CN115196031B - Power grid equipment shooting device for helicopter - Google Patents
Power grid equipment shooting device for helicopter Download PDFInfo
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- CN115196031B CN115196031B CN202211119178.9A CN202211119178A CN115196031B CN 115196031 B CN115196031 B CN 115196031B CN 202211119178 A CN202211119178 A CN 202211119178A CN 115196031 B CN115196031 B CN 115196031B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention aims to provide a helicopter power grid equipment shooting device, and relates to the technical field of power grid maintenance equipment. The shooting device for the power grid equipment for the helicopter can be arranged on the outer surface of the helicopter, so that the shooting cost is reduced.
Description
Technical Field
The invention relates to the technical field of power grid maintenance equipment, in particular to a power grid equipment shooting device for a helicopter.
Background
The helicopter inspection technology is characterized in that an operator takes a helicopter as a platform, equipment such as visible light detection and infrared detection is utilized, the helicopter inspection device flies at a proper speed through an on-line roadside side, visible light and infrared inspection is carried out on a power transmission line, defects existing in a transmission and transformation line are recorded, a defect report is generated, the helicopter inspection device is slightly influenced by regions and terrains, the inspection speed is high, the observation angle is good, the precision of the operation device is high, the small defects above bottle mouths such as a ground wire, hardware fittings and insulators can be found, the carried infrared imager with stable airborne gyroscope can also accurately find the infrared defects such as heating of the ground wire and heating of internal damage of the composite insulator, therefore, the helicopter inspection device is more favorable for improving the inspection efficiency and safety of the power transmission line, the requirement of high-efficiency operation and maintenance of a modern power grid is met, and the helicopter inspection device gradually becomes a common power inspection mode.
However, in the actual operation process, the following problems also exist:
1. the conventional inspection helicopters are all vortex-type medium-sized helicopters which carry medium-sized and large-sized photoelectric pods, have better performance, but higher use and operation cost, are more suitable for high-altitude electric power operation, and have better performance along with the improvement of helicopter manufacturing technology, so that light and small helicopters can meet the flight condition of plain inspection, but have no matched small-sized intelligent photoelectric pods at present;
2. the shooting degree of difficulty is big, and working strength is high, and present helicopter electric power is patrolled and examined or is taken with artifical handheld camera as leading, but this mode not only the cost of labor is high, owing to need pilot and shooting personnel closely to cooperate constantly, and efficiency is lower moreover, and when the attention is not concentrated, or artificial mistake mistaking, the missed shooting still can appear, the fuzzy scheduling problem of photo.
3. The helicopter airborne photoelectric pod shooting has the advantages that the intelligent degree is low, the mode mainly depends on manual remote control, the labor intensity is high, the reliability is not high, the automatic positioning and tracking of an automatic and intelligent routing inspection target of the existing airborne pod is not realized, the manual control is mainly depended on, and the influence of psychological states and technical proficiency is easily caused.
4. The automatic and intelligent data processing and fault diagnosis research in the later period is insufficient, the automatic and intelligent data processing and fault diagnosis research mainly depends on manual interpretation, the working load of the industry is large, the existing pod mainly depends on manual checking and fault recording during field operation, although part of pods have the function of data archiving and recording, the post-fault recognition is mainly carried out in a manual interpretation mode after downloading, and the working load of the later period is large and the period is long.
In view of the above, the present inventors have designed a power grid device shooting device for a helicopter through repeated experiments according to production design experiences in this field and related fields for many years, so as to solve the problems in the prior art.
Disclosure of Invention
The invention aims to provide a shooting device for power grid equipment for a helicopter, which can be arranged on the outer surface of the helicopter and reduce shooting cost.
In order to achieve the above purpose, the present invention provides a power grid equipment shooting device for a helicopter, wherein the power grid equipment shooting device for a helicopter at least includes a fixed frame, a tracking camera, a thermal imaging camera and a professional camera, the fixed frame can be installed on a helicopter, and the tracking camera, the thermal imaging camera and the professional camera are respectively installed on the fixed frame.
The shooting device for the helicopter power grid equipment further comprises a radar, and the radar is installed on the fixing frame.
The helicopter power grid equipment shooting device is characterized in that the radar is a millimeter wave radar.
Device is shot to helicopter power grid equipment as above, wherein, fixed frame is including at least fixed frame body, longitudinal tie pole and vertical rotation motor, vertical rotation motor sets firmly on the fixed frame body, the connecting rod with vertical rotation motor is connected and is in rotation under vertical rotation motor's the drive, the one end of connecting rod has set firmly respectively the tracking camera thermal imaging camera with the radar.
As above, helicopter is with electric wire netting equipment shooting device, wherein, fixed frame still includes transverse connection pole, horizontal pitch motor, roll motor and camera fixer, the other end of longitudinal connection pole radially buckles and forms the portion of bending, the roll motor is located the portion of bending, transverse connection pole one end with roll motor fixed connection and rotatory under the drive of roll motor, transverse connection pole's the other end sets firmly horizontal pitch motor, horizontal pitch motor with camera fixer fixed connection and drive the camera fixer is rotatory, professional camera sets firmly on the camera fixer.
The shooting device for the power grid equipment for the helicopter is characterized in that a damping mechanism is arranged between the fixed frame and the helicopter.
The shooting device for the power grid equipment of the helicopter is characterized in that the damping mechanism comprises:
the two placing seats are arranged at intervals and can be fixedly connected with the landing gear of the helicopter;
two ends of the connecting rod are respectively fixedly connected with the two placing seats;
a plurality of damper, each damper includes from top to bottom set gradually barrier plate, roof, steel wire, bottom plate and dog, each the dog cover is located outside the connecting rod and with connecting rod sliding fit, the barrier plate is used for the installation fixed frame.
The shooting device for the helicopter power grid equipment comprises a plurality of placing seats, wherein each placing seat is sleeved outside a helicopter undercarriage.
The shooting device for the helicopter power grid equipment is characterized in that the fixing frame is provided with an air damping pull rod.
The helicopter power grid equipment shooting device comprises a first connecting part, a telescopic rod, a sleeve and a second connecting part, wherein the first connecting part, the telescopic rod, the sleeve and the second connecting part are sequentially connected, one end of the telescopic rod is connected with the fixed frame in a penetrating mode, the other end of the telescopic rod is inserted into one end of the sleeve and is in sliding fit with the sleeve, and the other end of the sleeve is connected with the helicopter in a penetrating mode.
Compared with the prior art, the invention has the following characteristics and advantages:
the power grid equipment shooting device for the helicopter is arranged on the surface of the helicopter through the fixing frame, manual shooting is not needed, the problems of unclear shooting and high labor intensity caused by manual shooting are solved, meanwhile, the tracking camera, the thermal imaging camera and the professional camera are integrated on the fixing frame, and clear and accurate pictures can be shot through the tracking camera, the thermal imaging camera and the professional camera, so that later analysis is facilitated.
According to the power grid equipment shooting device for the helicopter, the tracking camera, the thermal imaging camera and the professional camera are integrated on the fixing frame, the overall weight and the overall size are reduced, the device can be installed on a light and small helicopter, and due to the fact that manual shooting is not needed, the helicopter can realize line inspection and shooting only through two workers, and inspection and shooting costs are reduced.
Drawings
The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. In addition, the shapes, the proportional sizes, and the like of the respective members in the drawings are merely schematic for facilitating the understanding of the present invention, and do not specifically limit the shapes, the proportional sizes, and the like of the respective members of the present invention. Those skilled in the art, having the benefit of the teachings of this invention, may choose from the various possible shapes and proportional sizes to implement the invention as a matter of case.
Fig. 1 is a schematic structural diagram of a shooting device of a power grid device for a helicopter according to the present invention;
FIG. 2 is a schematic structural view of the fixing frame of the present invention;
FIG. 3 is a schematic structural view of a damper mechanism according to the present invention;
FIG. 4 is a partial schematic view of a shock absorbing assembly according to the present invention;
FIG. 5 is a schematic view of the structure of the air damping drawbar according to the present invention;
fig. 6 is a schematic structural view of a second connecting member in the present invention.
Description of reference numerals:
| 100. the helicopter is provided with a power grid equipment shooting device; | 10. a fixing frame; |
| 11. a fixing frame body; | 12. a longitudinal connecting rod; |
| 13. a vertical rotation motor; | 14. a roll motor; |
| 15. a transverse connecting rod; | 16. a horizontal pitch motor; |
| 17. a camera holder; | |
| 20. a tracking camera; | 30. a thermal imaging camera; |
| 40. a professional camera; | 50. a radar; |
| 60. a damping mechanism; | 61. a placing seat; |
| 62. a connecting rod; | 63. a shock absorbing assembly; |
| 631. a blocking plate; | 632. a top plate; |
| 633. a steel wire; | 634. a base plate; |
| 635. a stopper; | 70. an air damping drawbar; |
| 71. a first connecting member; | 711. a stationary ring; |
| 712. a steering ball; | 72. a telescopic rod; |
| 73. a sleeve; | 74. a second connecting member; |
| 741. a sleeve; | 742. connecting blocks; |
| 743. rotating the tube; | 744. connecting columns; |
| 745. rotating the tube; | 746. extruding the block; |
| 747. and (5) positioning the blocks. |
Detailed Description
The details of the present invention will become more apparent in light of the accompanying drawings and description of specific embodiments thereof. However, the specific embodiments of the present invention described herein are for the purpose of illustration only and are not to be construed as limiting the invention in any way. Any possible variations based on the present invention may be conceived by the skilled person in the light of the teachings of the present invention, and these should be considered to fall within the scope of the present invention.
As shown in fig. 1 to 6, the present invention provides a power grid equipment photographing apparatus 100 for a helicopter, the power grid equipment photographing apparatus 100 for a helicopter at least includes a fixed frame 10, a tracking camera 20, a thermal imaging camera 30 and a professional camera 40, the fixed frame 10 can be mounted on a landing gear of the helicopter, and the tracking camera 20, the thermal imaging camera 30 and the professional camera 40 are respectively mounted on the fixed frame 10.
The power grid equipment shooting device 100 for the helicopter is installed on the surface of the helicopter through the fixing frame 10, manual shooting is not needed, the problems of unclear shooting and high labor intensity caused by manual shooting are solved, meanwhile, the tracking camera 20, the thermal imaging camera 30 and the professional camera 40 are integrated on the fixing frame 10, and clear and accurate pictures can be shot through the tracking camera 20, the thermal imaging camera 30 and the professional camera 40, so that later analysis is facilitated.
According to the power grid equipment shooting device 100 for the helicopter, the tracking camera 20, the thermal imaging camera 30 and the professional camera 40 are integrated on the fixing frame 10, the overall weight and the overall size are reduced, the device can be installed on a light and small helicopter, and due to the fact that manual shooting is not needed, the helicopter can realize routing inspection and shooting only by two workers, and routing inspection and shooting costs are reduced.
In the invention, the tracking camera 20 is mainly used for regional video shooting of the electric tower, the thermal imaging camera 30 is mainly used for detecting the heating condition of the electric tower due to wire faults, and the professional camera 40 is used for shooting the detail pictures of the key positions of the electric tower. The specific model of the tracking camera 20 can be selected as follows: the CMOS is 1/2.8' of total pixels 216 ten thousand, and the 30-time optical zoom lens F has the field angle (horizontal) of 4.7-141mm of 60-2.3 degrees.
The specific model of the thermal imaging camera 30 can be selected from: the detector type vanadium oxide uncooled infrared focal plane detector has a 640X512 resolution, a focal length of 19mm, a fixed focal head, temperature measurement accuracy of +/-3 ℃ or +/-3% (larger) of reading, ambient temperature of-20-60 ℃, sensitivity of not more than 50mk @25 ℃ and F #1.0.
The specific model of the professional camera 40 can be selected from: CMOS4500 ten thousand full picture auto focus, lens focus 100-400mm, jitter compensation 5 grade (based on CIPA test standard, 500mm focus end, when using EOS R)
In an alternative embodiment of the present invention, the helicopter grid equipment photographing apparatus 100 further includes a radar 50, and the radar 50 is mounted to the fixed frame 10. The millimeter wave radar is used for detecting the distance from the actual hovering position of the helicopter to the electric tower and is used for monitoring the flight safety distance by a crew and adjusting the focal length of a lens when the electric tower shoots.
In an alternative example of this embodiment, the radar 50 is a millimeter wave radar.
In an alternative embodiment of the present invention, the fixing frame 10 includes at least a fixing frame body 11, a longitudinal connecting rod 12 and a vertical rotation motor 13, the vertical rotation motor 13 is fixed on the fixing frame body 11, the vertical rotation motor 13 is provided with a first through hole, the longitudinal connecting rod 12 penetrates through the first through hole and is driven by the vertical rotation motor 13 to rotate, and one end of the longitudinal connecting rod 12 is respectively fixed with the tracking camera 20, the thermal imaging camera 30 and the radar 50. With the above structure, the vertical rotation motor 13 drives the tracking camera 20, the thermal imaging camera 30 and the radar 50 to move through the longitudinal connecting rod 12, so that the tracking camera 20, the thermal imaging camera 30 and the radar 50 can shoot conveniently.
In an alternative example of this embodiment, the fixed frame body 11 is a rectangular frame body, the vertical rotating motor 13 is mounted on an inner wall of one side of the fixed frame body 11, and the other side opposite to the vertical rotating motor 13 is mounted on the helicopter.
In an optional example of this embodiment, the fixing frame 10 further includes a roll motor 14, a transverse connecting rod 15, a horizontal pitch motor 16, and a camera holder 17, the other end of the longitudinal connecting rod 12 is radially bent to form a bent portion, the roll motor 14 is disposed at the bent portion, one end of the transverse connecting rod 15 is connected to the roll motor 14 and is driven by the roll motor 14 to rotate, the other end of the transverse connecting rod 15 is fixedly provided with the horizontal pitch motor 16, the horizontal pitch motor 16 is connected to the camera holder 17 and drives the camera holder 17 to rotate, and the professional camera 40 is fixedly disposed on the camera holder 17.
In an alternative example, the traverse motor 14 is provided with a second through hole, and the bent portion penetrates through the second through hole and is fixedly connected to the traverse motor 14.
In an alternative example, the transverse connecting rod 15 is U-shaped and perpendicular to the bending portion, the bottom end of the transverse connecting rod 15 is fixedly connected with the roll motor 14, and the two top ends of the transverse connecting rod 15 are respectively connected with the horizontal pitch motor 16. By adopting the structure, the horizontal pitching motors 16 at the two top ends of the transverse connecting rod 15 are synchronously started to drive the camera fixing frame 17 and the professional camera 40 to synchronously rotate, so that the shooting angle of the professional camera 40 can be adjusted.
In an optional embodiment of the present invention, the helicopter grid equipment shooting device 100 further includes a control element, the tracking camera 20, the thermal imaging camera 30, the professional camera 40, the radar 50, and the vertical rotation motor 13, the roll motor 14, and the horizontal pitch motor 16 are electrically connected to the control element, the detected images of the tracking camera 20, the thermal imaging camera 30, and the professional camera 40, and the detected signals of the radar 50 are respectively transmitted to the control element, and the control element can also control the start and stop of the vertical rotation motor 13, the roll motor 14, and the horizontal pitch motor 16, so that the tracking camera 20, the thermal imaging camera 30, the professional camera 40, and the radar 50 have better shooting angles.
The control element and the above-described components may be electrically connected by a wire, or may be electrically connected by a wireless method, and may transmit an image and an electric signal.
In an alternative embodiment of the present invention, a damping mechanism 60 is provided between the fixed frame 10 and the landing gear to reduce the shaking of the fixed frame 10, thereby maintaining the stability of the entire photographing apparatus and improving the quality of photographed images.
In an alternative example of this embodiment, the shock absorbing mechanism 60 includes two placing seats 61, a connecting rod 62 and a plurality of shock absorbing assemblies 63, the two placing seats 61 are arranged at intervals and fixedly connected to the landing gear respectively, and two ends of the connecting rod 62 are fixedly connected to the two placing seats 61 respectively; a plurality of damper 63 along the length direction interval setting of connecting rod 62 in proper order, each damper 63 includes from top to bottom block panel 631, roof 632, steel wire 633, bottom plate 634 and the dog 635 that sets gradually, and each dog 635 cover is located outside the connecting rod 62 and with connecting rod 62 sliding fit, blocks panel 631 and is used for the fixed frame 10 of installation. During shooting, the placing seat 61 is fixed on the surface of the helicopter landing gear, when longitudinal vibration generated by the helicopter is transmitted to the placing seat 61, the steel wire 633 is bent, the vibration amplitude is reduced, and therefore the stability of the professional camera 40, the tracking camera 20 and the thermal imaging camera 30 is guaranteed, and meanwhile, in the moving process of the helicopter, the vertical rotating motor 13, the roll motor 14 and the horizontal pitching motor 16 continuously adjust the angle of the professional camera 40, and therefore the shot picture is clear.
In an alternative example, the blocking plate 631 has an omega shape, two ends of which are fixedly connected to the top plate 632 by bolts, respectively, and a middle portion of which encloses a third through hole with the top plate 632, through which the fixing frame 10 passes, so that the fixing frame 10 and the damping mechanism 60 can be detachably connected.
In an alternative embodiment of the invention, an air damping brace 70 is also mounted on the fixed frame 10. To further reduce the shaking of the fixed frame 10.
In an alternative example of this embodiment, the air damping brace 70 includes a first connecting member 71, a telescopic rod 72, a sleeve 73, and a second connecting member 74, which are connected in this order, one end of the telescopic rod 72 is fixedly connected to the fixed frame 10 through the first connecting member 71, the other end of the telescopic rod 72 is inserted into one end of the sleeve 73 and slidably engaged with the sleeve 73, and the other end of the sleeve 73 is fixedly connected to the landing gear through the second connecting member 74. With the above structure, when the fixed frame 10 is subjected to horizontal vibration, the telescopic rod 72 moves relative to the sleeve 73, and the gas inside the sleeve 73 stabilizes the position of the telescopic rod 72, so as to ensure the stability of the fixed frame 10, thereby further improving the definition of the shot image.
In an alternative example, the first connecting part 71 includes a fixing ring 711 and a steering ball 712, the fixing ring 711 is adapted to be sleeved with the fixing frame 10, the steering ball 712 is fixed on an outer sidewall of the fixing ring 711, and the telescopic rod 72 is connected with the steering ball 712.
In an alternative example, the second connecting member 74 includes a sleeve 741, a connecting block 742, a rotating tube 743, a connecting column 744, a rotating tube 745, an extruding block 746, and a positioning block 747, the sleeve 741 is fixed on the surface of the sleeve 73, the connecting block 742 is fixed on the upper end of the sleeve 741, the rotating tube 743 is rotatably connected to the right side of the connecting block 742, the connecting column 744 is rotatably connected to the inside of the rotating tube 743, the rotating tube 745 is rotatably connected to the surface of the connecting column 744, the positioning block 747 is fixed to one end of the rotating tube 745, the extruding block 746 is arranged on the other side of the rotating tube 745, which is opposite to the rotating tube 743, and the extruding block 746 is rotatably connected to the connecting column 744. Locating piece 747 is fixed on the landing gear surface, rotatory crowded 746, crowded 746 rotates and extrudes swivel tube 745, swivel tube 745 is extruded on the surface of swivel tube 743, swivel tube 745 can't rotate for spliced pole 744, the rotatory ring on rotation connecting block 742 surface, the rotatory ring rotates and extrudes swivel tube 743, after rotating connecting block 742 to the suitable angle, rotate the boss face of rotatory ring to connecting block 742 one side on the crowded swivel tube 743, then swivel tube 743 can't rotate for connecting block 742.
In an alternative example of this embodiment, air damper tension rods 70 are respectively installed on both left and right sides of the fixing frame 10.
The present invention is not limited to the above embodiments, and in particular, various features described in different embodiments can be arbitrarily combined with each other to form other embodiments, and the features are understood to be applicable to any embodiment except the explicitly opposite descriptions, and are not limited to the described embodiments.
Claims (1)
1. The power grid equipment shooting device for the helicopter is characterized by at least comprising a fixing frame, a tracking camera, a thermal imaging camera and a professional camera, wherein the fixing frame can be installed on the helicopter, and the tracking camera, the thermal imaging camera and the professional camera are respectively installed on the fixing frame;
the tracking camera is used for video shooting; the thermal imaging camera is used for detecting a heating condition; the professional camera is used for shooting key position detail pictures;
the power grid equipment shooting device for the helicopter further comprises a radar, the radar is installed on the fixing frame and is a millimeter wave radar,
the fixed frame at least comprises a fixed frame body, a longitudinal connecting rod and a vertical rotating motor, the vertical rotating motor is fixedly arranged on the fixed frame body, the connecting rod is connected with the vertical rotating motor and rotates under the drive of the vertical rotating motor, the tracking camera, the thermal imaging camera and the radar are fixedly arranged at one end of the connecting rod respectively, the fixed frame further comprises a transverse connecting rod, a horizontal pitching motor, a rolling motor and a camera fixer, the other end of the longitudinal connecting rod is radially bent to form a bent part, the rolling motor is arranged at the bent part, one end of the transverse connecting rod is fixedly connected with the rolling motor and rotates under the drive of the rolling motor, the other end of the transverse connecting rod is fixedly provided with the horizontal pitching motor, the horizontal pitching motor is fixedly connected with the camera fixer and drives the camera fixer to rotate, and the professional camera is fixedly arranged on the camera fixer;
fixed frame with be equipped with damper between the helicopter, damper includes:
the two placing seats are arranged at intervals and can be fixedly connected with the landing gear of the helicopter;
two ends of the connecting rod are respectively fixedly connected with the two placing seats;
each damping component comprises a stop plate, a top plate, a steel wire, a bottom plate and stop blocks which are sequentially arranged from top to bottom, each stop block is sleeved outside the connecting rod and is in sliding fit with the connecting rod, the stop plate is used for installing the fixing frame, and each placing seat is sleeved outside the helicopter undercarriage;
the helicopter is characterized in that the fixed frame is provided with an air damping pull rod, the air damping pull rod comprises a first connecting part, a telescopic rod, a sleeve and a second connecting part which are sequentially connected, one end of the telescopic rod is fixedly connected with the fixed frame through the first connecting part, the other end of the telescopic rod is inserted into one end of the sleeve and is in sliding fit with the sleeve, and the other end of the sleeve is fixedly connected with the helicopter through the second connecting part;
the power grid equipment shooting device for the helicopter further comprises a control element, and the tracking camera, the thermal imaging camera, the professional camera, the vertical rotating motor, the roll motor and the horizontal pitch motor are all electrically connected with the control element; and controlling the starting and stopping of the vertical rotating motor, the roll motor and the horizontal pitching motor through the control element.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211119178.9A CN115196031B (en) | 2022-09-15 | 2022-09-15 | Power grid equipment shooting device for helicopter |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211119178.9A CN115196031B (en) | 2022-09-15 | 2022-09-15 | Power grid equipment shooting device for helicopter |
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| CN115196031A CN115196031A (en) | 2022-10-18 |
| CN115196031B true CN115196031B (en) | 2022-12-20 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201647126U (en) * | 2010-04-12 | 2010-11-24 | 广州科易光电技术有限公司 | Suspended cabin for helicopter power inspection |
| CN103941746A (en) * | 2014-03-29 | 2014-07-23 | 国家电网公司 | System and method for processing unmanned aerial vehicle polling image |
| WO2016078081A1 (en) * | 2014-11-21 | 2016-05-26 | 河南送变电工程公司 | Multi-rotor-wing inspection aircraft and power transmission line inspection system |
| CN108460314A (en) * | 2017-02-17 | 2018-08-28 | 菜鸟智能物流控股有限公司 | Article inspection method and related Equipment |
| CN208438332U (en) * | 2018-05-22 | 2019-01-29 | 国家电网公司客户服务中心南方分中心 | A mobile inspection robot |
| CN213735600U (en) * | 2020-11-24 | 2021-07-20 | 海南汉疆卫士无人机科技有限公司 | Visual unmanned aerial vehicle monitoring waypoint collection system |
| CN113555964A (en) * | 2021-07-29 | 2021-10-26 | 国网通用航空有限公司 | Method and device for inspecting power transmission lines by helicopter |
-
2022
- 2022-09-15 CN CN202211119178.9A patent/CN115196031B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201647126U (en) * | 2010-04-12 | 2010-11-24 | 广州科易光电技术有限公司 | Suspended cabin for helicopter power inspection |
| CN103941746A (en) * | 2014-03-29 | 2014-07-23 | 国家电网公司 | System and method for processing unmanned aerial vehicle polling image |
| WO2016078081A1 (en) * | 2014-11-21 | 2016-05-26 | 河南送变电工程公司 | Multi-rotor-wing inspection aircraft and power transmission line inspection system |
| CN108460314A (en) * | 2017-02-17 | 2018-08-28 | 菜鸟智能物流控股有限公司 | Article inspection method and related Equipment |
| CN208438332U (en) * | 2018-05-22 | 2019-01-29 | 国家电网公司客户服务中心南方分中心 | A mobile inspection robot |
| CN213735600U (en) * | 2020-11-24 | 2021-07-20 | 海南汉疆卫士无人机科技有限公司 | Visual unmanned aerial vehicle monitoring waypoint collection system |
| CN113555964A (en) * | 2021-07-29 | 2021-10-26 | 国网通用航空有限公司 | Method and device for inspecting power transmission lines by helicopter |
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| CN115196031A (en) | 2022-10-18 |
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