CN109286152A - A kind of autonomous method for inspecting of unmanned plane for exchange double back anchor support - Google Patents
A kind of autonomous method for inspecting of unmanned plane for exchange double back anchor support Download PDFInfo
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- CN109286152A CN109286152A CN201811056905.5A CN201811056905A CN109286152A CN 109286152 A CN109286152 A CN 109286152A CN 201811056905 A CN201811056905 A CN 201811056905A CN 109286152 A CN109286152 A CN 109286152A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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Abstract
The invention discloses a kind of autonomous method for inspecting of unmanned plane for exchange double back anchor support, comprising the following steps: S1. determines the crucial inspection point of exchange double back anchor support；S2. take pictures key point and the track key point during inspection are chosen, inspection course line is set；S3. manual inspection is carried out according to the inspection course line of setting, and during inspection, acquisition track key point coordinate, key point of taking pictures coordinate, key point of taking pictures head angle and holder angle；S4. according to data collected during manual inspection, the autonomous flight task of unmanned plane and task of independently taking pictures are generated；S5. the patrol task of generation is uploaded to unmanned plane, is controlled unmanned plane according to the full autonomous flight of task, is reached adjust automatically head course and holder angle when taking pictures key point, camera is triggered after being adjusted in place and is taken pictures, until task is completed and returns to takeoff point.The present invention efficiently solves the problems, such as that exchange double back anchor support manual inspection pressure is big, safety is low, consistency is poor and inefficient.
Description
Technical field
The present invention relates to electric force pole tower inspections, independently patrol more particularly to a kind of unmanned plane for exchange double back anchor support
Detecting method.
Background technique
Unmanned plane is applied to the inspection of electric force pole tower, greatly improves routing inspection efficiency.For exchange double back anchor support
For inspection, conventional method for inspecting is manual control unmanned plane close to exchange double back anchor support, and continuous shift position is successively arrived
Up to inspection position, then adjusting holder angle makes camera alignment target position, and triggers camera and take pictures.
Since exchange double back anchor support is to design complex and inspection to cope with the requirement that transmission line of electricity bears tension
Position is more, and there are certain angles with shaft tower for strain insulator section lead, and in order to resist side tension, insulator is not completely vertical
It is straight to design but have tilt angle；Very high requirement is put forward to operator's flight operation technical ability.Simultaneously as manual control
It is difficult to ensure that the consistency of inspection, causes different moments to differ greatly the shooting result of same shaft tower same position, this is unfavorable
In analysis and application to history inspection data.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of unmanned planes for exchange double back anchor support
Autonomous method for inspecting, efficiently solve exchange double back anchor support manual inspection pressure it is big, safety is low, consistency is poor and efficiency
Not high problem.
The purpose of the present invention is achieved through the following technical solutions: a kind of unmanned plane for exchange double back anchor support
Autonomous method for inspecting, comprising the following steps:
S1. the crucial inspection point of exchange double back anchor support is determined；
S2. take pictures key point and the track key point during inspection are chosen, inspection course line is set；
S3. manual inspection is carried out according to the inspection course line of setting, and during inspection, acquisition track key point coordinate,
Key point of taking pictures coordinate, key point of taking pictures head angle and holder angle；
S4. it according to data collected during manual inspection, generates the autonomous flight task of unmanned plane and independently takes pictures
Task；
S5. the patrol task of generation is uploaded to unmanned plane, is controlled unmanned plane according to the full autonomous flight of task, is reached pass of taking pictures
Adjust automatically head course and holder angle when key point trigger camera and take pictures, take pictures and followed by execute subsequent after being adjusted in place
Business, until task is completed and returns to takeoff point.
Further, the crucial inspection point of the exchange double back anchor support includes left side ground wire, 1 line inspection point, right side
Line and 1 line inspection point, wherein the I line inspection point includes: the small size side side of wire hanging point of phase on I line, mutually small size side is exhausted on I line
On edge substring, I line mutually small size side cross-arm side hanging point, phase large size side side of wire hanging point on I line, phase large size side insulator chain on I line,
Phase large size side cross-arm side hanging point on I line, phase wire jumper side cross-arm side hanging point on I line, phase wire jumper side insulator chain on I line, phase on I line
Mutually small size side side of wire hanging point, mutually small size side insulator chain, mutually small size side in I line in I line in wire jumper side side of wire hanging point, I line
Phase large size side side of wire hanging point in cross-arm side hanging point, I line, phase large size side insulator chain in I line, phase large size side cross-arm side in I line
Hanging point, I line middle phase jumping wire side cross-arm side hanging point, I line middle phase jumping wire side insulator chain, I line middle phase jumping wire side side of wire hanging point, I
Mutually mutually mutually phase under small size side cross-arm side hanging point, I line under small size side insulator chain, I line under small size side side of wire hanging point, I line under line
Phase wire jumper side under phase large size side cross-arm side hanging point, I line under phase large size side insulator chain, I line under large size side side of wire hanging point, I line
Phase wire jumper side side of wire hanging point under phase wire jumper side insulator chain and I line under cross-arm side hanging point, I line；
The 1 line inspection point include: on II line mutually small size side side of wire hanging point, on II line mutually small size side insulator chain,
Mutually small size side cross-arm side hanging point, phase large size side side of wire hanging point on II line, phase large size side insulator chain, II line on II line on II line
Phase wire jumper side cross-arm side hanging point on upper phase large size side cross-arm side hanging point, II line, phase wire jumper side insulator chain on II line, phase on II line
Mutually small size side side of wire hanging point, mutually small size side insulator chain, mutually small size in II line in II line in wire jumper side side of wire hanging point, II line
Phase large size side side of wire hanging point in side cross-arm side hanging point, II line, phase large size side insulator chain in II line, phase large size side is horizontal in II line
Carry on a shoulder pole side hanging point, II line middle phase jumping wire side cross-arm side hanging point, II line middle phase jumping wire side insulator chain, II line middle phase jumping wire side side of wire
Mutually mutually mutually small size side cross-arm side hanging under small size side insulator chain, II line under small size side side of wire hanging point, II line under hanging point, II line
Phase large size side cross-arm side hanging point under phase large size side insulator chain, II line under phase large size side side of wire hanging point, II line under point, II line,
Phase wire jumper side side of wire hanging point under phase wire jumper side insulator chain and II line under phase wire jumper side cross-arm side hanging point, II line under II line.
Further, the step S2 includes:
According to inspection needs, one or more is flexibly selected from the crucial inspection point or even all as mesh
Mark, and for the crucial inspection point of these selections setting unmanned plane picture-taking position to obtain key point of taking pictures；
Track key point is chosen between each key point of taking pictures, and adjusts the mobile sequence of turnover of unmanned aerial vehicle flight path, if
Determine inspection course line and ensures unmanned plane airline safety.
Further, the track key point coordinate, longitude, latitude and height including unmanned plane during flying track corner point
Degree；The key point coordinate of taking pictures, longitude, latitude and height when taking pictures including triggering at unmanned plane hovering；The pass of taking pictures
Key point head angle refers to that unmanned plane head is with respect to the course angle ψ of direct north when triggering is taken pictures；The holder angle, including
The course angle d ψ of the pitching angle theta of holder and its opposite unmanned plane head when triggering is taken pictures.
Further, the step S4 includes:
Unmanned aerial vehicle station generates and the consistent autonomous flight of manual inspection according to the collected data of manual inspection process
Task；The autonomous flight task includes track key point coordinate, key point of taking pictures coordinate and mobile sequence；
Unmanned aerial vehicle station generates and the consistent autonomous bat of manual inspection according to data collected during manual inspection
According to task, the task of independently taking pictures includes take pictures key point head angle and holder angle.
Wherein, in the task of independently taking pictures, the holder angle for key point of taking pictures includes the course angle of opposite direct north
ψ ' and pitching angle theta ', in which:
ψ '=ψ+d ψ；
θ '=θ.
The execution method for independently taking pictures task includes following two strategy:
The first, holder follows head to rotate, and holder direction is consistent with heading always, and machine will be adjusted under the strategy
Head course is ψ ', and adjustment holder pitch angle is θ ', and triggering is taken pictures after the completion of adjustment；
The second, holder does not follow head to rotate, and heading is constant always, and heading ψ is kept under the strategy0It is constant,
It is d ψ=ψ '-ψ that holder, which is adjusted, with respect to the course angle of head0, adjustment holder pitch angle is θ ', and triggering is taken pictures after the completion of adjustment.
The beneficial effects of the present invention are: the present invention only needs manual control for the exchange autonomous method for inspecting of double back anchor support
Inspection is primary, and subsequent unmanned plane just can independently carry out inspection operation entirely, therefore efficiently solves the problems, such as that manual inspection pressure is big,
Meanwhile unmanned plane is not necessarily to manual intervention, avoids tower of breasting the tape caused by human error and ask according to the setting full autonomous flight in course line
Topic, greatly improves the safety of inspection.Different moments use same patrol task to the inspection of same shaft tower, avoid people
Influence of the subjectivity of work manipulation to inspection result, improves the consistency of inspection result.
Detailed description of the invention
Fig. 1 is flow chart of the method for the present invention；
Fig. 2 is the schematic diagram for exchanging double back anchor support；
Fig. 3 is the inspection route map that double back anchor support is exchanged in embodiment；
Fig. 4 is the course angle schematic diagram of unmanned plane head and holder；
Fig. 5 is holder angle of pitch schematic diagram.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing, but protection scope of the present invention is not limited to
It is as described below.
As shown in Figure 1, a kind of autonomous method for inspecting of unmanned plane for exchange double back anchor support, comprising the following steps:
S1. the crucial inspection point of exchange double back anchor support is determined；
As shown in Fig. 2, in embodiments herein, for exchanging double back anchor support, in addition to the ground wire of two sides, the left side
Three-phase is a line, that is, I line, and the right three-phase is another line, that is, II line.Aircraft will not online interior hovering when unmanned plane is shot；And
It is in the two sides of tower.Therefore in step S1, the crucial inspection point of exchange double back anchor support includes left side ground wire, 1 line inspection point, right side
Ground wire and 1 line inspection point；Wherein, the I line inspection point includes: the small size side side of wire hanging point of phase on I line, the small size side of phase on I line
Mutually small size side cross-arm side hanging point, phase large size side side of wire hanging point on I line, phase large size side insulator on I line on insulator chain, I line
String, phase large size side cross-arm side hanging point on I line, phase wire jumper side cross-arm side hanging point on I line, phase wire jumper side insulator chain, I line on I line
Mutually small size side side of wire hanging point, mutually small size side insulator chain, mutually small in I line in I line in upper phase wire jumper side side of wire hanging point, I line
Phase large size side side of wire hanging point in number side cross-arm side hanging point, I line, phase large size side insulator chain in I line, phase large size side is horizontal in I line
Carry on a shoulder pole side hanging point, I line middle phase jumping wire side cross-arm side hanging point, I line middle phase jumping wire side insulator chain, I line middle phase jumping wire side conducting wire side hanging
Mutually mutually mutually small size side cross-arm side hanging point, I line under small size side insulator chain, I line under small size side side of wire hanging point, I line under point, I line
It is mutually jumped under phase large size side cross-arm side hanging point, I line under phase large size side insulator chain, I line under lower phase large size side side of wire hanging point, I line
Phase wire jumper side side of wire hanging point under phase wire jumper side insulator chain and I line under line side cross-arm side hanging point, I line；The II line inspection
Point includes: mutually small size side side of wire hanging point, mutually small size side insulator chain, mutually small size side cross-arm side hanging on II line on II line on II line
Phase large size side side of wire hanging point on point, II line, phase large size side insulator chain on II line, phase large size side cross-arm side hanging point on II line,
Phase wire jumper side cross-arm side hanging point on II line, phase wire jumper side insulator chain on II line, phase wire jumper side side of wire hanging point, II line on II line
Mutually small size side insulator chain, mutually small size side cross-arm side hanging point, phase in II line in II line in middle phase trumpet side side of wire hanging point, II line
Phase large size side insulator chain in large size side side of wire hanging point, II line, phase large size side cross-arm side hanging point, II line middle phase jumping wire in II line
Mutually small size side is led under side cross-arm side hanging point, II line middle phase jumping wire side insulator chain, II line middle phase jumping wire side side of wire hanging point, II line
Mutually mutually phase large size side side of wire under small size side cross-arm side hanging point, II line under small size side insulator chain, II line under line side hanging point, II line
Phase wire jumper side cross-arm side hanging under phase large size side cross-arm side hanging point, II line under phase large size side insulator chain, II line under hanging point, II line
Phase wire jumper side side of wire hanging point under phase wire jumper side insulator chain and II line under point, II line.
S2. take pictures key point and the track key point during inspection are chosen, inspection course line is set；Specifically, the step
Rapid S2 includes: one or more flexibly to be selected from the crucial inspection point or even all as mesh according to inspection needs
Mark, and for the crucial inspection point of these selections setting unmanned plane picture-taking position to obtain key point of taking pictures；
Track key point is chosen between each key point of taking pictures, and adjusts the mobile sequence of turnover of unmanned aerial vehicle flight path, if
Determine inspection course line and ensures unmanned plane airline safety.
As shown in figure 3, in some embodiments, set for the take pictures inspection course line of key point of exchange double back anchor support
Are as follows: W1- > W2- > W3- > W4- > P5- > P6- > W7- > P8- > W9- > P10- > W11- > W12- > W13- > W14- > P15- > P16- >
W17->P18->W19->P20；Wherein, W mark is track key point, the mobile sequence of the turnover for adjusting entire track, P
Mark is key point of taking pictures, and is used to indicate unmanned plane and hovers and trigger and takes pictures.
S3. manual inspection is carried out according to the inspection course line of setting, and during inspection, acquisition track key point coordinate,
Key point of taking pictures coordinate, key point of taking pictures head angle and holder angle；The track key point coordinate, including unmanned plane during flying
Longitude, latitude and the height of track corner point；The key point coordinate of taking pictures, warp when taking pictures including triggering at unmanned plane hovering
Degree, latitude and height；As shown in Figures 4 and 5, the key point head angle of taking pictures, refers to unmanned plane head phase when triggering is taken pictures
To the course angle ψ of direct north；The holder angle, the pitching angle theta of holder and its opposite unmanned plane machine when taking pictures including triggering
The course angle d ψ of head.
S4. it according to data collected during manual inspection, generates the autonomous flight task of unmanned plane and independently takes pictures
Task；
Specifically, the step S4 includes:
Unmanned aerial vehicle station generates and the consistent autonomous flight of manual inspection according to the collected data of manual inspection process
Task；The autonomous flight task includes track key point coordinate, key point of taking pictures coordinate and mobile sequence；
Unmanned aerial vehicle station generates and the consistent autonomous bat of manual inspection according to data collected during manual inspection
According to task, the task of independently taking pictures includes take pictures key point head angle and holder angle.
Wherein, in the task of independently taking pictures, the holder angle for key point of taking pictures includes the course angle of opposite direct north
ψ ' and pitching angle theta ', in which:
ψ '=ψ+d ψ；
θ '=θ.
In embodiments herein, the execution method for independently taking pictures task includes following two strategy:
The first, holder follows head to rotate, and holder direction is consistent with heading always, and machine will be adjusted under the strategy
Head course is ψ ', and adjustment holder pitch angle is θ ', and triggering is taken pictures after the completion of adjustment；
The second, holder does not follow head to rotate, and heading is constant always, and heading ψ is kept under the strategy0It is constant,
It is d ψ=ψ '-ψ that holder, which is adjusted, with respect to the course angle of head0, adjustment holder pitch angle is θ ', and triggering is taken pictures after the completion of adjustment.
S5. the patrol task of generation is uploaded to unmanned plane, is controlled unmanned plane according to the full autonomous flight of task, is reached pass of taking pictures
Adjust automatically head course and holder angle when key point trigger camera and take pictures, take pictures and followed by execute subsequent after being adjusted in place
Business, until task is completed and returns to takeoff point.
To sum up, the present invention only needs manual control inspection primary, subsequent nothing for the exchange autonomous method for inspecting of double back anchor support
It is man-machine just independently to carry out inspection operation entirely, therefore efficiently solve the problems, such as that manual inspection pressure is big, meanwhile, unmanned plane according to
The full autonomous flight in course line is set, manual intervention is not necessarily to, avoids tower problem of breasting the tape caused by human error, greatly improve and patrol
The safety of inspection.Different moments use same patrol task to the inspection of same shaft tower, avoid the subjectivity of manual control
Influence to inspection result improves the consistency of inspection result.
Finally, it should be noted that the above is a preferred embodiment of the present invention, it should be understood that the present invention is not office
It is limited to disclosed form, should not be viewed as excluding other embodiments, and can be used for other combinations, modification and environment,
And can be in contemplated scope described herein, modifications can be made through the above teachings or related fields of technology or knowledge.And ability
The modifications and changes that domain personnel are carried out do not depart from the spirit and scope of the present invention, then all should be in appended claims of the present invention
In protection scope.
Claims (9)
1. a kind of autonomous method for inspecting of unmanned plane for exchange double back anchor support, it is characterised in that: the following steps are included:
S1. the crucial inspection point of exchange double back anchor support is determined；
S2. take pictures key point and the track key point during inspection are chosen, inspection course line is set；
S3. manual inspection is carried out according to the inspection course line of setting, and during inspection, acquisition track key point coordinate is taken pictures
Key point coordinate, key point of taking pictures head angle and holder angle；
S4. according to data collected during manual inspection, the autonomous flight task of unmanned plane and task of independently taking pictures are generated；
S5. the patrol task of generation is uploaded to unmanned plane, is controlled unmanned plane according to the full autonomous flight of task, is reached key point of taking pictures
When adjust automatically head course and holder angle, camera is triggered after being adjusted in place and is taken pictures, takes pictures and followed by executes follow-up work, directly
It is completed to task and returns to takeoff point.
2. a kind of autonomous method for inspecting of unmanned plane for exchange double back anchor support according to claim 1, feature exist
In: the crucial inspection point of the exchange double back anchor support includes left side ground wire, 1 line inspection point, right side ground wire and 1 line inspection point.
3. a kind of autonomous method for inspecting of unmanned plane for exchange double back anchor support according to claim 2, feature exist
In: the I line inspection point include: on I line mutually small size side side of wire hanging point, on I line mutually small size side insulator chain, on I line it is mutually small
Phase large size side side of wire hanging point on number side cross-arm side hanging point, I line, phase large size side insulator chain on I line, phase large size side is horizontal on I line
Carry on a shoulder pole side hanging point, phase wire jumper side cross-arm side hanging point on I line, phase wire jumper side insulator chain on I line, phase wire jumper side conducting wire side hanging on I line
Mutually small size side side of wire hanging point, mutually small size side insulator chain, mutually small size side cross-arm side hanging point, I line in I line in I line in point, I line
Phase large size side insulator chain in middle phase large size side side of wire hanging point, I line, phase large size side cross-arm side hanging point in I line are mutually jumped in I line
Mutually small size side is led under line side cross-arm side hanging point, I line middle phase jumping wire side insulator chain, I line middle phase jumping wire side side of wire hanging point, I line
Mutually mutually phase large size side conducting wire side hanging under small size side cross-arm side hanging point, I line under small size side insulator chain, I line under line side hanging point, I line
Phase wire jumper side cross-arm side hanging point, I line under phase large size side cross-arm side hanging point, I line under phase large size side insulator chain, I line under point, I line
Phase wire jumper side side of wire hanging point under lower phase wire jumper side insulator chain and I line.
4. a kind of autonomous method for inspecting of unmanned plane for exchange double back anchor support according to claim 2, feature exist
In: the 1 line inspection point include: mutually small size side side of wire hanging point, mutually small size side insulator chain, II line on II line on II line
Phase large size side side of wire hanging point on upper phase trumpet side cross-arm side hanging point, II line, phase large size side insulator chain on II line, phase on II line
Phase wire jumper side cross-arm side hanging point on large size side cross-arm side hanging point, II line, phase wire jumper side insulator chain on II line, phase wire jumper on II line
In side side of wire hanging point, II line mutually small size side side of wire hanging point, in II line mutually small size side insulator chain, mutually small size side is horizontal in II line
Carry on a shoulder pole side hanging point, phase large size side side of wire hanging point in II line, phase large size side insulator chain in II line, phase large size side cross-arm side in II line
Hanging point, II line middle phase jumping wire side cross-arm side hanging point, II line middle phase jumping wire side insulator chain, II line middle phase jumping wire side conducting wire side hanging
Under point, II line mutually under small size side side of wire hanging point, II line mutually under small size side insulator chain, II line mutually small size side cross-arm side hanging point,
Phase large size side cross-arm side hanging point, II line under phase large size side insulator chain, II line under phase large size side side of wire hanging point, II line under II line
Phase wire jumper side side of wire hanging point under phase wire jumper side insulator chain and II line under lower phase wire jumper side cross-arm side hanging point, II line.
5. a kind of autonomous method for inspecting of unmanned plane for exchange double back anchor support according to claim 1, feature exist
In: the step S2 includes:
According to inspection needs, flexibly selected from the crucial inspection point it is one or more or even all as target, and
Unmanned plane picture-taking position is set for the crucial inspection point of these selections to obtain key point of taking pictures；
Track key point is chosen between each key point of taking pictures, adjusts the mobile sequence of turnover of unmanned aerial vehicle flight path, and setting is patrolled
Inspection course line simultaneously ensures unmanned plane airline safety.
6. a kind of autonomous method for inspecting of unmanned plane for exchange double back anchor support according to claim 1, feature exist
In: the track key point coordinate, longitude, latitude and height including unmanned plane during flying track corner point；The key of taking pictures
Point coordinate, longitude, latitude and height when taking pictures including triggering at unmanned plane hovering；The key point head angle of taking pictures is
Refer to that unmanned plane head is with respect to the course angle ψ of direct north when triggering is taken pictures；The holder angle, holder when taking pictures including triggering
The course angle d ψ of pitching angle theta and its opposite unmanned plane head.
7. a kind of autonomous method for inspecting of unmanned plane for exchange double back anchor support according to claim 1, feature exist
In: the step S4 includes:
Unmanned aerial vehicle station generates and appoints with the consistent autonomous flight of manual inspection according to the collected data of manual inspection process
Business；The autonomous flight task includes track key point coordinate, key point of taking pictures coordinate and mobile sequence；
Unmanned aerial vehicle station generates and appoints with consistent independently take pictures of manual inspection according to data collected during manual inspection
Business, the task of independently taking pictures includes take pictures key point head angle and holder angle.
8. a kind of autonomous method for inspecting of unmanned plane for exchange double back anchor support according to claim 7, feature exist
In: in the task of independently taking pictures, the holder angle for key point of taking pictures includes the course angle ψ ' and pitch angle of opposite direct north
θ ', in which:
ψ '=ψ+d ψ；
θ '=θ.
9. a kind of autonomous method for inspecting of unmanned plane for exchange double back anchor support according to claim 7, feature exist
In: the execution method for independently taking pictures task includes following two strategy:
The first, holder follows head to rotate, and holder direction is consistent with heading always, will adjustment head boat under the strategy
To for ψ ', adjustment holder pitch angle is θ ', and triggering is taken pictures after the completion of adjustment；
The second, holder does not follow head to rotate, and heading is constant always, and heading ψ is kept under the strategy0It is constant, adjust cloud
Platform is d ψ=ψ '-ψ with respect to the course angle of head0, adjustment holder pitch angle is θ ', and triggering is taken pictures after the completion of adjustment.
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| CN113485424A (en) * | 2021-07-19 | 2021-10-08 | 武汉中测晟图遥感技术有限公司 | Design method of pole tower inspection route |
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| CN105162042A (en) * | 2015-10-19 | 2015-12-16 | 国网山东省电力公司莱芜供电公司 | Power transmission line unmanned plane single tower patrol path standardizing control method |
| CN105790155A (en) * | 2016-04-08 | 2016-07-20 | 四川桑莱特智能电气设备股份有限公司 | Differential-GPS-based unmanned-aerial-vehicle autonomous routing inspection system and method for power transmission line |
| CN106657882A (en) * | 2016-10-18 | 2017-05-10 | 国网湖北省电力公司检修公司 | Real-time monitoring method for power transmission and transformation system based on unmanned aerial vehicle |
| CN107247458A (en) * | 2017-05-24 | 2017-10-13 | 中国电子科技集团公司第二十八研究所 | UAV Video image object alignment system, localization method and cloud platform control method |
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| CN111932618A (en) * | 2020-07-16 | 2020-11-13 | 广东电网有限责任公司 | Transmission tower infrared shooting route generation method and related device |
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