CN112285198A - Visual display device of distribution network on-line monitoring - Google Patents
Visual display device of distribution network on-line monitoring Download PDFInfo
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- CN112285198A CN112285198A CN202011155972.XA CN202011155972A CN112285198A CN 112285198 A CN112285198 A CN 112285198A CN 202011155972 A CN202011155972 A CN 202011155972A CN 112285198 A CN112285198 A CN 112285198A
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- 230000000007 visual effect Effects 0.000 title claims abstract description 35
- 238000009826 distribution Methods 0.000 title claims abstract description 31
- 238000012544 monitoring process Methods 0.000 title claims abstract description 24
- 239000002184 metal Substances 0.000 claims abstract description 88
- 229910052751 metal Inorganic materials 0.000 claims abstract description 88
- 238000007689 inspection Methods 0.000 claims abstract description 46
- 239000011521 glass Substances 0.000 claims abstract description 19
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 8
- 239000003973 paint Substances 0.000 claims description 19
- 230000004907 flux Effects 0.000 claims description 14
- 230000005611 electricity Effects 0.000 claims description 13
- 238000003860 storage Methods 0.000 claims description 10
- 239000011324 bead Substances 0.000 claims description 6
- 230000006698 induction Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 2
- 230000003287 optical effect Effects 0.000 abstract 1
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 239000007921 spray Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
- G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
- G01N27/83—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws by investigating stray magnetic fields
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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
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
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Abstract
The invention provides a visual display device for online monitoring of a power distribution network, which comprises an inspection robot, a cloud platform, a visual display screen, a camera and a magnetic leakage detection mechanism, wherein the magnetic leakage detection mechanism comprises a swing motor, a connecting rod, a rotating shaft, a plurality of first metal rods and second metal rods, electrochromic glass is arranged at the top of the inspection robot, a photoelectric detector and a main control unit are arranged in the inspection robot, the swing first metal rods and the moving second metal rods can cut magnetic induction lines of magnetic leakage of a transformer in the process of moving the inspection robot to the transformer, the generated electric energy can enable the electrochromic glass to be in a transparent state, so that the photoelectric detector can convert optical signals into electric signals and send the electric signals to the main control unit, the main control unit controls the camera to acquire image information of the transformer, and other information such as the image information and the electric signals is sent to the visual display screen through the cloud platform, and remote visual monitoring is realized.
Description
Technical Field
The invention relates to the technical field of distribution network monitoring, in particular to a visual display device for online monitoring of a distribution network.
Background
The distribution network is a power network which receives electric energy from a transmission network or a regional power plant, distributes the electric energy to various users on site through distribution facilities or distributes the electric energy to various users step by step according to voltage, and consists of overhead lines, cables, towers, distribution transformers, isolating switches, reactive power compensators, auxiliary facilities and the like, and plays a role in distributing the electric energy in the power network.
Can have various power equipment in the distribution network region, in long-term transmission and distribution power consumption, the inside iron core of transformer can have defect or damage, lead to the iron core integrality to be destroyed, the magnetic leakage phenomenon takes place, the magnetic leakage of transformer can cause transformer conversion efficiency to reduce, the normal operating of equipment is not only influenced to the magnetic leakage that lasts for a long time, thereby still burn out the transformer when serious and influence the steady operation of distribution network, consequently, in order to guarantee staff's personal safety and the steady operation of distribution network, need patrol and examine the distribution network, current mode of patrolling and examining is all artifical the going on basically, and detect and discover that most all is to patrol and examine through the paper after the transformer magnetic leakage and singly take notes, the paper is patrolled and examined the list and is difficult to preserve, and the unable high efficiency that directly perceived.
Disclosure of Invention
Therefore, the invention provides the online monitoring visual display device for the power distribution network, which can detect whether the transformer has magnetic flux leakage or not and visually display the state information of the magnetic flux leakage transformer on a visual screen.
The technical scheme of the invention is realized as follows:
a visual display device for online monitoring of a power distribution network comprises an inspection robot, a cloud platform, a visual display screen, a camera and a magnetic flux leakage detection mechanism, wherein the camera is arranged on the side wall of the inspection robot; the magnetic flux leakage detection mechanism comprises a swing motor, a connecting rod, a rotating shaft, a plurality of first metal rods and a second metal rod, wherein the rotating shaft is rotatably arranged on the side wall of the inspection robot, the first metal rods are connected with the rotating shaft through the connecting rod, the swing motor is arranged on the side wall of the inspection robot, an output shaft of the swing motor is connected with the rotating shaft, the second metal rods are connected with the side wall of the inspection robot through the connecting rod, and the first metal rods are perpendicular to the second metal rods and a horizontal line; patrol and examine the robot top and be provided with electrochromic glass, it is inside to be provided with photoelectric detector and main control unit to patrol and examine the robot, first metal pole and second metal pole are connected with electrochromic glass electricity through the wire respectively, main control unit is connected with camera, swing motor and photoelectric detector electricity respectively, visual display screen passes through cloud platform and main control unit data connection.
Preferably, still include ultrasonic sensor, ultrasonic sensor sets up on the robot side of patrolling and examining that swing motor is located to be connected with the main control unit electricity.
Preferably, an electric connection end is arranged on the electrochromic glass, the wire is electrically connected with the electric connection end, a current transformer is arranged at one end of the wire connected with the electric connection end, and the main control unit is electrically connected with the current transformer.
Preferably, the side wall of the inspection robot is provided with an electromagnetic shielding plate.
Preferably, swing motor offside patrols and examines the robot lateral wall and is provided with electric putter, electric putter's output shaft and camera are connected, the main control unit is connected with electric putter electricity.
Preferably, the side wall of the inspection robot is provided with a fixed plate, the fixed plate is provided with a bearing, and one end of the rotating shaft is connected with the bearing.
Preferably, still include paint sprayer and paint storage box, the paint storage box sets up inside patrolling and examining the robot, the paint sprayer sets up and keeps away from the one end of patrolling and examining the robot at the connecting rod to be connected with the paint storage box, the main control unit is connected with the paint sprayer electricity.
Preferably, the opposite side of the connecting rod is provided with a sliding groove, a positioning groove is formed in the sliding groove, a metal sheet is arranged in the positioning groove and electrically connected with the lead, metal sliding blocks are arranged at two ends of the first metal rod and the second metal rod, an elastic metal collision bead is arranged on each metal sliding block and is popped out of the positioning groove and contacts with the metal sheet.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a visual display device for online monitoring of a power distribution network, wherein an inspection robot can inspect in the power distribution network according to a preset inspection route and perform magnetic leakage detection on a transformer arranged at a fixed position, when the inspection robot moves to the vicinity of the transformer, a swing motor can be started to drive a first metal rod to swing, meanwhile, the inspection robot continues to move, as the first metal rod and a second metal rod are vertically arranged, the first metal rod can respectively cut the magnetic leakage in the horizontal direction and the vertical direction when swinging and the second metal rod move, so that current is generated and is transmitted to electrochromic glass, the electrochromic glass can gradually become a transparent state along with the gradual increase of the transmitted current, so that an electric signal converted by a photoelectric detector also changes, a main control unit controls a camera to perform image acquisition on the transformer according to the electric signal sent by the photoelectric detector, and the monitoring result is transmitted to a visual display screen for display, and Shaanxi love you can remotely monitor on line, so that the working personnel can intuitively know the state of the transformer.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only preferred embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of an inspection robot of the online monitoring visual display device for a power distribution network, which is disclosed by the invention;
FIG. 2 is a schematic diagram of a power distribution network online monitoring visual display device according to the present invention;
fig. 3 is a schematic view of a connection structure of a first metal rod and a connection rod of the online monitoring visual display device for a power distribution network according to the present invention;
in the drawing, 1 is patrolling and examining the robot, 2 is the cloud platform, 3 is visual display screen, 4 is the camera, 5 is swing motor, 6 is the connecting rod, 7 is the pivot, 8 is first metal pole, 9 is the second metal pole, 10 is electrochromic glass, 11 is photodetector, 12 is the main control unit, 13 is ultrasonic sensor, 14 is the electricity connecting end, 15 is current transformer, 16 is electromagnetic shield board, 17 is electric putter, 18 is the fixed plate, 19 is the bearing, 20 is the paint sprayer, 21 is the paint storage box, 22 is the spout, 23 is the constant head tank, 24 is the sheetmetal, 25 is the metal slider, 26 is the elastic metal and bumps the pearl.
Detailed Description
For a better understanding of the technical content of the present invention, a specific embodiment is provided below, and the present invention is further described with reference to the accompanying drawings.
Referring to fig. 1 to 3, the online monitoring visual display device for the power distribution network, provided by the invention, comprises an inspection robot 1, a cloud platform 2, a visual display screen 3, a camera 4 and a magnetic flux leakage detection mechanism, wherein the camera 4 is arranged on the side wall of the inspection robot 1; the magnetic leakage detection mechanism comprises a swing motor 5, a connecting rod 6, a rotating shaft 7, a plurality of first metal rods 8 and a second metal rod 9, wherein the rotating shaft 7 is rotatably arranged on the side wall of the inspection robot 1, the first metal rods 8 are connected with the rotating shaft 7 through the connecting rod 6, the swing motor 5 is arranged on the side wall of the inspection robot 1, an output shaft of the swing motor is connected with the rotating shaft 7, the second metal rods 9 are connected with the side wall of the inspection robot 1 through the connecting rod 6, and the first metal rods 8 are perpendicular to the second metal rods 9 and a horizontal line; patrol and examine 1 top of robot and be provided with electrochromic glass 10, 1 inside photoelectric detector 11 and the main control unit 12 of being provided with of robot patrolling and examining, first metal pole 8 and second metal pole 9 are connected with electrochromic glass 10 electricity through the wire respectively, main control unit 12 is connected with camera 4, swing motor 5 and 11 electricity of photoelectric detector respectively, visual display screen 3 passes through cloud platform 2 and main control unit 12 data connection.
The online monitoring visual display device for the power distribution network is used for carrying out magnetic flux leakage detection on a transformer in the power distribution network, when the transformer with magnetic flux leakage is detected, image information of the transformer can be collected through the camera 4, corresponding image information and detected magnetic flux leakage information are transmitted to the visual display screen 3 through the cloud platform 2, and therefore workers can visually check the image information and other state information of the magnetic flux leakage transformer through the visual display screen 3, monitoring data are stored in an intelligent mode, the use of a paper routing inspection list is reduced, meanwhile, the manual routing inspection process is reduced, and the labor intensity of the workers is reduced.
The inspection robot 1 is internally provided with a main control unit 12, an inspection route of the inspection robot 1 is preset in the main control unit 12, the inspection robot 1 can be controlled to inspect according to the preset inspection route, the inspection robot 1 can detect the magnetic leakage of a transformer on the inspection route, when the inspection robot 1 moves to the vicinity of the transformer, the main control unit 12 controls a swing motor 5 to drive a connecting rod 6 and a first metal rod 8 to swing around a rotating shaft 7, the first metal rod 8 is perpendicular to a horizontal line, when the first metal rod 8 swings, the horizontal magnetic induction lines leaked from the transformer can be cut, the second metal rod 9 is parallel to the horizontal line, when the inspection robot 1 approaches the transformer, the second metal rod 9 can cut the vertical magnetic induction lines, so that the magnetic leakage direction of the transformer can be ensured no matter, first metal pole 8 or second metal pole 9 can cut the magnetic induction line and produce the electric current, the electric current of production is carried for electrochromic glass 10, its transparency can change after electrochromic glass 10 circular telegram, thereby can make outside light enter into and patrol and examine robot 1 inside, photoelectric detector 11 that sets up in patrolling and examining robot 1 inside converts light signal into the signal of telecommunication, and send for main control unit 12, main control unit 12 controls camera 4 according to the signal of telecommunication size of receiving and carries out image acquisition to the transformer, then main control unit 12 sends image information and signal of telecommunication for visual display screen 3 through cloud platform 2.
Specifically, the quantity of first metal pole 8 and second metal pole 9 is a plurality of, it is at the in-process that removes to the transformer to patrol and examine robot 1, the quantity that can make first metal pole 8 and second metal pole 9 that enter into the leakage magnetic field is increasing, thereby the electric current that the cutting magnetic induction line produced can constantly increase, electrochromic glass 10 transparency gradually becomes under impressed current's effect, thereby the volume of the light signal of 11 gathers of photoelectric detector is also constantly increasing, inside being provided with certain threshold value at main control unit 12, when the volume of the light signal of 11 gathers of photoelectric detector is greater than the threshold value, main control unit 12 just controls camera 4 and carries out the collection of image, thereby prevent that camera 4 from continuously working and extravagant a large amount of electric energy.
Preferably, the inspection robot further comprises an ultrasonic sensor 13, wherein the ultrasonic sensor 13 is arranged on the side surface of the inspection robot 1 where the swing motor 5 is located, and is electrically connected with the main control unit 12.
The ultrasonic sensor 13 that sets up can be used for detecting the distance of patrolling and examining robot 1 to the transformer, and when in the distance range, main control unit 12 just can control swing motor 5 work, and main control unit 12 controls pivot 7 through the positive and negative rotation of control swing motor 5 and rotates to different directions to realize the swing of connecting rod 6 and first metal pole 8.
Preferably, an electrical connection end 14 is arranged on the electrochromic glass 10, the wire is electrically connected with the electrical connection end 14, a current transformer 15 is arranged at one end of the wire connected with the electrical connection end 14, and the main control unit 12 is electrically connected with the current transformer 15.
Specifically, the wire passes through the inside of connecting rod 6 and then enters inspection robot 1, and is connected with electric connection end 14 of electrochromic glass 10, and the current information that first metal pole 8 or second metal pole 9 transmitted can be detected through current transformer 15 that sets up, and main control unit 12 receives the current information of current transformer 15 transmission and the signal of telecommunication of 11 transmissions of photoelectric detector and synthesizes the state of judging the magnetic leakage, and whether control camera 4 with this carries out the collection of image.
Preferably, the side wall of the inspection robot 1 is provided with an electromagnetic shielding plate 16.
The electromagnetic shield plate 16 prevents the leakage flux of the transformer from affecting the electronic components inside the inspection robot 1.
Preferably, swing motor 5 offside 1 lateral wall of patrolling and examining robot is provided with electric putter 17, electric putter 17's output shaft is connected with camera 4, main control unit 12 is connected with electric putter 17 electricity.
Can drive camera 4 through the electric putter 17 that sets up and go up and down, when needs carry out image acquisition, just control camera 4 and rise, prevent that camera 4 height is higher and influence light and enter into the inside of patrolling and examining robot 1.
Preferably, the side wall of the inspection robot 1 is provided with a fixing plate 18, a bearing 19 is arranged on the fixing plate 18, and one end of the rotating shaft 7 is connected with the bearing 19.
The rotation shaft 7 can be supported to rotate through the bearing 19, so that the first metal rod 8 can swing.
Preferably, still include spray head 20 and paint storage box 21, paint storage box 21 sets up inside patrolling and examining robot 1, spray head 20 sets up and keeps away from the one end of patrolling and examining robot 1 at connecting rod 6 to be connected with paint storage box 21, main control unit 12 is connected with spray head 20 electricity.
Before the main control unit 12 controls the camera 4 to collect image information, the paint spraying head 20 is controlled to spray paint labels on the transformer, so that a worker can quickly locate the transformer with leakage flux, and the maintenance efficiency is improved.
Preferably, the opposite side of the connecting rod 6 is provided with a sliding groove 22, a positioning groove 23 is arranged in the sliding groove 22, a metal sheet 24 is arranged in the positioning groove 23, the metal sheet 24 is electrically connected with a lead, metal sliding blocks 25 are arranged at two ends of the first metal rod 8 and the second metal rod 9, an elastic metal collision bead 26 is arranged on the metal sliding blocks 25, and the elastic metal collision bead 26 is popped out of the positioning groove 23 and contacts with the metal sheet 24.
Because the specifications of the iron cores in different transformers are different, and when the iron cores with different specifications are defective or damaged, the magnetic flux leakage generated by the iron cores also has a certain difference, the invention is provided with the expandable function of the first metal rod 8 and the second metal rod 9, the metal sliding blocks 25 at the two ends of the first metal rod 8 and the second metal rod 9 slide along the sliding grooves 22 on the connecting rod 6, when the elastic metal collision beads 26 are popped out to the positioning grooves 23, the positioning of the first metal rod 8 and the second metal rod 9 can be realized, and the first metal rod 8 and the second metal rod 9 can be electrically connected with the electrochromic glass 10 through the metal sheets 24.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. The online monitoring visual display device for the power distribution network is characterized by comprising an inspection robot, a cloud platform, a visual display screen, a camera and a magnetic flux leakage detection mechanism, wherein the camera is arranged on the side wall of the inspection robot; the magnetic flux leakage detection mechanism comprises a swing motor, a connecting rod, a rotating shaft, a plurality of first metal rods and a second metal rod, wherein the rotating shaft is rotatably arranged on the side wall of the inspection robot, the first metal rods are connected with the rotating shaft through the connecting rod, the swing motor is arranged on the side wall of the inspection robot, an output shaft of the swing motor is connected with the rotating shaft, the second metal rods are connected with the side wall of the inspection robot through the connecting rod, and the first metal rods are perpendicular to the second metal rods and a horizontal line; patrol and examine the robot top and be provided with electrochromic glass, it is inside to be provided with photoelectric detector and main control unit to patrol and examine the robot, first metal pole and second metal pole are connected with electrochromic glass electricity through the wire respectively, main control unit is connected with camera, swing motor and photoelectric detector electricity respectively, visual display screen passes through cloud platform and main control unit data connection.
2. The visual display device of distribution network on-line monitoring of claim 1, characterized by further comprising an ultrasonic sensor, wherein the ultrasonic sensor is arranged on the side of the inspection robot where the swing motor is located and is electrically connected with the main control unit.
3. The visual display device for online monitoring of the power distribution network according to claim 1, wherein an electrical connection end is arranged on the electrochromic glass, the wire is electrically connected with the electrical connection end, a current transformer is arranged at one end of the wire connected with the electrical connection end, and the main control unit is electrically connected with the current transformer.
4. The visual display device for online monitoring of the power distribution network according to claim 1, wherein the side wall of the inspection robot is provided with an electromagnetic shielding plate.
5. The visual display device for online monitoring of the power distribution network according to claim 1, wherein an electric push rod is arranged on the side wall of the inspection robot opposite to the swing motor, an output shaft of the electric push rod is connected with a camera, and the main control unit is electrically connected with the electric push rod.
6. The visual display device of distribution network on-line monitoring of claim 1, characterized in that, the robot lateral wall of patrolling and examining is provided with the fixed plate, be provided with the bearing on the fixed plate, the one end and the bearing of pivot are connected.
7. The visual display device of distribution network on-line monitoring of claim 1, characterized in that, still include paint sprayer and paint storage box, the paint storage box sets up inside patrolling and examining the robot, paint sprayer sets up and keeps away from the one end of patrolling and examining the robot at the connecting rod to be connected with the paint storage box, the main control unit is connected with paint sprayer electricity.
8. The visual display device for online monitoring of the power distribution network according to claim 1, wherein a sliding groove is formed in the opposite side of the connecting rod, a positioning groove is formed in the sliding groove, a metal sheet is arranged inside the positioning groove and electrically connected with the lead, metal sliding blocks are arranged at two ends of the first metal rod and the second metal rod, an elastic metal collision bead is arranged on each metal sliding block, and the elastic metal collision bead is popped into the positioning groove and contacts with the metal sheet.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011155972.XA CN112285198B (en) | 2020-10-26 | 2020-10-26 | Visual display device of distribution network on-line monitoring |
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| CN202011155972.XA CN112285198B (en) | 2020-10-26 | 2020-10-26 | Visual display device of distribution network on-line monitoring |
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| CN112285198A true CN112285198A (en) | 2021-01-29 |
| CN112285198B CN112285198B (en) | 2023-10-27 |
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| KR20070046575A (en) * | 2005-10-31 | 2007-05-03 | 한국전력공사 | Detecting method and apparatus thereof for electric transformer degradation by combining radio frequency identification electronic tag and senser |
| JP2007287808A (en) * | 2006-04-14 | 2007-11-01 | Uchihashi Estec Co Ltd | Method of diagnosing pole mounted transformer |
| CN103063895A (en) * | 2013-01-10 | 2013-04-24 | 华北电力科学研究院有限责任公司 | Pliers-shaped anti-interference current transformer and transformer iron core grounding current testing system |
| CN207181593U (en) * | 2017-08-08 | 2018-04-03 | 深圳市特力康科技有限公司 | A kind of distribution network line visualizes failure tracking device |
| CN110417120A (en) * | 2019-06-26 | 2019-11-05 | 广东康云科技有限公司 | A kind of substation's outdoor scene 3 D intelligent cruising inspection system and method |
| CN110707823A (en) * | 2019-11-08 | 2020-01-17 | 国网上海市电力公司 | Multi-dimensional intelligent remote inspection system for transformer substation |
| CN111611855A (en) * | 2020-04-17 | 2020-09-01 | 广东电网有限责任公司 | Three-dimensional visual robot intelligence system of patrolling and examining of transformer substation |
-
2020
- 2020-10-26 CN CN202011155972.XA patent/CN112285198B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20070046575A (en) * | 2005-10-31 | 2007-05-03 | 한국전력공사 | Detecting method and apparatus thereof for electric transformer degradation by combining radio frequency identification electronic tag and senser |
| JP2007287808A (en) * | 2006-04-14 | 2007-11-01 | Uchihashi Estec Co Ltd | Method of diagnosing pole mounted transformer |
| CN103063895A (en) * | 2013-01-10 | 2013-04-24 | 华北电力科学研究院有限责任公司 | Pliers-shaped anti-interference current transformer and transformer iron core grounding current testing system |
| CN207181593U (en) * | 2017-08-08 | 2018-04-03 | 深圳市特力康科技有限公司 | A kind of distribution network line visualizes failure tracking device |
| CN110417120A (en) * | 2019-06-26 | 2019-11-05 | 广东康云科技有限公司 | A kind of substation's outdoor scene 3 D intelligent cruising inspection system and method |
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| CN112285198B (en) | 2023-10-27 |
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