CN112285198B - 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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- CN112285198B CN112285198B CN202011155972.XA CN202011155972A CN112285198B CN 112285198 B CN112285198 B CN 112285198B CN 202011155972 A CN202011155972 A CN 202011155972A CN 112285198 B CN112285198 B CN 112285198B
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- visual display
- inspection robot
- metal
- main control
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- 230000000007 visual effect Effects 0.000 title claims abstract description 34
- 238000012544 monitoring process Methods 0.000 title claims abstract description 24
- 239000002184 metal Substances 0.000 claims abstract description 80
- 229910052751 metal Inorganic materials 0.000 claims abstract description 80
- 230000004907 flux Effects 0.000 claims abstract description 11
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 8
- 238000007689 inspection Methods 0.000 claims description 55
- 239000003973 paint Substances 0.000 claims description 23
- 238000005507 spraying Methods 0.000 claims description 12
- 238000003860 storage Methods 0.000 claims description 11
- 239000011324 bead Substances 0.000 claims description 6
- 239000011521 glass Substances 0.000 abstract description 15
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 230000003287 optical effect Effects 0.000 abstract 1
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 5
- 230000005611 electricity Effects 0.000 description 5
- 230000006698 induction Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 230000005389 magnetism Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Classifications
-
- 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
-
- 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
Abstract
The invention provides an online monitoring visual display device for a power distribution network, which comprises a patrol robot, a cloud platform, a visual display screen, a camera and a magnetic flux leakage detection mechanism, wherein the magnetic flux leakage detection mechanism comprises a swinging motor, a connecting rod, a rotating shaft, a plurality of first metal rods and a plurality of second metal rods, electrochromic glass is arranged at the top of the patrol robot, a photoelectric detector and a main control unit are arranged in the patrol robot, the first metal rods and the second metal rods can perform magnetic flux leakage cutting linear motion on the magnetic flux leakage of the transformer in the process of moving the patrol robot to the transformer, the generated electric energy can enable the electrochromic glass to be in a transparent state, the photoelectric detector can convert an optical signal into an electric signal and send the electric signal to the main control unit, the main control unit controls the camera to acquire image information of the transformer, and sends other information such as the image information and the electric signal 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 an online monitoring visual display device for a distribution network.
Background
The distribution network is a network which receives electric energy from a power transmission network or a regional power plant, distributes the electric energy to various users in situ through a distribution facility 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 compensators, a plurality of auxiliary facilities and the like, and plays an important role in distributing the electric energy in the power network.
Various power equipment can exist in the distribution network area, in long-term transmission and distribution electricity consumption, the inside iron core of transformer can have defect or damage, lead to the iron core integrality to be destroyed, take place the magnetic leakage phenomenon, the magnetic leakage of transformer can cause transformer conversion efficiency to reduce, long-term continuous magnetic leakage not only influences the normal operation of equipment, thereby still can 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 the distribution network and examine, however, current inspection mode is basically all carried out by the manual work, and detect and discover that the transformer magnetic leakage is back most all recorded through the paper inspection list, paper inspection list is difficult to preserve, and can't directly perceivedly high-efficient express the result of monitoring.
Disclosure of Invention
Therefore, the invention provides the on-line monitoring visual display device for the power distribution network, which can detect whether the transformer leaks magnetism or not and visually display the state information of the transformer leaking magnetism on a visual screen.
The technical scheme of the invention is realized as follows:
the utility model provides a visual display device of distribution network on-line monitoring, includes inspection robot, cloud platform, visual display screen, camera and magnetic leakage detection mechanism, the camera sets up in inspection robot lateral wall; the magnetic flux leakage detection mechanism comprises a swinging 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 intelligent inspection robot is characterized in that 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 first metal rod and the second metal rod are respectively electrically connected with the electrochromic glass through wires, the main control unit is respectively electrically connected with a camera, a swing motor and the photoelectric detector, and the visual display screen is connected with the main control unit through a cloud platform.
Preferably, the inspection robot further comprises an ultrasonic sensor, wherein the ultrasonic sensor is arranged on the side face of the inspection robot where the swing motor is located and is electrically connected with the main control unit.
Preferably, the electrochromic glass is provided with an electric connection end, the lead is electrically connected with the electric connection end, one end of the lead connected with the electric connection end is provided with a current transformer, 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, the side wall of the inspection robot at the opposite side of the swing motor is provided with an electric push rod, an output shaft of the electric push rod is connected with the camera, and the main control unit is electrically connected with the electric push rod.
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, the paint spraying device further comprises a paint spraying head and a paint storage box, wherein the paint storage box is arranged inside the inspection robot, the paint spraying head is arranged at one end of the connecting rod, which is far away from the inspection robot, and is connected with the paint storage box, and the main control unit is electrically connected with the paint spraying head.
Preferably, the side that the connecting rod is relative is provided with the spout, be provided with the constant head tank in the spout, the inside sheetmetal that is provided with of constant head tank, the sheetmetal is connected with the wire electricity, first metal pole and second metal pole both ends are provided with the metal slider, be provided with the elasticity metal on the metal slider and bump the pearl, the elasticity metal bumps the pearl and pops out in the constant head tank and contacts with the sheetmetal.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides an on-line monitoring visual display device for a power distribution network, wherein a patrol robot can patrol a power distribution network according to a preset patrol route and detect magnetic leakage of a transformer arranged at a fixed position, when the patrol robot moves to the vicinity of the transformer, a swing motor can be started to drive a first metal rod to swing, meanwhile, the patrol robot continues to move, and as the first metal rod and a second metal rod are vertically arranged, the first metal rod and the second metal rod can respectively cut magnetic leakage in the horizontal direction and the vertical direction when the patrol robot moves, so that current is generated and is transmitted to electrochromic glass, the electrochromic glass gradually becomes 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 acquire an image of the transformer according to the electric signal transmitted by the photoelectric detector and transmits the electric signal to a visual display screen to display, and remote on-line monitoring is realized, so that workers know the state of the transformer.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only preferred embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a patrol robot of an on-line monitoring visual display device for a power distribution network;
fig. 2 is a schematic diagram of an on-line monitoring visual display device for a power distribution network according to the present invention;
fig. 3 is a schematic diagram of a connection structure between a first metal rod and a connecting rod of the power distribution network on-line monitoring visual display device;
in the figure, 1 is a patrol robot, 2 is a cloud platform, 3 is a visual display screen, 4 is a camera, 5 is a swinging motor, 6 is a connecting rod, 7 is a rotating shaft, 8 is a first metal rod, 9 is a second metal rod, 10 is electrochromic glass, 11 is a photoelectric detector, 12 is a main control unit, 13 is an ultrasonic sensor, 14 is an electric connection end, 15 is a current transformer, 16 is an electromagnetic shielding plate, 17 is an electric push rod, 18 is a fixed plate, 19 is a bearing, 20 is a paint spraying head, 21 is a paint storage box, 22 is a chute, 23 is a positioning slot, 24 is a metal sheet, 25 is a metal sliding block, and 26 is an elastic metal collision bead.
Detailed Description
For a better understanding of the technical content of the present invention, a specific example is provided below, and the present invention is further described with reference to the accompanying drawings.
Referring to fig. 1 to 3, the on-line monitoring visual display device for the power distribution network provided by the invention comprises a patrol 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 patrol robot 1; the magnetic flux leakage detection mechanism comprises a swinging 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 swinging motor 5 is arranged on the side wall of the inspection robot 1, an output shaft of the swinging 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; the utility model discloses a visual inspection robot, including inspection robot 1, main control unit, cloud platform 2, main control unit, visual display screen 3, wherein the inspection robot 1 top is provided with electrochromic glass 10, inspection robot 1 inside is provided with photoelectric detector 11 and main control unit 12, 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 photoelectric detector 11 electricity respectively, visual display screen 3 passes through cloud platform 2 and main control unit 12 data connection.
The on-line monitoring visual display device for the power distribution network is used for detecting magnetic leakage of transformers in the power distribution network, when the transformers with magnetic leakage are detected, the camera 4 can be used for collecting image information of the transformers, and the corresponding image information and the detected magnetic leakage information are transmitted to the visual display screen 3 through the cloud platform 2, so that workers can visually check the image information and other state information of the transformers with magnetic leakage through the visual display screen 3, the storage of monitoring data is realized in an intelligent mode, the use of paper inspection sheets is reduced, the manual inspection process is reduced, and the labor intensity of workers is reduced.
According to the invention, the main control unit 12 is arranged in the inspection robot 1, the 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 conduct magnetic flux leakage detection on a transformer on the inspection route, when the inspection robot 1 moves to the vicinity of the transformer, the main control unit 12 controls the swinging motor 5 to drive the connecting rod 6 and the first metal rod 8 to swing around the rotating shaft 7, the first metal rod 8 is perpendicular to the horizontal line, when the first metal rod 8 swings, the magnetic induction line of the horizontal direction of the transformer can be cut, the second metal rod 9 is parallel to the horizontal line, in the process that the inspection robot 1 approaches the transformer, the second metal rod 9 can cut the magnetic induction line of the vertical direction, so that no matter how the magnetic flux leakage direction of the transformer is, the first metal rod 8 or the second metal rod 9 can cut the magnetic induction line and generate electric current, the generated electric current is transmitted to the electrochromic glass 10, the electric current is converted into the electric signal by the electric control unit, the electric signal is transmitted to the main control unit 12, and the image sensor is changed into the image by the main control unit 12, and the image is displayed by the main control unit 12, and the image sensor is displayed by the main control unit 12.
Specifically, the number of the first metal rods 8 and the second metal rods 9 is a plurality of, the inspection robot 1 can enable the number of the first metal rods 8 and the second metal rods 9 entering into a leakage magnetic field to be increased in the process of moving towards the transformer, so that current generated by cutting a magnetic induction line can be continuously increased, the transparency of the electrochromic glass 10 is gradually increased under the action of externally applied current, the quantity of light signals collected by the photoelectric detector 11 is also continuously increased, a certain threshold value is arranged in the main control unit 12, and when the quantity of the light signals collected by the photoelectric detector 11 is larger than the threshold value, the main control unit 12 controls the camera 4 to collect images, so that the continuous work of the camera 4 is prevented from wasting a large amount of electric energy.
Preferably, the inspection robot further comprises an ultrasonic sensor 13, and 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 can be used for detecting the distance from the inspection robot 1 to the transformer, when the distance is within the range, the main control unit 12 can control the swing motor 5 to work, and the main control unit 12 controls the rotating shaft 7 to rotate in different directions by controlling the forward and reverse rotation of the swing motor 5, so that the swinging of the connecting rod 6 and the first metal rod 8 is realized.
Preferably, the electrochromic glass 10 is provided with an electrical connection end 14, the wire is electrically connected with the electrical connection end 14, one end of the wire connected with the electrical connection end 14 is provided with a current transformer 15, and the main control unit 12 is electrically connected with the current transformer 15.
Specifically, the wire passes through the connecting rod 6 and then enters the inspection robot 1 and is connected with the electric connection end 14 of the electrochromic glass 10, the current information transmitted by the first metal rod 8 or the second metal rod 9 can be detected through the arranged current transformer 15, the main control unit 12 receives the current information transmitted by the current transformer 15 and the electric signal transmitted by the photoelectric detector 11 to comprehensively judge the magnetic leakage state, and whether the camera 4 is controlled to acquire images or not is determined.
Preferably, the side wall of the inspection robot 1 is provided with an electromagnetic shielding plate 16.
The electromagnetic shield 16 prevents the influence of the leakage of the transformer on the electronic components inside the inspection robot 1.
Preferably, an electric push rod 17 is arranged on the side wall of the inspection robot 1 on the opposite side of the swing motor 5, an output shaft of the electric push rod 17 is connected with the camera 4, and the main control unit 12 is electrically connected with the electric push rod 17.
The camera 4 can be driven to lift through the electric putter 17 that sets up, and when needs carry out image acquisition, just control the camera 4 to rise, prevent that the camera 4 is high and influence the inside that light enters into inspection robot 1.
Preferably, a fixed plate 18 is arranged on the side wall of the inspection robot 1, a bearing 19 is arranged on the fixed 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 by the bearing 19, thereby realizing the swing of the first metal rod 8.
Preferably, still include paint spraying head 20 and paint storage box 21, paint storage box 21 sets up inside inspection robot 1, paint spraying head 20 sets up the one end of keeping away from inspection robot 1 at connecting rod 6 to be connected with paint storage box 21, main control unit 12 is connected with paint spraying 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 the marks on the transformer, so that a worker can quickly position the magnetic flux leakage transformer, and maintenance efficiency is improved.
Preferably, the opposite side of the connecting rod 6 is provided with a chute 22, a positioning groove 23 is arranged in the chute 22, a metal sheet 24 is arranged in the positioning groove 23, the metal sheet 24 is electrically connected with a wire, two ends of the first metal rod 8 and the second metal rod 9 are provided with metal sliding blocks 25, the metal sliding blocks 25 are provided with elastic metal collision beads 26, and the elastic metal collision beads 26 are ejected into the positioning groove 23 and are contacted with the metal sheet 24.
Because the iron cores of different transformers are different in specification, when the iron cores of different specifications have defects or breakage, magnetic leakage generated by the iron cores can also have certain difference, so that the invention sets the expandable functions 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 spring beads 26 are popped up 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 foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (7)
1. The utility model provides a visual display device of distribution network on-line monitoring which characterized in that includes inspection robot, cloud platform, visual display screen, camera and magnetic leakage detection mechanism, the camera sets up at inspection robot lateral wall; the magnetic flux leakage detection mechanism comprises a swinging 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 intelligent inspection robot comprises a first metal rod, a second metal rod, a camera, a swing motor, a main control unit, a cloud platform, a visual display screen, an electric connection end, a main control unit and a current transformer.
2. The power distribution network on-line monitoring visual display device according to claim 1, further comprising an ultrasonic sensor, wherein the ultrasonic sensor is arranged on the side surface of the inspection robot where the swing motor is located and is electrically connected with the main control unit.
3. The power distribution network on-line monitoring visual display device according to claim 1, wherein electromagnetic shielding plates are arranged on the side walls of the inspection robot.
4. The power distribution network on-line monitoring visual display device according to claim 1, wherein an electric push rod is arranged on the side wall of the inspection robot on the opposite side of 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.
5. The power distribution network on-line monitoring visual display device according to claim 1, wherein a fixed plate is arranged on the side wall of the inspection robot, a bearing is arranged on the fixed plate, and one end of the rotating shaft is connected with the bearing.
6. The visual display device of distribution network on-line monitoring of claim 1, further comprising a paint spraying head and a paint storage box, wherein the paint storage box is arranged inside the inspection robot, the paint spraying head is arranged at one end of the connecting rod, which is far away from the inspection robot, and is connected with the paint storage box, and the main control unit is electrically connected with the paint spraying head.
7. The on-line monitoring visual display device of a power distribution network according to claim 1, wherein the opposite side surfaces of the connecting rods are provided with sliding grooves, positioning grooves are formed in the sliding grooves, metal sheets are arranged in the positioning grooves and are electrically connected with the wires, metal sliding blocks are arranged at two ends of the first metal rod and the second metal rod, elastic metal collision beads are arranged on the metal sliding blocks, and the elastic metal collision beads are ejected into the positioning grooves and are in contact with the metal sheets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011155972.XA CN112285198B (en) | 2020-10-26 | 2020-10-26 | Visual display device of distribution network on-line monitoring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011155972.XA CN112285198B (en) | 2020-10-26 | 2020-10-26 | Visual display device of distribution network on-line monitoring |
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| Publication Number | Publication Date |
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| CN112285198A CN112285198A (en) | 2021-01-29 |
| CN112285198B true CN112285198B (en) | 2023-10-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011155972.XA Active CN112285198B (en) | 2020-10-26 | 2020-10-26 | Visual display device of distribution network on-line monitoring |
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| 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 |
| 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 |
| 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 |
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| CN112285198A (en) | 2021-01-29 |
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