CN108093241A - A kind of valve Room intelligent patrol detection sampler based on VR technologies - Google Patents
A kind of valve Room intelligent patrol detection sampler based on VR technologies Download PDFInfo
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- CN108093241A CN108093241A CN201711071887.3A CN201711071887A CN108093241A CN 108093241 A CN108093241 A CN 108093241A CN 201711071887 A CN201711071887 A CN 201711071887A CN 108093241 A CN108093241 A CN 108093241A
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- 238000005516 engineering process Methods 0.000 title claims abstract description 18
- 238000001514 detection method Methods 0.000 title claims abstract description 16
- 239000007788 liquid Substances 0.000 claims abstract description 30
- 239000011521 glass Substances 0.000 claims abstract description 28
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 6
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 6
- 239000000956 alloy Substances 0.000 claims description 13
- 229910045601 alloy Inorganic materials 0.000 claims description 13
- 238000005070 sampling Methods 0.000 claims description 11
- 230000005611 electricity Effects 0.000 claims description 8
- 230000000007 visual effect Effects 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 4
- 230000008054 signal transmission Effects 0.000 claims description 2
- 238000007689 inspection Methods 0.000 abstract description 16
- 238000010586 diagram Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 235000019628 coolness Nutrition 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000007654 immersion Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N1/14—Suction devices, e.g. pumps; Ejector devices
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/017—Head mounted
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/017—Head mounted
- G02B2027/0178—Eyeglass type
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Health & Medical Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Computer Networks & Wireless Communication (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Optics & Photonics (AREA)
- Selective Calling Equipment (AREA)
Abstract
The present invention relates to field of electric power automation, specifically a kind of valve Room intelligent patrol detection sampler based on VR technologies.The device includes tele-control system and device terminal, tele-control system is connected with device terminal by wireless signal, tele-control system includes controller and VR glasses, device terminal is a movable fixture, including remote control interface module, drive module, mobile module, integrated treatment module, liquid sample module and VR video modules, high-capacity lithium battery is connected respectively with each module of device terminal provides electric energy.The device can be long-range to make an inspection tour valve Room inner case under not power-off condition, and the liquid below the valve Room can be sampled.Device self structure is simple, reliable easy-to-use.
Description
Technical field
The present invention relates to field of electric power automation, specifically a kind of valve Room intelligent patrol detection sampling dress based on VR technologies
It puts.
Background technology
High voltage direct current transmission project is of great significance among State Grid's construction, and the converter valve components in the valve Room are
Important equipment during direct current transportation, in order to ensure the safe and reliable operation of valve group, it is necessary to periodically carry out inspection to it, and mesh
Preceding routine inspection mode is manual inspection, and making an inspection tour aisle due to the valve Room is located at valve Room top, apart from ground farther out, can not be more accurate
Situation of the judgement below the valve Room, and when ground is there are during unclarified liquid, analysis can not be sampled to it.
The patent of 204030727 U of patent No. CN discloses a kind of valve Room converter valve inspection device, including supporting rack, sets
In the guide rail on supporting rack and the sliding block on guide rail, the supporting rack upper and lower ends are respectively equipped with pulley, are set on pulley
There is conveyer belt, sliding block is equipped with the fixed seat with transmitting band connection, and electric cabinet is additionally provided on supporting rack and driving lower end is slided
The actuating motor of wheel, the fixed seat are equipped with support plate, and support plate is equipped with infrared detector, and infrared detector passes through net
Line is connected with electric cabinet, though the device increases the detection range to intra-valve hall converter valve, which can not experience VR glasses
The human-computer interaction visual brought.
The patent of patent No. CN106695747A discloses a kind of valve Room inspection hair method and valve Room machine based on laser radar
Device people, the method for inspecting include：The aspect of measure of fixed laser radar on crusing robot is set perpendicular to ground；Inspection machine
People travels after receiving data acquisition session along predetermined trajectory, and target valve Room equipment is detected by laser radar, and is led to
The location information that positioner obtains robot is crossed, by reference data and location information reported data storehouse；Crusing robot receives
It is travelled after the patrol task of the valve Room along the predetermined trajectory, location information and reference data is obtained from the database, obtain thunder
Up to data as real time data, by this real time data compared with the reference data, judged according to the two gap and predetermined threshold value
This location information corresponds to target valve Room equipment with the presence or absence of abnormal, but the device can not be sampled the liquid under the valve Room point
Analysis.
The content of the invention
Present invention aims to overcome that the deficiencies in the prior art, provide a kind of valve Room intelligent patrol detection sampling based on VR technologies
Device, for the valve Room is maked an inspection tour by VR glasses in the case where not having a power failure and to the valve Room under liquid be sampled.
In order to solve the above technical problems, the technical solution adopted in the present invention is：A kind of valve Room intelligence based on VR technologies
Inspection sampler, it is characterised in that：Including tele-control system and device terminal, the tele-control system and described device
Terminal is connected by wireless signal, the tele-control system include controller and VR glasses, described device terminal be one can
Mobile device, including remote control interface module, drive module, mobile module, integrated treatment module, liquid sample module and VR
Video module；The integrated treatment module is responsible for monitoring whether the movement of described device terminal and operating status are normal, described remote
Process control interface module indicates mobile mould described in the drive module drive control by receiving the instruction that the controller is sent
The sampling of the movement of block and the liquid sample module to liquid under the valve Room, the VR video modules pass through nothing with the VR glasses
Line signal connects, and high-capacity lithium battery is connected respectively with each module of described device terminal provides electric energy；
The mobile module is provided with decelerating motor and alloy crawler belt, and the drive module is equipped with two-way electricity reconciliation driving chip,
The liquid sample module is equipped with minipump, sample connection and liquid storage tank, and the VR video modules are equipped with camera
With two-way transmitter, the VR glasses are equipped with VR glasses visual range adjuster, video reception antennal interface and VR lens bodies
Heat emission hole, the controller are equipped with direction movement rocking bar, control signal indicator light, controller transmitting antenna, controller state and refer to
Show lamp, function button, camera manual fine-tuning and camera manual operation rocking bar.
Further, the remote control interface module is that a receives frequency is 2.4 GHz control signal receivers,
The control signal receiver is connected with the controller by wireless signal.
Further, the decelerating motor is large torque decelerating motor, and number is 4.
Further, the integrated treatment module is a microprocessor based on ARM frameworks, the microprocessor monitors
Whether the movement of described device terminal and operating status are normal.
Further, the two-way electricity adjusts the decelerating motor of mobile module described in drive control to drive alloy crawler belt
It turns to and mobile, the startup of the minipump in the block of liquid sample mould described in the driving chip drive control drives institute
State the mobile completion sampling of sample connection.
Further, the camera of the VR video modules is double 3D cameras, and the camera is located at device end
Top is held, it can be along both horizontally and vertically rotating, the two-way transmitter tranmitting frequency is 5.8 GHz, the two-way transmitting
Device is connected with the video reception antennal interface of the VR glasses by wireless signal.
Further, the alloy crawler belt hangs the vibrations for reducing device terminal by shock-absorbing.
Compared with prior art, beneficial effects of the present invention are as follows：A kind of valve Room intelligent patrol detection sampling based on VR technologies
Device includes tele-control system and device terminal, and the controller of tele-control system can emit wireless signal mode and control dress
Put liquid below the control both horizontally and vertically of terminal rotating in itself, VR video screen modules camera in the block and the valve Room
Sampling, VR glasses can allow observer immersively to observe valve Room internal unit situation a long way off, device terminal it is long-range
Control interface module can receive the wireless signal of controller transmitting, and the wireless signal of reception can be carried out to integrate processing biography
It send to drive module, the two-way electricity in the drive module of device terminal, which is adjusted, can drive 4 large torques in mobile module to slow down
Motor drives the movement and steering of alloy crawler belt, and mobile module can be with the movement and steering of realization device terminal, integrated treatment mould
Block can monitor whether the movement for stating device terminal and operating status are normal, and liquid sample module can be by driving in drive module
Dynamic chip drives minipump, minipump intelligently gather unclarified liquid below the valve Room by sample connection,
VR video modules can in the valve Room equipment running status carry out real-time video, and can by mould two-way transmitter in the block with
Wireless signal is sent to VR glasses, and high-capacity lithium battery can provide sufficient electric energy for each module of device terminal, work as device
When out-of-flatness ground is run into terminal moving process, alloy crawler belt can make device terminal remain enough earth-grasping force by keeping away
Shake hangs to reduce the vibrations that device body is subject to, and ensures that device terminal is on the move steady with this.In short, the device utilizes VR
Technology user inspection valve Room in a manner of on the spot in person, and can intelligently liquid is sampled below the valve Room.The device can be grasped
The property made is strong, easy to use.
Description of the drawings
The present invention is described in further detail below in conjunction with the accompanying drawings.
Fig. 1：The positive structure diagram of the device terminal of the embodiment of the present invention 1；
Fig. 2：The overlooking the structure diagram of the device terminal of the embodiment of the present invention 1；
Fig. 3：The structure diagram of VR glasses of the present invention；
Fig. 4：The structure diagram of controller of the present invention；
Fig. 5：The structure diagram of the embodiment of the present invention 2;
Fig. 6:The structure diagram of the embodiment of the present invention 3；
Fig. 7：The structure diagram of light-emitting diode display.
Wherein, 1- cameras, 2- liquid storage tanks, the suspension of 3- shock-absorbings, 4- alloy crawler belts, 5- decelerating motors, 6- driving moulds
Block, 7- high-capacity lithium batteries, 8- signal receivers, 9- liquid storage tanks, 10- sample connections, 11- microprocessors, 12- are miniature true
Sky pump, 13- glasses visual range adjusters, 14-VR lens body heat emission holes, 15- video reception antennal interfaces, 16- directions are moved
Shake bar, 17- control signal indicator lights, 18- controller transmitting antennas, 19- controller state indicator lights, 20- function buttons,
21- camera manual fine-tunings, 22- cameras manual operation rocking bar.
Specific embodiment
For a better understanding of the present invention, the present invention is described in further detail below in conjunction with the accompanying drawings.However, for this
It is readily apparent that the present invention may not need one or more of these details and be carried out for field technology personnel.
Embodiment 1
A kind of valve Room intelligent patrol detection sampler based on VR technologies includes tele-control system and device terminal, remote control system
System includes controller and VR glasses, as shown in figure 4, controller is equipped with direction movement rocking bar 16, control signal indicator light 17, control
Device transmitting antenna 18, controller state indicator light 19, function button 20, camera manual fine-tuning 21, camera manual operation are shaken
Bar 22, as shown in figure 3, VR glasses are equipped with VR glasses visual range adjuster 11, video reception antennal interface 12 and VR glasses sheets
Body heat emission hole 13.
As shown in Figure 1 and Figure 2, device terminal is a movable fixture, including remote control interface module, drive module,
Mobile module, integrated treatment module, liquid sample module and VR video modules, tele-control system pass through wireless with device terminal
Signal transmission, remote control interface module are that a receives frequency is 2.4 GHz control signal receivers 8, and drive module 6 is set
There is two-way electricity reconciliation driving chip, mobile module is equipped with decelerating motor 5 and alloy crawler belt 4, and integrated treatment module is one and is based on
The microprocessor of ARM frameworks, can be used model STM32, and liquid sample module is equipped with minipump 14, sample connection 10 and liquid
Body storage bin 2 or 9, VR video modules are equipped with camera 1 and frequency is 5.8 GHz two-way transmitters.
The valve Room intelligent patrol detection sampling work flow of the device is as follows：
Device user hand takes the controller in Fig. 4, wears the VR glasses in Fig. 3, when needing the inspection valve Room, can pass through control
Device is remotely controlled the charging zone inside the device terminal direct admission valve Room in Fig. 1, Fig. 2, is sent out by the transmitting antenna 18 of controller
Wireless signal is penetrated, after signal receiver 8 receives the move that the direction movement rocking bar 16 in controller is sent, by single finger
Order carries out mixing control, and movable signal is sent to drive module 6, and the two-way electricity in drive module 6 is adjusted according in signal
Duty cycle exports corresponding power and reaches decelerating motor 5, and alloy crawler belt 4 is driven to move, so as to fulfill the movement to device terminal,
Similarly, when device terminal needs to turn to, controller can then send differential wave, so as to fulfill the steering of device terminal, control
Camera manual fine-tuning 21, camera manual operation rocking bar 22 in device can carry out water to the camera 1 above device terminal
The rotation of gentle vertical direction, so as to carry out comprehensive inspection to equipment working state in the valve Room above the ground, inspection regards
Frequency is by 5.8 GHz two-way transmitter Wireless transceivers of VR video modules to VR glasses, and observer is in a manner of immersion to the valve Room
Inside carries out inspection, finds that there are hidden danger in operation in time.
When device user observes that there are dresses during liquid, being remotely controlled by the controller in Fig. 4 in Fig. 1, Fig. 2 in the valve Room
It puts after terminal is moved to and needs the objective that samples, controller sends instruction, and signal receiver 8 receives controller and sends finger
After order, instruction is sent to the driving chip of drive module 6, driving chip drives minipump 14 logical by Sampling Interface 10
It crosses and send liquid sample to liquid storage tank 2 or 9, you can complete liquid sample process in the valve Room.The microcontroller of integrated treatment mould
Whether movement and the operating status for being responsible for monitoring arrangement terminal are normal.Module each with device terminal connects high-capacity lithium battery 7 respectively
It connects and sufficient electric energy is provided.
Visual range adjuster 13 in VR glasses is by adjusting sighting distance to being maked an inspection tour inside the valve Room and observing sampling situations, VR
Lens body heat emission hole 14 can receive VR and regard to VR glasses rapid coolings, VR glasses video signal receiving antennas interface 15
The vision signal of frequency module transmitting, the movement and rotation of direction movement 16 control device terminal of rocking bar, control signal in controller
Indicator light 17 can clearly indicate transmitting signal, and controller transmitting antenna 18 is responsible for transmitting wireless signal, controller state instruction
Lamp 19 indicates whether controller works normally, and function button 20 is mainly responsible for selection transmitting signal type, camera manual fine-tuning
21 and camera manual operation rocking bar 22 be mainly responsible for control camera 1 all-directional rotation and horizontal vertical direction movement.
Embodiment 2
As shown in figure 5, the present embodiment is the improvement on the basis of embodiment 1, as different from Example 1：It is whole in described device
The shock-absorbing that the alloy crawler belt 4 at end is equipped with hangs 3, and shock-absorbing suspension 3 is made of shock-proof spring, so ensures that device terminal is being moved through
When out-of-flatness ground is run into journey, alloy crawler belt reduces the vibrations that device terminal is subject to by shock-proof spring.
Embodiment 3
As shown in fig. 6, the present embodiment is the improvement on the basis of embodiment 2, as different from Example 2：Device terminal lower part
Equipped with four wheels, it can so make the movement of device terminal more quick.
Embodiment 4
As shown in fig. 7, the present embodiment is the improvement on the basis of embodiment 2, as different from Example 2：The external LED of device is shown
Show device, there is receiver 23, the receiver and the two-way transmitter in the VR video modules of device terminal on the light-emitting diode display
By wireless connection, so can valve can be clearly apparent by light-emitting diode display with the scene in simultaneous display VR glasses, more people
Room internal unit situation.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, this field is common
Other modifications or equivalent substitution that technical staff makes technical scheme, without departing from technical solution of the present invention
Spirit and scope, should be covered by the scope of the claims of the present invention.
It these are only the preferred embodiment of the present invention, be not intended to limit the invention, for those skilled in the art
For member, the invention may be variously modified and varied.Any modification within the spirit and principles of the invention, being made,
Equivalent substitution, improvement etc., should all be included in the protection scope of the present invention.
Claims (7)
1. a kind of valve Room intelligent patrol detection sampler based on VR technologies, it is characterised in that：Including tele-control system and device
Terminal, the tele-control system are connected with described device terminal by wireless signal, and the tele-control system includes control
Device and VR glasses, described device terminal are a movable fixtures, including remote control interface module, drive module, mobile mould
Block, integrated treatment module, liquid sample module and VR video modules；The integrated treatment module is responsible for monitoring described device terminal
Movement and operating status it is whether normal, the remote control interface module is indicated by receiving instruction that the controller is sent
The sampling of the movement of mobile module and the liquid sample module to liquid under the valve Room, institute described in the drive module drive control
It states VR video modules to be connected by wireless signal with the VR glasses, high-capacity lithium battery（7）It is each with described device terminal respectively
Module connection provides electric energy；
The mobile module is provided with decelerating motor（5）With alloy crawler belt（4）, the drive module（6）It is reconciled equipped with two-way electricity
Driving chip, the liquid sample module are equipped with minipump (12), sample connection（10）It is described with liquid storage tank (9)
VR video modules are equipped with camera (1) and two-way transmitter, and the VR glasses are equipped with VR glasses visual range adjusters（13）, VR glasses
Body heat emission hole（14）With video reception antennal interface（15）, the controller is equipped with direction movement rocking bar（16）, control
Signal lamp（17）, controller transmitting antenna（18）, controller state indicator light（19）, function button（20）, camera hand
Dynamic fine tuning (21) and camera manual operation rocking bar (22).
2. the valve Room intelligent patrol detection sampler based on VR technologies as described in claim 1, it is characterised in that：The long-range control
Interface module processed is that a receives frequency is 2.4 GHz control signal receivers（8）, the control signal receiver（8）With institute
Controller is stated to connect by wireless signal.
3. the valve Room intelligent patrol detection sampler based on VR technologies as described in claim 1, it is characterised in that：The electricity that slows down
Machine（5）For large torque decelerating motor, number is 4.
4. the valve Room intelligent patrol detection sampler based on VR technologies as described in claim 1, it is characterised in that：The General Office
It is a microprocessor (11) based on ARM frameworks to manage module, the movement of microprocessor (11) the monitoring described device terminal
It is whether normal with operating status.
5. the valve Room intelligent patrol detection sampler based on VR technologies as described in claim 1, it is characterised in that：The two-way electricity
Adjust the decelerating motor of mobile module described in drive control（5）Drive alloy crawler belt（4）Steering and movement, the driving core
The startup of the minipump (12) in the block of liquid sample mould described in piece drive control drives the sample connection（10）'s
It is mobile to complete sampling.
6. the valve Room intelligent patrol detection sampler based on VR technologies as described in claim 1, it is characterised in that：The VR videos
The camera of module（1）For double 3D cameras, the camera（1）It, can be along horizontal and vertical positioned at device terminal top
For Nogata to rotation, the two-way transmitter tranmitting frequency is 5.8GHz, and the video of the two-way transmitter and the VR glasses is believed
Number reception antenna interface（12）Pass through wireless signal transmission.
7. the valve Room intelligent patrol detection sampler based on VR technologies as described in claim 1, it is characterised in that：The alloy is carried out
Band（4）It is hung by shock-absorbing（3）Reduce the vibrations of device terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711071887.3A CN108093241A (en) | 2017-11-03 | 2017-11-03 | A kind of valve Room intelligent patrol detection sampler based on VR technologies |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711071887.3A CN108093241A (en) | 2017-11-03 | 2017-11-03 | A kind of valve Room intelligent patrol detection sampler based on VR technologies |
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| CN108093241A true CN108093241A (en) | 2018-05-29 |
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| CN201711071887.3A Pending CN108093241A (en) | 2017-11-03 | 2017-11-03 | A kind of valve Room intelligent patrol detection sampler based on VR technologies |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101614624A (en) * | 2009-06-19 | 2009-12-30 | 雷学军 | A kind of quantitative sampling robot that is applicable to multiple environment |
| CN204030727U (en) * | 2014-08-19 | 2014-12-17 | 武汉寒霜科技有限公司 | A kind of valve Room converter valve inspection device |
| CN204183575U (en) * | 2014-10-21 | 2015-03-04 | 国家电网公司 | converter station valve hall intelligent inspection robot |
| CN205898302U (en) * | 2016-07-15 | 2017-01-18 | 武汉寒霜科技有限公司 | A infrared inspection device for current conversion station valve room |
| CN106695747A (en) * | 2015-11-13 | 2017-05-24 | 国网辽宁省电力有限公司检修分公司 | Valve hall inspection method and inspection robot based on laser radar |
| CN106909158A (en) * | 2017-04-21 | 2017-06-30 | 上海海事大学 | A kind of all-around mobile environment VR image detection cars |
| CN107273881A (en) * | 2017-08-22 | 2017-10-20 | 深圳普思英察科技有限公司 | A kind of anti-terrorism SEEK BUS, wearable device and virtual reality detection system |
-
2017
- 2017-11-03 CN CN201711071887.3A patent/CN108093241A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101614624A (en) * | 2009-06-19 | 2009-12-30 | 雷学军 | A kind of quantitative sampling robot that is applicable to multiple environment |
| CN204030727U (en) * | 2014-08-19 | 2014-12-17 | 武汉寒霜科技有限公司 | A kind of valve Room converter valve inspection device |
| CN204183575U (en) * | 2014-10-21 | 2015-03-04 | 国家电网公司 | converter station valve hall intelligent inspection robot |
| CN106695747A (en) * | 2015-11-13 | 2017-05-24 | 国网辽宁省电力有限公司检修分公司 | Valve hall inspection method and inspection robot based on laser radar |
| CN205898302U (en) * | 2016-07-15 | 2017-01-18 | 武汉寒霜科技有限公司 | A infrared inspection device for current conversion station valve room |
| CN106909158A (en) * | 2017-04-21 | 2017-06-30 | 上海海事大学 | A kind of all-around mobile environment VR image detection cars |
| CN107273881A (en) * | 2017-08-22 | 2017-10-20 | 深圳普思英察科技有限公司 | A kind of anti-terrorism SEEK BUS, wearable device and virtual reality detection system |
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Application publication date: 20180529 |