CN109186549A - A kind of Iron tower incline angle measurement method of view-based access control model - Google Patents
A kind of Iron tower incline angle measurement method of view-based access control model Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
Abstract
A kind of Iron tower incline angle measurement method of view-based access control model, the present invention relates to the Iron tower incline angle measurement methods of view-based access control model.The present invention solves the problems such as existing method measurement efficiency is low, at high cost and cumbersome.The present invention includes: the left and right two images in binocular solid camera acquisition steel tower fair line direction；Detect the four points of connection P1, P2, P3, P4 of steel tower and insulator chain in left figure；Calculate three-dimensional coordinate of the four points of connection in camera coordinates system；Calculate the midpoint P6 of the midpoint P5 and P3 and P4 of P1 and P2；Steel tower is calculated in the inclined angle alpha 1 in fair line direction and the inclined angle alpha 2 of crossline direction；Camera is calculated at the inclination angle in fair line directionWith the tiltangleθ of crossline direction；It is practical in the angle of inclination beta 1 in sequence direction and the angle of inclination beta 2 of crossline direction to calculate steel tower.The present invention is used for Iron tower incline angle measurement field.
Description
Technical field
The present invention relates to field of visual inspection, and in particular to a kind of Iron tower incline angle measurement method of view-based access control model.
Background technique
In order to protect grid equipment, the existing Iron tower incline angle measurement method of electric system includes:
1. installing the similar angular transducer such as twin shaft angular transducer on steel tower to measure；
a.https://wenku.baidu.com/view/53f7ccfd04a1b0717fd5dd1a.html
B. publication number CN103162667B
2. being measured using dipper system；
A. the wide scope electric power tower high-precision deformation monitoring method based on dipper system (application number:
201611104114.6)
b.http://blog.sina.com.cn/s/blog_862741e10102whcp.html
3. ground uses theodolite, three-dimensional laser scanner measurement.
4. using the mark for thinking design on unmanned plane measurement steel tower:
A kind of Iron tower incline angle method for automatic measurement (application number: 201710625285.1) based on NI Vision Builder for Automated Inspection
Method 1 and method 2 need to dispose equipment, calibrate, lead to by the way of installing measuring device on steel tower
The complex operations such as letter, and need repeatedly to safeguard equipment in steel tower normal use, it has not only consumed biggish manpower but also has had
Bigger risk.Method 3, ground carry out manual measurement, and expensive equipment is cumbersome, and measurement efficiency is low.Method 4, unmanned plane
Mode efficiency is higher, but needs first to install measurement mark on steel tower, and unmanned plane breasts the tape risk to sum up in flight course, existing
With the presence of based on machine vision method carry out transmission pole tilt detection method measurement efficiency it is low, it is at high cost and operation it is numerous
It is the problems such as trivial, improved day by day with artificial intelligence technology, computer vision technique as artificial intelligence a branch close
Year also obtains development at full speed, and intelligent status monitoring is a ring important in electric system now, efficient monitoring and protecting electricity
Net equipment has urgent demand in electric system.
Summary of the invention
The purpose of the present invention is to solve existing method measurement efficiencies it is low, at high cost and cumbersome the problems such as, and
It is proposed a kind of Iron tower incline angle measurement method of view-based access control model.
A kind of Iron tower incline angle measurement method of view-based access control model, with the development of national economy, electric power, communication network
Area coverage is more and more wider, has largely used steel tower in electric power transmission line and communication line, such as high voltage electric power line steel tower, communication
Base station iron tower etc..Steel tower plays the important function of bridge bridge joint in the covering of electric power transmission line and communication network.But
Due to some natural calamities (such as sleet, strong wind) and coal mining, engineering construction, artificial destruction etc., tower body is caused
The case where inclination, happens occasionally.Tower body inclination often will cause transmission line of electricity and communication network interrupts, serious to cause down tower
Event.These normal works all by safe operation and communication network to power transmission network cause great threat, give people's lives and properties
Bring loss.Therefore the rapid survey of Iron tower incline angle is particularly important.The Iron tower incline angle of the view-based access control model
Spend measurement method the following steps are included:
Step 1: binocular solid camera acquires the left and right two images in steel tower fair line direction, while recording adding for current time
Measurement of velocity magnitude；Wherein, left and right two images refer to that the image of the left camera shooting of binocular camera and the right camera of binocular camera are clapped
The image taken the photograph, and the image of the left camera shooting of binocular camera is referred to as left figure, by the image letter of the right camera shooting of binocular camera
Referred to as right figure；It is called fair line direction along the direction of electric wire on shaft tower, direction normal thereto and parallel to the ground is called horizontal line
Direction；
Step 2: the four points of connection of steel tower and insulator chain in left figure is detected using deep learning object detection method
P1, P2, P3 and P4；
Step 3: calculating in step 2 four points of connection in camera coordinates system using binocular vision solid matching method
Three-dimensional coordinate: P1 (x1,y1,z1)、P2(x2,y2,z2)、P3(x3,y3,z3)、P4(x4,y4,z4)；
Step 301: centered on Pi point in left figure, determine a pixel region, the i=1,2,3,4；
Step 302: in the right figure set with the same line position of left figure midpoint Pi (u, v), using at NCC method calculating with point Pi
(u, v) corresponding match point Qi (u-d, v), and the parallax d of invocation point Pi and point Qi, point Qi are corresponding points of the point Pi in right figure；
Wherein, u indicates to be used for the abscissa that NCC method calculates set left figure midpoint Pi, and v indicates set for the calculating of NCC method
The ordinate of left figure midpoint Pi, NCC method are common methods in images match field, are referred to by calculating two vector similitudes
Indicate the image matching algorithm of image similarity；
Step 303: calculating depth zi=(b*fx)/d of point Pi, wherein fx is the focal length of camera, and b is the base of binocular camera
Line length；
Step 304: being calculate by the following formula the abscissa xi and ordinate yi, xi=zi* (u-cx)/fx, yi=zi* of Pi point
(v-cy)/fy；Wherein, fx, fy, cx, cy are camera internal references, and fx, fy are the focal length of camera, and cx, cy are main melatope coordinate,
The generally center of image is determined by binocular calibration；
Step 4: calculating the midpoint P5 (x between tie point P1 and P25,y5,z5) and tie point P3 and P4 between in
Point P6 (x6,y6,z6)；
Step 5: the three-dimensional coordinate of the point P5 and P6 that are obtained according to step 4 calculate steel tower in 1 He of inclined angle alpha in fair line direction
The inclined angle alpha 2 of crossline direction: utilizing camera coordinates system, calculates the Y axis coordinate difference of midpoint P6 and P5 and the ratio of Z axis coordinate difference,
Inclined angle alpha 1 using the arctan function of the two ratio as steel tower in fair line direction again:
α 1=arctan ((y6-y5)/(z6-z5))
Using camera coordinates system, the X axis coordinate difference of midpoint P6 and P5 and the ratio of Z axis coordinate difference are calculated, then by the two ratio
Inclined angle alpha 2 of the arctan function of value as steel tower in crossline direction, calculation formula are as follows:
α 2=arctan ((x6-x5)/(z6-z5)).
Step 6: acceleration measurement Δ x, Δ y, the Δ z of three axis of the accelerometer measures recorded using step 1,
Camera coordinates system, calculates the ratio of acceleration analysis of the accelerometer in Y-axis with the acceleration analysis in Z axis, then by ratio
Arctan function as camera fair line direction inclination angle
In camera coordinates system, the ratio of the accelerometer acceleration analysis in X-axis and the acceleration analysis in Z axis is calculated,
Again using the arctan function of ratio as camera crossline direction tiltangleθ:
θ=arctan (- Δ x/ Δ z)；
Step 7: the value being calculated according to step 5 and step 6, inclined angle alpha 1 and camera by steel tower in fair line direction exist
The inclination angle in fair line directionDifference as the practical angle of inclination beta 1 in sequence direction of steel tower, calculation formula are as follows:
Inclined angle alpha 2 and camera using steel tower in crossline direction exist in the sum of the tiltangleθ of crossline direction as steel tower reality
The angle of inclination beta 2 of crossline direction, calculation formula are as follows:
β 2=α 2+ θ.
The invention has the benefit that
The present invention gives a kind of Iron tower incline angle measurement method of view-based access control model, this method is based on binocular tri-dimensional
Feel, deep learning target detection and accelerometer, the present invention acquire the left and right two in steel tower fair line direction using binocular solid camera
Width image, while after recording the acceleration measuring magnitude at current time, left figure is detected using deep learning object detection method
The four points of connection P1, P2, P3, P4 of upper steel tower and insulator chain；Four companies are calculated using binocular vision solid matching method
The three-dimensional coordinate P1 (x1, y1, z1) of contact, P2 (x2, y2, z2), P3 (x3, y3, z3), P4 (x4, y4, z5)；Calculate P1 and P2
Midpoint P5 (x5, y5, z5), calculate P3 and P4 midpoint P6 (x6, y6, z6)；Steel tower is calculated according to the three-dimensional coordinate of P5 and P6
In the inclined angle alpha 1 in fair line direction and the inclined angle alpha 2 of crossline direction；The accelerometer of usage record calculates camera in fair line direction
Inclination angleWith the tiltangleθ of crossline direction；Calculate the practical inclination angle in sequence direction of steel towerAnd crossline direction
Angle of inclination beta 2=α 2+ θ.
The present invention realizes electric power tower tilt angle intellectualized detection, without manually, improving the operation of staff
Safety.The present invention utilizes binocular stereo vision, deep learning object detection method and accelerometer, has calculating process simple
The advantages of, it is only necessary to Iron tower incline angle can be calculated by acquiring a steel tower picture, not only reduce measurement working strength, simultaneously
Measurement efficiency is improved, measurement cost is reduced.
Detailed description of the invention
Fig. 1 is key point schematic diagram.1,2,3,4,5,6 be respectively tie point P1, P2, P3, P4, P5, P6, i.e. key in figure
Point, 7 be insulator chain, and 8 be steel tower tower body；
Fig. 2 is flow chart of the method for the present invention.
Specific embodiment
Specific embodiment 1:
A kind of Iron tower incline angle measurement method of view-based access control model of present embodiment, is realized by following steps:
Step 1: binocular solid camera acquires the left and right two images in steel tower fair line direction, while recording adding for current time
Measurement of velocity magnitude；Wherein, left and right two images refer to that the image of the left camera shooting of binocular camera and the right camera of binocular camera are clapped
The image taken the photograph, and the image of the left camera shooting of binocular camera is referred to as left figure, by the image letter of the right camera shooting of binocular camera
Referred to as right figure；It is called fair line direction along the direction of electric wire on shaft tower, direction normal thereto and parallel to the ground is called horizontal line
Direction.
Step 2: detecting steel tower in left figure (number designation is 8 in figure) and insulation using deep learning object detection method
Four points of connection P1, P2, P3 and P4 of substring (number designation is 7 in figure)；That is four key points in Fig. 1, number designation point
It Wei 1,2,3,4；
Step 3: calculating in step 2 four points of connection in camera coordinates system using binocular vision solid matching method
Three-dimensional coordinate: P1 (x1,y1,z1)、P2(x2,y2,z2)、P3(x3,y3,z3)、P4(x4,y4,z4)；In camera coordinates system, x is phase
The left side of machine, y are camera direction directed downwardly, and z is directed toward the direction of camera alignment；
Step 4: calculating the midpoint P5 (x between tie point P1 and P25,y5,z5) (number designation is 5 in figure), and connection
Midpoint P6 (x between point P3 and P46,y6,z6) (number designation is 6 in figure):
x5=(x1+x2)/2, y5=(y1+y2)/2, z5=(z1+z2)/2,
x6=(x3+x4)/2, y6=(y3+y4)/2, z6=(z3+z4)/2。
Step 5: the three-dimensional coordinate of the point P5 and P6 that are obtained according to step 4 calculate steel tower in 1 He of inclined angle alpha in fair line direction
The inclined angle alpha 2 of crossline direction uses camera coordinates system in calculating process；
Step 6: coordinate of the acceleration measuring magnitude recorded using step 1 in camera coordinates system calculates camera in fair line
The inclination angle in directionWith the tiltangleθ of crossline direction, camera coordinates system is used in calculating process；
Step 7: it is practical in the angle of inclination beta 1 in sequence direction and inclining for crossline direction that steel tower being calculated according to step 5 and step 6
Oblique angle β 2.
Specific embodiment 2:
The present embodiment is different from the first embodiment in that: deep learning target detection side is used in the step 2
Method detects the detailed process of four points of connection P1, P2, P3 and P4 of steel tower and insulator chain in left figure are as follows:
Step 201: acquisition steel tower image data；
Step 202: the four points of connection of artificial label steel tower and insulator chain；
Step 203: generating final deep neural network model using deep learning neural network and nominal data training；
Wherein, deep learning neural network is SSD or YOLO3；
Step 204: in the deep neural network model that left figure input step 203 is generated, output four points of connection P1,
P2, P3 and P4；Tie point P1, P2, P3 and P4 be in four key points.
Other steps and parameter are same as the specific embodiment one.
Specific embodiment 3:
The present embodiment is different from the first and the second embodiment in that: binocular vision three-dimensional is used in the step 3
Method of completing the square calculates three-dimensional coordinate of the four points of connection in camera coordinates system in step 2: P1 (x1,y1,z1)、P2(x2,y2,
z2)、P3(x3,y3,z3)、P4(x4,y4,z4), detailed process are as follows:
Step 301: centered on Pi point in left figure, determine a pixel region, the i=1,2,3,4；The pixel
Region is the window of 21x21 pixel；
Step 302: in the right figure set with the same line position of left figure midpoint Pi (u, v), using at NCC method calculating with point Pi
(u, v) corresponding match point Qi (u-d, v), and the parallax d of invocation point Pi and point Qi, point Qi are corresponding points of the point Pi in right figure；
Wherein, u indicates to be used for the abscissa that NCC method calculates set left figure midpoint Pi, and v indicates set for the calculating of NCC method
The ordinate of left figure midpoint Pi, NCC method are common methods in images match field, are referred to by calculating two vector similitudes
Indicate the image matching algorithm of image similarity；
Step 303: calculating depth zi=(b*fx)/d of point Pi, wherein fx is the focal length of camera, and b is the base of binocular camera
Line length；
Step 304: it is calculate by the following formula the abscissa xi and ordinate yi of Pi point:
Xi=zi* (u-cx)/fx, yi=zi* (v-cy)/fy,
Wherein, fx, fy, cx, cy are camera internal references, and fx, fy are the focal length of camera, and cx, cy are main melatope coordinate, one
As be image center, pass through binocular calibration determine.
Other steps and parameter are the same as one or two specific embodiments.
Specific embodiment 4:
Unlike one of present embodiment and specific embodiment one to three: being obtained in the step 5 according to step 4
The three-dimensional coordinate of point P5 and P6 calculates steel tower in the inclined angle alpha 1 in fair line direction and the inclined angle alpha 2 of crossline direction, specifically:
Using camera coordinates system, the Y axis coordinate difference of midpoint P6 and P5 and the ratio of Z axis coordinate difference are calculated, then by the two ratio
Inclined angle alpha 1 of the arctan function of value as steel tower in fair line direction, calculation formula are as follows:
α 1=arctan ((y6-y5)/(z6-z5))
Using camera coordinates system, the X axis coordinate difference of midpoint P6 and P5 and the ratio of Z axis coordinate difference are calculated, then by the two ratio
Inclined angle alpha 2 of the arctan function of value as steel tower in crossline direction, calculation formula are as follows:
α 2=arctan ((x6-x5)/(z6-z5)).
Other steps and parameter are identical as one of specific embodiment one to three.
Specific embodiment 5:
Unlike one of present embodiment and specific embodiment one to four: being recorded in the step 6 using step 1
Coordinate of the acceleration measuring magnitude in camera coordinates system calculates camera at the inclination angle in fair line directionWith inclining for crossline direction
Bevel angle θ, specifically:
Using camera coordinates system, the ratio of the accelerometer acceleration analysis in Y-axis and the acceleration analysis in Z axis is calculated
Value, then using the arctan function of ratio as camera fair line direction inclination angleWherein, Δ x, Δ y, Δ z are in step 1
Binocular solid camera acquires the accelerometer recorded when the left and right two images in steel tower fair line direction and surveys in the acceleration of three axis
Magnitude, calculation formula are as follows:
Using camera coordinates system, the ratio of the accelerometer acceleration analysis in X-axis and the acceleration analysis in Z axis is calculated
Value, then using the arctan function of ratio as camera crossline direction tiltangleθ, wherein Δ x, Δ y, Δ z are in step 1
Binocular solid camera acquires the accelerometer recorded when the left and right two images in steel tower fair line direction and surveys in the acceleration of three axis
Magnitude, calculation formula are as follows:
θ=arctan (- Δ x/ Δ z).
Other steps and parameter are identical as one of specific embodiment one to four.
Specific embodiment 6:
Unlike one of present embodiment and specific embodiment one to five, according to step 5 and step in the step 7
6 to calculate steel towers practical in the angle of inclination beta 1 in sequence direction and the angle of inclination beta 2 of crossline direction, specifically:
By steel tower fair line direction inclined angle alpha 1 and camera fair line direction inclination angleDifference as steel tower reality
Angle of inclination beta 1 in sequence direction, calculation formula are as follows:
Inclined angle alpha 2 and camera using steel tower in crossline direction exist in the sum of the tiltangleθ of crossline direction as steel tower reality
The angle of inclination beta 2 of crossline direction, calculation formula are as follows:
β 2=α 2+ θ.
Other steps and parameter are identical as one of specific embodiment one to five.
The present invention can also have other various embodiments, without deviating from the spirit and substance of the present invention, this field
Technical staff makes various corresponding changes and modifications in accordance with the present invention, but these corresponding changes and modifications all should belong to
The protection scope of the appended claims of the present invention.
Claims (6)
1. a kind of Iron tower incline angle measurement method of view-based access control model, it is characterised in that: the Iron tower incline angle of the view-based access control model
Spend measurement method the following steps are included:
Step 1: binocular solid camera acquires the left and right two images in steel tower fair line direction, while recording the acceleration at current time
Measure magnitude；Wherein, left and right two images refer to what the image of the left camera shooting of binocular camera and the right camera of binocular camera were shot
Image, and the image of the left camera shooting of binocular camera is referred to as left figure, the image of the right camera shooting of binocular camera is referred to as
Right figure；It is called fair line direction along the direction of electric wire on shaft tower, direction normal thereto and parallel to the ground is called crossline direction；
Step 2: using deep learning object detection method detect the four points of connection P1 of steel tower and insulator chain in left figure,
P2, P3 and P4；
Step 3: calculating three-dimensional of the four points of connection in camera coordinates system in step 2 using binocular vision solid matching method
Coordinate: P1 (x1,y1,z1)、P2(x2,y2,z2)、P3(x3,y3,z3)、P4(x4,y4,z4)；
Step 4: calculating the midpoint P5 (x between tie point P1 and P25,y5,z5) and tie point P3 and P4 between midpoint P6
(x6,y6,z6)；
Step 5: the three-dimensional coordinate of the point P5 and P6 that are obtained according to step 4 calculate steel tower in the inclined angle alpha 1 and horizontal line in fair line direction
The inclined angle alpha 2 in direction uses camera coordinates system in calculating process；
Step 6: coordinate of the acceleration measuring magnitude recorded using step 1 in camera coordinates system calculates camera in fair line direction
Inclination angleWith the tiltangleθ of crossline direction, camera coordinates system is used in calculating process；
Step 7: it is practical in the angle of inclination beta 1 in sequence direction and the angle of inclination beta of crossline direction that steel tower being calculated according to step 5 and step 6
2。
2. the Iron tower incline angle measurement method of a kind of view-based access control model according to claim 1, it is characterised in that: the step
Four points of connection P1, P2, P3 and P4 of steel tower and insulator chain in left figure are detected in 2 using deep learning object detection method
Detailed process are as follows:
Step 201: acquisition steel tower image data；
Step 202: the four points of connection of label steel tower and insulator chain；
Step 203: generating final deep neural network model using deep learning neural network and nominal data training；
Step 204: in the deep neural network model that left figure input step 203 is generated, exporting four points of connection P1, P2, P3
And P4.
3. a kind of Iron tower incline angle measurement method of view-based access control model according to claim 1 or claim 2, it is characterised in that: described
Three-dimensional seat of the four points of connection in camera coordinates system in step 2 is calculated using binocular vision solid matching method in step 3
Mark: P1 (x1,y1,z1)、P2(x2,y2,z2)、P3(x3,y3,z3)、P4(x4,y4,z4) detailed process are as follows:
Step 301: centered on Pi point in left figure, determine a pixel region, the i=1,2,3,4；
Step 302: in the right figure set with the same line position of left figure midpoint Pi (u, v), calculating and the corresponding match point of point Pi (u, v)
Qi (u-d, v), and the parallax d of invocation point Pi and point Qi, point Qi are corresponding points of the point Pi in right figure；Wherein, u indicates to be used for NCC
Method calculates the abscissa of set left figure midpoint Pi, and v indicates the vertical seat that set left figure midpoint Pi is calculated for NCC method
Mark；
Step 303: calculating depth zi=(b*fx)/d of point Pi, wherein fx is the focal length of camera, and b is the base length of binocular camera
Degree；
Step 304: it is calculate by the following formula the abscissa xi and ordinate yi of Pi point:
Xi=zi* (u-cx)/fx, yi=zi* (v-cy)/fy,
Wherein, fx, fy, cx, cy are camera internal references, and fx, fy are the focal length of camera, and it is image that cx, cy, which are main melatope coordinate,
Center, pass through binocular calibration determine.
4. the Iron tower incline angle measurement method of a kind of view-based access control model according to claim 3, it is characterised in that: the step
The three-dimensional coordinate of the point P5 and P6 that are obtained in 5 according to step 4 calculates steel tower in the inclined angle alpha 1 and crossline direction in fair line direction
Inclined angle alpha 2, specifically:
Using camera coordinates system, the Y axis coordinate difference of midpoint P6 and P5 and the ratio of Z axis coordinate difference are calculated, then by the two ratio
Inclined angle alpha 1 of the arctan function as steel tower in fair line direction, calculation formula are as follows:
α 1=arctan ((y6-y5)/(z6-z5))
Using camera coordinates system, the X axis coordinate difference of midpoint P6 and P5 and the ratio of Z axis coordinate difference are calculated, then by the two ratio
Inclined angle alpha 2 of the arctan function as steel tower in crossline direction, calculation formula are as follows:
α 2=arctan ((x6-x5)/(z6-z5)).
5. the Iron tower incline angle measurement method of a kind of view-based access control model according to claim 4, it is characterised in that: the step
Coordinate of the acceleration measuring magnitude recorded in 6 using step 1 in camera coordinates system calculates camera in the inclination in fair line direction
AngleWith the tiltangleθ of crossline direction specifically:
Using camera coordinates system, the ratio of the accelerometer acceleration analysis in Y-axis and the acceleration analysis in Z axis is calculated, then
Using the arctan function of ratio as camera fair line direction inclination angleWherein, Δ x, Δ y, Δ z are that binocular is vertical in step 1
Body camera acquires acceleration measurement of the accelerometer recorded when the left and right two images in steel tower fair line direction in three axis, meter
Calculate formula are as follows:
Using camera coordinates system, the ratio of the accelerometer acceleration analysis in X-axis and the acceleration analysis in Z axis is calculated, then
Using the arctan function of ratio as camera crossline direction tiltangleθ, wherein Δ x, Δ y, Δ z are that binocular is vertical in step 1
Body camera acquires acceleration measurement of the accelerometer recorded when the left and right two images in steel tower fair line direction in three axis, meter
Calculate formula are as follows:
θ=arctan (- Δ x/ Δ z).
6. the Iron tower incline angle measurement method of a kind of view-based access control model according to claim 5, it is characterised in that: the step
Steel tower reality is calculated in the angle of inclination beta 1 in sequence direction and the angle of inclination beta 2 of crossline direction, specifically according to step 5 and step 6 in 7
Are as follows:
By steel tower fair line direction inclined angle alpha 1 and camera fair line direction inclination angleDifference it is practical suitable as steel tower
The angle of inclination beta 1 in sequence direction, calculation formula are as follows:
Steel tower is practical in horizontal line as steel tower in the sum of the tiltangleθ of crossline direction in the inclined angle alpha 2 and camera of crossline direction
The angle of inclination beta 2 in direction, calculation formula are as follows:
β 2=α 2+ θ.
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| CN110595433A (en) * | 2019-08-16 | 2019-12-20 | 太原理工大学 | Binocular vision-based transmission tower inclination measurement method |
| CN111372044A (en) * | 2020-02-27 | 2020-07-03 | 国网山西省电力公司晋城供电公司 | System, method and device for inspecting transmission line in goaf |
| CN113358318A (en) * | 2021-07-02 | 2021-09-07 | 中国空气动力研究与发展中心低速空气动力研究所 | Cable collision detection method, device, equipment and storage medium |
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