CN107065868B - Inspection system based on inspection robot - Google Patents
Inspection system based on inspection robot Download PDFInfo
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- CN107065868B CN107065868B CN201710198889.2A CN201710198889A CN107065868B CN 107065868 B CN107065868 B CN 107065868B CN 201710198889 A CN201710198889 A CN 201710198889A CN 107065868 B CN107065868 B CN 107065868B
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- 238000007689 inspection Methods 0.000 title claims abstract description 40
- 238000012544 monitoring process Methods 0.000 claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims description 27
- 238000004458 analytical method Methods 0.000 claims description 16
- 230000005236 sound signal Effects 0.000 claims description 11
- 238000000605 extraction Methods 0.000 claims description 10
- 238000010191 image analysis Methods 0.000 claims description 7
- 238000004868 gas analysis Methods 0.000 claims description 4
- 238000001228 spectrum Methods 0.000 claims description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 229910052802 copper Inorganic materials 0.000 claims description 3
- 239000010949 copper Substances 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 6
- 230000007547 defect Effects 0.000 abstract description 3
- 239000002699 waste material Substances 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 239000007789 gas Substances 0.000 description 17
- 238000010586 diagram Methods 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 238000012806 monitoring device Methods 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 238000005315 distribution function Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Abstract
The invention provides a patrol system based on a patrol robot, which is applied to a power distribution station for executing patrol tasks, wherein the patrol system comprises: the running rail is erected according to the position of the cabinet body to be detected in the power distribution station; the robot is movably connected in the running track; the robot includes: the driving device is movably connected to the running rail; the acquisition device is connected with the driving device; the control unit is connected with the driving device and used for controlling the robot to move in the running track; and controlling the acquisition device to acquire the working state information of each cabinet to be detected; the acquisition device includes: the communication unit is used for connecting an external monitoring terminal through a network; and the sending unit is connected with the communication unit and used for sending the collected working state information of each cabinet to be tested to the monitoring terminal. The technical scheme has the beneficial effects that the inspection system overcomes the defect of low time and labor waste and efficiency caused by manual detection in the prior art.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a patrol system based on a patrol robot.
Background
The power distribution station refers to a power substation with power transformation and power distribution functions, and the normal operation of the power distribution station is related to the safety of the whole power grid, so that regular inspection is required to be performed on the power distribution station to eliminate potential safety hazards, the existing inspection generally adopts a manual inspection mode, wherein the detected content comprises set working parameters such as voltage values, current and power displayed on a display screen in an electric cabinet to be detected, the number of the electric cabinets to be detected, which are required to be inspected, of a large-scale power distribution station is very large, the manual inspection mode is very time-consuming and labor-consuming, the manual inspection is usually carried out for a long time interval, and the detection is provided in real time, so that the potential safety hazards existing in the electric cabinets to be detected in the power distribution station cannot be found timely. ,
disclosure of Invention
Aiming at the problems of the prior art that the inspection is performed in the cabinet to be detected in the power distribution station, the inspection system aims at providing real-time detection for the cabinet to be detected in the power distribution station, and overcomes the defects of time and labor waste and low efficiency caused by manual detection in the prior art.
The specific technical scheme is as follows:
inspection robot-based inspection system is applied to the power distribution station and performs inspection tasks, and comprises:
the running rail is erected according to the position of the cabinet body to be detected in the power distribution station;
the robot is movably connected in the running track;
the robot includes:
the driving device is movably connected to the running track;
the acquisition device is connected with the driving device;
the control unit is connected with the driving device and used for controlling the robot to move in the running track;
and controlling the acquisition device to acquire the working state information of each cabinet to be detected;
the acquisition device comprises:
the communication unit is used for connecting an external monitoring terminal through a network;
and the sending unit is connected with the communication unit and used for sending the collected working state information of each cabinet to be tested to the monitoring terminal.
Preferably, the running rail includes:
a pair of parallel guide rails;
the connecting plate is arranged between the pair of guide rails;
the sliding contact line is arranged on the connecting plate along the direction of the guide rail and faces the direction of the robot;
the driving device is provided with a brush which is matched with the sliding contact line.
Preferably, the sliding contact line is formed by copper materials and is provided with three sliding contact lines;
the voltage conversion module is connected with the trolley wire and used for converting externally accessed commercial power into a preset voltage to be provided for the trolley wire.
Preferably, the device further comprises a plurality of positioning bar codes, wherein the bar codes are uniformly arranged on the connecting plate along the direction of the guide rail;
the bar code scanner is arranged on the driving device, connected with the control unit and oriented to the direction of the positioning bar code, and is used for scanning the positioning bar code arranged on the connecting plate to position the acquisition position of the robot.
Preferably, the driving device includes:
a pair of driving mechanisms which are oppositely arranged and are respectively arranged at the upper part and the lower part of the running track;
and the first driving unit is connected with the pair of driving mechanisms and used for driving the driving mechanisms to enable the robot to move along the running track.
Preferably, the pair of driving mechanisms mainly comprises two rows of driving wheels and two rows of guide wheels;
the two rows of driving wheels are arranged at two sides of the upper running track and/or
The two rows of guide wheels are arranged on two sides of the lower running track.
Preferably, the device further comprises a lifting mechanism, wherein the lifting mechanism is connected between the driving device and the collecting device;
the collecting device is also provided with a second driving unit which is connected with the lifting mechanism and used for driving the lifting mechanism to further control the collecting device to move up and down.
Preferably, the collecting device includes:
collecting a body;
the video acquisition unit is arranged on one surface of the acquisition body, which faces the cabinet body to be detected;
the infrared sensor is arranged on one surface of the acquisition body, which faces the cabinet body to be detected, and is arranged at a preset distance from the video acquisition unit, and is used for acquiring the temperature of the cabinet body to be detected to form a temperature signal, and transmitting the temperature signal to the monitoring terminal through the transmitting module;
the gas sensor is arranged on one surface of the acquisition body, facing the cabinet body to be detected, and is positioned between the video acquisition unit and the infrared sensor, and is used for acquiring surrounding gas of the cabinet body to be detected so as to form a gas signal and transmitting the audio signal to the monitoring terminal through the transmitting module;
the audio sensor is arranged on one surface of the acquisition body, facing the cabinet body to be detected, and is positioned below the video acquisition unit, and is used for acquiring the audio of the cabinet body to be detected to form an audio signal, and transmitting the audio signal to the monitoring terminal through the transmitting module;
preferably, the monitoring terminal includes:
the storage module is used for storing the image data acquired by the video acquisition unit, the standard spectrum data of the cabinet to be detected, the standard display parameters corresponding to the display parameters displayed in the display screen in each cabinet to be detected, the standard temperature threshold of the cabinet to be detected and the standard gas threshold
The image feature extraction module is used for carrying out feature extraction on the image data acquired by the video acquisition unit so as to acquire the display parameters in the display screen of the cabinet body to be detected;
the image analysis module is connected with the image feature extraction module and used for comparing the extracted display parameters with the corresponding standard display parameters to form a first comparison result;
the audio analysis module is connected with the storage module and used for comparing the acquired audio signals with the standard-keeping tiling data to form a second comparison result;
the temperature analysis module is connected with the storage module and used for comparing the acquired temperature signal with a standard temperature threshold value to form a third comparison result;
the gas analysis module is connected with the storage module and used for comparing the acquired gas signal with the standard gas threshold value to form a fourth comparison result;
the display module is connected with the image analysis module, the audio analysis module and the temperature analysis module and used for displaying the first comparison result, the second comparison result, the third comparison result and the fourth comparison result.
Preferably, the second driving unit is a servo motor.
The technical scheme has the following advantages or beneficial effects: the inspection system adopts an automatic inspection mode, automatically operates the inspection robot to the position of the detection cabinet for detection, is not controlled by time, provides real-time detection for the cabinet to be detected in the power distribution station, and overcomes the defects of time and labor waste and low efficiency caused by manual detection in the prior art.
Drawings
Embodiments of the present invention will now be described more fully with reference to the accompanying drawings. The drawings, however, are for illustration and description only and are not intended as a definition of the limits of the invention.
FIG. 1 is a schematic diagram of an embodiment of a inspection system based on an inspection robot; a flow chart of an embodiment; a step of
Fig. 2 is a schematic structural diagram of a monitoring device in an embodiment of a inspection system based on an inspection robot according to the present invention;
fig. 3 is a schematic structural diagram of an acquisition device in an embodiment of an inspection system based on an inspection robot according to the present invention;
FIG. 4 is a schematic structural diagram of a first housing and a second housing in an embodiment of a inspection system based on an inspection robot according to the present invention;
fig. 5 is a schematic structural diagram of a side surface of a collecting device in an embodiment of a inspection system based on an inspection robot according to the present invention;
reference numerals denote:
1. a running rail; 2. a robot; 3. a monitoring terminal; 21. a driving device; 22. a collection device; 24. a bar code scanner; 25. a lifting mechanism; 26. a first housing; 27. a second housing; 11. a guide rail; 12. a connecting plate; 13. a trolley line; 14. a bar code; 211. a driving mechanism; 212. a first driving unit; s, a sending unit;
221. collecting a body; 222. a video acquisition unit; 223. an infrared sensor; 224. an audio sensor; 225. a gas sensor; 226. a second driving unit; 227. a display screen; 228. a pause button; A. an L-shaped body; a1, an electric wave sensor; a2, an ultrasonic sensor.
31. A storage module 32, an image feature extraction module; 33. an image analysis module; 34. an audio analysis module; 35. a temperature analysis module; 36. a gas analysis module; 37. and a display module.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
The invention is further described below with reference to the drawings and specific examples, which are not intended to be limiting.
The technical scheme of the invention comprises a patrol system based on a patrol robot.
As shown in fig. 1 to 2, an embodiment of a patrol system based on a patrol robot 2 is applied to a power distribution station for performing patrol tasks, and includes:
the running rail 1 is erected according to the position of a cabinet body to be detected in the power distribution station;
a robot 2 movably connected to the running rail 1;
the robot 2 includes:
a driving device 21 movably connected to the running rail 1;
the acquisition device 22 is connected with the driving device 21;
a control unit (not shown in the figures) connected to the driving device 21 and the driving device 21 for controlling the robot 2 to move in the running rail 1;
and controlling the acquisition device 22 to acquire the working state information of each cabinet to be detected;
the acquisition device 22 includes:
a communication unit (not shown in the figure) for connecting the external monitor terminal 3 through a network;
and a sending unit (not shown in the figure) connected with the communication unit and used for sending the collected working state information of each cabinet to be tested to the monitoring terminal 3.
According to the technical scheme, a steel structure can be arranged in the power distribution station according to the position of the cabinet to be detected, the running rail 1 is further fixed on the steel structure, the robot 2 running on the preset rail is controlled to run to each cabinet to be detected by the driving device 21, the working state information of each cabinet to be detected is collected by the collecting device 22, the working state information is sent to the monitoring terminal 3, and the corresponding analysis strategy is adopted for the received working state information of each cabinet to be detected by the monitoring terminal 3 to carry out analysis treatment;
it should be noted that, a plurality of wireless access devices may be disposed in the power distribution station, and the communication unit of the acquisition device 22 is connected with the wireless access devices, so as to send the acquired working state information to the monitoring device through the wireless access devices;
the control unit may be provided inside the acquisition device 22 or inside the driving device 21.
In a preferred embodiment, the running track 1 comprises:
a pair of parallel-arranged guide rails 11;
a connecting plate 12 disposed between the pair of guide rails 11;
the trolley line 13 is arranged on the connecting plate 12 along the direction of the guide rail 11 and faces the direction of the robot 2;
the drive means 21 are provided with a brush (not shown in the figures) adapted to the trolley wire 13.
In the above technical scheme, the robot further comprises a plurality of hanging pieces, one end of each hanging piece is fixedly arranged on one surface of the connecting plate 12, which is opposite to the robot 2, and the other end of each hanging piece can be arranged on the steel structure, so that the robot 2 can slide along the arranged guide rail 11.
In a preferred embodiment, the trolley wire 13 is formed of copper material and is provided with three strips;
the device further comprises a voltage conversion module (not shown in the figure), which is connected to the trolley line 13 and is used for converting the externally connected mains supply into a predetermined voltage to be provided to the trolley line 13.
In a preferred embodiment, the device further comprises a plurality of positioning bar codes 14, wherein the bar codes 14 are uniformly arranged on the connecting plate 12 along the direction of the guide rail 11;
the bar code scanner 24 is arranged on the driving device 21, connected with the control unit and oriented towards the direction of positioning bar codes 14, and the bar code scanner 24 is used for scanning the positioning bar codes arranged on the connecting plate 12 to position the acquisition position of the robot 2.
In a preferred embodiment, the driving means 21 comprises:
a pair of oppositely arranged driving mechanisms 211 respectively arranged at the upper and lower parts of the running rail 1;
the first driving unit 212 is connected to the pair of driving mechanisms 211 and is used for driving the driving mechanisms 211 to move the robot 2 along the running track 1, and the first driving unit 212 is preferably a stepper motor.
In the above technical solution, each positioning barcode may be pre-generated and ordered according to a predetermined rule, and the barcode scanner 24 reads the information of the positioning barcode and outputs the read information to the control unit;
the control unit judges whether the information is matched with a plurality of preset position information, if so, a control instruction corresponding to the position is sent to a first driving unit 212 in the driving device 21, and the first driving unit 212 controls the robot 2 to pause or move on the running track 1 according to the control instruction;
and the control unit generates an acquisition instruction to output to the corresponding acquisition device 22 so as to control the acquisition device 22 to acquire the working state information of the cabinet to be detected.
In a preferred embodiment, the pair of driving mechanisms 211 is mainly composed of two rows of driving wheels and two rows of guiding wheels;
two rows of driving wheels are arranged on two sides of the upper running rail 1.
Preferably, two rows of guide wheels are provided on both sides of the lower running rail 1.
In a preferred embodiment, the device further comprises a lifting mechanism 25, wherein the lifting mechanism 25 is connected between the driving device 21 and the collecting device 22; the driving device 21 further comprises a second driving unit, and the second driving unit 226 is connected to the lifting mechanism 25 and is used for driving the lifting mechanism 25 to further control the collecting device 22 to move up and down.
In the above technical solution, the barcode scanner 24 reads the information of the positioning barcode and outputs the read information to the control unit;
the control unit determines whether the information matches with a plurality of preset position information, and if so, sends a control instruction corresponding to the position to the second driving unit 226 in the driving device 21, where the control instruction includes an instruction for controlling the driving unit to stop driving the driving mechanism 211 and an instruction for controlling the lifting mechanism 25 to lift up and down
In a preferred embodiment, the second drive unit 226 is a servo motor.
In a preferred embodiment, as shown in FIG. 3, the acquisition device 22 comprises:
a collection body 221;
the video acquisition unit 222 is arranged on one surface of the acquisition body 221, which faces the cabinet to be tested;
the infrared sensor 223 is arranged on one surface of the acquisition body 221 facing the cabinet to be detected, and is arranged at a preset distance from the video acquisition unit 222, and is used for acquiring the temperature of the cabinet to be detected to form a temperature signal, and transmitting the temperature signal to the monitoring terminal 3 through the transmitting module;
the gas sensor 225 is disposed on a surface of the collecting body 221 facing the cabinet to be tested, and located between the video collecting unit 222 and the infrared sensor 223, and is used for collecting surrounding gas of the cabinet to be tested to form a gas signal and transmitting an audio signal to the monitoring terminal 3 through the transmitting module;
the audio sensor 224 is disposed on a surface of the collecting body 221 facing the cabinet to be tested, and is located below the video collecting unit 222, and is configured to collect audio of the cabinet to be tested to form an audio signal, and send the audio signal to the monitor terminal 3 through the sending module;
the second driving unit 226 is disposed at a side surface of the collecting body 221;
as shown in fig. 4, the apparatus further includes a display 227 disposed on a surface of the collecting body 221 opposite to the cabinet to be tested.
The two sides of the collecting body 221221 are respectively provided with an L-shaped body A facing the direction of the cabinet to be measured, wherein one side of the L-shaped body A is provided with an electric wave sensor a1 at one end facing the cabinet, and the other side of the L-shaped body is provided with an ultrasonic wave sensor a2 at one end facing the cabinet.
In a preferred embodiment, as shown in fig. 2, the monitoring terminal 3 includes:
the storage module is used for storing the image data acquired by the video acquisition unit 222, the standard spectrum data of the cabinet to be detected, the standard display parameters corresponding to the display parameters displayed in the display screen 227 in each cabinet to be detected, the standard temperature threshold of the cabinet to be detected, and the standard gas threshold
The image feature extraction module is configured to perform feature extraction on the image data acquired by the video acquisition unit 222 to obtain display parameters in the display screen 227 of the cabinet to be detected;
the image analysis module is connected with the image feature extraction module and used for comparing the extracted display parameters with the corresponding standard display parameters to form a first comparison result;
the audio analysis module is connected with the storage module and used for comparing the acquired audio signals with the standard-keeping tiling data to form a second comparison result;
the temperature analysis module is connected with the storage module and used for comparing the acquired temperature signal with a standard temperature threshold value to form a third comparison result;
the gas analysis module is connected with the storage module and used for comparing the acquired gas signal with a standard gas threshold value to form a fourth comparison result;
the display module is connected with the image analysis module, the audio analysis module and the temperature analysis module and used for displaying a first comparison result, a second comparison result, a third comparison result and a fourth comparison result.
The gas detected by the gas sensor includes gases such as O3, CO2, O2, SF6, CH4, and the like.
In a preferred embodiment, the device further comprises a first housing 26 adapted to the acquisition device 22, and the first housing 26 is provided with corresponding openings corresponding to the positions of the video acquisition unit 222, the infrared sensor 223, the gas sensor 225 and the audio sensor 224.
In the above technical solution, as shown in fig. 5, a start is provided on a surface of the first housing 26 facing away from the cabinet to be tested for setting the display screen 227, and a pause button 228 is further provided on the second housing 27 for controlling the working state of the robot 2.
The driving device 21 is provided with a second housing 27 in a direction away from the running rail 1, and the second housing 27 is covered on the driving device 21.
The foregoing description is only illustrative of the preferred embodiments of the present invention and is not to be construed as limiting the scope of the invention, and it will be appreciated by those skilled in the art that equivalent substitutions and obvious variations may be made using the description and illustrations of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. Inspection system based on inspection robot is applied to and carries out inspection task in the distribution substation, characterized in that includes:
the running rail is erected according to the position of the cabinet body to be detected in the power distribution station;
the robot is movably connected in the running track;
the robot includes:
the driving device is movably connected to the running track;
the acquisition device is connected with the driving device;
the control unit is connected with the driving device and used for controlling the robot to move in the running track;
and controlling the acquisition device to acquire the working state information of each cabinet to be detected;
the acquisition device comprises:
the communication unit is used for connecting an external monitoring terminal through a network;
and the sending unit is connected with the communication unit and used for sending the collected working state information of each cabinet to be tested to the monitoring terminal.
2. The inspection system of claim 1, wherein the travel track comprises:
a pair of parallel guide rails;
the connecting plate is arranged between the pair of guide rails;
the sliding contact line is arranged on the connecting plate along the direction of the guide rail and faces the direction of the robot;
the driving device is provided with a brush which is matched with the sliding contact line.
3. The inspection system of claim 2, wherein the trolley wire is formed of copper and is provided with three strips;
the voltage conversion module is connected with the trolley wire and used for converting externally accessed commercial power into a preset voltage to be provided for the trolley wire.
4. The inspection system of claim 2, further comprising a plurality of locating barcodes disposed uniformly on the web along the direction of the rail;
the bar code scanner is arranged on the driving device, connected with the control unit and oriented to the direction of the positioning bar code, and is used for scanning the positioning bar code arranged on the connecting plate to position the acquisition position of the robot.
5. The inspection system of claim 1, wherein the drive means comprises:
a pair of driving mechanisms which are oppositely arranged and are respectively arranged at the upper part and the lower part of the running track;
and the first driving unit is connected with the pair of driving mechanisms and used for driving the driving mechanisms to enable the robot to move along the running track.
6. The inspection system of claim 5, wherein a pair of said drive mechanisms consists essentially of two rows of drive wheels and two rows of guide wheels;
the two rows of driving wheels are arranged at two sides of the upper running track and/or
The two rows of guide wheels are arranged on two sides of the lower running track.
7. The inspection system of claim 1, further comprising a lifting mechanism coupled between the drive device and the collection device;
the collecting device is also provided with a second driving unit which is connected with the lifting mechanism and used for driving the lifting mechanism to further control the collecting device to move up and down.
8. The inspection system of claim 7, wherein the collection device comprises:
collecting a body;
the video acquisition unit is arranged on one surface of the acquisition body, which faces the cabinet body to be detected;
the infrared sensor is arranged on one surface of the acquisition body, which faces the cabinet body to be detected, and is arranged at a preset distance from the video acquisition unit, and is used for acquiring the temperature of the cabinet body to be detected to form a temperature signal, and transmitting the temperature signal to the monitoring terminal through the transmitting module;
the gas sensor is arranged on one surface of the acquisition body, facing the cabinet body to be detected, and is positioned between the video acquisition unit and the infrared sensor, and is used for acquiring surrounding gas of the cabinet body to be detected so as to form a gas signal and transmitting the gas signal to the monitoring terminal through the transmitting module;
the audio sensor is arranged on one surface of the acquisition body, which faces the cabinet body to be detected, and is positioned below the video acquisition unit, and is used for acquiring the audio of the cabinet body to be detected so as to form an audio signal, and the audio signal is sent to the monitoring terminal through the sending module.
9. The inspection system of claim 8, wherein the monitoring terminal comprises:
the storage module is used for storing the image data acquired by the video acquisition unit, the standard frequency spectrum data of the cabinet to be detected, the standard display parameters corresponding to the display parameters displayed in the display screen of each cabinet to be detected, the standard temperature threshold of the cabinet to be detected and the standard gas threshold;
the image feature extraction module is used for carrying out feature extraction on the image data acquired by the video acquisition unit so as to acquire the display parameters in the display screen of the cabinet body to be detected;
the image analysis module is connected with the image feature extraction module and used for comparing the extracted display parameters with the corresponding standard display parameters to form a first comparison result;
the audio analysis module is connected with the storage module and used for comparing the acquired audio signal with the standard frequency spectrum data to form a second comparison result;
the temperature analysis module is connected with the storage module and used for comparing the acquired temperature signal with a standard temperature threshold value to form a third comparison result;
the gas analysis module is connected with the storage module and used for comparing the acquired gas signal with the standard gas threshold value to form a fourth comparison result;
the display module is connected with the image analysis module, the audio analysis module and the temperature analysis module and used for displaying the first comparison result, the second comparison result, the third comparison result and the fourth comparison result.
10. The inspection system of claim 7, wherein the second drive unit is a servo motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710198889.2A CN107065868B (en) | 2017-03-29 | 2017-03-29 | Inspection system based on inspection robot |
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| CN201710198889.2A CN107065868B (en) | 2017-03-29 | 2017-03-29 | Inspection system based on inspection robot |
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| CN107065868A CN107065868A (en) | 2017-08-18 |
| CN107065868B true CN107065868B (en) | 2024-01-26 |
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| CN107972696B (en) * | 2017-11-21 | 2019-08-23 | 南京擎华信息科技有限公司 | A kind of rail polling robot |
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| CN108335480A (en) * | 2018-03-30 | 2018-07-27 | 国网江苏省电力有限公司电力科学研究院 | Integral intelligent inspection device |
| CN108594833B (en) * | 2018-08-15 | 2024-04-09 | 科大智能电气技术有限公司 | Novel light track type multifunctional inspection robot system |
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| CN110977929B (en) * | 2019-12-23 | 2022-04-12 | 京东科技信息技术有限公司 | Movement device, positioning method, rail device and movement system |
| CN112489239A (en) * | 2020-09-09 | 2021-03-12 | 北京潞电电气设备有限公司 | Inspection system |
| CN112975895B (en) * | 2021-02-24 | 2022-04-29 | 中国工商银行股份有限公司 | Inspection system |
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