CN104284151B - A kind of transformer station ground method for inspecting and cruising inspection system - Google Patents

A kind of transformer station ground method for inspecting and cruising inspection system Download PDF

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Publication number
CN104284151B
CN104284151B CN201410498481.3A CN201410498481A CN104284151B CN 104284151 B CN104284151 B CN 104284151B CN 201410498481 A CN201410498481 A CN 201410498481A CN 104284151 B CN104284151 B CN 104284151B
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China
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crusing robot
transformer station
wireless charging
region
track
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CN201410498481.3A
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Chinese (zh)
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CN104284151A (en
Inventor
周静
房静
曹克军
苏东宝
孟晨辰
周楚薇
吴鹏
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国家电网公司
华北电力大学(保定)
国网安徽凤台县供电有限责任公司
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Priority to CN201410498481.3A priority Critical patent/CN104284151B/en
Publication of CN104284151A publication Critical patent/CN104284151A/en
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Publication of CN104284151B publication Critical patent/CN104284151B/en

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Abstract

The invention provides a kind of transformer station ground method for inspecting and cruising inspection system, method for inspecting includes:The navigation track for the polling path that navigates is laid in transformer station, radio frequency identification ID cards are set in equipment to be checked;Crusing robot is advanced along the navigation track, and the identification of the equipment to be checked is carried out by the radio frequency identification ID cards, the collection of the video data of the equipment to be checked is carried out by the picture pick-up device of the crusing robot;The video data is sent to by remote monitoring end by wireless bridge.The present invention simply can accurately realize the navigation and positioning of polling path, and simple in construction, cost is low.

Description

A kind of transformer station ground method for inspecting and cruising inspection system

Technical field

The present invention relates to substation inspection field, more particularly to a kind of transformer station ground method for inspecting and cruising inspection system.

Background technology

With the raising of Automation of Electric Systems degree, transformer station is on duty also gradually to tend to unmanned or few peopleization.

Although traditional relay protection system of transformer station can obtain the crucial operation information of transformer station, this but drops Low artificial judgment accident and the accuracy of prediction accident development, also reduce the quick-reaction capability to accident.Many power transformations Stand to increase the information content of monitoring, installed in transformer station camera and various probes to monitor fire prevention, antitheft and equipment transports Market condition, so as to allow dispatcher to manually make decision-making in remote port.But it is due to that the position of camera is fixed, there is dead unavoidably Angle.Now just seem necessary there is provided inspection device that is a kind of removable and carrying multiple degrees of freedom camera.

Existing Intelligent Mobile Robot domestic at present is used in input transformer station, but both for more than 110KV's Large-scale substation or ultra-high voltage transformer station, its inspection process are complicated, and cost is higher, furthermore, it is desirable to manual maintenance is frequently carried out, Maintenance cost is higher.

The content of the invention

, can be simply accurately real the invention aims to provide a kind of transformer station ground method for inspecting and cruising inspection system The navigation and positioning of existing polling path, simple in construction, cost is low.

To achieve these goals, the invention provides a kind of transformer station ground method for inspecting, including:

The navigation track for the polling path that navigates is laid in transformer station, radio frequency identification ID is set in equipment to be checked Card;

Crusing robot is advanced along the navigation track, and the equipment to be checked is carried out by the radio frequency identification ID cards Identification, the collection of the video data of the equipment to be checked is carried out by the picture pick-up device of the crusing robot;

The video data is sent to by remote monitoring end by wireless bridge.

Optionally, in above-mentioned transformer station's ground method for inspecting, make what crusing robot was advanced along the navigation track In step, in addition to:

The magnetic track signal of the navigation track is detected by the detection means of the crusing robot;

By the ultrasonic wave module detecting obstacles thing of the crusing robot, the inspection machine is controlled according to result of detection People bypasses to continue to advance along the navigation track after the barrier;

Teleinstruction, and the alarm signal that will be produced during inspection are received by the GPRS module of the crusing robot It is sent to mobile phone terminal.

Optionally, in above-mentioned transformer station's ground method for inspecting, the picture pick-up device include visible ray high-definition camera and Infrared camera.

Optionally, in above-mentioned transformer station's ground method for inspecting, in addition to:

Region of awaiting orders is set in the transformer station, wireless charging device is set in the region of awaiting orders, in the inspection Wireless charging induction region corresponding with the wireless charging device is set in robot, is parked in the crusing robot described Await orders behind region, be that the crusing robot carries out wireless charging by the wireless charging induction region.

Optionally, in above-mentioned transformer station's ground method for inspecting, in addition to:

The magnetic field intensity letter produced along the high-voltage line or transformer described in the trajectory measurement of the navigation track in transformer station Breath and magnetic direction information, and be stored in the crusing robot;

During the crusing robot is advanced along the navigation track, institute is controlled according to the magnetic direction information State the direction of the induction coil on crusing robot so that the induction coil produces the charging electricity charged to battery Stream.

Optionally, in above-mentioned transformer station's ground method for inspecting, in addition to:

The magnetic field intensity on the transformer periphery in the transformer station is measured, the fate that magnetic field intensity is higher than threshold value is found Domain;

Region of awaiting orders is set in the presumptive area;

Wireless charging induction region corresponding with the transformer is set on the crusing robot, in the survey monitor Device people is parked in behind the region of awaiting orders, and is that the crusing robot carries out wireless charging by the wireless charging induction region.

In order to preferably realize the purpose of the present invention, the present invention also provides a kind of transformer station ground cruising inspection system, including:

Navigate track, is laid in transformer station, for the polling path that navigates;

Radio frequency identification ID cards, are arranged in equipment to be checked;

Crusing robot, is used for:Advanced along the navigation track, and it is described to be checked by radio frequency identification ID cards progress The identification of equipment, the collection of the video data of the equipment to be checked is carried out by the picture pick-up device of the crusing robot;

Wireless bridge, is used for:The video data is sent to remote monitoring end.

Optionally, in above-mentioned transformer station's ground cruising inspection system, the crusing robot includes:

Detection means, is used for:The magnetic track signal of the detection navigation track;

Ultrasonic wave module, is used for:Detecting obstacles thing;

GPRS module, is used for:Teleinstruction is received, and the alarm signal produced during inspection is sent to mobile phone end End.

The picture pick-up device includes visible ray high-definition camera and infrared camera.

Optionally, in above-mentioned transformer station's ground cruising inspection system, in addition to:

Wireless charging device, is arranged on the region of awaiting orders in the transformer station;

Wireless charging induction region, is arranged on the crusing robot, is used for:It is parked in the crusing robot described Await orders behind region, be that the crusing robot carries out wireless charging by the wireless charging induction region.

Optionally, in above-mentioned transformer station's ground cruising inspection system, the crusing robot also includes:

Storage device, is used for:Store the high-voltage line in the transformer station obtained along the trajectory measurement of the navigation track Or the magnetic field intensity information and magnetic direction information that transformer is produced;

Induction coil, is used for:During the crusing robot is advanced along the navigation track, according to the magnetic field Directional information controls direction, produces the charging current charged to battery.

The embodiment of the present invention has following technique effect:

1) by laying the navigation track for the polling path that navigates in transformer station, penetrated by being set in equipment to be checked Frequency identification id card, can simply and easily realize inspection navigation and equipment positioning so that the embodiment of the present invention is simple in construction, cost It is low.

2) by setting wireless charging device in region of awaiting orders, wireless charging can be carried out directly to crusing robot, no Need personnel to carry out power supply connection, reduce the cost of artificial charge maintenance.

3) by measuring the magnetic direction in transformer station in advance, in crusing robot motion process, sensed by adjusting The direction of coil makes full use of the magnetic field in transformer station to be charged, because crusing robot is kept in motion, and power transformation There are a variety of high-intensity magnetic field sources such as high-voltage line and transformer in standing, therefore the embodiment is not only able in crusing robot is run in fact When charge, add the course continuation mileage of crusing robot, be also fully utilized by the magnetic field energy in space, saved and the energy and filled Electric cost.

4) the automatic tour that transformer station can be carried out in the way of either automatically or manually is shot, and can be by from master component Bridge transfer data to remote control terminal, accomplish unmanned maintenance substantially, instead of manual inspection, it is possible to increase crew work life Yield, it is ensured that unattended operation transformer station equipment running quality.

According to the accompanying drawings to the detailed description of the specific embodiment of the invention, those skilled in the art will be brighter Above-mentioned and other purposes, the advantages and features of the present invention.

Brief description of the drawings

Some specific embodiments of the present invention are described in detail by way of example, and not by way of limitation with reference to the accompanying drawings hereinafter. Identical reference denotes same or similar part or part in accompanying drawing.It should be appreciated by those skilled in the art that these What accompanying drawing was not necessarily drawn to scale.In accompanying drawing:

Fig. 1 is the flow chart of transformer station's ground method for inspecting of the embodiment of the present invention;

Fig. 2 is the control system connection diagram of the crusing robot of the embodiment of the present invention;

Fig. 3 is the three-dimensional structure diagram of the crusing robot of the embodiment of the present invention;

Fig. 4 is the three-dimensional structure diagram at another visual angle of the crusing robot of the embodiment of the present invention.

Embodiment

Fig. 1 is the flow chart of transformer station's ground method for inspecting of one embodiment of the invention, as shown in figure 1, a kind of power transformation Stand ground method for inspecting, it includes:

Step 101, the navigation track for the polling path that navigates is laid in transformer station, radio frequency is set in equipment to be checked Identification id card;

Step 102, crusing robot is made to be advanced along the navigation track, and it is described by radio frequency identification ID cards progress The identification of equipment to be checked, the collection of the video data of the equipment to be checked is carried out by the picture pick-up device of the crusing robot;

Step 103, the video data is sent to by remote monitoring end by wireless bridge.

From the foregoing, it will be observed that in the embodiment of the present invention, by laying the navigation track for the polling path that navigates in transformer station, By setting radio frequency identification ID cards in equipment to be checked, inspection navigation and equipment positioning can be simply and easily realized so that this Inventive embodiments are simple in construction, and cost is low.

In one embodiment of the invention, in the step of crusing robot is advanced along the navigation track is made, also wrap Include:

The magnetic track signal of the navigation track is detected by the detection means of the crusing robot;

By the ultrasonic wave module detecting obstacles thing of the crusing robot, the inspection machine is controlled according to result of detection People bypasses to continue to advance along the navigation track after the barrier;

Teleinstruction, and the alarm signal that will be produced during inspection are received by the GPRS module of the crusing robot It is sent to mobile phone terminal.

Wherein, by GPRS module, teleinstruction can be transmitted, control crusing robot starts or stopped inspection.Pass through Ultrasonic wave module gets around barrier, and can return on polling path.

Picture pick-up device includes visible ray high-definition camera and infrared camera.Infrared camera can be detected in transformer station Infrared light, analyzed by infrared light can draw whether dangerous alarm signal, and send in time, transformer station can be prevented effectively from Overheat is on fire to wait hazard event.

Because existing crusing robot is all using driven by power, it is necessary to often carry out charge maintenance to battery, manually Cost is very high, therefore, in one embodiment of the invention, in addition to:Region of awaiting orders is set in the transformer station, described Region of awaiting orders sets wireless charging device, and corresponding with wireless charging device wireless charging is set on the crusing robot Zone of electrical influence, after the crusing robot is parked in the region of awaiting orders, is patrolled by the wireless charging induction region to be described Examine robot and carry out wireless charging.

Therefore, by setting wireless charging device in region of awaiting orders, wireless charging can be carried out directly to crusing robot, The personnel of not needing carry out power supply connection, reduce the cost of artificial charge maintenance.

The equipment that wireless charging device is for example charged using electromagnetic wave induction principle, principle is similar to transformer. Sending and receiving end respectively has a coil, sends end-coil and is connected with line power supply generation electromagnetic signal, the coil-induced hair of receiving terminal The electromagnetic signal of sending end charges the battery so as to produce electric current

In another embodiment of the present invention, in addition to:Navigated along described described in the trajectory measurement of track in transformer station High-voltage line or transformer the magnetic field intensity information and magnetic direction information that produce, and be stored in the crusing robot; During the crusing robot is advanced along the navigation track, the inspection machine is controlled according to the magnetic direction information The direction of induction coil on people so that the induction coil produces the charging current charged to battery.

Therefore, the embodiment of the present invention by measuring the magnetic direction in transformer station in advance, in crusing robot motion process In, make full use of the magnetic field in transformer station to be charged by adjusting the direction of induction coil, because crusing robot is in Motion state, and there are a variety of high-intensity magnetic field sources such as high-voltage line and transformer in transformer station, therefore the embodiment is not only able to patrolling Real time charging in robot operation is examined, the course continuation mileage of crusing robot is added, is also fully utilized by the magnetic field energy in space Amount, has saved the energy and charging cost.

In yet another embodiment of the present invention, in addition to:The magnetic field for measuring transformer periphery in the transformer station is strong Degree, finds the presumptive area that magnetic field intensity is higher than threshold value;Region of awaiting orders is set in the presumptive area;In the survey monitor Wireless charging induction region corresponding with the transformer is set on device people, the region of awaiting orders is parked in the crusing robot Afterwards, it is that the crusing robot carries out wireless charging by the wireless charging induction region.The embodiment takes full advantage of power transformation The magnetic field energy in space in standing, has saved charging cost.

Present invention also offers a kind of embodiment of transformer station ground cruising inspection system, including:

Navigate track, is laid in transformer station, for the polling path that navigates;

Radio frequency identification ID cards, are arranged in equipment to be checked;

Crusing robot, is used for:Advanced along the navigation track, and it is described to be checked by radio frequency identification ID cards progress The identification of equipment, the collection of the video data of the equipment to be checked is carried out by the picture pick-up device of the crusing robot;

Wireless bridge, is used for:The video data is sent to remote monitoring end.

From the foregoing, it will be observed that in cruising inspection system embodiment of the present invention, by being laid in transformer station for the polling path that navigates Navigate track, by setting radio frequency identification ID cards in equipment to be checked, can simply and easily realize that inspection navigation and equipment are fixed Position so that the embodiment of the present invention is simple in construction, and cost is low

Fig. 2 is the control system connection diagram of the crusing robot of the embodiment of the present invention, as shown in Fig. 2

The controller of crusing robot receives the control information of SMS module (GPRS module), or regular according to setting value Realization is automatically controlled.Controller control kinematic system realizes a cycle inspection along the magnetic stripe track laid in advance.In motion During, the real-time acquisition camera information of controller simultaneously will send information to remote control terminal by wireless bridge, long-range control End processed can control head angle, so that comprehensive, carry out visible ray, the infrared light at no dead angle are shot.Controller is also connected with penetrating Frequency identification module and track monitoring modular, by ID card identification technologies, the difference that crusing robot can identify transformer station is set It is standby, so as to realize that ad-hoc location is shot.

Fig. 3 is the three-dimensional structure diagram of the crusing robot of the embodiment of the present invention, and Fig. 4 is the inspection machine of the embodiment of the present invention The three-dimensional structure diagram at another visual angle of people.As shown in Figure 3, Figure 4,

The crusing robot includes:

Detection means 301, is used for:The magnetic track signal of the detection navigation track;

Ultrasonic wave module 302, is used for:Detecting obstacles thing;

GPRS module 303, is used for:Teleinstruction is received, and the alarm signal produced during inspection is sent to mobile phone Terminal.

Wherein, the picture pick-up device 304 includes visible ray high-definition camera and infrared camera.

The picture pick-up device 304 is arranged on head 305, it is possible to achieve the horizontal rotation of camera angle and tilted upward.

The detection means 301 can be to magnetic track signal detect filter circuit, be also at the same transformer station is disturbed into The filter circuit of row noise reduction;

As shown in Figure 4.The crusing robot also includes:Two driving wheels 306 turned to using differential fashion, are arranged on On the chassis, universal wheel 308, on the chassis;

Two direct current generators, are arranged on the chassis, and connect described two driving wheels respectively;

Power supply, is arranged on the chassis, connects described two direct current generators.

The clamshell shell 309 that can be opened, is covered on the chassis;

Crusing robot has following functions

The crusing robot of the embodiment of the present invention can reach following functions:

1st, motion control.Controller controls driver motor to be run by DC motor driver.Due to using double Driving wheel mechanism, so the turn of inspection device is by the way of two-wheel differential.

2nd, track line walking.Track band is magnetic, by Hall sensor, and is subject to appropriate signal conditioning circuit, so that it may To realize line walking control.

3rd, wireless bridge networking.Because power network internal network is not allow for WAP.And the distance of wireless bridge is 50KM, has met requirement.Therefore wireless bridge constructing local network is used, expense needed for leasing ad hoc network is saved to save money Gold.

4th, camera is gathered.Using High Resolution Visible Light and infrared pick-up head, temperature, the fortune of substation equipment are monitored The information such as row situation.

5th, short message is controlled.Substation operation personnel short message sending gives inspection device control command, realizes connecing for inspection device Receive order operation;Using the convenience of mobile phone, exploitation by the function of GSM network transmission control instruction, employee only need to by Fixed data format, which sends short message to " number " of inspection device, just can easily control the operation of inspection device, realize long-range distant Control inspection device.

6th, track navigates.The rail that patrols for realizing robot by Magnetic Sensor navigates, and cost is low, and precision is high.Transformer station sets Inspection device operation track is spread on standby passage and cable cover, is easy to inspection device line walking to travel.

7th, ID cards mark relevant device.By way of pasting identification label on a particular device, particular device is realized Identification.It is identified by RFID REIDs.

In another embodiment of transformer station's ground cruising inspection system of the present invention, in addition to:

Wireless charging device, is arranged on the region of awaiting orders in the transformer station;

Wireless charging induction region, is arranged on the crusing robot, is used for:It is parked in the crusing robot described Await orders behind region, be that the crusing robot carries out wireless charging by the wireless charging induction region.Therefore, by awaiting orders Region sets wireless charging device, can carry out wireless charging directly to crusing robot, it is not necessary to which personnel carry out power supply connection, Reduce the cost of artificial charge maintenance.

In another embodiment of transformer station's ground cruising inspection system of the present invention, the crusing robot also includes:

Storage device, is used for:Store the high-voltage line in the transformer station obtained along the trajectory measurement of the navigation track Or the magnetic field intensity information and magnetic direction information that transformer is produced;

Induction coil, is used for:During the crusing robot is advanced along the navigation track, according to the magnetic field Directional information controls direction, produces the charging current charged to battery.

Therefore, the embodiment of the present invention by measuring the magnetic direction in transformer station in advance, in crusing robot motion process In, make full use of the magnetic field in transformer station to be charged by adjusting the direction of induction coil, because crusing robot is in Motion state, and there are a variety of high-intensity magnetic field sources such as high-voltage line and transformer in transformer station, therefore the embodiment is not only able to patrolling Real time charging in robot operation is examined, the course continuation mileage of crusing robot is added, is also fully utilized by the magnetic field energy in space Amount, has saved the energy and charging cost.

Transformer station's ground automatic tour inspection system of the embodiment of the present invention can be substantially instead of manually realizing 35KV transformer stations Conventional inspection.Its crusing robot carries visible ray high-definition camera and infrared camera, can be with side either automatically or manually The automatic tour that formula carries out transformer station is shot.And can be by transferring data to remote control terminal from the bridge of master component.

Transformer station's ground automatic tour inspection system accomplishes unmanned maintenance substantially, substantially instead of manual inspection, it is possible to increase crew Labor productivity, it is ensured that unattended operation transformer station equipment running quality.

So far, although those skilled in the art will appreciate that detailed herein have shown and described multiple showing for the present invention Example property embodiment, still, still can be direct according to present disclosure without departing from the spirit and scope of the present invention It is determined that or deriving many other variations or modifications for meeting the principle of the invention.Therefore, the scope of the present invention is understood that and recognized It is set to and covers other all these variations or modifications.

Claims (6)

1. a kind of transformer station ground method for inspecting, it is characterised in that including:
The navigation track for the polling path that navigates is laid in transformer station, radio frequency identification ID cards are set in equipment to be checked;
Crusing robot is advanced along the navigation track, and pass through the knowledge of the radio frequency identification ID cards progress equipment to be checked Not, the collection of the video data of the equipment to be checked is carried out by the picture pick-up device of the crusing robot;
The video data is sent to by remote monitoring end by wireless bridge;
Also include:The magnetic field intensity produced along the high-voltage line or transformer described in the trajectory measurement of the navigation track in transformer station Information and magnetic direction information, and be stored in the crusing robot;The crusing robot along it is described navigation track row During entering, the direction of the induction coil on the crusing robot is controlled according to the magnetic direction information so that described Induction coil produces the charging current charged to battery;
Also include:The magnetic field intensity on the transformer periphery in the transformer station is measured, magnetic field intensity is found pre- higher than threshold value Determine region;Region of awaiting orders is set in the presumptive area;Set on the crusing robot corresponding with the transformer Wireless charging induction region, after the crusing robot is parked in the region of awaiting orders, be by the wireless charging induction region The crusing robot carries out wireless charging.
2. transformer station ground according to claim 1 method for inspecting, it is characterised in that led making crusing robot described in In the step of boat track is advanced, in addition to:
The magnetic track signal of the navigation track is detected by the detection means of the crusing robot;
By the ultrasonic wave module detecting obstacles thing of the crusing robot, according to result of detection control the crusing robot around Cross and continue to advance along the navigation track after the barrier;
Teleinstruction is received by the GPRS module of the crusing robot, and the alarm signal produced during inspection is sent To mobile phone terminal.
3. transformer station ground according to claim 1 method for inspecting, it is characterised in that
The picture pick-up device includes visible ray high-definition camera and infrared camera.
4. transformer station ground according to claim 1 method for inspecting, it is characterised in that also include:
Region of awaiting orders is set in the transformer station, wireless charging device is set in the region of awaiting orders, in the inspection machine Wireless charging induction region corresponding with the wireless charging device is set on people, described await orders is parked in the crusing robot It is that the crusing robot carries out wireless charging by the wireless charging induction region behind region.
5. a kind of transformer station ground cruising inspection system, it is characterised in that including:
Navigate track, is laid in transformer station, for the polling path that navigates;
Radio frequency identification ID cards, are arranged in equipment to be checked;
Crusing robot, is used for:Advanced along the navigation track, and the equipment to be checked is carried out by the radio frequency identification ID cards Identification, the collection of the video data of the equipment to be checked is carried out by the picture pick-up device of the crusing robot;
Wireless bridge, is used for:The video data is sent to remote monitoring end;
Also include:Wireless charging device, is arranged on the region of awaiting orders in the transformer station;Wireless charging induction region, is arranged on On the crusing robot, it is used for:After the crusing robot is parked in the region of awaiting orders, by the wireless charging induction zone Domain is that the crusing robot carries out wireless charging;
Also include:Storage device, is used for:Store the high pressure in the transformer station obtained along the trajectory measurement of the navigation track Magnetic field intensity information and magnetic direction information that line or transformer are produced;Induction coil, is used for:In the crusing robot along institute During stating navigation track traveling, direction is controlled according to the magnetic direction information, what generation was charged to battery fills Electric current.
6. transformer station ground according to claim 5 cruising inspection system, it is characterised in that the crusing robot includes:
Detection means, is used for:The magnetic track signal of the detection navigation track;
Ultrasonic wave module, is used for:Detecting obstacles thing;
GPRS module, is used for:Teleinstruction is received, and the alarm signal produced during inspection is sent to mobile phone terminal;
The picture pick-up device includes visible ray high-definition camera and infrared camera.
CN201410498481.3A 2014-09-25 2014-09-25 A kind of transformer station ground method for inspecting and cruising inspection system CN104284151B (en)

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CN201410498481.3A CN104284151B (en) 2014-09-25 2014-09-25 A kind of transformer station ground method for inspecting and cruising inspection system

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CN104714550A (en) * 2015-03-11 2015-06-17 武汉汉迪机器人科技有限公司 Mecanum wheel omni-directional mobile inspection robot
CN105137995B (en) * 2015-09-11 2017-09-22 云南电网有限责任公司电力科学研究院 A kind of transformer station's X-ray detection target identification method based on RFID technique
CN105225166B (en) * 2015-10-14 2018-07-17 卢丽花 A kind of implementation method of substation safety processing
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CN105578144A (en) * 2015-12-25 2016-05-11 四川理工学院 Camera thermostat of substation patrol robot
CN105511470A (en) * 2015-12-25 2016-04-20 天津梅迪亚科技有限公司 Intelligent inspection robot
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