CN105552816A - Multifunctional power supply line inspection robot - Google Patents

Multifunctional power supply line inspection robot Download PDF

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Publication number
CN105552816A
CN105552816A CN201610115291.8A CN201610115291A CN105552816A CN 105552816 A CN105552816 A CN 105552816A CN 201610115291 A CN201610115291 A CN 201610115291A CN 105552816 A CN105552816 A CN 105552816A
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CN
China
Prior art keywords
supply line
layer thickness
robot
ice layer
equipment
Prior art date
Application number
CN201610115291.8A
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Chinese (zh)
Inventor
李小春
Original Assignee
李小春
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 李小春 filed Critical 李小春
Priority to CN201510953124.6A priority Critical patent/CN105356376A/en
Publication of CN105552816A publication Critical patent/CN105552816A/en

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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02GINSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G7/00Overhead installations of electric lines or cables
    • H02G7/16Devices for removing snow or ice from lines or cables

Abstract

The invention relates to a multifunctional power supply line inspection robot. The multifunctional power supply line inspection robot comprises ice layer thickness calculation equipment, a robot body and a contact type switch sensor, wherein the ice layer thickness calculation equipment is positioned on the robot body and used for calculating the real-time ice layer thickness of the power supply line inspected by the inspection robot; the robot body is connected with the ice layer thickness calculation equipment and the contact type switch sensor separately, and used for determining a deicing policy based on the real-time ice layer thickness of the power supply line; and meanwhile, an alarm for indicating obstacles is sent out based on a contact obstacle signal from the contact type switch sensor. By adoption of the multifunctional power supply line inspection robot, the functions of the power supply line inspection robot can be increased, and the application range of the power supply line inspection robot is expanded.

Description

Multi-functional supply line crusing robot
The divisional application of the patent of " multi-functional supply line crusing robot " that the present invention is application number is 201510953124.6, the applying date, to be December 17, denomination of invention in 2015 be.
Technical field
The present invention relates to supply line field, particularly relate to a kind of multi-functional supply line crusing robot.
Background technology
Freeze i.e. wire icing and the meteorological condition of supply line have substantial connection, and between the temperature usually around circuit is spent-2 ~-10, relative air humidity about 90%, dense fog or drizzle, wind speed, when 5 ~ 15m/s, the easiliest to be formed in lead wire and earth wire.Certain relation is had by regional water source situation, topography and geomorphology etc. in addition with the structure of wire, wire hitch point height, the trend of circuit, circuit.
Want the icing of finding out circuit in advance, with regard to interrelated data more than GPRS, particularly changeable meteorological data.Solve line ice coating harm problem, mainly still put prevention first, set about from design.Pass through the serious area of icing at circuit, suitably improve the design standard of circuit; Reducing span exhales title high to reduce shaft tower, increases strain section quantity to reduce strain section length; Path selection avoids high mountain air port etc. as far as possible, with the speed of the ability and accident maintenance that improve circuit anti-ice cover.
At present, to the circuit forming serious icing, sweep-out method not good at present.Once there is the deicing of article introduction heating, namely in the wire of icing circuit, passed to big current, and made conductor overheating melt icing.But this method uses equipment complicated, has infringement to wire.Manually open ice the very micro-and murther of effect.Also there are some robot deicing schemes at present, but design is still immature, structure is reasonable not, still can not adapt to work on the spot environment complicated and changeable, cannot promote the use of.
Therefore, the present invention proposes a kind of multi-functional supply line crusing robot intelligent supply line ice sheet and cut down system, the main framework improving robot can be applicable to supply line's site environment, design high-precision GPS traveling wave detector equipment accurately to detect field wires ice sheet, make individual machine people deicing whole piece supply line become possibility.
Summary of the invention
In order to solve the problem, the invention provides a kind of multi-functional supply line crusing robot, employing is positioned at the real-time ice layer thickness of the ice layer thickness computing equipment on robot body to supply line and detects, optimize existing robot architecture to make to travel smoothly to become possibility in whole piece supply line, also introduce multiple sensors and enriched the function of crusing robot, thus more valuable reference data can be provided for the monitor supervision platform of far-end.
According to an aspect of the present invention, provide a kind of multi-functional supply line crusing robot, described crusing robot comprises ice layer thickness computing equipment, robot body and touch switch transducer, ice layer thickness computing equipment is positioned on robot body, for calculating the real-time ice layer thickness of the supply line that crusing robot is patrolled and examined, robot body is connected respectively with ice layer thickness computing equipment and touch switch transducer, based on the real-time ice layer thickness determination de-icing strategy of supply line, the contact obstacle signal simultaneously sent based on touch switch transducer carries out barrier warning.
More specifically, in described multi-functional supply line crusing robot, comprising: line parameter circuit value checkout equipment, be arranged on anti-tilt structure, for detecting supply line in real time because the line length change caused by load; Temperature parameter checkout equipment, is arranged on anti-tilt structure, for detecting the variations in temperature of supply line's place environment in real time; GPS traveling wave detector equipment, be arranged on anti-tilt structure, comprise traveling wave sensor, row audiolocator and gps clock, for detecting the transmission time difference of the travelling wave signal produced in supply line in real time, traveling wave sensor is for exporting travelling wave signal, row audiolocator is connected respectively with traveling wave sensor and gps clock, based on the transmission time difference of the temporal information determination travelling wave signal that travelling wave signal and gps clock export; Ice layer thickness computing equipment, be arranged in control cabinet, CPLD chip is adopted to realize, be connected respectively with line parameter circuit value checkout equipment, temperature parameter checkout equipment and GPS traveling wave detector equipment, the transmission time difference based on line length change, variations in temperature and travelling wave signal determines the real-time ice layer thickness of supply line; Robot body, comprise anti-tilt structure, control cabinet, brshless DC motor, hoisting ring, deicing cutter, walking mechanism, retaining mechanism and hold-down mechanism, anti-tilt structure is positioned in the supply line of front, control cabinet and brshless DC motor are all positioned at the below of supply line, hoisting ring is for being lifted into supply line by robot body, walking mechanism and retaining mechanism are all positioned in supply line, and hold-down mechanism is positioned at the below of supply line; Anti-tilt structure comprises Anti-inclining wheel, set bolt and connecting plate, and connecting plate is taken turns with Anti-inclining respectively, set bolt and deicing cutter are connected, and prevents deicing cutter from ice detachment, causing robot body to tilt backwards because ice layer thickness is too high; Master control borad and battery is provided with in control cabinet, master control borad is integrated with MSP430 single-chip microcomputer, Wireless Telecom Equipment and static memory, Wireless Telecom Equipment is used for setting up two-way wireless communication link with the power supply Operation Server of far-end, MSP430 single-chip microcomputer and ice layer thickness computing equipment and deicing cutter are electrically connected respectively, for receiving the real-time ice layer thickness of supply line, and control the cross-sectional sizes of deicing cutter according to the real-time ice layer thickness of supply line; Brshless DC motor is connected with the driving wheel of walking mechanism and the contact roller of hold-down mechanism respectively by decelerator; The cross section of deicing cutter is telescopic triangle, and cutter hub is reverse taper shape, and the both sides of cutter hub have through hole, so that trash ice is scattered from both sides; Walking mechanism comprises three V shaped wheels of Timing Belt, Timing Belt strainer, driving wheel and horizontal positioned, driving wheel provides power for three walkings of V shaped wheel in supply line, Timing Belt successively through driving wheel, Timing Belt strainer and three V shaped wheels to keep the synchronous walking of three V shaped wheels; Retaining mechanism comprises the monkey wrench, intermediate support, bottom pin member and the U-bolt that are linked in sequence, falls from supply line for preventing robot body; Hold-down mechanism is connected with brshless DC motor, comprise contact roller, ratchet, ratchet, back-moving spring and holddown spring, contact roller is V-structure, for compressing the overhead ground wire of supply line under the effect of holddown spring, ratchet and ratchet are used for pinning or decontroling contact roller, and back-moving spring is used for being resetted by contact roller when contact roller decontrols; Touch switch transducer, is electrically connected with MSP430 single-chip microcomputer, for when touching supply line's obstacle, sends contact obstacle signal; Infrared sensor, is electrically connected with MSP430 single-chip microcomputer, for when apart from 400 millimeters, front supply line obstacle, sends obstruction forewarning signal; Wherein, deicing cutter also comprises cutter driving apparatus, be connected respectively with the cross section of MSP430 single-chip microcomputer and deicing cutter, the real-time ice layer thickness sent based on MSP430 single-chip microcomputer carries out extension and contraction control to the cross section of deicing cutter, to change the cross-sectional sizes of deicing cutter; Wherein, MSP430 single-chip microcomputer carries out barrier warning based on contact obstacle signal, carries out barrier early warning based on obstruction forewarning signal.
More specifically, in described multi-functional supply line crusing robot: touch switch transducer is positioned on anti-tilt structure.
More specifically, in described multi-functional supply line crusing robot, described crusing robot also comprises: infrared sensor is positioned on anti-tilt structure.
More specifically, in described multi-functional supply line crusing robot, described crusing robot also comprises: high-definition camera equipment, be electrically connected with MSP430 single-chip microcomputer, for gather deicing cutter front supply line high-definition image and by MSP430 single-chip microcomputer compressed encoding, the image after compression to be sent to the power supply Operation Server of far-end by Wireless Telecom Equipment.
More specifically, in described multi-functional supply line crusing robot: high-definition camera equipment is positioned in walking mechanism.
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 multi-functional supply line crusing robot illustrated according to an embodiment of the present invention.
Reference numeral: 1 ice layer thickness computing equipment; 2 robot bodies; 3 touch switch transducers
Embodiment
Below with reference to accompanying drawings the embodiment of multi-functional supply line of the present invention crusing robot is described in detail.
Current, supply line's icing can cause following harm: (1) damages shaft tower, and line ice coating is blocked up, and the loading of shaft tower machinery can be made more to carry and fracture; (2) line tripping, for the circuit of wire vertical arrangement, when the icing instantly on layer conductor first comes off (icing on wire not necessarily comes off simultaneously), wire will rise rapidly or upper and lower jump, cause phase fault, line switching is tripped, power failure; (3) insulator string tilts, wire is seriously sagging, when ice covering thickness in each span of circuit is uneven, conducting wire sag will great changes will take place, suspension insulator is caused to tilt, gold utensil bears larger horizontal direction active force, in the span that icing is blocked up, wire can be caused seriously sagging and ground fault occurs; (4) after insulator string icing, greatly can reduce insulation property, when suspension insulator icing dissolves, may icicle be formed, make insulator string short circuit, cause ground fault.
Current, the technical scheme of supply line's deicing still mainly relies on on-the-spot manual operation and carries out, namely arrange the employee of local power supply management department to carry deicing tool and on-the-spot deicing is carried out to the supply line in administrative area, although this mode can reach the effect of deicing, but the pattern of artificial deicing is, the shortcoming that take time and effort low with deicing efficiency innately, simultaneously, careless slightly, deicing personnel or may be powered circuit high pressure and hit from high falling, bring serious personal injury to deicing personnel, also can cause certain damage to power supply unit.
Current, also there is the Long-distance Control scheme of some robot deicing, but because power transmission electric network equipment is too much, complex structure, supply line's place environment is general more severe, and the structural design of robot own is unreasonable, cause robot of the prior art deicing scheme to be difficult to high volume applications, can only laboratory stage be rested on; More crucially, the disappearance of on-the-spot electronics ice sheet measuring equipment causes deicing poor effect.
For this reason, the present invention has built a kind of multi-functional supply line crusing robot, robot deice mode can be made to adapt to complicated site environment, and reach accurate deicing control, auxiliary various functional form transducer is that the normal walking of robot provides safeguard simultaneously, thus replace loaded down with trivial details artificial deice mode completely, make crusing robot automatic de-icing become possibility.
In order to overcome above-mentioned deficiency, the present invention has built a kind of multi-functional supply line crusing robot, whether car overlying photoelectric switch, car underlying photoelectric switch, gate condition detecting device and multiple floor plate are used for joint-detection elevator and occur to run enabling dangerous situation, and carry out onsite alarming and remote alarms in time when there is dangerous situation.
Fig. 1 is the block diagram of the multi-functional supply line crusing robot illustrated according to an embodiment of the present invention, described crusing robot comprises ice layer thickness computing equipment, robot body and touch switch transducer, ice layer thickness computing equipment is positioned on robot body, for calculating the real-time ice layer thickness of the supply line that crusing robot is patrolled and examined, robot body is connected respectively with ice layer thickness computing equipment and touch switch transducer, based on the real-time ice layer thickness determination de-icing strategy of supply line, the contact obstacle signal simultaneously sent based on touch switch transducer carries out barrier warning.
Then, continue to be further detailed the concrete structure of multi-functional supply line of the present invention crusing robot.
Described crusing robot comprises: line parameter circuit value checkout equipment, is arranged on anti-tilt structure, for detecting supply line in real time because the line length change caused by load; Temperature parameter checkout equipment, is arranged on anti-tilt structure, for detecting the variations in temperature of supply line's place environment in real time.
Described crusing robot comprises: GPS traveling wave detector equipment, be arranged on anti-tilt structure, comprise traveling wave sensor, row audiolocator and gps clock, for detecting the transmission time difference of the travelling wave signal produced in supply line in real time, traveling wave sensor is for exporting travelling wave signal, row audiolocator is connected respectively with traveling wave sensor and gps clock, based on the transmission time difference of the temporal information determination travelling wave signal that travelling wave signal and gps clock export.
Described crusing robot comprises: ice layer thickness computing equipment, be arranged in control cabinet, CPLD chip is adopted to realize, be connected respectively with line parameter circuit value checkout equipment, temperature parameter checkout equipment and GPS traveling wave detector equipment, the transmission time difference based on line length change, variations in temperature and travelling wave signal determines the real-time ice layer thickness of supply line.
Described crusing robot comprises: robot body, comprise anti-tilt structure, control cabinet, brshless DC motor, hoisting ring, deicing cutter, walking mechanism, retaining mechanism and hold-down mechanism, anti-tilt structure is positioned in the supply line of front, control cabinet and brshless DC motor are all positioned at the below of supply line, hoisting ring is for being lifted into supply line by robot body, walking mechanism and retaining mechanism are all positioned in supply line, and hold-down mechanism is positioned at the below of supply line; Anti-tilt structure comprises Anti-inclining wheel, set bolt and connecting plate, and connecting plate is taken turns with Anti-inclining respectively, set bolt and deicing cutter are connected, and prevents deicing cutter from ice detachment, causing robot body to tilt backwards because ice layer thickness is too high.
Master control borad and battery is provided with in control cabinet, master control borad is integrated with MSP430 single-chip microcomputer, Wireless Telecom Equipment and static memory, Wireless Telecom Equipment is used for setting up two-way wireless communication link with the power supply Operation Server of far-end, MSP430 single-chip microcomputer and ice layer thickness computing equipment and deicing cutter are electrically connected respectively, for receiving the real-time ice layer thickness of supply line, and control the cross-sectional sizes of deicing cutter according to the real-time ice layer thickness of supply line.
Brshless DC motor is connected with the driving wheel of walking mechanism and the contact roller of hold-down mechanism respectively by decelerator; The cross section of deicing cutter is telescopic triangle, and cutter hub is reverse taper shape, and the both sides of cutter hub have through hole, so that trash ice is scattered from both sides; Walking mechanism comprises three V shaped wheels of Timing Belt, Timing Belt strainer, driving wheel and horizontal positioned, driving wheel provides power for three walkings of V shaped wheel in supply line, Timing Belt successively through driving wheel, Timing Belt strainer and three V shaped wheels to keep the synchronous walking of three V shaped wheels.
Retaining mechanism comprises the monkey wrench, intermediate support, bottom pin member and the U-bolt that are linked in sequence, falls from supply line for preventing robot body; Hold-down mechanism is connected with brshless DC motor, comprise contact roller, ratchet, ratchet, back-moving spring and holddown spring, contact roller is V-structure, for compressing the overhead ground wire of supply line under the effect of holddown spring, ratchet and ratchet are used for pinning or decontroling contact roller, and back-moving spring is used for being resetted by contact roller when contact roller decontrols.
Described crusing robot comprises: touch switch transducer, is electrically connected with MSP430 single-chip microcomputer, for when touching supply line's obstacle, sends contact obstacle signal.
Described crusing robot comprises: infrared sensor, is electrically connected with MSP430 single-chip microcomputer, for when apart from 400 millimeters, front supply line obstacle, sends obstruction forewarning signal.
Wherein, deicing cutter also comprises cutter driving apparatus, be connected respectively with the cross section of MSP430 single-chip microcomputer and deicing cutter, the real-time ice layer thickness sent based on MSP430 single-chip microcomputer carries out extension and contraction control to the cross section of deicing cutter, to change the cross-sectional sizes of deicing cutter; MSP430 single-chip microcomputer carries out barrier warning based on contact obstacle signal, carries out barrier early warning based on obstruction forewarning signal.
Alternatively, in described multi-functional supply line crusing robot: touch switch transducer is positioned on anti-tilt structure; Described crusing robot also comprises: infrared sensor is positioned on anti-tilt structure; Described crusing robot also comprises: high-definition camera equipment, be electrically connected with MSP430 single-chip microcomputer, for gather deicing cutter front supply line high-definition image and by MSP430 single-chip microcomputer compressed encoding, the image after compression to be sent to the power supply Operation Server of far-end by Wireless Telecom Equipment; High-definition camera equipment is positioned in walking mechanism.
In addition, as everyone knows, this technology is widely used in fields such as modern science and technology, science and techniques of defence and industrial or agricultural science and technology infrared technique.
Infra-red sensing system is the measuring system of medium with infrared ray, can be divided into five classes: (1) radiometer, for radiation and spectral measurement according to function; (2) search and tracking system, for search and tracking infrared target, determines its locus and follows the tracks of its motion; (3) thermal imaging system, can produce the distributed image of whole Target Infrared Radiation; (4) infrared distance measurement and communication system; (5) hybrid system, refers to the combination of two or more in above sorts of systems.Infrared sensor can be divided into according to detection mechanism: photon detector (based on photoelectric effect) and thermal detector (based on thermal effect).
Adopt multi-functional supply line of the present invention crusing robot, for the technical problem of the automatic deicing difficulty of prior art supply line, crusing robot is adopted to substitute field maintenance person, artificial deicing is replaced with mechanical deicing, the deicing efficiency of raising system and except speed of icing, more crucially, introduce high accuracy ice layer thickness checkout equipment and various transducer targetedly, ensure the normal operation of crusing robot.
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 (2)

1. a multi-functional supply line crusing robot, described crusing robot comprises ice layer thickness computing equipment, robot body and touch switch transducer, ice layer thickness computing equipment is positioned on robot body, for calculating the real-time ice layer thickness of the supply line that crusing robot is patrolled and examined, robot body is connected respectively with ice layer thickness computing equipment and touch switch transducer, based on the real-time ice layer thickness determination de-icing strategy of supply line, the contact obstacle signal simultaneously sent based on touch switch transducer carries out barrier warning.
2. multi-functional supply line as claimed in claim 1 crusing robot, it is characterized in that, described crusing robot comprises:
Line parameter circuit value checkout equipment, is arranged on anti-tilt structure, for detecting supply line in real time because the line length change caused by load;
Temperature parameter checkout equipment, is arranged on anti-tilt structure, for detecting the variations in temperature of supply line's place environment in real time;
GPS traveling wave detector equipment, be arranged on anti-tilt structure, comprise traveling wave sensor, row audiolocator and gps clock, for detecting the transmission time difference of the travelling wave signal produced in supply line in real time, traveling wave sensor is for exporting travelling wave signal, row audiolocator is connected respectively with traveling wave sensor and gps clock, based on the transmission time difference of the temporal information determination travelling wave signal that travelling wave signal and gps clock export;
Ice layer thickness computing equipment, be arranged in control cabinet, CPLD chip is adopted to realize, be connected respectively with line parameter circuit value checkout equipment, temperature parameter checkout equipment and GPS traveling wave detector equipment, the transmission time difference based on line length change, variations in temperature and travelling wave signal determines the real-time ice layer thickness of supply line;
Robot body, comprise anti-tilt structure, control cabinet, brshless DC motor, hoisting ring, deicing cutter, walking mechanism, retaining mechanism and hold-down mechanism, anti-tilt structure is positioned in the supply line of front, control cabinet and brshless DC motor are all positioned at the below of supply line, hoisting ring is for being lifted into supply line by robot body, walking mechanism and retaining mechanism are all positioned in supply line, and hold-down mechanism is positioned at the below of supply line;
Anti-tilt structure comprises Anti-inclining wheel, set bolt and connecting plate, and connecting plate is taken turns with Anti-inclining respectively, set bolt and deicing cutter are connected, and prevents deicing cutter from ice detachment, causing robot body to tilt backwards because ice layer thickness is too high;
Master control borad and battery is provided with in control cabinet, master control borad is integrated with MSP430 single-chip microcomputer, Wireless Telecom Equipment and static memory, Wireless Telecom Equipment is used for setting up two-way wireless communication link with the power supply Operation Server of far-end, MSP430 single-chip microcomputer and ice layer thickness computing equipment and deicing cutter are electrically connected respectively, for receiving the real-time ice layer thickness of supply line, and control the cross-sectional sizes of deicing cutter according to the real-time ice layer thickness of supply line;
Brshless DC motor is connected with the driving wheel of walking mechanism and the contact roller of hold-down mechanism respectively by decelerator;
The cross section of deicing cutter is telescopic triangle, and cutter hub is reverse taper shape, and the both sides of cutter hub have through hole, so that trash ice is scattered from both sides;
Walking mechanism comprises three V shaped wheels of Timing Belt, Timing Belt strainer, driving wheel and horizontal positioned, driving wheel provides power for three walkings of V shaped wheel in supply line, Timing Belt successively through driving wheel, Timing Belt strainer and three V shaped wheels to keep the synchronous walking of three V shaped wheels;
Retaining mechanism comprises the monkey wrench, intermediate support, bottom pin member and the U-bolt that are linked in sequence, falls from supply line for preventing robot body;
Hold-down mechanism is connected with brshless DC motor, comprise contact roller, ratchet, ratchet, back-moving spring and holddown spring, contact roller is V-structure, for compressing the overhead ground wire of supply line under the effect of holddown spring, ratchet and ratchet are used for pinning or decontroling contact roller, and back-moving spring is used for being resetted by contact roller when contact roller decontrols;
Touch switch transducer, is electrically connected with MSP430 single-chip microcomputer, for when touching supply line's obstacle, sends contact obstacle signal;
Infrared sensor, is electrically connected with MSP430 single-chip microcomputer, for when apart from 400 millimeters, front supply line obstacle, sends obstruction forewarning signal;
Wherein, deicing cutter also comprises cutter driving apparatus, be connected respectively with the cross section of MSP430 single-chip microcomputer and deicing cutter, the real-time ice layer thickness sent based on MSP430 single-chip microcomputer carries out extension and contraction control to the cross section of deicing cutter, to change the cross-sectional sizes of deicing cutter;
Wherein, MSP430 single-chip microcomputer carries out barrier warning based on contact obstacle signal, carries out barrier early warning based on obstruction forewarning signal;
High-definition camera equipment, be electrically connected with MSP430 single-chip microcomputer, for gather deicing cutter front supply line high-definition image and by MSP430 single-chip microcomputer compressed encoding, the image after compression to be sent to the power supply Operation Server of far-end by Wireless Telecom Equipment;
High-definition camera equipment is positioned in walking mechanism.
CN201610115291.8A 2015-12-17 2015-12-17 Multifunctional power supply line inspection robot CN105552816A (en)

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