CN102063746A - Program-controlled patrol machine and program-controlled patrol method for transformer station - Google Patents
Program-controlled patrol machine and program-controlled patrol method for transformer station Download PDFInfo
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- CN102063746A CN102063746A CN2010105516070A CN201010551607A CN102063746A CN 102063746 A CN102063746 A CN 102063746A CN 2010105516070 A CN2010105516070 A CN 2010105516070A CN 201010551607 A CN201010551607 A CN 201010551607A CN 102063746 A CN102063746 A CN 102063746A
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Abstract
The invention provides a program-controlled patrol machine for a transformer station, which is characterized by mainly comprising a railway, a power supply slide rail, a patrol main control machine and a program-controlled patrol machine, wherein the railway is arranged along the patrol route and used for bearing the patrol machine; the power supply slide rail is arranged along the railway; the program-controlled patrol machine is arranged on the railway and can move on the railway; a detection platform is arranged on the program-controlled patrol machine; and the program-controlled patrol machine is connected with the patrol main control machine in a wireless communication mode. By adopting a railway power supply mode, the program-controlled patrol machine can be ensured in an available state at any time. The program-controlled patrol machine has the advantages of accurate positioning and high patrol efficiency, has the functions of resisting high/low temperature, rain, snow, ice, frost and insects, does not have requirements on the patrol road surface, can not become out of control to break into non-safety regions, and is suitable for continuously patrolling outdoor field environment, which has large occupied area and complicated arrangement of equipment and channels in a transformer station.
Description
Technical field
The present invention relates to a kind of program control machine and program control method for inspecting thereof of patrolling and examining, relate in particular to a kind of be used for unattended substation by manual remote control and projected route automatically to program control machine and the program control method for inspecting thereof of patrolling and examining of round-the-clock, the full visual angle rail mounted of first and second equipment routing inspection in the transformer station.
Background technology
At present, domestic national grid and rural power grids unattended substation will account for more than 80% of whole transformer stations.
Industrial robot is in industry widespread uses such as processing and manufacturing, storage transportations both at home and abroad, and work efficiency and quality are very high, and production cost, production efficiency and product percent of pass have been brought revolutionary variation.In the domestic medium-term and long-term development plan, service robot and dangerous school assignment robot are used as the object of giving priority to.The hyperbaric environment of transformer station is badly in need of crusing robot especially.
Operating mode complexity in the transformer station is again a high pressure high-risk environment.Manual inspection efficient is low, cost is high, have a big risk.Domestic electric system generally adopts the mode of multipoint video remote reviewing to carry out long-range local the observation at present, as audio-video monitoring, circumference monitoring, anti-thefting monitoring.Domestic have project verification research substation equipment to make an inspection tour intelligent mobile robot, but still do not obtain popularizing and applying because of various deficiencies at present.Present existing transformer station automatic remote patrols and examines product and there is following problem in technology more:
Transformer station's landform operating mode complexity can be strayed into the hazardous location along the failure of in a single day navigating of the wheeled carriage of the ground running machine of patrolling and examining, and causes the accident.The machine of patrolling and examining that carries battery need charge repeatedly work, on-line operation continuously.
Adopt wheeled carriage to patrol and examine machine, on the road surface, walk.For the covering of the route that guarantees to walk, need patrol and examine route smooth, nose pile is set on every side.Bearing accuracy and stability are difficult to guarantee, have adopted the laser two-dimension scanning sensor on the car, need do by three-dimensional thing on every side and measure and positioning mark, and walking and bearing accuracy are difficult to control and are uneconomical; When meeting sleet greasy weather gas, when especially accumulated snow being arranged, bearing accuracy can't guarantee, and the meeting blinding, and the user can not relievedly use; It is the vehicle power problem that wheeled carriage also has a problem, and the accumulator of dolly charge power supply itself is very heavy, and the restriction of cycle charging number of times is arranged, can not continuous non-maintaining work.
The wheeled carriage mobile robot makes an inspection tour environment division and has solved the problem of making an inspection tour completely, but the efficient of its location, navigation, power supply and driver element is low, make equipment cost height, maintenance cost also high.
In a word, all there are the restriction of reliability and monitoring capacity in technology of patrolling and examining in the past and product even walking robot monitoring; Related product and technology exist all that security is low, inefficiency, practicality is not high, reliability is low, maintenance is big and cost is high problem.
Summary of the invention
Goal of the invention: the invention provides program control machine and the program control method for inspecting thereof of patrolling and examining of a kind of transformer station, its objective is the following technical matters that the solution equipment of patrolling and examining work in the past exists: (1), poor stability, inefficiency; (2), poor practicability, unreliable; (3), equipment cost and maintenance cost height.
Technical scheme: the present invention is achieved through the following technical solutions:
The program control machine of patrolling and examining of transformer station is characterized in that: the program control machine of patrolling and examining of described transformer station mainly comprises along patrolling and examining power supply slide rail that carrying that route lays patrols and examines the track of machine, lays along track, patrolling and examining main control computer and be provided with in orbit and the program control machine of patrolling and examining that can move in orbit; The described program control machine of patrolling and examining is provided with detection platform, describedly program controlly patrols and examines machine and patrols and examines that wireless telecommunications are connected between the main control computer.
Described detection platform is arranged on program control patrolling and examining on the machine by expansion link, and described detection platform can do telescopic moving up and down along vertical under the drive of expansion link, around the gyration of vertical or around the luffing of a transverse axis.
Detection platform is provided with airborne checkout equipment.
Track is one-sided upright rail, equidistantly lays the wireless digital positioning label along track.
The described program control machine of patrolling and examining is to be connected power taking by the power taking brush with the power supply slide rail; Describedly program controlly patrol and examine machine by running wheel and support wheel setting in orbit, described program control patrolling and examining also is provided with the both sides that are positioned at track and retrains program control machine and the enough little angle sheave of interorbital position deviation of patrolling and examining on the machine.
Utilize the program control program control method for inspecting of patrolling and examining machine of aforesaid transformer station, it is characterized in that: described method concrete steps are as follows:
A, program control patrolling and examining are equipped with airborne control computer in the machine, patrol and examine to be equipped with in the main control computer and patrol and examine main control computer; Patrol and examine main control computer and accept to patrol and examine the patrol task that main control computer is provided with;
Set patrol task in b, basis " a " step, the program control machine of patrolling and examining is adjusted the program control position of patrolling and examining machine automatically, and the program control machine of patrolling and examining is moved in orbit, makes it arrive appointment and patrols and examines the position;
C, arrive to specify patrol and examine the position after, the program control machine control expansion link of patrolling and examining is adjusted the operating attitude of airborne checkout equipment, and the running parameter of adjusting airborne checkout equipment detects;
D, read and patrol and examine result data, and upload the data in the database of patrolling and examining main control computer and store.
Described method for inspecting can adopt manual remote control to patrol and examine with the program control of autonomous operation and patrol and examine.
Patrol task in described " a " step comprises the project of patrolling and examining and polling period, and each project of patrolling and examining comprises airborne checkout equipment operating attitude and running parameter separately, and separately program control patrols and examines that put the seat in the plane and attitude parameter, separately patrol and examine result data.
Described patrol and examine result data comprise have date, time, patrol and examine item number, video, picture, value and the status information of data type, size of data and the effective identification information of data, these are patrolled and examined result data and are gathered and upload in the database of patrolling and examining main control computer and inquired about at any time.
At each program control polling period, carry out patrolling and examining of project one by one according to the patrol task tabulation, the program control position of patrolling and examining machine of corresponding in order change, attitude, adjust the operating attitude and the running parameter of airborne checkout equipment again, read the testing result data of airborne checkout equipment then accordingly, send to predetermined set form and patrol and examine main control computer patrolling and examining result data.
Advantage and effect: the invention provides program control machine and the program control method for inspecting thereof of patrolling and examining of a kind of transformer station, the program control machine of patrolling and examining of described transformer station mainly comprise along patrol and examine power supply slide rail that carrying that route lays patrols and examines the track of machine, lays along track, be provided with in orbit and can move in orbit program controlly patrol and examine machine and patrol and examine main control computer; The described program control machine of patrolling and examining is provided with detection platform, describedly program controlly patrols and examines machine and patrols and examines that wireless telecommunications are connected between the main control computer.
The present invention is directed to the problem that above-mentioned prior art exists and provide a kind of and be adapted at the unattended substation that unattended substation or switching station, switchyard install additional and patrol and examine machine equipment.This is a kind of rail mounted from the mobile device of walking, and program control patrolling and examining carried airborne checkout equipment on the machine, can detect relevant device in the power station along rail.Track is ground rail or hangs rail in the air, provides simultaneously along the rail power channel slide rail of promptly powering.Be provided with the plurality of detection point on the route patrolling and examining, the program control machine of patrolling and examining runs to each check point and stops walking, detects operation with airborne checkout equipment.This equipment can advance and fall back in orbit, to realize reciprocal observation.The detection platform of airborne checkout equipment has three kinds of locomitivities: along vertical move up and down within the specific limits, around the gyration of vertical, around the luffing of a transverse axis.Patrol and examine track in the installation of the indoor and outfield of transformer station, the program control machine of patrolling and examining is walked automatically in orbit and is patrolled and examined.The machine of patrolling and examining is round-the-clock running, accurately location, the design of full visual angle, according to the route and the content design task of manual inspection, to interior first and second equipment routing inspection of standing.Patrol and examine branch artificial " distant inspection " and patrol and examine two kinds of patterns automatically.
The invention has the beneficial effects as follows:
1, track travel, the slide rail power supply is for providing the condition of accurate location and on-line continuous operation, and transformer station is patrolled and examined automatically becomes possibility.Track has also limited the machine people of patrolling and examining " sneaking away " problem can not occur, can relievedly use the unmanned substation.
2, round-the-clock close non-maintaining highly reliable design, non-maintaining, the life-span is long, has guaranteed on-line automatic reliability of operation.
3, the elevating mechanism of patrolling and examining machine guarantees that robot can simulate whole visual angles of inspector, can realize that " bionical " patrol and examine.
4, the program control machine of patrolling and examining is patrolled and examined automatically by the layout increase and decrease project of patrolling and examining, and patrol and examine the result and inquire by classification, guaranteed that equipment that equipment can be paid close attention to transformer station according to the thinking of manual inspection and feature thereof carry out periodicity and patrol and examine,, improved and patrol and examine efficient and quality so that in time find and deal with problems.
Description of drawings:
Fig. 1 is the program control machine structural representation of patrolling and examining of the present invention;
Fig. 2 is the process flow diagram of the program control method for inspecting of the present invention.
Embodiment:
The present invention is described in further detail below in conjunction with accompanying drawing, but not because of specific embodiment restriction the present invention.
As shown in Figure 1, the invention provides the program control machine of patrolling and examining of a kind of transformer station, the program control machine of patrolling and examining of described transformer station comprises that mainly the program control machine 5 of patrolling and examining is accurately located in orbit along patrolling and examining power supply slide rail 10 that carrying that route lays patrols and examines the track 1 of machine, lays along track, patrolling and examining main control computer 11 and be provided with in orbit and the program control machine 5 of patrolling and examining that can move in orbit; The described program control machine 5 of patrolling and examining is provided with detection platform 3, describedly program controlly patrols and examines machine 5 and patrols and examines that wireless telecommunications are connected between the main control computer 11.Relevant device in the transformer station is back and forth observed and detected to the program control machine 5 of patrolling and examining in orbit, has to patrol and examine automatically with manual remote control according to the patrol task of layout to patrol and examine double-mode.Patrol and examine main control computer 11 with wireless mode and program controlly patrol and examine machine 5 communications, may command is program control patrols and examines machine 5 and patrols and examines automatically with manual remote control according to the patrol task of layout and patrol and examine.The program control machine 5 of patrolling and examining is equipped with airborne control computer, patrolling and examining main control computer 11 is equipped with and patrols and examines main control computer, patrol and examine main control computer and have man-machine basal plane and database, operating personnel are by patrolling and examining the program control machine of patrolling and examining of main control computer control and do that artificial remote control is patrolled and examined or patrolling and examining the machine setting and patrol and examine project for program control, the program control patrol task of layout, the program control machine of patrolling and examining is patrolled and examined according to the program control patrol task autonomous operation of layout, and send to and patrol and examine main control computer patrolling and examining result data, operating personnel patrol and examine result data by patrolling and examining the main control computer inquiry.
Described detection platform 3 is arranged on program control patrolling and examining on the machine 5 by expansion link, and described detection platform 3 can do telescopic moving up and down along vertical under the drive of expansion link, around the gyration of vertical or around the luffing of a transverse axis.Detection platform 3 is provided with airborne checkout equipment 4.It is flexible up and down that expansion link can drive the detection platform 3 of carrying airborne checkout equipment 4, accurately location and program control operation.
Track 1 is one-sided upright rail, along the track 1 equidistant wireless digital positioning label of laying.Described track can be designed to the fence style, highly also with common transformer station in the fence height approaching.
The described program control machine 5 of patrolling and examining is to be connected power taking by power taking brush 8 with power supply slide rail 10; The described program control machine 5 of patrolling and examining is arranged on the track 1 by running wheel 2 and support wheel 6, and described program control patrolling and examining also is provided with the both sides that are positioned at track 1 and retrains program control machine and the enough little angle sheave 7 of interorbital position deviation of patrolling and examining on the machine.
The described program control machine 5 of patrolling and examining, be by power taking brush 8 work to take power on the power supply slide rail, its dragging motor drives the program control machine running wheel 2 back and forth walking in orbit of patrolling and examining, the program control machine of patrolling and examining is by support wheel 6 and running wheel Support Position, and the program control position deviation of patrolling and examining 1 on machine 5 and track of angle sheave 7 constraint is enough little, the program control machine 5 of patrolling and examining has the control of inertia impact buffering, the program control machine 5 of patrolling and examining has optical code wheel and utilizes the wireless digital positioning label accurately to locate, and the pinpoint telescoping mechanism up and down of grating chi just expansion link drives the object realization image harmony that detection platform makes airborne checkout equipment 4 aim detecting of carrying, light, electromagnetism, vibration, the detection of detection limits such as gas.
Utilize the program control program control method for inspecting of patrolling and examining machine of transformer station, described method concrete steps are as follows:
A, airborne control computer is installed, during patrolling and examining main control computer (11), is installed and patrol and examine main control computer, make and patrol and examine the patrol task that main control computer (11) accepts to patrol and examine main control computer (11) setting program control patrol and examine in the machine (5);
Set patrol task in b, basis " a " step, the program control machine (5) of patrolling and examining is adjusted the program control position of patrolling and examining machine automatically, the program control machine of patrolling and examining is gone up at track (1) moved, and makes it arrive appointment and patrols and examines the position;
C, arrive to specify patrol and examine the position after, program control machine (5) the control expansion link of patrolling and examining is adjusted the operating attitude of airborne checkout equipment (4), and the running parameter of adjusting airborne checkout equipment (4) detects;
D, read and patrol and examine result data, and upload the data in the database of patrolling and examining main control computer (11) and store.
Described program control method for inspecting can adopt manual remote control to patrol and examine with the program control of autonomous operation and patrol and examine.Manual remote control is patrolled and examined the method for patrolling and examining project with layout, patrolling and examining the program control position of patrolling and examining machine of adjustment on the main control computer by man-machine interface, attitude, adjust the operating attitude and the running parameter of airborne checkout equipment, read and patrol and examine result data, carry out manual remote control and patrol and examine, as required this being patrolled and examined project definition is the program control project of patrolling and examining, be programmed into and patrol and examine the patrolling and examining in the bulleted list of main control computer, revise the cycle and the deletion of program control patrol task as required and revise the project of patrolling and examining in the bulleted list; The implementation method of the program control patrol task of autonomous operation is, at each program control polling period, carry out patrolling and examining of project one by one according to patrolling and examining bulleted list, change the program control position of patrolling and examining machine at first in order, attitude is adjusted the operating attitude and the running parameter of airborne checkout equipment again, reads the testing result data of airborne checkout equipment then, send to predetermined set form and patrol and examine main control computer patrolling and examining result data, patrol and examine main frame and each is patrolled and examined result data deposit database in.
Patrol task in described " a " step comprises the project of patrolling and examining and polling period, and each project of patrolling and examining comprises airborne checkout equipment operating attitude and running parameter separately, and separately program control patrols and examines that put the seat in the plane and attitude parameter, separately patrol and examine result data.
Described patrol and examine result data comprise have date, time, patrol and examine item number, video, picture, value and the status information of data type, size of data and the effective identification information of data, these patrol and examine result data gathered and uploaded to patrol and examine main frame database in inquired about at any time, gatherer process is finished by the program control machine of patrolling and examining, and upload procedure is patrolled and examined in the database of main frame by wireless communication transmission.
After the cycle of patrol task configures, the program control machine of patrolling and examining is according to program control patrol task, at each program control polling period, carry out patrolling and examining of project one by one according to patrolling and examining bulleted list, the program control position of patrolling and examining machine of corresponding in order change, attitude, adjust the operating attitude and the running parameter of airborne checkout equipment again, read the testing result data of airborne checkout equipment then accordingly, send to predetermined set form and patrol and examine main control computer patrolling and examining result data, patrol and examine main frame and each is patrolled and examined result data deposit database in,, provide online data for further judging and finding detected problem.
As shown in Figure 2, the process flow diagram of the program control method for inspecting of the present invention at first carries out manual remote control and patrols and examines, to patrolling and examining a little as the program control project of patrolling and examining of patrolling and examining of layout that manual inspection is paid close attention to.Before determining certain project, this detection information of manual detection, configuring program control position and attitude of patrolling and examining machine adjusts the program control seat in the plane of patrolling and examining then and puts attitude, patrol and examine project settings airborne checkout equipment operating attitude and running parameter and separately program control separately for each and patrol and examine that put the seat in the plane and attitude parameter, so that obtain the result data of patrolling and examining separately.Program control patrol task is defined by a plurality of predefined projects of patrolling and examining by being provided with.Operating personnel are patrolling and examining the program control position of patrolling and examining machine of adjustment on the main control computer by man-machine interface, attitude, adjust the operating attitude and the running parameter of airborne checkout equipment, read airborne checkout equipment testing result data, carrying out manual remote control patrols and examines, as required this being patrolled and examined project definition is the program control project of patrolling and examining, and is programmed into to patrol and examine the patrolling and examining in the bulleted list database of main control computer, revises the cycle and the deletion of program control patrol task as required and revises the project of patrolling and examining in the bulleted list.
The present invention adopts the track power supply mode, assurance equipment is in upstate at any time, accurate positioning, function with the gentle rain of height, snow, ice, frost, worm protection, patrol and examine the efficient height, do not require and patrol and examine the road surface, can out of controlly not swarm into non-safety zone, be fit to that transformer station's floor area is big, the outdoor sports ground environment of equipment, raceway groove complicated layout patrols and examines continuously.
Claims (10)
1. the program control machine of patrolling and examining of transformer station is characterized in that: the program control machine of patrolling and examining of described transformer station mainly comprises along patrolling and examining power supply slide rail (10) that carrying that route lays patrols and examines the track (1) of machine, lays along track, patrolling and examining main control computer (11) and the program control machine (5) of patrolling and examining that also can move in orbit in orbit is set; The described program control machine (5) of patrolling and examining is provided with detection platform (3), describedly program controlly patrols and examines machine (5) and patrols and examines that wireless telecommunications are connected between the main control computer (11).
2. the program control machine of patrolling and examining of transformer station according to claim 1, it is characterized in that: described detection platform (3) is arranged on program control patrolling and examining on the machine (5) by expansion link, and described detection platform (3) can do telescopic moving up and down along vertical under the drive of expansion link, around the gyration of vertical or around the luffing of a transverse axis.
3. the program control machine of patrolling and examining of transformer station according to claim 2 is characterized in that: detection platform (3) is provided with airborne checkout equipment (4).
4. the program control machine of patrolling and examining of transformer station according to claim 1 is characterized in that: track (1) is one-sided upright rail, equidistantly lays the wireless digital positioning label along track (1).
5. the program control machine of patrolling and examining of transformer station according to claim 1 is characterized in that: the described program control machine (5) of patrolling and examining is to be connected power taking by power taking brush (8) with power supply slide rail (10); The described program control machine (5) of patrolling and examining is arranged on the track (1) by running wheel (2) and support wheel (6), and described program control patrolling and examining also is provided with the both sides that are positioned at track (1) and retrains program control machine and the enough little angle sheave (7) of interorbital position deviation of patrolling and examining on the machine.
6. utilize the program control program control method for inspecting of patrolling and examining machine of the described transformer station of claim 3, it is characterized in that: described method concrete steps are as follows:
A, program control patrolling and examining in the machine (5) are equipped with airborne control computer, patrol and examine to be equipped with in the main control computer (11) and patrol and examine main control computer; Patrol and examine main control computer (11) and accept to patrol and examine the patrol task that main control computer (11) is provided with;
Set patrol task in b, basis " a " step, the program control machine (5) of patrolling and examining is adjusted the program control position of patrolling and examining machine automatically, the program control machine of patrolling and examining is gone up at track (1) moved, and makes it arrive appointment and patrols and examines the position;
C, arrive to specify patrol and examine the position after, program control machine (5) the control expansion link of patrolling and examining is adjusted the operating attitude of airborne checkout equipment (4), and the running parameter of adjusting airborne checkout equipment (4) detects;
D, read and patrol and examine result data, and upload the data in the database of patrolling and examining main control computer (11) and store.
7. the program control program control method for inspecting of patrolling and examining machine of transformer station according to claim 6 is characterized in that: described method for inspecting can adopt manual remote control to patrol and examine with the program control of autonomous operation and patrol and examine.
8. the program control program control method for inspecting of patrolling and examining machine of transformer station according to claim 6, it is characterized in that: the patrol task in described " a " step comprises the project of patrolling and examining and polling period, each project of patrolling and examining comprises airborne checkout equipment operating attitude and running parameter separately, separately program control patrols and examines that put the seat in the plane and attitude parameter, separately patrol and examine result data.
9. the program control program control method for inspecting of patrolling and examining machine of transformer station according to claim 6, it is characterized in that: described patrol and examine result data comprise have date, time, patrol and examine item number, video, picture, value and the status information of data type, size of data and the effective identification information of data, these are patrolled and examined result data and are gathered and upload in the database of patrolling and examining main control computer and inquired about at any time.
10. the program control program control method for inspecting of patrolling and examining machine of transformer station according to claim 8, it is characterized in that: at each program control polling period, carry out patrolling and examining of project one by one according to the patrol task tabulation, the program control position of patrolling and examining machine of corresponding in order change, attitude, adjust the operating attitude and the running parameter of airborne checkout equipment again, read the testing result data of airborne checkout equipment then accordingly, send to predetermined set form and patrol and examine main control computer patrolling and examining result data.
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| CN 201010551607 CN102063746B (en) | 2010-11-21 | 2010-11-21 | Program-controlled patrol machine and program-controlled patrol method for transformer station |
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| CN 201010551607 CN102063746B (en) | 2010-11-21 | 2010-11-21 | Program-controlled patrol machine and program-controlled patrol method for transformer station |
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| CN102063746B CN102063746B (en) | 2013-05-01 |
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| CN103296753A (en) * | 2013-05-09 | 2013-09-11 | 宁波天安智能电网工程技术有限公司 | Monitoring system for photovoltaic power station |
| WO2014068570A1 (en) * | 2012-11-04 | 2014-05-08 | Magal Security Systems Ltd. | A self-propelled security system on an adjacent to a fence track |
| CN105270208A (en) * | 2014-07-14 | 2016-01-27 | 刁心玺 | Method and device for tour inspection on road |
| CN105490206A (en) * | 2015-12-18 | 2016-04-13 | 贵州南源电力科技股份有限公司 | Walking method and walking device for no-blind zone intelligent inspection robot for transformer substation |
| CN105775662A (en) * | 2016-04-06 | 2016-07-20 | 天奇自动化工程股份有限公司 | Rail vertical abrasion detection device |
| CN105783836A (en) * | 2016-04-06 | 2016-07-20 | 天奇自动化工程股份有限公司 | Track wear automatic detection vehicle |
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| CN108122292A (en) * | 2017-12-29 | 2018-06-05 | 北京元心科技有限公司 | Inspection method of controlling operation thereof and device |
| US10049542B2 (en) | 2012-11-04 | 2018-08-14 | Magal Security Systems Ltd. | Self-propelled security system on an adjacent to a fence track |
| CN110136293A (en) * | 2019-05-15 | 2019-08-16 | 广州云智易物联网有限公司 | A kind of equipment routing inspection method and device |
| CN111913478A (en) * | 2019-05-08 | 2020-11-10 | 阿里巴巴集团控股有限公司 | Inspection system, track platform and inspection equipment |
| CN112884932A (en) * | 2019-11-29 | 2021-06-01 | 国网山东省电力公司滨州供电公司 | Dispatching automation active inspection system |
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