CN112067049A - A six-legged robot for electric power facility patrols and examines - Google Patents
A six-legged robot for electric power facility patrols and examines Download PDFInfo
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- CN112067049A CN112067049A CN202010907848.8A CN202010907848A CN112067049A CN 112067049 A CN112067049 A CN 112067049A CN 202010907848 A CN202010907848 A CN 202010907848A CN 112067049 A CN112067049 A CN 112067049A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/30—Transforming light or analogous information into electric information
- H04N5/33—Transforming infrared radiation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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Abstract
The invention belongs to the technical field of electric power facility inspection equipment, and particularly relates to a hexapod robot for electric power facility inspection, which comprises: the steering engine is used for controlling the foot joint of the hexapod robot to move; the tripod head is provided with an optical camera and a thermal imager for shooting the electric power facility and is provided with an angle adjusting mechanism; the control main board is used for controlling the steering engine and the angle adjusting mechanism and transmitting the power facility image shot by the holder; the control terminal issues an instruction for controlling the steering engine and the angle adjusting mechanism to the control main board and receives an electric power facility image shot by the holder transmitted by the control main board; the wireless communication device completes communication between the control main board and the control terminal, and real-time monitoring and timely alarming are carried out on the electric power facilities in complex terrains and environments through the cooperation of the sensor system, the vision system and the remote control system with the bionic six foot joints, so that the work burden of electric power detection personnel is reduced, and the safety protection of the electric power facilities is improved.
Description
Technical Field
The invention belongs to the technical field of electric power facility inspection equipment, and particularly relates to a hexapod robot for electric power facility inspection.
Background
The power facility includes a power generation facility, a power transformation facility, and a power line facility. In order to maintain safe and stable operation of the electric power facility, regular patrol of the electric power facility is required. Because many facility stations are located in remote areas, plateaus, grasslands, deserts, forests and alpine regions, the manual inspection has the problems of long period, low efficiency, high labor cost and the like. The manual inspection can not be uninterrupted for 24 hours, and faults or fault hidden dangers can not be found at the first time. Meanwhile, the manual mode can only carry out simple observation and judgment on the sense organ of the equipment. Therefore, the inspection robot has the advantages of incomparable performance and can run uninterruptedly. And (4) finding the fault or the hidden fault danger at any time and reporting the fault or the hidden fault danger at any time. Meanwhile, the robot can also carry various sensors, and can find hidden fault points which cannot be found by human eyes, such as abnormal phenomena of thermal defects of power equipment, foreign body suspension, abnormal heating points and the like. The robot plays the roles of reducing personnel, improving efficiency and improving the fault-free running time of the electric power facility.
Most of the existing inspection robots adopt a wheel-driven motion mode. The wheel-driven movement mode has high requirements on the terrain, poor trafficability and is not suitable for the complex environments of various electric facilities.
The invention patent application with the application number of CN109822580A discloses a patrol robot for a transformer substation, which carries various sensors and has better sensing capability. However, since the driving wheel and the driven wheel are used, the passing ability is poor, and particularly, the two wheels are easily driven to fall into environments such as sand and mud. The wheel structure can not pass through gravel ground and other places and can not cross obstacles.
The invention patent application with the application number of CN108233534A discloses an intelligent substation patrol robot based on STM32, which adopts four-wheel drive and has relatively good trafficability. However, since the vehicle body has no suspension system, the grip force is low, and the vehicle body cannot pass through a soft environment. In addition, the STM32 single chip microcomputer is adopted, and complex functions such as artificial intelligence and the like cannot be finished due to the fact that the calculation force of the STM32 is low.
The invention patent application with the application number of CN111061264A discloses an intelligent inspection robot, which adopts a crawler-type chassis and has better off-road capability. However, the crawler-type chassis cannot climb stairs and cannot adapt to places with more stones. In addition, the center of gravity of the robot is too high, and the robot is easy to overturn when passing through an inclined field.
In summary, the existing inspection robot for the electric power facilities adopts a wheel type structure, has high ground requirement, poor trafficability and low obstacle crossing capability, cannot meet the inspection requirements of the electric power facilities with complicated road conditions in remote areas, plateaus, grasslands, deserts, forests, alpine regions and the like, does not have night inspection function, and has the defect that the electric power facilities cannot be found when the electric power facilities break down at night.
Disclosure of Invention
In order to overcome the defects in the background art, the invention provides a hexapod robot for power facility inspection, which is realized by the following scheme:
a hexapod robot for electric power facility inspection, comprising:
the steering engine is used for controlling the foot joint of the hexapod robot to move;
the tripod head is provided with an optical camera and a thermal imager for shooting the electric power facility and is provided with an angle adjusting mechanism;
the control main board is provided with image acquisition software, image coding software, motion control software and instruction analysis software, controls the steering engine and the angle adjusting mechanism and transmits the power facility images shot by the holder;
the control terminal is provided with image decoding software, communication software and a human-computer interaction interface, issues a command for controlling the steering engine and the angle adjusting mechanism to the control main board, and receives an electric power facility image shot by the holder and transmitted by the control main board;
the wireless communication device is used for finishing the communication between the control main board and the control terminal;
the optical camera and the thermal imager shoot images of the electric power facility, the images are transmitted to the control main board, are sequentially collected by the image collecting software and are coded by the image coding software, and then are transmitted to the control terminal by the wireless communication device and are displayed on the human-computer interaction interface after being decoded by the image decoding software;
the control terminal issues a control instruction through the human-computer interaction interface, the communication software transmits the control instruction to the control mainboard through the wireless communication device, the control instruction is analyzed through the instruction analysis software and then issued to the motion control software, the steering engine and the angle adjusting mechanism are controlled, and the hexapod robot is operated.
As a further improvement of the hexapod robot for power facility inspection, the hexapod robot further comprises a sensor system, wherein the control main board is also provided with sensor interface software, and a sensor of the sensor system is connected to the sensor interface software.
As a further improvement of the hexapod robot for power facility inspection, the steering engine, the holder, the control main board and the wireless communication device are all arranged on the robot body, the robot body comprises a shell and a cover plate, six foot joints are arranged on the side surface of the shell through six steering engines, the control main board is arranged in the shell, and the wireless communication device and the holder are arranged on the cover plate.
As a further improvement of the hexapod robot for power facility inspection, the foot joints comprise hip joints, thigh joints and shank joints, the steering engine is connected with a hip joint support through the hip joints, the hip joint support is connected with a thigh support through the thigh joints, and the thigh support is connected with the shank support through the shank joints.
As a further improvement of the hexapod robot for power facility inspection, the hexapod robot is characterized in that a driving board and a battery are further mounted inside the shell, the battery is arranged in the middle of the shell and supplies power to the control main board, and the control main board drives the steering engine through the driving board.
As a further improvement of the hexapod robot for power facility inspection, the pan head includes a pan head base, a pan head cartridge and a pan head pitch support, the pan head base is mounted on the cover plate, the pan head cartridge is mounted on the pan head base through the pan head pitch support, the pan head cartridge is mounted with the optical camera and the thermal imager, and the pan head pitch support is used as the angle adjusting mechanism and includes a horizontal rotating motor for driving the pan head cartridge to horizontally rotate and a pitch motor for driving the pan head cartridge to pitch.
As a further improvement of the hexapod robot for power facility inspection, the sole pressure sensor is arranged at the bottom of the shank.
As a further improvement of the hexapod robot for the power facility inspection, the robot body is provided with a distance sensor and an IMU gyroscope attitude sensor.
As a further improvement of the hexapod robot for electric power facility inspection of the invention, the wireless communication device comprises a wireless communication box, a WiFi antenna installed on the wireless communication box, a 4G antenna or a 5G antenna installed on the wireless communication box.
As a further improvement of the hexapod robot for power facility inspection, the horizontal rotation motor drives the holder case to rotate horizontally by an angle of ± 90 °, and the pitch motor drives the holder case to pitch by an angle of ± 45 °.
The hexapod robot for power facility inspection has the beneficial effects that: the steering engine can adapt to various road surfaces by using foot type movement, and meanwhile, the IMU gyroscope sensor is arranged, so that the posture of the machine body can be detected in real time, the inclined terrain environment is facilitated, the overturning is not easy to happen, and the pressure sensor is arranged on the sole of the robot, so that the defects that the traditional inspection robot cannot detect the empty stepping condition and cannot sense the soft and hard state of the ground are overcome; the optical camera and the thermal imager are adopted, so that the night vision capability is realized, and the problem that human eyes cannot work in the dark is solved; through the WiFi network or the mobile communication network, visible light images and thermal imaging images can be transmitted back in real time, and the images can be received by using control terminals such as a mobile phone and a tablet personal computer, so that the application range is wide.
Drawings
FIG. 1 is a schematic structural diagram of a hexapod robot in an embodiment of the present invention;
FIG. 2 is a top view of a hexapod robot in an embodiment of the present invention;
FIG. 3 is a schematic structural view of a foot joint in an embodiment of the invention;
FIG. 4 is a schematic structural diagram of a cradle head according to an embodiment of the invention;
FIG. 5 is an exploded view of the cradle head according to the embodiment of the present invention;
FIG. 6 is a schematic structural view of a fuselage according to an embodiment of the present invention;
FIG. 7 is an exploded view of the fuselage according to an embodiment of the invention;
FIG. 8 is a block diagram of a wireless communication device according to an embodiment of the present invention;
FIG. 9 is a diagram illustrating a connection scheme of a wireless communication system in accordance with an embodiment of the present invention;
FIG. 10 is a block diagram of a vision system in an embodiment of the invention;
FIG. 11 is a block diagram of a remote control system according to an embodiment of the present invention;
FIG. 12 is a block diagram of a sensor system according to an embodiment of the present invention;
in the figure: 1. the robot comprises a body, 2, foot joints, 201, hip joints, 202, thigh joints, 203, calf joints, 204, hip joint supports, 205, thigh supports, 206, calf supports, 207, pressure sensors, 3, steering engines, 4, a tripod head, 401, a tripod head box, 4011, a thermal imager, 4012, an optical camera, 4013, an infrared light emitting diode, 402, a tripod head base, 403, a tripod head pitching support, 4031, a horizontal rotating motor, 4032, a pitching motor, 5, a wireless communication device, 501, a WiFi antenna, 502, a 4G/5G antenna, 6, a control mainboard, 7, a drive board, 8 and a battery.
Detailed Description
The present invention is further illustrated by the following examples, which are only a part of the examples of the present invention, and these examples are only for explaining the present invention and do not limit the scope of the present invention.
As shown in the attached figures 1-2 of the specification, the hexapod robot for the inspection of the power facilities mainly comprises a robot body 1, six foot joints 2 connected with the robot body 1 and a tripod head 4. This hexapod robot adopts the ectoskeleton mode for bionic design, and fuselage 1, sufficient joint 2 and cloud platform are the sheet metal component, assist and make supporting component with a small amount of CNC, have light in weight, and structural strength is good, advantages such as easily production.
As shown in the attached figure 3 in the specification, each foot joint 2 of the hexapod robot has three degrees of freedom, namely a hip joint 201, a thigh joint 202 and a shank joint 203, and the structure of the hexapod robot is composed of a hip joint support 204, a thigh support 205 and a shank support 206, specifically, one end of the hip joint 201 is mounted on the robot body 1 through a steering engine 3, the other end of the hip joint support is connected with the hip joint support 204, the hip joint support 204 is connected with the thigh support 205 through the thigh joint 202, and the thigh support 205 is connected with the shank support 206 through the shank joint 203. The hexapod robot can move to any position of the operation space within the range allowed by the driver through three degrees of freedom of the foot joint 2. In one embodiment, the hexapod robot uses a reverse motion analysis IK mode to obtain a spatial position required to be reached, then the spatial position is analyzed into a steering engine angle through reverse motion, and the control mainboard 6 drives the steering engine 3 through the drive plate 7 to control the foot joint 2 to move to a specified angle. Therefore, the defects of high ground requirement, poor trafficability, low obstacle crossing capability and the like of the conventional wheeled robot are overcome, and the requirement of electric power facilities in remote areas with complex road conditions such as plateaus, grasslands, deserts, forests, alpine regions and the like for polling is met.
In addition, the hexapod robot sets up pressure sensor at the sole of shank support 206, through the reaction force that detects the ground, comes to detect whether step on empty and the soft degree of ground, makes the travel of hexapod robot safer.
As shown in fig. 4-5 of the specification, the pan-tilt 4 mainly comprises a pan-tilt base 402, a pan-tilt casing 401 and a pan-tilt pitching support 403, the pan-tilt casing 401 is mounted on the pan-tilt base 402 through the pan-tilt pitching support 403, a thermal imager 4011, an optical camera 4012 and four infrared leds 4013 are mounted on the pan-tilt casing 401, the optical camera 4012 adopts a broadband camera and can simultaneously receive visible light and infrared light, the visible light and the infrared light can be simultaneously received through the four infrared leds 4013 and used for night illumination, the optical camera 4012 observes an electric facility in a visible light band in the daytime, observes the electric facility in an infrared band at night under the auxiliary illumination of the infrared leds 4013, and provides a night vision function for the hexapod robot. The pan-tilt support 403 is used as an angle adjusting mechanism and comprises a horizontal rotating motor 4031 and a pitch motor 4032, the horizontal rotating motor 4031 drives the pan-tilt housing 401 to perform horizontal rotating motion, the pitch motor 4032 drives the pan-tilt housing 401 to perform pitch motion, and two degrees of freedom adjustment of the pan-tilt housing 401 is achieved, so that the six-legged robot can drive the pan-tilt housing 401 to horizontally rotate and acquire image information of electric power facilities in the range of about plus or minus 90 degrees, about plus or minus 45 degrees under the condition that the body posture is not changed through the horizontal rotating motor 4031.
As shown in fig. 6-7 of the specification, the body 1 mainly comprises a shell and a cover plate, wherein a holder base 402 and a wireless communication device 2 are installed on the cover plate, six foot joints 2 are installed on the side surface of the shell through six steering engines 3, and a control main board 6, a drive board 7 and a battery 8 are installed inside the shell. The control main board 6 is responsible for all high-level operation functions, including instruction analysis, image compression, image transmission, image identification, obstacle avoidance, path planning and AI artificial intelligence; the driving plate 7 is responsible for the bottom layer operation function and directly drives the steering engine 3 to complete the action. The bottom layer operation function refers to reverse motion analysis, gait calculation and sensor signal acquisition; the battery 8 is responsible for providing the power for entire system, and simultaneously battery 8 still is installed in the middle part of casing as the counter weight is preferred, guarantees the stability that the hexapod robot traveles.
As shown in fig. 8, the wireless communication device 5 is mainly composed of a wireless communication box, and a WiFi antenna 501 and a 4G/5G antenna 502 mounted on the wireless communication box. The wireless communication system may operate in a WiFi environment or access a telecommunications carrier's 4G/5G network. Specifically, as shown in fig. 9 in the specification, which is a connection mode diagram of a wireless communication system, the hexapod robot can be remotely connected with various control terminals including a control center operation terminal, a tablet computer and a mobile phone through a 4G/5G network. The hexapod robot can also be accessed to a local WiFi network of the station first and then connected with various control terminals including a control center operation terminal, a tablet personal computer and a mobile phone through the Internet. The hexapod robot can also be directly connected with a portable control terminal, such as a tablet computer and a mobile phone, through WiFi without any network, and the last mode is suitable for an operator to directly operate the hexapod robot on site.
The control main board 6 is provided with image acquisition software, image coding software, motion control software and instruction analysis software, controls the steering engine 3 and the angle adjusting mechanism, and transmits the power facility images shot by the holder 4; the control terminal is provided with image decoding software, communication software and a man-machine interaction interface, issues a command for controlling the steering engine 3 and the angle adjusting mechanism to the control main board, and receives an electric power facility image shot by the holder and transmitted by the control main board.
As shown in fig. 10 in the specification, specifically, the optical camera 4012 and the thermal imager 4011 of the cradle head 4 shoot images of the electric power facility and transmit the images to the control mainboard 6, the images are sequentially collected by the image collection software of the control mainboard 6 and encoded by the image encoding software, then the encoded image information is transmitted to the control terminal by the wireless communication device 5, and the received image information is decoded by the image decoding software of the control terminal and displayed on a human-computer interaction interface, so that real-time detection of the electric power facility is realized.
The control mainboard 6, the control terminal, the wireless communication device 5, and the foot joint 2 and the angle adjusting mechanism of the pan tilt 4 connected with the steering engine 3 constitute the remote control system of the hexapod robot, as shown in the attached figure 11 of the specification, concretely, the control terminal issues a control instruction through a human-computer interaction interface, communication software transmits the control instruction to the control mainboard 6 through the wireless communication device, the control mainboard 6 analyzes the received control instruction through instruction analysis software, and then issues the control instruction to the motion control software to control the steering engine 3, the horizontal rotating motor 4031 and the pitching motor 4032, thereby controlling the hexapod robot to run and controlling the shooting angle of the pan tilt.
Further, the hexapod robot is provided with a pressure sensor on the sole of the foot joint 2, and is also provided with a distance sensor, an IMU gyroscope attitude sensor, a smoke sensor and a pyroelectric sensor on the robot body 1, and a sensor system of the hexapod robot is formed by sensor interface software, filter software and control software which are arranged on a control main board 6, as shown in the attached figure 12 in the specification, wherein the distance sensor is arranged on the front part of the robot body, is responsible for measuring the distance between the hexapod robot and an obstacle, and is used for the hexapod robot to carry out obstacle avoidance operation; the IMU gyroscope attitude sensor measures the attitude of the six-legged robot such as the inclination angle of the body in real time, and is used for improving the passing capacity of the six-legged robot in an inclined terrain, so that the six-legged robot can adapt to the inclination angle in a self-adaptive manner and is not easy to overturn; the smoke sensor can be used for fire alarm of the hexapod robot to the electric power facility; the pyroelectric sensor can be used for detecting the invasion of the hexapod robot to the personnel of the electric power facility.
This six-footed robot passes through six bionic foot joints of sensor system, visual system, remote control system cooperation, no matter can both carry out real time monitoring and in time report to the police to the electric power facility that is in complicated topography and environment daytime or night, greatly reduced electric power measurement personnel's work burden promotes the safety protection of electric power facility.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A hexapod robot for electric power facility inspection, comprising:
the steering engine is used for controlling the foot joint of the hexapod robot to move;
the tripod head is provided with an optical camera and a thermal imager for shooting the electric power facility and is provided with an angle adjusting mechanism;
the control main board is provided with image acquisition software, image coding software, motion control software and instruction analysis software, controls the steering engine and the angle adjusting mechanism and transmits the power facility images shot by the holder;
the control terminal is provided with image decoding software, communication software and a human-computer interaction interface, issues a command for controlling the steering engine and the angle adjusting mechanism to the control main board, and receives an electric power facility image shot by the holder and transmitted by the control main board;
the wireless communication device is used for finishing the communication between the control main board and the control terminal;
the optical camera and the thermal imager shoot images of the electric power facility, the images are transmitted to the control main board, are sequentially collected by the image collecting software and coded by the image coding software, and then are transmitted to the control terminal by the wireless communication device, and are displayed on the human-computer interaction interface after being decoded by the image decoding software;
the control terminal issues a control instruction through the human-computer interaction interface, the communication software transmits the control instruction to the control mainboard through the wireless communication device, the control instruction is analyzed through the instruction analysis software and then issued to the motion control software, the steering engine and the angle adjusting mechanism are controlled, and the hexapod robot is operated.
2. The hexapod robot for electric power facility inspection according to claim 1, further comprising a sensor system, wherein the control main board further installs sensor interface software, and sensors of the sensor system are connected to the sensor interface software.
3. The hexapod robot for electric power facility inspection according to claim 2, wherein the steering engine, the holder, the control main board and the wireless communication device are all mounted on a body, the body comprises a shell and a cover plate, six foot joints are mounted on the side surface of the shell through six steering engines, the control main board is mounted inside the shell, and the wireless communication device and the holder are mounted on the cover plate.
4. The hexapod robot for electric power facility inspection according to claim 3, wherein: the foot joints comprise hip joints, thigh joints and shank joints, the steering engine is connected with a hip joint support through the hip joints, the hip joint support is connected with a thigh support through the thigh joints, and the thigh support is connected with a shank support through the shank joints.
5. The hexapod robot for electric power facility inspection according to claim 4, wherein: the steering engine is characterized in that a driving board and a battery are further mounted inside the shell, the battery is arranged in the middle of the shell and supplies power to the control mainboard, and the control mainboard drives the steering engine through the driving board.
6. The hexapod robot for electric power facility inspection according to claim 5, wherein: the cloud platform includes cloud platform base, cloud platform machine casket and cloud platform every single move support, the cloud platform base install in on the apron, the cloud platform machine casket passes through cloud platform every single move support install in on the cloud platform base, install on the cloud platform machine casket the optical camera with thermal imager, cloud platform every single move support is as angle adjustment mechanism, including driving the horizontal rotation motor of cloud platform machine casket horizontal rotation motion and driving the every single move motor of cloud platform machine casket every single move motion.
7. The hexapod robot for electric power facility inspection according to claim 6, wherein: and a plantar pressure sensor is arranged at the bottom of the shank.
8. The hexapod robot for electric power facility inspection according to claim 7, wherein: and a distance sensor and an IMU gyroscope attitude sensor are mounted on the machine body.
9. The hexapod robot for electric power facility inspection according to claim 8, wherein: the wireless communication device comprises a wireless communication box, a WiFi antenna installed on the wireless communication box, and a 4G antenna or a 5G antenna installed on the wireless communication box.
10. The hexapod robot for electric power facility inspection according to claim 9, wherein: the horizontal rotation motor drives the horizontal rotation angle of the holder case to be +/-90 degrees, and the pitching motor drives the pitching angle of the holder case to be +/-45 degrees.
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| CN202010907848.8A CN112067049A (en) | 2020-09-02 | 2020-09-02 | A six-legged robot for electric power facility patrols and examines |
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| CN202010907848.8A CN112067049A (en) | 2020-09-02 | 2020-09-02 | A six-legged robot for electric power facility patrols and examines |
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| CN113791626A (en) * | 2021-11-12 | 2021-12-14 | 南方电网数字电网研究院有限公司 | Power inspection method and device, quadruped robot, system and storage medium |
| CN113888771A (en) * | 2021-11-13 | 2022-01-04 | 国网新疆电力有限公司吐鲁番供电公司 | Inspection device for cable corridor |
| CN114155431A (en) * | 2021-11-06 | 2022-03-08 | 中山嘉明电力有限公司 | Robot-based environmental safety analysis method and system |
| CN114198592A (en) * | 2021-12-02 | 2022-03-18 | 杭州电子科技大学 | Three-star wheel type pipeline detection robot capable of automatically crossing obstacles |
| CN114311033A (en) * | 2022-01-12 | 2022-04-12 | 深圳市普渡怒放科技有限公司 | Stability augmentation holder and delivery robot |
| CN115319806A (en) * | 2022-10-11 | 2022-11-11 | 徐州木牛流马机器人科技有限公司 | Auxiliary lighting equipment of quadruped robot for exploration in complex environment |
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Application publication date: 20201211 |