CN109521792A - A kind of unmanned aerial vehicle flight control system based on power transmission and transforming equipment threedimensional model - Google Patents
A kind of unmanned aerial vehicle flight control system based on power transmission and transforming equipment threedimensional model Download PDFInfo
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- CN109521792A CN109521792A CN201811348875.5A CN201811348875A CN109521792A CN 109521792 A CN109521792 A CN 109521792A CN 201811348875 A CN201811348875 A CN 201811348875A CN 109521792 A CN109521792 A CN 109521792A
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- 238000000034 method Methods 0.000 claims description 14
- 238000005516 engineering process Methods 0.000 claims description 11
- 230000009466 transformation Effects 0.000 claims description 11
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- 238000006243 chemical reaction Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 4
- 230000004807 localization Effects 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 4
- 231100000572 poisoning Toxicity 0.000 claims description 3
- 230000000607 poisoning effect Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 8
- 239000012212 insulator Substances 0.000 description 14
- 230000006866 deterioration Effects 0.000 description 2
- 230000005684 electric field Effects 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
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- 230000007812 deficiency Effects 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 229910052573 porcelain Inorganic materials 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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Abstract
The present invention provides a kind of unmanned aerial vehicle flight control system based on power transmission and transforming equipment threedimensional model, including computer, micro- radar fix system, image capture module, threedimensional model module, coordinate calculation module, path planning module, wireless transport module and airborne flight control system, the threedimensional model module, coordinate calculation module, path planning module and wireless transport module are integrated in computer, micro- radar fix system includes the micro- radar signal source of ultra wide band and ultra-wideband signal receiver, the unmanned aerial vehicle flight control system based on power transmission and transforming equipment threedimensional model can pass through its three-dimensional spatial coordinate of power transmission and transforming equipment obtaining three-dimensional model, unmanned plane according to the spatial coordinate of power transmission and transforming equipment and carries out independent navigation and flight attitude adjustment and control by micro- radar fix system, to realize the essence to power transmission and transforming equipment Really detection.
Description
Technical field
The present invention is a kind of unmanned aerial vehicle flight control system based on power transmission and transforming equipment threedimensional model, belongs to power transmission and transformation
Condition Detection technical field.
Background technique
Insulator entire electric system transmission & distribution change in be widely used, especially greatly develop in recent years super-pressure, spy
In high pressure AC and DC transmission system, the safe operation problem of insulator even more directly determines the investment and peace of whole system
Complete horizontal, since the time that suspension type porcelain, glass insulator are applied is earliest, quantity is big, can not temporarily be substituted, these insulators are long
Phase is in complicated natural environment, is influenced by strong electrical field and mechanical stress, and insulation performance and mechanical performance can decline,
To generate low value or zero resistance insulator, this insulator easily causes flashover, is broken, falls string, conducting wire landing once existing
Etc. accidents, jeopardize power grid security, therefore detect insulator deterioration and have a very important significance to the operational safety of power grid.
What insulator degradation was commonly used at present is voltage's distribiuting method (spark gap), and this method needs are manually stepped on
Tower is detected piecewise with spark fork, leads to that huge workload, low efficiency, safety is poor, false dismissal probability is big, additionally by survey
Also highly developed (the power industry standard DL/T626- of criterion for measuring insulator chain Potential distribution to judge Faulty insulator
Provided in 2005 " deterioration cap and pin type suspension insulator detects regulation "), but measuring device itself and not perfect, current behaviour
It is also comparatively laborious to make method, is all the operators such as Potential Distribution Measuring Instrument coordinated insulation bar manual operation, is especially insulating
Substring increase after, significantly increase the execute-in-place difficulty of this method, limit this method detect at the scene in make
With, by UAV flight's optical electric-field sensing probe will it is more than effective solution it is difficult, still, due to insulator charged
Detection will face hyperbaric environment, it is necessary to which the Accuracy Space positioning that can reach 5-10cm can just be met the requirements, traditional GPS positioning
1.5m precision cannot necessarily be met the requirements, and the path planning of unmanned plane and flight attitude adjustment have weight to detection with control
The meaning wanted.
For this purpose, the present invention provides a kind of unmanned aerial vehicle flight control system based on power transmission and transforming equipment threedimensional model.
Summary of the invention
In view of the deficienciess of the prior art, it is an object of the present invention to provide a kind of nothings based on power transmission and transforming equipment threedimensional model
Man-machine ground flying control system should be based on power transmission and transforming equipment threedimensional model to solve the problems mentioned in the above background technology
Unmanned aerial vehicle flight control system can pass through its three-dimensional spatial coordinate of power transmission and transforming equipment obtaining three-dimensional model, unmanned plane root
According to the spatial coordinate of power transmission and transforming equipment and independent navigation and flight attitude adjustment and control are carried out by micro- radar fix system, from
And realize the accurate detection to power transmission and transforming equipment.
To achieve the goals above, the present invention is to realize by the following technical solutions: one kind is based on power transmission and transforming equipment
The unmanned aerial vehicle flight control system of threedimensional model, including computer, micro- radar fix system, image capture module, three-dimensional
Model module, coordinate calculation module, path planning module, wireless transport module and airborne flight control system, the threedimensional model mould
Block, coordinate calculation module, path planning module and wireless transport module are integrated in computer, micro- radar fix system
Including the micro- radar signal source of ultra wide band and ultra-wideband signal receiver, described image acquisition module, airborne flight control system and ultra-wide
Band signal receiver is installed on UAV targets, this unmanned aerial vehicle based on power transmission and transforming equipment threedimensional model, which flies, to be controlled
Steps are as follows for the realization of system:
Step 1: unmanned plane positioning；UAV targets first fly to target power transmission and transforming equipment, then by micro- radar fix
System carries out self poisoning；
Step 2: Image Acquisition；UAV targets fly to power transmission and transforming equipment, and image capture module starts to acquire defeated change
Electric equipment image, and be transmitted in onboard image analyzer, picture signal is generated, then be wirelessly sent to computer；
Step 3: three-dimensional modeling；Computer carries out three to power transmission and transforming equipment by threedimensional model module according to picture signal
Dimension modeling, threedimensional model module use IBMR technology；
Step 4: spatial coordinate obtains；After the completion of modeling, coordinate calculation module is according to obtaining three-dimensional model power transmission and transforming equipment
3 D stereo coordinate, computer is according to the defeated change of 3 D stereo coordinate pair of the own coordinate and power transmission and transforming equipment of UAV targets
The actual coordinate of electric equipment is determined；
Step 5: path planning；According to the actual coordinate and monitoring needs of power transmission and transforming equipment, the planning of computer passage path
Module carries out path planning to unmanned plane, and flight path is planned that being sent to airborne winged control by wireless transport module is by computer
System, unmanned plane is planned according to flight path carries out independent navigation and flight attitude adjustment and control by micro- radar fix system,
Realize automatic flight.
As a kind of preferred embodiment of the invention, the IBMR technology in the step 3 be modeling based on image and
It draws, is one extremely active research field of current computer figure educational circles, with traditional modeling and drafting based on geometry
It compares, IBMR technology has the advantages that many uniquenesses, and three-dimensional modeling becomes faster, is more convenient, low in cost, the degree of automation
It is high.
As a kind of preferred embodiment of the invention, the localization method of micro- radar fix system are as follows: basis first
Field conditions lay 6 micro- radar signal sources of ultra wide band as unmanned plane during flying in suitable position and position reference point, and computer is with 6
A micro- radar signal source of ultra wide band is that origin establishes space coordinates, the UWB signal that the micro- radar signal source of ultra wide band issues respectively
Signal net is formed, realizes the seamless communication between the micro- radar signal source of ultra wide band and unmanned plane, it is ensured that unmanned plane positions accurate
Property, the ultra-wideband signal receiver on unmanned plane receives the UWB signal that the micro- radar signal source of ultra wide band issues, and computer is according to surpassing
The time of the micro- radar signal source transmitting UWB signal in broadband and unmanned plane receive the time of UWB signal, and it is micro- to calculate each ultra wide band
The distance between radar signal source and unmanned plane, then, computer according to the direct conversion methods of three parameters of Mo Luojinsiji,
Realize accurate coordinate transformation, position determines that after coordinate transformation, the position of unmanned plane is determined.
As a kind of preferred embodiment of the invention, described image acquisition module is imaged using visible light and infrared double light
Head.
Beneficial effects of the present invention:
1. this unmanned aerial vehicle flight control system based on power transmission and transforming equipment threedimensional model can pass through power transmission and transforming equipment
Its three-dimensional spatial coordinate of obtaining three-dimensional model, unmanned plane is according to the spatial coordinate of power transmission and transforming equipment and by micro- radar fix system
Independent navigation and flight attitude adjustment and control are carried out, to realize the accurate detection to power transmission and transforming equipment.
2. micro- radar fix system of this unmanned aerial vehicle flight control system based on power transmission and transforming equipment threedimensional model is logical
The micro- radar signal source networking of multiple ultra wide bands is crossed, can be realized seamless logical between the micro- radar signal source of ultra wide band and unmanned plane
Letter, to realize accurate positioning, positioning accuracy reaches 5-10cm, can satisfy the insulator charged hyperbaric environment institute detected and faced
The Accuracy Space positioning requirements needed.
3. providing a kind of unmanned plane path planning and flight control system based on micro- radar fix system, positioning accurate
Really, step is succinct, high reliablity, so that it is guaranteed that the accuracy of unmanned plane during flying, for the shape of insulator and power transmission and transforming equipment
State detection and the safe operation of power distribution network are of great significance.
Detailed description of the invention
Fig. 1 is a kind of function mould of the unmanned aerial vehicle flight control system based on power transmission and transforming equipment threedimensional model of the present invention
Block；
Fig. 2 is a kind of realization step of unmanned aerial vehicle flight control system based on power transmission and transforming equipment threedimensional model of the present invention
Rapid flow chart；
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
Fig. 1 to Fig. 2 is please referred to, the present invention provides a kind of technical solution: a kind of nothing based on power transmission and transforming equipment threedimensional model
Man-machine ground flying control system, including computer 1, micro- radar fix system 2, image capture module 3, threedimensional model module 4,
Coordinate calculation module 5, path planning module 6, wireless transport module 7 and airborne flight control system 8, the threedimensional model module 4 are sat
Mark computing module 5, path planning module 6 and wireless transport module 7 are integrated in computer 1, micro- radar fix system 2
Including the micro- radar signal source 9 of ultra wide band and ultra-wideband signal receiver 10, described image acquisition module 3,8 and of airborne flight control system
Ultra-wideband signal receiver 10 is installed on UAV targets, this unmanned aerial vehicle based on power transmission and transforming equipment threedimensional model flies
Steps are as follows for the realization of row control system:
Step 1: unmanned plane positioning；UAV targets first fly to target power transmission and transforming equipment, then by micro- radar fix
System 2 carries out self poisoning；
Step 2: Image Acquisition；UAV targets fly to power transmission and transforming equipment, and image capture module 3 starts to acquire defeated
Transformer equipment image, and be transmitted in onboard image analyzer, picture signal is generated, then be wirelessly sent to computer
1；
Step 3: three-dimensional modeling；Computer 1 carries out power transmission and transforming equipment by threedimensional model module 4 according to picture signal
Three-dimensional modeling, threedimensional model module 4 use IBMR technology；
Step 4: spatial coordinate obtains；After the completion of modeling, coordinate calculation module 5 is set according to obtaining three-dimensional model power transmission and transformation
Standby 3 D stereo coordinate, computer 1 is according to the own coordinate of UAV targets and the 3 D stereo coordinate pair of power transmission and transforming equipment
The actual coordinate of power transmission and transforming equipment is determined；
Step 5: path planning；According to the actual coordinate and monitoring needs of power transmission and transforming equipment, 1 passage path of computer rule
It draws module 6 and path planning is carried out to unmanned plane, computer 1 sends flight path planning to by wireless transport module 7 airborne
Flight control system 8, unmanned plane is planned according to flight path carries out independent navigation and flight attitude adjustment by micro- radar fix system 2
With control, automatic flight is realized.
As a kind of preferred embodiment of the invention, the IBMR technology in the step 3 be modeling based on image and
It draws, is one extremely active research field of current computer figure educational circles, with traditional modeling and drafting based on geometry
It compares, IBMR technology has the advantages that many uniquenesses, and three-dimensional modeling becomes faster, is more convenient, low in cost, the degree of automation
It is high.
As a kind of preferred embodiment of the invention, the localization method of micro- radar fix system 2 are as follows: basis first
Field conditions lay the micro- radar signal source 9 of 6 ultra wide bands as unmanned plane during flying in suitable position and position reference point, computer 1
It is that origin establishes space coordinates, the UWB that the micro- radar signal source 9 of ultra wide band issues respectively with the micro- radar signal source 9 of 6 ultra wide bands
Signal forms signal net, realizes the seamless communication between the micro- radar signal source 9 of ultra wide band and unmanned plane, it is ensured that unmanned plane positioning
Accuracy, the ultra-wideband signal receiver 10 on unmanned plane receive the UWB signal that the micro- radar signal source 9 of ultra wide band issues, calculate
Machine 1 emits the time of UWB signal and the time of unmanned plane reception UWB signal according to the micro- radar signal source 9 of ultra wide band, calculates each
The distance between the micro- radar signal source 9 of a ultra wide band and unmanned plane, then, computer 1 is according to three parameters of Mo Luojinsiji
Direct conversion method realizes accurate coordinate transformation, and position determines that after coordinate transformation, the position of unmanned plane is determined.
As a kind of preferred embodiment of the invention, described image acquisition module 3 is taken the photograph using visible light with infrared double light
As head.
Working principle: UAV targets fly to target power transmission and transforming equipment, then carry out itself by micro- radar fix system 2
Positioning, localization method are as follows: lay the micro- radar signal source 9 of 6 ultra wide bands as nobody in suitable position according to field conditions first
Machine flight positioning reference point, computer 1 are that origin establishes space coordinates, ultra-wide respectively with the micro- radar signal source 9 of 6 ultra wide bands
Signal net is formed with the UWB signal that micro- radar signal source 9 issues, is realized between the micro- radar signal source 9 of ultra wide band and unmanned plane
Seamless communication, it is ensured that the accuracy of unmanned plane positioning, the ultra-wideband signal receiver 10 on unmanned plane receive the micro- radar of ultra wide band
The UWB signal that signal source 9 issues, computer 1 emit time and the unmanned plane of UWB signal according to the micro- radar signal source 9 of ultra wide band
The time for receiving UWB signal, calculate the distance between the micro- radar signal source 9 of each ultra wide band and unmanned plane, then, computer
1, according to the direct conversion methods of three parameters of Mo Luojinsiji, realizes accurate coordinate transformation, and position determines, after coordinate transformation, nothing
Man-machine position is determined that UAV targets fly to power transmission and transforming equipment, and image capture module 3 starts acquisition power transmission and transformation and sets
Standby image, and be transmitted in onboard image analyzer, picture signal is generated, then be wirelessly sent to computer 1, calculated
Machine 1 carries out three-dimensional modeling to power transmission and transforming equipment by threedimensional model module 4 according to picture signal, and threedimensional model module 4 uses
IBMR technology, after the completion of modeling, 3 D stereo coordinate of the coordinate calculation module 5 according to obtaining three-dimensional model power transmission and transforming equipment, meter
Calculation machine 1 is according to the actual coordinate of the own coordinate of UAV targets and the 3 D stereo coordinate pair power transmission and transforming equipment of power transmission and transforming equipment
It is determined, according to the actual coordinate and monitoring needs of power transmission and transforming equipment, 1 passage path planning module 6 of computer is to unmanned plane
Path planning is carried out, computer 1 sends airborne flight control system 8, unmanned plane by wireless transport module 7 for flight path planning
Independent navigation and flight attitude adjustment and control are carried out by micro- radar fix system 2 according to flight path planning, is realized automatic
Flight, this unmanned aerial vehicle flight control system based on power transmission and transforming equipment threedimensional model can pass through power transmission and transforming equipment three-dimensional mould
Type obtains its three-dimensional spatial coordinate, and unmanned plane is carried out according to the spatial coordinate of power transmission and transforming equipment and by micro- radar fix system 2
Independent navigation and flight attitude adjustment and control, to realize the accurate detection to power transmission and transforming equipment.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention, for this field skill
For art personnel, it is clear that invention is not limited to the details of the above exemplary embodiments, and without departing substantially from spirit of the invention or
In the case where essential characteristic, the present invention can be realized in other specific forms.Therefore, in all respects, should all incite somebody to action
Embodiment regards exemplary as, and is non-limiting, the scope of the present invention by appended claims rather than on state
Bright restriction, it is intended that including all changes that fall within the meaning and scope of the equivalent elements of the claims in the present invention
It is interior.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (4)
1. a kind of unmanned aerial vehicle flight control system based on power transmission and transforming equipment threedimensional model, including computer (1), micro- radar
Positioning system (2), image capture module (3), threedimensional model module (4), coordinate calculation module (5), path planning module (6),
Wireless transport module (7) and airborne flight control system (8), which is characterized in that the threedimensional model module (4), coordinate calculation module
(5), path planning module (6) and wireless transport module (7) are integrated in computer (1), micro- radar fix system (2)
Including the micro- radar signal source of ultra wide band (9) and ultra-wideband signal receiver (10), described image acquisition module (3), airborne winged control
System (8) and ultra-wideband signal receiver (10) are installed on UAV targets, this is based on power transmission and transforming equipment threedimensional model
Steps are as follows for the realization of unmanned aerial vehicle flight control system:
Step 1: unmanned plane positioning；UAV targets first fly to target power transmission and transforming equipment, then by micro- radar fix system
(2) self poisoning is carried out；
Step 2: Image Acquisition；UAV targets fly to power transmission and transforming equipment, and image capture module (3) starts to acquire defeated change
Electric equipment image, and be transmitted in onboard image analyzer, picture signal is generated, then be wirelessly sent to computer
(1)；
Step 3: three-dimensional modeling；Computer (1) carries out power transmission and transforming equipment by threedimensional model module (4) according to picture signal
Three-dimensional modeling, threedimensional model module (4) use IBMR technology；
Step 4: spatial coordinate obtains；After the completion of modeling, coordinate calculation module (5) is according to obtaining three-dimensional model power transmission and transforming equipment
3 D stereo coordinate, computer (1) is according to the own coordinate of UAV targets and the 3 D stereo coordinate pair of power transmission and transforming equipment
The actual coordinate of power transmission and transforming equipment is determined；
Step 5: path planning；According to the actual coordinate and monitoring needs of power transmission and transforming equipment, the planning of computer (1) passage path
Module (6) carries out path planning to unmanned plane, and computer (1) sends flight path planning to by wireless transport module (7)
Airborne flight control system (8), unmanned plane is planned according to flight path carries out independent navigation and flight by micro- radar fix system (2)
Automatic flight is realized in pose adjustment and control.
2. a kind of unmanned aerial vehicle flight control system based on power transmission and transforming equipment threedimensional model according to claim 1,
It is characterized by: the IBMR technology in the step 3 is modeling and drafting based on image, it is current computer figure educational circles
One extremely active research field, compared with traditional modeling and drafting based on geometry, IBMR technology has many uniquenesses
The advantages of, three-dimensional modeling becomes faster, is more convenient, low in cost, high degree of automation.
3. a kind of unmanned aerial vehicle flight control system based on power transmission and transforming equipment threedimensional model according to claim 1,
It is characterized by: the localization method of micro- radar fix system (2) are as follows: lay 6 in suitable position according to field conditions first
A micro- radar signal source of ultra wide band (9) positions reference point as unmanned plane during flying, and computer (1) is believed with the micro- radar of 6 ultra wide bands
Number source (9) is that origin establishes space coordinates respectively, and the UWB signal that the micro- radar signal source of ultra wide band (9) issues forms signal net,
Realize the seamless communication between the micro- radar signal source of ultra wide band (9) and unmanned plane, it is ensured that the accuracy of unmanned plane positioning, unmanned plane
On ultra-wideband signal receiver (10) receive the micro- radar signal source of ultra wide band (9) issue UWB signal, computer (1) basis
The micro- radar signal source of ultra wide band (9) emits the time of UWB signal and the time of unmanned plane reception UWB signal, calculates each super
The distance between the micro- radar signal source in broadband (9) and unmanned plane, then, computer (1) is according to three parameters of Mo Luojinsiji
Direct conversion method realizes accurate coordinate transformation, and position determines that after coordinate transformation, the position of unmanned plane is determined.
4. a kind of unmanned aerial vehicle flight control system based on power transmission and transforming equipment threedimensional model according to claim 1,
It is characterized by: described image acquisition module (3) is using visible light and infrared double light video camera heads.
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| CN110530366A (en) * | 2019-08-08 | 2019-12-03 | 广东电网有限责任公司 | A kind of flight course planning system and method for transmission line of electricity modeling |
| CN111015650A (en) * | 2019-11-18 | 2020-04-17 | 安徽机电职业技术学院 | Industrial robot intelligent vision system and method for determining target position at multiple points |
| CN111856392A (en) * | 2020-07-15 | 2020-10-30 | 南京航空航天大学 | Ground node positioning method based on UWB ranging and unmanned aerial vehicle flight path |
| CN111915668A (en) * | 2020-07-28 | 2020-11-10 | 中冶宝钢技术服务有限公司 | Unmanned aerial vehicle auxiliary material pile operation monitoring method, device, terminal and medium |
| CN111929329A (en) * | 2020-07-30 | 2020-11-13 | 广东寰球智能科技有限公司 | Intelligent detection method and system for glass curtain wall and storage medium |
| CN114724042A (en) * | 2022-06-09 | 2022-07-08 | 国网江西省电力有限公司电力科学研究院 | Automatic detection method for zero-value insulator in power transmission line |
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