CN205246878U - Laser radar transmission line machine patrols supplementary monitoring devices - Google Patents
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Abstract
The utility model discloses a laser radar transmission line machine patrols supplementary monitoring devices, include: the system comprises a laser radar, an interface module, an internal and external synchronization module, a controller unit and a data recording unit which are connected in sequence; the temperature sensor, the wind speed sensor, the visible light camera and the infrared camera are respectively and electrically connected with the controller unit; and the GPS unit, the power supply module and the liquid crystal display module are respectively and electrically connected with the controller unit. The utility model discloses can detect the image information of real-time temperature, real-time wind speed, transmission line multi-angle, the infrared image of transmission line simultaneously patrolling the line in-process to can calculate data such as this transmission line's the biggest vertical arc, the biggest wind drift angle, obtain the data of the safety and the quality of shaft tower circuit itself and periphery, wire and insulator simultaneously, the crossing distance of more accurate calculation circuit and ground thing limit for height, the emergence of prevention electric wire netting operational failure.
Description
Technical field
The utility model relates to a kind of laser radar transmission line of electricity machine and patrols servicing unit, especially can Simultaneous MonitoringEquipment environment temperature of living in, wind speed, equipment elevation, synchronously obtain the laser thunder of transmission line of electricity visible imagesReach transmission line of electricity machine and patrol auxiliary monitoring device.
Background technology
Along with the develop rapidly of national economy, residential electricity consumption and industrial production electricity consumption are surged, to power grid constructionDemand is also day by day strong. By to the end of the year 2014, national 110kV and above transmission line length are about 50Ten thousand kilometers, transmission line of electricity total length occupies second place of the world. Meanwhile, in the face of built very long electric power networks,How effectively it to be managed, to ensure the normal operation of electrical network, guarantee the safe transport of electric power, also aobviousObtain more important. The generation of a power outage brings loss not only to the economic benefit of enterprises of managing electric wire netting, andAnd power consumer and entire society all will be caused to serious loss.
Too low and the windage yaw of sag is one of factor causing power outage. The too low safe distance that directly causes of sagNot enough and directly accidents caused, windage yaw fault causes that in straight line pole, phase conductor is led mutually to bracing wire electric discharge, limitLine comes off and makes tower body electric discharge and concrete bar being welded to shape U-shaped suspension bracket around wire jumper in tower body electric discharge, anchor supportThe faults such as one-tenth goes offline.
Airborne laser radar is as a kind of new measuring technique, can measure fast and effectively transmission line of electricity andClearance and the vertical ranges such as the interior trees of corridor, rock, building, bridge, thus power transmission line analyzedWhether paths corridor current working there is potential safety hazard. But at the maximum arc of analyzing the following operating mode of transmission line of electricityHang down, when the work such as windage yaw, environment temperature and wind-force cannot obtain laser radar this transmission line of electricity machine is patrolled timeEtc. meteorological condition, limit laser radar transmission line of electricity machine and patrolled the application of system. Meanwhile, visible images andInfrared image is to analyzing the outward appearance of transmission line of electricity and the safety problem of environment passage, power transmission line and insulator alsoIt is the content that electric power line walking must detect.
The defect that prior art exists is:
(1) that does not consider transmission line of electricity affects the temperature factor in sag length factors, laser radarIn the time of data acquisition, may not be the maximum temperature in transmission line of electricity environment of living in, therefore cannot obtain this circuitThe maximum arc that hangs down;
(2) that does not consider transmission line of electricity affects the wind-force factor in sag length factors, airborne laserRadar gathers when cloud data generally at wind speed and carries out under compared with circlet border, so just cannot judge transmission of electricityWhether the vertical arc of circuit in the time suffering high wind weather be within safe distance;
(3) do not consider the windage yaw problem that wind-force factor causes. Even if transmission line of electricity also can under less wind speedHave certain windage yaw, transmission line of electricity, by the vertical guide departing from when calm, directly affects laser radar and walks with itClearance and the vertical ranges such as the interior trees of corridor passage, rock, building, bridge;
(4) do not consider to utilize visible light camera monitoring electric line open defect and environment tunnel condition;
(5) do not consider to utilize visible light camera monitoring transmission line of electricity defect condition, identification and analyzing defectThe state of development;
It is " a kind of wire distance to the ground measuring system " (Shen with the most similar utility model patent of the utility modelPlease publication No. CN203084193U), this utility model and common ground of the present utility model are all to swash for airborneTrees, rock in the laser point cloud information computing electric power line of the transmission line of electricity that optical radar obtains and circuit corridorThe clearance of the object such as stone, building and vertical range, difference is that this utility model does not gather sharpTemperature and wind-force weather information, visible ray and infrared information when optical radar work, the utility model is collectedAnd these information of analysis and utilization, in order to analyze the vertical arc of maximum, the windage yaw of the following operating mode of transmission line of electricity; Power transmission lineRoad open defect, environment channel security situation; Transmission line of electricity defect condition, identification and analyzing defect development shapeState.
For this reason, need a set of laser radar transmission line of electricity machine of exploitation to patrol system supplymentary monitoring device, at laser radarWhen line walking, laser radar environmental information of living in is monitored, with what meet the following operating mode of transmission line of electricityThe demand of safety analysis.
Summary of the invention
The purpose of this utility model is: develop a set of laser radar transmission line of electricity machine and patrol system supplymentary monitoring dressPut, in laser radar line walking, laser radar environmental information of living in is monitored, to meet transmission of electricityThe demand of the safety analysis of the following operating mode of circuit.
To achieve these goals, the invention provides a kind of laser radar transmission line of electricity machine and patrol auxiliary monitoring dressPut, be arranged on aircraft downside, described aircraft is provided with laser radar, infrared probe, anemometer; InstituteStating auxiliary monitoring device comprises: the laser radar, interface module, inside/outside synchronization module, the control that are linked in sequenceDevice unit, data record unit; And the temperature sensor, the wind that are electrically connected respectively with described controller unitSpeed sensor, visible light camera, thermal camera; And be electrically connected respectively with described controller unitGPS unit, supply module, LCD MODULE; In described inside/outside synchronization module, be also provided with time calibrationModule.
Further, the controlled device unit controls of described temperature sensor module, synchronizes with described laser radarStartup and shutdown, keep synchronizeing with described GPS sample frequency, have gathered after a secondary data temperature data warpController unit imports data recordin module into, and on LCD MODULE, shows real time temperature data.
Further, the controlled device unit controls of described air velocity transducer module, synchronizes with described laser radarStartup and shutdown, keep synchronizeing with described GPS sample frequency, have gathered after a secondary data air speed data warpController unit imports data recordin module into, and at the real-time air speed data of liquid crystal screen display.
Further, the controlled device unit controls of described visible light camera, synchronizes out with described laser radarMachine and shutdown, and receive information time calibration that time calibration in described inside/outside synchronization module, module was sent and enterLine time calibration.
Further, the controlled device unit controls of described thermal camera, synchronizes and starts shooting with described laser radarAnd shutdown, and receive information time calibration that time calibration in described inside/outside synchronization module, module was sent and carry outTime calibration.
Further, described interface module is divided into outer sync cap and clock alignment interface; Outer sync cap obtainsGet the positional information of laser radar and the on-off state of laser radar, outer sync cap is positional information and sharpThe on-off state of optical radar is converted into reference format, imports inside/outside synchronization module into; Clock alignment interface canObtain the temporal information of laser radar, and temporal information is converted into reference format imports inside/outside synchronization module into.
Further, described inside/outside synchronization module be divided into inter-sync module, outer synchronization module and time calibration mouldPiece; Inter-sync module realizes synchronous between temperature sensor module in servicing unit, air velocity transducer moduleSampling functions and temperature sensor module, air velocity transducer module, visible light camera and thermal camera itBetween switching on and shutting down synchronizing function; Outer synchronization module is realized the synchronized sampling between laser radar and inter-sync moduleFunction and switching on and shutting down synchronizing function; Time calibration, module realized the time that laser radar is obtained in video cameraTime calibrate.
Further, controller unit forms the synchronizing information of inside/outside synchronization module data acquisition instruction, opensShutdown command, is sent in temperature sensor module, air velocity transducer module, visible light camera and infrared taking the photographCamera; Control the focal length of visible light camera and thermal camera; Send to data recordin module and liquid crystal displayTemporal information, gps coordinate, temperature information and wind speed information.
Further, data recordin module receives temporal information, the gps coordinate number that controller unit sendsAccording to, temperature data, air speed data, by these four-dimensional data according to reference format stores synchronized.
Further, described temperature sensor is arranged on aircraft downside, the far-end of the described laser radar of distancePosition, arranges infrared probe and aims near the atmosphere of transmission line of electricity; Described air velocity transducer is arranged on aircraftDownside, makes anemometer and power transmission line in sustained height in aircraft flight, and towards with power transmission line levelVertical direction, make its measure from power transmission line same level and with the wind speed of power transmission line vertical direction.
The utility model can detect real time temperature in line walking process simultaneously, can obtain transmission line of electricity highly denseDegree temperature data, thereby can calculate this transmission line of electricity maximum hang down arc, more accurately computational scheme hand overFork is crossed over distance and atural object limit for height; Can in line walking process, detect real-time wind speed simultaneously, can be transmitted electricityThe highdensity air speed data of circuit, thus the vertical arc of maximum under maximum wind velocity, meter more accurately can be calculatedCalculate crossing elimination and cross over distance and atural object limit for height; Can in line walking process, detect real-time wind speed simultaneously, canObtain the highdensity air speed data of transmission line of electricity, thereby can calculate the maximum angle of wind deflection under maximum wind velocity, withThe windage yaw arcing fault that under the effect of prevention high wind, larger angle of wind deflection causes; Can in line walking process, obtain simultaneouslyThe image information of transmission line of electricity multi-angle, to comprehensively analyze shaft tower circuit itself and periphery situation;Can also in line walking process, obtain the infrared image of transmission line of electricity, so that the peace to wire, insulator simultaneouslyComplete and quality problems are analyzed.
Brief description of the drawings
Fig. 1 is the connection diagram that a kind of laser radar transmission line of electricity of the utility model machine patrols auxiliary monitoring device;
Fig. 2 is that the workflow that a kind of laser radar transmission line of electricity of the utility model machine patrols auxiliary monitoring device is shownIntention.
Detailed description of the invention
With the following Examples the utility model is further described. The utility model is for solving laser radarLine walking synchronously obtains the problem of temperature information and wind speed information, provides a kind of laser radar transmission line of electricity machine to patrolSystem supplymentary monitoring device.
Fig. 1 is the connection box that the laser radar transmission line of electricity machine described in the present embodiment patrols system supplymentary monitoring deviceFigure, main interface module, inside/outside synchronization module, controller unit, data recordin module, temperature sensorModule, air velocity transducer module, visible light camera, thermal camera, supply module and liquid crystal display.
Interface module: interface module is the module that is directly connected and receives laser radar data with laser radar.Interface module is divided into outer sync cap and clock alignment interface two parts. Outer sync cap can be transferred laser thunderReach the positional information of POS module and the on-off state information of laser radar, outer sync cap is positional informationBe converted into reference format with the on-off state information of laser radar, import inside/outside synchronization module into; Clock alignmentInterface can obtain the temporal information of laser radar, and temporal information be converted into reference format import into inside/outside withStep module.
Inside/outside synchronization module is keep laser radar with auxiliary monitoring device inner sensor synchro switch machine and synchronizeThe module of POS module and temperature sensor, air velocity transducer synchronized sampling in laser radar. The synchronous mould of inside/outsidePiece be divided into inter-sync module and outer synchronization module and time calibration module. Inter-sync module realizes in servicing unitSynchronized sampling function between temperature sensor module, air velocity transducer module and temperature sensor module, windSwitching on and shutting down synchronizing function between speed sensor assembly, visible light camera, thermal camera; Outer synchronous mouldPiece is realized synchronized sampling function and the switching on and shutting down synchronizing function between laser radar and inter-sync module; Time schoolQuasi-mode piece is realized the time that laser radar is obtained the time in visible light camera, thermal camera is carried outCalibration.
Controller unit is the core of whole system, be to temperature sensor module, air velocity transducer module,The control centre of visible light camera, thermal camera and intrasystem data processing switching centre. ControllerUnit comprises data reception module, data transmission blocks, temperature sensor control module, air velocity transducer controlMolding piece, visible light camera control module, thermal camera control module composition. Data reception moduleFunction be obtain outer synchronizing information that inside/outside synchronization module sends, inter-sync information, gps coordinate information andTemporal information, the temperature information that temperature sensor sends, the wind speed information that air velocity transducer sends. NumberTo send power-on command, shutdown command and number to temperature sensor and air velocity transducer according to the function of sending moduleAccording to acquisition, send power-on command, shutdown command, time school to visible light camera, thermal cameraAccurate order and Focussing order, believe to data recordin module and liquid crystal display transmission time information, gps coordinateBreath, temperature information and wind speed information. Temperature sensor control module is that temperature sensor is controlled, asStart, shutdown, data acquisition etc. Air velocity transducer control module is that air velocity transducer is controlled, asStart, shutdown, data acquisition etc. Visible light camera control module, thermal camera control module are rightVisible light camera, thermal camera are controlled, as start, shutdown, adjusting focal length etc.
Temperature sensor module is the sensor that gathers near the atmospheric temperature of transmission line of electricity. Temperature sensor moduleControlled device unit controls, keeps synchronizeing with GPS sample frequency, has gathered after a secondary data temperature dataVia controller unit imports data recordin module into, and in liquid crystal screen display real time temperature data.
Air velocity transducer module is the sensor of collection and transmission line of electricity horizontal vertical direction wind speed. Wind speed sensingThe controlled device unit controls of device module, keeps synchronizeing with GPS sample frequency, has gathered after a secondary data windSpeed data via controller unit imports data recordin module into, and at the real-time air speed data of liquid crystal screen display.
The function of visible light camera is that transmission line of electricity is carried out to multi-angle image data acquisition.
The function of thermal camera is that transmission line of electricity is carried out to the collection of multi-angle infrared picture data.
Data recordin module. Receive temporal information, gps coordinate data, temperature that controller unit sendsData, air speed data, by these four-dimensional data according to reference format stores synchronized.
The function of liquid crystal display is aobvious in real time to temporal information, gps coordinate information, temperature information and wind speed informationShow.
The function of supply module is that laser radar auxiliary detection device is powered.
Temperature sensor in laser radar auxiliary detection device, air velocity transducer, visible light camera, redThe working method of outer video camera as shown in Figure 2;
The start of temperature sensor, air velocity transducer, visible light camera, thermal camera: laser radarAfter starting working, interface module can be obtained the open state of laser radar, and outer in interface module synchronously connectsMouthful module is converted into boot-strap information by the open state of laser radar and sends to outer synchronous in inside/outside synchronization moduleModule. Outer synchronization module is converted into outer synchronizing information by boot-strap information and sends to controller unit. Controller listUnit receives after outer synchronizing information simultaneously to temperature sensor, air velocity transducer, visible light camera, infraredVideo camera is started shooting.
The data acquisition of temperature sensor, air velocity transducer: when the collection of temperature sensor and air velocity transducerBetween and frequency acquisition and laser radar POS module be consistent. Laser radar enters after mode of operation, interfaceModule is obtained its POS information and temporal information, and wherein the outer synchronization module in interface module is from POS informationGps coordinate is extracted and is packaged into reference format with temporal information and sends to inside/outside synchronization module. Inside/outside is sameInter-sync module in step module generates inter-sync information, sends to control with gps coordinate, temporal information simultaneouslyDevice processed unit. Controller unit is sent out to temperature sensor and air velocity transducer after receiving inter-sync information simultaneouslySend data acquisition instruction, temperature information and wind speed information are returned to control by temperature sensor and air velocity transducerDevice unit, after controller unit is packed temporal information, gps coordinate, temperature information and wind speed informationAs once sampling and send to data recordin module and liquid crystal display. Data recordin module is by temporal information, GPSCoordinate, temperature information and wind speed information installation code form are stored, and liquid crystal display shows and this time adopts in real timeSample data.
The data acquisition of visible light camera, thermal camera: visible light camera, thermal camera startAfter, the temporal information that time calibration, module was sent according to clock alignment interface in inside/outside synchronization module is rightTime in visible light camera, thermal camera calibrates. After time calibration, can carry out dataGather.
The shutdown of temperature sensor, air velocity transducer, visible light camera, thermal camera. Laser radarAfter starting working, interface module can be obtained the off-mode of laser radar, and outer in interface module synchronously connectsMouthful module is converted into the off-mode of laser radar to close machine information and send to outer synchronous in inside/outside synchronization moduleModule. Outer synchronization module is converted into outer synchronizing information by pass machine information and sends to controller unit. Controller listUnit receives after outer synchronizing information simultaneously to temperature sensor, air velocity transducer and visible light camera, infraredVideo camera shuts down.
The application scenarios of temperature sensor: temperature sensor can adopt machine-carried type infrared radiation thermometer. Can pacifyBe contained in lateral extent laser radar position far away under aircraft, infrared probe is aimed near transmission line of electricity largeGas carries out thermometric.
The application scenarios of air velocity transducer: air velocity transducer mainly adopts vane type or differential anemobiagraph.Can be arranged on the fixed bar of aircraft downside certain length, in aircraft flight, make anemometer and power transmission lineIn sustained height, and towards with power transmission line horizontal vertical direction, it is measured from same with power transmission lineHorizontal plane and with the wind speed of power transmission line vertical direction.
The application scenarios of visible light camera: visible light camera mainly adopts machine-carried type visible light camera,Focal length is for focusing or zoom. Can be arranged on the position that aircraft downside is not blocked, outside transmission line of electricitySight and environment tunnel condition are taken.
The application scenarios of thermal camera: thermal camera mainly adopts machine-carried type thermal camera, focal length isFocus or zoom. Can be arranged on the position that aircraft downside is not blocked, to transmission line of electricity and insulatorTake.
The utility model can detect real time temperature in line walking process simultaneously, can obtain transmission line of electricity highly denseDegree temperature data, thereby can calculate this transmission line of electricity maximum hang down arc, more accurately computational scheme hand overFork is crossed over distance and atural object limit for height; Can in line walking process, detect real-time wind speed simultaneously, can be transmitted electricityThe highdensity air speed data of circuit, thus the vertical arc of maximum under maximum wind velocity, meter more accurately can be calculatedCalculate crossing elimination and cross over distance and atural object limit for height; Can in line walking process, detect real-time wind speed simultaneously, canObtain the highdensity air speed data of transmission line of electricity, thereby can calculate the maximum angle of wind deflection under maximum wind velocity, withThe windage yaw arcing fault that under the effect of prevention high wind, larger angle of wind deflection causes; Can in line walking process, obtain simultaneouslyThe image information of transmission line of electricity multi-angle, to comprehensively analyze shaft tower circuit itself and periphery situation;Can also in line walking process, obtain the infrared image of transmission line of electricity, so that the peace to wire, insulator simultaneouslyComplete and quality problems are analyzed.
Finally it should be noted that above embodiment is only in order to the technical solution of the utility model to be described but not rightThe restriction of the utility model protection domain, although the utility model is explained in detail with reference to preferred embodiment,Those of ordinary skill in the art should be appreciated that can modify to the technical solution of the utility model orBe equal to replacement, and do not depart from essence and the scope of technical solutions of the utility model.
Claims (10)
1. laser radar transmission line of electricity machine patrols an auxiliary monitoring device, is arranged on aircraft downside, described inAircraft is provided with laser radar, infrared probe, anemometer; It is characterized in that described auxiliary monitoring deviceComprise: the laser radar, interface module, inside/outside synchronization module, controller unit, the data note that are linked in sequenceRecord unit; And the temperature sensor, the air velocity transducer, visible that are electrically connected respectively with described controller unitLight video camera, thermal camera; And the GPS unit, the power supply that are electrically connected respectively with described controller unitModule, LCD MODULE; In described inside/outside synchronization module, be also provided with module time calibration.
2. auxiliary monitoring device according to claim 1, is characterized in that: described temperature sensorThe controlled device unit controls of module, synchronizes startup and shutdown with described laser radar, with described GPS sampling frequentlyIt is synchronous that rate keeps, and imports temperature data via controller unit into data recordin module after having gathered a secondary data,And on LCD MODULE, show real time temperature data.
3. auxiliary monitoring device according to claim 1, is characterized in that: described wind speed sensingThe controlled device unit controls of device module, synchronizes startup and shutdown with described laser radar, with described GPS samplingIt is synchronous that frequency keeps, and imports air speed data via controller unit into data recordin module after having gathered a secondary data,And at the real-time air speed data of liquid crystal screen display.
4. auxiliary monitoring device according to claim 1, is characterized in that: described visible image capturingThe controlled device unit controls of machine, synchronizes startup and shutdown with described laser radar, and it is synchronous to receive described inside/outsideIn module, information time calibration that module is sent is carried out time calibration time calibration.
5. auxiliary monitoring device according to claim 1, is characterized in that: described thermal cameraControlled device unit controls, synchronizes startup and shutdown with described laser radar, and receives the synchronous mould of described inside/outsideIn piece, information time calibration that module is sent is carried out time calibration time calibration.
6. auxiliary monitoring device according to claim 1, is characterized in that: described interface module is dividedFor outer sync cap and clock alignment interface; Outer sync cap is obtained positional information and the laser thunder of laser radarThe on-off state reaching, outer sync cap is converted into standard the on-off state of positional information and laser radarForm, imports inside/outside synchronization module into; Clock alignment interface can obtain the temporal information of laser radar, andTemporal information is converted into reference format and imports inside/outside synchronization module into.
7. auxiliary monitoring device according to claim 1, is characterized in that: the synchronous mould of described inside/outsidePiece be divided into inter-sync module, outer synchronization module and time calibration module; Inter-sync module realizes in servicing unitSynchronized sampling function between temperature sensor module, air velocity transducer module and temperature sensor module, windSwitching on and shutting down synchronizing function between speed sensor assembly, visible light camera and thermal camera; Outer synchronous mouldPiece is realized synchronized sampling function and the switching on and shutting down synchronizing function between laser radar and inter-sync module; Time schoolQuasi-mode piece is realized the time that laser radar is obtained the time in video camera is calibrated.
8. auxiliary monitoring device according to claim 1, is characterized in that: in controller unit is incited somebody to actionThe synchronizing information of/outer synchronization module forms data acquisition instruction, switching on and shutting down instruction, is sent in temperature sensor mouldPiece, air velocity transducer module, visible light camera and thermal camera; Control visible light camera and infraredThe focal length of video camera; To data recordin module and liquid crystal display transmission time information, gps coordinate, temperature informationAnd wind speed information.
9. auxiliary monitoring device according to claim 1, is characterized in that: data recordin module connectsTemporal information, gps coordinate data, temperature data, air speed data that admission controller unit sends, by thisFour-dimensional data are according to reference format stores synchronized.
10. auxiliary monitoring device according to claim 1, is characterized in that: described temperature sensorBe arranged on aircraft downside, the remote location of the described laser radar of distance, arranges infrared probe and aims at power transmission lineNear atmosphere road; Described air velocity transducer is arranged on aircraft downside, in aircraft flight, make anemometer withPower transmission line in sustained height, and towards with power transmission line horizontal vertical direction, make its measure from transmission of electricityLine same level and with the wind speed of power transmission line vertical direction.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108614274A (en) * | 2018-05-22 | 2018-10-02 | 广州市极臻智能科技有限公司 | Staggered form crossover track distance measurement method based on multi-rotor unmanned aerial vehicle and device |
| CN108880611A (en) * | 2018-07-18 | 2018-11-23 | 浙江瑞能通信科技股份有限公司 | Ultra-high-tension power transmission line safety monitoring device based on optical detection |
| CN109084687A (en) * | 2018-08-29 | 2018-12-25 | 广东电网有限责任公司 | Sag computing method and device thereof based on unmanned plane lidar measurement technology |
| CN109470945A (en) * | 2018-04-19 | 2019-03-15 | 国网浙江省电力有限公司金华供电公司 | A kind of transmission line of electricity is handed over across point apart from automatic checkout system and method |
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| CN114563796A (en) * | 2022-03-03 | 2022-05-31 | 北京华宜信科技有限公司 | Power line identification method and device based on unmanned aerial vehicle laser radar detection data |
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| CN109470945A (en) * | 2018-04-19 | 2019-03-15 | 国网浙江省电力有限公司金华供电公司 | A kind of transmission line of electricity is handed over across point apart from automatic checkout system and method |
| CN108614274A (en) * | 2018-05-22 | 2018-10-02 | 广州市极臻智能科技有限公司 | Staggered form crossover track distance measurement method based on multi-rotor unmanned aerial vehicle and device |
| CN108880611A (en) * | 2018-07-18 | 2018-11-23 | 浙江瑞能通信科技股份有限公司 | Ultra-high-tension power transmission line safety monitoring device based on optical detection |
| CN109084687A (en) * | 2018-08-29 | 2018-12-25 | 广东电网有限责任公司 | Sag computing method and device thereof based on unmanned plane lidar measurement technology |
| CN110879399B (en) * | 2019-10-08 | 2023-04-11 | 驭势科技（浙江）有限公司 | Method, device, vehicle, electronic device and medium for processing point cloud data |
| CN110879399A (en) * | 2019-10-08 | 2020-03-13 | 驭势科技（浙江）有限公司 | Method, apparatus, vehicle, electronic device, and medium for processing point cloud data |
| CN110889364A (en) * | 2019-11-21 | 2020-03-17 | 大连理工大学 | Method for constructing grid map by using infrared sensor and visible light sensor |
| CN111157530A (en) * | 2019-12-25 | 2020-05-15 | 国网宁夏电力有限公司电力科学研究院 | Unmanned aerial vehicle-based safety detection method for power transmission line |
| CN111157530B (en) * | 2019-12-25 | 2022-08-12 | 国网宁夏电力有限公司电力科学研究院 | Unmanned aerial vehicle-based safety detection method for power transmission line |
| CN112611292A (en) * | 2020-11-26 | 2021-04-06 | 广东电网有限责任公司韶关供电局 | Distribution lines measuring device |
| CN114563796A (en) * | 2022-03-03 | 2022-05-31 | 北京华宜信科技有限公司 | Power line identification method and device based on unmanned aerial vehicle laser radar detection data |
| CN114563796B (en) * | 2022-03-03 | 2022-11-04 | 北京华宜信科技有限公司 | Power line identification method and device based on unmanned aerial vehicle laser radar detection data |
| CN115471970A (en) * | 2022-10-11 | 2022-12-13 | 杭州巨骐信息科技股份有限公司 | Outer broken monitoring facilities is prevented to cable |
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