CN114115317A - Substation unmanned aerial vehicle inspection method based on artificial intelligence - Google Patents
Substation unmanned aerial vehicle inspection method based on artificial intelligence Download PDFInfo
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Abstract
The invention provides a transformer substation unmanned aerial vehicle inspection method based on artificial intelligence, and belongs to the technical field of electric power. Based on unmanned aerial vehicle intelligence system of patrolling and examining, realize digital convertor station and intelligent transformer substation construction, be equipped with the many rotor unmanned aerial vehicle inspection device of small-size RTK, three many rotor unmanned aerial vehicle carry sensing device, high accuracy laser point cloud data acquisition and intelligent track design planning, unmanned aerial vehicle intelligent control platform terminal software, fixed wisdom machine nest, unmanned aerial vehicle control algorithm based on multisensor fuses, the realization is to the unmanned aerial vehicle gesture, the accurate control of cloud platform etc., application big dipper high accuracy location, LAN transmission technology in the unmanned aerial vehicle inspection data station, realize the all-round dynamic perception of transformer substation's inspection unmanned aerial vehicle real-time position. The invention solves the problems of dead angle of patrol vision, high working strength, low patrol efficiency, high operation risk, poor interference resistance and low cruising duration.
Description
Technical Field
The invention relates to the technical field of electric power, in particular to a transformer substation unmanned aerial vehicle inspection method based on artificial intelligence.
Background
Along with the development of technologies such as accurate location, flight control, the unmanned aerial vehicle technique has been widely used in fields such as agriculture, traffic, and unmanned aerial vehicle carries on after taking the equipment, can accomplish high altitude shooting, remote monitoring and reach the region that personnel can't arrive and take a picture. In the electric wire netting field, develop the unmanned aerial vehicle technical research for the transformer substation, realize functions such as remote equipment monitoring, automatic temperature measurement, replace traditional artifical climbing tour, can break the space restriction, reduce the field operation risk by a wide margin, improve equipment fortune dimension efficiency, guarantee electric wire netting and equipment safe and reliable operation. The transformer substation three-dimensional inspection system has the advantages that potential hazards and defects such as corrosion, looseness and falling of high-position equipment such as a transformer substation framework, a lightning rod and a bus are inspected in a key mode, the intelligent robot (high-definition video) is matched with inspection to manufacture the transformer substation three-dimensional inspection system, the workload of operation and maintenance personnel is reduced, the risk of climbing inspection is reduced, and the inspection quality and benefits of the equipment are further improved.
But the forceful electric magnetic field environment of transformer substation can disturb the normal work of unmanned aerial vehicle electron gyroscope, influences the stable receipt of wireless communication signal, causes unmanned aerial vehicle to get into the gesture mode for unmanned aerial vehicle can't hover stably or fly, takes place the crash accident even. In addition, unmanned aerial vehicle generally adopts the carbon fiber as fuselage material, because the transformer substation interval distance is less, easily takes place equipment short circuit accident when the line is occasionally alternate flight. Therefore, the safety problem of unmanned aerial vehicles in substation inspection becomes especially important.
Chinese patent document CN202110851511.7 discloses a substation unmanned aerial vehicle inspection route planning method, which includes an unmanned aerial vehicle end and a server end, wherein the unmanned aerial vehicle end is loaded with a control processing module, an information storage module, an image acquisition module, an image recognition module, a wireless remote control module, a shooting parameter calibration module, a path calibration module, a height calibration module and a data transmission module, and the server end is loaded with a main processor, a three-dimensional modeling module, a command editing module, a command sending module, a data receiving module, a data storage module, a data analysis module and an information extraction module; the unmanned aerial vehicle automatic air route flight system has the advantages that the unmanned aerial vehicle automatic air route flight system can be achieved, a large amount of manpower is saved, inspection personnel can be liberated from a large amount of physical labor, the reliability of a power grid can be improved, the processes of electric power environmental protection and green inspection are effectively promoted, the working quality is effectively improved, problems can be found in time, and timely effects are handled. But it can't solve unmanned aerial vehicle accuracy of cruising low, the easy problem that receives the interference.
Chinese patent document CN202010411776.8 discloses a substation unmanned aerial vehicle inspection system and method, where the substation unmanned aerial vehicle inspection system includes an unmanned aerial vehicle body, a carrier-free communication positioning device, a preset icon, an icon recognition device, and a ground control station. The carrier-free communication positioning device is arranged on the unmanned aerial vehicle body. The preset icons are laid at preset positions. The icon recognition device is arranged on the unmanned aerial vehicle body and used for recognizing the preset icon to obtain recognition information. The ground control station is in communication connection with the unmanned aerial vehicle body, the carrier-free communication positioning device and the icon identification device, and is used for receiving the position information and the identification information and sending a control instruction to the unmanned aerial vehicle body according to the position information and the identification information. The utility model provides an unmanned aerial vehicle system of patrolling and examining of transformer substation can be right the unmanned aerial vehicle body carries out accurate location, makes the unmanned aerial vehicle body can fly according to predetermineeing the flight path. But it can't solve the problem that intelligent cruise unmanned aerial vehicle duration is short.
Disclosure of Invention
The invention aims to provide a transformer substation unmanned aerial vehicle inspection system and a transformer substation unmanned aerial vehicle inspection method, and solves the problems of dead angles of inspection vision, high working strength, low inspection efficiency, high operation risk, poor interference resistance and low cruising.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a transformer substation unmanned aerial vehicle patrols and examines method based on artificial intelligence, a serial communication port, based on unmanned aerial vehicle intelligence system of patrolling and examining, realize digital convertor station and intelligent transformer substation construction, be equipped with the many rotor unmanned aerial vehicle inspection devices of small-size RTK, three many rotor unmanned aerial vehicle carry sensing device, high accuracy laser point cloud data acquisition and intelligent track design planning, unmanned aerial vehicle intelligent control platform terminal software, fixed wisdom machine nest, unmanned aerial vehicle control algorithm based on multisensor fuses, realize the accurate control to unmanned aerial vehicle gesture, cloud platform etc., the application big dipper high accuracy location, unmanned aerial vehicle patrols and looks local area network transmission technology in the data station, realize transformer substation patrols and looks unmanned aerial vehicle real-time position all-round dynamic perception.
Preferably, an electric Beidou accurate space-time service network which is wide in distribution, powerful in capacity and independently controllable is adopted, a sky-ground integrated space-time intelligent service system is constructed, and real-time sub-meter-level, decimeter-level, centimeter-level and postprocessing millimeter-level position service and nanosecond-level time service are provided for power grid services.
Preferably, the characteristics of low delay and large bandwidth of an in-station local area network are utilized, public network data such as aerial patrol images, temperature and position information of the unmanned aerial vehicle are remotely and safely transmitted to an intranet in real time through an in-station local area network communication module, and basic conditions are provided for operation and maintenance personnel to master the running state of the equipment in time.
Preferably, the unmanned aerial vehicle is according to patrolling and examining the route and gather visible light, infrared and ultraviolet and patrol and examine data to will patrol and examine the achievement data and pass back to the aircraft nest, transmit to intelligent control platform through the aircraft nest, realize unmanned aerial vehicle operation real time monitoring and data unified management and analysis, thereby realize the full autonomic intellectuality of transformer substation and patrol and examine.
Preferably, the high-precision point cloud data of the transformer substation is utilized, the factors such as multi-model flight capability, flight safety, operation characteristics, operation efficiency, take-off and landing conditions, camera focal length, shooting mode, safety distance, part size, holder angle, handpiece orientation and the like are comprehensively considered, full intelligent route planning is carried out, and route planning of high-precision geographic coordinates is output so that the unmanned aerial vehicle can carry out intelligent patrol operation.
Preferably, based on different sensors, all-round perception is carried out to the environment, in time, accurately acquire unmanned aerial vehicle positional information to and equipment environmental information.
Preferably, plan out unmanned aerial vehicle high accuracy location flight route to intelligent or manual mode is according to presetting route, position, angle, focus, camera mode and is flown and patrol, satisfies the data acquisition demand of the different application scenes of transformer substation, and will patrol data real-time safety and pass into the intranet, realize unmanned aerial vehicle intelligence and patrol and intelligent control.
Furthermore, the transformer substation unmanned aerial vehicle inspection technical difficulty is in electromagnetic interference resistance and high-precision positioning obstacle avoidance. Including unmanned aerial vehicle tour system equipment anti-electromagnetic interference high accuracy location keep away barrier device, station LAN communication, big dipper accurate positioning service net and RTK ground basic station, realize that unmanned aerial vehicle patrols anti-electromagnetic interference, high accuracy location and the automation of looking at the in-process at the transformer substation and keep away the barrier to and stable, fast-speed data real-time transmission is vital. Chinese patent document CN113625748A published in 11/09/2021 discloses a method for planning a patrol route of an unmanned aerial vehicle in a transformer substation, which only solves the problem of stable reception of wireless communication signals.
Even adopt no carrier communication location technique, the forceful electric magnetic field environment of transformer substation can disturb unmanned aerial vehicle electronic gyroscope normal work, causes unmanned aerial vehicle to get into the gesture mode for unmanned aerial vehicle can't hover stably or fly, takes place the crash accident even. In addition, unmanned aerial vehicle generally adopts the carbon fiber as fuselage material, because the transformer substation interval distance is less, easily takes place equipment short circuit accident when the line is occasionally alternate flight. Further, even if a high-power transmitter is adopted, the battery endurance of the unmanned aerial vehicle becomes a new bottleneck. Chinese patent document CN202010411776.8, published in 21/08/2020, discloses a substation unmanned aerial vehicle inspection system and method. It is right only to have solved the unmanned aerial vehicle body carries out accurate location problem, makes the unmanned aerial vehicle body can fly according to predetermineeing the flight trajectory.
The substation unmanned aerial vehicle inspection method based on artificial intelligence provided by the invention utilizes an AI visual analysis technology to realize automatic identification of the state of substation equipment, timely alarm when abnormity occurs, and automation and intellectualization of inspection.
Compared with the prior art, the invention has the beneficial effects that:
the unmanned aerial vehicle carries a high-definition visible light camera or an infrared camera, autonomously flies to a specified equipment photographing point at centimeter-level high-precision positioning according to a patrol plan, and collects visible light photos or infrared photos of primary equipment or auxiliary equipment such as a framework, a lightning rod, a main transformer, a circuit breaker, an isolation disconnecting link and the like. Aiming at the inspection requirements of different scene equipment, the unmanned aerial vehicle is used for carrying different types of sensors, and all-dimensional and three-dimensional unmanned aerial vehicle full-autonomous intelligent inspection of the convertor station is carried out.
In addition, through unmanned aerial vehicle intelligent control platform terminal software, realize that unmanned aerial vehicle regularly and not regularly patrols and examines the task and issue, cooperate fixed wisdom machine nest, realize unmanned aerial vehicle and independently carry out the task of patrolling and examining voluntarily, carry on different sensors, discover equipment trouble fast, in time master equipment state, guarantee the safe operation of substation equipment.
The mode of unmanned aerial vehicle inspection which is manually intervened on site is technically changed into the mode of unmanned aerial vehicle inspection which is unattended on site. Compare in the mode that unmanned aerial vehicle of original manual work on-the-spot intervention patrolled and examined, this set of system provides and supports functional module such as unmanned aerial vehicle storage, autonomy flight, electric energy supply, increases exception handling and self-resuming logic, realizes the automatic work of patrolling and examining of unmanned aerial vehicle of on-the-spot unmanned on duty.
The test point construction of a centralized control station supporting the operation and maintenance of the power transformation major is realized, and the transformation operation and maintenance management mode of unattended operation and centralized monitoring is promoted to be changed; the system further promotes the equipment owner to take effect when falling to the ground, promotes operation and maintenance personnel to transform to the equipment owner and general practitioners, effectively expands the management function, the service capability and the supporting means of the centralized control station, and ensures the safe and stable operation of the power grid equipment. The intelligent inspection of the unmanned aerial vehicle of the transformer substation is applied, the construction of a local area network base station and the application of AI technology are combined, the intelligent transformation and the upgrade of the transformer substation are further deepened, and the operation and maintenance mode change of an intelligent operation inspection control center, a team centralized control station and an intelligent station of a company is promoted.
The intelligent routing inspection system has the advantages that the fixed intelligent nest operation platform is additionally arranged on the transformer substation, automatic power switching of unmanned aerial vehicles carrying different types of sensors is realized, the intelligent routing inspection flight path planning strategy of the unmanned aerial vehicles is deeply applied through the intelligent control platform terminal software of the unmanned aerial vehicles, automatic execution of inspection tasks is realized, multiple stations and multiple types are controlled simultaneously, equipment inspection and live detection are synchronously carried out, inspection data are synchronously pushed for analysis and identification, and intelligent inspection of the transformer substation is realized. Meanwhile, the intelligent inspection three-level deployment of the intelligent operation inspection management and control center, the team centralized control station and the intelligent station unmanned aerial vehicle is realized.
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The present invention will be described in further detail with reference to the accompanying drawings.
FIG. 1: schematic diagram of embodiment 1 of the invention;
Detailed Description
For a better understanding of the invention, the following description is given in conjunction with the examples and the accompanying drawings, but the invention is not limited to the examples. In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details.
Example 1
The utility model provides a transformer substation unmanned aerial vehicle patrols and examines method based on artificial intelligence, based on unmanned aerial vehicle intelligence system of patrolling and examining, realize digital convertor station and intelligent transformer substation construction, be equipped with small-size RTK many rotor unmanned aerial vehicle inspection device, three many rotor unmanned aerial vehicle carry sensing device, high accuracy laser point cloud data acquisition and intelligent track design planning, unmanned aerial vehicle intelligent control platform terminal software, fixed wisdom machine nest, unmanned aerial vehicle control algorithm based on multisensor fuses, realize the accurate control to unmanned aerial vehicle gesture, cloud platform etc. utilize big dipper high accuracy location, unmanned aerial vehicle patrols and looks local area network transmission technology in the data station, realize transformer substation and patrols and looks unmanned aerial vehicle real-time position all-round dynamic perception. Aiming at the framework and the patrol requirement of lightning rod equipment, the converter station omnibearing three-dimensional unmanned aerial vehicle full-autonomous intelligent patrol is carried out by utilizing the unmanned aerial vehicle carrying a big-Jiang unmanned aerial vehicle accessory-a multi-angle wireless transmission infrared spectrum temperature measurement module-a three-axis infrared (sold as MT-H3-IR640), a visible light camera (sold as CA102), a big-Jiang unmanned aerial vehicle accessory-a large-angle two-dimensional image acquisition module-a two-axis POD (sold as MT-H2-POD), a multi-mode comprehensive avionic control system (sold as MT-H4-HD), a power battery (sold as MT-H0-DL) and a double-optic POD (sold as MG-200S) to log on sensor equipment.
Furthermore, an electric Beidou accurate space-time service network which is wide in distribution, powerful in capacity and independently controllable is adopted, a sky-ground integrated space-time intelligent service system is constructed, and real-time sub-meter-level, decimeter-level, centimeter-level and postprocessing millimeter-level position service and nanosecond-level time service are provided for power grid services.
Furthermore, the characteristics of low delay and large bandwidth of an in-station local area network are utilized, public network data such as aerial patrol images, temperature and position information of the unmanned aerial vehicle are remotely and safely transmitted to an intranet in real time through an in-station local area network communication module, and basic conditions are provided for operation and maintenance personnel to master the running state of the equipment in time. The fixed airport and the unmanned aerial vehicle are communicated by adopting a 2.4G/5.8G special remote controller communication link, and the fixed airport is linked with the system platform by adopting a wired network (network cable/optical fiber) with stable link and high safety.
Further, the unmanned aerial vehicle collects visible light, infrared and ultraviolet inspection data according to an inspection route, and transmits inspection result data back to the machine nest, and the inspection result data are transmitted to the intelligent control platform through the machine nest, so that real-time monitoring and data unified management and analysis of unmanned aerial vehicle operation are realized, and full-autonomous intelligent inspection of a transformer substation is realized.
Preferably, the high-precision point cloud data of the transformer substation is utilized, the factors such as multi-model flight capability, flight safety, operation characteristics, operation efficiency, take-off and landing conditions, camera focal length, shooting mode, safety distance, part size, holder angle, handpiece orientation and the like are comprehensively considered, full intelligent route planning is carried out, and route planning of high-precision geographic coordinates is output so that the unmanned aerial vehicle can carry out intelligent patrol operation. Then based on AI visual analysis technique, the state of the equipment of automatic identification patrolling and examining, discover to report on the police and remind in time, and generate and patrol and examine the statement.
Further, an unmanned aerial vehicle high-precision positioning flight route is planned, flight inspection is carried out according to preset routes, positions, angles, focal lengths and camera modes in an intelligent or manual mode, the data acquisition requirements of different application scenes of a transformer substation are met, inspection data are safely transmitted into an intranet in real time, and intelligent inspection and intelligent control of the unmanned aerial vehicle are achieved.
The method can complete the automatic inspection task of the unmanned aerial vehicle without depending on field manual operation. The operating personnel can set up the operation task and issue remotely, and fixed airport will dispatch unmanned aerial vehicle operation after receiving the task of long-range issue, and fixed airport will accomplish take off, patrol and examine, descend, retrieve, charge, operation steps such as data upload full automatization, and whole journey need not on-the-spot personnel and participates in.
The transformer substation framework and the lightning rod are higher in distance, and the structure is important for daily inspection if the structure is deformed or inclined. The high-altitude inspection range of the unmanned aerial vehicle can cover temperature and appearance defects of high-altitude equipment such as a transformer substation framework and a lightning rod and an overhead insulator string, high-altitude close-range observation can be carried out, clear images of the framework and the lightning rod can be acquired, and inspection blind areas of ground manual work or other inspection equipment are eliminated. The unmanned aerial vehicle has high moving speed in the air, shortens the operation time and improves the inspection efficiency.
Example 2
The utility model provides a transformer substation unmanned aerial vehicle inspection method based on artificial intelligence, is different from embodiment 1: patrol and examine transformer substation's main transformer through unmanned aerial vehicle based on artificial intelligence, main transformer is the most core equipment of whole transformer substation, in case break down will cause great loss. Equipment failure may result if light; if so, fire will be caused, resulting in great loss. Therefore, it is of great significance to analyze and find the fault cause of the transformer in advance and take corresponding precautionary measures in time.
Unmanned aerial vehicle carries on high definition visible light camera and can look over whether have obvious foreign matter around the transformer to and the oil level and the table meter data acquisition of part eminence.
Example 3
The utility model provides a transformer substation unmanned aerial vehicle inspection method based on artificial intelligence, is different from embodiment 1: the transformer substation is patrolled and examined through unmanned aerial vehicle based on artificial intelligence, and the transformer substation is divided into voltage transformer and current transformer, is used for separating the important equipment of high-voltage system in order to guarantee the person and equipment safety, and the accuracy of electric power system measurement, measurement and the reliability of relay protection device action are directly influenced to the good or bad of transformer performance.
Unmanned aerial vehicle carries on that high definition visible light camera can look over outward appearance, eminence oil level reading, table meter reading, energy storage on-off state, vase have whether damaged, equipment have leakage oil etc. based on the multi-functional load that carries on, unmanned aerial vehicle can hover and zoom and gather clear photo.
Example 4
The utility model provides a transformer substation unmanned aerial vehicle inspection method based on artificial intelligence, is different from embodiment 1: patrol and examine transformer substation's switchgear through unmanned aerial vehicle based on artificial intelligence, including circuit breaker, isolator, load switch, high-voltage fuse etc. be the equipment of disconnection and closed circuit. The unmanned aerial vehicle carries a high-definition visible light camera to check whether obvious foreign matters exist around the disconnecting link, whether the disconnecting link is separated and the state is correct, and the like.
Example 5
The utility model provides a transformer substation unmanned aerial vehicle inspection method based on artificial intelligence, is different from embodiment 1: patrol and examine the arrester of transformer substation through unmanned aerial vehicle based on artificial intelligence, the arrester is one of the key equipment of the normal operating of guarantee primary electric power system, is common overvoltage protection device in the transformer substation. When the overvoltage exceeds a certain limit value, the overvoltage is automatically discharged to the ground so as to reduce the voltage, the equipment is protected, and the arc is quickly and automatically extinguished after the overvoltage is discharged.
Unmanned aerial vehicle carries on infrared camera and can carry out infrared temperature measurement, ceramic sleeve whether have fracture etc. to the joint of arrester body and arrester and circuit.
Example 6
The utility model provides a transformer substation unmanned aerial vehicle inspection method based on artificial intelligence, is different from embodiment 1: patrol and examine the reactive power compensator temperature of transformer substation through unmanned aerial vehicle based on artificial intelligence, in electric power system, reactive power is not enough can make system voltage and power factor reduce to damage consumer, probably cause the electric power system breakdown when serious, cause the large tracts of land to have a power failure. The normal operation of the reactive power compensation device is the guarantee of the safe operation of the power grid and the safe power utilization of users.
The infrared camera that unmanned aerial vehicle carried on can assist fortune dimension personnel to master the temperature information of equipment to reactive power compensator body and joint temperature measurement.
Aiming at the inspection requirements of different scene equipment, the unmanned aerial vehicle is used for carrying different types of sensors, and all-dimensional unmanned aerial vehicle autonomous intelligent inspection of the transformer substation is carried out.
Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and other modifications or equivalent substitutions made by the technical solutions of the present invention by those of ordinary skill in the art should be covered within the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solutions of the present invention.
Claims (7)
1. The utility model provides a transformer substation unmanned aerial vehicle patrols and examines method based on artificial intelligence, a serial communication port, based on unmanned aerial vehicle intelligence system of patrolling and examining, realize digital convertor station and intelligent transformer substation construction, be equipped with the many rotor unmanned aerial vehicle inspection devices of small-size RTK, three many rotor unmanned aerial vehicle carry sensing device, high accuracy laser point cloud data acquisition and intelligent track design planning, unmanned aerial vehicle intelligent control platform terminal software, fixed wisdom machine nest, unmanned aerial vehicle control algorithm based on multisensor fuses, realize the accurate control to unmanned aerial vehicle gesture, cloud platform etc., the application big dipper high accuracy location, unmanned aerial vehicle patrols and looks local area network transmission technology in the data station, realize transformer substation patrols and looks unmanned aerial vehicle real-time position all-round dynamic perception.
2. The substation unmanned aerial vehicle inspection method based on artificial intelligence of claim 1, wherein a sky-ground integrated space-time intelligent service system is constructed by adopting an electric Beidou accurate space-time service network which is widely distributed, powerful and autonomously controllable, and real-time sub-meter, decimeter, centimeter and post-processing millimeter-scale position service and nanosecond-scale time service are provided for power grid services.
3. The substation unmanned aerial vehicle inspection method based on artificial intelligence as claimed in claim 1, wherein characteristics of low delay and large bandwidth of an intra-station local area network are utilized to study real-time remote safe transmission of public network data such as aerial inspection images, temperature and position information of the unmanned aerial vehicle to an intranet through an intra-station local area network communication module, and basic conditions are provided for operation and maintenance personnel to master operation states of equipment in time.
4. The unmanned aerial vehicle inspection method based on artificial intelligence of claim 1, wherein the unmanned aerial vehicle collects visible light, infrared and ultraviolet inspection data according to an inspection route, transmits the inspection result data back to the nest, and transmits the inspection result data to the intelligent control platform through the nest, so that real-time monitoring of unmanned aerial vehicle operation and unified management and analysis of data are realized, and thus, full-autonomous intelligent inspection of the transformer substation is realized.
5. The substation unmanned aerial vehicle inspection method based on artificial intelligence of claim 1, wherein the substation high-precision point cloud data is utilized, the factors such as multi-model flight capability, flight safety, operation characteristics, operation efficiency, take-off and landing conditions, camera focal length, shooting mode, safety distance, part size, holder angle, head orientation and the like are comprehensively considered, full-intelligent route planning is carried out, and route planning of high-precision geographic coordinates is output for the unmanned aerial vehicle to carry out intelligent inspection operation.
6. The substation unmanned aerial vehicle inspection method based on artificial intelligence of claim 1, wherein the environment is sensed in all directions based on different sensors, and the position information of the unmanned aerial vehicle and the equipment environment information are obtained timely and accurately.
7. The substation unmanned aerial vehicle inspection method based on artificial intelligence of claim 1, wherein a high-precision positioning flight route of the unmanned aerial vehicle is planned, flight inspection is performed according to preset routes, positions, angles, focal lengths and camera modes in an intelligent or manual mode, data acquisition requirements of different application scenes of a substation are met, inspection data are safely transmitted to an intranet in real time, and intelligent inspection and intelligent control of the unmanned aerial vehicle are achieved.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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