CN105403198B - A kind of real-time monitoring platform of iron tower of power transmission line gradient - Google Patents
A kind of real-time monitoring platform of iron tower of power transmission line gradient Download PDFInfo
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- CN105403198B CN105403198B CN201510955776.3A CN201510955776A CN105403198B CN 105403198 B CN105403198 B CN 105403198B CN 201510955776 A CN201510955776 A CN 201510955776A CN 105403198 B CN105403198 B CN 105403198B
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- 229910052742 iron Inorganic materials 0.000 title claims abstract description 29
- 238000012544 monitoring process Methods 0.000 title claims abstract description 21
- 230000005611 electricity Effects 0.000 claims abstract description 52
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 41
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
- G01C9/18—Measuring inclination, e.g. by clinometers, by levels by using liquids
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
- G01C9/18—Measuring inclination, e.g. by clinometers, by levels by using liquids
- G01C2009/182—Measuring inclination, e.g. by clinometers, by levels by using liquids conductive
Abstract
The present invention relates to a kind of real-time monitoring platform of iron tower of power transmission line gradient, including liquid pendulum-type inclination sensor, touch switch sensor and crusing robot, liquid pendulum-type inclination sensor is for detecting the real-time gradient of steel tower, touch switch sensor is positioned on anti-tilt structure, for detecting transmission line of electricity preceding object thing, crusing robot is mounted on transmission line of electricity, for determining whether that according to the output of liquid pendulum-type inclination sensor and touch switch sensor the power supply management server of far-end sends corresponding alarm signal.By means of the invention it is possible to transmission line of electricity surrounding is carried out safety detection accurately, it is to avoid power grid accident occurs.
Description
Technical field
The present invention relates to power grid maintenance field, particularly relate to a kind of iron tower of power transmission line gradient and supervise in real time
Survey platform.
Background technology
The reason of Iron tower incline near transmission line of electricity is caused to have a lot, the pine of such as associated anchor
Dynamic, subsiding of lower necromancer stone, the excessive and load of ambient wind overweight, all may cause steel tower
Abnormal dip.If steel tower inclination angle is excessive, it will cause self dropping, related transmission line of electricity
Tenesmus, consequence is hardly imaginable.Accordingly, it would be desirable to steel tower monitoring state, stand when an abnormality is discovered
I.e. report to the police to power supply management department, remind power supply management department to ferrum before accident of power supply occurs
Tower is repaired, thus avoids the generation of accident of power supply.
But, Iron tower incline degree monitoring scheme of the prior art be all based on manpower monitoring, efficiency low and
Poor real, there is no the mechanization scheme of transmission line of electricity complete monitoring at present, accordingly, it would be desirable to a kind of new
Iron tower of power transmission line gradient detection scheme, it is possible to replace original manpower monitoring scheme, use machine
Steel tower whole process near transmission line of electricity is monitored by tool monitoring scheme.
Summary of the invention
In order to solve the problems referred to above, the invention provides a kind of iron tower of power transmission line gradient and monitor in real time
Platform, have employed the high-precision liquid pendulum-type inclination sensor for steel tower, introduces current performance strong
Big, include anti-tilt structure, control chamber, brshless DC motor, hoisting ring, walking mechanism, lock
The inspecting robot of tight mechanism and hold-down mechanism, as current platform, also introduces frequency duplex communications skill
Art ensures that on-scene communication is smooth, thus realizes mechanization complete monitoring.
According to an aspect of the present invention, it is provided that a kind of iron tower of power transmission line gradient is monitored flat in real time
Platform, described platform includes liquid pendulum-type inclination sensor, touch switch sensor and crusing robot,
Liquid pendulum-type inclination sensor is for detecting the real-time gradient of steel tower, and touch switch sensor is positioned at
On anti-tilt structure, being used for detecting transmission line of electricity preceding object thing, crusing robot is mounted in power transmission line
Lu Shang, for determining whether according to the output of liquid pendulum-type inclination sensor and touch switch sensor
Corresponding alarm signal is sent to the power supply management server of far-end.
More specifically, in the described real-time monitoring platform of iron tower of power transmission line gradient, including: liquid
Pendulum-type inclination sensor, is arranged on the steel tower near transmission line of electricity, inside include sensor housing,
Gradient identification equipment, electrolysis bubble, as the liquid of electric conductor and three electrodes, liquid pendulum-type tilts
Sensor utilizes liquid pendulum principle to detect, for measure steel tower fair line direction angle of inclination and
The angle of inclination of crossline direction；Sensor housing is U-shape structure, is used for accommodating electrolysis bubble, as electricity
The liquid of conductor and three electrodes；Electrolysis bubble is positioned at liquid internal；In three electrodes, two electrodes are equal
The even two ends being distributed in U-shape structure lateral profile, remaining electrode is arranged on profile inside U-shape structure
Central spot；Gradient identification equipment and three electrodes connect, and move when electrolysis bubble is positioned at liquid internal
Time dynamic, gradient identification equipment calculates steel tower in fair line direction based on the capacitance variations between three electrodes
Angle of inclination and the angle of inclination of crossline direction, and based on steel tower fair line direction angle of inclination and
The angle of inclination of crossline direction calculates the integral inclined degree of steel tower；Wherein, gradient identification equipment uses
Fpga chip realizes；Crusing robot, including anti-tilt structure, control chamber, brushless dc
Machine, hoisting ring, walking mechanism, retaining mechanism and hold-down mechanism, the located anteriorly transmission of electricity of anti-tilt structure
On circuit, control chamber and brshless DC motor are all located at the lower section of transmission line of electricity, and hoisting ring will be for patrolling
Inspection robot is lifted on transmission line of electricity, and walking mechanism and retaining mechanism are all located on transmission line of electricity, pressure
Tight mechanism is positioned at the lower section of transmission line of electricity；Anti-tilt structure includes Anti-inclining wheel, fixing bolt and connection
Plate, connecting plate is taken turns with Anti-inclining and is fixed bolt respectively and be connected, prevents crusing robot from tilting backwards；
It is provided with master control borad and battery in control chamber, master control borad is integrated with AVR32 chip, frequency duplex communications
Interface and static memory, frequency duplex communications interface is set up for the power supply Operation Server with far-end
Two-way wireless communication link；Brshless DC motor is by decelerator and the driving wheel of walking mechanism and compression
The contact roller of mechanism connects respectively；Walking mechanism includes Timing Belt, Timing Belt strainer, driving wheel
With three V shaped wheels of horizontal positioned, driving wheel provides for the walking on transmission line of electricity of three V shaped wheels
Power, Timing Belt sequentially passes through driving wheel, Timing Belt strainer and three V shaped wheels to keep three
The synchronous walking of V shaped wheel；Adjustable wrench that retaining mechanism includes being linked in sequence, intermediate support, the end
Portion's pin member and U-bolt, be used for preventing crusing robot from falling at transmission line of electricity；Hold-down mechanism with
Brshless DC motor connects, including contact roller, ratchet, ratchet, back-moving spring and holddown spring, pressure
Bearing up pulley is V-structure, for compressing the aerial earth wire of transmission line of electricity, spine under the effect of holddown spring
Wheel and ratchet are used for pinning or decontroling contact roller, and back-moving spring will be for compressing when contact roller is released
Wheel resets；Touch switch sensor, is positioned on anti-tilt structure, is electrically connected with AVR32 chip,
For when touching transmission line of electricity obstacle, send contact obstacle signal；Wherein, AVR32 chip is also
It is connected by ZIGBEE communication link with gradient identification equipment, to receive the integral inclined degree of steel tower,
And when the integral inclined degree of steel tower is more than or equal to predetermined inclination degree threshold value, connect by frequency duplex communications
Mouth sends Iron tower incline alarm signal to the power supply management server of far-end, sends to walking mechanism and stops
Traveling signal, when the integral inclined degree of steel tower is less than predetermined inclination degree threshold value, is led to by FDD
Letter interface sends Iron tower incline normal signal to the power supply management server of far-end, sends to walking mechanism
Move on signal；Predetermined inclination degree threshold value is pre-stored in static memory.
More specifically, in the described real-time monitoring platform of iron tower of power transmission line gradient, also include: high
Clear picture pick-up device, is electrically connected with AVR32 chip.
More specifically, in the described real-time monitoring platform of iron tower of power transmission line gradient: high-definition camera sets
The standby image gathering deicing cutter front transmission line of electricity also passes through AVR32 chip compressed encoding.
More specifically, in the described real-time monitoring platform of iron tower of power transmission line gradient: high-definition camera sets
The standby power supply management server that image after compression is sent to by frequency duplex communications interface far-end.
More specifically, in the described real-time monitoring platform of iron tower of power transmission line gradient: high-definition camera sets
For being positioned on anti-tilt structure.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is according to the real-time monitoring platform of iron tower of power transmission line gradient shown in embodiment of the present invention
Block diagram.
Reference: 1 liquid pendulum-type inclination sensor；2 touch switch sensors；3 survey monitors
Device people
Detailed description of the invention
Reality to the real-time monitoring platform of iron tower of power transmission line gradient of the present invention below with reference to accompanying drawings
The scheme of executing is described in detail.
For built on stilts transmission line of electricity, the steel tower at its two ends is the support member that it is fixing, if
The abnormal state of steel tower, such as Iron tower incline are spent big or steel tower and are rocked indefinite, all can give power transmission line
The state on road adversely affects, and even breaks transmission line of electricity, cause circuit power-off time serious, gives and uses
Electric unit and resident bring inconvenience, and the end of a thread simultaneously switched off also is easily caused pedestrian or vehicle gets an electric shock, after
Fruit is the most serious.Accordingly, it would be desirable to the steel tower state of transmission line of electricity is detected, especially to steel tower
Gradient detects, but, prior art still biases toward artificial mode to the gradient of steel tower, this
Planting mode efficiencies low, coverage rate is narrow, it is impossible to accomplish that full line quickly detects.
In order to overcome above-mentioned deficiency, the present invention has built a kind of iron tower of power transmission line gradient and has monitored in real time
Platform, it is possible to the whole-process automatic state fast, accurately that carries out the steel tower near whole piece transmission line of electricity is examined
Survey, thus provide data more accurately for power supply management department, decrease power supply management department simultaneously
Artificial expense, cost performance is higher.
Fig. 1 is according to the real-time monitoring platform of iron tower of power transmission line gradient shown in embodiment of the present invention
Block diagram, described platform include liquid pendulum-type inclination sensor, touch switch sensor and
Crusing robot, liquid pendulum-type inclination sensor is for detecting the real-time gradient of steel tower, and contact is opened
Close sensor to be positioned on anti-tilt structure, be used for detecting transmission line of electricity preceding object thing, crusing robot
It is mounted on transmission line of electricity, for according to liquid pendulum-type inclination sensor and touch switch sensor
Output determines whether that the power supply management server of far-end sends corresponding alarm signal.
Then, the concrete structure of the real-time monitoring platform of iron tower of power transmission line gradient to the present invention is continued
It is further detailed.
Described platform includes: liquid pendulum-type inclination sensor, is arranged on the steel tower near transmission line of electricity,
Inside include sensor housing, gradient identification equipment, electrolysis bubble, as the liquid and three of electric conductor
Individual electrode, liquid pendulum-type inclination sensor utilizes liquid pendulum principle to detect, and is used for measuring steel tower and exists
The angle of inclination in fair line direction and the angle of inclination of crossline direction.
Sensor housing is U-shape structure, for accommodating electrolysis bubble, as the liquid of electric conductor and three
Electrode；Electrolysis bubble is positioned at liquid internal；In three electrodes, two electrodes are evenly distributed on U-shape structure
The two ends of lateral profile, remaining electrode is arranged on the central spot of profile inside U-shape structure；Tilt
Degree identification equipment connects with three electrodes, when electrolysis bubble be positioned at liquid internal move time, gradient identification
Equipment calculates steel tower at the angle of inclination in fair line direction and horizontal stroke based on the capacitance variations between three electrodes
The angle of inclination in line direction, and based on the steel tower angle of inclination in fair line direction and the inclination of crossline direction
The integral inclined degree of angle calculation steel tower.Wherein, gradient identification equipment uses fpga chip real
Existing.
Described platform includes: crusing robot, including anti-tilt structure, control chamber, brushless dc
Machine, hoisting ring, walking mechanism, retaining mechanism and hold-down mechanism.
On the located anteriorly transmission line of electricity of anti-tilt structure, control chamber and brshless DC motor are all located at transmission of electricity
The lower section of circuit, hoisting ring for being lifted into transmission line of electricity, walking mechanism and lock by crusing robot
Tight mechanism is all located on transmission line of electricity, and hold-down mechanism is positioned at the lower section of transmission line of electricity；Anti-tilt structure bag
Including Anti-inclining wheel, fixing bolt and connecting plate, connecting plate is taken turns with Anti-inclining and is fixed bolt respectively and is connected,
Prevent crusing robot from tilting backwards.
It is provided with master control borad and battery in control chamber, master control borad is integrated with AVR32 chip, frequency division pair
Work communication interface and static memory, frequency duplex communications interface is for the power supply operating service with far-end
Two-way wireless communication link set up by device；Brshless DC motor is by the driving wheel of decelerator with walking mechanism
Connect respectively with the contact roller of hold-down mechanism；Walking mechanism include Timing Belt, Timing Belt strainer,
Driving wheel and three V shaped wheels of horizontal positioned, driving wheel is three V shaped wheels row on transmission line of electricity
Walk to provide power, Timing Belt to sequentially pass through driving wheel, Timing Belt strainer and three V shaped wheels to protect
Hold the synchronous walking of three V shaped wheels.
Retaining mechanism includes adjustable wrench, intermediate support, bottom pin member and the U-shaped spiral shell being linked in sequence
Bolt, is used for preventing crusing robot from falling at transmission line of electricity；Hold-down mechanism is with brshless DC motor even
Connecing, including contact roller, ratchet, ratchet, back-moving spring and holddown spring, contact roller is V-structure,
For compressing the aerial earth wire of transmission line of electricity under the effect of holddown spring, ratchet and ratchet are used for pinning
Or relieving contact roller, back-moving spring is for resetting contact roller when contact roller is released；Contact is opened
Close sensor, be positioned on anti-tilt structure, with AVR32 chip be electrically connected with, for touch defeated
During electric line obstacle, send contact obstacle signal.
Wherein, AVR32 chip is also connected by ZIGBEE communication link with gradient identification equipment,
To receive the integral inclined degree of steel tower, and at the integral inclined degree of steel tower more than or equal to predetermined inclination degree threshold
During value, send Iron tower incline by frequency duplex communications interface to the power supply management server of far-end and report to the police
Signal, sends to walking mechanism and stops traveling signal, and the integral inclined degree at steel tower is less than predetermined inclination
During degree threshold value, send Iron tower incline by frequency duplex communications interface to the power supply management server of far-end
Normal signal, sends, to walking mechanism, the signal that moves on；Predetermined inclination degree threshold value is pre-stored in
In static memory.
Alternatively, in described platform, also include: high-definition camera equipment, with AVR32 chip electricity
Property connect；High-definition camera equipment gathers the image of deicing cutter front transmission line of electricity and passes through AVR32
Chip compressed encoding；Image after compression is sent by high-definition camera equipment by frequency duplex communications interface
To the power supply management server of far-end；And alternatively, high-definition camera equipment can be located at anti-tilt structure
On.
It addition, FPGA (Field-Programmable Gate Array), i.e. field-programmable gate array
Row, he is the product of development further on the basis of the programming devices such as PAL, GAL, CPLD.
He is to occur as a kind of semi-custom circuit in special IC (ASIC) field, both solves
Determine the deficiency of custom circuit, overcome again the shortcoming that original programming device gate circuit number is limited.
The circuit design completed with hardware description language (Verilog or VHDL), can be through letter
Single comprehensive and layout, is quickly burned onto on FPGA and tests, and is modern IC designs checking
Technology main flow.These can be edited element and can be used to realize some basic logic gates (ratio
Such as AND, OR, XOR, NOT) or more more complicated combination function such as decoder or number
Learn equation.Inside most FPGA, in these editable elements, also comprise memory cell
Such as trigger (Flip-flop) or other more complete block of memory.System designer can root
By editable connection, the logical block within FPGA is coupled together according to needing, just look like an electricity
Road bread board has been placed in a chip.One dispatch from the factory after the logical block of finished product FPGA and connection
Can change according to designer, so FPGA can complete required logic function.
FPGA in general speed than ASIC (special IC) is slow, it is achieved same merit
Can be bigger than ASIC circuit area.But they also have a lot of advantages such as can quick finished product,
The mistake in correction program and less expensive cost can be modified to.Manufacturer is likely to provide cheap
But edit capability difference FPGA.Because these chips have poor can edit capability, so
The exploitation of these designs is to complete on common FPGA, then design is transferred to one and is similar to
On the chip of ASIC.Another method is with CPLD (Complex Programmable Logic
Device, CPLD).The exploitation of FPGA is relative to tradition PC, the opening of single-chip microcomputer
Send out and be very different.FPGA, based on concurrent operation, realizes with hardware description language；Compared to
The order operation of PC or single-chip microcomputer (either von Neumann structure or Harvard structure) has the biggest difference.
As far back as 1980 mid-nineties 90s, FPGA takes root in PLD equipment.CPLD and FPGA
Include the Programmadle logic unit of some relatively large amount.The density of CPLD gate arrives thousand of
Between several ten thousand logical blocks, and FPGA is typically several ten thousand to millions of.CPLD and FPGA
The main distinction be their system structure.CPLD is a somewhat restrictive structure.This knot
Structure is arranged by the logical groups of one or more editable result sum and the locking of some relatively small amounts
Depositor composition.Such result be a lack of edit motility, but but have it is anticipated that delay
Time and the logical block advantage to connecting unit height ratio.And FPGA is to have a lot of connection lists
Unit, although so allowing him edit more flexibly, but structure is complicated many.
Use the real-time monitoring platform of iron tower of power transmission line gradient of the present invention, be difficult to for prior art
Realize mechanization and steel tower near transmission line of electricity is carried out the technical problem of omnidistance gradient detection, first,
By improveing existing robot architecture so that it is can adapt to line condition and the surrounding ring of various complexity
Border, secondly, introduces high accuracy, targetedly inclination sensor and efficient Wireless Telecom Equipment,
Achieve the overall replacement of the manual detection pattern to Iron tower incline angle.
Although it is understood that the present invention discloses as above with preferred embodiment, but above-mentioned enforcement
Example is not limited to the present invention.For any those of ordinary skill in the art, without departing from
Under technical solution of the present invention ambit, all may utilize the technology contents of the disclosure above to the technology of the present invention
Scheme makes many possible variations and modification, or is revised as the Equivalent embodiments of equivalent variations.Therefore,
Every content without departing from technical solution of the present invention, the technical spirit of the foundation present invention is to above example
Any simple modification, equivalent variations and the modification done, all still falls within technical solution of the present invention protection
In the range of.
Claims (1)
1. the real-time monitoring platform of iron tower of power transmission line gradient, described platform includes liquid pendulum-type
Inclination sensor, touch switch sensor and crusing robot, liquid pendulum-type inclination sensor is used for
The real-time gradient of detection steel tower, touch switch sensor is positioned on anti-tilt structure, is used for detecting
Transmission line of electricity preceding object thing, crusing robot is mounted on transmission line of electricity, for according to liquid pendulum-type
The output of inclination sensor and touch switch sensor determines whether the power supply management service of far-end
Device sends corresponding alarm signal；
It is characterized in that, described platform includes:
Liquid pendulum-type inclination sensor, is arranged on the steel tower near transmission line of electricity, and inside includes sensing
Device housing, gradient identification equipment, electrolysis bubble, as the liquid of electric conductor and three electrodes, liquid
Pendulum-type inclination sensor utilizes liquid pendulum principle to detect, for measuring steel tower inclining in fair line direction
Rake angle and the angle of inclination of crossline direction；
Sensor housing is U-shape structure, for accommodating electrolysis bubble, as the liquid of electric conductor and three
Electrode；
Electrolysis bubble is positioned at liquid internal；
In three electrodes, two electrodes are evenly distributed on the two ends of U-shape structure lateral profile, remaining
Electrode is arranged on the central spot of profile inside U-shape structure；
Gradient identification equipment and three electrodes connect, when be electrolysed bubble be positioned at liquid internal move time, incline
Gradient identification equipment calculates the steel tower inclination in fair line direction based on the capacitance variations between three electrodes
Angle and the angle of inclination of crossline direction, and based on steel tower in the angle of inclination in fair line direction and horizontal line side
To angle of inclination calculate steel tower integral inclined degree；Wherein, gradient identification equipment uses FPGA
Chip realizes；
Crusing robot, including anti-tilt structure, control chamber, brshless DC motor, hoisting ring, OK
Walk mechanism, retaining mechanism and hold-down mechanism, on the located anteriorly transmission line of electricity of anti-tilt structure, control chamber
With the lower section that brshless DC motor is all located at transmission line of electricity, hoisting ring is for being lifted into crusing robot
On transmission line of electricity, walking mechanism and retaining mechanism are all located on transmission line of electricity, and hold-down mechanism is positioned at transmission of electricity
The lower section of circuit；
Anti-tilt structure includes Anti-inclining wheel, fixing bolt and connecting plate, connecting plate respectively with Anti-inclining
Wheel and fixing bolt connect, and prevent crusing robot from tilting backwards；
It is provided with master control borad and battery in control chamber, master control borad is integrated with AVR32 chip, FDD
Communication interface and static memory, frequency duplex communications interface is for the power supply Operation Server with far-end
Set up two-way wireless communication link；
Brshless DC motor is by decelerator and the driving wheel of walking mechanism and the contact roller of hold-down mechanism
Connect respectively；
Walking mechanism includes three V of Timing Belt, Timing Belt strainer, driving wheel and horizontal positioned
Type is taken turns, and driving wheel provides power, Timing Belt warp successively for the walking on transmission line of electricity of three V shaped wheels
Overdrive wheel, Timing Belt strainer and three V shaped wheels to keep the synchronous walking of three V shaped wheels；
Retaining mechanism includes adjustable wrench, intermediate support, bottom pin member and the U-shaped spiral shell being linked in sequence
Bolt, is used for preventing crusing robot from falling at transmission line of electricity；
Hold-down mechanism is connected with brshless DC motor, including contact roller, ratchet, ratchet, back-moving spring
And holddown spring, contact roller is V-structure, for compressing transmission line of electricity under the effect of holddown spring
Aerial earth wire, ratchet and ratchet be used for pinning or decontroling contact roller, and back-moving spring is at contact roller
When being released, contact roller is resetted；
Touch switch sensor, is positioned on anti-tilt structure, is electrically connected with AVR32 chip, uses
In when touching transmission line of electricity obstacle, send contact obstacle signal；
Wherein, AVR32 chip is also connected by ZIGBEE communication link with gradient identification equipment,
To receive the integral inclined degree of steel tower, and at the integral inclined degree of steel tower more than or equal to predetermined inclination degree threshold
During value, send Iron tower incline by frequency duplex communications interface to the power supply management server of far-end and report to the police
Signal, sends to walking mechanism and stops traveling signal, and the integral inclined degree at steel tower is less than predetermined inclination
During degree threshold value, send Iron tower incline by frequency duplex communications interface to the power supply management server of far-end
Normal signal, sends, to walking mechanism, the signal that moves on；
Wherein, predetermined inclination degree threshold value is pre-stored in static memory；
High-definition camera equipment, is electrically connected with AVR32 chip；
High-definition camera equipment gathers the image of deicing cutter front transmission line of electricity and by AVR32 chip
Compressed encoding；
Image after compression is sent to far-end by frequency duplex communications interface by high-definition camera equipment
Power supply management server；
High-definition camera equipment is positioned on anti-tilt structure.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610362951.2A CN106092052B (en) | 2015-12-17 | 2015-12-17 | Use the real-time monitoring platform of the gradient of crusing robot |
| CN201510955776.3A CN105403198B (en) | 2015-12-17 | 2015-12-17 | A kind of real-time monitoring platform of iron tower of power transmission line gradient |
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| CN201510955776.3A CN105403198B (en) | 2015-12-17 | 2015-12-17 | A kind of real-time monitoring platform of iron tower of power transmission line gradient |
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| CN201610362951.2A Division CN106092052B (en) | 2015-12-17 | 2015-12-17 | Use the real-time monitoring platform of the gradient of crusing robot |
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| CN201610362951.2A Active CN106092052B (en) | 2015-12-17 | 2015-12-17 | Use the real-time monitoring platform of the gradient of crusing robot |
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| CN111947622A (en) * | 2020-08-11 | 2020-11-17 | 黄敏 | Horizontal liquid level formula slope warning cable frame |
| CN113221733A (en) * | 2021-05-10 | 2021-08-06 | 国网山东省电力公司鄄城县供电公司 | Power equipment monitoring method and device based on night environment and electronic equipment |
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|---|---|---|---|---|
| CN101650175B (en) * | 2009-08-20 | 2011-07-20 | 国家电网公司 | Device for monitoring inclination of transmission line tower |
| CN102401648B (en) * | 2012-01-10 | 2014-06-04 | 西安雷迪维护系统设备有限公司 | Video monitoring system for monitoring inclination of high-voltage power transmission line tower |
| CN203224237U (en) * | 2013-03-28 | 2013-10-02 | 国家电网公司 | Device for monitoring and displaying inclination of bonded power transmission towers |
| CN103487026A (en) * | 2013-09-27 | 2014-01-01 | 国家电网公司 | Inclination monitoring system for electric transmission line pole tower |
| CN106123859B (en) * | 2015-12-17 | 2017-11-03 | 泰州市友民交通器材有限公司 | Use the real-time monitoring platform of the gradient of crusing robot |
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| CN106092052A (en) | 2016-11-09 |
| CN105403198A (en) | 2016-03-16 |
| CN106092052B (en) | 2018-03-06 |
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