CN106625716A - Leak detection robot for SF6 gasin substation GIS equipment - Google Patents

Leak detection robot for SF6 gasin substation GIS equipment Download PDF

Info

Publication number
CN106625716A
CN106625716A CN201710045401.2A CN201710045401A CN106625716A CN 106625716 A CN106625716 A CN 106625716A CN 201710045401 A CN201710045401 A CN 201710045401A CN 106625716 A CN106625716 A CN 106625716A
Authority
CN
China
Prior art keywords
module
control
infrared
signal
electrically
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710045401.2A
Other languages
Chinese (zh)
Inventor
尚西华
池锐敏
张利
李超
张治平
刘亚敏
宋丹
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
State Grid Corp of China SGCC
State Grid Henan Electric Power Co Ltd
Original Assignee
State Grid Corp of China SGCC
State Grid Henan Electric Power Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by State Grid Corp of China SGCC, State Grid Henan Electric Power Co Ltd filed Critical State Grid Corp of China SGCC
Priority to CN201710045401.2A priority Critical patent/CN106625716A/en
Publication of CN106625716A publication Critical patent/CN106625716A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • B25J19/021Optical sensing devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • B25J19/026Acoustical sensing devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1679Programme controls characterised by the tasks executed
    • B25J9/1689Teleoperation

Abstract

The invention discloses a leak detection robot for SF6 gas in a substation GIS equipment, which comprises a remote control device, a walking device and a directional leak detection device for the gas arranged on the walking device. The directional leak detection device for the gas comprises an infrared detection module, an ultrasonic detection module, a second control module and a signal transmitting module. The infrared detection module comprises an infrared transmitting module, an infrared reflecting plate and an infrared receiving and processing module. The ultrasonic detection module comprises an ultrasonic transmitting module and an ultrasonic receiving and processing module. Output terminals of the infrared receiving module and the ultrasonic receiving and processing module are respectively electrically connected with an input terminal of the second control module. The ultrasonic detection module and the infrared detection module are arranged on the walking device, so that the leak detection robot for the SF6 gas in the substation GIS equipment not only can detect the leakage of the SF6 gas in time, but also can detect the concentration of the SF6 after the leakage, so as to guarantee safety of personal and equipment to the maximum extent.

Description

GIS device SF6 gas leak detection robot of transformer station
Technical field
The invention belongs to Automatic Measurement Technique field, especially designs a kind of transformer station's GIS device SF6 gas leak detection machine People.
Background technology
The existing one-hundred-year history of SF6 gases, it is two chemist Moissan and Lebeau of France in the people of synthesis in 1900 Inert gas is made, before and after 1940, US military uses it for Manhattan project(Core is military).Nineteen forty-seven, provider used.Currently SF6 gases are mainly used in power industry.SF6 gases are used for the electrical equipment of 4 types as insulation and/or arc extinguishing;SF6 Breaker and GIS(Sulfur hexafluoride sealed combination electrical equipment is referred herein to, is referred to as in the world " gas-insulated switchgear "(Gas Insulated Switchgear), SF6 load switch equipments, SF6 insulated power pipelines, SF6 transformers and SF6 insulation power transformation Stand, 80% is used for high pressure power equipment.Wherein GIS device is likely to occur in use breakage, gap, the sealing failure such as unsuccessfully, Cause SF6 to reveal, very big potential safety hazard can be caused to equipment, or even influence whether personal safety;In addition, the conventional inspection in scene It can only carry out under power down mode to survey SF6 gas leakage, under operation, detection electro-mechanical part cannot be carried out because of equipment live Position, so often makes equipment fault hidden danger slowly cannot find, directly affects the safe and reliable operation of power system.
Chinese patent notification number CN101451901B discloses a kind of infrared sulphur hexafluoride leak detection camera, belongs to gas and lets out Missing inspection Instrument technology field, the infrared sulphur hexafluoride leak detection camera includes that the VT infrared radiation of electrical connection is sent out Raw device, spectral unmixing selector and thermal camera;The VT infrared radiation generator can produce correspondence sulfur hexafluoride molecule The infrared ray of typical absorption wavelength, is used as detecting the irradiation bomb of sulfur hexafluoride gas.The structure when in use firstly the need of Staff is carried along into leakage scene and is monitored detection, affects personal safety, and is arranged on video camera in its screen, The image by televimonitor view screen is needed, is existed and cause asking for not fogging Chu after image fault or SF6 liquefaction Topic.
China Patent Publication No. CN105716810A discloses a kind of transformer station's GIS device SF6 leak detection system, including Fu In leaf infrared spectrometer, scanning head and PLC technology robot car, the scanning head is arranged on the machine On people's dolly, level and pitching rotation can be carried out relative to the dolly, the spectrometer is fixed on the scanning head, Level and pitching rotation can be carried out relative to the dolly under the drive of the scanning head, the robot car is according to planning Route of patrolling and examining moved, and coordinate the infrared spectrometer to set the GIS of whole transformer station differing heights and detecting distance It is standby to carry out automatic SF6 leakages on-line checking, when finding to have SF6 to leak, send warning message.The weak point of the device exists In:Complicated due to detecting site contour complexity, device complexity, the structure needs in the process of moving predetermined trajectory, is effectively increased Input cost, when the situation of ground injustice is run into, dolly is present by the phenomenon of card.
The content of the invention
In view of this, the purpose of the present invention is for the deficiencies in the prior art, there is provided a kind of transformer station's GIS device SF6 gas Robot is leaked in health check-up, and by installing ultrasound examination module and infrared detection module, fingerprint identification module on running gear, not entering to find in time The problem whether SF6 gases leak, and the concentration to SF6 after leakage detects that at utmost guarantee is personal and equipment Safety problem.
To reach above-mentioned purpose, the present invention is employed the following technical solutions:
GIS device SF6 gas leak detection robot of transformer station, including remote control, running gear and it is arranged on running gear On gas orientation leakage detection apparatus, the remote control include be sequentially connected electrically signal receiving module, first control mould Block and signal processing module, the gas orientation leakage detection apparatus include infrared detection module, fingerprint identification module, ultrasound examination module, the second control Module and signal transmitting module, the infrared detection module, fingerprint identification module includes that infrared sending module, infrared reflective plate and infrared receiver are processed Module, the ultrasound examination module includes ultrasonic wave sending module and ultrasonic wave receiving processing module, at the infrared receiver Reason module and the output end of ultrasonic wave receiving processing module are electrically connected respectively with the input of second control module, and described the The output end of two control modules is electrically connected with the input of the signal transmitting module, the signal transmitting module and the signal Communicated by communication module between receiver module.
Further, the output end of first control module is also electrically connected with alarm module, second control module Output end also electrically connects air draft module.
Further, the communication module is RS485 communication bus or ZigBee communication module.
Further, the running gear includes support, the road wheel positioned at pedestal lower end, traction drive motor, OK Walk to take turns transfer, turn to motor, the 3rd control module and positioned at support surrounding apart from induction module, it is the plurality of away from Output end from induction module and the first control module of remote control is electrically connected with the input of the 3rd control module, The output end of the 3rd control module is connected respectively with traction drive motor and steering motor, turns to motor The transfer work of control road wheel is realized adjusting the steering of road wheel.
Further, the first Signal-regulated kinase is set between the infrared receiver processing module and the second control module, First Signal-regulated kinase includes an A/D modular converters and the first amplification module being sequentially connected electrically;The ultrasonic wave Between receiving processing module and the second control module arrange secondary signal conditioning module, the secondary signal conditioning module include according to 2nd A/D modular converters of secondary electrical connection and the second amplification module.
The invention has the beneficial effects as follows:
1. the present invention is when in use:Initially with infrared absorption principle air gas composition is determined with the presence or absence of asking that SF6 is revealed Topic, wherein, infrared detection module, fingerprint identification module includes infrared sending module, infrared reflective plate and infrared receiver processing module, infrared transmission mould The infrared ray that block sends carries out receiving whether analyzing and processing has by infrared reflective plate back through infrared receiver processing module SF6 gas leakages, the characteristics of infrared detection technology has stable performance, is not easily affected by environmental factors, last a long time;When infrared Monitoring modular is detected after the problem of SF6 leakages, anti-to release SF6 gas contents using the propagation principle of ultrasonic wave, is realized quantitative The concentration of measurement SF6 gas leakages, is easy to site administrator to select next step scheme according to the concentration, wherein, ultrasonic wave inspection Surveying module includes ultrasonic wave sending module and ultrasonic wave receiving processing module;Self character of this structure design according to SF6 gases (Colorless and odorless is difficult to visually observe), first using infrared in combination with two kinds of detection schemes of rear employing ultrasonic wave, on the one hand can be with Realize that the phenomenon revealed SF6 and concentration are detected, while single use infrared detection can also be prevented to cause that what is judged by accident to show As occurring;
In addition, infrared receiver processing module and ultrasonic wave receiving processing module transmit a signal to the second control module, the second control Molding block sends the first control module in remote control, final Jing to by signal transmitting module and signal receiving module Cross signal processing module further to be analyzed and processed for site administrator's reference, the existing skill of effectively solving according to live real time information The problem of the not fogging Chu in art one, increases the intuitive of testing result;
Additionally, remote control not only can receive the live real time information of gas orientation leakage detection apparatus transmission, and control Moving ahead and retreating for running gear, realizes remote auto control, it is to avoid site administrator's directly contact SF6 gas, so as to increase Plus the security of site administrator.
2. the output end of the first control module is also electrically connected with alarm module, and the second control module output end is also electrically connected and runs in Wind module, when in use, running gear is put in GIS device use environment this structure design, and opens gas orientation leak detection dress Work is put, when infrared detection module, fingerprint identification module or ultrasound examination module detect SF6 to be revealed, the first control module control alarm module Work, points out site administrator to be further processed, while the air draft module around the second control module control GIS device Work carries out effective drainage to SF6, and the problem for preventing the gas leakage of large area SF6 occurs.
3. communication module is RS485 communication bus or ZigBee communication module, and in this structure design, particularly signal sends When module and signal receiving module are communicated by ZigBee wireless communication modules, can by remote control with Multiple running gears carry out collocation and use, and realize carrying out the working condition of multiple GIS devices monitoring simultaneously, effectively improve this Bright functional characteristic, is adapted to medium-and-large-sized power regulation station and uses.
4. running gear includes that support, the road wheel positioned at pedestal lower end, traction drive motor, road wheel turn to dress Put, turn to motor, the 3rd control module and positioned at support surrounding apart from induction module, it is multiple apart from induction module and remote The output end of the first control module of process control device is electrically connected with the input of the 3rd control module, the 3rd control module Output end is connected respectively with traction drive motor and steering motor, turns to motor control road wheel transfer Work is realized adjusting the steering of road wheel;This structure use principle is as follows:The first control module in remote control module The instruction of transmission sends the 3rd control module to, and the 3rd control module control traction drive motor work, road wheel works, together When the barrier around device is detected and sends detection signal to the 3rd control module to be known to row apart from induction module, the The control of three control modules turns to motor makes road wheel turning gear be adjusted the direction advanced or retreat, until it reaches Testing goal test position.Hinge structure two, this structure design is mutually tied by arranging Automatic Control Theory with sensing principle Close, realization is automatically controlled to running gear, and running gear can voluntarily advance or fall back, without extra traveling track set up, The present invention is set to be applied to different GIS device site environments, while preventing the problem that gas orientation leakage detection apparatus are wounded from occurring.
It need to be pointed out that:Running gear and gas orientation leakage detection apparatus work independently, such as when running gear breaks down When, do not interfere gas to orient the normal work of leakage detection apparatus, with good architecture design, stability and autgmentability.
5. the first Signal-regulated kinase, the first signal condition are set between infrared receiver processing module and the second control module Module includes an A/D modular converters and the first amplification module being sequentially connected electrically;Ultrasonic wave receiving processing module and the second control Secondary signal conditioning module is set between molding block, and secondary signal conditioning module includes the 2nd A/D moduluss of conversion being sequentially connected electrically Block and the second amplification module;This structure design increases infrared receiver processing module and ultrasonic wave by increasing Signal-regulated kinase Receiving processing module transmits the intensity of signal, improves the accuracy and reliability of the detection data of the present invention.
To sum up, the present invention can greatly reduce power regulation station GIS device due to SF6 gases leakage cause equipment fault, Economic loss, has the advantages that to safeguard that power supply is stable, reduce transformer station's maintenance work manpower and materials, improves operation of power networks reliability With safe operation ability.
Description of the drawings
Fig. 1 is the structural representation of the embodiment of the present invention one;
Fig. 2 is the theory diagram of the embodiment of the present invention one;
Fig. 3 is the structural representation of the embodiment of the present invention two;
Fig. 4 is the theory diagram of the embodiment of the present invention two;
Fig. 5 is the structural representation of the running gear of the embodiment of the present invention three;
Fig. 6 is the theory diagram of the embodiment of the present invention three;
Fig. 7 is the structural representation of the running gear of the embodiment of the present invention four.
Label in figure:The control modules of 1- second, 2- signal transmitting modules, the infrared sending modules of 3-, 4- infrared reflective plates, 5- infrared receiver processing modules, 6- ultrasonic wave sending modules, 7- ultrasonic wave receiving processing modules, 8- signal receiving modules, 9- One control module, 10- signal processing modules, 11- communication modules, the A/D modular converters of 12- the, the amplification modules of 13- first, 14- 2nd A/D modular converters, the amplification modules of 15- second, 16- supports, 17- road wheels, 18- traction drive motors, 19- road wheels Transfer, 20- turns to motor, and the control modules of 21- the 3rd, 22- is imaged apart from induction module, 23- alarm modules, 24- Module, 25- driving wheels, 26- driven pulleys.
Specific embodiment
With reference to the accompanying drawings and examples the invention will be further described.
Embodiment one
As shown in Figures 1 to 4, the present invention, including remote control, running gear and the gas that is arranged on running gear determines To leakage detection apparatus, remote control includes signal receiving module 8, the first control module 9 and the signal transacting being sequentially connected electrically Module 10;
Gas orientation leakage detection apparatus include that infrared detection module, fingerprint identification module, ultrasound examination module, the second control module 1 and signal send mould Block 2, infrared detection module, fingerprint identification module includes infrared sending module 3, infrared reflective plate 4 and infrared receiver processing module 5, ultrasound examination mould Block includes ultrasonic wave sending module 6 and ultrasonic wave receiving processing module 7, infrared receiver processing module 5 and ultrasonic wave reception processing The output end of module 7 is electrically connected respectively with the input of the second control module 1, and output end and the signal of the second control module 1 are sent out The output end for sending module 2 is electrically connected, and is communicated by communication module 11 between signal transmitting module 2 and signal receiving module 8, Communication module 11 is RS485 communication bus;First signal tune is set between the control module 1 of infrared receiver processing module 5 and second Reason module, the first Signal-regulated kinase includes an A/D modular converters 12 and the first amplification module 13 being sequentially connected electrically;Ultrasound Between the control module 1 of ripple receiving processing module 7 and second arrange secondary signal conditioning module, secondary signal conditioning module include according to The 2nd A/D modular converters 14 and the second amplification module 15 of secondary electrical connection;
Running gear includes that support 16, the road wheel 17 positioned at the lower end of support 16, traction drive motor 18, road wheel turn to dress Put 19, turn to motor 20, the 3rd control module 21 and positioned at the surrounding of support 16 apart from induction module 22, multiple distance perspectives The output end for answering the first control module 9 of module 22 and remote control is electrically connected with the input of the 3rd control module 21 Connect, the output end of the 3rd control module 21 is connected respectively with traction drive motor 18 and steering motor 20, turns to and drives The control road wheel of dynamic motor 20 transfer 18 works and realizes the steering for adjusting road wheel 17.
Embodiment two
The present embodiment is essentially identical with the structure for implementing, except for the difference that:Running gear is placed on for a long time GIS device scene and makes With, being communicated by communication module 11 between signal transmitting module 2 and signal receiving module 8, communication module 11 is ZigBee Communication module, infrared detection module, fingerprint identification module, ultrasound examination module adopt service intermittent, improve the job stability of sensor and make With the life-span, the output end of the first control module 9 is also electrically connected with alarm module 23, and alarm module 23 adopts audible-visual annunciator, and The output end of two control module 1 also electrically connects the exhaust blower at GIS device scene(It is not shown).
Embodiment three
The present embodiment is essentially identical with the structure for implementing, except for the difference that:Photographing module 24, photographing module 24 are set on support 16 Input be connected with the 3rd control module 21, live real scene shooting vision signal is sent to the 3rd control module by photographing module 24 21, vision signal is sent to the first control module 9 by the 3rd control module 21, and shows scene by signal processing module 10 Administrative staff, this structure design facilitates look at live gas leakage outdoor scene, and the judgement especially for Gas leak position provides foundation.
Example IV
The present embodiment is essentially identical with the structure for implementing, except for the difference that:Road wheel 17 includes being located at the He of driving wheel 25 of rear side The driven pulley 26 of front side, traction drive motor 18, road wheel transfer 19 are acted on driving wheel 25, and driven pulley 26 is Tri-star wheel;This structure design when in use, for the barrier driven pulley 26 for having step to fill can be realized crossing over effect, is effectively carried The current rate of obstacle of the high present invention.
Finally illustrate, above example is only to illustrate technical scheme and unrestricted, and this area is common Other modifications or equivalent that technical staff is made to technical scheme, without departing from technical solution of the present invention Spirit and scope, all should cover in the middle of scope of the presently claimed invention.

Claims (5)

1. transformer station's GIS device SF6 gas leak detection robot, including remote control, running gear and be arranged on walking dress The gas orientation leakage detection apparatus put, the remote control includes signal receiving module, the first control being sequentially connected electrically Module and signal processing module, the gas orientation leakage detection apparatus include infrared detection module, fingerprint identification module, ultrasound examination module, the second control Molding block and signal transmitting module, the infrared detection module, fingerprint identification module is included at infrared sending module, infrared reflective plate and infrared receiver Reason module, the ultrasound examination module includes ultrasonic wave sending module and ultrasonic wave receiving processing module, the infrared receiver The output end of processing module and ultrasonic wave receiving processing module is electrically connected respectively with the input of second control module, described The output end of the second control module is electrically connected with the output end of the signal transmitting module, the signal transmitting module and the letter Communicated by communication module between number receiver module.
2. transformer station's GIS device SF6 gas leak detection robot according to claim 1, it is characterised in that:First control The output end of molding block is also electrically connected with alarm module, and the second control module output end also electrically connects air draft module.
3. transformer station's GIS device SF6 gas leak detection robot according to claim 1, it is characterised in that:The communication mould Block is RS485 communication bus or ZigBee communication module.
4. transformer station's GIS device SF6 gas leak detection robot according to claim 1, it is characterised in that:The walking dress Put including support, the road wheel positioned at pedestal lower end, traction drive motor, road wheel transfer, turn to motor, the Three control modules and positioned at support surrounding apart from induction module, it is the plurality of apart from the of induction module and remote control The output end of one control module is electrically connected with the input of the 3rd control module, the output end difference of the 3rd control module It is connected with traction drive motor and steering motor, turns to motor control road wheel transfer work and realize tune The steering of section road wheel.
5. transformer station's GIS device SF6 gas leak detection robot according to claim 1, it is characterised in that:It is described infrared to connect Receive and the first Signal-regulated kinase is set between processing module and the second control module, first Signal-regulated kinase is included successively The first A/D modular converters and the first amplification module of electrical connection;The ultrasonic wave receiving processing module and the second control module it Between secondary signal conditioning module is set, the secondary signal conditioning module include the 2nd A/D modular converters that are sequentially connected electrically and Second amplification module.
CN201710045401.2A 2017-01-22 2017-01-22 Leak detection robot for SF6 gasin substation GIS equipment Pending CN106625716A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710045401.2A CN106625716A (en) 2017-01-22 2017-01-22 Leak detection robot for SF6 gasin substation GIS equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710045401.2A CN106625716A (en) 2017-01-22 2017-01-22 Leak detection robot for SF6 gasin substation GIS equipment

Publications (1)

Publication Number Publication Date
CN106625716A true CN106625716A (en) 2017-05-10

Family

ID=58841765

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710045401.2A Pending CN106625716A (en) 2017-01-22 2017-01-22 Leak detection robot for SF6 gasin substation GIS equipment

Country Status (1)

Country Link
CN (1) CN106625716A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112523083A (en) * 2021-01-08 2021-03-19 上海麦斌汽车用品有限公司 Motor drive bridge post check out test set

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7069112B2 (en) * 2002-08-08 2006-06-27 Kuka Roboter Gmbh Method and apparatus for controlling handling devices
CN101893616A (en) * 2010-04-21 2010-11-24 上海哈德电气技术有限公司 Intelligent monitoring system for power system SF6 switching station
CN103235562A (en) * 2013-03-07 2013-08-07 河海大学常州校区 Patrol-robot-based comprehensive parameter detection system and method for substations
CN104568323A (en) * 2014-06-25 2015-04-29 贵州电力试验研究院 SF6 gas leakage on-line monitoring and alarming system
CN105928896A (en) * 2016-06-15 2016-09-07 汕头市胜霏尔环境科技有限公司 Gas detection system based on safety laser multidimensional scanning

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7069112B2 (en) * 2002-08-08 2006-06-27 Kuka Roboter Gmbh Method and apparatus for controlling handling devices
CN101893616A (en) * 2010-04-21 2010-11-24 上海哈德电气技术有限公司 Intelligent monitoring system for power system SF6 switching station
CN103235562A (en) * 2013-03-07 2013-08-07 河海大学常州校区 Patrol-robot-based comprehensive parameter detection system and method for substations
CN104568323A (en) * 2014-06-25 2015-04-29 贵州电力试验研究院 SF6 gas leakage on-line monitoring and alarming system
CN105928896A (en) * 2016-06-15 2016-09-07 汕头市胜霏尔环境科技有限公司 Gas detection system based on safety laser multidimensional scanning

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112523083A (en) * 2021-01-08 2021-03-19 上海麦斌汽车用品有限公司 Motor drive bridge post check out test set

Similar Documents

Publication Publication Date Title
CN206322291U (en) A kind of transmission line forest fire monitoring and prior-warning device based on multispectral heat energy monitoring radar
CN106418865A (en) Intelligent patrol safety helmet for transformer substation
CN206628891U (en) Substation equipment monitoring system
CN205333126U (en) Transformer substation valve room hangs rail and patrols and examines robot
CN206194076U (en) Substation equipment detecting system
CN106324442A (en) Power cable fault monitoring platform
CN102593739A (en) Intelligent control system of magnetic navigation polling robot
CN106600887A (en) Video monitoring linkage system based on substation patrol robot and method thereof
WO2020156590A2 (en) Smart power transmission line inspection system
CN202837484U (en) Ultrasonic partial discharge detection system with intelligent substation inspection robot
CN107590876A (en) Pipe gallery crusing robot and pipe gallery cruising inspection system
CN105606227A (en) Electric high voltage switch cabinet thermal fault thermal imaging wireless remote control alarm device and application method
CN106950467A (en) A kind of cable insulation situation on-line monitoring device
CN106625716A (en) Leak detection robot for SF6 gasin substation GIS equipment
CN105654644A (en) Mobile infrared bijection electronic safety alarming fence
CN205610352U (en) Electric power electricity inspection device
CN103454042A (en) High voltage circuit breaker SF6 charged gas leakage detection device
CN106768362A (en) Electrical substation monitoring device and system based on thermal infrared imager
CN106443344A (en) System and method for judging online short-circuit fault section of high-voltage cable
CN202854284U (en) Transformer substation intelligent inspection robot based on ultrasonic detection technology
CN206984022U (en) A kind of intelligent railway construction safety protection system
CN104527726A (en) Infrared detecting instrument railway crossing alarm device
CN207780602U (en) A kind of robot
CN206193156U (en) Power cable fault monitoring devices
CN207899763U (en) Battery check device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination