CN106442568A - System and method for detecting state of round steel lightning rod - Google Patents
System and method for detecting state of round steel lightning rod Download PDFInfo
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- CN106442568A CN106442568A CN201610896020.0A CN201610896020A CN106442568A CN 106442568 A CN106442568 A CN 106442568A CN 201610896020 A CN201610896020 A CN 201610896020A CN 106442568 A CN106442568 A CN 106442568A
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- discharging rod
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 31
- 239000010959 steel Substances 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims abstract description 7
- 238000001514 detection method Methods 0.000 claims abstract description 37
- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 230000033001 locomotion Effects 0.000 claims abstract description 9
- 230000004888 barrier function Effects 0.000 claims abstract description 8
- 238000007599 discharging Methods 0.000 claims description 45
- 238000004891 communication Methods 0.000 claims description 25
- 230000009194 climbing Effects 0.000 claims description 11
- 238000009434 installation Methods 0.000 claims description 8
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 6
- 229910052744 lithium Inorganic materials 0.000 claims description 6
- 230000006870 function Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 230000008450 motivation Effects 0.000 claims description 2
- 238000012856 packing Methods 0.000 claims description 2
- 238000005096 rolling process Methods 0.000 claims description 2
- 230000008054 signal transmission Effects 0.000 claims description 2
- 238000012360 testing method Methods 0.000 claims description 2
- 230000009193 crawling Effects 0.000 abstract description 6
- 230000000007 visual effect Effects 0.000 abstract 1
- 239000000463 material Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 208000037656 Respiratory Sounds Diseases 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005518 electrochemistry Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000009545 invasion Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- APTZNLHMIGJTEW-UHFFFAOYSA-N pyraflufen-ethyl Chemical compound C1=C(Cl)C(OCC(=O)OCC)=CC(C=2C(=C(OC(F)F)N(C)N=2)Cl)=C1F APTZNLHMIGJTEW-UHFFFAOYSA-N 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000002436 steel type Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/952—Inspecting the exterior surface of cylindrical bodies or wires
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- General Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
Abstract
The invention relaters to a system and a method for detecting the state of a round steel lightning rod. The system comprises a remote control device, a robot installed on the lightning rod, and an upper computer, wherein the robot comprises a central support, crawling mechanisms fixed on the upper surface and the lower surface of the central support, and a detection module installed on a guide rail at the edge of the central support; the detection module comprises a transmission mechanism capable of sliding along the guide rail, and a camera fixedly installed on the transmission mechanism; the remote control device is used for controlling the crawling mechanisms to enable the robot to move up and down and climb over barriers; the upper computer is used for controlling the rotating movement of the transmission mechanism and the transmission of information collection between the upper computer and the camera. According to the system, the robot is installed on the round steel lightning rod, the remote control device is used for controlling the robot to move up and down and climb over the barriers, the upper computer is used for controlling the transmission mechanism to make rotating movement along the lightning rod in a cooperating way, and surface state information of the lightning rod is acquired by the camera, so that the system is visual in result and high in working efficiency, and guarantees the operation security of a power grid.
Description
Technical field
The present invention relates to a kind of round steel discharging rod condition detecting system and detection method, belong to technical field of power systems.
Background technology
Discharging rod, as effectively preventing from attacking the power equipment of thunderbolt directly, has non-to personal equipment safety in protection transformer station
Often important effect.However, discharging rod may make material internal or surface there is sand due to technological problemses in the fabrication process
The defects such as eye, crackle, and in use due to being often subject to extreme temperature, high wind load, rainwater invasion and attack and electrochemistry
The impact of the factors such as corrosion, causes fault in material to increase.Especially for round steel discharging rod widely used in transformer station, it is every
Intersegmental weld or flange connections are it is easier to being affected by factors above and crackle or corrosion occurs, if cannot
Find in time investigation, then discharging rod may be caused the major accident such as rupture, collapse, personal in transformer station, equipment are brought seriously
Potential safety hazard.In recent years, the fracture of domestic Lightning-Rod Protection Disign In Substations, the accident collapsed happen occasionally it is therefore necessary to discharging rod
Configuration state carry out effective detection.
For the transformer station of 220kV and above, the sides adopting independent lightning rod and framework discharging rod at present more
Formula, lightning-arrest needle construction is broadly divided into round steel type and steel frame type.Steel frame type discharging rod is also divided into Rhizoma Sparganii, four ribs, six-edged steel frame etc., this
The lightning-arrest needle construction of class is more firm, and is easy to manpower climbing, and detection meanss are more ripe；And round steel discharging rod is because height and knot
The reason structure, manpower cannot be climbed, and also lacks effective detection meanss, mostly utilizes the equipment such as telescope, unmanned plane to its table
Surface state carries out periodical inspection, is not only difficult to intuitively effectively obtain status information, also consumes a large amount of manpower and materials, reduce work
Make efficiency.
Content of the invention
For these reasons, it is an object of the invention to provide a kind of round steel discharging rod condition detecting system and detection method,
On the premise of ensureing the person, equipment safety, can facilitate, obtain air terminal surface status information intuitively, exactly, saving is big
Amount manpower and materials cost, improves work efficiency.
To achieve these goals, the technology used in the present invention means are：
A kind of round steel discharging rod condition detecting system, including remote control unit, robot and host computer, robot includes central branches
Frame, climbing mechanism and detection module, remote control unit is used for the movement controlling climbing mechanism to realize robot, and host computer is used for controlling
Detection module realizes the state-detection to discharging rod；The middle part of described central bracket is provided with through hole, and its edge is provided with guide rail, detection
Module can be along slide on guide rail；Climbing mechanism is symmetricly set on the top and bottom of central bracket, and it includes being installed on
Arm motor of creeping in central bracket, is creeped arm one end and is connected with arm motor output shaft of creeping, the other end is provided with roller, arm of creeping
Motor control creeps arm perpendicular to the opening and closing of central bracket direction；Creep and roller motor, roller motor and roller are installed on arm
Between connected by cog belt, roller Motor drive cog belt move, cog belt drive roller motion.
Described detection module includes drive mechanism and the photographic head being perpendicularly fixed on drive mechanism, and drive mechanism is provided with
Roller, guide rail is T-shaped guide rail, and drive mechanism is with T-shaped guide rail clamping and by roller along slide.
Described arm of creeping is divided into the arm and climbing under central bracket lower surface of creeping on central bracket upper surface
Row arm, upper and lower arm of creeping all arranges three in each face, the triangle structure of three arms of creeping in every face.
Creep for three of described every one side and connected by horizontal fastening spring respectively between arm, upper and lower perpendicular to central bracket
Symmetrically arranged creeping is connected by longitudinally secured spring between arm respectively.
Described arm of creeping is detachable, and central bracket is circle, and it is made up of two semicircle assembly.
Described remote control unit includes ARM chip and single-chip microcomputer, remote control unit be provided with up, descending, on creep arm rise, on
Arm of creeping receive, under creep arm rise, under creep arm receive six kinds of functions button.
Integrated installation microcontroller, wireless communication module and power module in described central bracket, creep arm motor and
Motor drive card is mounted on roller motor, remote control unit sends instruction by wireless communication module and receives feedback signal,
Microcontroller transmits drive signals to each Motor drive card after receiving the instruction of remote control unit, and power module adopts lithium battery
To each module for power supply.
Described testing agency also includes microcontroller, wireless communication module and power module, the motor peace on drive mechanism
Equipped with Motor drive card, host computer carries out signal transmission by wireless communication module, and microcontroller receives the instruction of host computer
Transmit drive signals to the Motor drive card of drive mechanism afterwards, drive transmission device adopts lithium along slide, power module
Each module for power supply given by battery；Wireless communication module is integrated with photographic head, the information gathering of photographic head and information send by no
Line communication module is set up with host computer and is connected.
Described microcontroller adopts STM32F103 microcontroller, and wireless communication module adopts nRF24L01 chip, power supply mould
Block includes LM2576 and MC34063 integrated circuit.
A kind of round steel discharging rod condition detection method based on said detecting system, comprises the following steps：
Step 1, the installation of robot：Robot is installed on round steel discharging rod, so that round steel discharging rod is passed through in central bracket
Through hole；
Step 2, the mobile control of robot：Wireless communication module transmission by remote control unit and integrated installation in central bracket
Instruction, sends drive signal to arm Motor drive card and the roller Motor drive card of creeping by microcontroller, and then drives arm of creeping
Motor forward or reverse is realized creeping the opening or pack up of arm, opening and packing up action and coordinate realization to cross barrier by arm of creeping
Hinder, simultaneously drive roller motor forward or reverse to realize moving up or down of robot；
Step 3, the control of detection module：Instructed with the wireless communication module transmission in detection module by host computer, detect mould
Microcontroller in block sends drive signal to drive mechanism Motor drive card after receiving instruction, and then drive transmission device edge
Guide rail is in rotary moving, is installed on photographic head on drive mechanism by the status information on round steel discharging rod 13 by being integrated in shooting
Wireless communication module within head sends host computer to.
The robot of detecting system of the present invention is installed on round steel discharging rod, controls robot to climb by handheld remote control device
Moving up and down and running into of row mechanism crosses action during barrier, then coordinates drive mechanism in PC control detection module
Along discharging rod carry out 360 ° in rotary moving, realize the collection of air terminal surface state detecting information using photographic head, by long-range
Controlled in wireless can obtain directly perceived and clearly discharging rod status information, can not only use manpower and material resources sparingly, improve work efficiency, also
Effect evades the electric power safety accident that may cause due to air terminal surface state deficiencies, ensures safe operation of electric network.
Below by way of the drawings and specific embodiments, the present invention is further elaborated.
Brief description：
Fig. 1 is robot of the present invention main structure diagram；
Fig. 2 is robot of the present invention overlooking the structure diagram；
Fig. 3 is detection module structural representation；
Fig. 4 is robot crawling motor control schematic diagram；
Fig. 5 is detection module control principle drawing.
Specific embodiment：
In conjunction with shown in Fig. 1 to Fig. 5, a kind of round steel discharging rod condition detecting system, including remote control unit, robot and host computer,
Robot includes annular central support 1, climbing mechanism and detection module again.The middle part of central bracket 1 is provided with manhole, takes shelter from the thunder
Pin 13 passes through from manhole, installs for convenience of robot, central bracket 1 is designed as two and half on all kinds of discharging rod 13
Circle is assembled.The edge circumference of central bracket 1 is provided with T-shaped guide rail 2, and guide rail 2 is provided with the detection mould that can slide along guide rail 2
Block, detection module can carry out 360 ° of rotations along central bracket 1, and it is mainly used in the apparent condition of discharging rod 13 is detected.
Detection module in the present embodiment is mainly made up of with the photographic head 9 being perpendicularly fixed on drive mechanism 10 drive mechanism 10, passes
Motivation structure 10 is connected on T-shaped guide rail 2, and is slided along guide rail 2 by roller 15 thereon.Climbing mechanism is symmetricly set in central authorities
On the top and bottom of support 1, move up and down for Robot discharging rod 13, it mainly includes being fixedly installed in central bracket 1
Arm motor 3 of creeping, the output shaft of arm motor 3 of creeping connects arm of creeping, creep arm motor 3 for control creep arm perpendicular to
Central bracket 1 direction carries out 90 ° of opening and closing campaigns, and its main purpose is to run on discharging rod 13 during robot is mobile
When flange 14 or other barriers, can be by the opening and closing throwing over barrier of arm of creeping.The other end of arm of creeping is provided with roller 5,
Creep and roller motor 4 is installed on arm, be connected by cog belt 6 between roller motor 4 and roller 5, roller motor 4 drives profile of tooth
Band 6 motion, cog belt 6 drives roller 5 along discharging rod 13 apparent motion.Robot when installing and using, its roller 5 and discharging rod
13 surfaces contacts, using contact friction force realize robot stable, at the uniform velocity creep, using static when motor opposing torque,
Realize closely depending on of robot and discharging rod 13.
For preferably realizing the stable movement of robot, and arm throwing over barrier of conveniently creeping, above-mentioned arm of creeping is divided into
Creep on central bracket 1 upper surface arm 7 and arm 8 of creeping under central bracket 1 lower surface, upper and lower arm of creeping is equal
Arrange three in each face, the triangle structure of three arms of creeping in every face, so that central bracket 1 is the level of state steady along discharging rod 13
Gu moving.Above-mentioned upper and lower two groups arms of creeping all can be designed as detachable, can be in all kinds of discharging rod 13 in order to robot
Upper installation.
Further for making, the connection creeped between arm is more firm, creeps at three of every one side and passes through respectively between arm
Laterally fastening spring 11 connects, perpendicular to central bracket 1 and setting symmetrical above and below creep pass through respectively between arm longitudinally secured
Spring 12 connects.
Its mobile control of robot with said structure is realized using remote wireless control form with detection mode control,
Concrete control structure and mode are：The control of the control to robot detection module and robot crawling mechanism adopts independent two
Set control structure, can complete it is also possible to people's independent operation, two sets of independent control structure working conditions with two people
It does not interfere with each other, operation and maintenance is simpler.
Wherein, host computer remote controlled manner is adopted to the control of detection module, detection module is set up microcontroller,
Wireless communication module and power module, and Motor drive card is installed on the motor in drive mechanism 10.Host computer passes through wireless
Communication module is controlled the transmission instructing, and microcontroller transmits drive signals to driver after receiving the instruction of host computer
The Motor drive card of structure 10, thus drive transmission device 10 slides along T-shaped guide rail 2, power module adopts lithium battery to above-mentioned each
Module for power supply.And the information gathering of photographic head 9 and send then directly by be integrated in wireless communication module photographic head 9 within and
Host computer is set up and is connected, and realizes the information remote collection of discharging rod 13 apparent condition and the transmission of image.
And adopt hand-held remote control device to realize the control of robot crawling mechanism, remote control unit include ARM chip and
Single-chip microcomputer, remote control unit arranges six press keys, respectively up, descending, on creep arm rise, on creep arm receive, under creep arm
Rise, under arm of creeping receive, the function of each button is defined as follows：
Up：Drive upper and lower two groups of roller motors to rotate forward, realize robot and creep upwards；
Descending：Drive upper and lower two groups of roller motor reversals, realize robot and creep downwards；
On arm of creeping rise：Arm motor of creeping in driving rotates forward, and opens arm of creeping；
On creep arm receive：Creep in driving arm motor reversal, pack up arm of creeping；
Under arm of creeping rise：Arm motor of creeping under driving rotates forward, arm of creeping under opening；
Under creep arm receive：Creep under driving arm motor reversal, pack up down arm of creeping.
In addition, integrated installation has microcontroller, wireless communication module and power module in central bracket 1, arm electricity of creeping
It is mounted on Motor drive card, remote control unit sends instruction by wireless communication module and receives feedback on machine 3 and roller motor 4
Signal, microcontroller transmits drive signals to each Motor drive card after receiving the instruction of remote control unit, power module adopts
Lithium battery gives each module for power supply.
Microcontroller used in above-mentioned detection module and climbing mechanism adopts STM32F103 microcontroller, channel radio
News module adopts nRF24L01 chip, and power module includes LM2576 and MC34063 integrated circuit.
As follows to the control operation procedure declaration of robot crawling mechanism, so that robot is up as a example it is illustrated：Machine
People installs after fixing and each Function detection being finished, after pressing remote control unit " up " button, the upper and lower two groups rollings on wall of creeping
Turbin generator 4 rotates forward simultaneously, and driven machine people creep upwards, the roller 5 on arm 7 of above creeping run into flange 14 cannot continue up
When, remote control unit receives signal, now presses " arm of above creeping rises " button, and arm motor 3 of creeping is driven forward arm 7 of creeping and opens
And reaching spacing, the roller 5 that robot is creeped by down on arm 8 simultaneously drives slowly up, and arm 7 of waiting to creep successfully crosses flange
After 14, under the roller 5 creeped on arm 8 touch flange 14 sending signal, now press " arm of above creeping receipts " button, arm of creeping
Motor 3 is driven reverse arm 7 of creeping and packs up, reach spacing after press " under creep arm rise " button, arm motor 3 of creeping is driven forward
Under arm 8 of creeping open and reach spacing, the roller 5 that robot is creeped from above on arm 7 simultaneously drives slowly up, treats down arm of creeping
8 successfully cross after flange 14 and robot continue up a period of time, press " under creep arm receive " button, and arm motor 3 of creeping is anti-
Turning arm 8 of creeping under driving to pack up, reaching spacing, thus completing the process that flange 14 is crossed by robot.During this, need to press all the time
Under " up " button, with the driving force providing robot to creep upwards.Robot creeps downwards and to cross process up with above-mentioned
Operation is similar, not repeat specification.
, only in order to technical scheme to be described and unrestricted, those of ordinary skill in the art are to this for above example
Other modifications or equivalent that bright technical scheme is made, without departing from the spirit and scope of technical solution of the present invention,
All should cover in scope of the presently claimed invention.
Claims (10)
1. a kind of round steel discharging rod condition detecting system it is characterised in that：Including remote control unit, robot and host computer, machine
People includes central bracket, climbing mechanism and detection module, and remote control unit is used for the movement controlling climbing mechanism to realize robot, on
Position machine is used for the state-detection controlling detection module to realize to discharging rod；The middle part of described central bracket is provided with through hole, its edge
It is provided with guide rail, detection module can be along slide on guide rail；Climbing mechanism is symmetricly set on the top and bottom of central bracket,
It includes the arm motor of creeping being installed in central bracket, creeps arm one end and is connected with arm motor output shaft of creeping, the other end sets
There is roller, arm motor control of creeping creeps arm perpendicular to the opening and closing of central bracket direction；Creep and roller motor is installed on arm, rolling
It is connected by cog belt between turbin generator and roller, roller Motor drive cog belt moves, cog belt drives roller motion.
2. a kind of round steel discharging rod condition detecting system according to claim 1 it is characterised in that：Described detection module bag
Include drive mechanism and the photographic head being perpendicularly fixed on drive mechanism, drive mechanism is provided with roller, guide rail is T-shaped guide rail, passes
Motivation structure is with T-shaped guide rail clamping and by roller along slide.
3. a kind of round steel discharging rod condition detecting system according to claim 1 it is characterised in that：Described arm of creeping is divided into
Creep on central bracket upper surface arm and arm of creeping under central bracket lower surface, upper and lower arm of creeping is all each
Face arranges three, the triangle structure of three arms of creeping in every face.
4. a kind of round steel discharging rod condition detecting system according to claim 3 it is characterised in that：The three of described every one side
Individual creeping is connected by horizontal fastening spring between arm respectively, divides between arm perpendicular to creeping of central bracket setting symmetrical above and below
Do not connected by longitudinally secured spring.
5. a kind of round steel discharging rod condition detecting system according to claim 1 it is characterised in that：Described arm of creeping is can
Dismountable, central bracket is circular and is made up of two semicircle assembly.
6. a kind of round steel discharging rod condition detecting system according to claim 1 it is characterised in that：Described remote control unit bag
Include ARM chip and single-chip microcomputer, remote control unit be provided with up, descending, on creep arm rise, on creep arm receive, under creep arm rise, under
Arm of creeping receives the button of six kinds of functions.
7. a kind of round steel discharging rod condition detecting system according to claim 1 it is characterised in that：In described central bracket
Integrated installation microcontroller, wireless communication module and power module, creep arm motor and roller motor be mounted on motor
Driving card, remote control unit sends instruction by wireless communication module and receives feedback signal, and microcontroller receives remote control unit
Instruction after transmit drive signals to each Motor drive card, power module adopt lithium battery give each module for power supply.
8. a kind of round steel discharging rod condition detecting system according to claim 1 it is characterised in that：Described testing agency is also
Including microcontroller, wireless communication module and power module, the motor on drive mechanism is provided with Motor drive card, and host computer leads to
Cross wireless communication module and carry out signal transmission, microcontroller transmits drive signals to driver after receiving the instruction of host computer
The Motor drive card of structure, along slide, power module adopts lithium battery to each module for power supply to drive transmission device；On photographic head
It is integrated with wireless communication module, the information gathering of photographic head and information are sent and set up even with host computer by wireless communication module
Connect.
9. a kind of round steel discharging rod condition detecting system according to claim 7 or 8 it is characterised in that：Described microcontroller
Device adopt STM32F103 microcontroller, wireless communication module adopt nRF24L01 chip, power module include LM2576 and
MC34063 integrated circuit.
10. a kind of round steel discharging rod condition detection method it is characterised in that：Using any detecting system of claim 1 to 9
Detected, its method comprises the following steps：
Step 1, the installation of robot：Robot is installed on round steel discharging rod, so that round steel discharging rod is passed through in central bracket
Through hole；
Step 2, the mobile control of robot：Wireless communication module transmission by remote control unit and integrated installation in central bracket
Instruction, sends drive signal to arm Motor drive card and the roller Motor drive card of creeping by microcontroller, and then drives arm of creeping
Motor forward or reverse is realized creeping the opening or pack up of arm, opening and packing up action and coordinate realization to cross barrier by arm of creeping
Hinder, simultaneously drive roller motor forward or reverse to realize moving up or down of robot；
Step 3, the control of detection module：Instructed with the wireless communication module transmission in detection module by host computer, detect mould
Microcontroller in block sends drive signal to drive mechanism Motor drive card after receiving instruction, and then drive transmission device edge
Guide rail is in rotary moving, is installed on photographic head on drive mechanism by the status information on round steel discharging rod 13 by being integrated in shooting
Wireless communication module within head sends host computer to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610896020.0A CN106442568A (en) | 2016-10-14 | 2016-10-14 | System and method for detecting state of round steel lightning rod |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610896020.0A CN106442568A (en) | 2016-10-14 | 2016-10-14 | System and method for detecting state of round steel lightning rod |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106442568A true CN106442568A (en) | 2017-02-22 |
Family
ID=58174278
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610896020.0A Pending CN106442568A (en) | 2016-10-14 | 2016-10-14 | System and method for detecting state of round steel lightning rod |
Country Status (1)
| Country | Link |
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| CN (1) | CN106442568A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000280189A (en) * | 1999-03-29 | 2000-10-10 | Mitsubishi Electric Corp | Damage detecting system for tube-outside inspecting robot |
| JP2004037210A (en) * | 2002-07-02 | 2004-02-05 | Doro Hozen Gijutsu Center | Columnar body flaw detecting method and flaw detecting robot |
| CN201096729Y (en) * | 2007-10-31 | 2008-08-06 | 重庆大学 | Bridge pulling rope surface detection device |
| CN201437247U (en) * | 2009-01-21 | 2010-04-14 | 重庆大学 | Robot capable of crawling cable |
-
2016
- 2016-10-14 CN CN201610896020.0A patent/CN106442568A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000280189A (en) * | 1999-03-29 | 2000-10-10 | Mitsubishi Electric Corp | Damage detecting system for tube-outside inspecting robot |
| JP2004037210A (en) * | 2002-07-02 | 2004-02-05 | Doro Hozen Gijutsu Center | Columnar body flaw detecting method and flaw detecting robot |
| CN201096729Y (en) * | 2007-10-31 | 2008-08-06 | 重庆大学 | Bridge pulling rope surface detection device |
| CN201437247U (en) * | 2009-01-21 | 2010-04-14 | 重庆大学 | Robot capable of crawling cable |
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Application publication date: 20170222 |
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