CN202817605U - UAV routing-inspection line corridor device based on millimeter-wave radar - Google Patents
UAV routing-inspection line corridor device based on millimeter-wave radar Download PDFInfo
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- CN202817605U CN202817605U CN 201220529995 CN201220529995U CN202817605U CN 202817605 U CN202817605 U CN 202817605U CN 201220529995 CN201220529995 CN 201220529995 CN 201220529995 U CN201220529995 U CN 201220529995U CN 202817605 U CN202817605 U CN 202817605U
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Abstract
The utility model discloses a UAV routing-inspection line corridor device based on a millimeter-wave radar. The UAV routing-inspection line corridor device comprises a routing-inspection unmanned helicopter, wherein an airborne millimeter-wave radar device and a high-definition camera detection device are arranged on the unmanned helicopter, the airborne millimeter-wave radar device comprises an airborne antenna, and a millimeter-wave transmitting/receiving module, an A/D conversion unit, a clutter processor, a signal accumulator, an FFT module and a signal processing unit which are sequentially connected, and an input end of a signal processing unit is connected with an airborne flight control system; and a UAV routing-inspection line corridor method based on the millimeter-wave radar which is implemented by utilizing the device is further disclosed by the utility model. The device and the method are utilized as a monitoring technique, so as to know and master whether hidden risks that endanger the secure operation of the line exist in the line operating environment or not, and to provide the basis for effective decision making; and the traditional manual measuring method by using the theodolite is avoided, the working efficiency is improved, and the device is of great practical significance to the security of the electric transmission line and the UAV routing inspection.
Description
Technical field
The utility model relates to a kind of unmanned plane and patrols and examines circuit corridor device, relates in particular to a kind of unmanned plane based on millimetre-wave radar and patrols and examines circuit corridor device.
Background technology
In recent years, the sustained and rapid development of Chinese national economy has proposed more and more higher requirement to China's power industry.For safety and reliably power supply, patrol and examine line upkeep automation and modernization and day by day demonstrate its urgency.Adopt the unmanned plane aerial work that circuit corridor and shaft tower etc. are patrolled, can overcome and utilize manned helicopter to patrol and examine the maintenance cost costliness of circuit, the drawbacks such as safety problem is outstanding, but because China territory is vast, landform, meteorological complicated, transmission line landform of living in and environment are also varied, design a kind of three-dimensional map method for drafting and the device that can realize the circuit corridor, whether have the hidden danger that jeopardizes line security operation, transmission line fail safe and unmanned plane are patrolled and examined high efficiency have a great deal of practical meanings if can in time understand and grasp circuit running environment.
Implementation method has the method that can be used for the three-dimensional map drafting, mainly contain laser ranging method, the ultrasonic ranging method, the infrared distance measurement method, vision telemetry and microwave radar telemetry, laser ranging method wherein, the ultrasonic ranging method, the existing multinomial patent paper of infrared distance measurement method and vision telemetry is described, also obtained corresponding beneficial effect, but using it for unmanned plane patrols and examines the circuit corridor and realize that the three-dimensional map drafting in circuit corridor is also inapplicable: the accuracy of laser ranging method and vision telemetry is affected by environment larger, there is in the king-sized situation of mist or humidity measurement data inaccurate, limited the patrol and examine condition of unmanned plane to the circuit corridor; The ultrasonic ranging method is only applicable to can't be applied to unmanned plane patrolling and examining the circuit corridor than short distance (4-5 rice); Infrared distance measurement method directivity is poor, and affected by environment large, and the existence of dust, suspended particulate all can cause interference to it, is not suitable for unmanned plane and patrols and examines the circuit corridor.The microwave radar detection range is far away, precision is high, and measurement performance is subjected to the impact of the extraneous factors such as weather less, and can obtain distance and relative bearing between unmanned plane and the target object, is applicable to unmanned plane patrolling and examining the circuit corridor.For the large electromagnetic interference of other electric rooms of reduce microwave radar and unmanned plane lift-launch, select millimere-wave band emission radar (other electronic device works frequencies that unmanned plane carries are without millimere-wave band).
The existing technology of utilizing millimetre-wave radar to carry out imaging mainly is the barrier of keeping away for moving vehicle, be 200980144638 " Mobile Millimeter Wave Imaging Radar System " such as the patent No., this type of patent has obtained certain beneficial effect, patrol and examine but can not carry out the circuit corridor for the unmanned plane lift-launch, main because its shortcoming is as follows:
(1) antenna size is large; The large corresponding millimeter wave emission angle of antenna size is large, and it is wide to obtain data area, but the unmanned plane finite volume, and installing space need to determine according to unmanned plane space and counterweight.
(2) surveying the thing attribute differentiates; Moving vehicle is kept away barrier and is only needed to judge according to image and have or not object, mustn't differentiate thingness, but unmanned plane patrols and examines the circuit corridor and need differentiate wire, tower (metal) and background (nonmetal), needs to increase to differentiate thingness.
(3) algorithm is selected; Moving vehicle is kept away barrier and is only needed the remote bulky object of millimeter wave identification and wisp closely, but unmanned plane needs the relative distance of identification wire diameter little (diameter 11mm ground wire) wire when patrolling and examining the circuit corridor, and the data amount of calculation is large, needs to use fast algorithm.
(4) information stack; Moving vehicle is kept away barrier only need obtain relative Position Approximate and distance, when unmanned plane is patrolled and examined the circuit corridor, when carrying out patrol task owing to unmanned plane is actual, flying height can be subject to the impact of the extraneous factor such as wind-force and produce fluctuation, thereby need the superpose real-time flight height of unmanned plane of gained millimetre-wave radar result of detection; For the gained image is more had practical value, the real time GPS value of information of the unmanned plane that also need superpose.
The existing correlation technique that millimetre-wave radar is patrolled and examined for unmanned plane, see that the patent No. is 201120244169.3 " Multi-mode millimeter wave radar used for unmanned device for electric power line patrol ", this patent has obtained certain beneficial effect, do not carry and to carry out the circuit corridor and patrol and examine the formation three-dimensional map but also be suitable for unmanned plane, main cause is as follows:
(1) antenna size is large; Because millimetre-wave radar adopts the working method that the large emission angle of middle distance is combined with the little emission angle of long distance in this patent, antenna size is received greatly the restriction of emission angle, and its radius can't dwindle;
The mode of (2) two kinds of detection range combinations is inapplicable in three-dimensional map is drawn; When two kinds of detection ranges were combined with, because its investigative range is different, sensing point spacing and the data obtained accuracy were all variant, and were unfavorable for that three-dimensional map is calculated and obtained to data fast;
(3) do not have in this patent to be detected the module that thingness is differentiated, thereby can't calculate the spacing that electric power is handed over cross-line, and the spacing of electric power friendship cross-line is to differentiate power circuit to have or not one of key factor of potential safety hazard;
(4) the described Multi-mode millimeter wave radar used for unmanned of this patent does not have quick computing module, and this can't satisfy the requirement of the simple three-dimensional map of real-time generation;
(5) the described Multi-mode millimeter wave radar used for unmanned of this patent is with institute image data input flight control system airborne control computer, also needs to mate gps data and altitude information information in the flight control system airborne control computer and generate in real time simple three-dimensional map.
The utility model content
The purpose of this utility model is exactly for addressing the above problem, provide a kind of unmanned plane based on millimetre-wave radar to patrol and examine circuit corridor device, it can be the decision-making of effectively dealing with problems foundation is provided, and increases work efficiency and the advantage of the safety that guarantees transmission line and unmanned plane are patrolled and examined.
For achieving the above object, the utility model adopts following technical scheme:
A kind of unmanned plane based on millimetre-wave radar is patrolled and examined circuit corridor device, it comprises patrol unmanned helicopter, be provided with airborne millimetre-wave radar device and high-definition camera checkout equipment at depopulated helicopter, airborne millimetre-wave radar device comprises airborne antenna, the millimeter wave transmit/receive module that connects successively, the A/D conversion unit, the clutter processor, the signal integration device, FFT module and signal processing unit, after the A/D conversion unit obtains the millimeter wave transmit/receive module by airborne antenna signal transforms, through the clutter processor, input signal processing unit after signal integration device and the FFT resume module, signal processing unit input also are connected with airborne flight control system.
Described millimeter wave transmit/receive module comprises millimetre-wave radar generator and millimetre-wave radar receiver, adopts the full-duplex communication pattern to be connected with airborne antenna, and described airborne antenna is the double antenna combination, and described antenna opening diameter is less than 15cm.
Described clutter processor is single-chip microcomputer, utilizes metal and nonmetally in the great characteristic of millimeter wave band reflectivity difference threshold value is set, and is used for shaft tower, circuit is distinguished with background object.
Described signal integration device is for cooperating the FFT module to use, the FFT module is for comprising the dsp chip of fft algorithm (fast algorithm of discrete fourier transform), Effective Raise arithmetic speed in the time of can calculating mass data at the same time, the signal integration device with signal collected run up to some after, input to simultaneously the FFT module.
Described signal processing unit is dsp processor, main flight control system airborne control computer Satellite locator data and the air pressure altitude information of gathering, and be that relative angle and relative distance are combined with it with FFT module output data, the simple three-dimensional map in generation circuit corridor.
Described airborne flight control system comprises the flight control system airborne control computer, and it is connected with digital compass, three-axis gyroscope, three axis accelerometer, satellite positioning module, barometertic altimeter, rotating speed measuring sensor, PCM remote-control receiver, steering engine controller respectively.
Described airborne millimetre-wave radar device integral body is located under the patrol unmanned machine body, and wherein the symmetrical installation of airborne antenna and maintenance detection angle are take vertical direction as the axle left-right symmetric.
A kind of unmanned plane based on millimetre-wave radar is patrolled and examined circuit corridor method,
Step 1: set the unmanned plane during flying route, when unmanned plane was patrolled and examined the circuit corridor, side or edge were parallel to the oblique upper flight of circuit on the line, and flying height should select be higher than tower body 10-70m according to on-the-spot actual environment;
Step 2: airborne millimetre-wave radar device is installed and is patrolled and examined, obtain patrolling and examining video in the simple map in circuit corridor (comprising circuit corridor landform GPS value, concrete elevation information and object base attribute) in the signal processing unit and the high-definition camera;
Step 3: in the graphics workstation of ground, carry out splicing, coupling and the combination of the simple map of high-definition image and circuit corridor, finally obtain circuit corridor three-dimensional land map, three-dimensional land map comprises the information of the concrete thingness in circuit corridor, shape, color, GPS value, height, and then knows the concrete condition of grasping present circuit corridor and have or not security hidden trouble.
The concrete steps of described step 2 are: the millimetre-wave radar generator sends the millimeter wave detection signal by airborne antenna; After the reflection such as the ground object in investigative range or space circuit, shaft tower, again by airborne antenna the signal that gathers is sent to the millimetre-wave radar receiver; Then carry out the A/D conversion, the signal that gather this moment comprises azimuth and the distance value with respect to airborne antenna; Behind this signal input clutter processor, difference according to different sensing point reflectivity, with the object areas of nonmetal attribute in the object of the metal properties such as shaft tower, circuit and the ground separately, the signal that gather this moment comprise object base attribute (metal/non-metal), with respect to azimuth and the distance value of airborne antenna; And then with signal input signal integrator, when the number of signal integration device acquisition discrete data reaches a threshold value, generally can limit for this reason limit value of 1024 discrete datas, be designated as one group, with the whole input of these group data FFT module, after the fft algorithm processing, data entering signal processing unit; Signal processing unit gathers flight control system airborne control computer Satellite locator data (being unmanned plane GPS value) and air pressure altitude information (because clutter processor, the signal integration device, the FFT module to the processing speed of signal in the nanosecond rank, and the depopulated helicopter polling rate is slower, middle-size and small-size depopulated helicopter mostly is 3-5m/s, can ignore because the delay in processing time causes the error of satellite location data and the air pressure altitude information of collection), with the data fusion after these two classes data and the FFT resume module, processing obtains the concrete GPS value and height of each sensing point, the two wire metal objects that will have coincide point are that electric power hands over the cross-line spacing to calculate, obtain the simple three-dimensional map in circuit corridor, elementary contour and achromatization are only arranged.The simple three-dimensional map in circuit corridor can be used for on-the-spot the use, as for the more visual and clear concrete condition of learning present circuit corridor with have or not potential safety hazard, then can in the graphics workstation of ground, carry out splicing, coupling and the combination of the simple map of high-definition image and circuit corridor, finally obtain the circuit corridor three-dimensional land map that circuit corridor three-dimensional land map namely comprises the information such as the concrete thingness in circuit corridor, shape, color, GPS value, height.
The beneficial effects of the utility model:
1) the utility model has designed a kind of unmanned plane based on millimetre-wave radar and has patrolled and examined circuit corridor method and apparatus, utilize this system, detection, the tower and conductor height of circuit corridor landform and the measurement of handing over spacing between the cross-line can have been realized, and finish the drawing three-dimensional map, the fail safe that transmission line and unmanned plane are patrolled and examined has a great deal of practical meanings.
2) above-mentioned unmanned plane based on millimetre-wave radar is patrolled and examined circuit corridor device, to select the design of millimere-wave band detection radar according to the particularity that unmanned plane is patrolled and examined, the accuracy large problem affected by environment of laser ranging, vision range finding and infrared distance measurement can either be overcome, the short and poor drawback of infrared distance measurement directivity of ultrasonic ranging detection range can be avoided again.
3) above-mentioned unmanned plane based on millimetre-wave radar is patrolled and examined in the device of circuit corridor, adopt two than the relatively large antenna of small size antenna (the antenna opening diameter is less than 15cm) combination replacement (the antenna opening diameter is greater than 25cm), guaranteed the millimeter wave emission angle, namely obtain the constant of data area, can satisfy the unmanned plane space to the requirement of airborne antenna installation dimension simultaneously.
4) above-mentioned unmanned plane based on millimetre-wave radar is patrolled and examined in the device of circuit corridor, utilizing the clutter processor will survey the thing attribute distinguishes, wire, tower (metal) and background (nonmetal) when main distinguishable unmanned plane is patrolled and examined the circuit corridor are used for calculating friendship cross-line spacing.
5) above-mentioned unmanned plane based on millimetre-wave radar is patrolled and examined in the device of circuit corridor, utilizes signal integration device and FFT module, adopts fft algorithm, the Effective Raise data processing speed.
6) above-mentioned unmanned plane based on millimetre-wave radar is patrolled and examined in the device of circuit corridor, the gained image is more clear is convenient to practicality in order to make, utilize signal processing unit to gather flight control system airborne control computer Satellite locator data and air pressure altitude information, obtain in the three-dimensional map can clear and definite each sensing point concrete GPS value and height, and hand over the cross-line spacing to calculate the electric power.
Description of drawings
Fig. 1 is for patrolling and examining structure and the data flowchart of circuit corridor device based on the unmanned plane of millimetre-wave radar;
Fig. 2 is two antenna transmit angle schematic diagram;
Fig. 3 is method flow diagram.
Wherein, 1. airborne antenna, 2. millimeter wave transmit/receive module, 3.A/D conversion unit, 4. clutter processor, 5. signal integration device, 6.FFT module, 7. signal processing unit, 8. digital compass, 9. three-axis gyroscope, 10. three axis accelerometer, 11. satellite positioning module, 12. barometertic altimeter, 13. rotating speed measuring sensors, 14.PCM remote-control receiver, 15. steering engine controller, 16. flight control system airborne control computers, 17. airborne millimetre-wave radar devices.
Embodiment
The utility model is described in further detail below in conjunction with accompanying drawing and embodiment.
Among Fig. 1, a kind of unmanned plane based on millimetre-wave radar is patrolled and examined circuit corridor method and apparatus, it comprises patrol unmanned helicopter, be provided with airborne millimetre-wave radar device 17 and high-definition camera checkout equipment at depopulated helicopter, this device comprises airborne antenna 1, the millimeter wave transmit/receive module 2 that connects successively, A/D conversion unit 3, clutter processor 4, signal integration device 5, FFT module 6 and signal processing unit 7, after A/D conversion unit 3 obtains millimeter wave transmit/receive module 2 by airborne antenna 1 signal transforms, through clutter processor 4, input signal processing unit 7 after signal integration device 5 and FFT module 6 are processed, signal processing unit 7 inputs also are connected with airborne flight control system.
Described millimeter wave transmit/receive module 2 comprises millimetre-wave radar generator and millimetre-wave radar receiver, adopts the full-duplex communication pattern to be connected with airborne antenna 1, and described airborne antenna 1 is the double antenna combination, and described antenna opening diameter is less than 15cm.
Described clutter processor 4 is single-chip microcomputer, utilizes metal and nonmetally in the great characteristic of millimeter wave band reflectivity difference threshold value is set, and is used for shaft tower, circuit are distinguished with background object.
Described signal integration device 5 is for cooperating FFT module 6 to use, FFT module 6 is for comprising the dsp chip of fft algorithm, Effective Raise arithmetic speed in the time of can calculating mass data at the same time, signal integration device 5 with signal collected run up to some after, input to simultaneously FFT module 6.
Described airborne flight control system comprises flight control system airborne control computer 16, and it is connected with digital compass 8, three-axis gyroscope 9, three axis accelerometer 10, satellite positioning module 11, barometertic altimeter 12, rotating speed measuring sensor 13, PCM remote-control receiver 14, steering engine controller 15 respectively.
Described signal processing unit 7 is dsp processors, pressure altitude data in unmanned plane satellite positioning module 11 Satellite locator datas and the unmanned plane barometertic altimeter 12 in the main collection flight control system airborne control computer 16, and it is combined the simple three-dimensional map in generation circuit corridor with FFT module 6 output data.
Such as Fig. 2, described airborne millimetre-wave radar device 17 integral body will be under the patrol unmanned machine body, and wherein airborne antenna 1 should symmetrically install and keep detection angle for take vertical direction as the axle left-right symmetric, and angle 1 and angle 2 are respectively the detection angle of two airborne antennas.
Such as Fig. 3, introduced the flow process of the utility model barrier-avoiding method, its concrete steps are:
Step 1: set the unmanned plane during flying route; When unmanned plane was patrolled and examined the circuit corridor, side or edge were parallel to the oblique upper flight of circuit on the line, and flying height should select be higher than tower body 10-70m according to on-the-spot actual environment;
Step 2: airborne millimetre-wave radar device 17 is installed and is patrolled and examined, obtain patrolling and examining video in the simple map in circuit corridor in the signal processing unit 7 and the high-definition camera; The simple map of circuit comprises circuit corridor landform GPS value, concrete elevation information and object base attribute.
Step 3: in the graphics workstation of ground, carry out splicing, coupling and the combination of the simple map of high-definition image and circuit corridor, finally obtain circuit corridor three-dimensional land map, the circuit corridor three-dimensional land map that namely comprises the information such as the concrete thingness in circuit corridor, shape, color, GPS value, height is grasped the concrete condition in present circuit corridor and is had or not potential safety hazard according to circuit corridor three-dimensional land map is clear.
In the above-mentioned steps two, the millimetre-wave radar generator in the millimeter wave transmit/receive module 2 sends the millimeter wave detection signal by airborne antenna 1; After the reflections such as ground object in the investigative range or space circuit, shaft tower, again by airborne antenna 1 collection signal is sent to millimetre-wave radar receiver in the millimeter wave transmit/receive module 2; Then enter A/D converting unit 3, the signal that gather this moment comprises azimuth and the distance value with respect to airborne antenna 1; Behind this signal input clutter processor 4, difference according to different sensing point reflectivity, the object of nonmetal attribute in the object of the metal properties such as shaft tower, circuit and the ground is distinguished, and the signal that gather this moment comprises object base attribute (metal/non-metal), with respect to azimuth and the distance value of airborne antenna 1; And then with signal input signal integrator 5, the number that obtains discrete datas when signal integration device 5 reaches a threshold value and (generally can limit for this reason limit value of 1024 discrete datas, be designated as one group) time, with the whole input of these group data FFT module 6, after the fft algorithm processing, data entering signal processing unit 7; Signal processing unit 7 gathers flight control system airborne control computer 16 Satellite locator datas and air pressure altitude information (because 4 clutter processors, 5 signal integration devices, the 6FFT module to the processing speed of signal in the nanosecond rank, and the depopulated helicopter polling rate is slower, middle-size and small-size depopulated helicopter mostly is 3-5m/s, can ignore because the delay in processing time causes the error of satellite location data and the air pressure altitude information of collection), and with the data fusion after these two classes data and 6 processing of FFT module, processing obtains the concrete GPS value and height of each sensing point, and the two wire metal objects that will have coincide point are that electric power hands over the cross-line spacing to calculate, obtain the simple three-dimensional map in circuit corridor, simple three-dimensional map only has elementary contour and achromatization, and the simple three-dimensional map in circuit corridor can be used for on-the-spot the use.
Although above-mentionedly by reference to the accompanying drawings embodiment of the present utility model is described; but be not the restriction to the utility model protection range; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various modifications that creative work can make or distortion still in protection range of the present utility model.
Claims (6)
1. the unmanned plane based on millimetre-wave radar is patrolled and examined circuit corridor device, it comprises patrol unmanned helicopter, be provided with airborne millimetre-wave radar device and high-definition camera checkout equipment at depopulated helicopter, it is characterized in that, airborne millimetre-wave radar device comprises airborne antenna, described airborne antenna is that described airborne antenna is the double antenna combination, and described antenna opening diameter is less than 15cm; The millimeter wave transmit/receive module, A/D conversion unit, clutter processor, signal integration device and the signal processing unit that connect successively, the signal processing unit input is connected with airborne flight control system; Described airborne millimetre-wave radar device integral body is located under the patrol unmanned machine body, and wherein the symmetrical installation of airborne antenna and maintenance detection angle are take vertical direction as the axle left-right symmetric.
2. a kind of unmanned plane based on millimetre-wave radar is patrolled and examined circuit corridor device as claimed in claim 1, it is characterized in that, described millimeter wave transmit/receive module comprises millimetre-wave radar generator and millimetre-wave radar receiver, adopts the full-duplex communication pattern to be connected with airborne antenna.
3. a kind of unmanned plane based on millimetre-wave radar is patrolled and examined circuit corridor device as claimed in claim 1, it is characterized in that, described clutter processor is single-chip microcomputer, utilize metal and nonmetal in the great characteristic of millimeter wave band reflectivity difference, threshold value is set, is used for shaft tower, circuit and background object difference.
4. a kind of unmanned plane based on millimetre-wave radar is patrolled and examined circuit corridor device as claimed in claim 1, it is characterized in that, described signal integration device is dsp chip.
5. a kind of unmanned plane based on millimetre-wave radar is patrolled and examined circuit corridor device as claimed in claim 1, it is characterized in that, described signal processing unit is dsp processor, main airborne flight control system Satellite locator data and the air pressure altitude information of gathering, and be that relative angle and relative distance are combined with it with FFT module output data, the simple three-dimensional map in generation circuit corridor.
6. patrol and examine circuit corridor device such as a kind of unmanned plane based on millimetre-wave radar as described in claim 1 or 5, it is characterized in that, described airborne flight control system comprises the flight control system airborne control computer, and it is connected with digital compass, three-axis gyroscope, three axis accelerometer, satellite positioning module, barometertic altimeter, rotating speed measuring sensor, PCM remote-control receiver, steering engine controller respectively.
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| CN 201220529995 CN202817605U (en) | 2012-10-16 | 2012-10-16 | UAV routing-inspection line corridor device based on millimeter-wave radar |
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| CN 201220529995 CN202817605U (en) | 2012-10-16 | 2012-10-16 | UAV routing-inspection line corridor device based on millimeter-wave radar |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102891453A (en) * | 2012-10-16 | 2013-01-23 | 山东电力集团公司电力科学研究院 | Unmanned aerial vehicle patrolling line corridor method and device based on millimeter-wave radar |
| CN110412378A (en) * | 2019-07-30 | 2019-11-05 | 北京经纬恒润科技有限公司 | Target object detection method and device |
| CN112262319A (en) * | 2019-08-30 | 2021-01-22 | 深圳市大疆创新科技有限公司 | Detection method of power line, millimeter wave radar, system, and storage medium |
| US11368002B2 (en) | 2016-11-22 | 2022-06-21 | Hydro-Quebec | Unmanned aerial vehicle for monitoring an electrical line |
-
2012
- 2012-10-16 CN CN 201220529995 patent/CN202817605U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102891453A (en) * | 2012-10-16 | 2013-01-23 | 山东电力集团公司电力科学研究院 | Unmanned aerial vehicle patrolling line corridor method and device based on millimeter-wave radar |
| CN102891453B (en) * | 2012-10-16 | 2015-04-22 | 山东电力集团公司电力科学研究院 | Unmanned aerial vehicle patrolling line corridor method and device based on millimeter-wave radar |
| US11368002B2 (en) | 2016-11-22 | 2022-06-21 | Hydro-Quebec | Unmanned aerial vehicle for monitoring an electrical line |
| CN110412378A (en) * | 2019-07-30 | 2019-11-05 | 北京经纬恒润科技有限公司 | Target object detection method and device |
| CN110412378B (en) * | 2019-07-30 | 2021-08-24 | 北京经纬恒润科技股份有限公司 | Target object detection method and device |
| CN112262319A (en) * | 2019-08-30 | 2021-01-22 | 深圳市大疆创新科技有限公司 | Detection method of power line, millimeter wave radar, system, and storage medium |
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