CN110940278A - Power inspection data processing method and device, computer equipment and storage medium - Google Patents
Power inspection data processing method and device, computer equipment and storage medium Download PDFInfo
- Publication number
- CN110940278A CN110940278A CN201911140378.0A CN201911140378A CN110940278A CN 110940278 A CN110940278 A CN 110940278A CN 201911140378 A CN201911140378 A CN 201911140378A CN 110940278 A CN110940278 A CN 110940278A
- Authority
- CN
- China
- Prior art keywords
- aerial vehicle
- unmanned aerial
- image
- distance
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The application discloses a power inspection data processing method and device, computer equipment and a storage medium. Relates to the technical field of data processing, and the method comprises the following steps: acquiring a first image obtained by shooting a target measurement point on a power line and a second unmanned aerial vehicle by a first unmanned aerial vehicle; acquiring a second image obtained by shooting a target measuring point and the first unmanned aerial vehicle by the second unmanned aerial vehicle; and determining the ground height of the target measuring point according to the first distance between the target measuring point in the first image and the second unmanned aerial vehicle, the second distance between the target measuring point in the second image and the first unmanned aerial vehicle, and the horizontal distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle. Adopt first unmanned aerial vehicle and second unmanned aerial vehicle to shoot same target measurement point on the power line simultaneously among this technical scheme, regard as the reference thing each other, calculate the height to ground of target measurement point on the power line, compare in the manual work and patrol and examine, work efficiency is higher.
Description
Technical Field
The present application relates to the field of data processing technologies, and in particular, to a method and an apparatus for processing power inspection data, a computer device, and a storage medium.
Background
With the development of society, electricity has gradually become the main energy of people's life, and electricity needs to be transmitted through the high voltage power grid after producing, and the normal work of high voltage power grid is the prerequisite of guaranteeing normal power supply. At present, the power line among the high voltage electric network erects on the tower pole apart from certain distance, consequently, the power line has certain arc to fall, and along with long-term the use, the arc of power line falls and can more and more serious, when the arc of power line falls and surpasss safety range, takes place power failure easily, consequently, need patrol and examine the power line among the high voltage electric network.
In the correlation technique, patrolling and examining the power line mainly relies on the manual work to patrol and examine, and the process of patrolling and examining can be: the method comprises the steps that an electric power worker manually observes along a line of a power line, when the arc dip of the power line in a certain area is found to be serious, the height of the lowest point of the power line in the area with the serious arc dip is measured, and whether the potential safety hazard exists in the power line is judged according to the measurement result. However, this inspection method is inefficient.
Disclosure of Invention
In view of the above, it is desirable to provide a power patrol data processing method, device, computer device, and storage medium, which address the above-mentioned inefficiency problem.
In a first aspect, an embodiment of the present application provides a power inspection data processing method, including:
acquiring a first image obtained by shooting a target measurement point on a power line and a second unmanned aerial vehicle by a first unmanned aerial vehicle, wherein the first unmanned aerial vehicle and the second unmanned aerial vehicle are respectively positioned at two sides of the power line, and the ground heights of the first unmanned aerial vehicle and the second unmanned aerial vehicle are the same;
acquiring a second image obtained by shooting a target measuring point and the first unmanned aerial vehicle by the second unmanned aerial vehicle;
and determining the ground height of the target measuring point according to the first distance between the target measuring point in the first image and the second unmanned aerial vehicle, the second distance between the target measuring point in the second image and the first unmanned aerial vehicle, and the horizontal distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle.
In one embodiment, before determining the ground height of the target measurement point according to the first distance between the target measurement point in the first image and the second unmanned aerial vehicle, the second distance between the target measurement point in the second image and the first unmanned aerial vehicle, and the horizontal distances between the first unmanned aerial vehicle and the second unmanned aerial vehicle, the method further comprises:
acquiring a first longitude and latitude of a first unmanned plane when a first image is acquired;
acquiring a second longitude and a second latitude of the second unmanned aerial vehicle when a second image is acquired;
and calculating the horizontal distance from the first unmanned aerial vehicle to the second unmanned aerial vehicle according to the first longitude and the second latitude.
In one embodiment, determining the ground height of the target measurement point according to a first distance between the target measurement point in the first image and the second unmanned aerial vehicle, a second distance between the target measurement point in the second image and the first unmanned aerial vehicle, and a horizontal distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle comprises:
calculating a first included angle according to the first distance, wherein the first included angle is an included angle between a connecting line between the second unmanned aerial vehicle and the target measuring point and a horizontal line;
calculating a second included angle according to the second distance, wherein the second included angle is the included angle between a connecting line between the first unmanned machine and the target measuring point and a horizontal line;
and calculating the ground height of the target measuring point according to the first included angle, the second included angle and the horizontal distance.
In one embodiment, calculating the ground height of the target measurement point according to the first included angle, the second included angle and the horizontal distance comprises:
calculating a third distance from the target measuring point to a horizontal plane where the first unmanned aerial vehicle and the second unmanned aerial vehicle are located when the first image and the second image are shot according to the first included angle, the second included angle and the horizontal distance;
acquiring the ground height of a first unmanned machine when a first image is acquired;
and calculating the ground height of the target measuring point according to the third distance and the ground height of the first unmanned machine.
In one embodiment, acquiring a first image obtained by shooting a target measurement point on a power line and a second unmanned aerial vehicle by a first unmanned aerial vehicle, and acquiring a second image obtained by shooting the target measurement point and the first unmanned aerial vehicle by the second unmanned aerial vehicle includes:
acquiring a plurality of first inspection images and first shooting information of the first inspection images, wherein the first inspection images are obtained by shooting a target measuring point on a power line and a second unmanned aerial vehicle by a first unmanned aerial vehicle;
acquiring a plurality of second inspection images and second shooting information of the second inspection images, wherein the second inspection images are obtained by shooting a target measurement point on the power line and the second unmanned aerial vehicle by the second unmanned aerial vehicle;
and acquiring a first image from the plurality of first inspection images and acquiring a second image from the plurality of second inspection images according to the first shooting information of each first inspection image and the second shooting information of each second inspection image, wherein the target measurement point of the first image and the target measurement point in the second image are the same target measurement point.
In one embodiment, the method further comprises:
and when the ground height of the target measuring point is less than or equal to the height threshold, sending an alarm message, and marking the target measuring points corresponding to the first image and the second image as points to be overhauled.
In one embodiment, the method further comprises:
when the first image has the obstacle point, acquiring a fourth distance between the obstacle point in the first image and the second unmanned aerial vehicle;
calculating the actual distance from the target measuring point to the obstacle point according to the third distance and the fourth height;
and when the actual distance is less than or equal to the distance threshold value, sending an early warning message.
In a second aspect, an embodiment of the present application provides a data processing apparatus for power inspection, the apparatus including:
the first acquisition module is used for acquiring a first image obtained by shooting a target measurement point on a power line and a second unmanned aerial vehicle by a first unmanned aerial vehicle, the first unmanned aerial vehicle and the second unmanned aerial vehicle are respectively positioned at two sides of the power line, and the ground heights of the first unmanned aerial vehicle and the second unmanned aerial vehicle are the same;
the second acquisition module is used for acquiring a second image obtained by shooting the target measurement point and the first unmanned aerial vehicle by the second unmanned aerial vehicle;
and the height calculation module is used for determining the ground height of the target measuring point according to the first distance between the target measuring point in the first image and the second unmanned aerial vehicle, the second distance between the target measuring point in the second image and the first unmanned aerial vehicle, and the horizontal distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle.
In a third aspect, there is provided a computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, performs the steps of the method of the first aspect described above.
In a fourth aspect, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the method of the first aspect described above.
The beneficial effects brought by the technical scheme provided by the embodiment of the application at least comprise:
the server acquires a first image obtained by shooting a target measurement point on the power line and the second unmanned aerial vehicle by the first unmanned aerial vehicle, acquires a second image obtained by shooting the target measurement point and the first unmanned aerial vehicle by the second unmanned aerial vehicle, wherein the first unmanned aerial vehicle and the second unmanned aerial vehicle are respectively positioned on two sides of the power line, and the ground height of the first unmanned aerial vehicle and the ground height of the second unmanned aerial vehicle are the same. The server determines the ground height of the target measuring point according to the first distance between the target measuring point in the first image and the second unmanned aerial vehicle, and the second distance between the target measuring point in the second image and the first unmanned aerial vehicle according to the horizontal distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle. In this application embodiment, shoot same target measurement point on the power line simultaneously through first unmanned aerial vehicle and second unmanned aerial vehicle, as the reference thing each other, calculate the height to ground of target measurement point on the power line, compare in the manual work and patrol and examine, work efficiency is higher.
Drawings
Fig. 1 is a schematic diagram of an implementation environment of a power inspection data processing method according to an embodiment of the present application;
fig. 2 is a flowchart of a power inspection data processing method according to an embodiment of the present application;
fig. 3 is a schematic diagram of inspection of a dual-channel unmanned aerial vehicle provided in the embodiment of the present application;
fig. 4 is a flowchart of another power patrol data processing method according to the embodiment of the present application;
FIG. 5 is a schematic diagram of a first image of a first unmanned aerial vehicle;
fig. 6 is a schematic diagram of a second image taken by a second drone;
fig. 7 is a flowchart of another power patrol data processing method according to the embodiment of the present application;
fig. 8 is a block diagram of a power patrol data processing apparatus according to an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
In order to adapt to the high-speed development of national economy, the country accelerates the construction of a high-voltage power grid. However, the power lines in the high-voltage power grid are long in distance and wide in range, and are often erected in places far away from residential areas, so that great difficulties are brought to the safety maintenance work of power infrastructure such as power lines.
For a long time, the inspection and maintenance of power lines are mainly completed by manual field exploration with low efficiency, high cost and poor safety. A large amount of manpower, material resources and financial resources are invested every year to carry out manual inspection, but good inspection effect cannot be obtained.
In the related art, the helicopter is adopted for routine inspection, specifically, the helicopter is used for aerial shooting of the power line, and due to the fact that the helicopter flies in a single flight zone and lacks of a reference object, the power line is very similar in the images shot by the helicopter, the generated error is very large, and the ground height of the power line cannot be accurately measured.
The embodiment of the application provides a power inspection data processing method and device, computer equipment and a storage medium, and can improve the working efficiency. According to the power inspection data processing method, a server acquires a first image obtained by shooting a target measurement point on a power line and a second unmanned aerial vehicle by a first unmanned aerial vehicle, and acquires a second image obtained by shooting the target measurement point and the first unmanned aerial vehicle by the second unmanned aerial vehicle, wherein the first unmanned aerial vehicle and the second unmanned aerial vehicle are respectively positioned on two sides of the power line, and the ground height of the first unmanned aerial vehicle and the ground height of the second unmanned aerial vehicle are the same. The server determines the ground height of the target measuring point according to the first distance between the target measuring point in the first image and the second unmanned aerial vehicle, and the second distance between the target measuring point in the second image and the first unmanned aerial vehicle according to the horizontal distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle. Therefore, the first unmanned aerial vehicle and the second unmanned aerial vehicle are adopted to photograph the same target measurement point on the power line simultaneously in the technical scheme, the height of the target measurement point on the power line to the ground is calculated as a reference object, and compared with manual inspection, the working efficiency is higher.
Next, a brief description will be given of an implementation environment related to the power patrol data processing method provided in the embodiment of the present application.
Referring to fig. 1, the power inspection data processing method provided by the present application may be applied to a computer device shown in fig. 1, where the computer device may be a server, and its internal structure diagram may be as shown in fig. 1, and the computer device includes a processor, a memory, a network interface, and a database connected through a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer equipment is used for storing an application program corresponding to the power inspection data processing method, and the computer equipment can call the application program to execute the power inspection data processing method. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a power patrol data processing method.
The structure shown in fig. 1 is a block diagram of only a part of the structure related to the present application, and does not constitute a limitation of the terminal to which the present application is applied, and a specific terminal may include more or less components than those shown in fig. 1, or combine some components, or have a different arrangement of components.
Referring to fig. 2, a flowchart of a power patrol data processing method provided by an embodiment of the present application is shown, where the power patrol data processing method can be applied to the server shown in fig. 1. As shown in fig. 1, the power patrol data processing method may include the steps of:
Wherein, first unmanned machine and second unmanned aerial vehicle are located the both sides of power line respectively, and first unmanned machine is perpendicular with the power line with second unmanned aerial vehicle's line, as shown in fig. 3, wherein, solid dot indicates the cross-section of power line 103, and optionally, in this application embodiment, first unmanned machine 101 and second unmanned aerial vehicle 102 can be located the below of power line 103. And the ground heights of the first drone 101 and the second drone 102 are the same.
In this embodiment of the application, as shown in fig. 4, the process of acquiring, by the server, the first image obtained by shooting the target measurement point on the power line 103 and the second drone 102 by the first drone 101 may include the following steps:
In the embodiment of the application, the first unmanned aerial vehicle 101 and the second unmanned aerial vehicle 102 can shoot continuously and repeatedly after reaching the position corresponding to the target measurement point in the inspection process.
Optionally, in this embodiment of the application, the first drone 101 may continuously shoot the target measurement point on the power line 103 and the second drone 102 to obtain a shot image. Similarly, the second drone 102 may also continuously shoot the target measurement point on the power line 103 and the first drone 101, so as to obtain a shooting effect, and optionally, the plurality of first inspection images and the plurality of second inspection images may be obtained from the shot image by using a screen capture technology.
Optionally, in this embodiment of the application, for each first inspection image, the first shooting information of the first inspection image includes shooting time of the inspection image, longitude and latitude and ground height of the first unmanned aerial vehicle 101 when the inspection image is shot, wind speed in an environment where the first unmanned aerial vehicle 101 is located when the inspection image is shot, a horizontal distance between the first inspection image and the second unmanned aerial vehicle 102 when the first inspection image is shot, and content included in the second shooting information of the second inspection image is the same as content included in the first shooting information.
And the target measuring point of the first image and the target measuring point in the second image are the same target measuring point.
In this application embodiment, the server can select the target measurement point and the patrol inspection image in which the second unmanned aerial vehicle 102 is all clearly visible from the plurality of first patrol inspection images as the first candidate patrol inspection image, and acquire the first shooting information of the first candidate patrol inspection image.
Similarly, the server may select, from the plurality of second inspection images, an inspection image in which the target measurement point and the first unmanned machine 101 are both clearly visible as a second candidate inspection image, and acquire second shooting information of the second candidate inspection image.
Selecting a first image and a second image according to first shooting information of the first candidate patrol inspection image and second shooting information of the second candidate patrol inspection image, wherein the first image and the second image need to meet the following conditions: 1. the shooting time is the same. 2. The ground height of the first drone 101 at the time of the patrol image shooting is the same as the ground height of the second drone 102. 3. The horizontal distance between the first unmanned aerial vehicle 101 and the second unmanned aerial vehicle 102, which is obtained by calculating the longitude and latitude of the first unmanned aerial vehicle 101 corresponding to the first image and the longitude and latitude of the second unmanned aerial vehicle 102 corresponding to the second image, is the same as the horizontal distance measured by the first unmanned aerial vehicle 101 and the second unmanned aerial vehicle 102.
In the embodiment of the present application, the shooting time is the same, and the same time is not strictly defined. The shooting time interval of the first image and the second image is within the preset time interval range, and the shooting time of the first image and the shooting time of the second image are considered to be the same. In this application, the ground heights are the same, and it means that the difference between the ground height of the first unmanned aerial vehicle and the ground height of the second unmanned aerial vehicle is within the preset height range, and it can be considered that the ground height of the first unmanned aerial vehicle is the same as the ground height of the second unmanned aerial vehicle. In the examples of the present application, the horizontal distances are the same and mean
In this embodiment of the application, a first distance between the target measurement point in the first image and the second drone 102 is a distance between the target measurement point in the first image and the second drone 102 in the vertical direction, which is measured by the caliper. The distance between the target measurement point in the second image and the first unmanned machine 101 is the distance between the target measurement point in the second image and the first unmanned machine 101 in the numerical direction measured by the caliper.
In the process that the first unmanned aerial vehicle 101 and the second unmanned aerial vehicle 102 form a double channel for shooting, the first unmanned aerial vehicle 101 and the second unmanned aerial vehicle 102 can measure the horizontal distance between the two in real time through laser measurement, optionally, the first unmanned aerial vehicle 101 and the second unmanned aerial vehicle 102 can respectively measure the horizontal distance between the two in real time, and the measured horizontal distance is used as shooting information of a shot patrol image.
Optionally, the horizontal distance between the first drone 101 and the second drone 102 may also be obtained by:
acquiring a first longitude and latitude of a first unmanned machine 101 when a first image is acquired; acquiring a second longitude and latitude of the second unmanned aerial vehicle 102 when acquiring a second image; and calculating the horizontal distance between the first longitude and the second latitude of the first unmanned aerial vehicle 101 and the second unmanned aerial vehicle 102 according to the first longitude and the second latitude.
In an alternative implementation, the process of calculating the height to ground of the target measurement point according to the first distance, the second distance and the horizontal distance may be:
and calculating a first included angle according to the first distance, and calculating a second included angle according to the second distance, wherein the first included angle is an included angle between a connecting line between the second unmanned aerial vehicle 102 and the target measurement point and a horizontal line. The second angle is an angle between a connection line between the first drone machine 101 and the target measurement point and a horizontal line. And calculating the ground height of the target measuring point according to the first included angle, the second included angle and the horizontal distance.
Optionally, in this embodiment of the application, the first included angle is calculated according to the first distance, and the process of calculating the second included angle according to the second distance may be:
as shown in fig. 5, fig. 5 is a schematic diagram of a first image captured by a first drone, wherein a first distance is set to h 1' to obtain a frame height h1 of the first image, wherein the frame height h1 is a height of a side same as a connection direction of a second drone 102102 and a target measurement point.
The wide angle degree when the first unmanned machine 101 captures the first image is obtained, for example, the wide angle when the first unmanned machine 101 captures the first image is 120 degrees wide, and then the first included angle a in fig. 3 is (h 1'/h 1) × 120 × 0.5.
Similarly, as shown in fig. 6, fig. 6 is a schematic diagram of a second image captured by the second drone, where the second distance is h 2' to obtain a frame height h2 of the second image, where the frame height h2 is a height of a side same as a connection direction between the first drone 101 and the target measurement point.
The wide angle degree at which the second drone 102 captures the second image is acquired, for example, the wide angle at which the second drone 102 captures the second image is 120 degrees wide, and then the second included angle B is (h 2'/h 2) × 120 × 0.5.
Optionally, the process of calculating the height of the target measurement point to the ground according to the first included angle a, the second included angle B and the horizontal distance L may include:
and calculating a third distance from the target measuring point to a horizontal plane where the first unmanned aerial vehicle 101 and the second unmanned aerial vehicle 102 are located when the first image and the second image are shot according to the first included angle, the second included angle and the horizontal distance.
As shown in fig. 3, according to the first included angle a, the second included angle B, and the horizontal distance X between the first unmanned aerial vehicle 101 and the second unmanned aerial vehicle 102, a trigonometric function is applied to calculate a third distance h3 from the target measurement point to the horizontal plane where the first unmanned aerial vehicle 101 and the second unmanned aerial vehicle 102 are located.
And acquiring the ground height of the first unmanned machine 101 when the first image is acquired.
In the embodiment of the application, the height to the ground of the first unmanned machine 101 when the first image is acquired is h4,
and calculating the ground height of the target measuring point according to the third distance and the ground height of the first unmanned machine 101.
And summing the third distance and the ground height of the first unmanned machine 101 to obtain the ground height H of the target measuring point, wherein H is H3+ H4.
In an alternative implementation, as shown in fig. 3, when there is a difference between the height to ground of the first drone 101 at the time of acquiring the first image being H4 and the height to ground of the second drone 102 at the time of acquiring the second image being H5 (the difference between the height to ground of the first drone 101 and the height to ground of the second drone 102 is within a preset height range), an average value H6 of H4 and H5 may be obtained, and then the average value H6 and the third distance H3 are summed to obtain H.
The embodiment of the application provides a power inspection data processing method and device, computer equipment and a storage medium, and can improve the working efficiency. According to the power inspection data processing method, a server acquires a first image obtained by shooting a target measurement point on a power line and a second unmanned aerial vehicle by a first unmanned aerial vehicle, and acquires a second image obtained by shooting the target measurement point and the first unmanned aerial vehicle by the second unmanned aerial vehicle, wherein the first unmanned aerial vehicle and the second unmanned aerial vehicle are respectively positioned on two sides of the power line, and the ground height of the first unmanned aerial vehicle and the ground height of the second unmanned aerial vehicle are the same. The server determines the ground height of the target measuring point according to the first distance between the target measuring point in the first image and the second unmanned aerial vehicle, and the second distance between the target measuring point in the second image and the first unmanned aerial vehicle according to the horizontal distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle. Therefore, the first unmanned aerial vehicle and the second unmanned aerial vehicle are adopted to photograph the same target measurement point on the power line simultaneously in the technical scheme, the height of the target measurement point on the power line to the ground is calculated as a reference object, and compared with manual inspection, the working efficiency is higher.
In one embodiment of the application, when the ground height of the target measuring point is less than or equal to the height threshold, the server may send an alarm message, and mark the target measuring point corresponding to the first image and the second image as the point to be overhauled.
In the embodiment of the application, the height threshold value can be stored in the server in advance, and when the ground height of the target measurement point is smaller than or equal to the height threshold value, the arc drop of the power line of the target measurement point is serious, and potential safety hazards exist.
In this embodiment of the application, the step of marking, by the server, the target measurement point corresponding to the first image and the second image as the point to be overhauled may be: the server marks the first image and the second image as routing inspection images with potential safety hazards, obtains position information of the target measuring point according to the first image and the second image, and marks the target measuring point corresponding to the position information as potential safety hazards.
In one embodiment of the application, because the position where the power line is erected may have a tree obstacle or other obstacles, winding easily occurs with the power line, resulting in potential safety hazard to the power line. In view of this situation, as shown in fig. 7, an embodiment of the present application provides another power patrol data processing method, which includes the following steps:
In this application embodiment, the fourth distance is the vertical distance between the horizontal line where the first image obstacle point is located and the horizontal line where the second unmanned aerial vehicle is located.
And step 702, the server calculates the actual distance between the target measuring point and the obstacle point according to the third distance and the fourth height.
In the embodiment of the application, the proportional relation between the first image and the real object can be obtained according to the third distance h3 and the first distance h 1', and the actual distance from the target measuring point to the obstacle point is calculated based on the proportional relation and the fourth height h 7.
And 703, when the actual distance is less than or equal to the distance threshold, the server sends an early warning message.
In the embodiment of the application, the distance threshold value can be prestored in the server, after the actual distance from the target measuring point to the obstacle point is obtained, the server can compare the actual distance with the distance threshold value, and when the actual distance is smaller than the distance threshold value, the server can send the alarm message to the terminal held by the staff. Therefore, potential safety hazards of power lines of workers are reflected.
Referring to fig. 8, a block diagram of a power patrol data processing apparatus provided by an embodiment of the present application is shown, which may be configured in a server in the implementation environment shown in fig. 1. As shown in fig. 8, the power patrol data processing apparatus may include a first acquisition module 801, a first acquisition module 802, and a height calculation module 803.
The first acquisition module 801 is used for acquiring a first image obtained by shooting a target measurement point on a power line and a second unmanned aerial vehicle by a first unmanned aerial vehicle, wherein the first unmanned aerial vehicle and the second unmanned aerial vehicle are respectively positioned at two sides of the power line, and the ground heights of the first unmanned aerial vehicle and the second unmanned aerial vehicle are the same;
a second obtaining module 802, configured to obtain a second image obtained by shooting the target measurement point and the first unmanned aerial vehicle by the second unmanned aerial vehicle;
the height calculating module 803 is configured to determine the ground height of the target measurement point according to a first distance between the target measurement point in the first image and the second unmanned aerial vehicle, a second distance between the target measurement point in the second image and the first unmanned aerial vehicle, and horizontal distances between the first unmanned aerial vehicle and the second unmanned aerial vehicle.
In an embodiment of the present application, the height calculating module 803 is further configured to obtain a first longitude and latitude of the first unmanned aerial vehicle when the first image is acquired; acquiring a second longitude and a second latitude of the second unmanned aerial vehicle when a second image is acquired; and calculating the horizontal distance from the first unmanned aerial vehicle to the second unmanned aerial vehicle according to the first longitude and the second latitude.
In an embodiment of the present application, the height calculating module 803 is further configured to calculate a first included angle according to the first distance, where the first included angle is an included angle between a connection line between the second unmanned aerial vehicle and the target measurement point and a horizontal line; calculating a second included angle according to the second distance, wherein the second included angle is the included angle between a connecting line between the first unmanned machine and the target measuring point and a horizontal line; and calculating the ground height of the target measuring point according to the first included angle, the second included angle and the horizontal distance.
In an embodiment of the present application, the height calculating module 803 is further configured to calculate a third distance from the target measuring point to a horizontal plane where the first unmanned aerial vehicle and the second unmanned aerial vehicle are located when the first image and the second image are captured according to the first included angle, the second included angle, and the horizontal distance; acquiring the ground height of a first unmanned machine when a first image is acquired; and calculating the ground height of the target measuring point according to the third distance and the ground height of the first unmanned machine.
In an embodiment of the present application, the first obtaining module 801 is further configured to obtain a plurality of first inspection images and first shooting information of each first inspection image, where the first inspection image is obtained by shooting a target measurement point on a power line and a second unmanned aerial vehicle by a first unmanned aerial vehicle; the second obtaining module 802 is further configured to obtain a plurality of second inspection images obtained by the second unmanned aerial vehicle shooting the target measurement point on the power line and the second unmanned aerial vehicle, and second shooting information of each second inspection image; and acquiring a first image from the plurality of first inspection images and acquiring a second image from the plurality of second inspection images according to the first shooting information of each first inspection image and the second shooting information of each second inspection image, wherein the target measurement point of the first image and the target measurement point in the second image are the same target measurement point.
In an embodiment of the present application, the height calculating module 803 is further configured to send an alarm message when the height to ground of the target measuring point is less than or equal to the height threshold, and mark the target measuring point corresponding to the first image and the second image as the point to be overhauled.
In an embodiment of the present application, the first obtaining module 801 is further configured to, when there is an obstacle point in the first image, obtain a fourth distance between the obstacle point in the first image and the second drone; the height calculating module 803 is further configured to calculate an actual distance from the target measuring point to the obstacle point according to the third distance and the fourth height; and when the actual distance is less than or equal to the distance threshold value, sending an early warning message.
In one embodiment of the present application, there is provided a computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
acquiring a first image obtained by shooting a target measurement point on a power line and a second unmanned aerial vehicle by a first unmanned aerial vehicle, wherein the first unmanned aerial vehicle and the second unmanned aerial vehicle are respectively positioned at two sides of the power line, and the ground heights of the first unmanned aerial vehicle and the second unmanned aerial vehicle are the same; acquiring a second image obtained by shooting a target measuring point and the first unmanned aerial vehicle by the second unmanned aerial vehicle; and determining the ground height of the target measuring point according to the first distance between the target measuring point in the first image and the second unmanned aerial vehicle, the second distance between the target measuring point in the second image and the first unmanned aerial vehicle, and the horizontal distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle.
In one embodiment of the application, the processor when executing the computer program may further implement the steps of: acquiring a first longitude and latitude of a first unmanned plane when a first image is acquired; acquiring a second longitude and a second latitude of the second unmanned aerial vehicle when a second image is acquired; and calculating the horizontal distance from the first unmanned aerial vehicle to the second unmanned aerial vehicle according to the first longitude and the second latitude.
In one embodiment of the application, the processor when executing the computer program may further implement the steps of: calculating a first included angle according to the first distance, wherein the first included angle is an included angle between a connecting line between the second unmanned aerial vehicle and the target measuring point and a horizontal line; calculating a second included angle according to the second distance, wherein the second included angle is the included angle between a connecting line between the first unmanned machine and the target measuring point and a horizontal line; and calculating the ground height of the target measuring point according to the first included angle, the second included angle and the horizontal distance.
In one embodiment of the application, the processor when executing the computer program may further implement the steps of: calculating a third distance from the target measuring point to a horizontal plane where the first unmanned aerial vehicle and the second unmanned aerial vehicle are located when the first image and the second image are shot according to the first included angle, the second included angle and the horizontal distance; acquiring the ground height of a first unmanned machine when a first image is acquired; and calculating the ground height of the target measuring point according to the third distance and the ground height of the first unmanned machine.
In one embodiment of the application, the processor when executing the computer program may further implement the steps of: acquiring a plurality of first inspection images and first shooting information of the first inspection images, wherein the first inspection images are obtained by shooting a target measuring point on a power line and a second unmanned aerial vehicle by a first unmanned aerial vehicle; acquiring a plurality of second inspection images and second shooting information of the second inspection images, wherein the second inspection images are obtained by shooting a target measurement point on the power line and the second unmanned aerial vehicle by the second unmanned aerial vehicle; and acquiring a first image from the plurality of first inspection images and acquiring a second image from the plurality of second inspection images according to the first shooting information of each first inspection image and the second shooting information of each second inspection image, wherein the target measurement point of the first image and the target measurement point in the second image are the same target measurement point.
In one embodiment of the application, the processor when executing the computer program may further implement the steps of: and when the ground height of the target measuring point is less than or equal to the height threshold, sending an alarm message, and marking the target measuring points corresponding to the first image and the second image as points to be overhauled.
In one embodiment of the application, the processor when executing the computer program may further implement the steps of: when the first image has the obstacle point, acquiring a fourth distance between the obstacle point in the first image and the second unmanned aerial vehicle; calculating the actual distance from the target measuring point to the obstacle point according to the third distance and the fourth height; and when the actual distance is less than or equal to the distance threshold value, sending an early warning message.
The implementation principle and technical effect of the computer device provided by the embodiment of the present application are similar to those of the method embodiment described above, and are not described herein again.
In an embodiment of the application, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of:
acquiring a first image obtained by shooting a target measurement point on a power line and a second unmanned aerial vehicle by a first unmanned aerial vehicle, wherein the first unmanned aerial vehicle and the second unmanned aerial vehicle are respectively positioned at two sides of the power line, and the ground heights of the first unmanned aerial vehicle and the second unmanned aerial vehicle are the same; acquiring a second image obtained by shooting a target measuring point and the first unmanned aerial vehicle by the second unmanned aerial vehicle; and determining the ground height of the target measuring point according to the first distance between the target measuring point in the first image and the second unmanned aerial vehicle, the second distance between the target measuring point in the second image and the first unmanned aerial vehicle, and the horizontal distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle.
In one embodiment of the application, the computer program, when executed by the processor, may further implement the steps of: acquiring a first longitude and latitude of a first unmanned plane when a first image is acquired; acquiring a second longitude and a second latitude of the second unmanned aerial vehicle when a second image is acquired; and calculating the horizontal distance from the first unmanned aerial vehicle to the second unmanned aerial vehicle according to the first longitude and the second latitude.
In one embodiment of the application, the computer program, when executed by the processor, may further implement the steps of: calculating a first included angle according to the first distance, wherein the first included angle is an included angle between a connecting line between the second unmanned aerial vehicle and the target measuring point and a horizontal line; calculating a second included angle according to the second distance, wherein the second included angle is the included angle between a connecting line between the first unmanned machine and the target measuring point and a horizontal line; and calculating the ground height of the target measuring point according to the first included angle, the second included angle and the horizontal distance.
In one embodiment of the application, the computer program, when executed by the processor, may further implement the steps of: calculating a third distance from the target measuring point to a horizontal plane where the first unmanned aerial vehicle and the second unmanned aerial vehicle are located when the first image and the second image are shot according to the first included angle, the second included angle and the horizontal distance; acquiring the ground height of a first unmanned machine when a first image is acquired; and calculating the ground height of the target measuring point according to the third distance and the ground height of the first unmanned machine.
In one embodiment of the application, the computer program, when executed by the processor, may further implement the steps of: acquiring a plurality of first inspection images and first shooting information of the first inspection images, wherein the first inspection images are obtained by shooting a target measuring point on a power line and a second unmanned aerial vehicle by a first unmanned aerial vehicle; acquiring a plurality of second inspection images and second shooting information of the second inspection images, wherein the second inspection images are obtained by shooting a target measurement point on the power line and the second unmanned aerial vehicle by the second unmanned aerial vehicle; and acquiring a first image from the plurality of first inspection images and acquiring a second image from the plurality of second inspection images according to the first shooting information of each first inspection image and the second shooting information of each second inspection image, wherein the target measurement point of the first image and the target measurement point in the second image are the same target measurement point.
In one embodiment of the application, the computer program, when executed by the processor, may further implement the steps of: and when the ground height of the target measuring point is less than or equal to the height threshold, sending an alarm message, and marking the target measuring points corresponding to the first image and the second image as points to be overhauled.
In one embodiment of the application, the computer program, when executed by the processor, may further implement the steps of: when the first image has the obstacle point, acquiring a fourth distance between the obstacle point in the first image and the second unmanned aerial vehicle; calculating the actual distance from the target measuring point to the obstacle point according to the third distance and the fourth height; and when the actual distance is less than or equal to the distance threshold value, sending an early warning message.
The implementation principle and technical effect of the computer-readable storage medium provided in the embodiment of the present application are similar to those of the method embodiment described above, and are not described herein again.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A power patrol data processing method is characterized by comprising the following steps:
acquiring a first image obtained by shooting a target measurement point on a power line and a second unmanned aerial vehicle by a first unmanned aerial vehicle, wherein the first unmanned aerial vehicle and the second unmanned aerial vehicle are respectively positioned at two sides of the power line, and the ground heights of the first unmanned aerial vehicle and the second unmanned aerial vehicle are the same;
acquiring a second image obtained by shooting the target measuring point and the first unmanned aerial vehicle by the second unmanned aerial vehicle;
and determining the ground height of the target measuring point according to a first distance between the target measuring point and the second unmanned aerial vehicle in the first image, a second distance between the target measuring point and the first unmanned aerial vehicle in the second image and the horizontal distances between the first unmanned aerial vehicle and the second unmanned aerial vehicle.
2. The method of claim 1, wherein prior to determining the ground height of the target measurement point based on a first distance of the target measurement point from the second drone in the first image, a second distance of the target measurement point from the first drone in the second image, and horizontal distances of the first drone and the second drone, the method further comprises:
acquiring a first longitude and latitude of the first unmanned plane when the first image is acquired;
acquiring a second longitude and latitude of the second unmanned aerial vehicle when the second image is acquired;
and calculating the horizontal distance from the first unmanned aerial vehicle to the second unmanned aerial vehicle according to the first longitude and the second latitude.
3. The method of claim 1, wherein determining the ground elevation of the target survey point from a first distance of the target survey point from the second drone in the first image, a second distance of the target survey point from the first drone and a horizontal distance of the first drone and the second drone in the second image comprises:
calculating a first included angle according to the first distance, wherein the first included angle is an included angle between a connecting line between the second unmanned aerial vehicle and the target measuring point and a horizontal line;
calculating a second included angle according to the second distance, wherein the second included angle is the included angle between a connecting line between the first unmanned machine and the target measuring point and a horizontal line;
and calculating the ground height of the target measuring point according to the first included angle, the second included angle and the horizontal distance.
4. The method of claim 3, wherein said calculating the height to ground of the target measurement point from the first angle, the second angle, and the horizontal distance comprises:
calculating a third distance from the target measuring point to a horizontal plane where the first unmanned aerial vehicle and the second unmanned aerial vehicle are located when the first image and the second image are shot according to the first included angle, the second included angle and the horizontal distance;
acquiring the ground height of the first unmanned machine when the first image is acquired;
and calculating the ground height of the target measuring point according to the third distance and the ground height of the first unmanned aerial vehicle.
5. The method of claim 1, wherein the acquiring a first image of a target measurement point on a power line and a second unmanned aerial vehicle captured by a first unmanned aerial vehicle and acquiring a second image of the target measurement point and the first unmanned aerial vehicle captured by the second unmanned aerial vehicle comprises:
acquiring a plurality of first inspection images and first shooting information of each first inspection image, wherein the first inspection images are obtained by shooting a target measuring point on a power line and a second unmanned aerial vehicle by a first unmanned aerial vehicle;
acquiring a plurality of second inspection images and second shooting information of each second inspection image, wherein the plurality of second inspection images are obtained by shooting a target measurement point on a power line and a second unmanned aerial vehicle by the second unmanned aerial vehicle;
and acquiring the first images from the plurality of first inspection images and acquiring the second images from the plurality of second inspection images according to the first shooting information of the first inspection images and the second shooting information of the second inspection images, wherein the target measuring point of the first image and the target measuring point in the second image are the same target measuring point.
6. The method of claim 1, further comprising:
and when the ground height of the target measuring point is less than or equal to a height threshold value, sending an alarm message, and marking the target measuring point corresponding to the first image and the second image as a point to be overhauled.
7. The method of claim 4, further comprising:
when an obstacle point exists in the first image, acquiring a fourth distance between the obstacle point in the first image and the second unmanned aerial vehicle;
calculating the actual distance from the target measuring point to the obstacle point according to the third distance and the fourth height;
and when the actual distance is less than or equal to the distance threshold value, sending an early warning message.
8. A power routing inspection data processing apparatus, the apparatus comprising:
the first acquisition module is used for acquiring a first image obtained by shooting a target measurement point on a power line and a second unmanned aerial vehicle by a first unmanned aerial vehicle, wherein the first unmanned aerial vehicle and the second unmanned aerial vehicle are respectively positioned at two sides of the power line, and the ground heights of the first unmanned aerial vehicle and the second unmanned aerial vehicle are the same;
the second acquisition module is used for acquiring a second image obtained by shooting the target measurement point and the first unmanned aerial vehicle by the second unmanned aerial vehicle;
and the height calculation module is used for determining the ground height of the target measuring point according to a first distance between the target measuring point and the second unmanned aerial vehicle in the first image, a second distance between the target measuring point and the first unmanned aerial vehicle in the second image and horizontal distances between the first unmanned aerial vehicle and the second unmanned aerial vehicle.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911140378.0A CN110940278B (en) | 2019-11-20 | 2019-11-20 | Power inspection data processing method and device, computer equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911140378.0A CN110940278B (en) | 2019-11-20 | 2019-11-20 | Power inspection data processing method and device, computer equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110940278A true CN110940278A (en) | 2020-03-31 |
| CN110940278B CN110940278B (en) | 2021-08-31 |
Family
ID=69907139
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911140378.0A Active CN110940278B (en) | 2019-11-20 | 2019-11-20 | Power inspection data processing method and device, computer equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110940278B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113608550A (en) * | 2021-08-06 | 2021-11-05 | 寰宇鹏翔航空科技(深圳)有限公司 | Unmanned aerial vehicle data acquisition control method, unmanned aerial vehicle and storage medium |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050257748A1 (en) * | 2002-08-02 | 2005-11-24 | Kriesel Marshall S | Apparatus and methods for the volumetric and dimensional measurement of livestock |
| EP1866694B1 (en) * | 2005-04-04 | 2012-04-11 | ESSILOR INTERNATIONAL (Compagnie Générale d'Optique) | Method for centring an ophthalmic lens on a rimless frame |
| CN202423959U (en) * | 2012-02-24 | 2012-09-05 | 山东电力研究院 | Intelligent electric transmission line tower inspection system with four-rotor unmanned aerial vehicle |
| CN104865971A (en) * | 2015-05-26 | 2015-08-26 | 广西大学 | Power transmission line inspection unmanned plane control method and unmanned plane |
| CN106444817A (en) * | 2016-11-22 | 2017-02-22 | 刘琦 | Power line patrol-inspection unmanned aerial vehicle and flying control device |
| CN106527475A (en) * | 2016-10-28 | 2017-03-22 | 中国电力科学研究院 | Distribution network inspection unmanned aerial vehicle and inspection method thereof |
| CN108305346A (en) * | 2017-12-28 | 2018-07-20 | 国网上海市电力公司 | Equipment routing inspection method, apparatus |
| CN108400554A (en) * | 2018-02-28 | 2018-08-14 | 国网山东省电力公司滨州供电公司 | Utilize the method for unmanned plane inspection overhead transmission line |
| CN109002055A (en) * | 2018-06-11 | 2018-12-14 | 广州中科云图智能科技有限公司 | A kind of High Precision Automatic method for inspecting and system based on unmanned plane |
| US20190128862A1 (en) * | 2017-10-31 | 2019-05-02 | Honeywell International Inc. | Remote gas sensing using uavs |
| JP2019073999A (en) * | 2017-10-13 | 2019-05-16 | 三菱重工業株式会社 | Inspection system of wind turbine generator system using flying body and inspection method |
| AU2016102409A4 (en) * | 2015-02-27 | 2019-05-16 | Smart Infrastructure Asset Management Australia Research And Development Pty Ltd | Local Positioning System for an Unmanned Aerial Vehicle |
| CN109936080A (en) * | 2019-03-28 | 2019-06-25 | 郑州大学 | A kind of method of unmanned plane inspection transmission line of electricity |
| CN110082780A (en) * | 2019-03-22 | 2019-08-02 | 广州中科云图智能科技有限公司 | Overhead transmission line tree obstacle information acquisition method |
| CN110443908A (en) * | 2019-07-04 | 2019-11-12 | 广州科易光电技术有限公司 | A kind of electric inspection process method and system based on unmanned plane |
-
2019
- 2019-11-20 CN CN201911140378.0A patent/CN110940278B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050257748A1 (en) * | 2002-08-02 | 2005-11-24 | Kriesel Marshall S | Apparatus and methods for the volumetric and dimensional measurement of livestock |
| EP1866694B1 (en) * | 2005-04-04 | 2012-04-11 | ESSILOR INTERNATIONAL (Compagnie Générale d'Optique) | Method for centring an ophthalmic lens on a rimless frame |
| CN202423959U (en) * | 2012-02-24 | 2012-09-05 | 山东电力研究院 | Intelligent electric transmission line tower inspection system with four-rotor unmanned aerial vehicle |
| AU2016102409A4 (en) * | 2015-02-27 | 2019-05-16 | Smart Infrastructure Asset Management Australia Research And Development Pty Ltd | Local Positioning System for an Unmanned Aerial Vehicle |
| CN104865971A (en) * | 2015-05-26 | 2015-08-26 | 广西大学 | Power transmission line inspection unmanned plane control method and unmanned plane |
| CN106527475A (en) * | 2016-10-28 | 2017-03-22 | 中国电力科学研究院 | Distribution network inspection unmanned aerial vehicle and inspection method thereof |
| CN106444817A (en) * | 2016-11-22 | 2017-02-22 | 刘琦 | Power line patrol-inspection unmanned aerial vehicle and flying control device |
| JP2019073999A (en) * | 2017-10-13 | 2019-05-16 | 三菱重工業株式会社 | Inspection system of wind turbine generator system using flying body and inspection method |
| US20190128862A1 (en) * | 2017-10-31 | 2019-05-02 | Honeywell International Inc. | Remote gas sensing using uavs |
| CN108305346A (en) * | 2017-12-28 | 2018-07-20 | 国网上海市电力公司 | Equipment routing inspection method, apparatus |
| CN108400554A (en) * | 2018-02-28 | 2018-08-14 | 国网山东省电力公司滨州供电公司 | Utilize the method for unmanned plane inspection overhead transmission line |
| CN109002055A (en) * | 2018-06-11 | 2018-12-14 | 广州中科云图智能科技有限公司 | A kind of High Precision Automatic method for inspecting and system based on unmanned plane |
| CN110082780A (en) * | 2019-03-22 | 2019-08-02 | 广州中科云图智能科技有限公司 | Overhead transmission line tree obstacle information acquisition method |
| CN109936080A (en) * | 2019-03-28 | 2019-06-25 | 郑州大学 | A kind of method of unmanned plane inspection transmission line of electricity |
| CN110443908A (en) * | 2019-07-04 | 2019-11-12 | 广州科易光电技术有限公司 | A kind of electric inspection process method and system based on unmanned plane |
Non-Patent Citations (3)
| Title |
|---|
| M. DE BENEDETTI等: "《A fault-tolerant self-organizing flocking approach for UAV aerial survey》", 《JOURNAL OF NETWORK AND COMPUTER APPLICATIONS》 * |
| 彭向阳，等: "《大型无人直升机电力线路全自动巡检技术及应用》", 《南方电网技术》 * |
| 曾懿辉，等: "《基于差分定位的输电线路多旋翼无人机智能巡检》", 《中国电力》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113608550A (en) * | 2021-08-06 | 2021-11-05 | 寰宇鹏翔航空科技(深圳)有限公司 | Unmanned aerial vehicle data acquisition control method, unmanned aerial vehicle and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110940278B (en) | 2021-08-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113345019B (en) | Method, equipment and medium for measuring potential hazards of transmission line channel target | |
| CN111289533A (en) | Fan blade inspection method and device, unmanned aerial vehicle and storage medium | |
| CN111307823B (en) | System and method for detecting typical visual defects of power transformation equipment based on edge cloud cooperation | |
| CN112539704B (en) | Method for measuring distance between hidden danger in transmission line channel and lead | |
| CN110907710B (en) | Lightning early warning method and device, storage medium and computer equipment | |
| CN114255405B (en) | Hidden danger target identification method and device | |
| CN109029350B (en) | Tunnel axis extraction and section convergence analysis method and device | |
| CN112254712A (en) | Power transmission and transformation line fault detection and positioning method and system | |
| CN115760725B (en) | Laser radar-based transmission line external force intrusion monitoring method, medium and equipment | |
| CN112287721A (en) | Method and device for tracking falling object, computer equipment and storage medium | |
| CN114463948A (en) | Geological disaster monitoring and early warning method and system | |
| CN110940278B (en) | Power inspection data processing method and device, computer equipment and storage medium | |
| CN110849326B (en) | Telegraph pole monitoring method and monitoring equipment | |
| CN109579793B (en) | Terrain mapping method, apparatus, flight platform, computer device and storage medium | |
| CN104006804A (en) | Method for detecting offset of contact net based on observation benchmark instability compensation | |
| CN115967166A (en) | Power transmission line monitoring method and device, computer equipment and storage medium | |
| CN110658844A (en) | Ultra-high voltage direct current line channel unmanned aerial vehicle monitoring method and system | |
| CN113870228B (en) | Tower crane surface oxidation damage identification, positioning and damage area statistics method | |
| CN104715346A (en) | Power transmission line-orientated mountain fire approaching risk estimation system | |
| CN114049563A (en) | Live working environment evaluation method, working environment evaluation system and electronic equipment | |
| CN113640829A (en) | Unmanned aerial vehicle bridge bottom detection system based on LiDAR | |
| CN113552904A (en) | Improved bridge bottom detection system for unmanned aerial vehicle | |
| CN116109259B (en) | Intelligent auditing method and device for spatial data | |
| CN117392571B (en) | Aerial power transmission and distribution line acceptance method and aerial power transmission and distribution line acceptance system based on unmanned aerial vehicle image | |
| CN113532283B (en) | Method for monitoring foundation pit displacement trend based on consumption-level unmanned aerial vehicle and GPS (global positioning system) |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200917 Address after: 510620 Tianhe District, Guangzhou, Tianhe South Road, No. two, No. 2, No. Applicant after: Guangzhou Power Supply Bureau of Guangdong Power Grid Co.,Ltd. Address before: 510620 Tianhe District, Guangzhou, Tianhe South Road, No. two, No. 2, No. Applicant before: GUANGZHOU POWER SUPPLY Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |