CN109100745B - Automatic system of patrolling and examining of water conservancy pump station - Google Patents
Automatic system of patrolling and examining of water conservancy pump station Download PDFInfo
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- CN109100745B CN109100745B CN201810957071.9A CN201810957071A CN109100745B CN 109100745 B CN109100745 B CN 109100745B CN 201810957071 A CN201810957071 A CN 201810957071A CN 109100745 B CN109100745 B CN 109100745B
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- wireless
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- water conservancy
- mobile robot
- charging
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- 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
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- 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
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- 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
An automatic inspection system for a water conservancy pump station. Relate to water conservancy pump station, especially relate to water conservancy pump station's automatic system of patrolling and examining. The automatic water conservancy pump station inspection system is convenient to operate and capable of improving inspection efficiency and quality. The system comprises a mobile robot, a main workstation and a plurality of pump stations, wherein the mobile robot comprises a walking module, an integrated module, an information acquisition and processing module, a wireless AP and a plurality of wireless gateways, and the walking module is used for controlling the mobile robot to move; the integrated module comprises a thermal imaging temperature probe, a high-definition video probe, a Doppler vibration measurement probe and a noise analysis probe; the wireless AP is communicated with a main workstation through a local area network router; the pumping station is provided with a wireless vibration sensor, a wireless temperature sensor and a wireless water leakage sensor, and the wireless gateways correspond to the wireless vibration sensor, the wireless temperature sensor and the wireless water leakage sensor one to one. The invention is convenient to process and improves the working efficiency.
Description
Technical Field
The invention relates to a water conservancy pump station, in particular to an automatic inspection system of the water conservancy pump station.
Background
At least 7 complete-adjustment axial flow machines 2900Z L Q30-7.8 are installed in the fourth pumping station in Jiangdu, and a T L3400-40 synchronous motor is matched, so that mechanical obstacles such as wear, corrosion and aging of parts, poor running condition, large vibration and swing degree and the like of a unit are considered along with the extension of running time.
The whole process monitoring of the system life cycle of the existing water conservancy pump group mainly depends on the health trend monitoring or fault monitoring of equipment such as various sensors, thermal imaging infrared temperature monitoring and water leakage sensors, but a large amount of electric power and signal cables are required to be laid for transmission, the difficulty of installation and later maintenance is high, and the working efficiency is reduced.
Disclosure of Invention
Aiming at the problems, the invention provides the automatic inspection system of the water conservancy pump station, which is convenient to operate and improves the inspection efficiency and quality.
The technical scheme of the invention is as follows: comprises a mobile robot, a main workstation and a plurality of pump stations, wherein the mobile robot comprises a walking module, an integrated module, an information acquisition and processing module, a wireless AP and a plurality of wireless gateways,
the walking module is used for controlling the mobile robot to move;
the integrated module comprises a thermal imaging temperature probe, a high-definition video probe, a Doppler vibration measurement probe and a noise analysis probe;
the information acquisition and processing module is used for acquiring information of the integrated module and the plurality of pump stations and analyzing data;
the wireless AP is communicated with a main workstation through a local area network router;
the pumping station is provided with a wireless vibration sensor, a wireless temperature sensor and a wireless water leakage sensor, and the wireless gateways correspond to the wireless vibration sensor, the wireless temperature sensor and the wireless water leakage sensor one to one.
The walking module comprises a chassis, a servo motor controller, a navigation controller and a laser radar, wherein the servo motor drives the chassis to walk, and pulleys are arranged on the periphery of the bottom of the chassis;
the navigation control steps of the walking module are as follows:
firstly, drawing a field general diagram according to a field general layout diagram, a manual routing inspection route and 3D scanning, wherein the routing inspection route is an integrated linear array of coordinate points in a coordinate system, the whole map is input into a self-contained navigation controller, the coordinate assembly of the routing inspection route in the map is output into a drive servo motor controller, the servo motor is controlled to turn left and right, a laser radar real-time feedback signal repeatedly confirms whether the coordinate points of the preset route are matched or not in the process, if the deviation path is delayed for 3 seconds, alarming is carried out, servo motor control is actively carried out according to the comparison of the feedback signal and an actual position signal, the path is repaired, the robot returns to the preset track again, and the alarming is automatically reset after the robot returns to the preset point assembly and is delayed for 1 second.
If an obstacle is encountered in the routing inspection route, the laser radar can be prejudged in advance, the interior alarms and automatically avoids the obstacle, the servo motor is driven to automatically turn, the traveling time is set, after the traveling time is finished, if the radar alarms and automatically resets, the servo motor performs next route circulation in the opposite direction, and the process is circulated according to the preset speed and the obstacle feedback point until the whole routing inspection process is finished.
The touch screen system is used for displaying real-time data;
the real-time data comprises monitored temperature, noise values, Doppler vibration measurement values and sensor values; and an alarm threshold value is set, so that an alarm is given immediately.
The mobile robot charging system further comprises a power supply module and a plurality of charging devices, wherein the power supply module is used for supplying power to the mobile robot;
the power supply module comprises a battery and a charging plug, and the charging plug is positioned in the center of the bottom of the chassis;
the charging devices are uniformly distributed on an inspection route of the mobile robot, a mounting groove for placing the charging devices is formed in the ground of the inspection route, and a power line is laid on the bottom surface of the mounting groove;
the charging device comprises a base, wherein the top surface of the base is provided with a containing groove, a cover plate and a pair of sliding plates are arranged in the containing groove, the cover plate is positioned above the pair of sliding plates, and a spring is arranged between the pair of sliding plates;
the cover plate is provided with four positioning holes and an opening, the positioning holes correspond to the pulleys one by one, the opening corresponds to the charging plug, two ends of the opening are hinged with door opening plates, a pair of sliding plates are respectively positioned under every two positioning holes, the door opening plates correspond to the sliding plates one by one, and the inner sides of the door opening plates are connected with the sliding plates on the same side through pull ropes;
the bottom surface of the accommodating groove is provided with four positioning grooves and a charging socket, the positioning grooves correspond to the positioning holes one by one, the charging socket corresponds to the opening, and the charging socket is connected with a power line;
the bottom surface of the chassis is provided with a pair of symmetrically arranged opening mechanisms and a pair of symmetrically arranged air bags,
a pair of opening mechanisms are positioned at two sides of the charging plug, the opening mechanisms correspond to the door opening one by one and are used for opening the door opening, the bottom surface of the chassis is provided with an embedded groove,
the opening mechanism comprises a telescopic rod, the head of the telescopic rod is provided with a magnet, the tail of the telescopic rod is hinged in the caulking groove, the telescopic rod is connected with the caulking groove through a tension spring, the door is a metal door, and the magnet is used for adsorbing the door;
the air bag is positioned outside the opening mechanism and is used for connecting an inflator.
A pair of flexible stop curtains is arranged in the positioning hole.
The bottom surface of apron is equipped with the spout, the top surface of slide is equipped with the slide rail, the slide rail is located the spout.
The invention comprises a laser navigation chassis assembly, a wireless gateway, a wireless AP, a thermal imaging temperature probe, a high-definition video probe, a Doppler vibration measurement probe, a noise analysis probe and the like, provides an automatic routing inspection and wireless signal receiving device in a complex pump station or factory environment, has simple structure and strong expansibility, can set tasks and wireless data receiving paths according to different complex environments, and can set the wireless AP uploaded by all information with time stamps in real time or periodically according to actual conditions on site, and can be applied to various complex structure environments.
Meanwhile, the wireless vibration sensor, the wireless temperature sensor and the wireless water leakage sensor are mounted on the pump station, vibration data of each key point are collected in real time, the running state of the water pump unit can be effectively monitored, early warning is found for vibration abnormity and the like of the unit, fault properties, positions, reasons and severity of the abnormal vibration unit are analyzed and diagnosed, and scientific basis is provided for equipment running state analysis and periodic maintenance.
The invention is convenient to process and improves the working efficiency.
Drawings
Figure 1 is a schematic block diagram of the present invention,
figure 2 is a block diagram of a navigation control,
figure 3 is a schematic view of the structure of a mobile robot,
figure 4 is a schematic view of the structure of the cover plate,
figure 5 is a schematic view of the structure of the base,
figure 6 is a schematic view of the connection structure of the cover plate and the base,
fig 7 is a schematic view showing the structure of the charging device on the inspection route,
FIG. 8 is an enlarged view of a portion of FIG. 3 at A;
in the figure, 1 is a chassis, 2 is a touch screen, 3 is a pulley, 4 is a battery, 5 is a noise analysis probe, 6 is a doppler vibrometer, 7 is a high definition video probe, 8 is a thermal imaging probe, 9 is a wireless AP, 10 is a charging plug, 11 is a mounting groove, 12 is a power cord, 13 is a base, 130 is a receiving groove, 14 is a cover plate, 141 is a positioning hole, 142 is an opening, 143 is a door, 15 is a sliding plate, 16 is a spring, 17 is a pull rope, 18 is a positioning groove, 19 is a charging socket, 20 is a caulking groove, 21 is a telescopic rod, 22 is a magnet, 23 is a tension spring, 24 is an air bag, 25 is a flexible curtain and 26 is a sliding rail;
the arrows in fig. 7 represent the cover plate being placed downward into the receiving grooves of the base.
Detailed Description
The invention is shown in figures 1-8, comprising a mobile robot, a main workstation and a plurality of pump stations, wherein the mobile robot comprises a walking module, an integration module, an information acquisition and processing module, a wireless AP9 and a plurality of wireless gateways,
the walking module is used for controlling the mobile robot to move;
the integrated module comprises a thermal imaging temperature probe 8, a high-definition video probe 7, a Doppler vibration measurement probe 6 and a noise analysis probe 5;
the information acquisition and processing module is used for acquiring information of the integrated module and the plurality of pump stations and analyzing data;
the wireless AP is communicated with a main workstation through a local area network router;
the pumping station is provided with a wireless vibration sensor, a wireless temperature sensor and a wireless water leakage sensor, and the wireless gateways correspond to the wireless vibration sensor, the wireless temperature sensor and the wireless water leakage sensor one to one.
The invention not only contains the internal function module, but also can receive the external wireless sensor signal without limit through the gateway device on the robot, and has very elastic expansibility. The health trend monitoring of the whole equipment whole life cycle adopts a wireless universal frequency scheme, information such as pressure, temperature and the like of an inlet and an outlet of a pump set can be increased outside a system, and the wireless scheme can be adopted, so that the operation is convenient.
The walking module comprises a chassis 1, a servo motor controller, a navigation controller and a laser radar, wherein the servo motor drives the chassis to walk, and pulleys 3 are arranged on the periphery of the bottom of the chassis;
the navigation control steps of the walking module are as follows:
firstly, drawing a field general diagram according to a field general layout diagram, a manual routing inspection route and 3D scanning, wherein the routing inspection route is an integrated linear array of coordinate points in a coordinate system, the whole map is input into a self-contained navigation controller, the coordinate assembly of the routing inspection route in the map is output into a drive servo motor controller, a servo motor is controlled to turn left and right (the motor speed value is preset to be 0.8 m/s) in the process, a laser radar real-time feedback signal repeatedly confirms whether the coordinate points are matched with the preset route coordinate points (the accuracy is 0.1 m) in the process, if the deviation route is delayed for 3 seconds, the alarm is given out, the servo motor control is actively carried out according to the comparison of the feedback signal and an actual position signal, the route is repaired, the robot returns to the preset track again, and is delayed for 1 second until the robot returns to the preset point assembly, and the alarm is.
If an obstacle is encountered in the routing inspection route, the laser radar can be prejudged in advance, an alarm is given in real time inside the routing inspection route, the obstacle is automatically avoided on the right side or the left side (which can be preset according to actual conditions on site), the servo motor is driven to automatically turn for 45 degrees, the traveling time is calculated according to a trigonometric function, after the traveling time is finished, if the radar alarm is automatically reset, the servo motor performs next path circulation in the opposite direction for 45 degrees, and the process is circulated according to the preset speed and the obstacle feedback point. Until the whole routing inspection process is completed.
The touch screen system is used for displaying real-time data;
the real-time data comprises monitored temperature, noise values, Doppler vibration measurement values and sensor values; and an alarm threshold value is set, so that an alarm is given immediately.
Through setting up touch-sensitive screen 2, be convenient for directly perceived observation data, the operation is reliable.
A win7 touch screen system is embedded in the mobile robot structure, all inspection processes are automatically recorded, monitored temperatures, sensor values, noise values and Doppler vibration measurement values are set as alarm thresholds, alarm is given immediately, alarm points are communicated to a main workstation in a switching value mode through the Ethernet directly, interface alarm points in a server are activated to flash, and a buzzer of a computer is activated.
All analog quantity values are transmitted to a server in a local area network through wireless wifi for data recording and analysis, health early warning is provided through data accumulation analysis, and maintenance and overhaul plans are maintained in advance (for example, the speed value of a vibration sensor has an ascending trend in the same working condition within 10 continuous days, early warning is given, the vibration speed value and the working current of a pump set motor are compared in a linear curve mode, and the health trend of a unit can be judged by setting curve distortion quantity after data accumulation).
The mobile robot charging system further comprises a power supply module and a plurality of charging devices, wherein the power supply module is used for supplying power to the mobile robot;
the power supply module comprises a battery 4 and a charging plug 10, and the charging plug is positioned in the center of the bottom of the chassis;
the charging devices are uniformly distributed on an inspection route of the mobile robot, a mounting groove 11 for placing the charging devices is formed in the ground of the inspection route, and a power line 12 is laid on the bottom surface of the mounting groove;
the charging device comprises a base 13, wherein the top surface of the base is provided with a containing groove 130, a cover plate 14 and a pair of sliding plates 15 are arranged in the containing groove, the cover plate is positioned above the pair of sliding plates, and a spring 16 is arranged between the pair of sliding plates;
the cover plate is provided with four positioning holes 141 and an opening 142, the positioning holes correspond to the pulleys one by one, the opening corresponds to the charging plug, two ends of the opening are hinged with door opening 143, a pair of sliding plates are respectively positioned right below every two positioning holes, the door opening corresponds to the sliding plates one by one, and the inner sides of the door opening are connected with the sliding plates on the same side through pull ropes 17;
the bottom surface of the accommodating groove is provided with four positioning grooves 18 and a charging socket 19, the positioning grooves correspond to the positioning holes one by one, the charging socket corresponds to the opening, and the charging socket is connected with a power line;
the bottom surface of the chassis is provided with a pair of symmetrically arranged opening mechanisms and a pair of symmetrically arranged air bags,
a pair of opening mechanisms are positioned at two sides of the charging plug, the opening mechanisms correspond to the door opening one by one and are used for opening the door opening, the bottom surface of the chassis is provided with an embedded groove 20,
the opening mechanism comprises a telescopic rod 21, the head of the telescopic rod is provided with a magnet 22, the tail of the telescopic rod is hinged in the caulking groove, the telescopic rod is connected with the caulking groove through a tension spring 23, the door is a metal door, and the magnet is used for adsorbing the door; because the telescopic rod is hinged, when the telescopic rod is connected through the tension spring, the telescopic rod is in an inclined state and faces towards the door;
the airbag 24 is located outside the deployment mechanism and is used to connect an inflator.
In the work, the plurality of charging devices are arranged, so that the batteries of the mobile robot can be charged reliably in real time, and the time is saved; pulleys on the mobile robot chassis are positioned in the four positioning holes, through the action of the opening mechanism, the magnet at the head of the telescopic rod adsorbs the opening door to be opened, the opening door drives the corresponding sliding plate to slide inwards through the pull rope, and at the moment, the pair of sliding plates extrude the spring; the pulley can enter the positioning groove, and the charging plug enters the charging socket to reliably perform charging action;
after charging, aerify the gasbag through the inflator, jack-up the chassis, the pulley rises, and a pair of slide resets under the effect of spring, and a pair of slide passes through the stay cord and drives simultaneously to open the door closed for seal charging socket plays dustproof, waterproof effect.
The inflator is arranged on the chassis, timing operation of charging can be set, and after the inflator is fully charged, the inflator automatically opens to act, and the operation is reliable.
A pair of flexible curtains 25 is arranged in the positioning holes. Through setting up flexible check curtain, play the effect of closed locating hole for mobile robot walks reliably. Because the flexible curtain (which can be made of rubber) has flexibility, the pulley can reliably enter the positioning hole when the sliding plate moves.
The bottom surface of apron is equipped with the spout, the top surface of slide is equipped with slide rail 26, the slide rail is located the spout. The sliding plate can reliably slide relative to the cover plate, and the operation is convenient.
The system is deployed in a fourth pumping station management place in a river water conservancy project management place, real-time data interact with a local database, and data sampling is divided into timing sampling and state sampling of a historical database (low in frequency). The data processing and analyzing module can call related applications of the big data cloud platform, the analysis data interact with a big data platform database, and when the analysis related pages are called, the analysis related pages are directly nested in a fourth water pumping station at the river city hydraulic engineering management place to manage web pages of servers allocated to the system.
In a specific application, the following functions are realized: the method comprises the following steps of monitoring vibration of the water pump unit on line, and displaying data and waveforms in real time; judging the vibration intensity of the water pump unit and giving an alarm; performing accident analysis and fault diagnosis on the water pump unit; the system helps the operation management personnel to fully know and master the health state of the unit equipment; the method helps the operation manager to master the commonalities and characteristic states of different units and check the maintenance effect; continuously tracking the running state of the water pump unit, helping an operation manager to master the vibration change trend of the water pump unit in the service process, and forming a quantitative and standardized diagnosis mode; the planned maintenance is changed into the state maintenance, the maintenance cost is saved, the reliability and the economical efficiency of the unit operation are improved, and the modernization level of equipment management is improved.
Claims (6)
1. An automatic inspection system for a water conservancy pump station is characterized by comprising a mobile robot, a main workstation and a plurality of pump stations, wherein the mobile robot comprises a walking module, an integrated module, an information acquisition and processing module, a wireless AP and a plurality of wireless gateways,
the walking module is used for controlling the mobile robot to move;
the integrated module comprises a thermal imaging temperature probe, a high-definition video probe, a Doppler vibration measurement probe and a noise analysis probe;
the information acquisition and processing module is used for acquiring information of the integrated module and the plurality of pump stations and analyzing data;
the wireless AP is communicated with a main workstation through a local area network router;
the wireless vibration sensor, the wireless temperature sensor and the wireless water leakage sensor are arranged on the pump station, and the wireless gateways correspond to the wireless vibration sensor, the wireless temperature sensor and the wireless water leakage sensor one by one;
the mobile robot charging system further comprises a power supply module and a plurality of charging devices, wherein the power supply module is used for supplying power to the mobile robot;
the power supply module comprises a battery and a charging plug, and the charging plug is positioned in the center of the bottom of the chassis;
the charging devices are uniformly distributed on an inspection route of the mobile robot, a mounting groove for placing the charging devices is formed in the ground of the inspection route, and a power line is laid on the bottom surface of the mounting groove;
the charging device comprises a base, wherein the top surface of the base is provided with a containing groove, a cover plate and a pair of sliding plates are arranged in the containing groove, the cover plate is positioned above the pair of sliding plates, and a spring is arranged between the pair of sliding plates;
the cover plate is provided with four positioning holes and an opening, the positioning holes correspond to the pulleys one by one, the opening corresponds to the charging plug, two ends of the opening are hinged with door opening plates, a pair of sliding plates are respectively positioned under every two positioning holes, the door opening plates correspond to the sliding plates one by one, and the inner sides of the door opening plates are connected with the sliding plates on the same side through pull ropes;
the bottom surface of the accommodating groove is provided with four positioning grooves and a charging socket, the positioning grooves correspond to the positioning holes one by one, the charging socket corresponds to the opening, and the charging socket is connected with a power line;
the bottom surface of the chassis is provided with a pair of symmetrically arranged opening mechanisms and a pair of symmetrically arranged air bags,
a pair of opening mechanisms are positioned at two sides of the charging plug, the opening mechanisms correspond to the door opening one by one and are used for opening the door opening, the bottom surface of the chassis is provided with an embedded groove,
the opening mechanism comprises a telescopic rod, the head of the telescopic rod is provided with a magnet, the tail of the telescopic rod is hinged in the caulking groove, the telescopic rod is connected with the caulking groove through a tension spring, the door is a metal door, and the magnet is used for adsorbing the door;
the air bag is positioned outside the opening mechanism and is used for connecting an inflator.
2. The automatic inspection system of the water conservancy pump station according to claim 1, wherein the walking module comprises a chassis, a servo motor controller, a navigation controller and a laser radar, the servo motor drives the chassis to walk, and pulleys are arranged around the bottom of the chassis;
the navigation control steps of the walking module are as follows:
firstly, drawing a field general diagram according to a field general layout diagram, a manual routing inspection route and 3D scanning, wherein the routing inspection route is an integrated linear array of coordinate points in a coordinate system, the whole map is input into a self-contained navigation controller, the coordinate assembly of the routing inspection route in the map is output into a drive servo motor controller, the servo motor is controlled to turn left and right, a laser radar real-time feedback signal repeatedly confirms whether the coordinate points of the preset route are matched or not in the process, if the deviation path is delayed for 3 seconds, alarming is carried out, servo motor control is actively carried out according to the comparison of the feedback signal and an actual position signal, the path is repaired, the robot returns to the preset track again, and the alarming is automatically reset after the robot returns to the preset point assembly and is delayed for 1 second.
3. The automatic inspection system for the water conservancy pumping station according to claim 2, wherein if an obstacle is encountered in an inspection route, the laser radar can predict in advance, alarm and avoid the obstacle automatically in real time inside, drive the servo motor to turn automatically, set the traveling time, and after the traveling time is completed, if the radar alarm is automatically reset, the servo motor performs the next path cycle in the opposite direction, and the process is cycled according to the preset speed and the obstacle feedback point until the whole inspection process is completed.
4. The automatic inspection system for the water conservancy pumping station according to claim 1, further comprising a touch screen system for displaying real-time data;
the real-time data comprises monitored temperature, noise values, Doppler vibration measurement values and sensor values; and an alarm threshold value is set, so that an alarm is given immediately.
5. The automatic inspection system for the water conservancy pumping station according to claim 1, wherein a pair of flexible check curtains are arranged in the positioning hole.
6. The automatic inspection system for the water conservancy pumping station according to claim 1 or 5, wherein a sliding groove is formed in the bottom surface of the cover plate, a sliding rail is arranged on the top surface of the sliding plate, and the sliding rail is located in the sliding groove.
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| CN201810957071.9A CN109100745B (en) | 2018-08-22 | 2018-08-22 | Automatic system of patrolling and examining of water conservancy pump station |
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| CN201810957071.9A CN109100745B (en) | 2018-08-22 | 2018-08-22 | Automatic system of patrolling and examining of water conservancy pump station |
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| CN109947107B (en) * | 2019-04-05 | 2022-02-18 | 姜志强 | Intelligent inspection method and system for irrigation area engineering facilities |
| 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 |
| 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 |
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