of the important directions of current electric power development instead of the task that people completes inspection operation.
Summary of the invention
The purpose of the present invention is overcoming the deficiencies of existing technologies, a kind of intelligent substation distributed image inspection system is provided
System the automatic synchronization infrared and visible images of analysis and can identify substation equipment or environment fault signature that may be present,
To independently realize the diagnostic analysis to power system transformer substation internal environment and equipment state.
Realizing the technical solution of above-mentioned purpose is: a kind of intelligent substation distributed image cruising inspection system, including power supply, red
Outer image acquiring sensor, visible light camera, WIFI wireless communication module and arm processor, the arm processor include red
Outer Image Acquisition TU task unit, visible images acquisition tasks unit, infrared image analysis TU task unit, visible images analysis
TU task unit, unit exception comprehensive analysis TU task unit and telecommunication TU task unit are provided in the arm processor infrared
Image data FIFO dedicated buffering and visible images data FIFO dedicated buffering；Wherein:
The power supply be respectively the infrared image acquisition sensor, visible light camera, WIFI wireless communication module and
Arm processor power supply；
The infrared image acquisition sensor is connect with the arm processor, and with the infrared image acquisition job order
Member communication；
The visible light camera is connect with the arm processor, and logical with the visible images acquisition tasks unit
Letter；
The WIFI wireless communication module is connect with the arm processor；
The infrared image acquisition TU task unit and infrared image analysis TU task unit pass through the infrared picture data
FIFO dedicated buffering shared data；
The visible images acquisition tasks unit and visible images analysis task unit pass through the visible images
Data FIFO dedicated buffering shared data；
The infrared image analysis TU task unit and visible images analysis task unit are comprehensive with the unit exception respectively
Analysis task unit is closed to be connected；
The unit exception comprehensive analysis TU task unit is connected with the telecommunication TU task unit.
A kind of above-mentioned intelligent substation distributed image cruising inspection system, in which:
The infrared image acquisition TU task unit periodically obtains image data from the infrared image sensor, and will
Image data is converted to video image storage in the infrared picture data FIFO (First In First Out, first in first out)
Dedicated buffering；
The visible images acquisition tasks unit periodically obtains video data stream from the visible light camera, and
Video data stream is converted into video image storage in the visible images data FIFO (Firs t In First Out, elder generation
Into first going out) dedicated buffering shared data；
The infrared image analysis TU task unit is periodically obtained from the infrared picture data FIFO dedicated buffering
Infrared picture data, and infrared picture data is analyzed and handled, it is sequentially completed smog analysis, foreign matter analysis and equipment shape
After state analysis, it is comprehensive that the diagnostic analysis result of infrared image is sent to the unit exception by the infrared image analysis TU task unit
Analysis task unit is closed, and there may be alerts when exception in environment or equipment；
The visible images analysis task unit is periodically from the visible images data FIFO dedicated buffering
Visible images data are obtained, and visible images data are analyzed and handled, are sequentially completed smog analysis, foreign matter analysis
After equipment state analysis, the visible images analysis task unit will be seen that the diagnostic analysis result of light image is sent to institute
Unit exception comprehensive analysis TU task unit is stated, and there may be alerts when exception in environment or equipment；
The unit exception comprehensive analysis TU task unit, the diagnosis point of the comprehensive infrared image analysis TU task unit output
Analysis result and the diagnostic analysis of visible images analysis task unit output are as a result, the method for taking data fusion is formed pair
The comprehensive diagnos of equipment state is as a result, and be sent to the telecommunication task recognition list for the comprehensive diagnos result of equipment state
Member；
The telecommunication task recognition unit passes through the comprehensive diagnos result information and its data of equipment state wireless
Mode is sent to center of the centralized monitor.
A kind of above-mentioned intelligent substation distributed image cruising inspection system, in which:
The telecommunication task recognition unit is also used to receive the setting parameter and control that the centralized monitoring system issues
System instruction.
A kind of above-mentioned intelligent substation distributed image cruising inspection system, wherein
The smog of the infrared image analysis TU task unit is analyzed, and is that abnormal smog is recognized whether from infrared image
Feature；
The foreign matter of the infrared image analysis TU task unit is analyzed, be recognized whether from infrared image it is abnormal
Object appears in power transformation stage space, which includes two steps: infrared image being rotated and scaled first, is made
It is matched with reference picture；Then difference and filtered noise signal, detect large area off-note that may be present；
The equipment state of the infrared image analysis TU task unit is analyzed, and is analyzed the infrared image absorbed,
Extract the temperature field information of equipment, and and preset and the characteristics of image stored compares, when there is significant temperature anomaly
When alert.
A kind of above-mentioned intelligent substation distributed image cruising inspection system, in which:
The smog of the visible images analysis task unit is analyzed, and is that exception is recognized whether from visible images
Smoke characteristics；
The foreign matter of the visible images analysis task unit is analyzed, and is to recognize whether from visible images not just
Normal object appears in power transformation stage space, the foreign matter analytic process include two steps: first it will be seen that light image carry out rotation and
Scaling, matches it with reference picture；Then difference and filtered noise signal, detect large area off-note that may be present；
The equipment state of the visible images analysis task unit is analyzed, and is divided the visible images absorbed
Analysis, analyzes visible images according to pre-set image processing flow and parameter and extracts state parameter.
A kind of above-mentioned intelligent substation distributed image cruising inspection system, in which:
The infrared image acquisition sensor is connect by SPI interface with the arm processor, and with the infrared image
Acquisition tasks unit communication；
The visible light camera passes through compatible IIC interface and connect with the arm processor, and with the visible images
Acquisition tasks unit communication；
The WIFI wireless communication module is connect by RS322 interface with the arm processor.
A kind of above-mentioned intelligent substation distributed image cruising inspection system, in which:
The visible light camera uses digital image sensor；
The arm processor is using the ARM family chip STM32F4XX single-chip microcontroller of low-power consumption as core, and expansion RAM
(random access memory, random access memory) is used as infrared picture data FIFO dedicated buffering and visible images number
According to FIFO dedicated buffering.
Intelligent substation distributed image cruising inspection system of the invention, it is comprehensive using infrared and visible images analysis mode
Real-time diagnosis analysis is carried out to substation and equipment state, and transmits the result to center of the centralized monitor, it can automatic synchronization
It analyzes infrared and visible images and identifies substation equipment or environment fault signature that may be present, thus independently realization pair
The diagnostic analysis of power system transformer substation internal environment and equipment state.
Detailed description of the invention
Fig. 1 is the structural block diagram of intelligent substation distributed image cruising inspection system of the invention；
Fig. 2 is the software block diagram of the arm processor of intelligent substation distributed image cruising inspection system of the invention.
Specific embodiment
It is right with reference to the accompanying drawing in order to make those skilled in the art be better understood when technical solution of the present invention
Its specific embodiment is described in detail:
Please refer to Fig. 1 and Fig. 2, highly preferred embodiment of the present invention, a kind of intelligent substation distributed image cruising inspection system, packet
Power supply 5, infrared image acquisition sensor 2, visible light camera 3, WIFI wireless communication module 4 and arm processor 1 are included, at ARM
Managing device 1 includes infrared image acquisition TU task unit 11, visible images acquisition tasks unit 12, infrared image analysis TU task unit
13, visible images analysis task unit 14, unit exception comprehensive analysis TU task unit 15 and telecommunication TU task unit 16,
Infrared picture data FIFO dedicated buffering 17 and visible images data FIFO dedicated buffering are provided in arm processor 1
18。
Power supply 5 is respectively at infrared image acquisition sensor 2, visible light camera 3, WIFI wireless communication module 4 and ARM
Manage device power supply；The cell voltage (24V) that robot platform provides is converted to system IR image acquiring sensor 2 by power supply 5, can
Voltage needed for light-exposed camera 3, WIFI wireless communication module 4 and arm processor.
Infrared image acquisition sensor 2 is adopted as FLIR LEPTON infrared image sensor, at SPI interface and ARM
It manages device 1 to connect, and is communicated with infrared image acquisition TU task unit 11；The available infrared image of infrared image acquisition sensor 2
Data.There may be the red of failure for output after the infrared image processing program analysis in arm processor 1 for infrared picture data
Outer image evidence.
Visible light camera 3 uses OV7670 digital image sensor, is connected by compatible IIC interface and arm processor 1
It connects, and is communicated with visible images acquisition tasks unit 12；The available color video image data of visible light camera 3, it is color
Color video image data by arm processor 1 Visual image processing program analysis after output there may be failure can
Light-exposed image evidence.
WIFI wireless communication module 4 selects USR-C322 wireless module, which supports UART-WIFI communication, built-in
ICP/IP protocol stack can be realized the conversion between 2 user's serial ports, wireless network (WIFI) interfaces.WIFI wireless communication module 4
It is connect by RS322 interface with arm processor 1.
Arm processor 1 extends external RAM conduct using the ARM family chip STM32F4XX single-chip microcontroller of low-power consumption as core
Infrared picture data FIFO dedicated buffering 17 and visible images data FIFO dedicated buffering 18, correspondingly for depositing
Store up the infrared picture data and visible images data of signal processing.The inspection of each unit software realization of arm processor 1
The all images of system acquire and analysis processing task.
Infrared image acquisition TU task unit 11 and infrared image analysis TU task unit 13 are special by infrared picture data FIFO
With 17 shared data of buffer area；Visible images acquisition tasks unit 12 and visible images analysis task unit 14 pass through visible
18 shared data of light image data FIFO dedicated buffering；Infrared image analysis TU task unit 13 and visible images analysis task
Unit 14 is connected with unit exception comprehensive analysis TU task unit 15 respectively；Unit exception comprehensive analysis TU task unit 15 leads to long-range
Believe that TU task unit 16 is connected.
A kind of intelligent substation distributed image cruising inspection system of the invention:
(1) infrared image acquisition TU task unit 11 periodically obtains image from infrared image sensor 2 by SPI interface
Data, and image data is converted into video image storage in infrared picture data FIFO dedicated buffering 17；
(2) visible images acquisition tasks unit 12 is periodically obtained from visible light camera 3 by DCMI interface and is regarded
Frequency data stream, and video data stream is converted into video image storage in the shared number of visible images data FIFO dedicated buffering
According to 18；
(3) infrared image analysis TU task unit 13 is periodically obtained from infrared picture data FIFO dedicated buffering 17 red
Outer image data, and infrared picture data is analyzed and handled, it is sequentially completed smog analysis, foreign matter analysis and equipment state
After analysis, the diagnostic analysis result of infrared image is sent to comprehensive point of the unit exception by infrared image analysis TU task unit 13
TU task unit 15 is analysed, and there may be alerts when exception in environment or equipment；Wherein:
(31) the smog analysis of infrared image analysis TU task unit 13, is that abnormal cigarette is recognized whether from infrared image
Mist feature；
(32) infrared image analysis TU task unit 13 foreign matter analysis, be recognized whether from infrared image it is abnormal
Object appear in power transformation stage space, the foreign matter analytic process include two steps: infrared image is rotated and is scaled first,
Match it with reference picture；Then difference and filtered noise signal, detect large area off-note that may be present；
(33) the equipment state analysis of infrared image analysis TU task unit 13, is divided the infrared image absorbed
Analysis, extracts the temperature field information of equipment, and and preset and the characteristics of image stored compares, when occurring, significant temperature is different
Alert when often.
(4) visible images analysis task unit 14 is periodically obtained from visible images data FIFO dedicated buffering 18
Take visible images data, and visible images data analyzed and handled, be sequentially completed smog analysis, foreign matter analysis and
After equipment state analysis, it is seen that light image analysis task unit will be seen that the diagnostic analysis result of light image is sent to unit exception
Comprehensive analysis TU task unit 15, and there may be alerts when exception in environment or equipment；Wherein:
(41) visible images analysis task unit 14 smog analysis, be recognized whether from visible images it is different
Normal smoke characteristics；
(42) the foreign matter analysis of visible images analysis task unit 14, is recognized whether not from visible images
Normal object appears in power transformation stage space, which includes two steps: first it will be seen that light image is rotated
And scaling, match it with reference picture；Then difference and filtered noise signal, it is extremely special to detect large area that may be present
Sign；
(43) the equipment state analysis of visible images analysis task unit 14, is carried out to the visible images absorbed
Analysis, analyzes visible images according to pre-set image processing flow and parameter and extracts state parameter.
(5) unit exception comprehensive analysis TU task unit 15, the diagnosis point that comprehensive infrared image analysis TU task unit 13 exports
The diagnostic analysis that analysis result and visible images analysis task unit 14 export is as a result, the method for taking data fusion is formed to setting
The comprehensive diagnos of standby state is as a result, and be sent to telecommunication task recognition unit 16 for the comprehensive diagnos result of equipment state；
(6) telecommunication task recognition unit 16 passes through the comprehensive diagnos result information and its data of equipment state wireless
Mode is sent to center of the centralized monitor.Telecommunication task recognition unit 16 is also used to receive the setting that centralized monitoring system issues
Parameter and control instruction.
Intelligent substation distributed image cruising inspection system of the invention, infrared image sensor 2 obtain infrared image in real time,
Visible light camera 3 is synchronous to obtain video image, and the software in arm processor 1 is to the figure after the process and acquisition for obtaining image
As carrying out comprehensive analysis and processing, the diagnostic message of extract equipment, the image data and examine that WIFI wireless communication module 4 will acquire
Disconnected result is transferred to long-range center of the centralized monitor.Intelligent substation distributed image cruising inspection system of the invention, using feature
Matching and off-note extract mode Synchronization Analysis is infrared and visible images, detect fault signature that may be present automatically,
And control centre is sent to by network.
In conclusion intelligent substation distributed image cruising inspection system of the invention, can automatic synchronization analysis it is infrared and can
Light-exposed image simultaneously identifies substation equipment or environment fault signature that may be present, to independently realize to electric system power transformation
The diagnostic analysis of internal environment of standing and equipment state.
Those of ordinary skill in the art it should be appreciated that more than embodiment be intended merely to illustrate the present invention,
And be not used as limitation of the invention, as long as the change in spirit of the invention, to embodiment described above
Change, modification will all be fallen within the scope of claims of the present invention.
Claims (7)
1. a kind of intelligent substation distributed image cruising inspection system, which is characterized in that sensed including power supply, infrared image acquisition
Device, visible light camera, WIFI wireless communication module and arm processor, the arm processor include infrared image acquisition task
Unit, visible images acquisition tasks unit, infrared image analysis TU task unit, visible images analysis task unit, equipment
Comprehensive Analysis of The Anomalies TU task unit and telecommunication TU task unit are provided with infrared picture data FIFO in the arm processor
Dedicated buffering and visible images data FIFO dedicated buffering；Wherein:
The power supply is respectively at the infrared image acquisition sensor, visible light camera, WIFI wireless communication module and ARM
Manage device power supply；
The infrared image acquisition sensor is connect with the arm processor, and logical with the infrared image acquisition TU task unit
Letter；
The visible light camera is connect with the arm processor, and with the visible images acquisition tasks unit communication；
The WIFI wireless communication module is connect with the arm processor；
The infrared image acquisition TU task unit and infrared image analysis TU task unit are special by the infrared picture data FIFO
With Buffer check data；
The visible images acquisition tasks unit and visible images analysis task unit pass through the visible images data
FIFO dedicated buffering shared data；
The infrared image analysis TU task unit and visible images analysis task unit divide with unit exception synthesis respectively
TU task unit is analysed to be connected；
The unit exception comprehensive analysis TU task unit is connected with the telecommunication TU task unit.
2. a kind of intelligent substation distributed image cruising inspection system according to claim 1, which is characterized in that
The infrared image acquisition TU task unit periodically obtains image data from the infrared image sensor, and by image
Data are converted to video image storage in the infrared picture data FIFO dedicated buffering；
The visible images acquisition tasks unit periodically obtains video data stream from the visible light camera, and will view
Frequency data stream is converted to video image storage in the visible images data FIFO dedicated buffering shared data；
The infrared image analysis TU task unit periodically obtains from the infrared picture data FIFO dedicated buffering infrared
Image data, and infrared picture data is analyzed and handled, it is sequentially completed smog analysis, foreign matter analysis and equipment state point
After analysis, the diagnostic analysis result of infrared image is sent to comprehensive point of the unit exception by the infrared image analysis TU task unit
TU task unit is analysed, and there may be alerts when exception in environment or equipment；
The visible images analysis task unit is periodically obtained from the visible images data FIFO dedicated buffering
Visible images data, and visible images data are analyzed and handled, smog analysis, foreign matter analysis are sequentially completed and are set
After standby state analysis, the visible images analysis task unit will be seen that the diagnostic analysis result of light image is sent to described set
Standby Comprehensive Analysis of The Anomalies TU task unit, and there may be alerts when exception in environment or equipment；
The unit exception comprehensive analysis TU task unit, the diagnostic analysis knot of the comprehensive infrared image analysis TU task unit output
The diagnostic analysis of fruit and visible images analysis task unit output is as a result, the method for taking data fusion is formed to equipment
The comprehensive diagnos of state is as a result, and be sent to the telecommunication task recognition unit for the comprehensive diagnos result of equipment state；
The telecommunication task recognition unit by the comprehensive diagnos result information and its data of equipment state wirelessly
It is sent to center of the centralized monitor.
3. a kind of intelligent substation distributed image cruising inspection system according to claim 2, which is characterized in that
The telecommunication task recognition unit is also used to receive the setting parameter that the centralized monitoring system issues and control refers to
It enables.
4. a kind of intelligent substation distributed image cruising inspection system according to claim 2, which is characterized in that
The smog of the infrared image analysis TU task unit is analyzed, and is to recognize whether that abnormal smog is special from infrared image
Sign；
The foreign matter of the infrared image analysis TU task unit is analyzed, and is that abnormal object is recognized whether from infrared image
Appear in power transformation stage space, the foreign matter analytic process include two steps: infrared image is rotated and is scaled first, make its with
Reference picture matching；Then difference and filtered noise signal, detect large area off-note that may be present；
The equipment state of the infrared image analysis TU task unit is analyzed, and is analyzed the infrared image absorbed, is extracted
The temperature field information of equipment out, and and preset and the characteristics of image stored compares, sent out when there is significant temperature anomaly
Warning message out.
5. a kind of intelligent substation distributed image cruising inspection system according to claim 2, which is characterized in that
The smog of the visible images analysis task unit is analyzed, and is that abnormal smog is recognized whether from visible images
Feature；
The foreign matter of the visible images analysis task unit is analyzed, be recognized whether from visible images it is abnormal
Object appears in power transformation stage space, which includes two steps: first it will be seen that light image is rotated and scaled,
Match it with reference picture；Then difference and filtered noise signal, detect large area off-note that may be present；
The equipment state of the visible images analysis task unit is analyzed, and is analyzed the visible images absorbed,
Visible images are analyzed according to pre-set image processing flow and parameter and extract state parameter.
6. a kind of intelligent substation distributed image cruising inspection system according to claim 1, which is characterized in that
The infrared image acquisition sensor is connect by SPI interface with the arm processor, and with the infrared image acquisition
TU task unit communication；
The visible light camera passes through compatible IIC interface and connect with the arm processor, and acquires with the visible images
TU task unit communication；
The WIFI wireless communication module is connect by RS322 interface with the arm processor.
7. a kind of intelligent substation distributed image cruising inspection system according to claim 1, which is characterized in that described visible
Light camera uses digital image sensor；
The arm processor is using the ARM family chip STM32F4XX single-chip microcontroller of low-power consumption as core, and expansion RAM is as red
Outer image data FIFO dedicated buffering and visible images data FIFO dedicated buffering.
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| CN110567964A (en) * | 2019-07-19 | 2019-12-13 | 华瑞新智科技（北京）有限公司 | method and device for detecting defects of power transformation equipment and storage medium |
| CN110587629A (en) * | 2019-10-15 | 2019-12-20 | 云南电网有限责任公司电力科学研究院 | Transformer substation inspection robot, inspection method and inspection robot control method |
| CN111062920A (en) * | 2019-12-13 | 2020-04-24 | 北京百度网讯科技有限公司 | Method and device for generating semiconductor detection report |
| CN111428629A (en) * | 2020-03-23 | 2020-07-17 | 深圳供电局有限公司 | Substation operation monitoring method, state determination method and unmanned aerial vehicle inspection system |
| CN111428629B (en) * | 2020-03-23 | 2024-05-10 | 深圳供电局有限公司 | Substation operation monitoring method, state determining method and unmanned aerial vehicle inspection system |
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| CN110567964A (en) * | 2019-07-19 | 2019-12-13 | 华瑞新智科技（北京）有限公司 | method and device for detecting defects of power transformation equipment and storage medium |
| CN110587629A (en) * | 2019-10-15 | 2019-12-20 | 云南电网有限责任公司电力科学研究院 | Transformer substation inspection robot, inspection method and inspection robot control method |
| CN111062920A (en) * | 2019-12-13 | 2020-04-24 | 北京百度网讯科技有限公司 | Method and device for generating semiconductor detection report |
| CN111062920B (en) * | 2019-12-13 | 2023-06-20 | 北京百度网讯科技有限公司 | Method and device for generating semiconductor detection report |
| CN111428629A (en) * | 2020-03-23 | 2020-07-17 | 深圳供电局有限公司 | Substation operation monitoring method, state determination method and unmanned aerial vehicle inspection system |
| CN111428629B (en) * | 2020-03-23 | 2024-05-10 | 深圳供电局有限公司 | Substation operation monitoring method, state determining method and unmanned aerial vehicle inspection system |
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Application publication date: 20181218 |