CN110044336A - A kind of contactless transmission line icing measurement method based on unmanned plane - Google Patents
A kind of contactless transmission line icing measurement method based on unmanned plane Download PDFInfo
- Publication number
- CN110044336A CN110044336A CN201910159362.8A CN201910159362A CN110044336A CN 110044336 A CN110044336 A CN 110044336A CN 201910159362 A CN201910159362 A CN 201910159362A CN 110044336 A CN110044336 A CN 110044336A
- Authority
- CN
- China
- Prior art keywords
- transmission line
- unmanned plane
- line icing
- measurement method
- icing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Geometry (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The contactless transmission line icing measurement method based on unmanned plane that the invention discloses a kind of, comprising: route is shot by the binocular solid camera of unmanned plane mounting, to obtain the 3-dimensional image model of route；Analysis is measured to the image data of accessed route 3-dimensional image model, transmission line icing line of apsides numerical value is calculated；It is calculated according to the transmission line icing line of apsides numerical value being calculated and obtains transmission line icing thickness.This method carries out shooting and monitoring to route by binocular solid camera that unmanned plane mounts, solve the problems, such as brought by existing artificial sight ice it is complicated for operation, there are personal safety risks；Meanwhile shooting and monitoring is carried out to route by mounting binocular solid camera in unmanned plane, available more mesh images realize the high-acruracy survey of threedimensional model, and then achieve the purpose that quick simultaneously, precise measurement ice covering thickness.
Description
Technical field
The present invention relates to power circuit security technology areas, and in particular to a kind of contactless route based on unmanned plane covers
Ice measurement method.
Background technique
It is the traditional means for grasping powerline ice-covering information that transmission line of electricity, which manually sees ice, not only route operation and maintenance shape
State evaluates (assessment) etc. and provides foundation, while providing support for ice-melt decision, is that low temperature congeals prevention power equipment thing under weather
Therefore guarantee the means of safe operation of power system, it is the important process for guaranteeing transmission line safety operation.Major programme has weighing
Method, length are through method:
1, weight method is by the method for artificial climbing tower, using taking ice chest to carry out that ice is taken to operate on conducting wire, if Fig. 1 is to claim
Weight method illustraton of model.When icing size distribution differs greatly on conducting wire, representative section should be chosen.Generally take ice chest length
For 25cm, therefore the length of ice body is removed with taking ice chest length consistent.If ice body reality need to be recorded with taking ice chest length inconsistent
Length.It weighs together with carton and crate, deducts carton and crate weight and obtain ice weight G, be accurate to gram.
2, length shot is the artificial important means for seeing ice, has the characteristics that easy to operate, Yi Chongfu, is manually being seen in ice
Generally use.If Fig. 1 is that length shot illustraton of model is directly measured icing using vernier caliper and led by way of artificial climbing tower
The line of apsides of line.Icing major diameter refers to that the maximum length numerical value in conductive wire cross-section perpendicular to conducting wire ice sheet, conducting wire are included in
It is interior.Icing minor axis refers to that, perpendicular to the maximum length numerical value in ice sheet major diameter direction in conductive wire cross-section, conducting wire may not include
It is interior.
Inventor has found at least to have the following deficiencies: in background technique during realizing the embodiment of the present invention
1) there are personal safety risks: needing artificial climbing tower, directly contact icing in measurement process, exists in operating process
The danger of personal safety.
2) complicated for operation: manually to step on the cumbersome time-consuming of process of tower, the sampling and measurement for completing one section of route at least need one
More than hour, operating efficiency complicated for operation is low for group people 2.
3) data validity is poor: since contact uses and measurement method takes time and effort, when field operation operation, can only selector
Implement subregion, it is difficult to express the actual conditions of entire transmission line icing.
Summary of the invention
It is poor and there is the person in order to solve complicated for operation, data validity present in existing line icing measurement method
The problem of security risk, the contactless transmission line icing measurement method based on unmanned plane that the embodiment of the invention provides a kind of.
To achieve the above object, the technical scheme is that
A kind of contactless transmission line icing measurement method based on unmanned plane, comprising:
Route is shot by the binocular solid camera of unmanned plane mounting, to obtain the 3-D image mould of route
Type；
Analysis is measured to the image data of accessed route 3-dimensional image model, transmission line icing is calculated
Line of apsides numerical value；
It is calculated according to the transmission line icing line of apsides numerical value being calculated and obtains transmission line icing thickness.
Further, transmission line icing line of apsides numerical value is calculated by following formula to calculate and obtain transmission line icing thickness
Degree:
Wherein, D: the major diameter of transmission line icing section；B: the minor axis of transmission line icing section；R: corresponding conducting wire and ground wire are taken
Radius.
Further, the process that transmission line icing line of apsides numerical value is calculated are as follows:
If P is target point, need to resolve P point in the three-dimensional coordinate (Xs, Ys, Zs) of relative coordinate system；P point is in binocular solid
It is imaged respectively in the screen of camera, is defined as pr,pl, image space coordinate is respectively (ur,vr)、(ul,vl), by collinear condition side
Following two groups of equations can be obtained in journey
Given value is (ur,vr)、(ul,vl)、f、X、Y、Z、a1、a2、a3、b1、b3、c1、c2、c3, unknown number Xs, Ys, Zs,
By Taylor series expansion collinearity condition equation, tri- unknown numbers of Xs, Ys, Zs can be resolved；
The space length of point-to-point transmission can be resolved by the coordinate of two points in free coordinate system；In data calculation process
In, it chooses three different positions and calculates separately the transmission line icing line of apsides, be averaged as final line of apsides numerical value.
Further, the contactless transmission line icing measurement method based on unmanned plane further includes vertical to the binocular
Body camera
Camera verification is carried out, the camera verification is carried out by following equation:
In formula: x, y are as plane coordinates；
x0、y0, f be elements of interior orientation；
Xs、Ys、Zs, ψ, ω, κ are elements of exterior orientation；
X, Y, Z are object coordinates；
ai, bi, ci(i=1,2,3) direction cosines constituted for photo exterior orientation angle element.
Further, the contactless transmission line icing measurement method based on unmanned plane further include: to the binocular
Stereoscopic camera image obtained carries out distortion rectification；The distortion rectification includes the correction of camera lens radial distortion difference and lens eccentricity
Photogrammetric distortion is corrected.
Further, the camera lens radial distortion difference, which is corrected, includes:
The following odd times polynomial repressentation of camera lens radial distortion difference Δ r:
In formula: r --- picture point is to diameter；
X, y --- picpointed coordinate；
x0,y0--- principal point coordinate；
ki(i=1,2,3 ...) --- radial distortion parameter；
Acquisition camera lens radial distortion difference Δ r is calculated then to be corrected.
Further, the lens eccentricity photogrammetric distortion is corrected by being shown below:
In formula: Δ xD, Δ yD--- decentering distortion difference component when focalizing as D；
F --- master when focalizing as D away from；
D --- it focalizes；
p1, p2--- decentering distortion parameter.
Further, the contactless transmission line icing measurement method based on unmanned plane further include:
Ice covering thickness observation report is exported based on transmission line icing thickness obtained
Compared with prior art, the present invention the beneficial effect is that:
This method carries out shooting and monitoring to route by the binocular solid camera that unmanned plane mounts, and solves existing artificial
See brought by ice it is complicated for operation, there are problems that personal safety risk, and can the icing situation to entire route carry out
Monitoring, institute's acquired image data can preferably express the actual conditions of entire transmission line icing；Meanwhile by unmanned plane
Mounting binocular solid camera to carry out route shooting and monitoring, and available more mesh images realize that the high-precision of threedimensional model is surveyed
Amount, and then achieve the purpose that quick simultaneously, precise measurement ice covering thickness.
Detailed description of the invention
Fig. 1 is length shot illustraton of model；
Fig. 2 is the flow chart of the contactless transmission line icing measurement method provided in an embodiment of the present invention based on unmanned plane；
Fig. 3 is data analysis principle figure；
Specific embodiment
The contents of the present invention are described in further details with reference to the accompanying drawings and detailed description.
Embodiment:
As shown in fig.2, the contactless transmission line icing measurement method provided in this embodiment based on unmanned plane includes:
201, route is shot by the binocular solid camera of unmanned plane mounting, to obtain the 3-D image of route
Model；
202, analysis is measured to the image data of accessed route 3-dimensional image model, route is calculated
Icing line of apsides numerical value；
203, it is calculated according to the transmission line icing line of apsides numerical value being calculated and obtains transmission line icing thickness.
When this method concrete application, by unmanned plane carry twin shaft holder, binocular solid camera is mounted, by wireless data
Transmission link carries out real-time data transmission and analysis, obtains the threedimensional model formed by stereopsis in real time in ground surface end, three-dimensional
Model is sent to VR glasses end by wireless data link, controls unmanned plane by VR glasses by operator and holder carries out
Rotation, chooses most suitable angle and is shot, realize the high-acruracy survey of threedimensional model, and then reaches while measuring icing thickness
The purpose of degree.
It follows that this method carries out shooting and monitoring to route by the binocular solid camera that unmanned plane mounts, solve
It is complicated for operation brought by existing artificial sight ice, there are problems that personal safety risk, and entire route can be covered
Ice condition condition is monitored, and institute's acquired image data can preferably express the actual conditions of entire transmission line icing；Meanwhile it is logical
It crosses and to carry out route shooting and monitoring in unmanned plane mounting binocular solid camera, available more mesh images realize threedimensional model
High-acruracy survey, and then achieve the purpose that at the same quickly, precise measurement ice covering thickness.
Specifically, binocular solid camera also carries out camera calibration, mesh during shoot image obtained to route
Camera calibration mainly realizes that camera internal position element resolving, camera distortion parameter calculation, camera relative positional relationship resolve, mesh
Be to obtain accurate camera internal position, distortion parameter and relative tertiary location relationship, by direct linear transformation, (DLT is linear
Distortion resolves) algorithm realization.
Direct linear transformation's solution be it is a kind of establish it is direct between image space coordinate and corresponding object point object space coordinate
The solution of linear relationship, image space coordinate here refer to not using principal point as the image space coordinate of coordinate origin.This method does not need
Inside and outside element of orientation initial value, asked in this way especially suitable for the calibration parametric solution of non-metric camera.However this method is
Single model resolves, and higher to the quantity and Spreading requirements at control point, and morbid state is otherwise easy to appear in solution process.
DLT solution in principle for be to be evolved from collinearity condition equation, common collinearity condition equation indicates are as follows:
In formula: x, y are as plane coordinates；
x0、y0, f be elements of interior orientation；
Xs、Ys、Zs, ψ, ω, κ are elements of exterior orientation；
X, Y, Z are object coordinates；
ai, bi, ci(i=1,2,3) direction cosines constituted for photo exterior orientation angle element.
It is also desirable to which binocular solid camera image obtained carries out distortion rectification, to obtain accurate iconic model.
The geometric distortion of image refers to error of the picture point on target point measurement geometric position on the image plane, to cause to be imaged
System cannot make image and practical scenery strictly meet pin-hole imaging model (or central projection relationship) within the scope of full filed, make
Central projection ray bends.Distortion can be divided into radial distortion and two kinds of tangential distortion.Radial distortion difference refer to picture point along to
The photogrammetric distortion of its ideal position is deviateed in diameter direction, only and distance dependent of the picture point from principal point.Radial distortion difference has symmetry,
But its symmetrical centre not fully coincides with principal point, and principal point is usually considered as symmetrical centre for the sake of simplicity.Radial distortion
It is positive and negative related with its offset direction, be positive far from the offset of principal point, the offset close to principal point is negative.
According to theory of geometric optics, camera lens radial distortion difference Δ r can use following odd times polynomial repressentation:
Δ r=k1r3+k2r5+k3r7+ ... (formula 1.5)
In formula: r --- picture point is to diameter；
X, y --- picpointed coordinate；
x0,y0--- principal point coordinate；
ki(i=1,2,3 ...) --- radial distortion parameter；
Decentering distortion difference is due to camera lens manufacture, installation and vibration so that camera lens each unit deviates from lens axis or askew
Tiltedly, make picture point in the photogrammetric distortion for radially and tangentially all deviateing its theoretical position.Under normal circumstances, decentering distortion difference is much smaller than radial
Photogrammetric distortion, sum of the deviations caused by non-radial distortion are about 1/7~1/8 that radial distortion causes error.It is identical as radial distortion
, in close-range photogrammetry, decentering distortion becomes with the variation of focal length D, and difference focalize on D atural object (away from
From for D'), there is also the variations of decentering distortion.The decentering distortion correction for taking the D that focalizes under the conditions of close shot into account is shown below:
In formula: Δ xD, Δ yD--- decentering distortion difference component when focalizing as D；
F --- master when focalizing as D away from；
D --- it focalizes；
p1, p2--- decentering distortion parameter.
Data acquisition is carried out by manual control UAV flight's binocular solid camera, needs to complete icing in collection process
The image collection work of the multiple angles in region, multiple positions, while being in real time transmitted to image information by wireless transmitting system
Earth station working end.
It after earth station working end receives image data, is measured by high precision measuring system, if Fig. 3 is data point
Analyse schematic diagram.By choosing the left and right image data of proper angle and distance, same place is chosen in imaging window, passes through left and right
The same place of image acquires object coordinates of the point in relative coordinate system.It can be obtained two by the object coordinates of two points
Distance between point.
P is target point, needs to resolve P point in the three-dimensional coordinate (Xs, Ys, Zs) of relative coordinate system.P point is in binocular tri-dimensional
It is imaged respectively on screen, is defined as pr,pl, image space coordinate is respectively (ur,vr)、(ul,vl), it is available by collinearity condition equation
Two groups of equations below
Given value is (ur,vr)、(ul,vl)、f、X、Y、Z、a1、a2、a3、b1、b3、c1、c2、c3, unknown number Xs, Ys, Zs,
By Taylor series expansion collinearity condition equation, tri- unknown numbers of Xs, Ys, Zs can be resolved.
The space length of point-to-point transmission can be resolved by the coordinate of two points in free coordinate system.For the standard for guaranteeing data
True property and reliability choose three different positions and calculate separately the icing line of apsides, be averaged work in data calculation process
For final line of apsides numerical value.
Ice covering thickness is resolved according to the line of apsides that the above process acquires:
D: the major diameter of icing section；
B: the minor axis of icing section；
R: corresponding conducting wire and ground wire radius are taken.
Finally, the ice covering thickness observation report such as following table can be exported, to check as archive.
To sum up, this method passes through original creation by using the video data of the remote non-contacting acquisition icing of unmanned plane
Binocular video measurement scheme resolves ice covering thickness and forms specific work report.
Simply to illustrate that technical concepts and features of the invention, its purpose is allows in the art above-described embodiment
Those of ordinary skill cans understand the content of the present invention and implement it accordingly, and it is not intended to limit the scope of the present invention.It is all
It is the equivalent changes or modifications that the essence of content according to the present invention is made, should be covered by the scope of protection of the present invention.
Claims (8)
1. a kind of contactless transmission line icing measurement method based on unmanned plane characterized by comprising
Route is shot by the binocular solid camera of unmanned plane mounting, to obtain the 3-dimensional image model of route；
Analysis is measured to the image data of accessed route 3-dimensional image model, transmission line icing length is calculated
Diameter numerical value；
It is calculated according to the transmission line icing line of apsides numerical value being calculated and obtains transmission line icing thickness.
2. the contactless transmission line icing measurement method based on unmanned plane as described in claim 1, which is characterized in that by such as
Lower formula come transmission line icing line of apsides numerical value is calculated calculate obtain transmission line icing thickness:
Wherein, D: the major diameter of transmission line icing section；B: the minor axis of transmission line icing section；R: corresponding conducting wire and ground wire half are taken
Diameter.
3. the contactless transmission line icing measurement method based on unmanned plane as claimed in claim 1 or 2, which is characterized in that institute
State the process that transmission line icing line of apsides numerical value is calculated are as follows:
If P is target point, need to resolve P point in the three-dimensional coordinate (Xs, Ys, Zs) of relative coordinate system；P point is in binocular solid camera
Screen on be imaged respectively, be defined as pr,pl, image space coordinate is respectively (ur,vr)、(ul,vl), it can by collinearity condition equation
Obtain following two groups of equations
Given value is (ur,vr)、(ul,vl)、f、X、Y、Z、a1、a2、a3、b1、b3、c1、c2、c3, unknown number Xs, Ys, Zs pass through
Taylor series expansion collinearity condition equation can resolve tri- unknown numbers of Xs, Ys, Zs；
The space length of point-to-point transmission can be resolved by the coordinate of two points in free coordinate system；In data calculation process,
It chooses three different positions and calculates separately the transmission line icing line of apsides, be averaged as final line of apsides numerical value.
4. the contactless transmission line icing measurement method based on unmanned plane as described in claim 1, which is characterized in that further include
Camera verification is carried out to the binocular solid camera, the camera verification is carried out by following equation:
In formula: x, y are as plane coordinates；
x0、y0, f be elements of interior orientation；
Xs、Ys、Zs, ψ, ω, κ are elements of exterior orientation；
X, Y, Z are object coordinates；
ai, bi, ci(i=1,2,3) direction cosines constituted for photo exterior orientation angle element.
5. the contactless transmission line icing measurement method as described in claim 1 or 4 based on unmanned plane, which is characterized in that also
It include: that distortion rectification is carried out to binocular solid camera image obtained；The distortion rectification includes camera lens radial distortion
Difference is corrected and lens eccentricity photogrammetric distortion is corrected.
6. the contactless transmission line icing measurement method based on unmanned plane as claimed in claim 5, which is characterized in that the mirror
Head radial distortion difference, which is corrected, includes:
The following odd times polynomial repressentation of camera lens radial distortion difference Δ r:
Δ r=k1r3+k2r5+k3r7+…
In formula: r --- picture point is to diameter；
X, y --- picpointed coordinate；
x0,y0--- principal point coordinate；
ki(i=1,2,3 ...) --- radial distortion parameter；
Acquisition camera lens radial distortion difference Δ r is calculated then to be corrected.
7. the contactless transmission line icing measurement method based on unmanned plane as claimed in claim 5, which is characterized in that the mirror
Head decentering distortion difference is corrected by being shown below:
In formula: Δ xD, Δ yD--- decentering distortion difference component when focalizing as D；
F --- master when focalizing as D away from；
D --- it focalizes；
p1, p2--- decentering distortion parameter.
8. the contactless transmission line icing measurement method based on unmanned plane as described in claim 1, which is characterized in that also wrap
It includes:
Ice covering thickness observation report is exported based on transmission line icing thickness obtained.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910159362.8A CN110044336A (en) | 2019-03-04 | 2019-03-04 | A kind of contactless transmission line icing measurement method based on unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910159362.8A CN110044336A (en) | 2019-03-04 | 2019-03-04 | A kind of contactless transmission line icing measurement method based on unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110044336A true CN110044336A (en) | 2019-07-23 |
Family
ID=67274478
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910159362.8A Pending CN110044336A (en) | 2019-03-04 | 2019-03-04 | A kind of contactless transmission line icing measurement method based on unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110044336A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110992418A (en) * | 2019-12-12 | 2020-04-10 | 中国南方电网有限责任公司超高压输电公司大理局 | Wire icing thickness monitoring system and method |
| CN111174697A (en) * | 2019-12-13 | 2020-05-19 | 中国南方电网有限责任公司超高压输电公司柳州局 | Stereoscopic vision image accurate measurement method based on unmanned aerial vehicle |
| CN111862715A (en) * | 2020-07-27 | 2020-10-30 | 中国南方电网有限责任公司超高压输电公司贵阳局 | Anti-icing operation authorization training evaluation system based on VR technology |
| CN114383574A (en) * | 2021-12-29 | 2022-04-22 | 中国测绘科学研究院 | Binocular rapid three-dimensional measurement method for unmanned aerial vehicle |
| CN115791183A (en) * | 2022-10-13 | 2023-03-14 | 中国航发四川燃气涡轮研究院 | Test device for high-altitude icing simulation test of aero-engine |
| CN116110225A (en) * | 2023-03-01 | 2023-05-12 | 北京图安世纪科技股份有限公司 | Vehicle-road cooperative cloud control system and method based on digital twin |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101298979A (en) * | 2008-07-01 | 2008-11-05 | 北京林业大学 | Estimate survey technique using metric camera cooperating with theodolite |
| CN103234465A (en) * | 2013-03-20 | 2013-08-07 | 北京国网富达科技发展有限责任公司 | Method and system for detecting icing thickness of electric transmission line |
| CN103335623A (en) * | 2013-06-13 | 2013-10-02 | 国家电网公司 | Method for observing thickness of ice coating on power transmission line |
| CN103604419A (en) * | 2013-11-21 | 2014-02-26 | 中国科学院西安光学精密机械研究所 | Three-dimensional reconstruction-based wire icing monitoring method and system |
| CN105675055A (en) * | 2016-01-26 | 2016-06-15 | 云南电网有限责任公司电力科学研究院 | Icing prediction and early-warning method and system of power transmission lines |
| CN106595500A (en) * | 2016-11-21 | 2017-04-26 | 云南电网有限责任公司电力科学研究院 | Transmission line ice coating thickness measurement method based on unmanned aerial vehicle binocular vision |
| CN106682579A (en) * | 2016-11-21 | 2017-05-17 | 云南电网有限责任公司电力科学研究院 | Unmanned aerial vehicle binocular vision image processing system for detecting power transmission line icing |
| KR101841037B1 (en) * | 2016-12-16 | 2018-03-22 | 한국해양과학기술원 | Case for installing an electromagnetic induction instrument |
| CN109000621A (en) * | 2018-04-04 | 2018-12-14 | 广州优飞信息科技有限公司 | A kind of power grid screen of trees detection method |
-
2019
- 2019-03-04 CN CN201910159362.8A patent/CN110044336A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101298979A (en) * | 2008-07-01 | 2008-11-05 | 北京林业大学 | Estimate survey technique using metric camera cooperating with theodolite |
| CN103234465A (en) * | 2013-03-20 | 2013-08-07 | 北京国网富达科技发展有限责任公司 | Method and system for detecting icing thickness of electric transmission line |
| CN103335623A (en) * | 2013-06-13 | 2013-10-02 | 国家电网公司 | Method for observing thickness of ice coating on power transmission line |
| CN103604419A (en) * | 2013-11-21 | 2014-02-26 | 中国科学院西安光学精密机械研究所 | Three-dimensional reconstruction-based wire icing monitoring method and system |
| CN105675055A (en) * | 2016-01-26 | 2016-06-15 | 云南电网有限责任公司电力科学研究院 | Icing prediction and early-warning method and system of power transmission lines |
| CN106595500A (en) * | 2016-11-21 | 2017-04-26 | 云南电网有限责任公司电力科学研究院 | Transmission line ice coating thickness measurement method based on unmanned aerial vehicle binocular vision |
| CN106682579A (en) * | 2016-11-21 | 2017-05-17 | 云南电网有限责任公司电力科学研究院 | Unmanned aerial vehicle binocular vision image processing system for detecting power transmission line icing |
| KR101841037B1 (en) * | 2016-12-16 | 2018-03-22 | 한국해양과학기술원 | Case for installing an electromagnetic induction instrument |
| CN109000621A (en) * | 2018-04-04 | 2018-12-14 | 广州优飞信息科技有限公司 | A kind of power grid screen of trees detection method |
Non-Patent Citations (3)
| Title |
|---|
| 广东省电力设计研究院: "《电力设计技术优秀论文集 下》", 30 May 2008, 中国地质大学出版社 * |
| 张三喜: "《弹道特征参数摄像测量》", 31 March 2014, 国防工业出版社 * |
| 虢韬、刘锐: "《贵州省高压输电线路覆冰情况与观冰方法研究》", 《水电能源科学》 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110992418A (en) * | 2019-12-12 | 2020-04-10 | 中国南方电网有限责任公司超高压输电公司大理局 | Wire icing thickness monitoring system and method |
| CN110992418B (en) * | 2019-12-12 | 2023-05-23 | 中国南方电网有限责任公司超高压输电公司大理局 | Wire icing thickness monitoring system and method |
| CN111174697A (en) * | 2019-12-13 | 2020-05-19 | 中国南方电网有限责任公司超高压输电公司柳州局 | Stereoscopic vision image accurate measurement method based on unmanned aerial vehicle |
| CN111862715A (en) * | 2020-07-27 | 2020-10-30 | 中国南方电网有限责任公司超高压输电公司贵阳局 | Anti-icing operation authorization training evaluation system based on VR technology |
| CN114383574A (en) * | 2021-12-29 | 2022-04-22 | 中国测绘科学研究院 | Binocular rapid three-dimensional measurement method for unmanned aerial vehicle |
| CN115791183A (en) * | 2022-10-13 | 2023-03-14 | 中国航发四川燃气涡轮研究院 | Test device for high-altitude icing simulation test of aero-engine |
| CN116110225A (en) * | 2023-03-01 | 2023-05-12 | 北京图安世纪科技股份有限公司 | Vehicle-road cooperative cloud control system and method based on digital twin |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110044336A (en) | A kind of contactless transmission line icing measurement method based on unmanned plane | |
| He et al. | Research of multi-rotor UAVs detailed autonomous inspection technology of transmission lines based on route planning | |
| CN102914294B (en) | System and method for measuring unmanned aerial vehicle electrical line patrol on basis of images | |
| CN105066909B (en) | A kind of many laser stripe quick three-dimensional measuring methods of hand-held | |
| CN109443245B (en) | Multi-line structured light vision measurement method based on homography matrix | |
| CN111458720A (en) | Airborne laser radar data-based oblique photography modeling method for complex mountainous area | |
| CN108340211A (en) | Numerically-controlled machine tool profile errors method for three-dimensional measurement based on monocular vision | |
| CN109579695B (en) | Part measuring method based on heterogeneous stereoscopic vision | |
| CN104964673A (en) | Close-shot photography measurement system capable of realizing positioning and attitude determination and close-shot photography measurement method capable of realizing positioning and attitude determination | |
| CN104075688A (en) | Distance measurement method of binocular stereoscopic gazing monitoring system | |
| CN111174697A (en) | Stereoscopic vision image accurate measurement method based on unmanned aerial vehicle | |
| CN104933223B (en) | A kind of electric transmission line channel digital mapping method | |
| CN103353297A (en) | Airborne photoelectric measurement apparatus of dimensions and spacing of electric transmission line and target, and method thereof | |
| CN110132226A (en) | The distance and azimuth angle measurement system and method for a kind of unmanned plane line walking | |
| CN103604419A (en) | Three-dimensional reconstruction-based wire icing monitoring method and system | |
| CN110763140B (en) | Non-parallel optical axis high-precision binocular ranging method | |
| CN109269427A (en) | A kind of electric power line ice-covering thickness accurate measuring systems and its measurement method | |
| CN110849269A (en) | System and method for measuring geometric dimension of field corn cobs | |
| CN106918306A (en) | Industrial products three-dimensional appearance real-time detecting system based on light field one camera | |
| CN104680528A (en) | Space positioning method of explosive-handling robot based on binocular stereo vision | |
| CN113393530A (en) | Landslide displacement monitoring method, system and device based on binocular stereo vision | |
| CN115328181A (en) | Method for positioning key target space in unmanned aerial vehicle power transmission line inspection | |
| CN104215217A (en) | Monocular distance measurement method based on pseudo-image distance | |
| CN103727925A (en) | Measurable stereoscopic panorama acquiring system and measuring method | |
| CN112907647B (en) | Three-dimensional space size measurement method based on fixed monocular camera |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190723 |
|
| RJ01 | Rejection of invention patent application after publication |