CN104408788A - Inspection tour method for electric power instrument - Google Patents
Inspection tour method for electric power instrument Download PDFInfo
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- CN104408788A CN104408788A CN201410506270.XA CN201410506270A CN104408788A CN 104408788 A CN104408788 A CN 104408788A CN 201410506270 A CN201410506270 A CN 201410506270A CN 104408788 A CN104408788 A CN 104408788A
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Abstract
The invention relates to an inspection tour method for an electric power instrument, which comprises the following steps: 1) an intelligent robot for tour inspection of the electric power instrument is provided, the intelligent robot comprises an infrared camera, a high definition camera, an image processor and a MSP 430 one-chip microcomputer, the infrared camera is used for collecting infrared image with temperature information, the device temperature in an electric power instrument area in the infrared image can be detected, the high definition camera is used for collecting electric power instrument image, the image processor is used for processing image of the electric power instrument images, the MSP 430 one-chip microcomputer is connected to the infrared camera and the image processor, whether the electric power instrument is overheated or not can be determined based on the device temperature, and data of the electric power instrument can be read based on the image processing result. The MSP 430 one-chip microcomputer is a 16 bite one-chip microcomputer having a reduced instruction set from Texas instruments (TI) company; and the intelligent robot is used for inspection tour of the electric power instrument.
Description
Technical field
The present invention relates to power monitoring field, particularly relate to a kind of method of patrolling and examining electric instrument.
Background technology
Electric instrument is electric parameter measurement, the quality of power supply monitors and analysis, electrical equipment control the power measurement and the opertaing device that provide solution.Electric instrument, as the intellectuality of a kind of advanced person, digitized electrical network front-end collection element, has been widely used in various control system, SCADA system and energy management system, the automation of transformation substations, community power monitoring, industrial automation, intelligent building, intelligent power distribution cabinet.In the equipment such as switch cubicle.Electric instrument is the visual plant monitored the operation of power equipment, in the important electric power place of such as electric substation, often there is various types of electric instrument, such as electrical measurement instrument, electric energy statistics instrument, power quality analyzer table, load monitoring instrument, off-limit alarm instrument etc., be respectively used to provide various parameters of electric power to use and reference for supvr.
Although the electric instrument in current electric power place can by the mode of networking, reading and duty is directly obtained from background monitoring room, but, still the electric instrument that cannot be applicable to networking mode is in a large number there is in electric power place, such as oil level indicator etc., need personnel regularly to make an inspection tour, get rid of the potential safety hazard because equipment deficiency causes.But because electric power place often exists high-tension electricity, threaten to personnel's personal safety, therefore, electric administrative department is more ready to adopt the robot object of patrolling and examining to realize scene.
But, because the type of electric instrument is different, and the manufacturer of electric instrument is different, cause the profile of electric instrument different, comprise the electric instrument etc. of the electric instrument of pointer-type, digital electric instrument, liquid level display, different electric instruments, make template different, display mode is not identical yet.While enriching electric instrument profile, also difficulty is caused to robot identification reading, the robot of prior art generally goes to identify reading according to fixed form, the situation that scene exists the electric instrument of various template cannot be adapted to, simultaneously, the intellectuality people that operates machine cannot arrive target power instrument in prior art, and the temperature overheating warning message of target power instrument is provided.
Therefore, need a kind of method of patrolling and examining electric instrument, can when far-end parametric controller only inputs a target power meter location, before can automatically arriving target power instrument, to the target power Meter recognition reading of various template with carry out temperature alarm, improve the automaticity of robot system.
Summary of the invention
In order to solve the problem, the invention provides a kind of method of patrolling and examining electric instrument, increase infrared camera for gathering the infrared image with temperature information, to judge that whether target instrument is overheated, the parameter that increase high-definition camera and image processor carry out To Template identification and based target template reads, and utilize compatible strong wireless communication interface, the cooperation of master controller and robot driving arrangement, before robot brain device people arrives target instrument, the Automatic parameter completing robot reads, and the parameter of reading and state are sent by wireless communication interface, for far-end parametric controller provides important referential data.
According to an aspect of the present invention, provide a kind of method of patrolling and examining electric instrument, the method comprises: 1) provide the intelligent robot of patrolling and examining electric instrument, described intelligent robot comprises infrared camera, high-definition camera, image processor and MSP430 series monolithic, described infrared camera is for gathering the infrared image with temperature information, detect the device temperature in electric instrument region in infrared image, described high-definition camera is for gathering electric instrument image, described image processor carries out image procossing to described electric instrument image, described MSP430 series monolithic is connected respectively with described infrared camera and described image processor, whether overheated based on described device temperature determination electric instrument, and based on the meter reading of processing result image determination electric instrument, described MSP430 series monolithic is one 16 of Texas Instrument (TI) company, there is the single-chip microcomputer of reduced instruction set computer, and 2) use described intelligent robot to patrol and examine electric instrument.
More specifically, described for patrolling and examining in the intelligent robot of electric instrument, described intelligent robot also comprises robot driving arrangement, be positioned on the chassis of described intelligent robot, for under the control of described MSP430 series monolithic, intelligent robot is driven to leave for advance target, described advance target is each different electric instrument, described robot driving arrangement comprises DC Brushless Motor, speed reduction unit, motor driver and two power wheels, and described two power wheels are two trailing wheels of described intelligent robot, wireless communication interface, be positioned on the case nose of described intelligent robot, for receiving the steering order that far-end parametric controller sends, the position of the advance target of intelligent robot is included in described steering order, the position of described advance target is the relative distance of electric instrument apart from described intelligent robot starting point, and electric instrument temperature alarm, electric instrument temperature normal signal, the electric instrument type that the match is successful and electric instrument parameter are also transmitted to described far-end parametric controller by described wireless communication interface, storer, be positioned at the case nose of described intelligent robot, save electric instrument property data base, described electric instrument property data base with electric instrument type for index, correspondence saves image template and the modal identification algorithm of each electric instrument type, described storer also stored for equipment upper limit gray threshold, equipment lower limit gray threshold and predetermined temperature threshold, and described equipment upper limit gray threshold and described equipment lower limit gray threshold are used for the electric instrument in image and background separation, described high-definition camera and described infrared camera are all positioned on the front end of described intelligent robot, and are all provided with explosion-resistant enclosure, described image processor is positioned at the case nose of described intelligent robot, include image division unit, template matches unit and parameter recognition unit, described image division unit is connected respectively with described high-definition camera and described storer, for by the pixel identification of gray-scale value in described electric instrument image between equipment upper limit gray threshold and equipment lower limit gray threshold and component devices subimage, described template matches unit is connected respectively with described image division unit and described storer, for described equipment subimage is mated one by one with the image template of each electric instrument type in described electric instrument property data base, find the electric instrument type that the match is successful, described parameter recognition unit and described image division unit, described template matches unit is connected respectively with described storer, based on the electric instrument type that the match is successful, the modal identification algorithm corresponding with the electric instrument type that the match is successful is found in described electric instrument property data base, and based on the modal identification algorithm searched out, electric instrument reading in described equipment subimage is identified, with output power instrument parameter, described MSP430 series monolithic is positioned at the case nose of described intelligent robot, with described robot driving arrangement, described wireless communication interface, described storer, described high-definition camera, described infrared camera is connected respectively with described image processor, resolve steering order that described wireless communication interface receives to obtain the position of described advance target, based on described advance target position control described in robot driving arrangement leave for advance target, after described robot driving arrangement feedback has driven the relative distance corresponding with the position of described advance target, start described high-definition camera, described infrared camera and described image processor, enter electric instrument monitoring mode, wherein, in described electric instrument monitoring mode, described MSP430 series monolithic is when described device temperature is more than or equal to predetermined temperature threshold, send electric instrument temperature alarm, described MSP430 series monolithic, when described device temperature is less than predetermined temperature threshold, sends electric instrument temperature normal signal, described MSP430 series monolithic exports the described electric instrument type that the match is successful and described electric instrument parameter simultaneously, described wireless communication interface is integrated with GPRS communication interface, 3G communication interface and 4G communication interface, and described wireless communication interface adopts on-site programmable gate array FPGA chip, and this fpga chip is the EP2C5Q208C8N of ALTERA company.
More specifically, described for patrolling and examining in the intelligent robot of electric instrument, described wireless communication interface and described far-end parametric controller carry out bidirectional data communication by wireless communication link, and the data of communication are all the packet of IP protocol encapsulation.
More specifically, described for patrolling and examining in the intelligent robot of electric instrument, the resolution of the electric instrument image that described high-definition camera equipment gathers is 1280 × 720.
More specifically, described for patrolling and examining in the intelligent robot of electric instrument, described speed reduction unit is integrated in described DC Brushless Motor.
More specifically, described for patrolling and examining in the intelligent robot of electric instrument, described intelligent robot also comprises: two front-wheels, and described two front-wheels are two universal wheels.
More specifically, for patrolling and examining in the intelligent robot of electric instrument, described intelligent robot also comprises: user input device described, is connected with described storer, for under control of the user, to storer input equipment upper limit gray threshold, equipment lower limit gray threshold and predetermined temperature threshold.
More specifically, described for patrolling and examining in the intelligent robot of electric instrument, described user input device is keyboard or touch-screen.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the intelligent robot for patrolling and examining electric instrument illustrated according to an embodiment of the present invention.
Fig. 2 is the block diagram of the image processor of the intelligent robot for patrolling and examining electric instrument illustrated according to an embodiment of the present invention.
Embodiment
Below with reference to accompanying drawings the embodiment of the intelligent robot for patrolling and examining electric instrument of the present invention is described in detail.
Robot (Robot) is the installations automatically performing work.He both can accept mankind commander, can run again the program of layout in advance, also can according to the principle guiding principle action of formulating with artificial intelligence technology.His task assists or replace the work of human work, such as production industry, building industry, or the work of danger, such as electric power place.
Robot is generally made up of topworks, drive unit, pick-up unit and control system etc.
Topworks, i.e. robot body, its arm generally adopts space open chain linkage assembly, and kinematic pair (revolute pair or moving sets) wherein is often called joint, and joint number is the number of degrees of freedom, of robot usually.Drive unit, be the mechanism ordering about topworks's motion, the command signal sent according to control system, makes robot carry out action by means of dynamical element.Pick-up unit, is motion and the working condition of real-time measuring robots, feeds back to control system as required, after comparing, adjust topworks with set information, to ensure that the action of robot meets predetermined requirement.
Control system, one is centerized fusion, namely whole controls of robot are completed by a microcomputer, another kind is that dispersion (level) formula controls, namely multiple stage microcomputer is adopted to share the control of robot, as when adopting upper and lower two-level microcomputer jointly to complete the control of robot, main frame is usually used in the management of responsible system, communication, kinematics and dynamics calculation, and sends command information to subordinate's microcomputer; As subordinate from machine, each joint is a corresponding CPU respectively, carries out interpolation operation and servocontrol process, realizes given motion, and to main frame feedback information.According to the difference that job task requires, point position control, continuous path can be divided into again to control for the control mode of robot and power (moment) controls.
Intelligent robot for patrolling and examining electric instrument of the present invention, can control before described robot reaches target power instrument exactly, the surface temperature of target power instrument is judged according to the testing result of infrared camera, automatically the electric instrument parameter that various different templates is made is read by high-definition camera and image processor, reduce the transmission of the control data of far-end parametric controller, improve the intelligence degree of whole robot system.
Fig. 1 is the block diagram of the intelligent robot for patrolling and examining electric instrument illustrated according to an embodiment of the present invention, described intelligent robot comprises infrared camera 1, robot driving arrangement 2, high-definition camera 4, image processor 5 and MSP430 series monolithic 3, described infrared camera 1 is for gathering the infrared image with temperature information, detect the device temperature in electric instrument region in infrared image, described high-definition camera 4 is for gathering electric instrument image, described image processor 5 carries out image procossing to described electric instrument image, described MSP430 series monolithic 3 and described infrared camera 1, described robot driving arrangement 2, described high-definition camera 4 is connected respectively with described image processor 5, whether overheated based on described device temperature determination electric instrument, and based on the meter reading of processing result image determination electric instrument, described MSP430 series monolithic 3 is one 16 of Texas Instrument (TI) company, there is the single-chip microcomputer of reduced instruction set computer.
Then, more specific description is carried out to the intelligent robot for patrolling and examining electric instrument of the present invention.
Described robot driving arrangement 2 is positioned on the chassis of described intelligent robot, for under the control of described MSP430 series monolithic 3, intelligent robot is driven to leave for advance target, described advance target is each different electric instrument, described robot driving arrangement 2 comprises DC Brushless Motor, speed reduction unit, motor driver and two power wheels, and described two power wheels are two trailing wheels of described intelligent robot.
Also comprise at described intelligent robot, wireless communication interface, be positioned on the case nose of described intelligent robot, for receiving the steering order that far-end parametric controller sends, the position of the advance target of intelligent robot is included in described steering order, the position of described advance target is the relative distance of electric instrument apart from described intelligent robot starting point, and electric instrument temperature alarm, electric instrument temperature normal signal, the electric instrument type that the match is successful and electric instrument parameter are also transmitted to described far-end parametric controller by described wireless communication interface.
Also comprise at described intelligent robot, storer, be positioned at the case nose of described intelligent robot, save electric instrument property data base, described electric instrument property data base with electric instrument type for index, correspondence saves image template and the modal identification algorithm of each electric instrument type, described storer also stored for equipment upper limit gray threshold, equipment lower limit gray threshold and predetermined temperature threshold, and described equipment upper limit gray threshold and described equipment lower limit gray threshold are used for the electric instrument in image and background separation.
Described high-definition camera 4 and described infrared camera 1 are all positioned on the front end of described intelligent robot, and are all provided with explosion-resistant enclosure.
The case nose of described intelligent robot is positioned at reference to image processor 5 described in Fig. 2, include image division unit 51, template matches unit 52 and parameter recognition unit 53, described image division unit 51 is connected respectively with described high-definition camera 4 and described storer, for by the pixel identification of gray-scale value in described electric instrument image between equipment upper limit gray threshold and equipment lower limit gray threshold and component devices subimage, described template matches unit 52 is connected respectively with described image division unit 51 and described storer, for described equipment subimage is mated one by one with the image template of each electric instrument type in described electric instrument property data base, find the electric instrument type that the match is successful, described parameter recognition unit 53 and described image division unit 51, described template matches unit 52 is connected respectively with described storer, based on the electric instrument type that the match is successful, the modal identification algorithm corresponding with the electric instrument type that the match is successful is found in described electric instrument property data base, and based on the modal identification algorithm searched out, electric instrument reading in described equipment subimage is identified, with output power instrument parameter.
Described MSP430 series monolithic 3 is positioned at the case nose of described intelligent robot, with described robot driving arrangement 2, described wireless communication interface, described storer, described high-definition camera 4, described infrared camera 1 is connected respectively with described image processor 5, resolve steering order that described wireless communication interface receives to obtain the position of described advance target, based on described advance target position control described in robot driving arrangement 2 leave for advance target, after described robot driving arrangement 2 feeds back and drives the relative distance corresponding with the position of described advance target, start described high-definition camera 4, described infrared camera 1 and described image processor 5, enter electric instrument monitoring mode.
Wherein, in described electric instrument monitoring mode, described MSP430 series monolithic 3 is when described device temperature is more than or equal to predetermined temperature threshold, send electric instrument temperature alarm, described MSP430 series monolithic 3, when described device temperature is less than predetermined temperature threshold, sends electric instrument temperature normal signal; Described MSP430 series monolithic 3 exports the described electric instrument type that the match is successful and described electric instrument parameter simultaneously.
Described wireless communication interface is integrated with GPRS communication interface, 3G communication interface and 4G communication interface, and described wireless communication interface adopts on-site programmable gate array FPGA chip, and this fpga chip is the EP2C5Q208C8N of ALTERA company.
Wherein, described for patrolling and examining in the intelligent robot of electric instrument, described wireless communication interface and described far-end parametric controller carry out bidirectional data communication by wireless communication link, the data of communication are all the packet of IP protocol encapsulation, the resolution of the electric instrument image that described high-definition camera equipment 4 gathers is 1280 × 720, can described speed reduction unit be integrated in described DC Brushless Motor, described intelligent robot can also comprise two front-wheels, described two front-wheels are two universal wheels, described intelligent robot can also comprise user input device, be connected with described storer, for under control of the user, to storer input equipment upper limit gray threshold, equipment lower limit gray threshold and predetermined temperature threshold, and described user input device can be selected as keyboard or touch-screen.
In addition, the electric instrument that electric power place uses has accurate electric parameter measurement, power quality parameter monitors and analysis, electric flux statistics, off-limit alarm, the most function such as value record and sequence of events recording.Realize exporting the supervision of field equipment state, Long-distance Control and warning by I/O module.Electric instrument provides the communication interface of standard, and can select superfluous She of duplex network, also provides the functions such as electrical energy pulse output and 4 ~ 20mA analog output simultaneously.
In electric instrument, electric device applied function moduleization designs, user-defined stabilization system, and analog quantity and amount of logic definite value can be driven to report to the police.The liquid crystal display interface of giant-screen allows user easily obtain parameters of electric power.Powerful functional configuration builds power monitoring to user, the quality of power supply monitors and analysis solution provides and selects flexibly.Intelligent electric instrument can be used as instrument and is used alone, and replaces analogue instrument traditional in a large number, also can be used as the front-end equipment of electric power monitoring system, realize remote data acquisition and control.
In addition, universal wheel is exactly so-called movable castor, his structure tolerable injury level 360 degree rotation.Castor is a general designation, comprises movable castor and rigid castors.Rigid castors does not have rotational structure, and can not horizontally rotate can only vertical rotation.These two kinds of castors are all generally collocation use, and the structure of such as trolley is two, front fast pulley, and back is two movable universal wheels near what promote handrail.The material manufacturing universal wheel has multiple, and the most general material is: nylon, polyurethane, rubber, the materials such as cast iron.Be widely used in the various fields such as mine, plant equipment, electronic equipment, Medical Devices, finishing work.
Adopt the intelligent robot for patrolling and examining electric instrument of the present invention, automatically cannot arrive object electric instrument for existing robot system of patrolling and examining for electric power place and automatically cannot identify the technical matters of reading to the electric instrument of multiple different templates, adopt the recognition technology based on image procossing, first identify the template of electric instrument, corresponding parameter reading algorithm is being found based on recognition template, thus read the currency of all electric instruments adaptively, simultaneously, compatible strong wireless communication interface, enabling and control and optimize between master controller and wireless communication interface of overheating detection alarm mechanism, all drastically increase the automaticity of robot, reduce manual operation.
Be understandable that, although the present invention with preferred embodiment disclose as above, but above-described embodiment and be not used to limit the present invention.For any those of ordinary skill in the art, do not departing under technical solution of the present invention ambit, the technology contents of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (8)
1. patrol and examine a method for electric instrument, the method comprises:
1) intelligent robot of patrolling and examining electric instrument is provided, described intelligent robot comprises infrared camera, high-definition camera, image processor and MSP430 series monolithic, described infrared camera is for gathering the infrared image with temperature information, detect the device temperature in electric instrument region in infrared image, described high-definition camera is for gathering electric instrument image, described image processor carries out image procossing to described electric instrument image, described MSP430 series monolithic is connected respectively with described infrared camera and described image processor, whether overheated based on described device temperature determination electric instrument, and based on the meter reading of processing result image determination electric instrument, described MSP430 series monolithic is one 16 of Texas Instrument (TI) company, there is the single-chip microcomputer of reduced instruction set computer, and
2) use described intelligent robot to patrol and examine electric instrument.
2. the method for claim 1, is characterized in that, described intelligent robot also comprises:
Robot driving arrangement, be positioned on the chassis of described intelligent robot, for under the control of described MSP430 series monolithic, intelligent robot is driven to leave for advance target, described advance target is each different electric instrument, described robot driving arrangement comprises DC Brushless Motor, speed reduction unit, motor driver and two power wheels, and described two power wheels are two trailing wheels of described intelligent robot;
Wireless communication interface, be positioned on the case nose of described intelligent robot, for receiving the steering order that far-end parametric controller sends, the position of the advance target of intelligent robot is included in described steering order, the position of described advance target is the relative distance of electric instrument apart from described intelligent robot starting point, and electric instrument temperature alarm, electric instrument temperature normal signal, the electric instrument type that the match is successful and electric instrument parameter are also transmitted to described far-end parametric controller by described wireless communication interface;
Storer, be positioned at the case nose of described intelligent robot, save electric instrument property data base, described electric instrument property data base with electric instrument type for index, correspondence saves image template and the modal identification algorithm of each electric instrument type, described storer also stored for equipment upper limit gray threshold, equipment lower limit gray threshold and predetermined temperature threshold, and described equipment upper limit gray threshold and described equipment lower limit gray threshold are used for the electric instrument in image and background separation;
Described high-definition camera and described infrared camera are all positioned on the front end of described intelligent robot, and are all provided with explosion-resistant enclosure;
Described image processor is positioned at the case nose of described intelligent robot, include image division unit, template matches unit and parameter recognition unit, described image division unit is connected respectively with described high-definition camera and described storer, for by the pixel identification of gray-scale value in described electric instrument image between equipment upper limit gray threshold and equipment lower limit gray threshold and component devices subimage, described template matches unit is connected respectively with described image division unit and described storer, for described equipment subimage is mated one by one with the image template of each electric instrument type in described electric instrument property data base, find the electric instrument type that the match is successful, described parameter recognition unit and described image division unit, described template matches unit is connected respectively with described storer, based on the electric instrument type that the match is successful, the modal identification algorithm corresponding with the electric instrument type that the match is successful is found in described electric instrument property data base, and based on the modal identification algorithm searched out, electric instrument reading in described equipment subimage is identified, with output power instrument parameter,
Described MSP430 series monolithic is positioned at the case nose of described intelligent robot, with described robot driving arrangement, described wireless communication interface, described storer, described high-definition camera, described infrared camera is connected respectively with described image processor, resolve steering order that described wireless communication interface receives to obtain the position of described advance target, based on described advance target position control described in robot driving arrangement leave for advance target, after described robot driving arrangement feedback has driven the relative distance corresponding with the position of described advance target, start described high-definition camera, described infrared camera and described image processor, enter electric instrument monitoring mode,
Wherein, in described electric instrument monitoring mode, described MSP430 series monolithic is when described device temperature is more than or equal to predetermined temperature threshold, send electric instrument temperature alarm, described MSP430 series monolithic, when described device temperature is less than predetermined temperature threshold, sends electric instrument temperature normal signal; Described MSP430 series monolithic exports the described electric instrument type that the match is successful and described electric instrument parameter simultaneously;
Wherein, described wireless communication interface is integrated with GPRS communication interface, 3G communication interface and 4G communication interface, and described wireless communication interface adopts on-site programmable gate array FPGA chip, and this fpga chip is the EP2C5Q208C8N of ALTERA company.
3. method as claimed in claim 2, is characterized in that:
Described wireless communication interface and described far-end parametric controller carry out bidirectional data communication by wireless communication link, and the data of communication are all the packet of IP protocol encapsulation.
4. method as claimed in claim 2, is characterized in that:
The resolution of the electric instrument image that described high-definition camera equipment gathers is 1280 × 720.
5. method as claimed in claim 2, is characterized in that:
Described speed reduction unit is integrated in described DC Brushless Motor.
6. method as claimed in claim 2, it is characterized in that, described intelligent robot also comprises:
Two front-wheels, described two front-wheels are two universal wheels.
7. method as claimed in claim 2, it is characterized in that, described intelligent robot also comprises:
User input device, is connected with described storer, under control of the user, to storer input equipment upper limit gray threshold, equipment lower limit gray threshold and predetermined temperature threshold.
8. method as claimed in claim 7, is characterized in that:
Described user input device is keyboard or touch-screen.
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| CN107123116A (en) * | 2017-04-25 | 2017-09-01 | 航天科技控股集团股份有限公司 | Based on cloud platform Full-automatic instrument detecting system and detection method |
| CN109272000A (en) * | 2018-09-10 | 2019-01-25 | 广东电网有限责任公司 | A kind of alignment of robot instrument and focus adjustment method and device |
| CN110415374A (en) * | 2019-08-13 | 2019-11-05 | 云南电网有限责任公司曲靖供电局 | Inspection terminal and method for inspecting |
| CN112991571A (en) * | 2020-03-25 | 2021-06-18 | 长扬科技（北京）有限公司 | Inspection method, inspection device, computer equipment and storage medium |
| CN112396719A (en) * | 2020-10-29 | 2021-02-23 | 广东电网有限责任公司 | Electric power capital construction inspection device |
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