CN111142115A - Intelligent distance measurement system and method based on unmanned aerial vehicle technology - Google Patents
Intelligent distance measurement system and method based on unmanned aerial vehicle technology Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The invention discloses an intelligent distance measuring system and method based on an unmanned aerial vehicle technology, which comprises the following steps: rotor unmanned aerial vehicle, surveillance center, APP control system, first wireless communication module and second wireless communication module, rotor unmanned aerial vehicle include aircraft nose, fuselage, motor, battery, flight control ware and positioner, and positioner installs in the aircraft nose upper end, and a plurality of oar arm of bilateral symmetry is installed to the fuselage upper end, and the lower extreme fixed mounting of fuselage has first cloud platform and second cloud platform, and the range finding method includes following steps: s1: establishing an unmanned aerial vehicle safe operation area; s2: controlling the unmanned aerial vehicle to reach a designated operation area; s3: and (4) establishing a two-dimensional coordinate system by taking the unmanned aerial vehicle as the origin of coordinates, and starting the single-line type laser radar to perform ranging scanning. The unmanned aerial vehicle flight inspection platform is combined with the 360-degree laser radar, so that the line-object distance measurement is automated, the working efficiency is higher, the cross span of the power grid line can be accurately measured, and the damage of vegetation trees to the power transmission line is effectively avoided.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle distance measurement, in particular to an intelligent distance measurement system and method based on an unmanned aerial vehicle technology.
Background
At present, the design of a power grid distribution line and the crossing span of the line adopt a total station or a handheld laser range finder to measure, the purpose of ranging mainly aims at preventing the transmission line interruption caused by the vegetation growing below the transmission line when the vegetation grows upwards, and loss is brought to the power grid. Therefore, it is necessary to develop a new measurement method to improve the working efficiency.
For example, a "safety distance measuring device based on a rotorcraft" disclosed in chinese patent literature, its publication number: CN203785638U, filing date thereof: in 2014 08 months 20 days, include the remote control equipment of being connected through radio signal and unmanned aerial vehicle that takes photo by plane, the ground communication station of being connected through radio signal and unmanned aerial vehicle that takes photo by plane to and the computer workstation of being connected with ground communication station, the remote control equipment includes the remote control shell, be provided with power supply unit in the remote control shell and the wireless communication device and the controlling means of being connected with power supply unit, be provided with the remote control button on the remote control shell, remote control button connection controlling means, unmanned aerial vehicle is unmanned aerial vehicle, and unmanned aerial vehicle includes the organism, is provided with motor and automatic flight control appearance in the organism, and the upper end of organism evenly is provided with a plurality of oar arms, and the outer tip of oar arm is provided with the oar soon, the lower extreme of organism is provided with. This application carries out safe distance measurement through rotor unmanned aerial vehicle, but the rotor unmanned aerial vehicle of this application only carries a camera device, and does not explain how to carry out distance measurement, and consequently the safe distance measurement of this application is difficult to realize, simultaneously, only carries out distance measurement through camera device, in the more area of mountain area and trees, there is the sight to be obstructed, and the safe distance of surveying is inaccurate, leads to the great problem of error.
Disclosure of Invention
The invention mainly solves the problems of low reliability of power grid line measurement and higher operation risk in the prior art; the intelligent distance measuring system and method based on the unmanned aerial vehicle technology are provided, accurate measurement is carried out on the cross span of the power grid line, and the working efficiency is improved.
The technical problem of the invention is mainly solved by the following technical scheme: an intelligent distance measuring system based on unmanned aerial vehicle technology comprises two transmission towers which are adjacently numbered, a plurality of transmission lines connected between the two transmission towers, vegetation trees below the growing transmission lines, a rotor unmanned aerial vehicle, a monitoring center, an APP control system, a first wireless communication module and a second wireless communication module, wherein the rotor unmanned aerial vehicle comprises a machine head, a machine body, a motor, a battery, a flight controller and a positioning device, the machine head is fixedly connected with the machine body, the motor, the battery and the flight controller are all installed in the machine body, the positioning device is installed at the upper end of the machine head, a plurality of bilaterally symmetrical paddle arms are installed at the upper end of the machine body, propellers are all installed on the plurality of paddle arms, a first cloud deck and a second cloud deck are fixedly installed at the lower end of the machine body, an image transmission camera is installed on the first cloud deck, a single-line laser radar is installed on the, the battery is connected with positioner, motor, image transmission camera, single-line type laser radar and flight controller respectively, flight controller is connected with the control end of motor, the output of image transmission camera, positioner and single-line type laser radar's data output end respectively, flight controller is connected with APP control system through first wireless communication module, flight controller is connected with the surveillance center through second wireless communication module. The monitoring center comprises a computer system, a three-dimensional model system, a storage system and a danger assessment system, wherein the computer system is used for processing data transmitted back by the rotor unmanned aerial vehicle, the three-dimensional model system carries out three-dimensional simulation on a determined unmanned aerial vehicle working area according to the area, the storage system stores assessment data of the danger assessment system, the danger assessment system carries out danger assessment by using danger indexes of potential safety hazards caused by the distance between vegetation trees and power transmission lines, an image transmission camera arranged on a first holder on the machine body shoots the area passed by the unmanned aerial vehicle and transmits the area to the monitoring center, and the single-line laser radar is combined for real-time distance measurement, so that the unmanned aerial vehicle can carry out manual control or unmanned automatic flight state, the work is convenient, the working efficiency is improved, the unmanned aerial vehicle can carry out on-site investigation without manpower, and the, through laser radar range finding, the error that produces when having eliminated the manual calculation, make the measurement of electric wire netting circuit more accurate, effectively avoid vegetation trees to the harm of power transmission line, reach the effect of timely handling, avoid the electric wire netting to break off and bring economic loss, control unmanned aerial vehicle through APP control system, timeliness and convenience are stronger, and simultaneously, utilize positioner to fix a position unmanned aerial vehicle in real time, prevent that unmanned aerial vehicle from missing or meet the special circumstances and lead to unmanned aerial vehicle to damage and unmanned knowing.
Preferably, the image transmission camera is a 4K image transmission camera. The 4K image transmission camera is the super high definition camera of the clear smooth image of film rank for can catching in real time, makes the image that unmanned aerial vehicle transmitted back more clear can distinguish, makes things convenient for the staff to judge on the spot.
Preferably, the single-line laser radar is a laser range scanning radar capable of rotating 360 degrees. The laser ranging scanning radar rotating by 360 degrees can measure the places needing to be measured in multiple directions and without dead angles, so that the measured data is more reliable.
Preferably, the APP control system can operate at a mobile phone end or a computer end. Through cell-phone operation APP control system, can know unmanned aerial vehicle's the measuring condition anytime and anywhere and control unmanned aerial vehicle, real-time and convenience are stronger.
As preferred, still include remote control unit, remote control unit includes shell, communication antenna, controlling means, power and remote control button, the side at the shell is installed to communication antenna, remote control button installs in the shell upper end, the display screen is installed to shell upper end intermediate position, power and controlling means are installed in the shell, the power is connected with controlling means and display screen respectively, controlling means is connected with display screen, communication antenna and remote control button respectively, communication antenna is connected with first wireless communication module, APP control system operates on controlling means. Control unmanned aerial vehicle through remote control equipment, reduce APP control system and need cell-phone or computer as the shortcoming of carrier, it is more convenient when controlling unmanned aerial vehicle, maneuverability is stronger, simultaneously, disposes communication antenna, the condition of instruction inefficacy when reducing control unmanned aerial vehicle.
An intelligent distance measurement method based on unmanned aerial vehicle technology comprises the following steps: step S1: establishing an unmanned aerial vehicle safe operation area; step S2: controlling the unmanned aerial vehicle to reach a designated operation area; step S3: and (4) establishing a two-dimensional coordinate system by taking the unmanned aerial vehicle as the origin of coordinates, and starting the single-line type laser radar to perform ranging scanning.
Preferably, in step S3, laser ranging is performed within a preset angle of 0 ° - α in the direction of the nose of the unmanned aerial vehicle, the shortest distance point is searched as the center of a search circle, the radius is d and is used as a search area of the power transmission line harness, and all points in the search area are used as a set J of line point.
Preferably, in step S3, an area outside the range of radius 2d is used as a search area for vegetation trees, and all points in the area are used as a point set K1 of a two-dimensional coordinate system with the drone as a coordinate origin of the laser ranging scanning point for the ultra-high object.
Preferably, in step S3, laser ranging is performed at α to 180 ° in the angle of the nose direction of the drone, all points in the area are used as a point set K2 of a two-dimensional coordinate system with the drone as a coordinate origin, where the laser radar scans points of the vegetation trees, and the point set K2 and the point set K1 are combined to form a set K of object points on the two-dimensional plane coordinate system with the whole drone as the coordinate origin.
Preferably, the point set J and the set K are subjected to traversal calculation, the shortest distance between the point sets on the two spatial coordinate systems is calculated, and the shortest distance is sent to the monitoring center. And the ground monitoring center analyzes the data and then reflects the data into the shortest distance sampling data point on the sampling shortest curve in real time through a computer system of the monitoring center. Meanwhile, the ground monitoring center utilizes a danger index database of potential safety hazards caused by the distance between the vegetation trees and the power transmission line to evaluate the danger index causing the potential safety hazards in the shortest distance, and reflects the danger index on a software interactive interface. The distance between the unmanned aerial vehicle and the power transmission line is observed in real time by workers, the danger level of the current area is recorded, and if the danger index exceeds the maximum danger level, the ground monitoring center sends an alarm instruction to the flight controller. The flight controller sends the current coordinates of the dangerous area back to the monitoring center on the ground for recording and storing, the geographic coordinates can be identified as dangerous coordinate points on a map interface in real time, so that subsequent workers can eliminate the hidden danger, if the danger index is in a safety range, the unmanned aerial vehicle detects the area needing to be detected according to a preset detection path, and the process is continuously and repeatedly executed when the unmanned aerial vehicle moves.
The invention has the beneficial effects that: the unmanned aerial vehicle flight inspection platform is combined with the 360-degree laser radar for the first time, so that the line object distance measurement is mechanical, automatic and informationized, the rapid scanning and ranging are carried out on a high-emergence site of a tree obstacle, a plant growth report can be provided, the unmanned aerial vehicle can be controlled at any time and data transmitted by the unmanned aerial vehicle can be received through the APP control system, and compared with the traditional operation mode, the unmanned aerial vehicle flight inspection platform is higher in working efficiency and low in operation risk, can accurately measure the cross span of a power grid line, effectively avoids harm of vegetation trees to the power transmission line, achieves the effect of timely treatment, and avoids economic loss caused by power grid interruption.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent distance measuring system according to a first embodiment.
Fig. 2 is a schematic structural diagram of the unmanned rotorcraft according to the first embodiment.
In the figure, 1 is a rotor unmanned aerial vehicle, 2 is a transmission tower, 3 is a transmission line, 4 is a vegetation tree, 5 is a machine head, 6 is a machine body, 7 is a paddle arm, 8 is a propeller, 9 is a positioning device, 10 is a first cloud platform, and 11 is a second cloud platform.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
The first embodiment is as follows: an intelligent distance measuring system based on unmanned aerial vehicle technology, as shown in figure 1, comprises two transmission towers 2 with serial numbers connected, vegetation trees 4, a plurality of transmission lines 3 connected between the two transmission towers 2, a rotor unmanned aerial vehicle 1, a monitoring center, an APP control system, a first wireless communication module and a second wireless communication module, wherein the vegetation numbers are positioned below the transmission lines 3, as shown in figure 2, the rotor unmanned aerial vehicle 1 comprises a machine head 5 and a machine body 6, the machine head 5 is fixedly connected with the machine body 6, a motor, a battery and a flight controller are installed in the machine body 6, a positioning device 9 is installed at the upper end of the machine head 5, bilaterally symmetrical paddle arms 7 are arranged at the upper end of the machine body 6, propellers 8 are installed on the paddle arms 7, a first cloud deck 10 and a second cloud deck 11 are fixedly installed at the lower end of the machine body 6, a 4K image transmission camera is installed on the first cloud deck 10, a single-, single line type laser radar is for can carrying out 360 degrees rotatory laser rangefinder scanning radar, the battery respectively with positioner 9, including a motor, an end cap, a controller, and a cover plate, 4K image transmission camera, single line type laser radar and flight controller are connected, for positioner 9, including a motor, an end cap, a controller, and a cover plate, 4K image transmission camera's output, positioner 9 and single line type laser radar's data output end is connected, 4K image transmission camera's input is used for the input image information, positioner 9 is used for fixing a position unmanned aerial vehicle 1's position, flight controller is connected with APP control system through first wireless communication module, be connected with the surveillance center through second wireless communication module. APP control system can move at cell-phone or computer end, be used for controlling unmanned aerial vehicle 1 to carry out automatic flight or manually operation flight, also can set up a remote control equipment, this remote control equipment includes the shell, communication antenna, controlling means, power and remote control button, the shell is the game paddle form, communication antenna installs the side at the shell, remote control button installs in the shell upper end, the display screen is installed to shell upper end intermediate position, power and controlling means install in the shell, the power is controlling means and display screen power supply, controlling means respectively with the display screen, communication antenna and remote control button are connected, communication antenna is connected with first wireless communication module, display screen shows unmanned aerial vehicle 1's locating information, APP control system moves on controlling means.
An intelligent distance measurement method based on an unmanned aerial vehicle 1 technology comprises the following steps: step S1: establishing a safe operation area of the unmanned aerial vehicle 1; through the surveillance center, plan the operation area of unmanned aerial vehicle 1, confirm 3 way regions of power transmission line that need patrol and examine, wherein contain two electric power tower of continuous serial number. The specific numerical value of the tower is determined by calculating the flight time and the cruising ability of the unmanned aerial vehicle 1, so that the 3-way region of the power transmission line which can be used for routing inspection at one time is calculated.
Step S2: controlling the unmanned aerial vehicle 1 to arrive at a designated operation area; the manually operated rotary-wing drone 1 reaches the high electric line, which is the highest line of the several transmission lines 3, and keeps the nose 5 facing the high electric line. Generally, the power transmission lines 3 of the power grid are symmetrically and parallelly distributed, so that a high line is required to have two wire harnesses, the unmanned aerial vehicle 1 is required to work between two adjacent numbered tower poles to the inner side of the high wire harness at the moment, the distance from the head 5 of the rotary wing unmanned aerial vehicle 1 to the high line is controlled within 6 meters,
and S3, establishing a two-dimensional coordinate system by taking the unmanned aerial vehicle 1 as a coordinate origin, starting a single-line laser radar for scanning, performing laser ranging within a preset angle of 0- α in the direction of the nose 5 of the unmanned aerial vehicle 1, and searching to obtain a shortest distance point (x, y) as the center of a search circle, wherein the shortest distance point (x, y) can be selected as the center of the search circle, the radius d is used as a search area of a wire harness of the power transmission line 3, and all points in the area are used as a set J of wire spots according to the maximum distance d of any two lines in the power transmission line 3 which can be currently judged by a database of a three-dimensional model of the power transmission line 3 stored by a monitoring center.
The area outside the radius 2d is used as a search area for vegetation trees 4. All points in the area are used as a point set K1 of a two-dimensional coordinate system of the laser ranging scanning points of the ultrahigh object and taking the unmanned aerial vehicle 1 as a coordinate origin.
And (3) carrying out laser ranging at α -180 degrees in the angle of the direction of the nose 5 of the unmanned aerial vehicle 1, taking all points in the area as a point set K2. of a two-dimensional coordinate system of the vegetation trees 4 scanned by the laser radar and taking the unmanned aerial vehicle 1 as a coordinate origin, and combining the point set K2 with the point set K1 to form an object point set K on the two-dimensional plane coordinate system of which the whole unmanned aerial vehicle 1 is the coordinate origin.
Traversing the point set J and the point set K, calculating the shortest distance between the point sets on the two space coordinate systems, and sending the shortest distance to a monitoring center; and the ground monitoring center analyzes the data and then reflects the data into the shortest distance sampling data point on the sampling shortest curve in real time through a computer system of the monitoring center. Meanwhile, the ground monitoring center utilizes a danger index database of potential safety hazards caused by the distance between the vegetation trees 4 and the power transmission line 3 to evaluate the danger index causing the potential safety hazards in the shortest distance, and reflects the danger index on a software interactive interface. The distance between the current and 3 ways of power transmission line of confession operator real-time observation unmanned aerial vehicle 1 to and the dangerous grade of record current region, if the dangerous index surpasss the biggest dangerous grade then ground monitoring center sends out alarm instruction to flight controller. The flight controller sends the current coordinates of the dangerous area back to the monitoring center on the ground for recording and storing, the geographic coordinates can be identified as dangerous coordinate points on a map interface in real time, so that subsequent workers can eliminate the hidden danger, if the danger index is in a safety range, the unmanned aerial vehicle 1 detects the area needing to be detected according to a preset detection path, and the process is continuously and repeatedly executed when the unmanned aerial vehicle moves. If the unmanned aerial vehicle 1 is in an autonomous flight mode, a front-mounted visual obstacle avoidance scheme is adopted. If unmanned aerial vehicle 1 is the manual operation mode, send APP control system with 1 current positional information of unmanned aerial vehicle through first wireless communication module, conveniently control the person and operate.
The invention combines the flying inspection platform of the unmanned aerial vehicle 1 with the 360-degree laser radar for the first time, so that the line object distance measurement is mechanized, automated and informationized. The method has the advantages that the rapid scanning ranging is carried out on the high-emergence site of the tree obstacle, the plant growth report can be provided, the unmanned aerial vehicle 1 can be controlled at any time through the APP control system, the data transmitted by the unmanned aerial vehicle 1 can be received, and compared with the traditional operation mode, the method is higher in working efficiency and low in operation risk, the cross crossing of the power grid line can be accurately measured, the damage of vegetation trees 4 to the power transmission line 3 is effectively avoided, the timely processing effect is achieved, and the economic loss caused by the interruption of the power grid is avoided.
The above-described embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention in any way, and other variations and modifications may be made without departing from the spirit of the invention as set forth in the claims.
Claims (10)
1. The utility model provides an intelligence ranging system based on unmanned aerial vehicle technique, includes the transmission tower of two adjacent numbers, connects a plurality of transmission line between two transmission towers and the vegetation trees of the transmission line below of growth, its characterized in that still includes
Rotor unmanned aerial vehicle, surveillance center, APP control system, first wireless communication module and second wireless communication module, rotor unmanned aerial vehicle includes aircraft nose, fuselage, motor, battery, flight control ware and positioner, aircraft nose and fuselage fixed connection, motor, battery and flight control ware are all installed in the fuselage, positioner installs in the aircraft nose upper end, a plurality of oar arm of bilateral symmetry is installed to the fuselage upper end, a plurality of all install the screw on the oar arm, the lower extreme fixed mounting of fuselage has first cloud platform and second cloud platform, install image transmission camera on the first cloud platform, install single line type laser radar on the second cloud platform, the battery is connected with positioner, motor, image transmission camera, single line type laser radar and flight control ware respectively, flight control ware respectively with the control end of motor, The output, positioner and the single line type laser radar's of image transmission camera data output end are connected, flight controller is connected with APP control system through first wireless communication module, flight controller is connected with the surveillance center through second wireless communication module.
2. An intelligent ranging system based on unmanned aerial vehicle technology according to claim 1, wherein the image transmission camera is a 4K image transmission camera.
3. An intelligent ranging system based on unmanned aerial vehicle technology according to claim 1, wherein the single line type laser radar is a laser ranging scanning radar capable of 360 degree rotation.
4. The smart range finding system based on unmanned aerial vehicle technology of claim 1, wherein the APP control system can operate at a mobile phone end or a computer end.
5. The intelligent distance measuring system based on the unmanned aerial vehicle technology of claim 1, characterized in that, still include remote control equipment, remote control equipment includes shell, communication antenna, controlling means, power and remote control button, communication antenna installs the side at the shell, remote control button installs in the shell upper end, the display screen is installed to shell upper end intermediate position, power and controlling means install in the shell, the power is connected with controlling means and display screen respectively, controlling means is connected with display screen, communication antenna and remote control button respectively, communication antenna is connected with first wireless communication module, APP control system operates on controlling means.
6. An intelligent distance measurement method based on unmanned aerial vehicle technology, which is suitable for the intelligent distance measurement system based on unmanned aerial vehicle technology according to any one of claims 1 to 5, and is characterized by comprising the following steps:
step S1: establishing an unmanned aerial vehicle safe operation area;
step S2: controlling the unmanned aerial vehicle to reach a designated operation area;
step S3: and (4) establishing a two-dimensional coordinate system by taking the unmanned aerial vehicle as the origin of coordinates, and starting the single-line type laser radar to perform ranging scanning.
7. The method of claim 6, wherein in step S3, the laser ranging is performed within a preset angle of 0 ° - α degrees in the direction of the head of the UAV, the shortest distance point is searched as the center of the search circle, the radius d is used as the search area of the power line harness, and all points in the area are used as the set J of line point.
8. An intelligent distance measuring method based on unmanned aerial vehicle technology according to claim 6 or 7, wherein in step S3, the area outside the range of radius 2d is used as the search area for vegetation trees, and all points in this area are used as the point set K1 of the two-dimensional coordinate system with the unmanned aerial vehicle as the origin of coordinates of the laser distance measuring scanning points of the ultra-high object.
9. The intelligent ranging method based on the unmanned aerial vehicle technology as claimed in claim 8, wherein in step S3, laser ranging is performed at α -180 ° within the angle of the nose direction of the unmanned aerial vehicle, all points in the area are used as a point set K2 of a two-dimensional coordinate system with the unmanned aerial vehicle as the origin of coordinates where vegetation trees are scanned by the laser radar, and the point set K2 and the point set K1 are combined to form a set K of object points on the two-dimensional plane coordinate system with the whole unmanned aerial vehicle as the origin of coordinates.
10. The intelligent distance measuring method based on the unmanned aerial vehicle technology as claimed in claim 9, wherein the point set J and the set K are subjected to traversal calculation, the shortest distance between the point sets in the two spatial coordinate systems is calculated, and the shortest distance is sent to the monitoring center.
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| CN112586487A (en) * | 2020-10-19 | 2021-04-02 | 国网山东省电力公司济宁市任城区供电公司 | Electric tower inspection bird repelling device and method |
| CN113359197A (en) * | 2021-06-03 | 2021-09-07 | 河北省地震局 | High-precision superposition imaging method for shallow curved earth surface |
| CN113359197B (en) * | 2021-06-03 | 2024-01-23 | 河北省地震局 | Curved surface superposition imaging method suitable for shallow high precision |
| CN116935234A (en) * | 2023-09-18 | 2023-10-24 | 众芯汉创(江苏)科技有限公司 | Automatic classification and tree obstacle early warning system and method for power transmission line corridor point cloud data |
| CN116935234B (en) * | 2023-09-18 | 2023-12-26 | 众芯汉创(江苏)科技有限公司 | Automatic classification and tree obstacle early warning system and method for power transmission line corridor point cloud data |
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