CN110472477B - Method for monitoring icing by carrying infrared camera by RTK unmanned aerial vehicle - Google Patents
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Abstract
The invention discloses a method for monitoring icing by utilizing an infrared camera carried by an RTK unmanned aerial vehicle, which is characterized in that simulation curves with different early warning levels are constructed and are rapidly compared with a collected conductor track curve, so that the icing early warning is rapidly evaluated, based on near-distance infrared imaging, the imaging interference caused by conductor icing and ground icing can be effectively eliminated by utilizing temperature difference, the multipoint icing thickness is rapidly analyzed through the edge detection technology and imaging conversion of infrared imaging, and the icing monitoring level of a power transmission line is improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle inspection, in particular to a method for monitoring icing by using an infrared camera carried by an RTK unmanned aerial vehicle.
Background
In the electric power facility system, a strip-shaped area below the line, which extends to both sides by a predetermined width along the roadside conductor of the high-voltage overhead power line, is called a power transmission line corridor. In a traditional transmission line channel corridor, along with continuous deterioration of natural environment, line icing is caused in low-temperature freezing rain and snow weather, a lead is frequently tripped, an insulator is frequently flashover, tower falling and line breaking accidents occur in severe cases, and safe operation of a transmission line is threatened.
At present, the ice observation is commonly performed on a power transmission line by manual ice observation and on-line monitoring, namely a weighing method, a wire inclination angle-sag method and an image method. The weighing method is used for observing the simulation lead by sampling, so that great deviation exists between the weighing method and the actual icing condition of the lead; the wire inclination angle-sag method cannot reflect the uneven distribution condition of the wires after being coated with ice, and the influence factors of the change of the sag of the wires are complex, have slight errors and have large difference of ice coating quality; the image method can only observe the near icing condition, the information acquisition amount is limited, and the camera cannot work once being covered by ice and snow.
With the development of unmanned aerial vehicle technology and photogrammetry technology, the way of patrolling transmission line corridors by using unmanned aerial vehicles is increasing day by day. When utilizing unmanned aerial vehicle to refine the circuit and patrolling and examining, both should consider unmanned aerial vehicle to the safe distance of transmission equipment, also consider camera focus, resolution ratio, picture factor etc. to the influence of image shooting quality to and unmanned aerial vehicle cloud platform angle and unmanned aerial vehicle aircraft nose orientation scheduling problem. Meanwhile, the influence of unstable airflow and wind direction during the line patrol process needs to be considered.
However, the artificial ground ice observation can only select a reference feature for observation, and the online monitoring calculation model assumes even distribution of ice coating, resulting in a larger deviation between the final calculation result and the actual result. Traditional many rotor unmanned aerial vehicle patrols the method and is patrolled personnel and patrols at ground manual control aircraft, patrols quality and safety and is restricted in the operation level of controlling the hand, and operating efficiency is not high and the precision is lower. When the unmanned aerial vehicle executes the power grid patrol flight task, if flight interruption is caused due to emergency or the unmanned aerial vehicle is damaged due to collision with a tree obstacle point, huge loss is brought to patrol and examine operation.
Disclosure of Invention
Aiming at the problems in the background technology, the method for monitoring icing by using the infrared camera carried by the RTK unmanned aerial vehicle is provided, data acquisition can be completed in the modes of accurately constructing a flight track by the RTK unmanned aerial vehicle, quickly identifying an icing conductor by near-distance infrared imaging and the like, the flight track is compared with a simulation early warning curve, the icing thickness is calculated by using an imaging principle, and quick assessment and icing thickness calculation of the full-gear conductor of the power transmission line are realized.
The invention relates to a method for monitoring icing by using an infrared camera carried by an RTK unmanned aerial vehicle, which comprises the following steps:
acquiring an icing early warning grade lead;
planning an unmanned aerial vehicle flight line according to the icing early warning grade lead;
extracting a waypoint in the flight route of the unmanned aerial vehicle;
arranging an unmanned aerial vehicle to transversely fly between the waypoints towards the direction of the wire, and acquiring images of the waypoints by using an infrared double-light camera;
calculating the multi-point space coordinate of the wire according to the image of the navigation point;
comparing the multi-point space coordinates of the conducting wire before and after icing, and calculating the average icing thickness of the conducting wire;
and constructing an icing conductor curve according to the multi-point space coordinates of the conductor, and comparing the icing conductor curve with the icing early warning grade conductor to obtain the early warning grade of the icing conductor.
The step of planning the flight line of the unmanned aerial vehicle according to the icing early warning grade lead comprises the following steps:
selecting the position of a RTK unmanned aerial vehicle reference station;
measuring the relation between the position of the reference station and the spatial position of each wire hanging point in the flight range of the unmanned aerial vehicle by adopting a three-dimensional laser radar or a total station;
determining the spatial coordinates of each wire hanging point through a flight control program;
and the unmanned aerial vehicle executes the space coordinate connection line of the corresponding wire hanging point to be the flight route of the unmanned aerial vehicle according to different icing early warning levels and completes the flight task.
The flight route of the unmanned aerial vehicle consists of a plurality of route points and route sections between adjacent route points, the unmanned aerial vehicle flies along a straight line in the flight route of the route sections, and the flight attitude of the unmanned aerial vehicle can be changed according to the requirements of tasks when certain route points are reached.
The unmanned aerial vehicle mainly adopts a Dajiang M210-RTK version unmanned aerial vehicle, carries a Zen ZENMUSE XT2 dual-photo-thermal imaging camera, and monitors a +/-800 kV direct current transmission line.
The reference station is a ground fixed observation station which continuously observes satellite navigation signals for a long time and transmits observation data to a data center in real time or at regular time through a communication facility.
The laser radar is a radar system that detects a characteristic quantity such as a position, a speed, and the like of a target by emitting a laser beam. The working principle is that a detection signal (laser beam) is emitted to a target, then a received signal (target echo) reflected from the target is compared with the emitted signal, and after appropriate processing, relevant information of the target, such as target distance, azimuth, height, speed, attitude, even shape and other parameters, can be obtained, so that the targets of airplanes, missiles and the like are detected, tracked and identified.
The total station, namely a total station type electronic distance measuring instrument, is a high-tech measuring instrument integrating light, machine and electricity, and is a surveying and mapping instrument system integrating horizontal angle, vertical angle, distance (slant distance and flat distance) and height difference measuring functions.
According to the invention, the icing early warning rapid evaluation is realized by constructing simulation curves with different early warning levels and rapidly comparing the simulation curves with the acquired lead track curve. Meanwhile, based on near-distance infrared imaging, imaging interference caused by wire icing and ground icing can be effectively eliminated by utilizing temperature difference, the multipoint icing thickness is quickly analyzed through the edge detection technology and imaging conversion of infrared imaging, and the icing monitoring level of the power transmission line is improved.
Further, the icing warning grade wire comprises: a primary warning wire, a secondary warning wire and a tertiary warning wire; the first-stage warning lead is a curve of the lead in the air when the designed icing value of the lead is 130%; the secondary warning lead is a curve of the lead in the air when the designed icing value of the lead is 70%; the three-level warning lead is a curve of the lead in the air when the designed icing value of the lead is 40%.
Specifically, the step of setting up unmanned aerial vehicle and keeping transversely flying towards the wire direction between the waypoint to gather with two optical camera in infrared the image of waypoint includes:
set up unmanned aerial vehicle and keep horizontal flight mode flight between the waypoint, the aircraft nose is towards the wire direction, and every waypoint cloud platform pitch angle degree is zero, carries out the action of shooing of infrared two optical camera.
Further, the step of calculating the multi-point space coordinates of the wire according to the images of the waypoints comprises:
acquiring coordinate information and picture pixels of the unmanned aerial vehicle during flight;
calculating the horizontal distance between the waypoint image and the wire;
and calculating the multi-point space coordinates of the wire based on the imaging principle.
Further, the step of comparing the multi-point spatial coordinates of the wire before and after icing and calculating the average icing thickness of the wire comprises:
acquiring the characteristic size of the ice-coated wire through an image processing technology, and comparing the coordinates of boundary points of the wire before and after ice coating to obtain the thickness of the ice-coated wire; assuming that the wire diameter d (mm) is known, the average ice coating thicknesses h1(mm) and h2(mm) of the upper and lower edges of the wire are respectively:
the average ice coating thickness h (mm) of the whole wire can be obtained
Wherein, p (x) represents the number of pixel points corresponding to the diameter of the wire; p1(x) and p2(x) respectively represent the number of pixel points corresponding to the upper and lower edge ice layers of the lead; pixels is a complex form of a pixel.
Further, the step of constructing an ice-coated wire curve according to the multi-point space coordinates of the wire, comparing the ice-coated wire curve with the ice-coated early warning grade wire to obtain the early warning grade of the ice-coated wire comprises the following steps:
constructing a maximum sag formula of a wire suspended at two points according to the characteristics of an oblique parabola equation:
wherein sigma0The horizontal stress at the lowest point of the wire in the running state; gamma is the specific load of the wire in the running state of the wire; l is the wire span; beta is a height difference angle; the span and the height difference angle of the wire can be obtained by a line tower detail list，fmCan be obtained by fitting a curve;
solving the horizontal stress sigma at the lowest point of the wire0：
σ2(σ+a)＝b
Wherein a and b are defined as:
wherein sigmamHorizontal stress at the lowest point of the wire under known operating conditions; sigma is the horizontal stress under the meteorological condition to be calculated; gamma raymThe specific load of the wire under the known operation state is obtained; t is tmAnd t is the known wire temperature and the wire temperature under the condition to be calculated respectively; e is the elastic coefficient of the wire; alpha is the temperature elongation coefficient of the wire;
calculating the equivalent icing thickness through the temperature of the lead and the maximum sag;
and judging the percentage of the equivalent icing thickness exceeding the maximum icing design value, and judging the early warning level of the icing conductor.
In order that the invention may be more clearly understood, specific embodiments thereof will be described hereinafter with reference to the accompanying drawings.
Drawings
Fig. 1 is a flowchart of a method for monitoring icing by using an RTK version unmanned aerial vehicle to carry an infrared camera according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of an unmanned aerial vehicle flight route and waypoint actions according to an embodiment of the present invention.
Fig. 3 is a schematic diagram illustrating a calculation of a multi-point spatial coordinate of an ice-coated wire according to an embodiment of the present invention.
Fig. 4 is a schematic diagram illustrating calculation of the thickness of ice coated on a wire according to an embodiment of the present invention.
Fig. 5 is a schematic view of a wire oblique parabola according to an embodiment of the present invention.
Detailed Description
Please refer to fig. 1, which is a flowchart illustrating a method for monitoring ice coating by using an RTK version unmanned aerial vehicle to carry an infrared camera according to an embodiment of the present invention.
The invention discloses a method for monitoring icing by using an RTK unmanned aerial vehicle to carry an infrared camera, which comprises the following steps:
s1, acquiring an icing early warning grade lead;
s2, planning a flight line of the unmanned aerial vehicle according to the icing early warning grade lead;
s3, extracting waypoints in the flight path of the unmanned aerial vehicle;
s4, arranging the unmanned aerial vehicle to fly transversely between the waypoints towards the direction of the wire, and collecting the image of the waypoint by using an infrared double-light camera;
s5, calculating the multi-point space coordinates of the guide line according to the images of the navigation points;
s6, comparing the multi-point space coordinates of the conducting wire before and after icing, and calculating the average icing thickness of the conducting wire;
s7, constructing an ice-coated wire curve according to the multi-point space coordinates of the wire, and comparing the ice-coated wire curve with the ice-coated early warning grade wire to obtain the early warning grade of the ice-coated wire.
According to the invention, the icing early warning rapid evaluation is realized by constructing simulation curves with different early warning levels and rapidly comparing the simulation curves with the acquired lead track curve. Meanwhile, based on near-distance infrared imaging, imaging interference caused by wire icing and ground icing can be effectively eliminated by utilizing temperature difference, the multipoint icing thickness is quickly analyzed through the edge detection technology and imaging conversion of infrared imaging, and the icing monitoring level of the power transmission line is improved.
The air route planning algorithm is an important component in the unmanned aerial vehicle technology, and has great significance for improving the survival capability of the unmanned aerial vehicle and the success rate of tasks. As the UAV in Xinjiang can only call the linear flight task on the vertical plane, and the flight time and the waypoint limit are considered, the flight route of the UAV needs to be re-optimized by combining the characteristics of power transmission line equipment and channel terrain, as shown in FIG. 2.
In this embodiment, the icing warning level wire includes: a primary warning wire, a secondary warning wire and a tertiary warning wire; the first-stage warning lead is a curve of the lead in the air when the designed icing value of the lead is 130%; the secondary warning lead is a curve of the lead in the air when the designed icing value of the lead is 70%; the three-level warning lead is a curve of the lead in the air when the designed icing value of the lead is 40%.
In an anti-icing preparation stage, selecting the position of an RTK unmanned aerial vehicle reference station; measuring the relation between the position of the reference station and the spatial position of each wire hanging point in the flight range of the unmanned aerial vehicle by adopting a three-dimensional laser radar or a total station;
in the icing observation stage, determining the spatial coordinates of each wire hanging point through a flight control program; and according to different icing early warning levels, executing corresponding wire hanging point space coordinate connecting lines to execute flight tasks for the flight routes of the unmanned aerial vehicle.
Set up unmanned aerial vehicle and keep horizontal flight mode flight between the waypoint, the aircraft nose towards the wire direction, every waypoint cloud platform pitch angle degree is zero, carries out the action of shooing of infrared two optical cameras, can accomplish data acquisition.
In this embodiment, referring to fig. 3, a dual-optical camera is used to collect coordinate information and picture pixels of the unmanned aerial vehicle during flight; calculating the horizontal distance between the waypoint image and the guide line by adopting manual and professional software; the coordinates of the central position of the navigation point image are coordinates provided for POS information, and the multi-point space coordinates of the ice-coated wire can be quickly calculated based on the imaging principle.
Please refer to fig. 4, which is a schematic diagram illustrating a calculation of the ice coating thickness of the conductive wire according to an embodiment of the present invention.
Acquiring the characteristic size of the ice-coated wire through an image processing technology, and comparing the coordinates of boundary points of the wire before and after ice coating to obtain the thickness of the ice-coated wire; assuming that the wire diameter d (mm) is known, the average ice coating thicknesses h1(mm) and h2(mm) of the upper and lower edges of the wire are respectively:
the average ice coating thickness h (mm) of the whole wire can be obtained
Wherein, p (x) represents the number of pixel points corresponding to the diameter of the wire; p1(x) and p2(x) respectively represent the number of pixel points corresponding to the upper and lower edge ice layers of the lead; pixels is a complex form of a pixel.
The icing thickness of the power transmission line is an index designed, only a value needs to be calculated, and the icing thickness h is only a measurement reference value. The ice coating type of the wires is difficult to judge through the waypoint images, and therefore the wires need to be further analyzed and judged by means of force and stress analysis and calculation.
By utilizing the multi-point wire coordinates obtained through calculation, the construction of the ice-coated wire curve can be completed in a curve fitting mode, and the ice-coated wire curve is compared with the ice-coated warning zones at all levels, so that the ice disaster assessment can be quickly carried out.
Please refer to fig. 5, which is a schematic diagram of a wire oblique parabola according to an embodiment of the present invention.
Constructing a maximum sag formula of a wire suspended at two points according to the characteristics of an oblique parabola equation:
wherein sigma0The horizontal stress at the lowest point of the wire in the running state; gamma is the specific load of the wire in the running state of the wire; l is the wire span; beta is a height difference angle; the span and the height difference angle of the wire can be obtained through a line tower detail list fmCan be obtained by fitting a curve;
solving the horizontal stress sigma at the lowest point of the wire0：
σ2(σ+a)＝b
Wherein a and b are defined as:
wherein sigmamHorizontal stress at the lowest point of the wire under known operating conditions; sigma is the horizontal stress under the meteorological condition to be calculated; gamma raymThe specific load of the wire under the known operation state is obtained; t is tmAnd t is the known wire temperature and the wire temperature under the condition to be calculated respectively; e is the elastic coefficient of the wire; alpha is the temperature elongation coefficient of the wire;
from the wire state equation, for a wire suspended at two points, when the meteorological conditions change (i.e. the air temperature and the load change), the wire stress and sag also change. If the wire stress sigma under a certain meteorological condition is knownmSpecific load of gammamAir temperature tmThen, the relation equation of stress sigma, specific load gamma and air temperature t under the meteorological condition to be solved can be obtained, and the joint type is vertical
And obtaining a relational expression of the temperature of the lead, the maximum sag and the equivalent ice coating thickness, wherein for the running line, the line span, the altitude difference angle, the paying-off stress and the lead parameters are determined, so that the equivalent ice coating thickness can be obtained through the temperature of the lead and the maximum sag.
And judging the percentage of the equivalent icing thickness exceeding the maximum icing design value, and judging the early warning level of the icing conductor. When the constructed ice-coated conducting wire is positioned between the two-level and three-level warning conducting wires, the conducting wire is at the third-level warning, and the ice-coated thickness of the conducting wire exceeds the maximum ice-coated design value by 40 percent; when the constructed ice-coated conducting wire is positioned between the first-level and second-level warning conducting wires, the conducting wire is at the second-level warning state, and the ice-coated thickness of the conducting wire exceeds the maximum ice-coated design value by 70 percent; when the constructed ice-coated conducting wire is positioned below the first-level warning conducting wire, the first-level warning conducting wire is positioned, and the ice-coated thickness of the conducting wire exceeds the maximum ice-coated design value by 130%.
The embodiment combines the current RTK positioning technology of the unmanned aerial vehicle and the infrared imaging principle, discusses a method for completely reconstructing a wire icing model based on infrared image acquisition and space positioning modes, completing preliminary calculation of icing thickness, analyzing sag changes and calculating standard icing thickness, and overcomes the defects of the current ice observation mode. The infrared imaging can effectively eliminate the influence of ice and snow color difference, has the advantage that a visible light camera is incomparable, can effectively monitor the temperature of a full-grade wire, and can effectively improve the calculation precision of the ice coating thickness.
In the traditional icing technology research process, the common method is that operators manually observe ice on the ground, the method only can select reference specific samples for observation, the online monitoring and calculating model is assumed to be evenly distributed according to the icing, and the final calculating result of the method has larger deviation from the actual result.
According to the invention, simulation curves with different early warning levels are constructed according to the early warning requirements, and are rapidly compared with the acquired lead track curve, so that the icing early warning rapid evaluation is realized. Meanwhile, based on near-distance infrared imaging, imaging interference caused by wire icing and ground icing can be effectively eliminated by utilizing temperature difference, the multipoint icing thickness is rapidly analyzed through the edge detection technology and imaging conversion of infrared imaging, and the icing monitoring level of the power transmission line is improved.
Compared with the prior art, the method is based on the high-precision positioning and infrared imaging technology of the unmanned aerial vehicle, and the problems that the sag change of the whole gear and the icing thickness of the lead cannot be monitored at present are researched and solved. The solution of icing monitoring of this application research compares on-line monitoring, and the input cost is low, the reliability is high, easily promotes and uses on a large scale in transmission line anti-icing work.
The present invention is not limited to the above-described embodiments, and various modifications and variations of the present invention are included in the scope of the claims and the equivalent technology of the present invention if they do not depart from the spirit and scope of the present invention.
Claims (6)
1. A method for monitoring icing by using an infrared camera carried by an RTK unmanned aerial vehicle comprises the following steps:
acquiring an icing early warning grade lead;
planning an unmanned aerial vehicle flight line according to the icing early warning grade lead;
extracting a waypoint in the flight route of the unmanned aerial vehicle;
arranging an unmanned aerial vehicle to transversely fly between the waypoints towards the direction of the wire, and acquiring images of the waypoints by using an infrared double-light camera;
calculating the multi-point space coordinate of the wire according to the image of the navigation point;
comparing the multi-point space coordinates of the conducting wire before and after icing, and calculating the average icing thickness of the conducting wire;
constructing an icing conductor curve according to the multi-point space coordinates of the conductor, and comparing the icing conductor curve with the icing early warning grade conductor to obtain the early warning grade of the icing conductor;
the step of planning the flight line of the unmanned aerial vehicle according to the icing early warning grade lead comprises the following steps:
selecting the position of a RTK unmanned aerial vehicle reference station;
measuring the relation between the position of the reference station and the spatial position of each wire hanging point in the flight range of the unmanned aerial vehicle by adopting a three-dimensional laser radar or a total station;
determining the spatial coordinates of each wire hanging point through a flight control program;
and the unmanned aerial vehicle executes the space coordinate connection line of the corresponding wire hanging point to be the flight route of the unmanned aerial vehicle according to different icing early warning levels and completes the flight task.
2. The method for monitoring icing by using an infrared camera carried by an RTK unmanned aerial vehicle according to claim 1, wherein the icing early warning grade wire comprises: a primary warning wire, a secondary warning wire and a tertiary warning wire; the first-stage warning lead is a curve of the lead in the air when the designed icing value of the lead is 130%; the secondary warning lead is a curve of the lead in the air when the designed icing value of the lead is 70%; the three-level warning lead is a curve of the lead in the air when the designed icing value of the lead is 40%.
3. The method for monitoring icing using an infrared camera carried by an RTK unmanned aerial vehicle according to claim 1, wherein the step of setting the unmanned aerial vehicle to fly transversely between the waypoints in a direction of a wire and acquiring an image of the waypoint with the infrared dual-optical camera comprises:
set up unmanned aerial vehicle and keep horizontal flight mode flight between the waypoint, the aircraft nose is towards the wire direction, and every waypoint cloud platform pitch angle degree is zero, carries out the action of shooing of infrared two optical camera.
4. The method for monitoring icing using an infrared camera carried by an RTK unmanned aerial vehicle according to claim 1, wherein the step of estimating the multi-point spatial coordinates of the wire from the image of the waypoint comprises:
acquiring coordinate information and picture pixels of the unmanned aerial vehicle during flight;
calculating the horizontal distance between the waypoint image and the wire;
and calculating the multi-point space coordinates of the wire based on the imaging principle.
5. The method for monitoring icing using an infrared camera carried by an RTK unmanned aerial vehicle according to claim 1, wherein the step of comparing the multi-point space coordinates of the wire before and after icing and calculating the average icing thickness of the wire comprises:
acquiring the characteristic size of the ice-coated wire through an image processing technology, and comparing the coordinates of boundary points of the wire before and after ice coating to obtain the thickness of the ice-coated wire; assuming that the wire diameter d (mm) is known, the average ice coating thicknesses h1(mm) and h2(mm) of the upper and lower edges of the wire are respectively:
the average ice coating thickness h (mm) of the whole wire can be obtained
Wherein, p (x) represents the number of pixel points corresponding to the diameter of the wire; p1(x) and p2(x) respectively represent the number of pixel points corresponding to the upper and lower edge ice layers of the lead; pixels is a complex form of a pixel.
6. The method for monitoring icing by utilizing an infrared camera carried by an RTK unmanned aerial vehicle according to claim 1, wherein the step of constructing an icing conductor curve by using multipoint space coordinates of the conductor, comparing the icing conductor curve with the icing early warning grade conductor to obtain the early warning grade of the icing conductor comprises the following steps of:
constructing a maximum sag formula of a wire suspended at two points according to the characteristics of an oblique parabola equation:
wherein sigma0The horizontal stress at the lowest point of the wire in the running state; gamma is the specific load of the wire in the running state of the wire; l is the wire span; beta is a height difference angle; the span and the height difference angle of the wire can be obtained through a line tower detail list fmCan be obtained by fitting a curve;
solving the horizontal stress sigma at the lowest point of the wire0：
σ2(σ+a)＝b
Wherein a and b are defined as:
wherein sigmamHorizontal stress at the lowest point of the wire under known operating conditions; sigma is the horizontal stress under the meteorological condition to be calculated; gamma raymThe specific load of the wire under the known operation state is obtained; t is tmAnd t is the known wire temperature and the wire temperature under the condition to be calculated respectively; e is the elastic coefficient of the wire; alpha is the temperature elongation coefficient of the wire;
calculating the equivalent icing thickness through the temperature of the lead and the maximum sag;
and judging the percentage of the equivalent icing thickness exceeding the maximum icing design value, and judging the early warning level of the icing conductor.
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| CN111487598B (en) * | 2020-03-26 | 2021-02-12 | 清华大学 | Ice layer thickness calculation method and device, computer equipment and storage medium |
| CN111311967A (en) * | 2020-03-31 | 2020-06-19 | 普宙飞行器科技（深圳）有限公司 | Unmanned aerial vehicle-based power line inspection system and method |
| CN111561914B (en) * | 2020-04-30 | 2024-01-23 | 国网浙江省电力有限公司 | Unmanned aerial vehicle for foundation pit detection based on RTK and detection method |
| CN111653081A (en) * | 2020-06-11 | 2020-09-11 | 安徽徽远成电气科技股份有限公司 | Power transmission line monitoring system |
| CN111696097A (en) * | 2020-06-15 | 2020-09-22 | 国网山东省电力公司平邑县供电公司 | Cable on-line monitoring method and device |
| CN112859925A (en) * | 2021-01-29 | 2021-05-28 | 中国南方电网有限责任公司超高压输电公司柳州局 | Unmanned aerial vehicle autonomous inspection method along overhead line |
| CN113324489B (en) * | 2021-05-26 | 2023-01-24 | 贵州电网有限责任公司 | Equivalent icing thickness monitoring method based on accurate measurement of conductor sag change |
| CN118224986A (en) * | 2024-05-23 | 2024-06-21 | 国网江西省电力有限公司电力科学研究院 | Online monitoring system and method for equivalent icing thickness of power transmission line |
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