CN106500763A - Extra high voltage line isolator detecting intelligent robot system - Google Patents
Extra high voltage line isolator detecting intelligent robot system Download PDFInfo
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- CN106500763A CN106500763A CN201610907581.6A CN201610907581A CN106500763A CN 106500763 A CN106500763 A CN 106500763A CN 201610907581 A CN201610907581 A CN 201610907581A CN 106500763 A CN106500763 A CN 106500763A
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- 238000004891 communication Methods 0.000 claims abstract description 8
- 230000005611 electricity Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 abstract description 18
- 239000012212 insulator Substances 0.000 abstract description 7
- 230000003247 decreasing effect Effects 0.000 abstract description 2
- 238000012545 processing Methods 0.000 description 33
- 230000033001 locomotion Effects 0.000 description 24
- 230000005856 abnormality Effects 0.000 description 14
- 239000013598 vector Substances 0.000 description 14
- 238000012360 testing method Methods 0.000 description 13
- 238000006073 displacement reaction Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 9
- 238000001816 cooling Methods 0.000 description 8
- 238000000605 extraction Methods 0.000 description 8
- 238000007689 inspection Methods 0.000 description 8
- 230000002159 abnormal effect Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 4
- 238000012937 correction Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000001681 protective effect Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- SAZUGELZHZOXHB-UHFFFAOYSA-N acecarbromal Chemical compound CCC(Br)(CC)C(=O)NC(=O)NC(C)=O SAZUGELZHZOXHB-UHFFFAOYSA-N 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 230000002708 enhancing effect Effects 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 238000004079 fireproofing Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 150000002739 metals Chemical class 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000000246 remedial effect Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
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- 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
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Abstract
The present invention relates to extra high voltage line isolator detecting intelligent robot system, including robot body is provided with solar panels on the robot body；Simultaneously, electric energy outgoing management system, control and driving means, robot location's information collecting device and sub-pieces device for detecting performance is additionally provided with the robot body, described control and driving means respectively with electric energy outgoing management system, robot location's information collecting device, sub-pieces device for detecting performance two-way communication, the control and driving means are communicated with application control platform by radio communication device, the application control platform receives the control of operating personnel, and the solar panels are connected with electric energy outgoing management system.System of the present invention completes the detection work to specifying string under without the need for manual control；Make robot replace the detection work for being accomplished manually insulator string simultaneously, Field Force's working strength can be greatly decreased, improves the working environment of employee.
Description
Technical field
The present invention relates to power domain, more particularly to extra high voltage line isolator detecting intelligent robot system.
Background technology
Insulator is a kind of special insulation control, can play an important role in overhead transmission line.Insulator pair
The safety of ultra-high-tension power transmission line plays an important role, and detects the conventional method of insulator, is manually to step on tower to detect piecewise, difficulty
Greatly, dangerous high, with the development of technology, ultra-high-tension power transmission line electric pressure more and more higher, the length and structure of insulator
More and more, common manual detection far can not meet the requirement of technology development；Present isolator detecting structure will
Ask compact, light, reliability is high, and up to the present, similar electrification in high voltage detection means not yet occurs in this area.Examined
During survey, manpower patrolled and examined along high-tension line obviously unrealistic, if robot system is arranged on transportable vehicle
On will greatly enhance convenience.Simultaneously because a large amount of force devices load vehicle, fire line will also be furtherd investigate.
Content of the invention
In order to solve the above problems, the invention provides extra high voltage line isolator detecting intelligent robot system, including,
Robot body, is provided with solar panels on the robot body；Meanwhile, electric energy output is additionally provided with the robot body
Management system, control and driving means, robot location's information collecting device and sub-pieces device for detecting performance, the control
And driving means respectively with electric energy outgoing management system, robot location's information collecting device, sub-pieces device for detecting performance
Two-way communication, the control and driving means are communicated with application control platform by radio communication device, the application control
Platform receives the control of operating personnel, and the solar panels are connected with electric energy outgoing management system, the extra high voltage line insulator
Detection intelligent robot system is arranged on vehicle by elevating lever, and the vehicle includes that safety door is intelligent and opens platform, institute
Stating platform includes that Freescale IMX6 processing equipments, door pump control apparatus and number testing equipment, Freescale IMX6 process set
Back-up is not connected with door pump control apparatus and number testing equipment, and Freescale IMX6 processing equipments are used for setting based on number detection
Standby output control door pump control apparatus, door pump control apparatus are located near the door pump of safety door, for receiving winged think of card
During the vehicle abnormality signal that your IMX6 processing equipment sends, control the door pump of safety door to automatically open up safety door.
More specifically, in the intelligent unlatching platform of the safety door, including：Gun-type photographic equipment, is arranged on safety door
Near, including gun-type camera, support, head, protective cover, flash lamp, photoflash controller and ambient brightness detector, gun-type
Camera is arranged on head to carry out packaged type shooting on head, obtains HD video, the image resolution of HD video
Rate is 2840 × 2160, and head and protective cover are fixed on support, and ambient brightness detector is used for the brightness for detecting surrounding environment,
Ambient brightness detector carries out brightness detection to obtain real time environment brightness to surrounding environment, photoflash controller respectively with environment
Brightness detector and flash lamp connection, for the opening and closing based on real time environment brilliance control flash lamp；Displacement detection device, is arranged
On the head of gun-type photographic equipment, for imaging when gun-type camera carries out accumulative gun-type when packaged type shoots on head
The amount of movement of head, when the amount of movement of gun-type camera is more than preset displacement threshold value, sends scanning shoot signal, when gun-type is imaged
When the amount of movement of head is less than or equal to preset displacement threshold value, establishing shot signal is sent；First reference frame extraction equipment, respectively with rifle
Formula photographic equipment and displacement detection device connection, for when establishing shot signal is received, entering into power saving from power modes
Pattern, when scanning shoot signal is received, returns to power modes from battery saving mode, and by present image in HD video
All images before carry out mean filter process, and the image obtained after mean filter is processed is as present image with reference to figure
Picture；Wherein, by present image in HD video before all images carry out mean filter process specifically include：With pixel it is
Unit, to present image before all images in same position pixel pixel value be added after divided by present image
The quantity of all images before and obtain the pixel average of corresponding pixel points, based on all positions pixel pixel put down
The image that average composition mean filter is obtained after processing；Second reference frame extraction equipment, respectively with gun-type photographic equipment and displacement
Testing equipment connects, for when establishing shot signal is received, returning to power modes, and regard from high definition from battery saving mode
Select to fix a two field picture as the reference picture of all successive images in frequency, when scanning shoot signal is received, from power consumption
Pattern enters into battery saving mode；Motion analysis equipment, respectively with the first reference frame extraction equipment and the second reference frame extraction equipment
Connect to obtain the reference picture of present image, the subimage block that reference picture and present image are all divided into 64 × 64 is calculated
The pixel value mean square deviation of each subimage block in reference picture, ten minimum subimage block conducts of selected pixels value mean square deviation
With reference to subimage block, subimage block is referred to for each, search and refer to what subimage block mated with this from present image
Subimage block is calculated therebetween with reference to subimage block and corresponding target subimage block based on this as target subimage block
Motion vector simultaneously refers to the motion vector of subimage block as this, is determined based on ten motion vectors with reference to subimage block average
Motion vector；Image compensation apparatus, are connected with motion analysis equipment, for being carried out surely to present image based on average motion vector
As processing to obtain current steady image；Present image is carried out based on average motion vector steady as processing to obtain current steady
Image includes：Present image is moved backward the pixel of equivalent obtaining current steady image along average motion vector；Distortion is entangled
Positive equipment, is connected with gun-type photographic equipment and image compensation apparatus, respectively for detecting gun-type camera optical axis and horizontal direction
Angle using as correcting angle, corrected based on correcting angle and carrying out trapezoidal distortion to current steady image to obtain current correction
Image；Number testing equipment, is connected with distortion correction equipment, for being carried out at histogram equalization successively to current remedial frames
Reason, edge enhancing process, gaussian filtering process and gray processing are processed to obtain gray level image, by pixel value in gray level image
The pixel fallen in default humanoid intensity value ranges is defined as humanoid pixel, and everyone image element in gray level image is constituted
The quantity of humanoid pattern is defined as real-time car door number and exports；Flame detection equipment, positioned at roof location, for in-car ring
Border carries out IMAQ to obtain in-car image, carries out fire defector to in-car image with from car based on preset reference flame pattern
Split and export flame subgraph at interior image, flame alarm signal is exported while flame subgraph is exported, when without flame
When subgraph is exported, output is without flare up fire；Temperature testing equipment, is arranged near engine location, including bimetal leaf, song
Rate detector and signal adapter, bimetallic are sticked together and constituted, curvature measuring device by the different metals of the two panels coefficient of expansion
It is connected with bimetal leaf, for detecting the degree of crook of bimetal leaf to export as real-time curvature, signal adapter and curvature
Detector connects, for being determined based on real-time curvature and exporting real time temperature；Temperature alarming equipment, is connected with temperature testing equipment
Connect, for receiving real time temperature, and when real time temperature is more than or equal to preset temperature threshold value, send temperature anomaly signal, in reality
When Shi Wendu is less than preset temperature threshold value, temperature normal signal is sent；Fault self-checking equipment, for each circuit arrangement in-car
Self-inspection is carried out, when discovery circuit equipment has failure, self-inspection alarm signal is sent and is exported the title of interlock circuit equipment, when
When non-discovery circuit equipment has failure, self-inspection is sent without error signal；Freescale IMX6 processing equipments, are detected with number respectively
The connection of equipment, flame detection equipment, temperature alarming equipment and fault self-checking equipment, for receiving real-time car door number, and in reality
When car door number more than or equal to default number threshold value while also receive flame alarm signal, temperature anomaly signal or self-inspection report
During alert signal, vehicle abnormality signal is sent, otherwise, vehicle normal signal is sent；Emergency speech playback equipment, is arranged on roof,
It is connected with Freescale IMX6 processing equipments, for when vehicle abnormality signal is received, playing emergency speech file；Passenger should
Anxious valve, is arranged on body inner side and is located near safety door, and the upper surface apart from floor is 1.5 meters, to the water of corresponding safety door
Flat distance is less than 0.5 meter；The outer emergency valve of car, is arranged on the outside of car body and is located near safety door, be 1.8 meters apart from ground, arrive
The horizontal range of corresponding safety door is less than 0.5 meter；Brake control device, is arranged on above driving moment, with Freescale IMX6
Processing equipment connects, and for receiving vehicle abnormality signal or vehicle normal signal, and sends when vehicle abnormality signal is received
Abnormal brake control signal；Brake block, is arranged on above driving moment, with brake control device be connected, for receive different
Emergency brake operation is executed to driving moment during brake control signal often；Fire extinguisher bomb storage case, is arranged on underbody, goes out for accommodating
Fiery bullet；Ejecting mechanism, is connected with fire extinguisher bomb storage case, is also connected with Freescale IMX6 processing equipments, for receiving car
During abnormal signal, eject fire extinguisher bomb and triggering fire extinguishing bomb switch is automatically opening up fire extinguisher bomb；Door pump control apparatus, positioned at safety
Near the door pump of door, it is connected with Freescale IMX6 processing equipments, for when vehicle abnormality signal is received, controlling safety door
Door pump automatically opening up safety door；Circuit xegregating unit, including cooling system, extension type closure, stand-by power supply and
Microcontroller, near Freescale IMX6 processing equipments, microcontroller respectively with Freescale IMX6 processing equipments, cooling
Equipment, stand-by power supply open equipment and the connection of shell driving equipment, for when vehicle abnormality signal is received, control shell drives
Dynamic equipment shrinks extension type closure to protect Freescale IMX6 processing equipments in extension type closure,
Control cooling system carries out the cooling in space in extension type closure, and control stand-by power supply is opened equipment to open standby electricity
Source provides emergency service for Freescale IMX6 processing equipments；Wherein, extension type closure is made up of fire proofing material.
More specifically, in the intelligent unlatching platform of the safety door, also including：Vehicle-mounted hard disks, for storing default people
Number threshold value and preset temperature threshold value.
More specifically, in the intelligent unlatching platform of the safety door：Vehicle-mounted hard disks adopt rubber shock-absorbing.
More specifically, in the intelligent unlatching platform of the safety door：Vehicle-mounted hard disks adopt steel wire shock-absorbing.
More specifically, in the intelligent unlatching platform of the safety door：Vehicle-mounted hard disks adopt electronic vibration-protecting.
More specifically, in the intelligent unlatching platform of the safety door, also including：Pick-up head, positioned at roof location, is used for
Real-time Collection in-car speech data.
System of the present invention completes the detection work to specifying string under without the need for manual control；Replace robot simultaneously
The detection work of insulator string is accomplished manually, Field Force's working strength can be greatly decreased, improve the working environment of employee
Specific embodiment
Embodiment of the present invention will be described in detail below.
The present invention provides extra high voltage line isolator detecting intelligent robot system, including, robot body, the machine
Solar panels are installed on human body；Meanwhile, electric energy outgoing management system, control and driving is additionally provided with the robot body
Device, robot location's information collecting device and sub-pieces device for detecting performance, the control and driving means respectively with electricity
Can outgoing management system, robot location's information collecting device, sub-pieces device for detecting performance two-way communication, the control and
Driving means are communicated with application control platform by radio communication device, and the application control platform receives the control of operating personnel
System, the solar panels are connected with electric energy outgoing management system, the extra high voltage line isolator detecting intelligent robot system
Arranged on vehicle by elevating lever, the vehicle includes that safety door is intelligent and opens platform, and the platform includes Freescale
IMX6 processing equipments, door pump control apparatus and number testing equipment, Freescale IMX6 processing equipments are set with the control of door pump respectively
Standby and number testing equipment connects, and Freescale IMX6 processing equipments are used for the output control door pump control based on number testing equipment
Control equipment, door pump control apparatus are located near the door pump of safety door, for receiving the transmission of Freescale IMX6 processing equipments
Vehicle abnormality signal when, control the door pump of safety door automatically opening up safety door.
More specifically, in the intelligent unlatching platform of the safety door, including：Gun-type photographic equipment, is arranged on safety door
Near, including gun-type camera, support, head, protective cover, flash lamp, photoflash controller and ambient brightness detector, gun-type
Camera is arranged on head to carry out packaged type shooting on head, obtains HD video, the image resolution of HD video
Rate is 2840 × 2160, and head and protective cover are fixed on support, and ambient brightness detector is used for the brightness for detecting surrounding environment,
Ambient brightness detector carries out brightness detection to obtain real time environment brightness to surrounding environment, photoflash controller respectively with environment
Brightness detector and flash lamp connection, for the opening and closing based on real time environment brilliance control flash lamp；Displacement detection device, is arranged
On the head of gun-type photographic equipment, for imaging when gun-type camera carries out accumulative gun-type when packaged type shoots on head
The amount of movement of head, when the amount of movement of gun-type camera is more than preset displacement threshold value, sends scanning shoot signal, when gun-type is imaged
When the amount of movement of head is less than or equal to preset displacement threshold value, establishing shot signal is sent；First reference frame extraction equipment, respectively with rifle
Formula photographic equipment and displacement detection device connection, for when establishing shot signal is received, entering into power saving from power modes
Pattern, when scanning shoot signal is received, returns to power modes from battery saving mode, and by present image in HD video
All images before carry out mean filter process, and the image obtained after mean filter is processed is as present image with reference to figure
Picture；Wherein, by present image in HD video before all images carry out mean filter process specifically include：With pixel it is
Unit, to present image before all images in same position pixel pixel value be added after divided by present image
The quantity of all images before and obtain the pixel average of corresponding pixel points, based on all positions pixel pixel put down
The image that average composition mean filter is obtained after processing；Second reference frame extraction equipment, respectively with gun-type photographic equipment and displacement
Testing equipment connects, for when establishing shot signal is received, returning to power modes, and regard from high definition from battery saving mode
Select to fix a two field picture as the reference picture of all successive images in frequency, when scanning shoot signal is received, from power consumption
Pattern enters into battery saving mode；Motion analysis equipment, respectively with the first reference frame extraction equipment and the second reference frame extraction equipment
Connect to obtain the reference picture of present image, the subimage block that reference picture and present image are all divided into 64 × 64 is calculated
The pixel value mean square deviation of each subimage block in reference picture, ten minimum subimage block conducts of selected pixels value mean square deviation
With reference to subimage block, subimage block is referred to for each, search and refer to what subimage block mated with this from present image
Subimage block is calculated therebetween with reference to subimage block and corresponding target subimage block based on this as target subimage block
Motion vector simultaneously refers to the motion vector of subimage block as this, is determined based on ten motion vectors with reference to subimage block average
Motion vector；Image compensation apparatus, are connected with motion analysis equipment, for being carried out surely to present image based on average motion vector
As processing to obtain current steady image；Present image is carried out based on average motion vector steady as processing to obtain current steady
Image includes：Present image is moved backward the pixel of equivalent obtaining current steady image along average motion vector；Distortion is entangled
Positive equipment, is connected with gun-type photographic equipment and image compensation apparatus, respectively for detecting gun-type camera optical axis and horizontal direction
Angle using as correcting angle, corrected based on correcting angle and carrying out trapezoidal distortion to current steady image to obtain current correction
Image；Number testing equipment, is connected with distortion correction equipment, for being carried out at histogram equalization successively to current remedial frames
Reason, edge enhancing process, gaussian filtering process and gray processing are processed to obtain gray level image, by pixel value in gray level image
The pixel fallen in default humanoid intensity value ranges is defined as humanoid pixel, and everyone image element in gray level image is constituted
The quantity of humanoid pattern is defined as real-time car door number and exports；Flame detection equipment, positioned at roof location, for in-car ring
Border carries out IMAQ to obtain in-car image, carries out fire defector to in-car image with from car based on preset reference flame pattern
Split and export flame subgraph at interior image, flame alarm signal is exported while flame subgraph is exported, when without flame
When subgraph is exported, output is without flare up fire；Temperature testing equipment, is arranged near engine location, including bimetal leaf, song
Rate detector and signal adapter, bimetallic are sticked together and constituted, curvature measuring device by the different metals of the two panels coefficient of expansion
It is connected with bimetal leaf, for detecting the degree of crook of bimetal leaf to export as real-time curvature, signal adapter and curvature
Detector connects, for being determined based on real-time curvature and exporting real time temperature；Temperature alarming equipment, is connected with temperature testing equipment
Connect, for receiving real time temperature, and when real time temperature is more than or equal to preset temperature threshold value, send temperature anomaly signal, in reality
When Shi Wendu is less than preset temperature threshold value, temperature normal signal is sent；Fault self-checking equipment, for each circuit arrangement in-car
Self-inspection is carried out, when discovery circuit equipment has failure, self-inspection alarm signal is sent and is exported the title of interlock circuit equipment, when
When non-discovery circuit equipment has failure, self-inspection is sent without error signal；Freescale IMX6 processing equipments, are detected with number respectively
The connection of equipment, flame detection equipment, temperature alarming equipment and fault self-checking equipment, for receiving real-time car door number, and in reality
When car door number more than or equal to default number threshold value while also receive flame alarm signal, temperature anomaly signal or self-inspection report
During alert signal, vehicle abnormality signal is sent, otherwise, vehicle normal signal is sent；Emergency speech playback equipment, is arranged on roof,
It is connected with Freescale IMX6 processing equipments, for when vehicle abnormality signal is received, playing emergency speech file；Passenger should
Anxious valve, is arranged on body inner side and is located near safety door, and the upper surface apart from floor is 1.5 meters, to the water of corresponding safety door
Flat distance is less than 0.5 meter；The outer emergency valve of car, is arranged on the outside of car body and is located near safety door, be 1.8 meters apart from ground, arrive
The horizontal range of corresponding safety door is less than 0.5 meter；Brake control device, is arranged on above driving moment, with Freescale IMX6
Processing equipment connects, and for receiving vehicle abnormality signal or vehicle normal signal, and sends when vehicle abnormality signal is received
Abnormal brake control signal；Brake block, is arranged on above driving moment, with brake control device be connected, for receive different
Emergency brake operation is executed to driving moment during brake control signal often；Fire extinguisher bomb storage case, is arranged on underbody, goes out for accommodating
Fiery bullet；Ejecting mechanism, is connected with fire extinguisher bomb storage case, is also connected with Freescale IMX6 processing equipments, for receiving car
During abnormal signal, eject fire extinguisher bomb and triggering fire extinguishing bomb switch is automatically opening up fire extinguisher bomb；Door pump control apparatus, positioned at safety
Near the door pump of door, it is connected with Freescale IMX6 processing equipments, for when vehicle abnormality signal is received, controlling safety door
Door pump automatically opening up safety door；Circuit xegregating unit, including cooling system, extension type closure, stand-by power supply and
Microcontroller, near Freescale IMX6 processing equipments, microcontroller respectively with Freescale IMX6 processing equipments, cooling
Equipment, stand-by power supply open equipment and the connection of shell driving equipment, for when vehicle abnormality signal is received, control shell drives
Dynamic equipment shrinks extension type closure to protect Freescale IMX6 processing equipments in extension type closure,
Control cooling system carries out the cooling in space in extension type closure, and control stand-by power supply is opened equipment to open standby electricity
Source provides emergency service for Freescale IMX6 processing equipments；Wherein, extension type closure is made up of fire proofing material.
More specifically, in the intelligent unlatching platform of the safety door, also including：Vehicle-mounted hard disks, for storing default people
Number threshold value and preset temperature threshold value.
More specifically, in the intelligent unlatching platform of the safety door：Vehicle-mounted hard disks adopt rubber shock-absorbing.
More specifically, in the intelligent unlatching platform of the safety door：Vehicle-mounted hard disks adopt steel wire shock-absorbing.
More specifically, in the intelligent unlatching platform of the safety door：Vehicle-mounted hard disks adopt electronic vibration-protecting.
More specifically, in the intelligent unlatching platform of the safety door, also including：Pick-up head, positioned at roof location, is used for
Real-time Collection in-car speech data.
It is understood that although the present invention is disclosed as above with preferred embodiment, but above-described embodiment it is not used to
Limit the present invention.For any those of ordinary skill in the art, under without departing from technical solution of the present invention ambit,
Technology contents all using the disclosure above make many possible variations and modification to technical solution of the present invention, or are revised as
Equivalent embodiments with change.Therefore, every content without departing from technical solution of the present invention, according to the technical spirit pair of the present invention
Any simple modification made for any of the above embodiments, equivalent variations and modification, still fall within the scope of technical solution of the present invention protection
Interior.
Claims (1)
1. extra high voltage line isolator detecting intelligent robot system, it is characterised in that include, robot body, the machine
Solar panels are installed on human body；Meanwhile, electric energy outgoing management system, control and driving is additionally provided with the robot body
Device, robot location's information collecting device and sub-pieces device for detecting performance, the control and driving means respectively with electricity
Can outgoing management system, robot location's information collecting device, sub-pieces device for detecting performance two-way communication, the control and
Driving means are communicated with application control platform by radio communication device, and the application control platform receives the control of operating personnel
System, the solar panels are connected with electric energy outgoing management system.
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| CN201610907581.6A CN106500763A (en) | 2016-10-18 | 2016-10-18 | Extra high voltage line isolator detecting intelligent robot system |
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Cited By (1)
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| CN109240162A (en) * | 2018-09-20 | 2019-01-18 | 广西电网有限责任公司电力科学研究院 | A kind of insulator detecting robot control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109240162A (en) * | 2018-09-20 | 2019-01-18 | 广西电网有限责任公司电力科学研究院 | A kind of insulator detecting robot control system |
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