CN109991892A - A kind of inside transformer detection robot control system and control method - Google Patents
A kind of inside transformer detection robot control system and control method Download PDFInfo
- Publication number
- CN109991892A CN109991892A CN201711485493.2A CN201711485493A CN109991892A CN 109991892 A CN109991892 A CN 109991892A CN 201711485493 A CN201711485493 A CN 201711485493A CN 109991892 A CN109991892 A CN 109991892A
- Authority
- CN
- China
- Prior art keywords
- robot
- inside transformer
- control system
- module
- control
- 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.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of inside transformer detection robot control system and control method, system include robot body control system, robot remote control terminal.Robot body control system includes: robot core control panel, jet pump, jet pump drive module, power module, depth gauge, electronic compass, WiFi communication module, WiFi video camera, and robot remote control terminal is made of wireless router, Industrial PC Computer.Method includes that robot remote control terminal exports control instruction and gives robot body control system, robot body control system controls robot and moves in inside transformer, real-time detection robot inside transformer status information and inside transformer ambient image and be uploaded to robot remote control terminal, realize that robot reconnoitres the failure of inside transformer.The present invention can efficient remote control robot motion, realize robot inside transformer small space observe, help to realize oil-immersed transformer failure detection intelligent.
Description
Technical field
The present invention relates to the inside transformer detection technique field of power grid O&M equipment, in specifically a kind of transformer
Detect robot control system and control method in portion.
Background technique
In the operational process of electric system, transformer carries the function of voltage transformation, electric energy distribution and transmission, is tieing up
It is played an important role in shield stability of power system and reliability.Meanwhile transformer fault is also entire power system stability
The important hidden danger of property.Currently, common fault recognition method is inside transformer oil level, oil temperature, dissolution according to caused by failure
The quantity of states such as gas judge the type of fault point, these methods belong to indirect judgment method, and accordingly, there exist fault type judgements not
Accurately, the problems such as localization of fault is difficult.Currently, accurately to judge abort situation, it usually needs be allowed to dry transformer insulation oil, lead to
It crosses to hang out transformer outer cover or testing staff and enter inside transformer through manhole and explore.Testing staff enters in transformer
When portion is overhauled, the toxic gas decomposed in the transformer oil course of work is easy to cause harm to the human body.For accurate judgement change
Depressor failure vertex type and position, the Technology designs transformations such as fusing wireless transmission technology, integrated navigation and location technology, underwater sealing
Robot is detected inside device.Robot uses jet drive mode, and the long-range control how effectively realized to robot is to work as
Preceding important research direction.
Summary of the invention
Technical problem to be solved by the present invention lies in provide a kind of inside transformer detection robot control system and control
Method processed is, it can be achieved that robot is controlled in the remote control of transformer oil medium.
Present invention technical solution used for the above purpose is: a kind of control system, inside transformer detection robot
System, comprising:
Robot remote control terminal exports control instruction and realizes to robot to robot body control system in transformer
Internal long-range control；
It is wirelessly connected between robot body control system, with robot remote control terminal, controls robot in transformer
Internal motion, real-time detection robot inside transformer location status information and inside transformer ambient image, thus real
Existing robot reconnoitres the failure of inside transformer.
The robot body control system includes:
Position detecting module, location status information of the detection robot in inside transformer；
WiFi camara module, captured in real-time inside transformer ambient image；
Jet pump drive module connects jet pump, drives jet pump according to the control instruction of robot control panel, thus real
Movement of the existing robot in inside transformer；
Power module provides electric energy for robot control panel；
Robot control panel is separately connected jet pump drive module, position detecting module, WiFi communication module, WiFi and takes the photograph
Camera module；For acquiring robot in the location status information of inside transformer, inside transformer ambient image and passing through
The output of WiFi communication module；It is also used to obtain electric energy from power module and is supplied to above-mentioned each module；
WiFi communication module, the communication for robot control panel and robot remote control terminal.
The position detecting module includes:
Electronic compass, posture information of the detection robot in inside transformer；The posture information includes deflection, roll
Angle, pitch angle and 3-axis acceleration；
Depth gauge, depth information of the detection robot in inside transformer.
The robot control panel includes:
Single-chip microcontroller connects depth gauge using the AD acquisition port inside single-chip microcontroller, realizes robot location's depth information
Detection；
Chip MAX232, connect single-chip microcontroller, receive the control instruction of single-chip microcontroller and by the port RC232 export respectively to
WiFi communication module, electronic compass；
Analog-digital chip connects single-chip microcontroller, expands 6 road analog output ports connection jet pump drive module, real
Speed control of the existing single-chip microcontroller to jet pump.
The robot control panel further includes power conversion module, and the 12V voltage that power module provides is directly output to
Jet pump drive module is converted to 5V voltage for depth gauge, electronic compass, WiFi video camera, WiFi communication module for power supply, also
It is integrated with 3.3V power supply chip and provides electric energy for single-chip microcontroller.
The jet pump drive module is 6, is respectively used to 4 horizontal-jet pumps of driving and 2 vertical jet pumps；It is described
Jet pump is arranged in robot for providing power to robot motion.
The robot remote control terminal includes: wireless router, Industrial PC Computer；Industrial PC Computer is defeated by wireless router
Motion control instruction gives robot body control system out, and the robotary that also reception robot body control system uploads is believed
Breath and inside transformer ambient image are simultaneously shown；The Industrial PC Computer is touch screen.
A kind of inside transformer detection robot control method, comprising:
Robot remote control terminal exports control instruction and gives robot body control system, receives robot body control system
The step of location status information and inside transformer ambient image returned of uniting；
Robot body control system controls robot and moves in inside transformer, and real-time detection robot is in transformer
The step of status information and inside transformer ambient image in portion.
The robot remote control terminal exports control instruction and gives robot body control system, receives robot body control
The step of location status information and inside transformer ambient image that system processed returns, including；
Step S1: robot remote control terminal initializes control interface, network communication and image；
Step S2: when detecting that wireless router has upload data to need to receive, automatic trigger is received, stores and is shown
Data；
Step S3: the inside transformer ambient image that robot remote control terminal real-time reception wireless router uploads；
Step S4: control command and data of the robot remote control terminal according to control interface, triggering timer timing hair
Motion control instruction and Monitoring instruction is sent to give robot body control system.
The robot body control system control robot is moved in inside transformer, and real-time detection robot is in transformation
The step of ambient image of status information and inside transformer inside device, comprising:
Step S1: robot body control system initializes internal monitoring and control data, and it is real to open WiFi communication module
When monitored whether to want received control instruction；
Step S2: when detecting that remote control terminal sends control instruction, start to receive control instruction；
Step S3: verifying received control instruction, after verifying successfully, exports motion control instruction and drives to jet pump
Dynamic model block control injection pump work provides power for robot；
Step S4: by electronic compass real-time monitoring robot inside transformer posture information；The posture information
Including deflection, roll angle, pitch angle and 3-axis acceleration；
Step S5: by depth gauge real-time monitoring robot inside transformer depth information；
Step S6: pass through WiFi camara module real-time monitoring inside transformer ambient image；
Step S7: the posture information read, depth information and inside transformer ambient image are passed through into WiFi communication mould
Block is sent to remote control terminal.
The invention has the following beneficial effects and advantage:
1. the achievable robot of the present invention reduces transformer in the inside transformer mobile observation for being full of transformer oil
Maintenance cost has saved maintenance time.
2. robot body control system proposed by the present invention have the characteristics that it is low in energy consumption, be conducive to improve robot becoming
Observation time inside depressor；The system has the characteristics that small in size simultaneously, is conducive to reduce robot volume.
3. robot proposed by the present invention uses WiFi communication control technology, it can be applied to other oil for being full of transformer oil
The space applications such as tank have good versatility.
Detailed description of the invention
Fig. 1 is that inside transformer of the present invention detects robot control system architecture figure；
Fig. 2 is that inside transformer of the present invention detects robot body control system power supply the principle figure；
Fig. 3 is that inside transformer of the present invention detects robot body control system method flow diagram；
Fig. 4 is that inside transformer of the present invention detects robot remote control terminal control method flow chart.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and embodiments.
The present invention is a kind of inside transformer detection robot control system and control method.The robot control system
Structure chart is as shown in Figure 1, mainly include robot body control system, robot remote control terminal.Robot body control system
System specifically include that robot core control panel, jet pump drive module, jet pump, electronic compass, depth gauge, power module,
WiFi communication module, WiFi video camera.
The robot core control panel controller is designed using the single-chip microcontroller of low-power consumption, on the basis of singlechip controller
It is upper to have expanded 2 tunnel RS232 interfaces using chip MAX232, wherein 1 tunnel connection electronic compass, 1 tunnel connect WiFi communication module；
6 road analog output ports have been expanded using analog-digital chip, jet pump drive module has been connected, realizes the speed of jet pump
Control；Depth gauge is connected using the AD acquisition port inside single-chip microcontroller, realizes the detection of robot working depth information.
The robot body control system power management architecture figure is as shown in Fig. 2, it can be seen that robot core control
Making sheet is integrated with power management function, and the output of battery module is connect with core control panel 12V power module input interface.Core
Control panel is integrated with 5V power module, by 12V cell voltage be converted to 4 road 5V be depth gauge, electronic compass, WiFi video camera,
WiFi communication module for power supply is integrated with 3.3V power supply chip also as single-chip microcontroller and provides electric energy, further includes 6 road 12V power output ends
Mouthful, respectively jet pump drive module provides electric energy.
The electronic compass uses miniature attitude heading reference system, by 3 axis MEMS gyro, 3 axis MEMS accelerometer, three axis
The sensor of the types such as magnetic resistance type magnetometer is constituted.The depth gauge uses pressure transmitter.Jet pump drive module is using double H
Bridge driving chip L298N.
The robot remote control terminal is mainly made of wireless industrial router, industrial panel computer, wireless industrial road
By device using building WLAN, the WiFi communication module of robot body control system, WiFi video camera and robot are remote
The industrial panel computer at process control end is connected to WLAN, realizes communication each other.Industrial panel computer uses and grinds China
PPC3151 develops robot remote control terminal software on industrial panel computer.
A kind of inside transformer provided by the invention detects robot control method, it may include: robot body control system
System control method, robot remote control terminal control method, program flow diagram difference are as shown in Figure 3,4.Robot body control
System control method specifically includes that
Step S1, microcontroller circuit call initialization of (a) serial ports function, jet pump initialization function, open in serial ports reception
It is disconnected；
Step S2, the microcontroller circuit enter main circulating program, and real-time monitoring serial ports, which receives, to interrupt, remote when detecting
When the data that process control end is sent by wireless WiFi, interrupt routine is received into serial ports；
Step S3, the microcontroller call serial ports to receive interrupt routine, receive the data that the remote control terminal is sent,
Received data are verified, enter jet pump drive control circuit program after verifying successfully；
Step S4, the data control the corresponding analog circuit output of the jet pump drive control circuit based on the received
Port exports corresponding analog voltage.
Step S5, the controller call electronic compass data read procedure, send querying command, read electronic compass and return
The robot pose information returned.
Step S6, the controller call depth gauge reading program, read the depth data that depth gauge returns.
Step S7, the controller call serial ports to send program, the electronic compass read, depth are counted and passed through
WiFi communication module is sent to remote control terminal.
Further, the control method of robot remote control terminal specifically includes that
Step S1, control software transfer control interface initialization function, network communication initialization function, image receive initial
Change function；
Step S2 is controlled in software detection to network when having data to need to receive, automatic trigger receiver function, is received, solution
Analysis, display, storing data；
Step S3, control software transfer image receive, show program, the video information of real-time display camera shooting；
Step S4, control software are provided with timer and send function, send function according to the time trigger timer of setting,
The control command and data for sending function check control interface send array to robot by data assignment to array is sent.
Claims (10)
1. a kind of inside transformer detects robot control system characterized by comprising
Robot remote control terminal exports control instruction and realizes to robot to robot body control system in inside transformer
Long-range control；
It is wirelessly connected between robot body control system, with robot remote control terminal, controls robot in inside transformer
Movement, real-time detection robot inside transformer location status information and inside transformer ambient image, to realize machine
Device people reconnoitres the failure of inside transformer.
2. a kind of inside transformer described in accordance with the claim 1 detects robot control system, which is characterized in that the machine
Human body's control system includes:
Position detecting module, location status information of the detection robot in inside transformer；
WiFi camara module, captured in real-time inside transformer ambient image；
Jet pump drive module connects jet pump, jet pump is driven according to the control instruction of robot control panel, to realize machine
Movement of the device people in inside transformer；
Power module provides electric energy for robot control panel；
Robot control panel is separately connected jet pump drive module, position detecting module, WiFi communication module, WiFi video camera
Module；For acquiring robot in the location status information of inside transformer, inside transformer ambient image and being led to by WiFi
Interrogate module output；It is also used to obtain electric energy from power module and is supplied to above-mentioned each module；
WiFi communication module, the communication for robot control panel and robot remote control terminal.
3. a kind of inside transformer detects robot control system according to claim 2, which is characterized in that the position
Detection module includes:
Electronic compass, posture information of the detection robot in inside transformer；The posture information include deflection, roll angle,
Pitch angle and 3-axis acceleration；
Depth gauge, depth information of the detection robot in inside transformer.
4. a kind of inside transformer detects robot control system according to claim 2, which is characterized in that the machine
People's control panel includes:
Single-chip microcontroller connects depth gauge using the AD acquisition port inside single-chip microcontroller, realizes the detection of robot location's depth information；
Chip MAX232 connects single-chip microcontroller, receives the control instruction of single-chip microcontroller and is exported respectively by the port RC232 logical to WiFi
Interrogate module, electronic compass；
Analog-digital chip connects single-chip microcontroller, expands 6 road analog output ports connection jet pump drive module, realizes single
Speed control of the piece machine to jet pump.
5. a kind of inside transformer detects robot control system according to claim 4, which is characterized in that the machine
People's control panel further includes power conversion module, by the 12V voltage that power module provides be directly output to jet pump drive module or
Being converted to 5V voltage is depth gauge, electronic compass, WiFi video camera, WiFi communication module for power supply, is also integrated with 3.3V power supply core
Piece provides electric energy for single-chip microcontroller.
6. a kind of inside transformer detects robot control system according to claim 2, which is characterized in that the injection
Pumping drive module is 6, is respectively used to 4 horizontal-jet pumps of driving and 2 vertical jet pumps；The jet pump is arranged in machine
People is upper for providing power to robot motion.
7. a kind of inside transformer described in accordance with the claim 1 detects robot control system, which is characterized in that the machine
People's remote control terminal includes: wireless router, Industrial PC Computer；Industrial PC Computer by wireless router export motion control instruction to
The robotary information and inside transformer ring that robot body control system, also reception robot body control system upload
Border image is simultaneously shown；The Industrial PC Computer is touch screen.
8. a kind of inside transformer detects robot control method characterized by comprising
Robot remote control terminal exports control instruction and gives robot body control system, receives robot body control system and returns
The step of location status information and inside transformer ambient image for returning；
Robot body control system controls robot and moves in inside transformer, and real-time detection robot is in inside transformer
The step of status information and inside transformer ambient image.
9. a kind of inside transformer detects robot control method according to claim 8, which is characterized in that the machine
People's remote control terminal exports control instruction and gives robot body control system, receives the position that robot body control system returns
The step of status information and inside transformer ambient image, including；
Step S1: robot remote control terminal initializes control interface, network communication and image；
Step S2: when detecting that wireless router has upload data to need to receive, automatic trigger receives, stores and shows number
According to；
Step S3: the inside transformer ambient image that robot remote control terminal real-time reception wireless router uploads；
Step S4: robot remote control terminal triggers timer and regularly sends fortune according to the control command and data of control interface
Dynamic control instruction and Monitoring instruction give robot body control system.
10. a kind of inside transformer detects robot control method according to claim 8, which is characterized in that the machine
Device human body's control system controls robot and moves in inside transformer, and real-time detection robot believes in the state of inside transformer
The step of ambient image of breath and inside transformer, comprising:
Step S1: robot body control system initializes internal monitoring and control data, opens WiFi communication module and supervises in real time
It surveys and whether wants received control instruction；
Step S2: when detecting that remote control terminal sends control instruction, start to receive control instruction；
Step S3: verifying received control instruction, after verifying successfully, exports motion control instruction to jet pump and drives mould
Block control injection pump work provides power for robot；
Step S4: by electronic compass real-time monitoring robot inside transformer posture information；The posture information includes
Deflection, roll angle, pitch angle and 3-axis acceleration；
Step S5: by depth gauge real-time monitoring robot inside transformer depth information；
Step S6: pass through WiFi camara module real-time monitoring inside transformer ambient image；
Step S7: the posture information read, depth information and inside transformer ambient image are sent out by WiFi communication module
It is sent to remote control terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711485493.2A CN109991892A (en) | 2017-12-29 | 2017-12-29 | A kind of inside transformer detection robot control system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711485493.2A CN109991892A (en) | 2017-12-29 | 2017-12-29 | A kind of inside transformer detection robot control system and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109991892A true CN109991892A (en) | 2019-07-09 |
Family
ID=67111402
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711485493.2A Pending CN109991892A (en) | 2017-12-29 | 2017-12-29 | A kind of inside transformer detection robot control system and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109991892A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110868566A (en) * | 2019-10-29 | 2020-03-06 | 河北大学 | Wireless video transmission method for transformer internal inspection robot |
| CN111061184A (en) * | 2019-12-03 | 2020-04-24 | 沈阳理工大学 | Underwater micro robot jet driving system |
| CN111845991A (en) * | 2020-07-30 | 2020-10-30 | 贵州电网有限责任公司 | Robot suitable for but oil-immersed transformer inner wall electromagnetic adsorption and climbing |
| CN112001042A (en) * | 2020-07-23 | 2020-11-27 | 山东电力设备有限公司 | Hardware system design method and hardware system of transformer detection robot |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101393246A (en) * | 2008-11-12 | 2009-03-25 | 华北电力大学 | Mini robot for detecting internal failure of power transformer |
| US20090157228A1 (en) * | 2007-12-18 | 2009-06-18 | Soon Hyuk Hong | User interface device of remote control system for robot device and method using the same |
| CN102082466A (en) * | 2010-10-15 | 2011-06-01 | 重庆市电力公司超高压局 | Intelligent inspection robot system for transformer substation equipment |
| CN104070540A (en) * | 2013-11-28 | 2014-10-01 | 北京国电电科院检测科技有限公司 | Industrial inspection robot |
| KR101544102B1 (en) * | 2014-12-15 | 2015-08-24 | (주)파이브텍 | The apparatus of pipe measuring with smart robot |
| CN206161750U (en) * | 2016-08-31 | 2017-05-10 | 国家电网公司 | Inside fault detection robot of transformer |
| CN106771741A (en) * | 2016-12-15 | 2017-05-31 | 深圳供电局有限公司 | A kind of oil-filled transformer inside detection robot |
| CN106908259A (en) * | 2017-01-12 | 2017-06-30 | 深圳供电局有限公司 | A kind of propulsion method for arranging of oil-filled transformer inside detection robot |
| CN107063331A (en) * | 2016-11-09 | 2017-08-18 | 贵州电网有限责任公司凯里供电局 | A kind of power transformer interior fault detecting system based on microrobot |
| CN207623749U (en) * | 2017-12-29 | 2018-07-17 | 中国科学院沈阳自动化研究所 | A kind of inside transformer detection robot control system |
-
2017
- 2017-12-29 CN CN201711485493.2A patent/CN109991892A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090157228A1 (en) * | 2007-12-18 | 2009-06-18 | Soon Hyuk Hong | User interface device of remote control system for robot device and method using the same |
| CN101393246A (en) * | 2008-11-12 | 2009-03-25 | 华北电力大学 | Mini robot for detecting internal failure of power transformer |
| CN102082466A (en) * | 2010-10-15 | 2011-06-01 | 重庆市电力公司超高压局 | Intelligent inspection robot system for transformer substation equipment |
| CN104070540A (en) * | 2013-11-28 | 2014-10-01 | 北京国电电科院检测科技有限公司 | Industrial inspection robot |
| KR101544102B1 (en) * | 2014-12-15 | 2015-08-24 | (주)파이브텍 | The apparatus of pipe measuring with smart robot |
| CN206161750U (en) * | 2016-08-31 | 2017-05-10 | 国家电网公司 | Inside fault detection robot of transformer |
| CN107063331A (en) * | 2016-11-09 | 2017-08-18 | 贵州电网有限责任公司凯里供电局 | A kind of power transformer interior fault detecting system based on microrobot |
| CN106771741A (en) * | 2016-12-15 | 2017-05-31 | 深圳供电局有限公司 | A kind of oil-filled transformer inside detection robot |
| CN106908259A (en) * | 2017-01-12 | 2017-06-30 | 深圳供电局有限公司 | A kind of propulsion method for arranging of oil-filled transformer inside detection robot |
| CN207623749U (en) * | 2017-12-29 | 2018-07-17 | 中国科学院沈阳自动化研究所 | A kind of inside transformer detection robot control system |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110868566A (en) * | 2019-10-29 | 2020-03-06 | 河北大学 | Wireless video transmission method for transformer internal inspection robot |
| CN111061184A (en) * | 2019-12-03 | 2020-04-24 | 沈阳理工大学 | Underwater micro robot jet driving system |
| CN112001042A (en) * | 2020-07-23 | 2020-11-27 | 山东电力设备有限公司 | Hardware system design method and hardware system of transformer detection robot |
| CN111845991A (en) * | 2020-07-30 | 2020-10-30 | 贵州电网有限责任公司 | Robot suitable for but oil-immersed transformer inner wall electromagnetic adsorption and climbing |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109991892A (en) | A kind of inside transformer detection robot control system and control method | |
| CN207623749U (en) | A kind of inside transformer detection robot control system | |
| CN107014971B (en) | Underwater hiding-machine buoy base station with efficient charging and remote data transmission function | |
| CN102508302A (en) | Underwater main control and data collection system of marine double-frequency induced polarization instrument | |
| CN103892503A (en) | Intelligent helmet device | |
| CN201628858U (en) | Intelligent monitoring trolley remote control system based on B/S mode | |
| CN110213414A (en) | A kind of drive control method, terminal and computer readable storage medium | |
| CN209296831U (en) | A kind of monitoring system of electric substation | |
| CN108508902A (en) | Intelligent track crusing robot system and control method for closed electromagnetism cabinet | |
| US11897630B2 (en) | Drone landing ground station with magnetic fields | |
| CN108196551A (en) | A kind of underground piping crusing robot control system | |
| CN108762172A (en) | A kind of cruising inspection system of dispatching automation computer room robot | |
| CN107368017A (en) | A kind of intelligent monitoring control system based on industrial robot | |
| CN101934522A (en) | Remote control device for coring detection teleoperated robot | |
| CN203976237U (en) | Tower crane intelligent controlling device | |
| CN205721829U (en) | A kind of unmanned vehicle | |
| CN108320491B (en) | Full-directional infrared remote control equipment and full-directional infrared remote control method | |
| CN207867340U (en) | A kind of underground piping crusing robot control system | |
| CN208765753U (en) | A kind of real-time environment monitoring device based on unmanned plane | |
| CN207487665U (en) | It is a kind of can wirelessly transmitting data Wave Sensor | |
| CN209878995U (en) | Moving object posture positioning device based on narrowband Internet of things | |
| CN113325815B (en) | DCS system for monitoring and diagnosing industrial site environment and equipment | |
| CN205724666U (en) | Power circuit polling system | |
| CN206961147U (en) | A kind of posture health monitoring systems based on Kinect | |
| CN207337195U (en) | A kind of control system |
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 |