CN106364674B - Power distribution network intelligent patrol detection device - Google Patents
Power distribution network intelligent patrol detection device Download PDFInfo
- Publication number
- CN106364674B CN106364674B CN201610698104.3A CN201610698104A CN106364674B CN 106364674 B CN106364674 B CN 106364674B CN 201610698104 A CN201610698104 A CN 201610698104A CN 106364674 B CN106364674 B CN 106364674B
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- Prior art keywords
- robot
- radio
- flying robot
- controller
- flying
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/70—Transport or storage specially adapted for UAVs in containers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Power distribution network intelligent patrol detection device includes flying robot, and video camera, infrared thermoviewer, ultraviolet imager, image processor, wireless image transmitter, navigation system, memory, controller I, magnetic field sensor, foreign matter radar, bluetooth module, radio frequency receiver, location tracking module are provided on flying robot.The power distribution network intelligent patrol detection device further includes robot case, temporary platform and radio-frequency card.The present invention really realize it is unattended, and to device setpoint information acquire.Under normal condition, aircraft robot is located in robot case, when inspection is to tower bar, carries out data acquisition to the position where each radio-frequency card.Data are transferred to monitoring center in temporary platform and can charged in temporary platform by aircraft robot.
Description
Technical field
The present invention relates to a kind of power distribution network intelligent patrol detection devices.
Background technique
Distribution network line inspection is to guarantee the important means of transmission line safety reliability service, and inspection project includes: shaft tower,
Conducting wire, insulator, fitting, isolation switch, on-load switch and other some devices.Traditional routine inspection mode be it is artificial on foot
Inspection, manual inspection spend human and material resources low big, security risk height, routing inspection efficiency, data record, retrieval inconvenience.
With popularizing for remotely-piloted vehicle, people begin one's study replaces worker to remove inspection route with aircraft.Such as authorize public affairs
The patent of invention of 102780177 B of announcement CN discloses a kind of " overhead power line inspection data based on flying robot
Acquisition method ", this method use flying robot along power line rectilinear flight, remote manual control flying robot when reaching tower bar
Inspection is carried out according to preset path.This method substantially reduces labour.But it there are still following problems:
1, it is needed when flying robot flies along power circuit to tower bar after remote manual control according still further to preset path inspection,
There are no complete liberation labours, also need manual operation when using the flying robot, moreover, people needs immediately following flying machine
Device people.
2, preset path only make flying robot reduce height after carry out data acquisition, to the insulator for having position inclined,
The devices such as on-load switch cannot be shot well, it is therefore desirable to which in remote manual control, flying robot is shot.
3, since the battery durable ability of flying robot is limited, along with function such as shooting photo, video recording, data transmissions
Can, power consumption is more serious, and therefore, flying robot will soon be out of power, and route can only be one section of inspection, then replaces battery or fills
Electricity.
4, operator is required when using the flying robot with flying machine to outdoor and pretty troublesome.
Therefore, design is a can really liberate manually, and the device progress information that can be pinpointed to different location is adopted
The market prospects of the power distribution network inspection device of collection are huge.
Summary of the invention
In order to overcome above-mentioned problems of the prior art, the purpose of the present invention is to provide one kind really to realize
It is unattended, and to the power distribution network intelligent patrol detection device of device setpoint information acquisition.
To solve the above-mentioned problems, the invention adopts the following technical scheme: a kind of power distribution network intelligent patrol detection device, it includes
Flying robot is provided with video camera, infrared thermoviewer, ultraviolet imager, image processor, wireless on the flying robot
Picture transmitter, navigation system, memory and controller I, the video camera, infrared thermoviewer and ultraviolet imager respectively with institute
Image processor connection is stated, described image processor is connect with wireless image transmitter, the memory and image processor point
It is not connect with controller I, the installation navigation system in the controller I, which is characterized in that
The flying robot further includes magnetic field sensor, and for monitoring, whether inspection route is charged；Foreign matter radar is used
Foreign matter around in perception flight course, to avoid foreign matter, and takes pictures when detecting foreign matter；Bluetooth module is used
It is transmitted in the data of image/video, and when flying robot enters robot case as the key for opening chamber door；Radio frequency reception
Device, for receiving the information of radio-frequency card；Wireless charger I is used for wireless charging；Location tracking module, for being shown on map
Show the location information of flying robot；
The power distribution network intelligent patrol detection device further includes robot case, temporary platform and radio-frequency card, and the robot case includes
Cabinet, solar panels, wind generator, battery, sensor, wireless charger II, bluetooth module, data transmission module, controller
II and arrester, the sensor, wireless charger II, bluetooth module and data transmission module connect respectively with controller II；
The wireless charger II is located at the intracorporal bottom centre position of the case；
The front end of the cabinet is chamber door, and the lower end of the chamber door and cabinet are articulated and connected, are provided on the cabinet
Electromagnetic lock, is provided with lock tongue on the chamber door, and the electromagnetic lock is connect with controller II；Chamber door receipts are provided in the cabinet
Device is put, the chamber door draw off gear includes spool, reel controller, two directive wheels and two traction ropes, in the cabinet
The directive wheel is respectively set in two sides above front end, and one end of the traction rope is connect with the spool, and the other end bypasses
One directive wheel is connect with the chamber door；The reel controller is connect with the controller II, when the flying machine
When people is close to the cabinet, after the bluetooth module of flying robot and the bluetooth module successful matching in robot case, the electricity
Reel controller control spool opens chamber door after magnetic padlock is unlocked；After the flying robot enters the cabinet, the sensing
Device detects flying robot, and reel controller controls spool and closes chamber door, and then electromagnetic lock is latched；
A magnet-wire is provided on the chamber door, the flying robot can be according to the magnetic field sensor to magnet-wire
Addressing enters in the cabinet；
The temporary platform includes the platform support being fixed in tower bar and the wireless charger that is arranged on platform support
III, bluetooth module, data transmission module, controller III, temporary platform radio-frequency card, magnetic dot, solar panels and wind generator；It is described
Flying robot, which can find the temporary platform and be dropped to according to temporary platform radio-frequency card, carries out charging sum number in temporary platform
According to transmission；
Fixed device is provided on the radio-frequency card, for being fixed on the device for needing to detect, the flying robot
It takes pictures to the device where radio-frequency card the position that can be moved into radio-frequency card.
Further, the number of the tower bar where the radio-frequency card built-in storage part, the flying robot are shooting
By captured photo storage a to file after all devices in the tower bar, this document is pressed from both sides is ordered with the number of the tower bar
Name.
Preferably, the artificial UFO of the flying machine, flying robot upper end be arranged a video camera, it is infrared at
As instrument and ultraviolet imager, the lower end of the flying robot be arranged a video camera, infrared thermoviewer, ultraviolet imager and
Magnetic field sensor, and the magnetic field sensor is located at bottom surface middle position.
Preferably, the wireless charger I is located at the lower end bottom surface of the flying robot.
Further, the back side of the cabinet is provided with a semicircle anchor ear for being fixed in tower bar.
Preferably, the fixation device on the radio-frequency card is magnet and/or strength sticker.
The beneficial effects of the present invention are:
1, it, which is designed, robot case, and usually flying robot is located in robot case, plays a very good protection, when
When needing inspection, flying robot flies out out of robot case carries out inspection, therefore, there is no need to worker carrying flying robot and arrives
Open air can carry out data transmission in robot case with monitoring center.
2, it is provided with wireless charger on flying robot, can charged in robot case or in temporary platform,
It ensure that the long-range inspection of flying robot.
3, it uses Technology of Radio Frequency Card, radio frequency receiver is arranged in aircraft robot, in the device for needing to acquire information
Upper installation radio-frequency card, aircraft robot carry out fixed point acquisition information according to radio-frequency card, and acquisition information is accurate, comprehensive.
4, the design of radio-frequency card is quickly and easily installed, and cost is relatively low.
5, it is provided with magnetic field sensor, can not only judge that route whether with point, finds fault wire during inspection
Road, and it or aircraft robot enter the leading line in robot case, ensure that aircraft robot is exactly into machine
People's case.
6, the effect of its foreign matter radar is not only to make aircraft robot avoiding obstacles, due to along flight line
Encountering barrier in the process is usually to hang with sundries on route or have branch etc., these objects are cleared up, therefore, different
Object radar is taken pictures upload in time after detecting, and guarantees that staff can clear up in time.
7, it is carried out data transmission on robot case or temporary platform using bluetooth module, it can periodically put down temporarily
Monitoring center is transmitted data on platform, in order to avoid the memory of aircraft robot can not continue to shoot with video-corder preservation after having expired, and is solved
It has determined the problem of can not carrying out wireless data transmission at a distance.
Detailed description of the invention
The present invention is described further with reference to the accompanying drawings and examples:
Fig. 1 is system principle diagram of the invention；
Fig. 2 is robot box structure schematic diagram of the invention；
Fig. 3 is robot case overlooking structure diagram of the invention；
Fig. 4 is temporary platform structural schematic diagram of the invention；
Fig. 5 is the upper part structural schematic diagram of aircraft robot of the present invention；
Fig. 6 is the end portion structural schematic diagram of aircraft robot of the present invention；
Fig. 7 is the fixture structure schematic diagram on radio-frequency card of the present invention.
It is flying robot 1, video camera 11, infrared thermoviewer 12, ultraviolet imager 13, magnetic field sensor 14, wireless in figure
Charger I 15, box body 16, magnet 2, strength sticker 3, robot case 4, cabinet 41, chamber door 411, electromagnetic lock 412, lock tongue 413,
It is spool 414, directive wheel 415, traction rope 416, magnet-wire 417, semicircle anchor ear 418, solar panels 42, wind generator 43, wireless
Charger II 44, temporary platform 5, platform support 51, wireless charger III 52, box 53, magnetic dot 54, solar panels 55, wind-powered electricity generation
Device 56.
Specific embodiment
Specific embodiments of the present invention are described in detail below with reference to Fig. 1-Fig. 7:
The present invention includes flying robot 1, and video camera 11, infrared thermoviewer 12, purple are provided on the flying robot 1
Outer imager 13, image processor, wireless image transmitter, navigation system, memory and controller I, it is the video camera 11, red
Outer imager 12 and ultraviolet imager 13 are connect with described image processor respectively, and described image processor and wireless image emit
Machine connection, the memory and image processor are connect with controller I respectively, the installation navigation system in the controller I,
Above structure is the structure on existing flying robot, is repeated no more herein, introduces design of the invention below and wants
Point:
The flying robot 1 further includes magnetic field sensor 14, and for monitoring, whether inspection route is charged, and is used as and flies
Row robot fly back robot case addressing probe；It, can be with using the principle since the transmission line of electricity of electrification nearby generates magnetic field
Whether the route of monitoring institute's inspection charges, and after line outage, can use flying robot and finds dead line.This hair
The chamber door of bright robot case is equipped with magnet-wire, and magnetic field sensor 14 is on falling on open chamber door later according to the direction of magnet-wire
Into in cabinet.
Foreign matter radar may be mounted at the outermost of flying robot, for perceiving the foreign matter around in flight course, from
And avoid foreign matter.Due to often having the barriers such as polybag, mulch, kite and branch on distribution network line, if too late
Shi Qingli will cause the accidents such as ground connection, short circuit, and therefore, foreign matter radar is taken pictures upload in time after monitoring foreign matter, to overhaul
Personnel clear up barrier in time.
Bluetooth module, since wireless data transmission distance must not be too far away, and data are easy distortion, and all data
It is saved in memory and then needs to install very big hard disk to aircraft robot, it is not only at high cost, but also increase aircraft robot
Volume and weight, therefore, the present invention devises bluetooth module, for image/video data transmit, it can put down temporarily
The data in memory are passed into monitoring center on platform.Chamber door is closed after being flown out out of robot case due to aircraft robot, then
Secondary to need to open chamber door when returning to robot case, therefore, the present invention utilizes bluetooth module, when flying robot is close to robot case
When, chamber door is opened after the bluetooth module successful matching on flying robot and robot case.
Radio frequency receiver, for receiving the information of radio-frequency card.When the flying robot is at flight to tower bar, radio frequency is connect
It receives device and receives the information for being fixed on the radio-frequency card of each position of tower bar, multiple radio-frequency cards in same tower bar are compiled in sequence
Number, flying robot carries out close one by one take pictures according to number order.It is by radio frequency that flying robot, which finds radio frequency card position,
The electromagnetic intensity of card stops then clapping close to radio-frequency card after flying robot perceives proper strength (by program setting)
According to.In order to facilitate the management of the information of acquisition, further, (device refers to be mounted in tower bar the radio-frequency card built-in storage part
The equipment such as insulator, cross-arm, breaker and tower bar itself) where tower bar number, the flying robot shooting
By captured photo storage a to file after all devices in the complete tower bar, this document is pressed from both sides is ordered with the number of the tower bar
Name.Data facilitate people to search when being transmitted to monitoring center in this way.
Fixed device is provided on the radio-frequency card, for being fixed on the device for needing to detect, it is preferred that the radio frequency
Fixation device on card is magnet and/or strength sticker, as shown in fig. 7, magnet 2 is arranged in the back side middle position of radio-frequency card, and
Strength sticker 3 is arranged in other positions, can guarantee that radio-frequency card is firmly fixed on device in this way.
Wireless charger I 15 cooperates with wireless charger II and wireless charger III, wireless charging is used for, in aircraft machine
It can charge in temporary platform in the case that device people midway is out of power.
Location tracking module facilitates monitoring center at any time for showing the location information of flying robot on map
Solve the position of flying robot.
The robot case 4 and temporary platform 5 of the power distribution network intelligent patrol detection device can be fixed in tower bar, can also be special
A piece pillar is set for mounting robot case and temporary platform.The robot case 4 includes cabinet 41, solar panels 42, wind
Electric installation 43, battery, sensor, wireless charger II 44, bluetooth module, data transmission module, controller II and arrester, institute
Sensor, wireless charger II 44, bluetooth module and data transmission module is stated to connect with controller II respectively；The wireless charging
Device II 44 is located at the bottom centre position in the cabinet 41.
The front end of the cabinet 41 is chamber door 411, and the lower end of the chamber door 411 and cabinet 41 are articulated and connected, in the case
It is provided with electromagnetic lock 412 on body 41, lock tongue 413 is provided on the chamber door 411, the electromagnetic lock 412 connects with controller II
It connects；Chamber door draw off gear is provided in the cabinet 41, the chamber door draw off gear includes spool 414, reel controller, two
Directive wheel 415 and two traction ropes 416, the directive wheel 415, institute is respectively set in two sides above 41 front end of cabinet
The one end for stating traction rope 416 is connect with the spool 414, and the other end connects around a directive wheel 415 with the chamber door 411
It connects；The reel controller is connect with the controller II, when the flying robot 1 is close to the cabinet 41, flying machine
After the bluetooth module of device people 1 and the bluetooth module successful matching in robot case, reel controller after the electromagnetic lock 412 is unlocked
It controls spool 414 and opens chamber door 411；After the flying robot 1 enters cabinet 41, the sensor detects flight
Robot 1, reel controller control spool 414 and close chamber door 411, and then electromagnetic lock is latched.
A magnet-wire 417 is provided on the chamber door 411, the flying robot 1 can be according to the magnetic field sensor
The addressing of magnet-wire 417 is entered in the cabinet 41.
The temporary platform 5 includes the platform support 51 being fixed in tower bar and the wireless charging being arranged on platform support 51
Electric appliance III 52, bluetooth module, data transmission module, controller III, temporary platform radio-frequency card, magnetic dot 54, solar panels 55 and wind
Electric installation 56, bluetooth module, data transmission module, controller III are placed in box 53, and temporary platform radio-frequency card can be attached to
On platform support 51.The flying robot 1 can find the temporary platform according to temporary platform radio-frequency card, and according to magnetic dot 54
It drops in temporary platform and carries out charging and data transmission.
As shown in Figure 5 and Figure 6, the flying robot 1 is UFO, and in flying robot bottom, there are four feet for setting.
One video camera 11, infrared thermoviewer 12 and ultraviolet imager 13 are set in the upper end of flying robot 1, in the flying machine
A box body 16, the video camera 11, infrared thermoviewer 12, ultraviolet imager 13 and magnetic field sensor 14 is arranged in the lower end of people 1
It is installed on box body 16, and the magnetic field sensor 14 is located at bottom surface middle position.Preferably, the wireless charger I 15
It is also disposed at the bottom surface of box body 16.
In order to facilitate the installation of robot case 4, as shown in figure 3, being provided with one for solid at the back side of the cabinet 41
The semicircle anchor ear 418 being scheduled in tower bar.Certainly, semicircle anchor ear also can be set in temporary platform.
The operation principle of the present invention is that: under normal condition, aircraft robot is located in the robot case 41, aircraft machine
The inspection Starting mode of people 1 can be timing inspection, be also possible to send instruction inspection.Timing inspection is set in controller II
Determine timing, such as inspection in 1 month is primary, and after reaching setting time, controller II starts aircraft machine by bluetooth module
People, controller II control robot case 41 and open chamber door 411, and aircraft robot starts after flying out according to navigation system setting path
Inspection.It sends instruction inspection and refers to that the personnel of monitoring center are manually operated to the sending inspection instruction of controller II.
After aircraft robot 1 flies out robot case 41, start along guidance path inspection, when inspection is to tower bar, penetrates
Frequency receiver receives the radio-frequency information of the radio-frequency card in tower bar, then starts to carry out data to the position where each radio-frequency card
Acquisition.When the memory of aircraft robot 1 stores completely fastly, aircraft robot can find temporary platform landing in advance, then will
Data are transferred to monitoring center in temporary platform.If the not enough power supply of aircraft robot 1, aircraft robot can be fallen in temporarily
It charges on platform.
The above combination attached drawing is described above in detail the preferred embodiment of the present invention and embodiment, but the present invention is not
The above-described embodiment and examples are confined to, for those skilled in the art, are not departing from structure of the present invention
Under the premise of think of, other several improvements and modifications can also be made, these improvements and modifications also should be regarded as protection model of the invention
It encloses.
Claims (6)
1. a kind of power distribution network intelligent patrol detection device, it includes flying robot, and video camera, red is provided on the flying robot
Outer imager, ultraviolet imager, image processor, wireless image transmitter, navigation system, memory and controller I, it is described to take the photograph
Camera, infrared thermoviewer and ultraviolet imager are connect with described image processor respectively, described image processor and wireless image
Transmitter connection, the memory and image processor are connect with controller I respectively, the installation navigation in the controller I
System, which is characterized in that
The flying robot further includes magnetic field sensor, and for monitoring, whether inspection route is charged, and is used as flying machine
The addressing of people is popped one's head in；Foreign matter radar, for perceiving the foreign matter around in flight course, to avoid foreign matter, and different detecting
It takes pictures when object；Bluetooth module, the data for image/video are transmitted, and the conduct when flying robot enters robot case
Open the key of chamber door；Radio frequency receiver, for receiving the information of radio-frequency card；Wireless charger I is used for wireless charging；Positioning
Tracing module, for showing the location information of flying robot on map；
The power distribution network intelligent patrol detection device further includes robot case, temporary platform and radio-frequency card, the robot case include cabinet,
It solar panels, wind generator, battery, sensor, wireless charger II, bluetooth module, data transmission module, controller II and keeps away
Thunder device, the sensor, wireless charger II, bluetooth module and data transmission module are connect with controller II respectively；The nothing
Line charge electric appliance II is located at the intracorporal bottom centre position of the case；
The front end of the cabinet is chamber door, and the lower end of the chamber door and cabinet are articulated and connected, and is provided with electromagnetism on the cabinet
Lock, is provided with lock tongue, the electromagnetic lock is connect with controller II on the chamber door；Chamber door folding and unfolding dress is provided in the cabinet
It sets, the chamber door draw off gear includes spool, reel controller, two directive wheels and two traction ropes, in the cabinet front end
The directive wheel is respectively set in top two sides, and one end of the traction rope is connect with the spool, and the other end bypasses one
The directive wheel is connect with the chamber door；The reel controller is connect with the controller II, when the flying robot leans on
When the nearly cabinet, after the bluetooth module of flying robot and the bluetooth module successful matching in robot case, the electromagnetic lock
It unlocks, reel controller controls spool and opens chamber door；After the flying robot enters the cabinet, the sensor detection
To flying robot, reel controller controls spool and closes chamber door, and then electromagnetic lock is latched；
It is provided with a magnet-wire on the chamber door, the flying robot can addressing according to the magnetic field sensor to magnet-wire
Into in the cabinet；
The temporary platform includes the platform support being fixed in tower bar and the wireless charger III being arranged on platform support, indigo plant
Tooth module, data transmission module, controller III, temporary platform radio-frequency card, magnetic dot, solar panels and wind generator；The flight
Robot, which can find the temporary platform according to temporary platform radio-frequency card and drop in temporary platform, carries out charging and data biography
It send；
Fixed device is provided on the radio-frequency card, for being fixed on the device for needing to detect, the flying robot is removable
It takes pictures to the device where radio-frequency card the position for moving radio-frequency card.
2. power distribution network intelligent patrol detection device according to claim 1, it is characterised in that: radio-frequency card built-in storage part institute
Tower bar number, the flying robot arrives captured photo storage after having shot all devices in the tower bar
One file, this document is pressed from both sides to be named with the number of the tower bar.
3. power distribution network intelligent patrol detection device according to claim 1, it is characterised in that: the artificial flying saucer of flying machine
A video camera, infrared thermoviewer and ultraviolet imager is arranged in the upper end of flying robot, the flying robot's in shape
A video camera, infrared thermoviewer, ultraviolet imager and magnetic field sensor is arranged in lower end, and the magnetic field sensor is located at bottom surface
Middle position.
4. power distribution network intelligent patrol detection device according to claim 1, it is characterised in that: the wireless charger I is located at institute
State the lower end bottom surface of flying robot.
5. power distribution network intelligent patrol detection device according to claim 1, it is characterised in that: be provided at the back side of the cabinet
One semicircle anchor ear for being fixed in tower bar.
6. power distribution network intelligent patrol detection device according to claim 1, it is characterised in that: the fixation device on the radio-frequency card
For magnet and/or strength sticker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610698104.3A CN106364674B (en) | 2016-08-22 | 2016-08-22 | Power distribution network intelligent patrol detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610698104.3A CN106364674B (en) | 2016-08-22 | 2016-08-22 | Power distribution network intelligent patrol detection device |
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| Publication Number | Publication Date |
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| CN106364674A CN106364674A (en) | 2017-02-01 |
| CN106364674B true CN106364674B (en) | 2018-12-11 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107140194A (en) * | 2017-05-16 | 2017-09-08 | 华东交通大学 | A kind of many rotor railway automatic tour inspection systems of tracking for supporting automatic charging |
| CN107595499A (en) * | 2017-09-11 | 2018-01-19 | 太仓史瑞克工业设计有限公司 | A kind of intelligent wheel chair and its control method based on Navigation of Pilotless Aircraft |
| CN108550202A (en) * | 2018-03-08 | 2018-09-18 | 芜湖泰领信息科技有限公司 | The system of the self-service gate inhibition that comes in and goes out of robot |
| CN108933407B (en) * | 2018-06-13 | 2020-03-17 | 浙江理工大学 | Unmanned aerial vehicle embedded robot device and method for multi-split high-voltage wire inspection |
| CN109533330A (en) * | 2018-10-24 | 2019-03-29 | 珠海模范智能科技有限公司 | A kind of unmanned plane recyclable device and recovery method |
| CN109703751B (en) * | 2019-02-22 | 2022-01-28 | 韩绍泽 | Military detection flight instrument |
| CN111157919A (en) * | 2020-03-19 | 2020-05-15 | 江西省科学院能源研究所 | Lightning arrester on-line monitoring system based on cloud and mist cooperation |
| CN113394709B (en) * | 2021-07-09 | 2022-06-03 | 郑州工业应用技术学院 | Automatic control, detection, protection and cleaning system for power transmission line |
| CN114162340A (en) * | 2021-11-29 | 2022-03-11 | 浙江图盛输变电工程有限公司温州科技分公司 | Tower hanging point absolute coordinate acquisition system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP2495166A1 (en) * | 2011-03-03 | 2012-09-05 | Asociacion de la Industria Navarra (AIN) | Aerial robotic system for the inspection of overhead power lines |
| US20170225802A1 (en) * | 2014-10-13 | 2017-08-10 | Systems Engineering Associates Corporation | Systems and methods for deployment and operation of vertical take-off and landing (vtol) unmanned aerial vehicles |
| CN204481547U (en) * | 2015-04-19 | 2015-07-15 | 中南大学 | Rotor wing unmanned aerial vehicle charging pile |
| CN105389988B (en) * | 2015-12-07 | 2018-03-06 | 北京航空航天大学 | A kind of express highway intelligent cruising inspection system of multiple no-manned plane collaboration |
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