CN107681736A - A kind of power transmission line crusing robot charging system based on unmanned plane - Google Patents
A kind of power transmission line crusing robot charging system based on unmanned plane Download PDFInfo
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- CN107681736A CN107681736A CN201711041108.5A CN201711041108A CN107681736A CN 107681736 A CN107681736 A CN 107681736A CN 201711041108 A CN201711041108 A CN 201711041108A CN 107681736 A CN107681736 A CN 107681736A
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- unmanned plane
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- crusing robot
- transmission line
- power transmission
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 37
- 230000005611 electricity Effects 0.000 claims abstract description 11
- 238000001514 detection method Methods 0.000 claims description 9
- 230000001105 regulatory effect Effects 0.000 claims description 9
- 238000005339 levitation Methods 0.000 claims description 8
- 238000005070 sampling Methods 0.000 claims description 8
- 230000000454 anti-cipatory effect Effects 0.000 claims description 6
- 239000000203 mixture Substances 0.000 claims description 6
- 239000004065 semiconductor Substances 0.000 claims description 5
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 claims description 3
- 229910052739 hydrogen Inorganic materials 0.000 claims description 3
- 239000001257 hydrogen Substances 0.000 claims description 3
- 239000013589 supplement Substances 0.000 abstract 1
- 238000007689 inspection Methods 0.000 description 12
- 230000008859 change Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000033228 biological regulation Effects 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
- H02J50/12—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling of the resonant type
-
- H02J7/025—
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
- H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
- H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/02—Conversion of ac power input into dc power output without possibility of reversal
- H02M7/04—Conversion of ac power input into dc power output without possibility of reversal by static converters
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/538—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a push-pull configuration
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a kind of power transmission line crusing robot charging system based on unmanned plane, it is characterised in that：Including unmanned plane and crusing robot；The crusing robot includes charging receiver and electrical storage device, the charging receiver, is charged for receiving；The unmanned plane includes charging emitter and power supply；The charging emitter, charged for launching.The present invention be based on unmanned plane, crusing robot is entered Mobile state charging, rapidly and efficiently charge, overcome the limitation of field geographical environment and high voltage power transmission thread environment, in time for crusing robot supplement electricity, charge efficiency height.
Description
Technical field
The present invention relates to power transmission line equipment, especially a kind of power transmission line crusing robot charging system based on unmanned plane.
Background technology
Traditional polling transmission line method is mainly based on artificial line walking, and its line walking efficiency is low, and labor intensity is big, worker
Frequent field work, working environment is severe, and crosses over high mountain, thick forest, and the inspection difficulty of the transmission line of electricity shelves section in great river is more
Greatly.It is higher using helicopter routing inspection efficiency, but its deficiency in economic performance, and easily ignore the trickle damage of transmission line of electricity.Patrol
Line robot is a kind of specialized robot for inspection ultra-high-tension power transmission line, available for instead of manual inspection, its routing inspection efficiency
Height, imaging effect is good, is the inexorable trend that robot technology is combined with the development of polling transmission line technology.
The walking of inspection robot, obstacle detouring (by direct current generator and interlock circuit) and detection (pass through visible image capturing
Head, infrared thermoviewer etc.) battery that is required for robot to carry is powered.Inspection robot endurance is robot
Key technical index, it directly determines the line walking mileage of inspection robot and working time.If inspection robot endurance
It is relatively low, then need artificial frequently upper tower to change battery, very big inconvenience is brought to automatic running on transmisson line.
The control of inspection robot weight and volume prevents its battery capacity from unrestrictedly expanding.Therefore, in existing electricity
The effective way searched out under the premise of tankage is maximized in micro USB energy and energy-conservation is lifting inspection robot endurance
Main Means.
Some defects be present in the charging modes of existing crusing robot：
1st, using solar panel, but solar panel is after long-term work for a period of time, it is necessary to and safeguard or change, this
Just need to have a power failure on important transmission line of electricity, institute is unreliable in this way；
2nd, laser powered sensor is carried out by optical fiber, the shortcomings that delivery is small is present, and due to generating laser, optical fiber, opto-electronic conversion
Device is easy to aging, easily influences power supply quality；
3rd, sensing power taking is carried out using the electric current of high voltage transmission line, i.e., carrying out sensing from high voltage transmission line using current transformer takes
Electricity.Due to the change of current transformer primary side current very greatly, change from several amperes to kilo-ampere, it is therefore, mutual in applied current
, it is necessary to the improper factor such as overcurrent, short circuit current in view of circuit when sensor realizes power supply, it is necessary to ensure Current Mutual Inductance
Device secondary side current is reliable and stable.Because ground wire magnetic field signal opposing leads are weaker, so kind method is not suitable for ground wire line walking
Robot.
The content of the invention
The goal of the invention of the present invention is：For above-mentioned problem, there is provided a kind of power transmission line based on unmanned plane patrols
Robot charging system is examined, crusing robot is charged using unmanned plane, and is carried out by wired or wireless mode
Charging, can crusing robot traveling in while charging while operation, can solve the problem that crusing robot causes to take due to volumetric constraint
The problem of charged pool not enough power supply, while charging process does not influence crusing robot, it is convenient and swift.
The technical solution adopted by the present invention is as follows：
A kind of power transmission line crusing robot charging system based on unmanned plane of the present invention, including unmanned plane and crusing robot；Institute
Stating crusing robot includes charging receiver and electrical storage device, the charging receiver, is charged for receiving；It is described nobody
Machine includes charging emitter and power supply；The charging emitter, charged for launching.
Above structure, charged between the transmitting terminal and crusing robot receiving terminal on unmanned plane, unmanned plane, which carries, to be filled
Electric installation is reached near power transmission line, and crusing robot is charged, and solves the problems, such as crusing robot not enough power supply, while profit
The characteristics of being facilitated with the lifting of unmanned plane, applied in the field particular surroundings of power transmission line inspection, with existing charging modes
Compare, flexibility is stronger, using more convenient.
Further, the charging receiver and charging emitter are charged by wired connection.
Above structure, unmanned plane are directly charged by wired to crusing robot, due to small, charge efficiency is lost
It is high.
Further, the charging receiver is wireless charging receiver, for carrying out wireless receiving charging；It is described to fill
Electric emitter is wireless charging emitter, for carrying out wireless transmission charging.
Above structure, unmanned plane directly by wirelessly being charged to crusing robot, can not by crusing robot with
The distance limitation of unmanned plane, flexibility is high, while can realize the charging in crusing robot operation, in crusing robot charging
It need not stop operation, when crusing robot not enough power supply, it is charged, left after charging, particularly in survey monitor
In device people's obstacle detouring, it can also charge.
Further, the wireless charging receiver includes receiving coil and power inverter A；The power inverter A
Including AC-DC rectification circuits and DC-DC regulating circuits；The AC-DC rectification circuits include D1 and D2 parallel connections, D1 concatenations D3, D2
D4 is concatenated, electric capacity C1 is connected between D3 and D4, electric capacity C1 both ends are output；The DC-DC regulating circuits use BUCK voltage-dropping types
Regulating circuit, including metal-oxide-semiconductor S3 are connected with diode D5 and inductance L respectively, D5, inductance L and electric capacity C2 compositions loop, electric capacity C2
Both ends are output.
Above structure, what it is due to receiving coil pickup is alternating voltage, and the direct current that crusing robot need of work is certain
Voltage, it is uncontrollable full bridge rectifier, wherein diode to receive electric current to need to carry out rectification and pressure regulation, AC-DC rectification circuits
Using Xiao Te diodes, the normal work of rectification circuit in high frequency can be ensured；BUCK voltage-dropping type regulating circuits are opened
Close pipe and use metal-oxide-semiconductor, output voltage is sampled by voltage comparator circuit during work, control chip FPGA leads to according to sampling
Cross PWM controls the dutycycle of metal-oxide-semiconductor is adjusted, so as to keep the stabilization of output voltage.
Further, the wireless charging emitter includes transmitting coil and power inverter B；The power inverter B
Including push-pull type inversion topological circuit and zero cross detection circuit, for being high-frequency alternating current by Power convert；The push-pull type is inverse
Variable topological circuit includes the switching tube S1 and S2 of concatenation, while tandem electric inductance L1 and L2 composition loop.
Above structure, push-pull type inversion topological circuit can realize that dynamic charges, because unmanned plane is constantly adjusted in the air
Whole posture, while crusing robot may advance, and in whole charging, there is motion between unmanned plane and crusing robot, it is impossible to
Remains stationary；Resonant frequency can be caused to change when mutual inductance changes, cause transmitting coil off resonance, power reduces；Push-pull type is inverse
Variable topological circuit is dynamic tuning circuit, and in dynamic tuning circuit, switching tube controls inductance in positive and negative cycle respectively
The angle of flow, change the capacitive reactance of resonance compensation circuit, ensure that resonant frequency is consistent with working frequency；So as to compensate the change of resonant frequency
Change, system is transmitted under constant operation frequency, improve the wireless transmission capability of coupling mechanism.
Further, the zero cross detection circuit includes pressure sampling circuit, anticipatory control circuit and operational amplifier；It is described
Pressure sampling circuit includes the resistance R1 and R2 of concatenation, and the R3 and R4 of concatenation, two series circuits simultaneously connect；The advanced school
Positive circuit includes resistance R5 and R6 concatenation, resistance R5 and electric capacity C1 and connect.
Above structure, in order to realize dynamic tuning, it is necessary to carry out zero passage detection to resonance potential, pressure sampling circuit is to handing over
Stream resonance potential is sampled, and because control electric power has multiple nodes, can cause the delay of sampled signal and control signal, because
This sampled signal needs phase anticipatory control.
Further, between the receiving coil and transmitting coil of wireless charging receiver and the wireless charging emitter
Provided with two resonance coils.
Above structure, wireless charging mode by the way of magnetic resonance, due between unmanned plane and crusing robot away from
From bigger, the mutual inductance of coupling mechanism will be smaller, and the degree of coupling of coil is weak；Between transmitting coil and receiving coil
Resonance coil is added in coupling mechanism, bigger high-frequency induction voltage and electric current can be obtained, produce stronger magnetic field, so as to carry
The efficiency of high charge, while charging distance is longer.
Further, the unmanned plane also includes levitation device, and for providing lifting force for unmanned plane, unmanned plane is suspended in
In the air.
Above structure, due to being provided with levitation device on unmanned plane, unmanned plane can be achieved and suspend in the air, with survey monitor
Device people, which maintains a certain distance, to be charged, while in charging, the lifting force of levitation device substitutes the lifting of unmanned plane itself
Power, the energy expenditure of unmanned plane is saved, while the charging interval can be extended.
Further, the levitation device includes hydrogen balloon, fire balloon or parachute.
In summary, by adopting the above-described technical solution, the beneficial effects of the invention are as follows：
1st, the charging of crusing robot is realized, is continued a journey for crusing robot, it is not necessary to changes battery, continuous action time length.
2nd, charging modes are soon and conveniently, it is not necessary to other equipment are set on power transmission line, utilize unmanned plane close to transmission of electricity
Crusing robot on line, very easily up and down power transmission line.
3rd, the dynamic charging of crusing robot is realized, unmanned plane can fly with crusing robot, holding and survey monitor
The distance between device people, can make crusing robot be charged in operation, not influence the work of crusing robot, while can move
The resonant frequency of state adjustment wireless magnetic resonance transmission, there is provided efficiency of transmission.
4th, the charging under some adverse circumstances can be realized, ground and crusing robot apart from it is remote when, typically
Charging device can not reach, but unmanned plane does not have a limitation of landform, realizes charging, while can be filled at any time at a distance
Electricity, charging modes are very flexible.
Brief description of the drawings
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein：
Fig. 1 is a kind of structural representation of the power transmission line crusing robot charging system based on unmanned plane of the present invention.
Fig. 2 is radio charging device structural representation.
Fig. 3 is push-pull type inversion topological circuit figure.
Fig. 4 is zero cross detection circuit figure.
Embodiment
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Feature and/or step beyond, can combine in any way.
This specification（Including any accessory claim, summary）Disclosed in any feature, unless specifically stated otherwise,
Replaced by other equivalent or with similar purpose alternative features.I.e., unless specifically stated otherwise, each feature is a series of
An example in equivalent or similar characteristics.
Embodiment one：Such as Fig. 1, a kind of power transmission line crusing robot charging system based on unmanned plane of the present invention, including nothing
Man-machine and crusing robot；The crusing robot includes charging receiver and electrical storage device, the charging receiver, uses
Charged in receiving；The unmanned plane includes charging emitter and power supply；The charging emitter, charged for launching；Institute
State charging receiver and charging emitter is charged by wired connection.
Embodiment two：Compared with embodiment one, in the present embodiment, such as Fig. 2, the charging receiver is wireless charging
Reception device, for carrying out wireless receiving charging；The charging emitter is wireless charging emitter, wireless for carrying out
Transmitting charging；The wireless charging receiver includes receiving coil and power inverter A；The power inverter A includes AC-
DC rectification circuits and DC-DC regulating circuits；The AC-DC rectification circuits include D1 and D2 parallel connections, and D1 concatenations D3, D2 concatenate D4,
Electric capacity C1 is connected between D3 and D4, electric capacity C1 both ends are output；The DC-DC regulating circuits are using BUCK voltage-dropping types pressure regulation electricity
Road, including metal-oxide-semiconductor S3 are connected with diode D5 and inductance L respectively, and D5, inductance L and electric capacity C2 compositions loop, electric capacity C2 both ends are
Output.
The wireless charging emitter includes transmitting coil and power inverter B；The power inverter B includes recommending
Formula inversion topological circuit and zero cross detection circuit, for being high-frequency alternating current by Power convert；Such as Fig. 3, the push-pull type inversion
Topological circuit includes the switching tube S1 and S2 of concatenation, while tandem electric inductance L1 and L2 composition loop.
Such as Fig. 4, the zero cross detection circuit includes pressure sampling circuit, anticipatory control circuit and operational amplifier
LM311；The pressure sampling circuit includes the resistance R1 and R2 of concatenation, and the R3 and R4 of concatenation, two series circuits simultaneously connect；
The anticipatory control circuit includes resistance R5 and R6 concatenation, resistance R5 and electric capacity C1 and connect.
Embodiment three：Compared with other embodiment, in the present embodiment, wireless charging receiver and the wireless charging hair
Two resonance coils are provided between the receiving coil and transmitting coil of injection device.
Example IV：Compared with other embodiment, in the present embodiment, the unmanned plane also includes levitation device, for for
Unmanned plane provides lifting force, and unmanned plane is suspended in the air；The levitation device includes hydrogen balloon, fire balloon or parachute.
The invention is not limited in foregoing embodiment.The present invention, which expands to, any in this manual to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (9)
- A kind of 1. power transmission line crusing robot charging system based on unmanned plane, it is characterised in that：Including unmanned plane and survey monitor Device people；The crusing robot includes charging receiver and electrical storage device, the charging receiver, is charged for receiving； The unmanned plane includes charging emitter and power supply；The charging emitter, charged for launching.
- 2. the power transmission line crusing robot charging system according to claim 1 based on unmanned plane, it is characterised in that：It is described Charging receiver and charging emitter are charged by wired connection.
- 3. the power transmission line crusing robot charging system according to claim 1 or 2 based on unmanned plane, it is characterised in that： The charging receiver is wireless charging receiver, for carrying out wireless receiving charging；The charging emitter is nothing Micro USB electricity emitter, for carrying out wireless transmission charging.
- 4. the power transmission line crusing robot charging system according to claim 3 based on unmanned plane, it is characterised in that：It is described Wireless charging receiver includes receiving coil and power inverter A；The power inverter A include AC-DC rectification circuits and DC-DC regulating circuits；The AC-DC rectification circuits include D1 and D2 parallel connections, D1 concatenation D3, D2 concatenation D4, connect between D3 and D4 Electric capacity C1 is met, electric capacity C1 both ends are output；The DC-DC regulating circuits use BUCK voltage-dropping type regulating circuits, including metal-oxide-semiconductor S3 It is connected respectively with diode D5 and inductance L, D5, inductance L and electric capacity C2 compositions loop, electric capacity C2 both ends are output.
- 5. the power transmission line crusing robot charging system according to claim 3 based on unmanned plane, it is characterised in that：It is described Wireless charging emitter includes transmitting coil and power inverter B；The power inverter B includes push-pull type inversion topological electricity Road and zero cross detection circuit, for being high-frequency alternating current by Power convert；The push-pull type inversion topological circuit includes concatenation Switching tube S1 and S2, while tandem electric inductance L1 and L2 composition loop.
- 6. the power transmission line crusing robot charging system according to claim 5 based on unmanned plane, it is characterised in that：It is described Zero cross detection circuit includes pressure sampling circuit, anticipatory control circuit and operational amplifier；The pressure sampling circuit includes string The resistance R1 and R2 connect, and the R3 and R4 of concatenation, two series circuits simultaneously connect；The anticipatory control circuit include resistance R5 and R6 concatenations, resistance R5 and electric capacity C1 simultaneously connect.
- 7. the power transmission line crusing robot charging system according to claim 3 based on unmanned plane, it is characterised in that：It is described Two resonance coils are provided between wireless charging receiver and the receiving coil and transmitting coil of wireless charging emitter.
- 8. the power transmission line crusing robot charging system according to claim 1 based on unmanned plane, it is characterised in that：It is described Unmanned plane also includes levitation device, and for providing lifting force for unmanned plane, unmanned plane is suspended in the air.
- 9. the power transmission line crusing robot charging system according to claim 8 based on unmanned plane, it is characterised in that：It is described Levitation device includes hydrogen balloon, fire balloon or parachute.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711041108.5A CN107681736A (en) | 2017-10-31 | 2017-10-31 | A kind of power transmission line crusing robot charging system based on unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711041108.5A CN107681736A (en) | 2017-10-31 | 2017-10-31 | A kind of power transmission line crusing robot charging system based on unmanned plane |
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| Publication Number | Publication Date |
|---|---|
| CN107681736A true CN107681736A (en) | 2018-02-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711041108.5A Withdrawn CN107681736A (en) | 2017-10-31 | 2017-10-31 | A kind of power transmission line crusing robot charging system based on unmanned plane |
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| CN (1) | CN107681736A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113466767A (en) * | 2020-03-30 | 2021-10-01 | 西门子医疗有限公司 | Local coil with detuning function |
-
2017
- 2017-10-31 CN CN201711041108.5A patent/CN107681736A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113466767A (en) * | 2020-03-30 | 2021-10-01 | 西门子医疗有限公司 | Local coil with detuning function |
| CN113466767B (en) * | 2020-03-30 | 2024-04-19 | 西门子医疗有限公司 | Local coil with detuning function |
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