CN109655039A - The determination method and device of tilt angle, storage medium, electronic device - Google Patents

The determination method and device of tilt angle, storage medium, electronic device Download PDF

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Publication number
CN109655039A
CN109655039A CN201811645821.5A CN201811645821A CN109655039A CN 109655039 A CN109655039 A CN 109655039A CN 201811645821 A CN201811645821 A CN 201811645821A CN 109655039 A CN109655039 A CN 109655039A
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CN
China
Prior art keywords
tower
point cloud
tower body
body point
tilt angle
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Pending
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CN201811645821.5A
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Chinese (zh)
Inventor
罗望春
张建刚
苏国磊
李庭坚
张兴华
姜诚
张福
莫兵兵
李翔
余德泉
赵永屹
浦石
杜娜娜
滕志远
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Science And Technology Ltd Is Thought By Beijing Talkweb
Maintenance and Test Center of Extra High Voltage Power Transmission Co
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Science And Technology Ltd Is Thought By Beijing Talkweb
Maintenance and Test Center of Extra High Voltage Power Transmission Co
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Application filed by Science And Technology Ltd Is Thought By Beijing Talkweb, Maintenance and Test Center of Extra High Voltage Power Transmission Co filed Critical Science And Technology Ltd Is Thought By Beijing Talkweb
Priority to CN201811645821.5A priority Critical patent/CN109655039A/en
Publication of CN109655039A publication Critical patent/CN109655039A/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00Measuring inclination, e.g. by clinometers, by levels

Abstract

The present invention provides a kind of determination method and device of tilt angle, storage medium, electronic devices, the determination method of tilt angle, it include: tower body point cloud from obtaining two from shaft tower, wherein, the distance of tower body point cloud is greater than preset distance at described two, and the position of tower body point cloud is the other positions that cross arm of tower and tower head are removed on the shaft tower at described two;The tilt angle of the shaft tower is determined according to tower body point cloud at described two, by adopting the above technical scheme, the test method for solving the tilt angle of electric power line pole tower in the related technology has the problems such as measurement difficulty is big, and measurement result is inaccurate.

Description

The determination method and device of tilt angle, storage medium, electronic device
Technical field
The present invention relates to the communications fields, are situated between in particular to a kind of determination method and device of tilt angle, storage Matter, electronic device.
Background technique
Inclination of transmission line tower angle is the important indicator and transmission line of electricity for checking whether transmission line construction is qualified The important indicator of safety work, in the prior art be directed to electric power line pole tower tilt angle, the prior art provide with Under several confirmation methods:
The method provided in the related technology has vertical mensuration, transit survey method, plane mirror measurement method, Three Dimensional Ground Laser optical method.
Vertical mensuration: it is needed in head of mast when point suspension insulation cord using the gradient of vertical method measurement shaft tower Staff steps on tower operation, this undoubtedly increases the labor intensity and operating risk of staff.Choosing shaft tower bottom centre Point when, it cannot be guaranteed that 4 tower angles anchor line (string) point in same level, in addition manually-operated factor, the selection of central point It is not necessarily accurate, along with the tilting value of manual measurement shaft tower and the height of shaft tower can have error, and then lead to gradient Measurement result is inaccurate.
Transit survey method: transit survey shaft tower gradient can measure the gradient of shaft tower on ground, reduce work Make the labor intensity and operating risk of personnel, but it similarly possesses traditional measurement side when choosing shaft tower bottom centre point The defect that method is faced.During using transit survey shaft tower gradient, although being capable of measuring the height of shaft tower, error compared with Greatly, the precision of measurement result is not high.In addition conventional total stations mensuration has certain requirement to observation point, when observation point cannot expire When sufficient, this method fails.
Plane mirror measurement method: it is by being suitably set plane mirror, reasonable design that plane mirror method, which measures shaft tower slope, Optical path replaces observation specific objective itself to observe imaging of the specific objective in plane mirror, to solve extreme terrain measurement Observation problem of the condition by object in limited time.
Three Dimensional Ground laser optical method: one is chosen in the tower angle main material of shaft tower compared with low spot, with the three-dimensional coordinate of the point An absolute horizon is established with normal vector (0,0,1), and then chooses the intersection point at other three tower angles and horizontal plane, with this four Bottom centre point of the diagonal line of tower angle point as shaft tower;Then it is chosen at the tower material construction center of head of mast and is a little used as bar Top of tower central point is finally, calculate the gradient of shaft tower by shaft tower bottom centre point and head of mast central point.
For in the related technology, the test method of the tilt angle of electric power line pole tower is big in the presence of measurement difficulty, measurement knot The problems such as fruit is inaccurate not yet puts forward effective solutions.
Summary of the invention
The embodiment of the invention provides a kind of determination method and device of tilt angle, storage medium, electronic devices, so that Few test method for solving the tilt angle of electric power line pole tower in the related technology is big in the presence of measurement difficulty, measurement result inaccuracy The problems such as.
According to one embodiment of present invention, a kind of determination method of tilt angle is provided, comprising:
Tower body point cloud from obtaining two from shaft tower, wherein the distance of tower body point cloud is greater than preset distance, and institute at described two The position for stating tower body point cloud at two is the other positions that cross arm of tower and tower head are removed on the shaft tower;According to tower body point at described two Cloud determines the tilt angle of the shaft tower.
In embodiments of the present invention, obtain two from shaft tower from tower body point cloud, comprising: obtain the top among the shaft tower Tower body point cloud at first is taken, and the lower section among the shaft tower obtains tower body point cloud at second, and tower body at described first The distance of tower body point cloud is greater than preset distance at point cloud and described second.
In embodiments of the present invention, the tilt angle of the shaft tower is determined according to tower body point cloud at described two, comprising:
The horizontal plane that tower body point cloud at described first is projected to the highest point of tower body point cloud at described first, obtains first Perspective plane;
The horizontal plane that tower body point cloud at described second is projected to the minimum point of tower body point cloud at described second, obtains second Perspective plane;
Determine first geometric center point on first perspective plane and second geometric center point on second perspective plane;
The tilt angle of the shaft tower is determined according to first geometric center point and second geometric center point.
In embodiments of the present invention, the bar is determined according to first geometric center point and second geometric center point The tilt angle of tower, comprising:
The centerline direction of the shaft tower is determined according to first geometric center point and second geometric center point;
The tilt angle of the shaft tower is determined according to the angle of the centerline direction and vertical direction.
According to another embodiment of the invention, a kind of determining device of tilt angle is additionally provided, comprising:
Module is obtained, for tower body point cloud from obtaining two from shaft tower, wherein the distance of tower body point cloud is greater than at described two Preset distance, and the position of tower body point cloud is the other positions that cross arm of tower and tower head are removed on the shaft tower at described two;
Determining module, for determining the tilt angle of the shaft tower according to tower body point cloud at described two.
In embodiments of the present invention, the acquisition module obtains tower body at first for the top among the shaft tower Point cloud, and lower section among the shaft tower obtain tower body point cloud at second, and tower body point cloud and described the at described first The distance of tower body point cloud is greater than preset distance at two.
In embodiments of the present invention, the determining module, comprising:
First projecting cell, for tower body point cloud at described first to be projected to the highest point of tower body point cloud at described first Horizontal plane, obtain the first perspective plane;
Second projecting cell, for tower body point cloud at described second to be projected to the minimum point of tower body point cloud at described second Horizontal plane, obtain the second perspective plane;
First determination unit, for determine first perspective plane the first geometric center point and second perspective plane The second geometric center point;
Second determination unit, for determining the bar according to first geometric center point and second geometric center point The tilt angle of tower.
In embodiments of the present invention, second determination unit is also used to according to first geometric center point and described Second geometric center point determines the centerline direction of the shaft tower;And the angle according to the centerline direction and vertical direction Determine the tilt angle of the shaft tower.
According to another embodiment of the invention, a kind of storage medium is additionally provided, meter is stored in the storage medium Calculation machine program, wherein the computer program is arranged to execute the determination method of any of the above-described tilt angle when operation.
According to another embodiment of the invention, a kind of electronic device, including memory and processor are additionally provided, it is described Computer program is stored in memory, the processor is arranged to run the computer program to execute any of the above-described The determination method of tilt angle.
Through the invention, the tilt angle of the shaft tower is determined according to tower body point cloud from two obtained from shaft tower, at two The distance of tower body point cloud is greater than preset distance, and the position of tower body point cloud is that cross arm of tower and tower are removed on the shaft tower at described two The other positions of head solve the test method of the tilt angle of electric power line pole tower in the related technology by adopting the above technical scheme Big, the problems such as measurement result is inaccurate in the presence of measurement difficulty, and then provide a kind of determination of the tilt angle of accurate shaft tower Method.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the flow chart of the determination method of tilt angle according to an embodiment of the present invention;
Fig. 2 is the structural block diagram of the determining device of tilt angle according to an embodiment of the present invention;
Another structural block diagram of the determining device of Fig. 3 tilt angle according to an embodiment of the present invention;
Fig. 4 is the shaft tower schematic diagram according to the preferred embodiment of the present invention;
Fig. 5 is the geometric center schematic diagram of projection plane according to the preferred embodiment of the invention.
Specific embodiment
Hereinafter, the present invention will be described in detail with reference to the accompanying drawings and in combination with Examples.It should be noted that not conflicting In the case of, the features in the embodiments and the embodiments of the present application can be combined with each other.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, " Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.
Lidar measurement (Light Detecting and Ranging, LiDAR) technology is to utilize laser scanning device Automatically, system, rapidly obtain the measurement method of subject surface three-dimensional laser point cloud coordinate, be a kind of to develop rapidly in recent years Active Spatial data capture technology, it is a variety of to can be used for generating digital elevation model, digital adventure appearance, D Urban model etc. Digital space product plays a significant role the fields such as engineering survey, digital city construction, historical relic's protection, military affairs, in recent years In power industry using more and more extensive, and the technical solution of the embodiment of the present invention is based on the proposition of this technology.
Embodiment 1
A kind of determination method of tilt angle is provided in the present embodiment, and Fig. 1 is inclination according to an embodiment of the present invention The flow chart of the determination method of angle, as shown in Figure 1, the process includes the following steps:
Step S102, from shaft tower obtain two from tower body point cloud, wherein the distance of tower body point cloud is greater than predetermined at described two Distance, and the position of tower body point cloud is the other positions that cross arm of tower and tower head are removed on the shaft tower at described two;
Step S104 determines the tilt angle of the shaft tower according to tower body point cloud at described two.
Through the invention, the tilt angle of the shaft tower is determined according to tower body point cloud from two obtained from shaft tower, at two The distance of tower body point cloud is greater than preset distance, and the position of tower body point cloud is that cross arm of tower and tower are removed on the shaft tower at described two The other positions of head solve the test method of the tilt angle of electric power line pole tower in the related technology by adopting the above technical scheme Big, the problems such as measurement result is inaccurate in the presence of measurement difficulty, and then provide a kind of determination of the tilt angle of accurate shaft tower Method, measurement method is simple, saves cost.
For the implementation of above-mentioned steps S102, in embodiments of the present invention, from shaft tower obtain two from tower body point cloud, It include: tower body point cloud at the top acquisition first among the shaft tower, and the lower section among the shaft tower obtains second Locate tower body point cloud, and the distance of tower body point cloud is greater than preset distance at tower body point cloud and described second at described first.
In embodiments of the present invention, the tilt angle that the shaft tower is determined according to tower body point cloud at described two, can pass through Following technical scheme is realized:
The horizontal plane that tower body point cloud at described first is projected to the highest point of tower body point cloud at described first, obtains first Perspective plane;The horizontal plane that tower body point cloud at described second is projected to the minimum point of tower body point cloud at described second, obtains second Perspective plane it is of course also possible to first confirm the second perspective plane, then determines the first perspective plane, and the embodiment of the present invention is not construed as limiting this; Determine first geometric center point on first perspective plane and second geometric center point on second perspective plane;According to described First geometric center point and second geometric center point determine the centerline direction of the shaft tower;According to the centerline direction The tilt angle of the shaft tower is determined with the angle of vertical direction.
It should be noted that the second geometric center of first geometric center and the second perspective plane on above-mentioned first perspective plane The method of determination can be not construed as limiting this using any method of determination in the prior art, the embodiment of the present invention.
Through the above description of the embodiments, those skilled in the art can be understood that according to above-mentioned implementation The method of example can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but it is very much In the case of the former be more preferably embodiment.Based on this understanding, technical solution of the present invention is substantially in other words to existing The part that technology contributes can be embodied in the form of software products, which is stored in a storage In medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that a terminal device (can be mobile phone, calculate Machine, server or network equipment etc.) method that executes each embodiment of the present invention.
Embodiment 2
Additionally provide a kind of determining device of tilt angle in the present embodiment, the device for realizing above-described embodiment and Preferred embodiment, the descriptions that have already been made will not be repeated.As used below, predetermined function may be implemented in term " module " The combination of the software and/or hardware of energy.It is hard although device described in following embodiment is preferably realized with software The realization of the combination of part or software and hardware is also that may and be contemplated.
Fig. 2 is the structural block diagram of the determining device of tilt angle according to an embodiment of the present invention, as shown in Fig. 2, the device Include:
Module 20 is obtained, for tower body point cloud from obtaining two from shaft tower, wherein the distance of tower body point cloud is big at described two In preset distance, and at described two, the position of tower body point cloud is the other positions that cross arm of tower and tower head are removed on the shaft tower;
Determining module 22, for determining the tilt angle of the shaft tower according to tower body point cloud at described two.
Through the invention, the tilt angle of the shaft tower is determined according to tower body point cloud from two obtained from shaft tower, at two The distance of tower body point cloud is greater than preset distance, and the position of tower body point cloud is that cross arm of tower and tower are removed on the shaft tower at described two The other positions of head solve the test method of the tilt angle of electric power line pole tower in the related technology by adopting the above technical scheme Big, the problems such as measurement result is inaccurate in the presence of measurement difficulty, and then provide a kind of determination of the tilt angle of accurate shaft tower Method, measurement method is simple, saves cost.
In embodiments of the present invention, the acquisition module obtains tower body at first for the top among the shaft tower Point cloud, and lower section among the shaft tower obtain tower body point cloud at second, and tower body point cloud and described the at described first The distance of tower body point cloud is greater than preset distance at two.
Fig. 3 is another structural block diagram of the determining device of tilt angle according to an embodiment of the present invention, as shown in figure 3, In the embodiment of the present invention, the determining module 22, comprising:
First projecting cell 220, for tower body point cloud at described first to be projected at described first tower body point cloud most The horizontal plane of high point obtains the first perspective plane;
Second projecting cell 222, for tower body point cloud at described second to be projected at described second tower body point cloud most The horizontal plane of low spot obtains the second perspective plane;
First determination unit 224, the first geometric center point and described second for determining first perspective plane are thrown Second geometric center point in shadow face;
Second determination unit 226, for determining institute according to first geometric center point and second geometric center point State the tilt angle of shaft tower.
In embodiments of the present invention, the second determination unit 226 is also used to according to first geometric center point and described Two geometric center points determine the centerline direction of the shaft tower;And it is true according to the angle of the centerline direction and vertical direction The tilt angle of the fixed shaft tower.
It is illustrated below in conjunction with determination process of the preferred embodiment to above-mentioned tilt angle, but is not used in restriction originally The technical solution of inventive embodiments.
Fig. 4 is the shaft tower schematic diagram of the root preferred embodiment of the present invention, is based on Fig. 4, and the preferred embodiment of the present invention may include Following steps:
Step 1: choosing shaft tower upper horizontal tower body point cloud (being equivalent to shaft tower point cloud at the first of above-described embodiment) and select Taking lower horizontal tower body point cloud (being equivalent to shaft tower point cloud at the second of above-described embodiment), it is desirable that the horizontal tower body of selection is complete, Not comprising cross arm of tower and tower head, the distance difference of upper horizontal tower body point cloud and lower horizontal tower body point cloud is bigger, final to calculate Tilt angle closer to actual value;
Step 2: respectively to two horizontal tower body point set computational geometry centers, may be accomplished by: by tower body point Cloud projects to sustained height, and wherein upper horizontal tower body projects to the highest point horizontal plane of a cloud, and lower horizontal tower body projects to The minimum point horizontal plane of point cloud calculates minimum circumscribed rectangle (as shown in Figure 5) to the point after projection, the seat of 4 points in sequence (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), (x4, y4, z4) are marked, wherein z1=z2=z3=z4, according to following public affairs Formula obtains center (x0, y0, z0):
Step 3: shaft tower inclination is calculated by two centers:
Centerline direction L1The angle of (x, y, z) and Z axis (0,0,1), the as tilt angle of shaft tower.
The angle of centerline direction and Z axis, the as tilt angle of shaft tower are calculated, the direction vector of Z axis is (0.0,1), Then tilt angle calculation formula is as follows:
To sum up, the embodiment of the present invention has reached following technical effect: high-efficient:, can be quick as long as data fit requires Calculate target value;Applicability is wide: flat country and mountainous region are all suitable for;Artificial in-site measurement is not needed, various measurements are not needed Instrument, measuring speed block improve working efficiency, save human and material resources, financial resources.
Embodiment 3
The embodiments of the present invention also provide a kind of storage medium, which includes the program of storage, wherein above-mentioned Program executes method described in any of the above embodiments when running.
Optionally, in the present embodiment, above-mentioned storage medium can be set to store the journey for executing following steps Sequence code:
S1, from shaft tower obtain two from tower body point cloud, wherein the distance of tower body point cloud is greater than preset distance at described two, And the position of tower body point cloud is the other positions that cross arm of tower and tower head are removed on the shaft tower at described two;
S2 determines the tilt angle of the shaft tower according to tower body point cloud at described two.
Optionally, storage medium is also configured to store the program code for executing following steps:
S3, the top among the shaft tower obtain tower body point cloud at first, and the lower section among the shaft tower is obtained Tower body point cloud at second is taken, and the distance of tower body point cloud is greater than preset distance at tower body point cloud and described second at described first.
Optionally, in the present embodiment, above-mentioned storage medium can include but is not limited to: USB flash disk, read-only memory (Read- Only Memory, referred to as ROM), it is random access memory (Random Access Memory, referred to as RAM), mobile hard The various media that can store program code such as disk, magnetic or disk.
Optionally, the specific example in the present embodiment can be with reference to described in above-described embodiment and optional embodiment Example, details are not described herein for the present embodiment.
Obviously, those skilled in the art should be understood that each module of the above invention or each step can be with general Computing device realize that they can be concentrated on a single computing device, or be distributed in multiple computing devices and formed Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored It is performed by computing device in the storage device, and in some cases, it can be to be different from shown in sequence execution herein Out or description the step of, perhaps they are fabricated to each integrated circuit modules or by them multiple modules or Step is fabricated to single integrated circuit module to realize.In this way, the present invention is not limited to any specific hardware and softwares to combine.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field For art personnel, the invention may be variously modified and varied.It is all within principle of the invention, it is made it is any modification, etc. With replacement, improvement etc., should all be included in the protection scope of the present invention.

Claims (10)

1. a kind of determination method of tilt angle characterized by comprising
Tower body point cloud from obtaining two from shaft tower, wherein the distance of tower body point cloud is greater than preset distance, and described two at described two The position for locating tower body point cloud is the other positions that cross arm of tower and tower head are removed on the shaft tower;
The tilt angle of the shaft tower is determined according to tower body point cloud at described two.
2. the method according to claim 1, wherein tower body point cloud from obtaining two from shaft tower, comprising:
Top among the shaft tower obtains tower body point cloud at first, and the lower section among the shaft tower obtains at second Tower body point cloud, and the distance of tower body point cloud is greater than preset distance at tower body point cloud and described second at described first.
3. according to the method described in claim 2, it is characterized in that, determining inclining for the shaft tower according to tower body point cloud at described two Rake angle, comprising:
The horizontal plane that tower body point cloud at described first is projected to the highest point of tower body point cloud at described first, obtains the first projection Face;
The horizontal plane that tower body point cloud at described second is projected to the minimum point of tower body point cloud at described second, obtains the second projection Face;
Determine first geometric center point on first perspective plane and second geometric center point on second perspective plane;
The tilt angle of the shaft tower is determined according to first geometric center point and second geometric center point.
4. according to the method described in claim 3, it is characterized in that, according to first geometric center point and second geometry Central point determines the tilt angle of the shaft tower, comprising:
The centerline direction of the shaft tower is determined according to first geometric center point and second geometric center point;
The tilt angle of the shaft tower is determined according to the angle of the centerline direction and vertical direction.
5. a kind of determining device of tilt angle characterized by comprising
Module is obtained, for tower body point cloud from obtaining two from shaft tower, wherein the distance of tower body point cloud is greater than predetermined at described two Distance, and the position of tower body point cloud is the other positions that cross arm of tower and tower head are removed on the shaft tower at described two;
Determining module, for determining the tilt angle of the shaft tower according to tower body point cloud at described two.
6. device according to claim 5, which is characterized in that the acquisition module, among the shaft tower Side obtains tower body point cloud at first, and the lower section among the shaft tower obtains tower body point cloud at second, and at described first The distance of tower body point cloud is greater than preset distance at tower body point cloud and described second.
7. device according to claim 6, which is characterized in that the determining module, comprising:
First projecting cell, for tower body point cloud at described first to be projected to the water of the highest point of tower body point cloud at described first Plane obtains the first perspective plane;
Second projecting cell, for tower body point cloud at described second to be projected to the water of the minimum point of tower body point cloud at described second Plane obtains the second perspective plane;
First determination unit, for determine first perspective plane the first geometric center point and second perspective plane Two geometric center points;
Second determination unit, for determining the shaft tower according to first geometric center point and second geometric center point Tilt angle.
8. device according to claim 7, which is characterized in that second determination unit is also used to according to described first Geometric center point and second geometric center point determine the centerline direction of the shaft tower;And according to the centerline direction The tilt angle of the shaft tower is determined with the angle of vertical direction.
9. a kind of storage medium, which is characterized in that be stored with computer program in the storage medium, wherein the computer Program is arranged to execute method described in any one of claim 1 to 5 when operation.
10. a kind of electronic device, including memory and processor, which is characterized in that be stored with computer journey in the memory Sequence, the processor are arranged to run the computer program to execute side described in any one of claim 1 to 5 Method.
CN201811645821.5A 2018-12-30 2018-12-30 The determination method and device of tilt angle, storage medium, electronic device Pending CN109655039A (en)

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Publication number Priority date Publication date Assignee Title
CN111256657A (en) * 2020-02-28 2020-06-09 国网山西省电力公司晋城供电公司 Method and device for measuring inclination of tower, storage medium and electronic equipment
CN111256657B (en) * 2020-02-28 2021-12-28 国网山西省电力公司晋城供电公司 Method and device for measuring inclination of tower, storage medium and electronic equipment
CN111521124A (en) * 2020-03-27 2020-08-11 武汉地大信息工程股份有限公司 Iron tower deformation detection method and system based on image unmanned aerial vehicle
CN111583174A (en) * 2020-03-27 2020-08-25 武汉地大信息工程股份有限公司 Method and system for detecting deformation of iron tower based on point cloud data
CN111583174B (en) * 2020-03-27 2022-09-06 武汉地大信息工程股份有限公司 Method and system for detecting deformation of iron tower based on point cloud data
CN111474443A (en) * 2020-04-13 2020-07-31 国网山东省电力公司淄博供电公司 Method and device for measuring power transmission line

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