CN109100745A - A kind of water conservancy pumping plant automatic tour inspection system - Google Patents
A kind of water conservancy pumping plant automatic tour inspection system Download PDFInfo
- Publication number
- CN109100745A CN109100745A CN201810957071.9A CN201810957071A CN109100745A CN 109100745 A CN109100745 A CN 109100745A CN 201810957071 A CN201810957071 A CN 201810957071A CN 109100745 A CN109100745 A CN 109100745A
- Authority
- CN
- China
- Prior art keywords
- pumping plant
- water conservancy
- wireless
- inspection system
- pair
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04D—NON-POSITIVE-DISPLACEMENT PUMPS
- F04D15/00—Control, e.g. regulation, of pumps, pumping installations or systems
- F04D15/0088—Testing machines
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
Abstract
A kind of water conservancy pumping plant automatic tour inspection system.It is related to the automatic tour inspection system of water conservancy pumping plant more particularly to water conservancy pumping plant.Provide it is a kind of facilitate operation, improve the water conservancy pumping plant automatic tour inspection system of routing inspection efficiency and quality.Including mobile robot, main work station and several pumping plants, the mobile robot includes walking module, integration module, information collection and processing module, wireless aps and several radio network gateways, and the walking module is mobile for controlling mobile robot；The integration module includes thermal imaging temp probe, HD video probe, resonant method probe and noise analysis probe；The wireless aps are communicated through LAN router with main work station；The pumping plant is equipped with wireless vibration sensor, radio temperature sensor and wireless leakage sensor, and several radio network gateways and wireless vibration sensor, radio temperature sensor, wireless leakage sensor correspond.The present invention facilitates processing, improves work efficiency.
Description
Technical field
The present invention relates to water conservancy pumping plant more particularly to the automatic tour inspection systems of water conservancy pumping plant.
Background technique
The 4th pumping station of Jiangdu is mounted with that at least full adjustment axis stream of 7 2900ZLQ30-7.8, mating TL3400-40 are same altogether
Walk motor.In view of the extension with runing time, there is parts depreciation, burn into aging in unit, and operation conditions is deteriorated, vibration
Dynamic, the throw machinery such as become larger put barrier.In the past only by the experience of operations staff by soon, ear listens, hand touches and judge equipment fault
Mode, there are many uncertain factors, can not form quantization, standardized diagnostic mode.
Whole process supervision systems life cycle of existing water conservancy pump group depends on installation various kinds of sensors, installation heat
The healthy trend monitoring either malfunction monitoring for equipment such as imaging infrared temperature monitoring, leakage sensor, but it is needed
A large amount of laying electric power and signal cable are transmitted, and installation and later maintenance difficulty are larger, reduce working efficiency.
Summary of the invention
The present invention in view of the above problems, provide it is a kind of facilitate operation, improve routing inspection efficiency and quality water conservancy pumping plant oneself
Dynamic cruising inspection system.
The technical scheme is that including mobile robot, main work station and several pumping plants, the mobile robot packet
Walking module, integration module, information collection and processing module, wireless aps and several radio network gateways are included,
The walking module is mobile for controlling mobile robot；
The integration module includes thermal imaging temp probe, HD video probe, resonant method probe and noise analysis probe；
The information collection and processing module are used to acquire the information of integration module and several pumping plants, and analyze data；
The wireless aps are communicated through LAN router with main work station；
The pumping plant is equipped with wireless vibration sensor, radio temperature sensor and wireless leakage sensor, several radio network gateways
It is corresponded with wireless vibration sensor, radio temperature sensor, wireless leakage sensor.
The walking module includes chassis, servo motor, servomotor controller, navigation controller and laser radar, institute
Servo motor driving chassis walking is stated, the bottom on the chassis is surrounded by pulley；
The Navigation Control step of the walking module are as follows:
Firstly, according to the total figure at live General Arrangement, manual inspection route and 3D the scanning scene of drawing out, inspection route is being sat
It is the set linear array of coordinate points in mark system, entire map is inputted into included navigation controller, the inspection out of this map
The coordinate set of route is output in driving servomotor controller, controls servo motor left and right turn, in the process laser radar
Real-time Feedback signal duplicate acknowledgment whether coincide default route coordinate points, if offset path be delayed 3 seconds alarm, and active according to
Feedback signal and actual position signal comparison carry out Serve Motor Control makes robot come back to default rail with repair path
Road is delayed 1 second, alarm automatically resets after having returned in default point set.
If encounter obstacle in inspection route, laser radar can prejudge in advance, and internal instant alarming simultaneously carries out avoidance automatically,
Servo motor auto-steering is driven, traveling time is set, after completing traveling time, if radar alarm automatically resets, servo motor
Opposite direction carries out next path circulation, and process is recycled according to pre-set velocity and obstacle feedback point with this, whole until completing
A inspection process.
It further include touch-screen system, for showing real time data；
The real time data includes the temperature monitored, noise numerical value, resonant method numerical value and sensor values；Pass through setting
Alarm threshold, instant alarming.
It further include power module and several charging units, the power module is used to power to mobile robot；
The power module includes battery and charging plug, and the charging plug is located at the bottom centre on chassis；
Several charging units are uniformly located on the inspection route of mobile robot, and the ground of the inspection route is equipped with for placing
The bottom surface of the mounting groove of charging unit, the mounting groove is equipped with power supply line；
The charging unit includes pedestal, and the top surface of the pedestal is equipped with accommodation groove, is equipped with cover board and a pair in the accommodation groove
Slide plate, the cover board are located at the top of a pair of slide, are equipped with spring between a pair of slide；
Four location holes and an opening, the location hole and pulley correspond on the cover board, the opening and charging plug
Corresponding, the both ends of the opening are hingedly equipped with enabling, and a pair of slide is located at the underface of location hole two-by-two, the enabling
It is corresponded with slide plate, the inside of the enabling connects ipsilateral slide plate by drawstring；
The bottom surface of the accommodation groove is set there are four locating slot and a charging socket, and the locating slot and location hole correspond, institute
It is corresponding with opening to state charging socket, the charging socket is connected with power supply line；
The bottom surface on the chassis is equipped with a pair of symmetrically arranged opener and a pair of symmetrically arranged air bag,
A pair of of opener is located at the two sides of charging plug, and the opener and the one-to-one correspondence that opens the door open the door for opening, institute
The bottom surface for stating chassis is equipped with caulking groove,
The opener includes telescopic rod, and the head of the telescopic rod is equipped with magnet, tail portion is hinged in caulking groove, described flexible
Bar connects caulking groove by tension spring, and described open the door is metallic door, and the magnet opens the door for adsorbing；
The air bag is located at the outside of opener, and the air bag is for connecting inflator.
The positioning hole is equipped with a pair of flexible check apron.
The bottom surface of the cover board is equipped with sliding slot, and the top surface of the slide plate is equipped with sliding rail, and the sliding rail is located in sliding slot.
The present invention includes laser navigation chassis assembly, radio network gateway, wireless aps, thermal imaging temp probe, HD video spy
Head, resonant method probe and noise analysis probe etc., provide a kind of automatic detecting under Complex Pump Station or the environment of plant
And wireless signal receiver, structure is simple, and scalability is strong, task and wireless data can be arranged according to different complex environments
RX path, the wireless aps that all information are uploaded with timestamp can be real-time according to on-site actual situations, can also periodically set
It sets, can be applied in various labyrinth environment.
It is real meanwhile by installing wireless vibration sensor, radio temperature sensor and wireless leakage sensor on pumping plant
When acquire the vibration data of each key point, can the operating status to water pump assembly effectively monitored, it is different to the vibration of unit
It often waits and finds early warning early, nature of trouble, position, reason and the severity of analyzing and diagnosing abnormal vibration unit are realized to set
Scientific basis is provided for running state analysis and for period maintenance.
The present invention facilitates processing, improves work efficiency.
Detailed description of the invention
Fig. 1 is the principle of the present invention block diagram,
Fig. 2 is Navigation Control block diagram,
Fig. 3 is the structural schematic diagram of mobile robot,
Fig. 4 is the structural schematic diagram of cover board,
Fig. 5 is the structural schematic diagram of pedestal,
Fig. 6 is the attachment structure schematic diagram of cover board and pedestal,
Fig. 7 is the structural schematic diagram of the charging unit on inspection route,
Fig. 8 is the partial enlarged view in Fig. 3 at A；
1 is chassis in figure, and 2 be touch screen, and 3 be pulley, and 4 be battery, and 5 be noise analysis probe, and 6 be Doppler vibrometer, and 7 are
HD video probe, 8 be thermal imaging probe, and 9 be wireless aps, and 10 be charging plug, and 11 be mounting groove, and 12 be power supply line, and 13 are
Pedestal, 130 be accommodation groove, and 14 be cover board, and 141 be location hole, and 142 be opening, and 143 be to open the door, and 15 be slide plate, and 16 be spring,
17 be drawstring, and 18 be locating slot, and 19 be charging socket, and 20 be caulking groove, and 21 be telescopic rod, and 22 be magnet, and 23 be tension spring, and 24 be gas
Capsule, 25 be flexible check apron, and 26 be sliding rail；
Arrow represents cover board and is placed on downwards in the accommodation groove of pedestal in Fig. 7.
Specific embodiment
The present invention as shown in figures 1-8, including mobile robot, main work station and several pumping plants, the mobile robot packet
Walking module, integration module, information collection and processing module, wireless aps 9 and several radio network gateways are included,
The walking module is mobile for controlling mobile robot；
The integration module includes that thermal imaging temp probe 8, HD video probe 7, resonant method probe 6 and noise analysis are visited
First 5；
The information collection and processing module are used to acquire the information of integration module and several pumping plants, and analyze data；
The wireless aps are communicated through LAN router with main work station；
The pumping plant is equipped with wireless vibration sensor, radio temperature sensor and wireless leakage sensor, several radio network gateways
It is corresponded with wireless vibration sensor, radio temperature sensor, wireless leakage sensor.
The inner function module that the present invention not only includes, moreover it is possible to outer without limitation reception by the gateway with robot
The wireless sensor signal in portion has very elastic scalability.The healthy trend monitoring of whole equipment Life cycle uses nothing
Line universal frequency scheme, exterior can increase the information such as pump group inlet and outlet pressure, temperature, can use wireless solution,
Facilitate operation.
The walking module includes chassis 1, servo motor, servomotor controller, navigation controller and laser radar, institute
Servo motor driving chassis walking is stated, the bottom on the chassis is surrounded by pulley 3；
The Navigation Control step of the walking module are as follows:
Firstly, according to the total figure at live General Arrangement, manual inspection route and 3D the scanning scene of drawing out, inspection route is being sat
It is the set linear array of coordinate points in mark system, entire map is inputted into included navigation controller, the inspection out of this map
The coordinate set of route is output in driving servomotor controller, and (motor is fast during this for control servo motor left and right turn
Angle value is default 0.8m/s), whether identical laser radar Real-time Feedback signal duplicate acknowledgment default route coordinate points are (smart in the process
0.1 meter of exactness), it alarms if offset path is delayed 3 seconds, and actively watched based on the feedback signal with actual position signal comparison
Motor control is taken, with repair path, robot is made to come back to predetermined trajectory, after having returned in default point set, delay 1
Second, alarm automatically resets.
If encounter obstacle in inspection route, laser radar can prejudge in advance, internal instant alarming and automatic right side or
Left side (can be preset according to on-site actual situations) carry out avoidance, drive 45 degree of servo motor auto-steering, traveling time according to
Trigonometric function calculates, and after completing traveling time, if radar alarm automatically resets, the 45 degree of progress of servo motor opposite direction are next
Path circulation, process are recycled according to pre-set velocity and obstacle feedback point with this.Until completing entire inspection process.
It further include touch-screen system, for showing real time data；
The real time data includes the temperature monitored, noise numerical value, resonant method numerical value and sensor values；Pass through setting
Alarm threshold, instant alarming.
By the way that touch screen 2 is arranged, convenient for intuitive observation data, operation is reliable.
Win7 touch-screen system is embedded in mobile robot structure, all inspection processes automatically record, the temperature monitored
Alarming threshold value is all arranged in degree, sensor values, noise numerical value and resonant method numerical value, and instant alarming, alarm point is with switching value
Form directly passes through ethernet communication to main work station, and activation server inner boundary alarm point flashes and computer is activated to carry buzzing
Device.
All simulation numerical quantities are equally transferred to local area network server by wireless wifi, carry out data record, analysis,
It is analyzed by data accumulation, proposition healthy early warning, and Maintenance and Repair plan in advance (such as: vibrating sensor velocity amplitude continuous 10 days
It is interior on the rise under same operating, provide early warning, the operating current progress linearity curve of vibration speed value and pump group motor
Comparison, according to curvilinear distortion amount can be set after data accumulation, judges unit healthy trend).
It further include power module and several charging units, the power module is used to power to mobile robot；
The power module includes battery 4 and charging plug 10, and the charging plug is located at the bottom centre on chassis；
Several charging units are uniformly located on the inspection route of mobile robot, and the ground of the inspection route is equipped with for placing
The mounting groove 11 of charging unit, the bottom surface of the mounting groove are equipped with power supply line 12；
The charging unit includes pedestal 13, and the top surface of the pedestal is equipped with accommodation groove 130, is equipped with cover board 14 in the accommodation groove
With a pair of slide 15, the cover board is located at the top of a pair of slide, is equipped with spring 16 between a pair of slide；
Four location holes 141 and an opening 142, the location hole and pulley correspond on the cover board, described to be open and fill
Plug is corresponding, and the both ends of the opening are hingedly equipped with enabling 143, a pair of slide be located at location hole two-by-two just under
Side, the enabling are corresponded with slide plate, and the inside of the enabling connects ipsilateral slide plate by drawstring 17；
The bottom surface of the accommodation groove is set there are four locating slot 18 and a charging socket 19, and the locating slot and location hole one are a pair of
It answers, the charging socket is corresponding with opening, and the charging socket is connected with power supply line；
The bottom surface on the chassis is equipped with a pair of symmetrically arranged opener and a pair of symmetrically arranged air bag,
A pair of of opener is located at the two sides of charging plug, and the opener and the one-to-one correspondence that opens the door open the door for opening, institute
The bottom surface for stating chassis is equipped with caulking groove 20,
The opener includes telescopic rod 21, and the head of the telescopic rod is equipped with magnet 22, tail portion is hinged in caulking groove, described
Telescopic rod connects caulking groove by tension spring 23, and described open the door is metallic door, and the magnet opens the door for adsorbing；Since telescopic rod is cut with scissors
It connects, when being connected by tension spring, telescopic rod is inclined, towards enabling；
The air bag 24 is located at the outside of opener, and the air bag is for connecting inflator.
At work, by the way that several charging units are arranged, reliable charging in real time is carried out convenient for the battery to mobile robot,
Save the time；Pulley on mobile robot chassis is located at four positioning holes, is acted by opener, and stretch club head
Magnet absorption, which is opened the door, opens, and opens the door and drives corresponding slide plate slid inward by drawstring, at this point, a pair of slide squeezes spring；It is sliding
Wheel can enter in locating slot, and charging plug enters in charging socket, reliably carries out charging action；
After charging, air bag is inflated by inflator, chassis is jacked up, pulley rises, and a pair of slide is in bullet
It is resetted under the action of spring, a pair of slide drives enabling to be closed simultaneously by drawstring, for closing charging socket, plays dust-proof, anti-
The effect of water.
Inflator is arranged on chassis, can set the fixed cycle operator of charging, after being full of, inflator automatic opening movement, and operation
Reliably.
The positioning hole is equipped with a pair of flexible check apron 25.By the flexible check apron of setting, play the role of closing location hole,
So that mobile robot walking is reliable.Since flexible check apron (can be with rubber material) has flexibility, in this way, when slide plate is mobile,
Pulley reliably enters positioning hole.
The bottom surface of the cover board is equipped with sliding slot, and the top surface of the slide plate is equipped with sliding rail 26, and the sliding rail is located in sliding slot.Make
It is reliable relative to cover board sliding to obtain slide plate, facilitates operation.
System deployment in the present invention the 4th draws water station administration institute, real time data and local at the water project management of Jiangdu
Database interaction, data sampling are divided into timing sampling and the state sampling of historical data base (frequency is low).Data Management Analysis mould
Block can call big data cloud platform related application, and analysis data interacts with big data platform database, and when calling will directly be analyzed
At the water project management of related pages nesting Jiangdu the 4th draw water station administration the matched server of this subsystem web page.
In a particular application, it implements function such as: water pump assembly vibration being monitored on-line, real-time exhibition data and wave
Shape；Vibration severity judge and alarm are carried out to water pump assembly；Crash analysis and fault diagnosis are carried out to water pump assembly；Assist operation
Administrative staff fully understand and grasp " health " state of unit equipment；Operational management personnel are helped to grasp the general character of different units
And characteristic states, examine maintenance effect；Water pump assembly operating status is persistently tracked, operational management personnel is helped to grasp water pump machine
Vibration variation tendency during group military service, forms quantization, standardized diagnostic mode；It is intended to maintenance and is changed into state dimension
It repairs, saves maintenance cost, improve unit reliability of operation and economy, the modernization level of lifting means management.
Claims (7)
1. a kind of water conservancy pumping plant automatic tour inspection system, which is characterized in that including mobile robot, main work station and several pumping plants,
The mobile robot includes walking module, integration module, information collection and processing module, wireless aps and several radio network gateways,
The walking module is mobile for controlling mobile robot；
The integration module includes thermal imaging temp probe, HD video probe, resonant method probe and noise analysis probe；
The information collection and processing module are used to acquire the information of integration module and several pumping plants, and analyze data；
The wireless aps are communicated through LAN router with main work station；
The pumping plant is equipped with wireless vibration sensor, radio temperature sensor and wireless leakage sensor, several radio network gateways
It is corresponded with wireless vibration sensor, radio temperature sensor, wireless leakage sensor.
2. a kind of water conservancy pumping plant automatic tour inspection system according to claim 1, which is characterized in that the walking module includes
Chassis, servo motor, servomotor controller, navigation controller and laser radar, servo motor driving chassis walking, institute
The bottom for stating chassis is surrounded by pulley；
The Navigation Control step of the walking module are as follows:
Firstly, according to the total figure at live General Arrangement, manual inspection route and 3D the scanning scene of drawing out, inspection route is being sat
It is the set linear array of coordinate points in mark system, entire map is inputted into included navigation controller, the inspection out of this map
The coordinate set of route is output in driving servomotor controller, controls servo motor left and right turn, in the process laser radar
Real-time Feedback signal duplicate acknowledgment whether coincide default route coordinate points, if offset path be delayed 3 seconds alarm, and active according to
Feedback signal and actual position signal comparison carry out Serve Motor Control makes robot come back to default rail with repair path
Road is delayed 1 second, alarm automatically resets after having returned in default point set.
3. a kind of water conservancy pumping plant automatic tour inspection system according to claim 2, which is characterized in that if being encountered in inspection route
When obstacle, laser radar can prejudge in advance, and internal instant alarming simultaneously carries out avoidance automatically, drive servo motor auto-steering, if
Determine traveling time, after completing traveling time, if radar alarm automatically resets, servo motor opposite direction carries out next path and follows
Ring, process are recycled according to pre-set velocity and obstacle feedback point with this, until completing entire inspection process.
4. a kind of water conservancy pumping plant automatic tour inspection system according to claim 1, which is characterized in that further include touch screen system
System, for showing real time data；
The real time data includes the temperature monitored, noise numerical value, resonant method numerical value and sensor values；Pass through setting
Alarm threshold, instant alarming.
5. a kind of water conservancy pumping plant automatic tour inspection system according to claim 1, which is characterized in that further include power module and
Several charging units, the power module are used to power to mobile robot；
The power module includes battery and charging plug, and the charging plug is located at the bottom centre on chassis；
Several charging units are uniformly located on the inspection route of mobile robot, and the ground of the inspection route is equipped with for placing
The bottom surface of the mounting groove of charging unit, the mounting groove is equipped with power supply line；
The charging unit includes pedestal, and the top surface of the pedestal is equipped with accommodation groove, is equipped with cover board and a pair in the accommodation groove
Slide plate, the cover board are located at the top of a pair of slide, are equipped with spring between a pair of slide；
Four location holes and an opening, the location hole and pulley correspond on the cover board, the opening and charging plug
Corresponding, the both ends of the opening are hingedly equipped with enabling, and a pair of slide is located at the underface of location hole two-by-two, the enabling
It is corresponded with slide plate, the inside of the enabling connects ipsilateral slide plate by drawstring；
The bottom surface of the accommodation groove is set there are four locating slot and a charging socket, and the locating slot and location hole correspond, institute
It is corresponding with opening to state charging socket, the charging socket is connected with power supply line；
The bottom surface on the chassis is equipped with a pair of symmetrically arranged opener and a pair of symmetrically arranged air bag,
A pair of of opener is located at the two sides of charging plug, and the opener and the one-to-one correspondence that opens the door open the door for opening, institute
The bottom surface for stating chassis is equipped with caulking groove,
The opener includes telescopic rod, and the head of the telescopic rod is equipped with magnet, tail portion is hinged in caulking groove, described flexible
Bar connects caulking groove by tension spring, and described open the door is metallic door, and the magnet opens the door for adsorbing；
The air bag is located at the outside of opener, and the air bag is for connecting inflator.
6. a kind of water conservancy pumping plant automatic tour inspection system according to claim 5, which is characterized in that the positioning hole is equipped with
A pair of of flexibility check apron.
7. a kind of water conservancy pumping plant automatic tour inspection system according to claim 5 or 6, which is characterized in that the bottom of the cover board
Face is equipped with sliding slot, and the top surface of the slide plate is equipped with sliding rail, and the sliding rail is located in sliding slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810957071.9A CN109100745B (en) | 2018-08-22 | 2018-08-22 | Automatic system of patrolling and examining of water conservancy pump station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810957071.9A CN109100745B (en) | 2018-08-22 | 2018-08-22 | Automatic system of patrolling and examining of water conservancy pump station |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109100745A true CN109100745A (en) | 2018-12-28 |
| CN109100745B CN109100745B (en) | 2020-08-07 |
Family
ID=64850622
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810957071.9A Active CN109100745B (en) | 2018-08-22 | 2018-08-22 | Automatic system of patrolling and examining of water conservancy pump station |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109100745B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109947107A (en) * | 2019-04-05 | 2019-06-28 | 姜志强 | A kind of intelligent polling method and system of Irrigation Project facility |
| CN114278568A (en) * | 2021-12-08 | 2022-04-05 | 江苏航天水力设备有限公司 | Remote control large centrifugal pump based on Internet of things |
| CN116105845A (en) * | 2023-04-10 | 2023-05-12 | 中安合顺物联网技术(山东)有限公司 | Multidirectional measuring equipment for safety inspection |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4679152A (en) * | 1985-02-20 | 1987-07-07 | Heath Company | Navigation system and method for a mobile robot |
| CN1610208A (en) * | 2003-10-21 | 2005-04-27 | 三星电子株式会社 | Charging apparatus for use with a mobile robot |
| CN101640295A (en) * | 2008-07-31 | 2010-02-03 | 鸿富锦精密工业（深圳）有限公司 | Charging device |
| CN102280826A (en) * | 2011-07-30 | 2011-12-14 | 山东鲁能智能技术有限公司 | Intelligent robot inspection system and intelligent robot inspection method for transformer station |
| CN202285342U (en) * | 2011-11-12 | 2012-06-27 | 山东鲁能智能技术有限公司 | Intelligent polling robot charging device for transformer substation |
| CN205539242U (en) * | 2016-01-29 | 2016-08-31 | 深圳钰湖电力有限公司 | Intelligent inspection device of power plant and system |
| CN106647741A (en) * | 2016-11-16 | 2017-05-10 | 浙江工业大学 | Laser-navigation-based omnibearing motion mechanism control system |
| EP1819026A3 (en) * | 2006-02-14 | 2017-08-30 | Honda Motor Co., Ltd. | Charging system for legged mobile robot |
-
2018
- 2018-08-22 CN CN201810957071.9A patent/CN109100745B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4679152A (en) * | 1985-02-20 | 1987-07-07 | Heath Company | Navigation system and method for a mobile robot |
| CN1610208A (en) * | 2003-10-21 | 2005-04-27 | 三星电子株式会社 | Charging apparatus for use with a mobile robot |
| EP1819026A3 (en) * | 2006-02-14 | 2017-08-30 | Honda Motor Co., Ltd. | Charging system for legged mobile robot |
| CN101640295A (en) * | 2008-07-31 | 2010-02-03 | 鸿富锦精密工业（深圳）有限公司 | Charging device |
| CN102280826A (en) * | 2011-07-30 | 2011-12-14 | 山东鲁能智能技术有限公司 | Intelligent robot inspection system and intelligent robot inspection method for transformer station |
| CN202285342U (en) * | 2011-11-12 | 2012-06-27 | 山东鲁能智能技术有限公司 | Intelligent polling robot charging device for transformer substation |
| CN205539242U (en) * | 2016-01-29 | 2016-08-31 | 深圳钰湖电力有限公司 | Intelligent inspection device of power plant and system |
| CN106647741A (en) * | 2016-11-16 | 2017-05-10 | 浙江工业大学 | Laser-navigation-based omnibearing motion mechanism control system |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109947107A (en) * | 2019-04-05 | 2019-06-28 | 姜志强 | A kind of intelligent polling method and system of Irrigation Project facility |
| CN109947107B (en) * | 2019-04-05 | 2022-02-18 | 姜志强 | Intelligent inspection method and system for irrigation area engineering facilities |
| CN114278568A (en) * | 2021-12-08 | 2022-04-05 | 江苏航天水力设备有限公司 | Remote control large centrifugal pump based on Internet of things |
| CN114278568B (en) * | 2021-12-08 | 2022-11-15 | 江苏航天水力设备有限公司 | Remote control large centrifugal pump based on Internet of things |
| CN116105845A (en) * | 2023-04-10 | 2023-05-12 | 中安合顺物联网技术(山东)有限公司 | Multidirectional measuring equipment for safety inspection |
| CN116105845B (en) * | 2023-04-10 | 2023-06-27 | 中安合顺物联网技术(山东)有限公司 | Multidirectional measuring equipment for safety inspection |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109100745B (en) | 2020-08-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109100745A (en) | A kind of water conservancy pumping plant automatic tour inspection system | |
| US9689882B2 (en) | Area monitoring system and corresponding method for operating the same | |
| CN110908370B (en) | Unmanned inspection task planning method and system for thermal power plant | |
| CN104718121B (en) | Diagnostic method for rail vehicle | |
| CN107608375B (en) | Degraded insulator detection system and method based on unmanned aerial vehicle | |
| CN106006344A (en) | Online escalator fault early warning system and fault diagnosis method | |
| CN1442822A (en) | Supplementary system and device suitable for data collection, analysis and control | |
| CN107526329A (en) | Robot management system based on artificial intelligence design | |
| CN107458420A (en) | Locomotive roof reorganizes and outfit robot, apparatus for work and system | |
| CN107650870A (en) | The servicing work method of locomotive roof | |
| CN110888423A (en) | Intelligent inspection system for tunnel | |
| CN111429107A (en) | Intelligent construction site management system | |
| CN106129889A (en) | A kind of insulator contamination on-Line Monitor Device and insulator decontamination apparatus | |
| CN108739723A (en) | The intelligence spray robot of bi-directional data exchange remote control can be realized based on crawler body | |
| CN205427891U (en) | Motor vibration monitoring system based on RFID | |
| CN103424178B (en) | Method for detecting working conditions of compressor of refrigerating equipment | |
| CN112213131A (en) | Rotary machine overhauls and fault diagnosis analog system | |
| CN209805505U (en) | Mobile inspection device for power distribution room | |
| CN109277285A (en) | A kind of intelligent monitor system for vibrating screen | |
| CN113779734A (en) | Straddle type single-track turnout monitoring and maintaining system based on artificial intelligence | |
| CN109084997A (en) | A kind of the new-energy automobile fault detection means and detection method of automation | |
| CN216067442U (en) | Intelligent robot for equipment fault diagnosis of automobile manufacturing workshop | |
| CN204576260U (en) | A kind of warehouse safety supervision robot | |
| CN109916610A (en) | A kind of Coal Mine Electromechanical Equipment facility appraisal procedure | |
| CN209391863U (en) | A kind of Intelligent cleaning robot system based on indoor positioning |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 225200 No. 133 Longcheng Road, Jiangdu District, Jiangsu, Yangzhou Applicant after: JIANGDU BRANCH OF JUANGSU PROVINCIAL HYDRAULIC PROJECT ADMINISTRATION DEPARTMENT Applicant after: YANGZHOU XINGZHOU TECHNOLOGY Co.,Ltd. Address before: 225200 No. 3 Building, Binjiang Mingyuan, Jiangdu District, Yangzhou City, Jiangsu Province Applicant before: YANGZHOU XINGZHOU TECHNOLOGY Co.,Ltd. Applicant before: JIANGDU BRANCH OF JUANGSU PROVINCIAL HYDRAULIC PROJECT ADMINISTRATION DEPARTMENT |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |