CN113813575A - Be applied to intelligence of electric power construction usefulness and step on lever apparatus - Google Patents
Be applied to intelligence of electric power construction usefulness and step on lever apparatus Download PDFInfo
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- CN113813575A CN113813575A CN202111036083.6A CN202111036083A CN113813575A CN 113813575 A CN113813575 A CN 113813575A CN 202111036083 A CN202111036083 A CN 202111036083A CN 113813575 A CN113813575 A CN 113813575A
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- 238000010276 construction Methods 0.000 title claims abstract description 16
- 230000009194 climbing Effects 0.000 claims abstract description 82
- 230000007613 environmental effect Effects 0.000 claims abstract description 15
- 238000012545 processing Methods 0.000 claims abstract description 13
- 238000012544 monitoring process Methods 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims abstract description 8
- 230000008569 process Effects 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims description 34
- 238000005096 rolling process Methods 0.000 claims description 3
- 230000009471 action Effects 0.000 description 26
- 230000005484 gravity Effects 0.000 description 6
- 238000012423 maintenance Methods 0.000 description 6
- 230000005611 electricity Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 5
- 230000000750 progressive effect Effects 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 241001503987 Clematis vitalba Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000013332 literature search Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000003062 neural network model Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B27/00—Apparatus for climbing poles, trees, or the like
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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
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Abstract
The invention discloses an intelligent pole climbing device applied to electric power construction, which is characterized by comprising: the device comprises a pole climbing frame, a pole climbing seat, a driving assembly arranged on the pole climbing frame, a controller for controlling the driving assembly, and a vision monitoring module connected with the controller; the vision monitoring module comprises a camera sensor and a signal processing device which receives an environmental electric signal generated by the vision sensor, processes and constructs environmental parameters in the advancing direction of the intelligent pole climbing device, outputs a driving signal to the controller, and is installed on the telegraph pole through the clamping interface, so that the driving wheel and the driven wheel clamp the telegraph pole, and the intelligent pole climbing device is convenient to install, high in structural strength and safer.
Description
Technical Field
The invention belongs to the field of power equipment, and particularly relates to an intelligent pole climbing device applied to power construction.
Background
In the operation and maintenance of an electric power system, in order to ensure the reliable and stable operation of a power transmission network, maintenance personnel are required to regularly perform pole climbing operation to overhaul a power transmission line. At present, daily pole climbing operation still mainly uses tools such as climbing plates and climbers, relies on the manpower to climb the wire pole. The maintenance personnel are required to have professional operation skills, and meanwhile, the pole climbing operation consumes a large amount of physical energy of the maintenance personnel, so that the maintenance operation durability is relatively low; meanwhile, the existing pole climbing device does not have any processing capacity, and obvious technology lag exists.
Disclosure of Invention
The invention aims to solve the technical problem of providing an intelligent pole climbing device applied to electric power construction so as to solve the problem.
In order to solve the technical problems, the invention adopts the following technical scheme: the intelligent pole climbing device applied to power construction comprises a pole climbing frame, a pole climbing seat, a driving assembly arranged on the pole climbing frame, a controller for controlling the driving assembly, and a vision monitoring module connected with the controller;
the intelligent pole climbing device comprises a vision monitoring module, a controller and a control module, wherein the vision monitoring module comprises a camera sensor and a signal processing device which receives an environmental electric signal generated by the vision sensor, processes the environmental electric signal and constructs environmental parameters in the advancing direction of the intelligent pole climbing device, and the signal processing device outputs a driving signal to the controller; the pole climbing frame comprises a connecting rod which is obliquely arranged, a pole climbing seat is connected with the lower end of the connecting rod, a driving assembly comprises a driving wheel which is arranged close to the pole climbing seat and a driven wheel which is arranged far away from the pole climbing seat, the driving wheel and the driven wheel are arranged on the same side of the connecting rod, rotating shafts of the driving wheel and the driven wheel are arranged in parallel, so that a clamping interface for clamping a telegraph pole is formed between the driving wheel and the driven wheel, a driving motor which drives the driving wheel to rotate according to output signals of signal processing equipment and a braking mechanism which brakes the driving wheel are arranged in the driving wheel, the driving motor and the braking mechanism are respectively electrically connected with a controller, the telegraph pole is clamped by the driving wheel and the driven wheel together under the working state, the driving motor drives the driving wheel to rotate so that the pole climbing frame and the pole climbing seat can ascend or descend along the telegraph pole together, and the braking mechanism realizes the locking of the pole climbing frame and the pole climbing seat on the telegraph pole by braking of the driving wheel, the outer surfaces of the driving wheel and the driven wheel are provided with notches which are attached to the outer wall of the telegraph pole, and rubber sleeves are fixed on the outer sides of the driving wheel and the driven wheel.
Further, the pole climbing seat is rotatably connected with the lower end of the connecting rod through a rotating shaft mechanism, and the rotating shaft mechanism comprises a rotating shaft and a limiting mechanism used for adjusting the included angle between the pole climbing seat and the connecting rod.
Further, the pole-climbing seat comprises a seat and a pedal connected to the lower portion of the seat, the side portion of the pedal is connected with the rotating shaft mechanism, and the controller is installed on the lower portion of the seat.
Furthermore, the outer surfaces of the driving wheel and the driven wheel are provided with notches which are attached to the outer wall of the telegraph pole.
Furthermore, an encoder for recording the rolling distance of the driving wheel is arranged in the driving wheel and is electrically connected with the controller.
Furthermore, the brake mechanism is a power-off brake which is electrically connected with the controller.
Further, the pole climbing frame further comprises a handrail installed at the upper end of the connecting rod, and an operation panel electrically connected with the controller is arranged on the handrail.
Compared with the prior art, the invention has the beneficial effects that:
when the maintainer used the pole-climbing device, aimed at the wire pole with the joint interface, in order to go into the joint interface with the wire pole card, make action wheel and follow the tight wire pole of driving wheel common clamp can accomplish the installation, because be equipped with driving motor and arrestment mechanism in the action wheel, so the unilateral quality of connecting rod is great, so install on the wire pole after, under the action of gravity of action wheel and internal mechanism, the connecting rod rotates so that the action wheel with from the driving wheel common clamp wire pole in order to form the auto-lock structure. When the driving motor drives the driving wheel to rotate, the pole climbing device ascends or descends along the telegraph pole so that the maintainer can reach the height to be overhauled, when the braking mechanism brakes the driving wheel, the driving wheel stops rotating and is locked, the locking of the position of the pole climbing device on the telegraph pole is realized, and the pole climbing device is prevented from sliding downwards under the action of gravity. The driving wheel and the driven wheel are installed through the integrally arranged connecting rod, the connecting rod is installed on the telegraph pole through the clamping interface, so that the driving wheel and the driven wheel clamp the telegraph pole, the installation is convenient, the structural strength is high, the safety is higher, the single-side mass of the connecting rod is larger through the arrangement of the driving motor in the driving wheel, after the connecting rod is installed on the telegraph pole, the connecting rod rotates under the action of the gravity of the driving wheel and the internal mechanism, so that the telegraph pole is clamped by the driving wheel and the driven wheel together to form a self-locking structure, the ascending and descending of the pole climbing device are driven, meanwhile, the weight of the pole climbing device is reduced, and the operation power consumption of the pole climbing device is reduced.
Drawings
The invention is further described with reference to the accompanying drawings and the detailed description below:
fig. 1 is a perspective view of an intelligent pole climbing device applied to electric power construction according to the present invention;
fig. 2 is a plan view of the intelligent pole climbing device applied to electric power construction in a working state.
Wherein: 1. a pole mounting frame; 11. a connecting rod; 12. a handrail; 2. a pole mounting seat; 21. a seat; 22. pedaling; 3. a controller; 4. a driving wheel; 5. a driven wheel; 6. an operation panel; 7. a camera sensor; 8. a utility pole.
Detailed Description
The invention provides an intelligent pole climbing device applied to electric power construction, which comprises a pole climbing frame, a pole climbing seat, a driving assembly arranged on the pole climbing frame, a controller for controlling the driving assembly, and a vision monitoring module connected with the controller; the intelligent pole climbing device comprises a vision monitoring module, a controller and a control module, wherein the vision monitoring module comprises a camera sensor and a signal processing device which receives an environmental electric signal generated by the vision sensor, processes the environmental electric signal and constructs environmental parameters in the advancing direction of the intelligent pole climbing device, and the signal processing device outputs a driving signal to the controller; step on the connecting rod that the pole frame set up including the slope, step on the pole seat and be connected with the lower extreme of connecting rod, drive assembly is including being close to the action wheel that steps on the pole seat and keeping away from the follow driving wheel that steps on the pole seat and set up, the action wheel with follow the homonymy of locating the connecting rod from the driving wheel, and action wheel and the pivot parallel arrangement from the driving wheel, in order to form the joint interface that is used for the joint wire pole between the two, be equipped with in the action wheel and drive action wheel pivoted driving motor and carry out the arrestment mechanism that brakes according to signal processing equipment output signal, driving motor and arrestment mechanism are connected with the controller electricity respectively, under the operating condition, visual monitoring module obtains the environmental information of present pole device advancing direction of stepping on according to built-in camera sensor, and send received environmental information to signal processing equipment department with the form of environmental signal. The signal processing equipment restores the environmental electric signal into a three-dimensional image form according to a preset neural network model, further judges whether an obstacle exists in the advancing direction of the intelligent pole climbing device and the distance between the obstacle and the current position, and finally controls the advancing and stopping of the driving wheel according to the judgment result, so that the intelligent obstacle avoiding function of the intelligent pole climbing device is realized.
The driving wheel and the driven wheel clamp the telegraph pole together, the driving motor drives the driving wheel to rotate so that the pole climbing frame and the pole climbing seat ascend or descend along the telegraph pole together, and the braking mechanism brakes the driving wheel so as to lock the positions of the pole climbing frame and the pole climbing seat on the telegraph pole. The driving wheel and the driven wheel are installed through the integrally arranged connecting rod, the connecting rod is installed on the telegraph pole through the clamping interface, so that the driving wheel and the driven wheel clamp the telegraph pole, the installation is convenient, the structural strength is high, the safety is higher, the single-side mass of the connecting rod is larger through the arrangement of the driving motor in the driving wheel, after the connecting rod is installed on the telegraph pole, the connecting rod rotates under the action of the gravity of the driving wheel and the internal mechanism, so that the telegraph pole is clamped by the driving wheel and the driven wheel together to form a self-locking structure, the ascending and descending of the pole climbing device are driven, meanwhile, the weight of the pole climbing device is reduced, and the operation power consumption of the pole climbing device is reduced.
The technical solutions of the embodiments of the present invention are explained and illustrated below with reference to the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, and not all embodiments. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative effort belong to the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "a plurality" means two or more unless explicitly defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Example one
The technology of acquiring an environment image by using camera sensors such as a camera and the like and further reconstructing a three-dimensional environment image reflecting environment parameters by using the environment image in an environment electric signal mode can be divided into two types of binocular reconstruction and monocular reconstruction according to different numbers of the camera sensors.
Binocular reconstruction is also commonly referred to as stereo matching, binocular stereo vision, static matching, and the like. Depending on the camera differences used, such as pinhole camera, fish-eye camera, a slight difference is achieved. According to different matching modes in reconstruction, global matching, local matching and local matching can be further classified. The GM, SGBM and BM of OpenCV respectively realize the algorithm.
The traditional visual method (excluding deep learning) monocular reconstruction cannot be completed by using a single image, and a series of images in a time domain are required. And is therefore also referred to as dynamic stereo vision. According to different reconstruction instantaneity, the method can be divided into off-line reconstruction and on-line reconstruction.
2.1 off-line reconstruction: such as SFM techniques, which reconstruct a three-dimensional environment from successive images acquired over a period of time. Chinese literature search (motion recovery structure), english search (structure from motion).
2.2 on-line reconstruction: the online reconstruction can be classified into a progressive reconstruction and a direct reconstruction. Online reconstruction is more or less linked to VO or (SLAM) because the pose of the camera is needed at the time of reconstruction.
2.2.1 progressive reconstruction utilizes the three-dimensional information before the image at the next moment is fused continuously, similar to the thought of Kalman filtering, and the three-dimensional reconstruction is also depth reconstruction in practice, therefore, the progressive reconstruction is also called depth filtering.
2.2.2 direct reconstruction, using images at several moments (generally several frames to several tens of frames) to complete three-dimensional reconstruction of the same scene at one time. Direct reconstruction is also called depth fusion, is somewhat similar to SFM, and is different from SFM in that the number of images participating in calculation is small and the real-time performance is high.
Example two:
as shown in fig. 1 to 2, the intelligent pole climbing device applied to power construction includes a pole climbing frame 1, a pole climbing seat 2, a driving assembly mounted on the pole climbing frame 1, and a controller 3 for controlling the driving assembly. Step on pole frame 1 and include the connecting rod 11 that the slope set up, step on pole seat 2 and be connected with the lower extreme of connecting rod 11, handrail 12 is installed to the upper end of connecting rod 11, be equipped with operating panel 6 of being connected with 3 electricity of controller on handrail 12, when the maintainer sits on stepping on pole seat 2, can take both hands on handrail 12, operate the pole device of stepping on through operating panel 6 simultaneously, with the removal of the pole device is stepped on in the control, still be equipped with camera sensor 7 of being connected with 3 electricity of controller on handrail 12, with record maintainer's maintenance process, and supervise, guarantee that maintainer's operation accords with the ann rule requirement. Drive assembly is including locating the action wheel 4 and the follow driving wheel 5 of connecting rod 11 homonymy, it is action wheel 4 to be close to the setting of pole seat 2 of stepping on, it is from driving wheel 5 to keep away from the setting of pole seat 2 of stepping on, action wheel 4 and the pivot parallel arrangement from driving wheel 5, in order to form the joint interface that is used for joint wire pole 8 between the two, be equipped with the driving wheel 4 pivoted driving motor of drive in action wheel 4 and carry out the arrestment mechanism that brakes to action wheel 4, driving motor and arrestment mechanism are connected with 3 electricity of controller respectively.
The maintainer uses when climbing the pole device, with joint interface alignment wire pole 8, in order to go into the joint with wire pole 8 card, make action wheel 4 and follow driving wheel 5 press from both sides tight wire pole 8 jointly and can accomplish the installation, because be equipped with driving motor and arrestment mechanism in the action wheel 4, so the unilateral quality of connecting rod 11 is great, so install back on the wire pole 8, under the action of gravity of action wheel 4 and internal mechanism, connecting rod 11 rotates so that action wheel 4 and follow driving wheel 5 press from both sides tight wire pole 8 jointly in order to form self-locking structure. When driving motor drive action wheel 4 rotated, step on the pole device and rise or descend along wire pole 8 to make the maintainer reach the height of waiting to overhaul, when arrestment mechanism braked to action wheel 4, action wheel 4 stall and lock, realize the locking of the pole device position on wire pole 8, prevent to step on the pole device and glide under the effect of gravity.
The driving wheel 4 and the driven wheel 5 are installed through the connecting rod 11 which is integrally arranged, the connecting rod is installed on the telegraph pole 8 through the clamping interface, so that the driving wheel 4 and the driven wheel 5 clamp the telegraph pole 8, the installation is convenient, the structural strength is high, and the safety is higher.
In the embodiment, preferably, the outer surfaces of the driving wheel 4 and the driven wheel 5 are respectively provided with a notch which is attached to the outer wall of the telegraph pole 8, when the driving wheel 4 and the driven wheel 5 clamp the telegraph pole 8 together, the driving wheel 4 and the driven wheel 5 realize the limit between the driving wheel 4 and the driven wheel 5 and the telegraph pole 8 in the horizontal direction through the notches, so that the stability of the pole climbing device is higher when climbing the telegraph pole 8, the outer sides of the driving wheel 4 and the driven wheel 5 are also sleeved with rubber sleeves which are attached to the outer sides of the notches and fixed on the notches to rotate along with the driving wheel 4 or the driven wheel 5, so as to increase the friction force between the driving wheel 4 and the telegraph pole 8 and between the driven wheel 5 and the telegraph pole 8,
in this embodiment, the pole-climbing seat 2 is rotatably connected with the lower end of the connecting rod 11 through a rotating shaft mechanism, the rotating shaft mechanism comprises a rotating shaft and a limiting mechanism for adjusting an included angle between the pole-climbing seat 2 and the connecting rod 11, the pole-climbing seat 2 comprises a seat 21 and a pedal 22 connected to the lower portion of the seat 21, the side portion of the pedal 22 is connected with the rotating shaft mechanism, the controller 3 is installed on the lower portion of the seat 21, and the pole 8 with different specifications can be adapted by adjusting the included angle between the pole-climbing seat 2 and the connecting rod 11, so that the application range is wide.
In this embodiment, an encoder for recording the rolling distance of the driving wheel 4 is further disposed in the driving wheel 4, and the encoder is electrically connected to the controller 3, so that the controller 3 records the running distance. Brake mechanism is for losing the electric brake, loses the electric brake and is connected with 3 electricity of controller, and when stepping on the lever apparatus and take place the outage suddenly, the auto-lock can take place under the outage state for losing the electric brake, prevents to step on the lever apparatus and takes place the landing, guarantees maintainer's life health safety.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (6)
1. Be applied to intelligent pole climbing device that electric power construction used, its characterized in that includes:
the device comprises a pole climbing frame, a pole climbing seat, a driving assembly arranged on the pole climbing frame, a controller for controlling the driving assembly, and a vision monitoring module connected with the controller;
the intelligent pole climbing device comprises a vision monitoring module, a controller and a control module, wherein the vision monitoring module comprises a camera sensor and a signal processing device which receives an environmental electric signal generated by the vision sensor, processes the environmental electric signal and constructs environmental parameters in the advancing direction of the intelligent pole climbing device, and the signal processing device outputs a driving signal to the controller;
the climbing pole rack comprises a connecting rod which is obliquely arranged, the climbing pole seat is connected with the lower end of the connecting rod, the driving assembly comprises a driving wheel which is close to the climbing pole seat and a driven wheel which is far away from the climbing pole seat, the driving wheel and the driven wheel are arranged on the same side of the connecting rod, rotating shafts of the driving wheel and the driven wheel are arranged in parallel, so that a clamping interface for clamping a telegraph pole is formed between the driving wheel and the driven wheel, a driving motor which drives the driving wheel to rotate according to an output signal of signal processing equipment and a braking mechanism which brakes the driving wheel are arranged in the driving wheel, the driving motor and the braking mechanism are respectively electrically connected with the controller, the telegraph pole is clamped by the driving wheel and the driven wheel together under the working state, and the driving motor drives the driving wheel to rotate so that the climbing pole rack and the climbing pole seat can ascend or descend along the telegraph pole together, the braking mechanism realizes the locking of the pole climbing frame and the pole climbing seat on the telegraph pole through braking a driving wheel, notches attached to the outer wall of the telegraph pole are formed in the outer surfaces of the driving wheel and the driven wheel, and rubber sleeves are further fixed on the outer sides of the notches of the driving wheel and the driven wheel.
2. The intelligent pole climbing device applied to power construction according to claim 1, wherein: the lower end of the connecting rod is rotatably connected with the pole climbing seat through a rotating shaft mechanism, and the rotating shaft mechanism comprises a rotating shaft and a limiting mechanism used for adjusting an included angle between the pole climbing seat and the connecting rod.
3. The intelligent pole climbing device applied to power construction according to claim 2, wherein: the pole-climbing seat comprises a seat and a pedal connected to the lower portion of the seat, the side portion of the pedal is connected with the rotating shaft mechanism, and the controller is installed on the lower portion of the seat.
4. The intelligent pole climbing device applied to power construction according to claim 1, wherein: and an encoder for recording the rolling distance of the driving wheel is also arranged in the driving wheel and is electrically connected with the controller.
5. The intelligent pole climbing device applied to power construction according to claim 1, wherein: the brake mechanism is a power-off brake which is electrically connected with the controller.
6. The intelligent pole climbing device applied to power construction according to any one of claims 1 to 5, wherein: the rod climbing frame further comprises an armrest mounted at the upper end of the connecting rod, and an operation panel electrically connected with the controller is arranged on the armrest.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111036083.6A CN113813575A (en) | 2021-09-06 | 2021-09-06 | Be applied to intelligence of electric power construction usefulness and step on lever apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111036083.6A CN113813575A (en) | 2021-09-06 | 2021-09-06 | Be applied to intelligence of electric power construction usefulness and step on lever apparatus |
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| CN113813575A true CN113813575A (en) | 2021-12-21 |
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| CN202111036083.6A Pending CN113813575A (en) | 2021-09-06 | 2021-09-06 | Be applied to intelligence of electric power construction usefulness and step on lever apparatus |
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|---|---|---|---|---|
| CN2202559Y (en) * | 1994-08-17 | 1995-07-05 | 刘立洋 | Climbing pole wheel chair |
| CN104825103A (en) * | 2015-04-24 | 2015-08-12 | 深圳格林斯玛特科技有限公司 | Glass curtain wall cleaning robot |
| CN106310611A (en) * | 2016-10-30 | 2017-01-11 | 荆门创佳机械科技有限公司 | Automatic pole climbing device capable of striding across obstacles |
| CN108321722A (en) * | 2018-03-08 | 2018-07-24 | 贵州电网有限责任公司 | Automatic obstacle-avoiding can buckling screen of trees cleaning air-robot and barrier-avoiding method |
| CN109050695A (en) * | 2018-09-28 | 2018-12-21 | 山东阿图机器人科技有限公司 | A kind of full landform fire-fighting robot and working method |
| CN208626559U (en) * | 2018-07-02 | 2019-03-22 | 德京集团股份有限公司 | A kind of power construction combined type rod rising device |
| CN211741929U (en) * | 2020-06-04 | 2020-10-23 | 山东电子职业技术学院 | Automatic walking robot based on visual navigation |
| CN112690722A (en) * | 2020-11-18 | 2021-04-23 | 尚科宁家(中国)科技有限公司 | Cleaning robot and control method thereof |
| CN112993852A (en) * | 2021-02-08 | 2021-06-18 | 国网浙江宁波市奉化区供电有限公司 | Pole climbing device for electric power construction |
-
2021
- 2021-09-06 CN CN202111036083.6A patent/CN113813575A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2202559Y (en) * | 1994-08-17 | 1995-07-05 | 刘立洋 | Climbing pole wheel chair |
| CN104825103A (en) * | 2015-04-24 | 2015-08-12 | 深圳格林斯玛特科技有限公司 | Glass curtain wall cleaning robot |
| CN106310611A (en) * | 2016-10-30 | 2017-01-11 | 荆门创佳机械科技有限公司 | Automatic pole climbing device capable of striding across obstacles |
| CN108321722A (en) * | 2018-03-08 | 2018-07-24 | 贵州电网有限责任公司 | Automatic obstacle-avoiding can buckling screen of trees cleaning air-robot and barrier-avoiding method |
| CN208626559U (en) * | 2018-07-02 | 2019-03-22 | 德京集团股份有限公司 | A kind of power construction combined type rod rising device |
| CN109050695A (en) * | 2018-09-28 | 2018-12-21 | 山东阿图机器人科技有限公司 | A kind of full landform fire-fighting robot and working method |
| CN211741929U (en) * | 2020-06-04 | 2020-10-23 | 山东电子职业技术学院 | Automatic walking robot based on visual navigation |
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| CN112993852A (en) * | 2021-02-08 | 2021-06-18 | 国网浙江宁波市奉化区供电有限公司 | Pole climbing device for electric power construction |
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Application publication date: 20211221 |