CN105655924A - Aiming device used for remotely removing overhead line dynamic foreign bodies through laser and method thereof - Google Patents
Aiming device used for remotely removing overhead line dynamic foreign bodies through laser and method thereof Download PDFInfo
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- CN105655924A CN105655924A CN201610188462.XA CN201610188462A CN105655924A CN 105655924 A CN105655924 A CN 105655924A CN 201610188462 A CN201610188462 A CN 201610188462A CN 105655924 A CN105655924 A CN 105655924A
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- Prior art keywords
- scanning galvanometer
- iraser
- dichroic mirror
- foreign body
- transmission line
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
- G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
- G02B26/0816—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light by means of one or more reflecting elements
- G02B26/0833—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light by means of one or more reflecting elements the reflecting element being a micromechanical device, e.g. a MEMS mirror, DMD
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- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention discloses an aiming device used for remotely removing overhead line dynamic foreign bodies through laser and a method thereof. The aiming device comprises a beam combiner, a dichroic mirror, a visible light indicator, a reflector, a scanning galvanometer, an image collecting device and a controller. The beam combiner and the dichroic mirror are sequentially arranged on the optical axis of infrared laser, and the reflector is placed on the optical axis of a lens of the image collecting device and parallel to the dichroic mirror. Emitted light of the visible light indicator is reflected by the beam combiner and combined with the infrared laser, then combined light is coaxially transmitted to the dichroic mirror in the same direction, and the infrared laser is output to the overhead line dynamic foreign bodies through the dichroic mirror and the scanning galvanometer. The image collecting device collects images of the overhead line dynamic foreign bodies through visible light reflection and transmits the images to the controller. An image collecting optical axis, from the scanning galvanometer to the dichroic mirror, obtained by the image collecting device is coaxial with the optical axis of the infrared laser. The aiming device has the advantages that the remote foreign bodies can be precisely aimed, and the remote dynamic foreign bodies can be continuously tracked and aimed.
Description
Technical field
The present invention relates to a kind of sighting device and method of sight, particularly relate to a kind of sighting device remotely removing the dynamic foreign body of overhead transmission line for laser and method thereof, belong to T & D Technology field.
Background technology
At present, electric line is mostly the naked metal wire protected by naked layer by tower erection aloft, but, the floatability foreign body such as kite, kite string, Polypropylence Sheet, advertising cloth is easy to blow off to exposed plain conductor. Once the foreign body of this type of floatability is wet by rain, snow, dew retting, very easily cause the faults such as plain conductor phase fault, single-phase earthing, thus causing tripping operation or the circuit damage of electric line; Even hanging people and animals can the foreign body of contact position, it is likely that cause people and animals' injures and deaths. Therefore, the foreign body cleared up on transmission line of electricity in time is particularly significant for power supply safety.
Traditional foreign body removed on transmission line of electricity adopts Equipotential live working to process or power failure processes, it is common to the problem such as have operation routine complexity, activity duration length, personnel's physical demands is big, job safety risk is high, manpower and materials consumption is big.
At present, adopting iraser remotely to remove overhead transmission line foreign body is a kind of new sweep-out method, this method is by ground launch beam of laser to aerial foreign body target, by photothermy, the float type foreign body on overhead transmission line is fused, calcination damage or drop, be one conveniently, safely, reset mode efficiently.
But, owing to iraser is invisible to human eye, foreign body target range is farther out, rely on traditional firearms aiming principle fine sight target relatively difficult, and the foreign body target in high-altitude be often in wave, indefinite state of swaying, common aiming mode is difficult to accurately, tracking aiming constantly, it is difficult to play the speciality of the long-range foreign body cleanout tool of laser.
Summary of the invention
Present invention is primarily targeted at, overcome deficiency of the prior art, it is provided that a kind of sighting device remotely removing the dynamic foreign body of overhead transmission line for laser and method thereof, it is possible to take accurate aim long-range foreign body, and tracking aiming Remote Dynamic foreign body can be continued.
In order to achieve the above object, the technical solution adopted in the present invention is:
A kind of sighting device remotely removing the dynamic foreign body of overhead transmission line for laser, including light combination mirror, dichroic mirror, visible ray indicator, reflecting mirror, scanning galvanometer, image capture device and controller, described scanning galvanometer is connected with controller respectively with image capture device; Described dichroic mirror is high anti-, iraser is high thoroughly to visible ray, and described scanning galvanometer is all high instead to visible ray, iraser.
Wherein, described light combination mirror and dichroic mirror are sequentially placed on iraser optical axis, described light combination mirror and iraser optical axis light direction are that 135 degree of angles are placed, described dichroic mirror and iraser optical axis light direction are that 45 degree of angles are placed, described visible ray indicator and iraser optical axis light direction are that 90 degree of angles are placed, and go out light towards light combination mirror; The light coaxial output in the same direction after bundle is closed in light combination mirror reflection and iraser that goes out of visible ray indicator closes Shu Guang to dichroic mirror, close Shu Guangjing dichroic mirror to visible ray high anti-, to iraser high thoroughly after export iraser to scanning galvanometer; Scanning galvanometer is by incident iraser output to the dynamic foreign body of overhead transmission line.
And, described reflecting mirror is placed on the camera lens optical axis of image capture device and parallels placement with dichroic mirror, described scanning galvanometer by the visible reflectance externally entered to dichroic mirror, by dichroic mirror to reflecting mirror, reflected into image capture device by reflecting mirror again; Described image capture device gathers the image of the dynamic foreign body of overhead transmission line and by image transmitting to controller by visible reflectance, and the self-scanning galvanometer that image capture device obtains is arranged to the image acquisition optical axis of dichroic mirror with iraser light shaft coaxle.
The present invention is further arranged to: described scanning galvanometer includes the first scanning galvanometer eyeglass, the first scanning galvanometer motor, the second scanning galvanometer eyeglass, the second scanning galvanometer motor, and described first scanning galvanometer motor and the second scanning galvanometer motor are connected with controller respectively; Described first scanning galvanometer eyeglass is driven by the first scanning galvanometer motor and rotates, and described second scanning galvanometer eyeglass is driven by the second scanning galvanometer motor and rotates, and the rotating shaft of the first scanning galvanometer eyeglass and the rotating shaft of the second scanning galvanometer eyeglass are vertically arranged; The iraser that dichroic mirror inputs is reflexed on the second scanning galvanometer eyeglass by described first scanning galvanometer eyeglass, described second scanning galvanometer eyeglass iraser is reflexed on the dynamic foreign body of overhead transmission line and by the visible ray that externally enters through the first scanning galvanometer lens reflecting to dichroic mirror.
The present invention is further arranged to: described controller is connected with scanning galvanometer and image capture device respectively by cable.
The present invention is further arranged to: described image capture device has the telephoto lens of adjustable focus.
The present invention also provides for the method for sight of a kind of sighting device remotely removing the dynamic foreign body of overhead transmission line for laser, comprises the following steps:
1) by the second scanning galvanometer eyeglass of scanning galvanometer by the visible ray externally entered through the first scanning galvanometer lens reflecting to dichroic mirror, by dichroic mirror to reflecting mirror, reflected into image capture device by reflecting mirror again, image capture device by the image transmitting that gathers to controller;
2) image of acceptance is shown on display screen by controller, it is manipulated by device and controls the first scanning galvanometer motor and the rotation of the second scanning galvanometer motor, first scanning galvanometer eyeglass and the second scanning galvanometer eyeglass are rotated, thus changing the collection visual field of iraser exit direction and image capture device, and the dynamic foreign body image obtaining overhead transmission line is shown in central region;
3) it is pointed to the dynamic foreign body of the overhead transmission line of central region carry out iraser and aim at and give calcination and remove;
4) when the dynamic foreign body target of overhead transmission line is in swing, distance and the direction of the current calcination point aimed at deviation central region is calculated by controller; To the dynamic foreign body target beyond central region scope, it is manipulated by device and rotates to control scanning galvanometer, dynamic foreign body target is overlapped with central region, it is achieved the dynamic foreign body of overhead transmission line is followed the tracks of and aimed to iraser light beam all the time.
Compared with prior art, the invention have the advantages that:
1, the sighting device remotely removing the dynamic foreign body of overhead transmission line for laser provided by the invention, easily remote laser facula position can be accurately positioned, setting by light combination mirror and visible ray indicator, can solve owing to laser beam is to the invisible long-range pointing problem brought of human eye and image capture device, for dynamic foreign body target, the rotation that can pass through scanning galvanometer controls laser beam direction quickly and accurately, hot spot is made to rest on foreign body target position all the time, thus dynamic foreign body realization of goal laser burns is removed.
2, the method for sight of the sighting device remotely removing the dynamic foreign body of overhead transmission line for laser provided by the invention, simple to operate, be quick on the draw, without other auxiliary equipment, also need not climb shaft tower, operator with transmission line equipment without directly contacting the long-range foreign body that can take accurate aim, and tracking aiming can be continued, realization can livewire work, can at a distance in time, quickly and safely remove circuit foreign body, task difficulty is low, safe and efficient, time saving and energy saving.
Foregoing is only the general introduction of technical solution of the present invention, and in order to be better understood upon the technological means of the present invention, below in conjunction with accompanying drawing, the invention will be further described.
Accompanying drawing explanation
Fig. 1 is the structural representation that the present invention remotely removes the sighting device of the dynamic foreign body of overhead transmission line for laser;
Fig. 2 is that the present invention remotely removes the fundamental diagram of scanning galvanometer in the sighting device of the dynamic foreign body of overhead transmission line for laser.
Detailed description of the invention
Below in conjunction with Figure of description, the present invention is further illustrated.
A kind of sighting device remotely removing the dynamic foreign body of overhead transmission line for laser as shown in Figure 1, including light combination mirror 1, dichroic mirror 2, visible ray indicator 3, reflecting mirror 4, scanning galvanometer 5, image capture device 6 and controller 7, described scanning galvanometer 5 includes first scanning galvanometer eyeglass the 51, first scanning galvanometer motor the 52, second scanning galvanometer eyeglass the 53, second scanning galvanometer motor 54, and described image capture device the 6, first scanning galvanometer motor 52 is connected with controller 7 by cable respectively with the second scanning galvanometer motor 54; Described image capture device 6 preferably has the telephoto lens of adjustable focus, it is possible to observe foreign body at a distance by focusing.
Described dichroic mirror 2 is anti-to visible ray height, iraser is high thoroughly, and described first scanning galvanometer eyeglass 51 and the second scanning galvanometer eyeglass 53 are all to visible ray, iraser height instead; Described first scanning galvanometer eyeglass 51 is driven by the first scanning galvanometer motor 52 and rotates, described second scanning galvanometer eyeglass 53 is driven by the second scanning galvanometer motor 54 and rotates, and the rotating shaft of the first scanning galvanometer eyeglass 51 and the rotating shaft of the second scanning galvanometer eyeglass 53 are vertically arranged.
Described light combination mirror 1, dichroic mirror 2 and the first scanning galvanometer eyeglass 51 are sequentially placed on iraser optical axis 11, described light combination mirror 1 and iraser optical axis 11 light direction are that 135 degree of angles are placed, described dichroic mirror 2 and iraser optical axis 11 light direction are that 45 degree of angles are placed, described visible ray indicator 3 and iraser optical axis 11 light direction are that 90 degree of angles are placed, and go out light towards light combination mirror 1;The light coaxial output in the same direction after light combination mirror 1 reflects and closes bundle with iraser that goes out of visible ray indicator 3 closes Shu Guang to dichroic mirror 2, close Shu Guangjing dichroic mirror 2 to visible ray high anti-, to iraser high thoroughly after output iraser to the first scanning galvanometer eyeglass 51; Incident iraser is reflexed on the second scanning galvanometer eyeglass 53 by described first scanning galvanometer eyeglass 51, and iraser is reflexed on the dynamic foreign body of overhead transmission line by the second scanning galvanometer eyeglass 51.
Described reflecting mirror 4 is placed on the camera lens optical axis 60 of image capture device 6 and parallels placement with dichroic mirror 2, and the visible ray externally entered is reflected to dichroic mirror 2 through the first scanning galvanometer eyeglass 51, dichroic mirror 2 is reflected to reflecting mirror 4, is reflected into image capture device 6 by reflecting mirror 4 again by described second scanning galvanometer eyeglass 53 successively; Described image capture device 6 gathers the view data of the dynamic foreign body of overhead transmission line by visible reflectance and view data is transferred to controller 7, and image acquisition optical axis 12 and the iraser optical axis 11 of self-scanning galvanometer 5 to the dichroic mirror 2 that image capture device 6 obtains are coaxially disposed.
The present invention also provides for the method for sight of a kind of sighting device remotely removing the dynamic foreign body of overhead transmission line for laser, comprises the following steps:
1) by the second scanning galvanometer eyeglass 53 of scanning galvanometer 5, the visible ray externally entered is reflected to dichroic mirror 2 through the first scanning galvanometer eyeglass 51, dichroic mirror 2 is reflected to reflecting mirror 4, reflected into image capture device 6 by reflecting mirror 4 again, image capture device 6 by the image transmitting that gathers to controller 7;
2) image of acceptance is shown on display screen by controller 7, it is manipulated by device 7 and controls the first scanning galvanometer motor 52 and the second scanning galvanometer motor 54 rotates, first scanning galvanometer eyeglass 51 and the second scanning galvanometer eyeglass 53 are rotated, thus changing the collection visual field of iraser exit direction and image capture device, and the dynamic foreign body image obtaining overhead transmission line is shown in central region;
3) it is pointed to the dynamic foreign body of the overhead transmission line of central region carry out iraser and aim at and give calcination and remove;
4) when the dynamic foreign body target of overhead transmission line is in swing, distance and the direction of the calcination point deviation central region of current aiming is calculated by controller 7; To the dynamic foreign body target beyond central region scope, it is manipulated by device 7 and rotates to control scanning galvanometer 5, dynamic foreign body target is overlapped with central region, it is achieved the dynamic foreign body of overhead transmission line is followed the tracks of and aimed to iraser light beam all the time.
Wherein, scanning galvanometer 5 is adopted to realize dynamic collimation fast and effectively. As in figure 2 it is shown, incident iraser is reflexed on the first scanning galvanometer eyeglass 53 by the first scanning galvanometer eyeglass 51; When first scanning galvanometer eyeglass 51 rotates, the hot spot on the second scanning galvanometer eyeglass 53 can move in the x-direction; And the second scanning galvanometer eyeglass 53 is when rotating, the iraser hot spot of its transmitting then can move in y-axis direction, synergic rotation by two scanning galvanometer eyeglasses, laser beam can be controlled scan on xy two dimensional surface, owing to galvanometer eyeglass can accurately rotate at a high speed, therefore laser beam can quickly swing.
Two panels scanning galvanometer sheet is not only high anti-to iraser, also visible ray is high anti-, according to light path principle of reversibility, the visible ray of direction, iraser hot spot place reflection, also passing through scanning galvanometer sheet entrance optical system, dichroic mirror 2 is high thoroughly to iraser, visible ray is high anti-, therefore can by the visible reflectance of entrance to reflecting mirror 4, reflecting mirror 4 is reflected into image capture device 6 light again, thus realizing the image acquisition of iraser outbound course.Owing to the image acquisition optical axis 12 of self-scanning galvanometer 5 to the dichroic mirror 2 of image capture device 6 acquisition is coaxially disposed with iraser optical axis 11, the picture centre therefore collected is bound with infrared light facula position and overlaps; No matter how light beam rotates, hot spot all remains at field of view center, scanning galvanometer 5 can be operated by controller 7 and change the collection visual field of iraser exit direction and image capture device, foreign body target be moved to picture centre and can realize iraser light beam and follow the tracks of and aim at the dynamic foreign body of overhead transmission line all the time.
The innovative point of the present invention is in that, it is achieved that laser is remotely removed the intelligent-tracking of the dynamic foreign body of overhead transmission line and aimed at, and can significantly promote practicality and the reliability of the field of power transmission overhead transmission line long-range cleanout tool of foreign body laser.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described. Skilled person will appreciate that of the industry; the present invention is not restricted to the described embodiments; described in above-described embodiment and description is that principles of the invention is described; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements both fall within the claimed scope of the invention. Claimed scope is defined by appending claims and equivalent thereof.
Claims (5)
1. the sighting device remotely removing the dynamic foreign body of overhead transmission line for laser, it is characterized in that: including light combination mirror, dichroic mirror, visible ray indicator, reflecting mirror, scanning galvanometer, image capture device and controller, described scanning galvanometer is connected with controller respectively with image capture device; Described dichroic mirror is high anti-, iraser is high thoroughly to visible ray, and described scanning galvanometer is all high instead to visible ray, iraser;
Described light combination mirror and dichroic mirror are sequentially placed on iraser optical axis, described light combination mirror and iraser optical axis light direction are that 135 degree of angles are placed, described dichroic mirror and iraser optical axis light direction are that 45 degree of angles are placed, described visible ray indicator and iraser optical axis light direction are that 90 degree of angles are placed, and go out light towards light combination mirror; The light coaxial output in the same direction after bundle is closed in light combination mirror reflection and iraser that goes out of visible ray indicator closes Shu Guang to dichroic mirror, close Shu Guangjing dichroic mirror to visible ray high anti-, to iraser high thoroughly after export iraser to scanning galvanometer; Scanning galvanometer is by incident iraser output to the dynamic foreign body of overhead transmission line;
Described reflecting mirror is placed on the camera lens optical axis of image capture device and parallels placement with dichroic mirror, described scanning galvanometer by the visible reflectance externally entered to dichroic mirror, by dichroic mirror to reflecting mirror, reflected into image capture device by reflecting mirror again; Described image capture device gathers the image of the dynamic foreign body of overhead transmission line and by image transmitting to controller by visible reflectance, and the self-scanning galvanometer that image capture device obtains is arranged to the image acquisition optical axis of dichroic mirror with iraser light shaft coaxle.
2. the sighting device remotely removing the dynamic foreign body of overhead transmission line for laser according to claim 1, it is characterized in that: described scanning galvanometer includes the first scanning galvanometer eyeglass, the first scanning galvanometer motor, the second scanning galvanometer eyeglass, the second scanning galvanometer motor, and described first scanning galvanometer motor and the second scanning galvanometer motor are connected with controller respectively;
Described first scanning galvanometer eyeglass is driven by the first scanning galvanometer motor and rotates, and described second scanning galvanometer eyeglass is driven by the second scanning galvanometer motor and rotates, and the rotating shaft of the first scanning galvanometer eyeglass and the rotating shaft of the second scanning galvanometer eyeglass are vertically arranged;
The iraser that dichroic mirror inputs is reflexed on the second scanning galvanometer eyeglass by described first scanning galvanometer eyeglass, described second scanning galvanometer eyeglass iraser is reflexed on the dynamic foreign body of overhead transmission line and by the visible ray that externally enters through the first scanning galvanometer lens reflecting to dichroic mirror.
3. the sighting device remotely removing the dynamic foreign body of overhead transmission line for laser according to claim 1, it is characterised in that: described controller is connected with scanning galvanometer and image capture device respectively by cable.
4. the sighting device remotely removing the dynamic foreign body of overhead transmission line for laser according to claim 1, it is characterised in that: described image capture device has the telephoto lens of adjustable focus.
5. the method for sight of the sighting device remotely removing the dynamic foreign body of overhead transmission line for laser according to claim 1, it is characterised in that comprise the following steps:
1) by the second scanning galvanometer eyeglass of scanning galvanometer by the visible ray externally entered through the first scanning galvanometer lens reflecting to dichroic mirror, by dichroic mirror to reflecting mirror, reflected into image capture device by reflecting mirror again, image capture device by the image transmitting that gathers to controller;
2) image of acceptance is shown on display screen by controller, it is manipulated by device and controls the first scanning galvanometer motor and the rotation of the second scanning galvanometer motor, first scanning galvanometer eyeglass and the second scanning galvanometer eyeglass are rotated, thus changing the collection visual field of iraser exit direction and image capture device, and the dynamic foreign body image obtaining overhead transmission line is shown in central region;
3) it is pointed to the dynamic foreign body of the overhead transmission line of central region carry out iraser and aim at and give calcination and remove;
4) when the dynamic foreign body target of overhead transmission line is in swing, distance and the direction of the current calcination point aimed at deviation central region is calculated by controller; To the dynamic foreign body target beyond central region scope, it is manipulated by device and rotates to control scanning galvanometer, dynamic foreign body target is overlapped with central region, it is achieved the dynamic foreign body of overhead transmission line is followed the tracks of and aimed to iraser light beam all the time.
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| CN201610188462.XA CN105655924A (en) | 2016-03-29 | 2016-03-29 | Aiming device used for remotely removing overhead line dynamic foreign bodies through laser and method thereof |
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| CN201610188462.XA CN105655924A (en) | 2016-03-29 | 2016-03-29 | Aiming device used for remotely removing overhead line dynamic foreign bodies through laser and method thereof |
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| CN106804560A (en) * | 2016-12-16 | 2017-06-09 | 东莞市万科建筑技术研究有限公司 | Laser mosquito eradication device and method |
| CN107069545A (en) * | 2017-03-31 | 2017-08-18 | 广东电网有限责任公司东莞供电局 | Method and device for removing floating hanging objects of ground wire |
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| CN107706821A (en) * | 2017-11-09 | 2018-02-16 | 北京电子工程总体研究所 | A kind of CO of structural I-beam2Laser power grid foreign matter removes instrument |
| CN107666135A (en) * | 2017-11-27 | 2018-02-06 | 上海西邦电气有限公司 | A kind of long distance laser obstacle eliminating system and its application method |
| CN110488309A (en) * | 2018-06-16 | 2019-11-22 | 南京理工大学 | The target Calibration Method of foreign matter device is removed based on laser |
| CN110490834A (en) * | 2018-06-16 | 2019-11-22 | 南京理工大学 | The object recognition and detection method of foreign matter device is removed based on laser |
| CN110488312A (en) * | 2018-06-16 | 2019-11-22 | 南京理工大学 | The target prediction method of foreign matter device is removed based on reflection-type laser |
| CN110480180A (en) * | 2018-06-16 | 2019-11-22 | 南京理工大学 | The object recognition and detection method of foreign matter device is removed based on reflection-type laser |
| CN110829261A (en) * | 2018-08-08 | 2020-02-21 | 北京林江科技有限公司 | Multispectral all-weather coaxial real-time monitoring laser remote foreign matter removing system |
| CN108767744A (en) * | 2018-08-23 | 2018-11-06 | 国网江苏省电力有限公司电力科学研究院 | One kind is from the long-range remove device of motion tracking power grid foreign matter laser and sweep-out method |
| CN108767744B (en) * | 2018-08-23 | 2024-05-03 | 国网江苏省电力有限公司电力科学研究院 | Laser remote cleaning device and method for automatically tracking foreign matters in power grid |
| CN109725325A (en) * | 2019-01-10 | 2019-05-07 | 中国科学院微电子研究所 | Laser tracking measurement system and method |
| CN109787148A (en) * | 2019-02-20 | 2019-05-21 | 中国电子科技集团公司第十一研究所 | Laser obstacle eliminating system |
| CN111595200A (en) * | 2020-06-08 | 2020-08-28 | 西安工业大学 | Scanning type laser pipe bending gun |
| CN111595200B (en) * | 2020-06-08 | 2022-04-08 | 西安工业大学 | Scanning type laser pipe bending gun |
| CN113210360A (en) * | 2021-05-26 | 2021-08-06 | 金顿激光科技(佛山)有限公司 | Defocusing light-break protection device based on coaxial distance measurement |
| CN116977184A (en) * | 2023-08-01 | 2023-10-31 | 南方电网数字电网研究院有限公司 | Transmission line image acquisition method, device, computer equipment and storage medium |
| CN116977184B (en) * | 2023-08-01 | 2024-03-19 | 南方电网数字电网研究院股份有限公司 | Transmission line image acquisition method, device, computer equipment and storage medium |
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Application publication date: 20160608 |