CN112598812B - Power inspection device and method - Google Patents
Power inspection device and method Download PDFInfo
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- CN112598812B CN112598812B CN202011136542.3A CN202011136542A CN112598812B CN 112598812 B CN112598812 B CN 112598812B CN 202011136542 A CN202011136542 A CN 202011136542A CN 112598812 B CN112598812 B CN 112598812B
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- 238000007689 inspection Methods 0.000 title claims abstract description 183
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 111
- 238000004891 communication Methods 0.000 claims abstract description 82
- 230000005540 biological transmission Effects 0.000 claims abstract description 34
- 210000001503 joint Anatomy 0.000 claims description 19
- 239000000725 suspension Substances 0.000 claims description 9
- 230000013011 mating Effects 0.000 claims 2
- 230000000903 blocking effect Effects 0.000 abstract description 12
- 238000010586 diagram Methods 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000003891 environmental analysis Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
- G16Y10/00—Economic sectors
- G16Y10/35—Utilities, e.g. electricity, gas or water
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
- G16Y40/00—IoT characterised by the purpose of the information processing
- G16Y40/10—Detection; Monitoring
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G9/00—Installations of electric cables or lines in or on the ground or water
- H02G9/06—Installations of electric cables or lines in or on the ground or water in underground tubes or conduits; Tubes or conduits therefor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G9/00—Installations of electric cables or lines in or on the ground or water
- H02G9/08—Installations of electric cables or lines in or on the ground or water in tunnels
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Abstract
The invention discloses a power inspection device and a method, which relate to the field of inspection of pipe galleries, and comprise at least two inspection devices and a communication mechanism, wherein the inspection mechanisms are arranged in pipe gallery sections between two adjacent firewall, at least one inspection device is arranged in each section of pipe gallery section, the communication mechanism is arranged on the firewall of the adjacent pipe gallery section, a first interface at one end of the communication mechanism faces one pipe gallery section, the other end of the communication mechanism passes through a second interface of the firewall and faces the other pipe gallery section, the interfaces are used for butting joints of the inspection devices arranged in the corresponding pipe gallery sections, the inspection devices in the adjacent pipe gallery sections are in wired communication through the communication mechanism, the problem of reduction of fireproof blocking capability exists after an inspection robot channel is reserved for the firewall, a communication line is buried in the firewall, the inspection robot can also realize wired stable transmission of data without directly passing through the firewall, the blocking capability of the firewall is improved while stable and complete transmission of routing inspection data is guaranteed.
Description
Technical Field
The disclosure relates to the field of pipe gallery inspection, and relates to a power inspection device and a power inspection method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
In urban power pipelines/tunnels, monitoring facilities of cables are extremely important for guaranteeing social electricity utilization, but due to the narrow pipelines/tunnels and the bad communication environment, tunnel inspection robots are often adopted for inspection, the tunnel inspection robots are arranged on preset tracks, images are recorded through cameras, and then the facilities in the tunnels are inspected in a replay mode.
Not all power pipelines/tunnels are pre-provided with tracks for the inspection robot to walk, and the tracks for the inspection robot to move are mostly arranged in a way of hanging the tracks due to the limitation of facility conditions.
The inventor finds that in order to prevent fire, disasters and the like from spreading in a pipe gallery, fire walls are arranged at intervals along the extension direction of the pipe gallery to divide the pipe gallery into a plurality of pipe gallery sections which are connected in series, fire doors for inspection personnel to pass through are arranged on the pipe gallery sections, but for an inspection robot, particularly suspended inspection equipment, although a channel for the inspection robot to pass through is formed in the top of the fire wall, the problem that the inspection robot can continuously inspect along the channel can be solved, but the blocking capability of the firewall after the channel is formed is greatly reduced, and the existing wireless data transmission mode has the problems that stable data transmission is difficult to realize in a complex underground environment, data loss in the inspection process is caused, and secondary inspection is required.
Disclosure of Invention
The electric power inspection device and the electric power inspection method solve the problems that fire prevention blocking capacity is reduced after an inspection robot channel is reserved for a firewall, a communication line is buried in the firewall, the inspection robot does not need to directly penetrate through the firewall, wired stable transmission of data can be achieved, stable and complete transmission of inspection data is guaranteed, and meanwhile the blocking capacity of the firewall is improved.
The first purpose of this disclosure is to provide a power inspection device, this disclosure adopts following technical scheme:
including two at least equipment of patrolling and examining, communication mechanism, it arranges in the pipe gallery festival section between the adjacent two sides prevents hot wall to patrol and examine the mechanism, it patrols and examines equipment to have arranged at least one in every section pipe gallery festival section, communication mechanism installs on the firewall of adjacent pipe gallery festival section, the first interface of communication mechanism one end is towards a pipe gallery festival section, the other end passes prevents hot wall second interface towards another pipe gallery festival section, the interface is used for the butt joint to correspond the joint of the equipment of patrolling and examining of arranging in the pipe gallery festival section, the equipment of patrolling and examining in the adjacent pipe gallery festival section passes through communication mechanism wired communication.
Further, equipment of patrolling and examining includes patrolling and examining the mechanism, hangs mechanism, running gear and data transmission mechanism, hangs the mechanism and patrols and examines the rail connection with predetermineeing in the piping lane festival section, and running gear cooperation is patrolled and examined the track and is driven to patrol and examine the mechanism and follow and examine the orbital motion, and the mechanism of patrolling and examining detects the data of patrolling and examining that acquire in the piping lane.
Furthermore, the data transmission mechanism comprises a joint arranged on the inspection equipment main body, the joint is connected with the inspection mechanism, and the joint is used for connecting the interface of the communication mechanism and the inspection mechanism of another inspection equipment in a wired connection mode to communicate.
Further, a pair of joints are arranged on the inspection equipment, the inspection mechanism is connected, and the two joints are arranged on the surface of the inspection equipment main body facing the firewall respectively.
Further, it arranges at the top of piping lane festival section to patrol and examine the track, arranges along piping lane extending direction, and equipment of patrolling and examining hangs in midair on patrolling and examining the track through the cooperation of hanging the mechanism and patrolling and examining the track.
Furthermore, the inspection equipment joint and the interface of the communication mechanism are arranged at equal height positions, and the joint is communicated with the interface in a splicing matching manner.
Furthermore, communication mechanism includes interface and communication line, and the communication line passes through the firewall that corresponds, and first interface is connected to communication line one end, and the second interface is connected to the other end, and the first interface all is located outside the firewall covers with the position that the second interface cooperation connects.
Furthermore, the communication line outside parcel has the casing, and the casing is kept apart and is prevented hot wall and communication line, and the clearance packing between communication line and the casing has fire prevention mud.
A second object of the present disclosure is to provide a power inspection method using the power inspection apparatus as described above, including the steps of:
the first inspection mechanism inspects the corresponding pipe gallery sections, acquires inspection data and stores the inspection data;
after all the routing inspection data in the pipe gallery section are obtained, moving to the position of a firewall corresponding to the next pipe gallery section, and butting an end interface of a communication mechanism arranged on the firewall;
the second inspection mechanism located in the next pipe gallery section is in butt joint with the interface at the other end of the communication mechanism, and the inspection data acquired by the first inspection mechanism are acquired and stored;
the second inspection mechanism inspects the corresponding pipe gallery segment, acquires inspection data and stores the inspection data;
after all the patrol data in the pipe gallery segment are obtained, transmitting the data to the patrol mechanism of the next pipe gallery segment through another communication mechanism;
patrol and examine each piping lane in proper order and carry out data transmission in proper order along piping lane extending direction, until last segment.
Furthermore, when the inspection mechanism transmits inspection data to the next inspection mechanism, all the inspection data accumulated in the previous process are transmitted to the next inspection mechanism, and all the inspection data are acquired from the inspection mechanism of the last pipe gallery segment.
Compared with the prior art, this disclosed beneficial effect does:
1. the problem that the fireproof blocking capability is reduced after an inspection robot channel is reserved for a fireproof wall is solved, a communication line is buried in the fireproof wall, the inspection robot can also realize wired stable transmission of data without directly penetrating through the fireproof wall, and the blocking capability of the fireproof wall is improved while stable and complete transmission of the inspection data is ensured;
2. each section of pipe gallery is internally and uniformly provided with patrol inspection equipment, patrol inspection is carried out on the corresponding pipe gallery, patrol inspection data is obtained and temporarily stored, the patrol inspection data is transmitted to patrol inspection equipment in the next pipe gallery in a relay mode, and transmission is carried out through a line, so that the scheme that a firewall is provided with a channel when a single device penetrates through the whole pipe gallery is avoided, the integrity of the firewall is ensured, and the blocking capability of the firewall to accidents is improved;
3. adopt to bury underground in advance and realize patrolling and examining the transmission of data between the adjacent festival section at the inside circuit of preventing hot wall, compare in adopting wireless mode transmission, can realize more stable, quick transmission to, reduced wireless transmission module's use, reduced in the piping lane, patrol and examine the equipment complexity on the robot, reduce the fault rate under the environment is patrolled and examined to the abominable.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
Fig. 1 is a schematic structural diagram of a power inspection device in embodiments 1 and 2 of the present disclosure;
fig. 2 is a schematic diagram of two inspection devices in the embodiments 1 and 2 of the present disclosure when they are butted by a communication mechanism;
wherein: 1. piping lane, 2, track, 3, piping lane segment, 4, patrol and examine equipment, 5, first joint, 6, prevent hot wall, 7, communication line, 8, interface, 9, second joint.
The specific implementation mode is as follows:
the present disclosure is further illustrated by the following examples in conjunction with the accompanying drawings.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present disclosure, terms such as "fixedly connected," "connected," and the like should be understood broadly, and mean that they may be fixedly connected, integrally connected, or detachably connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present disclosure can be determined on a case-by-case basis by a person skilled in the art and should not be construed as limiting the present disclosure.
As introduced in the background art, although the problem that the inspection robot continuously inspects along the track can be solved by arranging the channel for the inspection robot to pass through at the top of the firewall in the prior art, the blocking capability of the firewall after the channel is arranged is greatly reduced; in order to solve the problems, the disclosure provides a power inspection device and a power inspection method.
Example 1
The system mainly comprises inspection equipment and a communication mechanism, wherein the inspection equipment is uniformly arranged in a pipe gallery 1, the inspection equipment is arranged in a pipe gallery section 3 between two adjacent firewall sections 6, in order to ensure the integrity of inspection, at least one inspection equipment is uniformly arranged in each section of pipe gallery section, the inspection equipment acquires data such as temperature, humidity and video in the pipe gallery section, and judges the running environment of electrical equipment in the pipe gallery section according to the data after the data is transmitted to the outside;
the communication mechanism is used as data transmission equipment and is installed on a firewall in a pipe gallery, the body penetrates through the firewall, two ends of the communication mechanism are exposed at two ends of the firewall and can be in butt joint with inspection equipment, one end of the communication structure is in butt joint with first inspection equipment 4 located at a first pipe gallery section, the other end of the communication structure is in butt joint with second inspection equipment located at a second pipe gallery section, and the first inspection equipment and the second inspection equipment are in wired connection through the communication mechanism;
after the wired connection is formed, corresponding data transmission can be carried out, wherein the corresponding data transmission comprises control command data and data acquired in the inspection process;
the first interface of communication mechanism one end is towards a piping lane segment, and the other end passes prevents that hot wall second interface is towards another piping lane segment, and the interface is used for the butt joint to correspond the joint of the equipment of patrolling and examining of arranging in the piping lane segment, and the equipment of patrolling and examining in the adjacent piping lane segment passes through communication mechanism wired communication.
The first equipment of patrolling and examining is patrolled and examined the back that finishes in to first piping lane festival section, removes to the firewall adjacent with second piping lane festival section, and equipment is patrolled and examined to the second through communication mechanism butt joint, and after data transmission finishes, the second is patrolled and examined equipment and is broken away from communication mechanism, carries out the work of patrolling and examining in the second piping lane festival section.
Each section of pipe gallery segment is internally and uniformly provided with inspection equipment, inspection is carried out on the corresponding pipe gallery, inspection data are acquired and temporarily stored, the inspection equipment in the next pipe gallery is transmitted in a relay mode, transmission is carried out through a line, the scheme that a passageway is formed by a firewall when the whole pipe gallery is penetrated through by single equipment is avoided, the integrity of the firewall is guaranteed, and the blocking capability of the firewall to an accident is improved.
Specifically, the inspection equipment comprises an inspection mechanism, a suspension mechanism, a traveling mechanism and a data transmission mechanism, wherein the inspection mechanism, the suspension mechanism and the traveling mechanism are all made of existing finished elements, inspection work inside a pipe gallery can be performed in a suspension mode in pipe gallery sections, acquired inspection data are temporarily stored inside the inspection mechanism, and when the communication mechanism is in butt joint, the communication mechanism is communicated with another inspection equipment to realize wired transmission of the data;
the suspension mechanism is connected with a routing inspection track preset in the pipe gallery segment, the traveling mechanism is matched with the routing inspection track 2 and drives the routing inspection mechanism to run along the routing inspection track, and the routing inspection mechanism detects and acquires routing inspection data in the pipe gallery;
environmental data such as image information, temperature information, humidity information in the pipe rack can be gathered to the mechanism of patrolling and examining, saves, provides data support for follow-up to pipe rack environmental analysis.
The inspection equipment is provided with a pair of joints which are connected with an inspection mechanism respectively, the two joints are a first joint 5 and a second joint 9 respectively, the first joint is arranged on one surface of the inspection equipment body facing to the firewall, and the second joint is arranged on one surface of the inspection equipment body facing to the other firewall;
two joints that arrange can prevent hot wall with two at piping lane festival section both ends respectively and correspond, are connected with the communication equipment who corresponds on the firewall, and first joint can prevent hot wall last communication mechanism's interface butt joint with piping lane festival section one end, and the second joint can prevent hot wall last communication mechanism's interface butt joint with the piping lane festival section other end.
For the suspension mechanism, the inspection track is arranged at the top of the pipe gallery section and arranged along the extending direction of the pipe gallery, and the inspection equipment is suspended on the inspection track through the matching of the suspension mechanism and the inspection track;
in order to facilitate the butt joint of the interface and the connector, the inspection equipment connector and the interface of the communication mechanism are arranged at equal height positions, and the connector is communicated with the interface in a plugging fit manner.
As to the specific structure of the communication mechanism, in this embodiment, with reference to fig. 1 and 2, the communication mechanism includes an interface 8 and a communication line 7, the communication line passes through a corresponding firewall, one end of the communication line is connected to a first interface, the other end of the communication line is connected to a second interface, and the positions of the first interface and the second interface that are matched with the joint are both outside the firewall;
the communication line is externally wrapped by a shell, the shell isolates the firewall from the communication line, the shell is embedded in the firewall in advance, and a gap between the communication line and the shell is filled with fireproof mud; the communication line can be fully protected, and the position where the communication line passes through is subjected to sealed and isolated fireproof treatment by using fireproof mud.
The adoption buries underground in advance and realizes patrolling and examining the transmission of data between the adjacent festival section at the inside circuit of preventing hot wall, compares in adopting wireless mode transmission, can realize more stable, quick transmission to, reduced wireless transmission module's use, reduced in the piping lane, patrol and examine the equipment complexity on the robot, reduce the fault rate under the abominable environment of patrolling and examining.
Example 2
In another exemplary embodiment of the present disclosure, as shown in fig. 1-2, a power patrol method is provided, which utilizes the power patrol apparatus as described in embodiment 1.
The method comprises the following steps:
the first inspection mechanism inspects the corresponding pipe gallery sections, acquires inspection data and stores the inspection data;
after all the patrol data in the pipe gallery segment are obtained, moving to the position of the firewall corresponding to the next pipe gallery segment, and butting an end interface of a communication mechanism arranged on the firewall;
the second inspection mechanism located in the next pipe gallery section is in butt joint with the interface at the other end of the communication mechanism, and the inspection data acquired by the first inspection mechanism are acquired and stored;
the second inspection mechanism inspects the corresponding pipe gallery sections, acquires inspection data and stores the inspection data;
after all the patrol data in the pipe gallery segment are obtained, transmitting the data to the patrol mechanism of the next pipe gallery segment through another communication mechanism;
patrol and examine each piping lane in proper order and carry out data transmission in proper order along piping lane extending direction, until last segment.
Further, for the accumulated transmission of the data, when the inspection mechanism transmits the inspection data to the next inspection mechanism, all the inspection data accumulated previously are transmitted to the next inspection mechanism, and all the inspection data are acquired from the inspection mechanism of the last pipe gallery segment;
all patrol data obtained from the patrol mechanism in the last pipe gallery segment are used for analyzing the state of the electrical equipment in the pipe gallery.
The problem that the fireproof blocking capacity is reduced after an inspection robot channel is reserved for a fireproof wall is solved, a communication line is buried in the fireproof wall, the inspection robot does not need to directly penetrate the fireproof wall, wired stable transmission of data can be achieved, stable and complete transmission of the inspection data is guaranteed, and the blocking capacity of the fireproof wall is improved.
Although the embodiments of the present disclosure have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present disclosure, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive changes in the technical solutions of the present disclosure.
Claims (8)
1. A power inspection device is characterized by comprising at least two inspection devices and a communication mechanism, wherein the inspection devices are arranged in pipe gallery sections between two adjacent firewall sides, at least one inspection device is arranged in each pipe gallery section, the communication mechanism is installed on the firewall of the adjacent pipe gallery section, a first interface at one end of the communication mechanism faces one pipe gallery section, the other end of the communication mechanism penetrates through a second interface of the firewall and faces the other pipe gallery section, the interfaces are used for butting joints of the inspection devices arranged in the corresponding pipe gallery sections, and the inspection devices in the adjacent pipe gallery sections are in wired communication through the communication mechanism;
the inspection equipment comprises an inspection mechanism, a suspension mechanism, a traveling mechanism and a data transmission mechanism, wherein the suspension mechanism is connected with an inspection track preset in a pipe gallery segment, the traveling mechanism is matched with the inspection track and drives the inspection mechanism to run along the inspection track, and the inspection mechanism detects and acquires inspection data in the pipe gallery;
the data transmission mechanism comprises a joint arranged on the inspection equipment main body, the joint is connected with the inspection mechanism, and the joint is used for connecting an interface of the communication mechanism and the inspection mechanism of another inspection equipment to form wired connection for communication.
2. The power inspection device according to claim 1, wherein a pair of contacts are disposed on the inspection equipment and each connected to the inspection mechanism, the contacts being disposed on a surface of the inspection equipment body facing the firewall.
3. The power inspection device according to claim 1, wherein the inspection rail is disposed at a top of the section of the pipe corridor and along the direction of extension of the pipe corridor, the inspection equipment being suspended from the inspection rail by engagement of the suspension mechanism with the inspection rail.
4. The power inspection device according to claim 3, wherein the inspection equipment connectors are disposed at equal height with the interfaces of the communication mechanisms, the connectors being in mating communication with the interfaces.
5. The power inspection device according to claim 1, wherein the communication mechanism includes interfaces and communication lines, the communication lines pass through corresponding firewalls, one end of the communication lines is connected to the first interface, the other end of the communication lines is connected to the second interface, and the first interface and the second interface are positioned outside the firewall covers in mating engagement with each other.
6. The power inspection device according to claim 5, wherein the communication wire is externally wrapped with a housing that separates the firewall from the communication wire, and a gap between the communication wire and the housing is filled with fire-proof mud.
7. A power inspection method using the power inspection apparatus according to any one of claims 1 to 6, comprising the steps of:
the first inspection mechanism inspects the corresponding pipe gallery sections, acquires inspection data and stores the inspection data;
after all the patrol data in the pipe gallery segment are obtained, moving to the position of the firewall corresponding to the next pipe gallery segment, and butting an end interface of a communication mechanism arranged on the firewall;
the second inspection mechanism located in the next pipe gallery section is in butt joint with the interface at the other end of the communication mechanism, and the inspection data acquired by the first inspection mechanism are acquired and stored;
the second inspection mechanism inspects the corresponding pipe gallery segment, acquires inspection data and stores the inspection data;
after all the inspection data in the pipe gallery section are obtained, the data are transmitted to the inspection mechanism of the next pipe gallery section through another communication mechanism;
patrol and examine each piping lane in proper order and carry out data transmission in proper order along piping lane extending direction, until last segment.
8. The power inspection method according to claim 7, wherein when the inspection authority transmits inspection data to a next inspection authority, all of the inspection data previously accumulated is transmitted to the next inspection authority and all of the inspection data is obtained from the inspection authority of the last of the plurality of pipe lane segments.
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| CN202011136542.3A CN112598812B (en) | 2020-10-22 | 2020-10-22 | Power inspection device and method |
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| CN202011136542.3A CN112598812B (en) | 2020-10-22 | 2020-10-22 | Power inspection device and method |
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| CN107094243A (en) * | 2017-05-03 | 2017-08-25 | 国家电网公司 | A kind of overhead power transmission line passage visualization inspection device and method |
| CN109089219B (en) * | 2018-06-08 | 2020-07-28 | 国网河北省电力有限公司石家庄供电分公司 | Patrol communication method for high-voltage cable patrol vehicle |
| CN109542114A (en) * | 2018-10-23 | 2019-03-29 | 珠海模范智能科技有限公司 | A kind of unmanned plane polling transmission line method and system |
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| CN110001956B (en) * | 2019-04-28 | 2024-01-30 | 酷黑科技（北京）有限公司 | Pipe gallery inspection device and pipe gallery inspection method |
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| CN204012935U (en) * | 2014-08-06 | 2014-12-10 | 国家电网公司 | A kind of overhead transmission line based on stratification radio communication patrols monitoring device online |
| CN105511495A (en) * | 2016-02-15 | 2016-04-20 | 国家电网公司 | Control method and system for intelligent unmanned aerial vehicle patrol for power line |
| CN207218351U (en) * | 2017-08-18 | 2018-04-10 | 华南理工大学 | A kind of round-the-clock wireless charging platform of power patrol unmanned machine |
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| CN112598812A (en) | 2021-04-02 |
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