CN110472477A - It is a kind of to monitor icing method using RTK editions UAV flight's infrared cameras - Google Patents
It is a kind of to monitor icing method using RTK editions UAV flight's infrared cameras Download PDFInfo
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Abstract
Icing method is monitored using RTK editions UAV flight's infrared cameras the invention discloses a kind of, by the simulation curve for constructing different warning grades, quick comparison is carried out with acquisition conducting wire geometric locus, realize ice-coating pre-warning rapid evaluation, based on short distance infrared imaging, it can effectively eliminate to be imaged caused by wire icing and ground icing using the temperature difference and interfere, pass through the edge detecting technology and imaging conversion of infrared imaging, it is horizontal to promote monitoring transmission line icing for quickly analysis multiple spot ice covering thickness.
Description
Technical field
The present invention relates to unmanned plane inspection technical fields, refer in particular to a kind of RTK editions UAV flight's infrared cameras of utilization
Monitor icing method.
Background technique
In electric power facility system, along high ammonia syrings side conducting wire, to below the route of two sides stretching, extension defined width
Belt-like zone is referred to as power transmission line corridor.It is low with the continuous deterioration of natural environment in traditional electric transmission line channel corridor
Temperature frost rain and snow weather leads to transmission line icing, and tower, line-outage contingency, prestige occur when serious for frequent conducting wire tripping, insulator arc-over
Coerce the safe operation of transmission line of electricity.
Currently, transmission line of electricity sees ice and on-line monitoring sight ice, as weight method, conducting wire inclination angle-arc sag the most commonly used is artificial
Method, image method.Wherein, weight method is observed due to carrying out sampling to analog conducting wire, and there are poles with the practical icing situation of conducting wire
Large deviation；Conducting wire inclination angle-arc sag method, the uneven distribution situation after cannot reflecting wire icing, and conducting wire sag variation influences
Factor is complicated, and slightly error, icing mass difference are very big；Image method can only observe nearby icing situation, and acquisition information content is limited,
And camera once will be unable to work by snow and ice cover.
With the development of unmanned air vehicle technique and photogrammetric technology, power transmission line corridor is maked an inspection tour using unmanned plane
Mode is increasing.When carrying out fining line data-logging using unmanned plane, should consider unmanned plane to transmission facility safety away from
From also considering the influence and unmanned machine head angle to image taking quality such as camera focus, resolution ratio, picture factor
With unmanned plane head towards the problems such as.At the same time, it must also be considered that being easy during line walking by unstable air-flow and wind direction
It influences.
However, artificial ground sight ice is only capable of choosing and be observed with reference to spy, it is uniform that on-line monitoring computation model presses icing
Distributional assumption leads to final calculation result and the biggish deviation of physical presence.Traditional multi-rotor unmanned aerial vehicle inspection method is to patrol
It is maked an inspection tour depending on personnel in ground artificial control aircraft, makes an inspection tour quality and the safe operation for being limited by manipulation hand is horizontal, operation effect
Rate is not high and precision is lower.Unmanned plane flies interruption if causing to navigate because of emergency situations when execution power grid is maked an inspection tour and navigates winged task, or
Collision screen of trees point causes unmanned plane to damage, then can bring massive losses to inspection operation.
Summary of the invention
For the problems in above-mentioned background technology, a kind of monitor using RTK editions UAV flight's infrared cameras is provided to cover
Ice method can precisely construct flight path by RTK editions unmanned planes, short distance infrared imaging quickly identifies the side such as ice coating wire
Formula data acquisition, and flight path is compared, with early warning curve is simulated using image-forming principle calculating ice covering thickness, it is real
The existing full shelves wire icing rapid evaluation of transmission line of electricity and ice covering thickness calculate.
A kind of RTK editions UAV flight's infrared cameras of utilization of the present invention monitor icing methods, comprising:
Obtain ice-coating pre-warning grade conducting wire；
Unmanned plane during flying course line is planned according to the ice-coating pre-warning grade conducting wire；
Extract the destination in the unmanned plane during flying course line；
Unmanned plane is set and keeps horizontal flight towards conducting wire direction between the destination, and described in infrared double light camera acquisitions
The image of destination；
The multiple spot space coordinate of conducting wire is calculated according to the image of the destination；
The multiple spot space coordinate for comparing the conducting wire before and after icing calculates the average ice covering thickness of conducting wire；
Ice coating wire curve is constructed with the multiple spot space coordinate of the conducting wire, is compared with the ice-coating pre-warning grade conducting wire,
Obtain the warning grade of ice coating wire.
The unmanned plane during flying course line is made of the track section between several destinations and adjacent destination, and unmanned plane is in track
Duan Feihang is on the way along rectilinear flight, and while reaching certain destinations is possible to requirement and change of flight posture according to task.
The unmanned plane mainly uses big boundary M210-RTK editions unmanned planes, carries buddhist and thinks the bis- photothermal imagings of ZENMUSE XT2
Camera, right ± 800kV DC power transmission line are monitored.
The present invention carries out quick comparison with acquisition conducting wire geometric locus by the simulation curve of the different warning grades of building,
Realize ice-coating pre-warning rapid evaluation.Meanwhile it being based on short distance infrared imaging, wire icing and ground can be effectively eliminated using the temperature difference
Interference is imaged caused by icing, is converted by the edge detecting technology and imaging of infrared imaging, quickly analyzes multiple spot ice covering thickness,
It is horizontal to promote monitoring transmission line icing.
Further, the ice-coating pre-warning grade conducting wire includes: first-degree alert conducting wire, second level warning conducting wire and three-level warning
Conducting wire；Conducting wire skyborne curve when the first-degree alert conducting wire is traverse design icing value 130%；The second level guards against conducting wire
Conducting wire skyborne curve when being traverse design icing value 70%；When the three-level warning conducting wire is traverse design icing value 40%
The skyborne curve of conducting wire.
Further, include: according to the step of ice-coating pre-warning grade conducting wire planning unmanned plane during flying course line
Selected RTK unmanned plane benchmark station location；
It is hung using each conducting wire within the scope of benchmark station location described in three-dimensional laser radar or total station survey and unmanned plane during flying
The relationship of space of points position；
Each conducting wire hanging point space coordinate is determined by flight control program；
For unmanned plane according to different ice-coating pre-warning grades, execution corresponding lead hanging point space coordinate line is unmanned plane during flying
Simultaneously complete aerial mission in course line.
The base station is to carry out long-term continuous observation to satellite navigation signals, and it is real-time by communications facility will to observe data
Or timing is sent to the ground fixed observer station of data center.
The laser radar is the radar system to emit the characteristic quantities such as the position of detecting laser beam target, speed.Its work
It is to objective emission detectable signal (laser beam) as principle, then by the reflected signal of slave target received, (target is returned
Wave) it is compared with transmitting signal, after making proper treatment, so that it may target is obtained for information about, such as target range, orientation, height
Degree, speed, posture, the even parameters such as shape, to be detected, tracked and be identified to targets such as aircraft, guided missiles.
The total station, i.e. whole station type electronic distance meter, be it is a kind of integrate light, mechanical, electrical high-tech measuring instrument,
It is to integrate horizontal angle, vertical angle, distance (oblique distance, flat away from), the instrument of surveying and mapping system of vertical survey function.
Specifically, the setting unmanned plane keeps horizontal flight towards conducting wire direction between the destination, and with infrared double light
Camera acquires the step of image of the destination and includes:
Setting unmanned plane keeps horizontal flight mode to fly between destination, and head is towards conducting wire direction, each destination holder
Pitch angle degree is zero, executes infrared double light cameras and takes pictures movement.
Further, include: according to the step of multiple spot space coordinate of the image of destination reckoning conducting wire
Acquire coordinate information and shooting picture pixels of the unmanned plane in flight；
Calculate the horizontal distance of the destination image and conducting wire；
The multiple spot space coordinate of conducting wire is calculated based on image-forming principle.
Further, the multiple spot space coordinate for comparing the conducting wire before and after icing calculates the average ice covering thickness of conducting wire
The step of include:
The characteristic size that ice coating wire is obtained by image processing techniques compares the boundary point coordinate of conducting wire before and after icing,
Obtain the thickness of wire icing；If diameter of wire D (mm) it is known that then the average ice covering thickness h1 (mm) of the lower edges of conducting wire and
H2 (mm) is respectively as follows:
The average ice covering thickness h (mm) that entire conducting wire can be obtained is
Wherein, p (x) indicates pixel number corresponding to the diameter of conducting wire；P1 (x) and p2 (x) respectively indicate the upper of conducting wire
Pixel number corresponding to lower edge layers of ice；Pixels is the plural form of pixel.
Further, ice coating wire curve is constructed with the multiple spot space coordinate of the conducting wire, with the ice-coating pre-warning grade
Conducting wire comparison, the step of obtaining the warning grade of ice coating wire include:
The maximum arc sag formula of two o'clock is hung on according to the building of oblique parabolic equation characteristic:
Wherein σ0For the horizontal stress of operating status lower wire minimum point；γ is the conducting wire of conducting wire operating status than carrying；L is
Conducting wire span；β is height difference angle；Conducting wire span and height difference angle can be obtained by overhead line structures detail list, fmIt can by matched curve
It obtains；
Solve the horizontal stress σ of conducting wire minimum point0:
σ2(σ+a)=b
Wherein a, b's is defined as:
Wherein σmFor the horizontal stress of the conducting wire minimum point under known operating status；σ is the water under meteorological condition to be calculated
Horizontal stress；γmIt is the conducting wire under known operating status than carrying；tm, t be respectively leading at known lead temperature and situation to be calculated
Line temperature；E is the coefficient of elasticity of conducting wire；α is the temperature coefficient of elongation of conducting wire；
Equivalent ice covering thickness is found out by conductor temperature and maximum arc sag；
Judge that the equivalent ice covering thickness exceeds the percentage of maximum icing design value, judges the early warning etc. of ice coating wire
Grade.
In order to the clearer understanding present invention, a specific embodiment of the invention is illustrated below with reference to Detailed description of the invention.
Detailed description of the invention
Fig. 1 is that a kind of of the embodiment of the present invention monitors icing method flow diagram using RTK editions UAV flight's infrared cameras.
Fig. 2 is unmanned plane during flying course line and the destination action schematic diagram of the embodiment of the present invention.
Fig. 3 is the ice coating wire multiple spot spatial coordinates calculation schematic diagram of the embodiment of the present invention.
Fig. 4 is the wire icing THICKNESS CALCULATION schematic diagram of the embodiment of the present invention.
Fig. 5 is the oblique parabola schematic diagram of conducting wire of the embodiment of the present invention.
Specific embodiment
Referring to Fig. 1, it monitors icing side using RTK editions UAV flight's infrared cameras for a kind of of the embodiment of the present invention
Method flow chart.
It is of the present invention to monitor icing method using RTK editions UAV flight's infrared cameras, comprising:
S1 obtains ice-coating pre-warning grade conducting wire；
S2 plans unmanned plane during flying course line according to the ice-coating pre-warning grade conducting wire；
S3 extracts the destination in the unmanned plane during flying course line；
S4 is arranged unmanned plane and keeps horizontal flight towards conducting wire direction between the destination, and acquires institute with infrared double light cameras
State the image of destination；
S5 calculates the multiple spot space coordinate of conducting wire according to the image of the destination；
S6 compares the multiple spot space coordinate of the conducting wire before and after icing, calculates the average ice covering thickness of conducting wire；
S7 constructs ice coating wire curve with the multiple spot space coordinate of the conducting wire, with the ice-coating pre-warning grade conducting wire pair
Than obtaining the warning grade of ice coating wire.
The present invention carries out quick comparison with acquisition conducting wire geometric locus by the simulation curve of the different warning grades of building,
Realize ice-coating pre-warning rapid evaluation.Meanwhile it being based on short distance infrared imaging, wire icing and ground can be effectively eliminated using the temperature difference
Interference is imaged caused by icing, is converted by the edge detecting technology and imaging of infrared imaging, quickly analyzes multiple spot ice covering thickness,
It is horizontal to promote monitoring transmission line icing.
Flight course planning algorithm is the important component in unmanned air vehicle technique, for improving the survival ability of unmanned plane and appointing
The success rate of business is significant.Since big boundary unmanned plane is only capable of rectilinear flight task call in perpendicular, and in view of flight
Duration and destination limit, need to be in conjunction with transmission line equipment and passage feature, re-optimization unmanned plane during flying course line, such as Fig. 2
It is shown.
In the present embodiment, ice-coating pre-warning grade conducting wire includes: first-degree alert conducting wire, second level warning conducting wire and three-level warning
Conducting wire；Conducting wire skyborne curve when the first-degree alert conducting wire is traverse design icing value 130%；The second level guards against conducting wire
Conducting wire skyborne curve when being traverse design icing value 70%；When the three-level warning conducting wire is traverse design icing value 40%
The skyborne curve of conducting wire.
In the anti-icing preparation stage, RTK unmanned plane benchmark station location is selected；Using three-dimensional laser radar or total station survey institute
State the relationship of each conducting wire hanging point spatial position within the scope of benchmark station location and unmanned plane during flying；
The stage is observed in icing, each conducting wire hanging point space coordinate is determined by flight control program；And according to difference
Ice-coating pre-warning grade, execute corresponding lead hanging point space coordinate line be unmanned plane during flying course line execute aerial mission.
Setting unmanned plane keeps horizontal flight mode to fly between destination, and head is towards conducting wire direction, each destination holder
Pitch angle degree is zero, executes infrared double light cameras and takes pictures movement, data can be completed and acquire.
In the present embodiment, referring to Fig. 3, with coordinate information and shooting picture of double light cameras acquisition unmanned plane in flight
Pixel；The horizontal distance that artificial and professional software calculates the destination image and conducting wire can be used；The center of destination image
Coordinate is that POS information provides coordinate, and the multiple spot space coordinate of ice coating wire can be quickly extrapolated based on image-forming principle.
Referring to Fig. 4, it is the wire icing THICKNESS CALCULATION schematic diagram of the embodiment of the present invention.
The characteristic size that ice coating wire is obtained by image processing techniques compares the boundary point coordinate of conducting wire before and after icing,
Obtain the thickness of wire icing；If diameter of wire D (mm) it is known that then the average ice covering thickness h1 (mm) of the lower edges of conducting wire and
H2 (mm) is respectively as follows:
The average ice covering thickness h (mm) that entire conducting wire can be obtained is
Wherein, p (x) indicates pixel number corresponding to the diameter of conducting wire；P1 (x) and p2 (x) respectively indicate the upper of conducting wire
Pixel number corresponding to lower edge layers of ice；Pixels is the plural form of pixel.
Electric power line ice-covering thickness is an index of design, it is only necessary to calculate value, ice covering thickness h herein is only
Measure reference value.Since wire icing has bloom, rime, mixing rime and four seed type of glaze, and it is difficult to sentence by destination image
Disconnected icing type, therefore need to further be analyzed and determined by power Calculation and Analysis of Force.
Using the multiple spot conducting wire coordinate obtained is calculated, the structure of ice coating wire curve can be completed by way of curve matching
It builds, and is compared with icing Alarming zones at different levels, can quickly carry out Ice Disaster assessment.
Referring to Fig. 5, it is the oblique parabola schematic diagram of conducting wire of the embodiment of the present invention.
The maximum arc sag formula of two o'clock is hung on according to the building of oblique parabolic equation characteristic:
Wherein σ0For the horizontal stress of operating status lower wire minimum point；γ is the conducting wire of conducting wire operating status than carrying；L is
Conducting wire span；β is height difference angle；Conducting wire span and height difference angle can be obtained by overhead line structures detail list, fmIt can by matched curve
It obtains；
Solve the horizontal stress σ of conducting wire minimum point0:
σ2(σ+a)=b
Wherein a, b's is defined as:
Wherein σmFor the horizontal stress of the conducting wire minimum point under known operating status；σ is the water under meteorological condition to be calculated
Horizontal stress；γmIt is the conducting wire under known operating status than carrying；tm, t be respectively leading at known lead temperature and situation to be calculated
Line temperature；E is the coefficient of elasticity of conducting wire；α is the temperature coefficient of elongation of conducting wire；
By Lead status equation it is found that conducting wire for hanging on two o'clock, (temperature and load when meteorological condition variation
When change), wire stress and arc sag are also with changing.If the wire stress σ under known a certain meteorological conditionm, than carry γm、
Temperature tmWhen, it can be obtained wait ask the stress σ under meteorological condition, the relation equation than carrying γ, temperature t, joint typeThe relational expression that conductor temperature, maximum arc sag and equivalent ice covering thickness can be acquired, for working line, formula
Therefore middle line span, height difference angle, unwrapping wire stress and conducting wire parameter by conductor temperature and maximum arc sag it has been determined that can be obtained
To equivalent ice covering thickness.
Judge that the equivalent ice covering thickness exceeds the percentage of maximum icing design value, judges the early warning etc. of ice coating wire
Grade.When building ice coating wire is located between two three-levels warning conducting wire, then guarded against in three-level, wire icing thickness has been more than most
Big icing design value 40%；When building ice coating wire is located between second level warning conducting wire, then guarded against in second level, conducting wire covers
Ice thickness has been more than maximum icing design value 70%；When building ice coating wire is located at below first-degree alert conducting wire, then one is in
Grade warning, wire icing thickness has been more than maximum icing design value 130% at this time.
The present embodiment combines current unmanned plane RTK location technology and infrared imaging principle, has inquired into a kind of based on infrared shadow
As acquisition and space orientation mode perfect reconstruction wire icing model, ice covering thickness primary Calculation is completed, and analyzes arc sag variation
The method of reckoning standard ice covering thickness compensates for the current deficiency for seeing ice mode.Infrared imaging can effectively eliminate ice and snow color difference
Influence, there is the incomparable advantage of Visible Light Camera, and can effectively monitor full shelves conductor temperature, icing thickness can be effectively improved
Spend computational accuracy.
During traditional icing technical research, common method is that ice is seen on the artificial ground of operator, and this method is only
Can choose be observed with reference to particular sample, on-line monitoring computation model be uniformly distributed by icing it is assumed that this method most
Whole calculated result and the biggish deviation of physical presence.
The present invention is required according to early warning, constructs different warning grade simulation curves, is carried out with acquisition conducting wire geometric locus fast
Speed ratio pair realizes ice-coating pre-warning rapid evaluation.Meanwhile it being based on short distance infrared imaging, conducting wire, which can be effectively eliminated, using the temperature difference covers
Ice and ground, which freeze, causes imaging to interfere, and is converted by the edge detecting technology and imaging of infrared imaging, quickly analyzes multiple spot and cover
It is horizontal to promote monitoring transmission line icing for ice thickness.
Compared with the existing technology, it the present invention is based on unmanned plane high accuracy positioning and infrared imagery technique, researchs and solves current
The problem that can not be monitored for the variation of whole shelves arc sag, wire icing thickness.The solution party of the icing monitoring of the application research
Case, compared to on-line monitoring, input cost is low, high reliablity, is easy to promote and use on a large scale in Anti-icing of Transmission Lines work.
The invention is not limited to above embodiment, if not departing from the present invention to various changes or deformation of the invention
Spirit and scope, if these changes and deformation belong within the scope of claim and equivalent technologies of the invention, then this hair
It is bright also to change and deform comprising these together.
Claims (7)
1. a kind of monitor icing method using RTK editions UAV flight's infrared cameras, comprising:,
Obtain ice-coating pre-warning grade conducting wire；
Unmanned plane during flying course line is planned according to the ice-coating pre-warning grade conducting wire；
Extract the destination in the unmanned plane during flying course line；
Unmanned plane is set and keeps horizontal flight towards conducting wire direction between the destination, and acquires the destination with infrared double light cameras
Image；
The multiple spot space coordinate of conducting wire is calculated according to the image of the destination；
The multiple spot space coordinate for comparing the conducting wire before and after icing calculates the average ice covering thickness of conducting wire；
Ice coating wire curve is constructed with the multiple spot space coordinate of the conducting wire, compares, obtains with the ice-coating pre-warning grade conducting wire
The warning grade of ice coating wire.
2. monitoring icing method using RTK editions UAV flight's infrared cameras according to claim 1, which is characterized in that described to cover
Ice warning grade conducting wire includes: first-degree alert conducting wire, second level warning conducting wire and three-level warning conducting wire；The first-degree alert conducting wire is
Conducting wire skyborne curve when traverse design icing value 130%；When the second level warning conducting wire is traverse design icing value 70%
The skyborne curve of conducting wire；Conducting wire skyborne curve when the three-level warning conducting wire is traverse design icing value 40%.
3. monitoring icing method using RTK editions UAV flight's infrared cameras according to claim 1, which is characterized in that according to institute
Stating the step of ice-coating pre-warning grade conducting wire plans unmanned plane during flying course line includes:
Selected RTK unmanned plane benchmark station location；
It is empty using each conducting wire hanging point within the scope of benchmark station location described in three-dimensional laser radar or total station survey and unmanned plane during flying
Between position relationship；
Each conducting wire hanging point space coordinate is determined by flight control program；
For unmanned plane according to different ice-coating pre-warning grades, execution corresponding lead hanging point space coordinate line is unmanned plane during flying course line
And complete aerial mission.
4. monitoring icing method using RTK editions UAV flight's infrared cameras according to claim 1, which is characterized in that described to set
It sets unmanned plane and keeps horizontal flight towards conducting wire direction between the destination, and acquire the image of the destination with infrared double light cameras
The step of include:
Setting unmanned plane keeps horizontal flight mode to fly between destination, and head is towards conducting wire direction, each destination holder pitching
Angle number is zero, executes infrared double light cameras and takes pictures movement.
5. monitoring icing method using RTK editions UAV flight's infrared cameras according to claim 1, which is characterized in that according to institute
State destination image calculate conducting wire multiple spot space coordinate the step of include:
Acquire coordinate information and shooting picture pixels of the unmanned plane in flight；
Calculate the horizontal distance of the destination image and conducting wire；
The multiple spot space coordinate of conducting wire is calculated based on image-forming principle.
6. monitoring icing method using RTK editions UAV flight's infrared cameras according to claim 1, which is characterized in that compare and cover
The multiple spot space coordinate of the conducting wire before and after ice, the step of calculating the average ice covering thickness of conducting wire include:
The characteristic size that ice coating wire is obtained by image processing techniques compares the boundary point coordinate of conducting wire before and after icing, obtains
The thickness of wire icing；If diameter of wire D (mm) is it is known that the then average ice covering thickness h1 (mm) of the lower edges of conducting wire and h2
(mm) it is respectively as follows:
The average ice covering thickness h (mm) that entire conducting wire can be obtained is
Wherein, p (x) indicates pixel number corresponding to the diameter of conducting wire；P1 (x) and p2 (x) respectively indicates the upper following of conducting wire
Pixel number corresponding to edge layers of ice；Pixels is the plural form of pixel.
7. monitoring icing method using RTK editions UAV flight's infrared cameras according to claim 1, which is characterized in that with described
The multiple spot space coordinate of conducting wire constructs ice coating wire curve, compares with the ice-coating pre-warning grade conducting wire, obtains ice coating wire
The step of warning grade includes:
The maximum arc sag formula of two o'clock is hung on according to the building of oblique parabolic equation characteristic:
Wherein σ0For the horizontal stress of operating status lower wire minimum point；γ is the conducting wire of conducting wire operating status than carrying；L is conducting wire
Span；β is height difference angle；Conducting wire span and height difference angle can be obtained by overhead line structures detail list, fmIt can get by matched curve；
Solve the horizontal stress σ of conducting wire minimum point0:
σ2(σ+a)=b σ2(σ+a)=b
Wherein a, b's is defined as:
Wherein σmFor the horizontal stress of the conducting wire minimum point under known operating status；σ is that the level under meteorological condition to be calculated is answered
Power；γmIt is the conducting wire under known operating status than carrying；tm, t be respectively conducting wire temperature at known lead temperature and situation to be calculated
Degree；E is the coefficient of elasticity of conducting wire；α is the temperature coefficient of elongation of conducting wire；
Equivalent ice covering thickness is found out by conductor temperature and maximum arc sag；
Judge that the equivalent ice covering thickness exceeds the percentage of maximum icing design value, judges the warning grade of ice coating wire.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN111487598A (en) * | 2020-03-26 | 2020-08-04 | 清华大学 | Ice layer thickness calculation method and device, computer equipment and storage medium |
| CN111561914A (en) * | 2020-04-30 | 2020-08-21 | 国网浙江省电力有限公司 | Unmanned aerial vehicle for foundation pit detection based on RTK and detection method |
| CN111653081A (en) * | 2020-06-11 | 2020-09-11 | 安徽徽远成电气科技股份有限公司 | Power transmission line monitoring system |
| CN111696097A (en) * | 2020-06-15 | 2020-09-22 | 国网山东省电力公司平邑县供电公司 | Cable on-line monitoring method and device |
| CN112859925A (en) * | 2021-01-29 | 2021-05-28 | 中国南方电网有限责任公司超高压输电公司柳州局 | Unmanned aerial vehicle autonomous inspection method along overhead line |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111487598A (en) * | 2020-03-26 | 2020-08-04 | 清华大学 | Ice layer thickness calculation method and device, computer equipment and storage medium |
| CN111487598B (en) * | 2020-03-26 | 2021-02-12 | 清华大学 | Ice layer thickness calculation method and device, computer equipment and storage medium |
| CN111311967A (en) * | 2020-03-31 | 2020-06-19 | 普宙飞行器科技（深圳）有限公司 | Unmanned aerial vehicle-based power line inspection system and method |
| CN111561914A (en) * | 2020-04-30 | 2020-08-21 | 国网浙江省电力有限公司 | Unmanned aerial vehicle for foundation pit detection based on RTK and detection method |
| CN111561914B (en) * | 2020-04-30 | 2024-01-23 | 国网浙江省电力有限公司 | Unmanned aerial vehicle for foundation pit detection based on RTK and detection method |
| CN111653081A (en) * | 2020-06-11 | 2020-09-11 | 安徽徽远成电气科技股份有限公司 | Power transmission line monitoring system |
| CN111696097A (en) * | 2020-06-15 | 2020-09-22 | 国网山东省电力公司平邑县供电公司 | Cable on-line monitoring method and device |
| CN112859925A (en) * | 2021-01-29 | 2021-05-28 | 中国南方电网有限责任公司超高压输电公司柳州局 | Unmanned aerial vehicle autonomous inspection method along overhead line |
| CN113324489A (en) * | 2021-05-26 | 2021-08-31 | 贵州电网有限责任公司 | Equivalent icing thickness monitoring method based on accurate measurement of conductor sag change |
| CN113324489B (en) * | 2021-05-26 | 2023-01-24 | 贵州电网有限责任公司 | Equivalent icing thickness monitoring method based on accurate measurement of conductor sag change |
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