CN111984034A - Unmanned aerial vehicle electric power patrols line system - Google Patents
Unmanned aerial vehicle electric power patrols line system Download PDFInfo
- Publication number
- CN111984034A CN111984034A CN202010859107.7A CN202010859107A CN111984034A CN 111984034 A CN111984034 A CN 111984034A CN 202010859107 A CN202010859107 A CN 202010859107A CN 111984034 A CN111984034 A CN 111984034A
- Authority
- CN
- China
- Prior art keywords
- aerial vehicle
- unmanned aerial
- patrol
- image
- inspection
- 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
- 238000007689 inspection Methods 0.000 claims abstract description 110
- 238000004891 communication Methods 0.000 claims abstract description 19
- 238000005070 sampling Methods 0.000 claims abstract description 19
- 238000012544 monitoring process Methods 0.000 claims abstract description 6
- 230000007547 defect Effects 0.000 claims description 18
- 238000012790 confirmation Methods 0.000 claims description 9
- 238000012986 modification Methods 0.000 claims description 4
- 230000004048 modification Effects 0.000 claims description 4
- 238000012545 processing Methods 0.000 description 11
- 230000005540 biological transmission Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000003062 neural network model Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004148 unit process Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002068 genetic effect Effects 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The invention discloses an unmanned aerial vehicle electric power line patrol system which comprises an unmanned aerial vehicle and a transportation and inspection platform, wherein the unmanned aerial vehicle is in communication connection with the transportation and inspection platform, the transportation and inspection platform is used for monitoring the working state of the unmanned aerial vehicle, the unmanned aerial vehicle is configured to obtain a patrol inspection image, identify a tower part in the patrol inspection image, generate an identification area based on the tower part, perform down-sampling on a non-identification area in the patrol inspection image, refill the non-identification area by using a sampling point, and generate and store a patrol inspection operation image. The unmanned aerial vehicle electric power line patrol system divides the patrol image into the identification area and the non-identification area, reduces the size of the patrol image by means of downsampling and refilling the non-identification area on the premise of ensuring that the size of the patrol image is not changed, so that the time required for the unmanned aerial vehicle to send the patrol image to the operation and inspection platform or lead the patrol image out from the unmanned aerial vehicle is reduced, and further the working efficiency is improved.
Description
Technical Field
The embodiment of the invention relates to the power inspection technology, in particular to an unmanned aerial vehicle power line inspection system.
Background
The problems of corrosion, falling, abrasion and the like are easily caused to parts such as lines, towers and the like in the power transmission network, and if the problems cannot be found in time, the problems can bring great potential safety hazards to the stable operation of the power transmission network. With the continuous expansion of power grid systems, the traditional line patrol mode is difficult to meet the line patrol requirement of a power transmission network.
Along with the development of unmanned aerial vehicle technique, unmanned aerial vehicle has extensive the line that is applied to power transmission network and patrols the line, and unmanned aerial vehicle can independently fly or the manual control flight according to fixed airline, and through the image or the video that unmanned aerial vehicle gathered, the staff can or transmission line's state, patrols the line through unmanned aerial vehicle and can reduce the cost of labor, takes place the casualties when avoiding patrolling the line. In the prior art, the number of collected images is large during operation of the unmanned aerial vehicle, a single image is large, time consumption is long when the collected images are derived, and efficiency is low.
Disclosure of Invention
The invention provides an unmanned aerial vehicle electric power line patrol system, which aims to achieve the purpose of improving the operation efficiency.
The embodiment of the invention provides an unmanned aerial vehicle electric power line patrol system, which comprises an unmanned aerial vehicle and a transportation and inspection platform, wherein the unmanned aerial vehicle is in communication connection with the transportation and inspection platform, the transportation and inspection platform is used for monitoring the working state of the unmanned aerial vehicle,
the unmanned aerial vehicle is configured to obtain an inspection image, identify a tower part in the inspection image, generate an identification area based on the tower part, perform down-sampling on a non-identification area in the inspection image, refill the non-identification area with a sampling point, and generate and store an inspection operation image.
Optionally, identifying a tower part in the inspection image, and generating an identification area based on the tower part includes:
and identifying the contour line of the tower part, extending the contour line outwards for a certain distance to form a contour envelope line, and taking the area contained in the contour envelope line as the identification area.
Optionally, identifying the tower location in the inspection image further includes:
and identifying the defects of the tower part, and sending a defect identification code matched with the defects to the operation and inspection platform.
Optionally, identifying a tower location in the inspection image, and generating an identification area based on the tower location further includes:
and generating characteristic points of the tower part, and marking the characteristic points in the identification area.
Optionally, the drone is further configured to periodically receive the communication connection confirmation information sent by the operation and detection platform,
and if the communication connection confirmation information is not received in the period, the unmanned aerial vehicle automatically flies to the next tower position according to the routing inspection path and lands.
Optionally, the operation and inspection platform is configured to receive a satellite map, identify a tower in the satellite map, obtain geographic coordinates of the tower, and generate an inspection path according to the geographic coordinates.
Optionally, on the routing inspection path, a plurality of groups of shooting points are arranged at each tower position.
Optionally, unmanned aerial vehicle is according to patrolling and examining route automatic flight to next shaft tower position and descending and include:
and flying to the multiple groups of shooting points, acquiring the inspection images, generating and storing the inspection operation images and then landing.
Optionally, the unmanned aerial vehicle is further configured to monitor the electric quantity of the power supply battery, and if the electric quantity of the power supply battery is lower than a preset value, the unmanned aerial vehicle automatically descends after acquiring the patrol image of the current tower position.
Optionally, the operation and inspection platform is further configured to receive an inspection path modification instruction, and generate a planned inspection path.
Compared with the prior art, the invention has the beneficial effects that: the unmanned aerial vehicle electric power line patrol system divides the patrol image into the identification area and the non-identification area, reduces the size of the patrol image by means of downsampling and refilling the non-identification area on the premise of ensuring that the size of the patrol image is not changed, so that the time required for the unmanned aerial vehicle to send the patrol image to the operation and inspection platform or lead the patrol image out from the unmanned aerial vehicle is reduced, and further the working efficiency is improved.
Drawings
Fig. 1 is a block diagram of a power line patrol system of an unmanned aerial vehicle in an embodiment;
fig. 2 is a flowchart of an unmanned aerial vehicle line patrol mode in the embodiment;
fig. 3 is a flowchart of another unmanned aerial vehicle line patrol mode in the embodiment.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a structural block diagram of an unmanned aerial vehicle power line patrol system in an embodiment, and referring to fig. 1, the embodiment provides an unmanned aerial vehicle power line patrol system, which includes an unmanned aerial vehicle 100 and a transportation platform 200, wherein the unmanned aerial vehicle 100 is in communication connection with the transportation platform 200, and the transportation platform 200 is used for monitoring a working state of the unmanned aerial vehicle 100.
Illustratively, the operation and inspection platform is a ground station, the ground station can receive data sent by the unmanned aerial vehicle or send control instructions to the unmanned aerial vehicle, and the ground station can realize functions of unmanned aerial vehicle flight attitude monitoring, unmanned aerial vehicle load control, mission planning, path planning, unmanned aerial vehicle navigation and the like.
Illustratively, the unmanned aerial vehicle is provided with a camera, a processing unit and a storage unit, wherein the camera is used for shooting the inspection image, the processing unit is used for processing the inspection image, and the storage unit is used for storing the processed inspection image.
Illustratively, the tower part comprises a bracket, a lead, an insulator, a cross arm, hardware fittings and the like.
Exemplarily, can control unmanned aerial vehicle through the mode of manual control in this embodiment and carry out the route and patrol and examine the operation, fig. 2 is an unmanned aerial vehicle in the embodiment and patrols line mode flowchart, refer to fig. 2, unmanned aerial vehicle's course of work includes:
s1, establishing a communication link between the unmanned aerial vehicle and the operation and inspection platform, checking whether the unmanned aerial vehicle and the operation and inspection platform operate normally, and controlling the unmanned aerial vehicle to take off after confirming that the unmanned aerial vehicle and the operation and inspection platform are fault-free.
S2, controlling the unmanned aerial vehicle to fly to a tower according to the planned path, adjusting the posture or flying height of the unmanned aerial vehicle to enable the unmanned aerial vehicle to fly to a shooting point at the tower, and controlling a camera carried by the unmanned aerial vehicle to shoot an inspection image.
And S3, the unmanned aerial vehicle processing unit processes the inspection image to generate an inspection operation image.
Specifically, step 3 includes:
and 3.1, carrying out binarization on the inspection image, identifying the tower part in the inspection image, and acquiring the contour line of the tower part.
Illustratively, in the step, the contour line of the tower part can be obtained through edge detection, contour detection and other modes, and the tower part and the background in the inspection image can be distinguished based on the contour line, so that the subsequent down-sampling work is facilitated.
And 3.2, acquiring the image coordinates of the contour line of the tower part, and dividing the inspection image into an identification area and a non-identification area according to the image coordinates.
For example, in this step, the area inside the contour line is used as the identification area, and the area outside the contour line is used as the non-identification area.
And 3.3, performing down-sampling on the non-identification area, and refilling the non-identification area by using the sampling point.
In this step, the non-identification area may be down-sampled on the basis of the original inspection image or the gray scale image of the original inspection image, a plurality of sampling points inside the non-identification area may be obtained after the down-sampling, and the non-identification area is newly filled with the sampling points. For example, in a certain non-recognition area, four sampling points are obtained through down-sampling, and the gray levels of the four sampling points are respectively L1, L2, L3 and L4, so that the gray levels of the images around the sampling points in the non-recognition area are correspondingly replaced by L1, L2, L3 and L4 according to the image coordinates of the four sampling points.
And 3.4, generating an inspection operation image.
Illustratively, in this step, the inspection image processed in step 3.3 is compressed to generate an inspection job image, and since the non-identification area is formed by a plurality of groups of pixel points with the same gray level after the processing in step 3.3, a small number of bytes can be used to represent the non-identification area during compression, thereby reducing the size of the inspection image.
In step S3, the identification area includes key devices in the power transmission network, which are the basis for determining whether the tower part has a fault, and the background information included in the non-identification area does not help to determine whether the tower part has a fault, so that the gray value of the non-identification area is changed by down-sampling and refilling, and after compression, the size of the inspection image can be reduced without changing the size of the original image.
As an implementable scheme, the pole and tower part in the inspection image is identified in step 3.1, and the contour line can be extended outwards for a certain distance to form a contour envelope line for identifying the contour line of the pole and tower part.
Correspondingly, in step 3.2, the identification area is generated based on the tower part, and the area contained in the profile envelope is used as the identification area.
For example, after the contour lines of the tower part are identified, the image coordinates of the contour lines can be acquired, the contour lines can be extended outwards for a certain distance in a mode of increasing the horizontal and vertical coordinates, the extended contour lines serve as contour envelope lines, and the areas inside the contour envelope lines serve as identification areas.
The area inside the profile envelope line is used as the identification area, so that the characteristics of the tower part can be prevented from being omitted, the omission of faults is avoided, and the accuracy of line inspection is improved.
As an implementable embodiment, the identifying the tower part in the inspection image in step 3.1 may further include: and identifying the defects of the tower part, and sending the defect identification codes matched with the defects to the operation and inspection platform.
Exemplarily, can dispose the neural network model among the processing unit, through the kind of neural network model identification defect, the processing unit can be sent the defect identification code that preset and this kind of defect correspond to the fortune to examine the platform after the kind of discernment defect, the staff can confirm the trouble that the shaft tower appears through the defect identification code, because communication data between unmanned aerial vehicle and the fortune examine the platform is the defect identification code and not patrols and examines the image, consequently, the degree of difficulty when can reducing unmanned aerial vehicle communication, also can reach and save unmanned aerial vehicle battery power, the purpose of the continuous voyage mileage of unmanned aerial vehicle is improved.
When the unmanned aerial vehicle sends the defect identification code to the operation inspection platform, the inspection operation image is still stored, so that when the staff checks, the inspection operation image containing the defect information can be derived.
As an implementable embodiment, the identifying the tower part in the inspection image in step 3.1 may further include: and generating characteristic points of the tower part, and marking the characteristic points in the identification area.
Illustratively, when the unmanned aerial vehicle operates, a certain area of a tower may be shot from a plurality of angles, a plurality of inspection images of the area are obtained, feature points of the tower part in each inspection image are identified, and because the feature points in the same area of the tower are the same, the relation between different inspection images can be determined through the feature points, so that the defects of the tower can be determined through the plurality of images.
And S4, storing the inspection operation image.
And S5, after line patrol flight is completed, leading the patrol inspection operation image in the storage unit of the unmanned aerial vehicle into the operation and inspection platform by an operator, determining whether the power transmission line has a fault or not based on the patrol inspection operation image, or checking the fault type of the power transmission line determined by the unmanned aerial vehicle through the patrol inspection operation image.
In this embodiment, will patrol and examine the image and divide into identification area and non-identification area, through the mode that carries out down-sampling and refill to non-identification area, reduce the size of patrolling and examining the image under the prerequisite of guaranteeing not to change and patrol and examine the image size to reduce unmanned aerial vehicle and examine the platform and send and patrol and examine the image, or follow unmanned aerial vehicle and outwards derive the required time when patrolling and examining the image, and then improve the operating efficiency.
Exemplarily, fig. 3 is a flow chart of another unmanned aerial vehicle line patrol mode in the embodiment, referring to fig. 3, the unmanned aerial vehicle can also automatically perform line patrol operation, and the working process of the unmanned aerial vehicle includes:
s100, the operation and inspection platform is configured to receive the satellite map, identify towers in the satellite map, obtain geographic coordinates of the towers and generate inspection paths according to the geographic coordinates.
In this step, for example, a path with the shortest length including all the towers may be calculated according to the positions of the towers by using a dynamic programming method, a genetic algorithm, and the like, and the path may be used as a routing inspection path during the operation of the unmanned aerial vehicle.
Accurate position coordinates of the tower can be obtained through the satellite map operation and inspection platform, and an accurate inspection path is generated.
As an implementable embodiment, in this step, the operation and inspection platform is further configured to receive the inspection path modification instruction, and generate a planned inspection path.
For example, after the inspection platform generates the inspection path, the inspection path may be changed in a manual modification manner, for example, by increasing or decreasing the suspension point of the unmanned aerial vehicle, changing the flight line between two towers, and the like, so that the unmanned aerial vehicle may perform a specific inspection task.
As an implementation scheme, on the routing inspection path, multiple groups of shooting points can be arranged at each tower position.
For example, one group of shooting points may be two shooting points that are bilaterally symmetric on the same horizontal height of the tower, and multiple groups of shooting points may be selected on different horizontal heights.
S200, establishing a communication link between the unmanned aerial vehicle and the operation and inspection platform, checking whether the unmanned aerial vehicle and the operation and inspection platform operate normally, and controlling the unmanned aerial vehicle to take off after confirming that the unmanned aerial vehicle and the operation and inspection platform are fault-free.
S300, the unmanned aerial vehicle periodically performs self-checking, and if a fault occurs, the line inspection operation is finished according to a preset rule.
For example, the self-checking manner of the drone in step S300 may include:
and 301, the unmanned aerial vehicle periodically receives the communication connection confirmation information sent by the operation and inspection platform, and if the communication connection confirmation information is not received in the period, the unmanned aerial vehicle automatically flies to the next tower position according to the inspection path and lands.
Exemplarily, the operation platform can send a communication connection confirmation message to unmanned aerial vehicle at a certain interval, if processing unit judges that unmanned aerial vehicle has received communication connection confirmation message in this period, then consider that the communication between unmanned aerial vehicle and the operation platform is normal, unmanned aerial vehicle continues to patrol and examine the operation, if processing unit judges that unmanned aerial vehicle has not received communication connection confirmation message in this period, then consider that the communication between unmanned aerial vehicle and the operation platform is interrupted, unmanned aerial vehicle stops the operation this moment, determine the position that next shaft tower was located according to the route of patrolling and examining that predetermines, and direct flight descends to this shaft tower department. Loss under the condition that unmanned aerial vehicle loses the antithetical couplet can be avoided through this kind of mode.
And 302, monitoring the electric quantity of the power supply battery by the unmanned aerial vehicle, and if the electric quantity of the power supply battery is lower than a preset value, automatically landing the unmanned aerial vehicle after acquiring the patrol image of the current tower position.
Exemplarily, when unmanned aerial vehicle's electric quantity is not enough to support unmanned aerial vehicle and accomplish complete circuit and patrol line during operation, then unmanned aerial vehicle is at the present shaft tower of accomplishing patrol and examine image acquisition work after then automatic descending, can avoid causing the problem of unmanned aerial vehicle crash because the battery loses the electricity, owing to there is the route of patrolling and examining in the fortune platform simultaneously, surely can acquire unmanned aerial vehicle's positional information, therefore unmanned aerial vehicle descends also to be convenient for staff's recovery at shaft tower position department.
For example, if a plurality of groups of shooting points are configured at the tower position in the routing inspection path, the step 301 of automatically flying the unmanned aerial vehicle to the next tower position according to the routing inspection path and landing may further include: and flying to a plurality of groups of shooting points, acquiring the inspection image, generating and storing the inspection operation image and then landing.
The electric quantity of utilization battery that can maximize descends after image acquisition, processing and the storage operation image of patrolling and examining to this shaft tower is intact again, avoids appearing invalid flight to improve unmanned aerial vehicle automatic operation's efficiency.
S400, the unmanned aerial vehicle controls the unmanned aerial vehicle to fly to a tower according to the routing inspection path or the planned routing inspection path, the attitude or the flying height is automatically adjusted to enable the unmanned aerial vehicle to fly to a shooting point of the tower, and the camera is automatically controlled to shoot the routing inspection image after the unmanned aerial vehicle flies in place.
And S500, the unmanned aerial vehicle processing unit processes the inspection image to generate an inspection operation image.
For example, in step S500, the unmanned aerial vehicle processes the inspection image to generate the inspection job image, which is the same as the content recorded in step S3, and the beneficial effects are also the same, and the specific scheme is not described again.
And S600, storing the inspection operation image.
S700, after line patrol flight is completed, an operator guides a patrol inspection operation image in the storage unit of the unmanned aerial vehicle into the operation and inspection platform, and whether the power transmission line breaks down or not is determined based on the patrol inspection operation image.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. An unmanned aerial vehicle electric power line patrol system is characterized by comprising an unmanned aerial vehicle and a transportation platform, wherein the unmanned aerial vehicle is in communication connection with the transportation platform, the transportation platform is used for monitoring the working state of the unmanned aerial vehicle,
the unmanned aerial vehicle is configured to obtain an inspection image, identify a tower part in the inspection image, generate an identification area based on the tower part, perform down-sampling on a non-identification area in the inspection image, refill the non-identification area with a sampling point, and generate and store an inspection operation image.
2. The unmanned aerial vehicle power patrol system of claim 1, wherein identifying a tower location in the patrol image, generating an identification zone based on the tower location comprises:
and identifying the contour line of the tower part, extending the contour line outwards for a certain distance to form a contour envelope line, and taking the area contained in the contour envelope line as the identification area.
3. The unmanned aerial vehicle power patrol system of claim 1, wherein identifying a tower location in the patrol image further comprises:
and identifying the defects of the tower part, and sending a defect identification code matched with the defects to the operation and inspection platform.
4. The unmanned aerial vehicle power patrol system of claim 1, wherein identifying a tower location in the patrol image, generating an identification zone based on the tower location further comprises:
and generating characteristic points of the tower part, and marking the characteristic points in the identification area.
5. The unmanned aerial vehicle power patrol system of claim 1, wherein the unmanned aerial vehicle is further configured to periodically receive communication connection confirmation information sent by the commissioning platform,
and if the communication connection confirmation information is not received in the period, the unmanned aerial vehicle automatically flies to the next tower position according to the routing inspection path and lands.
6. The unmanned aerial vehicle power patrol system of claim 5, wherein the operations platform is configured to receive a satellite map, identify towers in the satellite map, obtain geographic coordinates of the towers, and generate patrol routes according to the geographic coordinates.
7. The unmanned aerial vehicle power patrol system of claim 6, wherein a plurality of groups of shooting points are provided at each of the tower locations on the patrol path.
8. The unmanned aerial vehicle power patrol system of claim 7, wherein the automatic flying and landing of the unmanned aerial vehicle to the next tower location according to the patrol path comprises:
and flying to the multiple groups of shooting points, acquiring the inspection images, generating and storing the inspection operation images and then landing.
9. The unmanned aerial vehicle power patrol system of claim 1, wherein the unmanned aerial vehicle is further configured to monitor an electric quantity of a power supply battery, and if the electric quantity of the power supply battery is lower than a preset value, the unmanned aerial vehicle automatically lands after acquiring the patrol image of the current tower position.
10. The unmanned aerial vehicle power patrol system of claim 6, wherein the operations platform is further configured to receive patrol path modification instructions and generate a planned patrol path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010859107.7A CN111984034A (en) | 2020-08-24 | 2020-08-24 | Unmanned aerial vehicle electric power patrols line system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010859107.7A CN111984034A (en) | 2020-08-24 | 2020-08-24 | Unmanned aerial vehicle electric power patrols line system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111984034A true CN111984034A (en) | 2020-11-24 |
Family
ID=73443279
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010859107.7A Pending CN111984034A (en) | 2020-08-24 | 2020-08-24 | Unmanned aerial vehicle electric power patrols line system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111984034A (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101282479A (en) * | 2008-05-06 | 2008-10-08 | 武汉大学 | Method for encoding and decoding airspace with adjustable resolution based on interesting area |
| CN101604830A (en) * | 2009-07-14 | 2009-12-16 | 山东电力研究院 | Patrolling trolly wire route and shaft tower unmanned helicopter system and method thereof |
| CN105023014A (en) * | 2015-08-21 | 2015-11-04 | 马鞍山市安工大工业技术研究院有限公司 | Method for extracting tower target in unmanned aerial vehicle routing inspection power transmission line image |
| CN206023052U (en) * | 2016-09-12 | 2017-03-15 | 国网重庆市电力公司电力科学研究院 | A kind of HV Transmission Line Routing Inspection robot |
| CN108171343A (en) * | 2017-12-26 | 2018-06-15 | 广州供电局有限公司 | Power equipment patrols dimension method, system, readable storage medium storing program for executing and computer equipment |
| CN108665468A (en) * | 2017-11-10 | 2018-10-16 | 三峡大学 | A kind of device and method extracting tangent tower insulator chain based on dimensionality reduction gray scale texture-form matrix |
| CN109144097A (en) * | 2018-08-15 | 2019-01-04 | 广州极飞科技有限公司 | Barrier or ground identification and flight control method, device, equipment and medium |
| CN109633674A (en) * | 2018-12-17 | 2019-04-16 | 云南电网有限责任公司带电作业分公司 | Three-dimensional Track automatic planning is maked an inspection tour in transmission of electricity based on laser point cloud data |
| CN109961460A (en) * | 2018-12-26 | 2019-07-02 | 国网浙江省电力有限公司 | A kind of multiple target method for inspecting based on improvement YOLOv3 model |
| CN110288623A (en) * | 2019-06-18 | 2019-09-27 | 大连海洋大学 | The data compression method of unmanned plane marine cage culture inspection image |
| CN110572656A (en) * | 2019-09-19 | 2019-12-13 | 北京视博云科技有限公司 | coding method, image processing method, device and system |
| CN111521911A (en) * | 2020-05-21 | 2020-08-11 | 山东信通电子股份有限公司 | Intelligent monitoring method and equipment for power transmission line |
-
2020
- 2020-08-24 CN CN202010859107.7A patent/CN111984034A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101282479A (en) * | 2008-05-06 | 2008-10-08 | 武汉大学 | Method for encoding and decoding airspace with adjustable resolution based on interesting area |
| CN101604830A (en) * | 2009-07-14 | 2009-12-16 | 山东电力研究院 | Patrolling trolly wire route and shaft tower unmanned helicopter system and method thereof |
| CN105023014A (en) * | 2015-08-21 | 2015-11-04 | 马鞍山市安工大工业技术研究院有限公司 | Method for extracting tower target in unmanned aerial vehicle routing inspection power transmission line image |
| CN206023052U (en) * | 2016-09-12 | 2017-03-15 | 国网重庆市电力公司电力科学研究院 | A kind of HV Transmission Line Routing Inspection robot |
| CN108665468A (en) * | 2017-11-10 | 2018-10-16 | 三峡大学 | A kind of device and method extracting tangent tower insulator chain based on dimensionality reduction gray scale texture-form matrix |
| CN108171343A (en) * | 2017-12-26 | 2018-06-15 | 广州供电局有限公司 | Power equipment patrols dimension method, system, readable storage medium storing program for executing and computer equipment |
| CN109144097A (en) * | 2018-08-15 | 2019-01-04 | 广州极飞科技有限公司 | Barrier or ground identification and flight control method, device, equipment and medium |
| CN109633674A (en) * | 2018-12-17 | 2019-04-16 | 云南电网有限责任公司带电作业分公司 | Three-dimensional Track automatic planning is maked an inspection tour in transmission of electricity based on laser point cloud data |
| CN109961460A (en) * | 2018-12-26 | 2019-07-02 | 国网浙江省电力有限公司 | A kind of multiple target method for inspecting based on improvement YOLOv3 model |
| CN110288623A (en) * | 2019-06-18 | 2019-09-27 | 大连海洋大学 | The data compression method of unmanned plane marine cage culture inspection image |
| CN110572656A (en) * | 2019-09-19 | 2019-12-13 | 北京视博云科技有限公司 | coding method, image processing method, device and system |
| CN111521911A (en) * | 2020-05-21 | 2020-08-11 | 山东信通电子股份有限公司 | Intelligent monitoring method and equipment for power transmission line |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110011223B (en) | Multi-unmanned aerial vehicle cooperative inspection method and system suitable for regional power transmission line | |
| EP2288970B1 (en) | System and method for inspection of structures and objects by swarm of remote unmanned vehicles | |
| CN111667230A (en) | Unmanned aerial vehicle autonomous inspection operation monitoring and analyzing system and method | |
| CN107289953A (en) | A kind of navigation control method of unmanned aerial vehicle group | |
| CN106023631B (en) | Warehouse logistics vehicle monitoring system based on iBeacon technology | |
| CN111258331A (en) | Unmanned aerial vehicle power line operation and maintenance system and method | |
| CN113220030A (en) | Method and device for generating unmanned aerial vehicle power inspection route, storage medium and electronic equipment | |
| KR20170111219A (en) | Control server for monitoring fire with unmanned aerial vehicle and method thereof | |
| CN107045804A (en) | The real-time distribution of unmanned plane and managing and control system and method | |
| CN111343287B (en) | Helicopter laser radar remote monitoring system and method for power transmission line inspection | |
| CN114137997B (en) | Electric power inspection method, device, equipment and storage medium | |
| CN114911255A (en) | Heterogeneous multi-unmanned aerial vehicle collaborative track planning method for communication relay guarantee | |
| CN116400736A (en) | Unmanned aerial vehicle power pole and tower refined routing method | |
| CN116880565A (en) | Intelligent cruise control system and method for low-altitude aircraft | |
| CN113625743A (en) | Intelligent control method for unmanned aerial vehicle, related device and storage medium | |
| CN107608391A (en) | A kind of unmanned plane plans routing and its method automatically in real time | |
| CN111984034A (en) | Unmanned aerial vehicle electric power patrols line system | |
| CN114063638A (en) | Unmanned aerial vehicle patrolling system and smart energized city emergency equipment | |
| KR20230030149A (en) | Remote inspection system using drone swarms | |
| CN112346482A (en) | Flight route management method | |
| JP7525013B2 (en) | Power supply information determination device, power supply information determination method, and program | |
| CN116978139A (en) | Unmanned aerial vehicle intelligent inspection system and method based on Beidou technology | |
| CN115661466B (en) | Photovoltaic panel positioning method and device based on deep learning image segmentation | |
| CN115421503B (en) | Unmanned aerial vehicle inspection system for bridge | |
| CN114911271B (en) | Wide area distributed collaborative operation system and method based on cloud unmanned aerial vehicle |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201124 |