CN113899758A - Visual inspection trolley and method for detecting defects of inner wall of scraper conveyor - Google Patents
Visual inspection trolley and method for detecting defects of inner wall of scraper conveyor Download PDFInfo
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- CN113899758A CN113899758A CN202111163285.7A CN202111163285A CN113899758A CN 113899758 A CN113899758 A CN 113899758A CN 202111163285 A CN202111163285 A CN 202111163285A CN 113899758 A CN113899758 A CN 113899758A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/9515—Objects of complex shape, e.g. examined with use of a surface follower device
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/9515—Objects of complex shape, e.g. examined with use of a surface follower device
- G01N2021/9518—Objects of complex shape, e.g. examined with use of a surface follower device using a surface follower, e.g. robot
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Abstract
The invention provides a visual detection trolley and a method for detecting defects of the inner wall of a scraper conveyor, wherein the visual detection trolley comprises a trolley body for bearing the whole detection device, and an adsorption unit for controlling the whole trolley to move is arranged on the trolley body; a power system for providing power for the trolley is arranged; a control system for controlling the whole trolley is arranged; and a peripheral unit for auxiliary detection is installed. This detection dolly can carry out the video observation through the camera body, adsorbs at the trigger inner wall of scraping through permanent magnet wheel and electro-magnet, rotates through manual control camera to shoot and scrape trigger inner wall defect, be favorable to the user to scraping the maintenance of trigger.
Description
Technical Field
The invention relates to the technical field of visual inspection of defects of an inner wall of a scraper machine, in particular to a visual inspection trolley for detecting the defects of the inner wall of the scraper machine and an inspection method thereof.
Background
Scraper conveyors are important material handling equipment, and the excellent performance of scraper conveyors directly determines the speed at which a working surface advances. The scraper conveyor is in actual operation, conveying the bulk material by means of the moving scraper chain. Because the shell is closed, the working environment of workers can be obviously improved and the environmental pollution can be prevented when large, toxic, explosive and high-temperature materials are conveyed. The middle trough and the two side dams are important parts during operation of the scraper.
During transportation, the middle groove is a bearing body, transported substances can act on the middle groove in different degrees, and the middle groove can be abraded after long-time operation. Under some special working conditions, moist air, corrosive substances, harmful gases and the like can accompany, and the factors can cause corrosion damage to the middle groove and the baffles on the two sides; when hard materials are transported, the hard materials inevitably impact the middle groove and the two side baffles, and mechanical damage to the middle groove and the side walls can be caused; when bulk materials are transported, the materials are inevitably accumulated on the inner wall of the scraper conveyor, and the working efficiency of the scraper conveyor is influenced. So need detect scraper blade machine middle part groove and both sides baffle to prevent that middle part groove and baffle become invalid, influence the conveying efficiency, cause unnecessary loss.
Disclosure of Invention
The invention aims to provide a visual inspection trolley and a visual inspection method for detecting defects of the inner wall of a scraper machine.
In order to achieve the technical features, the invention is realized as follows: the visual detection trolley for detecting the defects of the inner wall of the scraper conveyor comprises a trolley body for bearing the whole detection device, wherein an adsorption unit for controlling the whole trolley to move is arranged on the trolley body; a power system for providing power for the trolley is arranged; a control system for controlling the whole trolley is arranged; and a peripheral unit for auxiliary detection is installed.
The adsorption unit comprises a permanent magnet wheel which is arranged on the vehicle body and used for driving the whole trolley to move; symmetrically arranged electromagnets are fixed at the bottom end of the vehicle body; when the permanent magnet wheel does not meet the requirement of the adsorption force, the control system supplies power to the electromagnet so as to meet the required adsorption force.
The permanent magnet wheel is made of a magnet made of Nb-Fe-B neodymium iron boron rare earth materials.
The power system is powered by a lithium battery, and the lithium battery is connected with the control system and the adsorption unit at the same time and provides electric energy.
The control system is divided into an internal control system and an external control system; the internal control system consists of an internal control chip, and the internal control chip is used for controlling light, an electromagnet, a motor with an encoder, a motor and receiving and sending information; the internal control system is connected with the external control system in a wireless network manner; the external control system is used for receiving the images and the position information transmitted by the trolley and controlling the trolley to complete the designated operation.
The peripheral unit comprises an IMU sensor, a camera, a motor, a wireless network and a light source; the IMU sensor is integrated on the control system and used for acquiring the pose information of the trolley and sending the generated data to the inner control system;
the camera is matched with the motor, and the motor is connected with the internal control system to realize the rotation operation of the camera;
the wireless network and the light source are connected with the internal control system, and the light source can be started when the trolley moves, so that the camera is supplemented with light.
The cameras comprise side cameras arranged at the middle parts of the two outer sides of the vehicle body and a main camera arranged at the top end of the head of the vehicle body; the main camera and the side camera are provided with independent rotation control and are controlled to rotate by a motor with an encoder respectively; the main camera and the side camera are used for acquiring the defects of the inner wall of the scraper conveyor.
The light source comprises a side light supplement lamp and a main light supplement lamp; the side light supplement lamps are fixed on two outer sides of the vehicle body, and the main light supplement lamp is fixed in the middle of the outer side wall of the head of the vehicle body; the wireless network is fixed on the top of the vehicle body.
The method for detecting the defects of the inner wall of the scraper machine by using the visual detection trolley for detecting the defects of the inner wall of the scraper machine comprises the following steps:
step one, detecting the adsorption force:
adsorbing four permanent magnet wheels of the trolley on the inner wall of the scraper conveyor, aiming at different adsorption forces of different plates, initially detecting the magnetic adsorption force of the trolley by using a tension meter, and supplying power to the electromagnet through a control system when the adsorption force of the trolley does not meet the requirement so as to enable the electromagnet to meet the required adsorption force;
step two, controlling the trolley to walk:
when the trolley is initially started, the IMU sensor of the trolley is reset, the trolley controls four permanent magnet wheels to move through four motors with encoders respectively, the motors with the encoders are connected with an internal control system of the trolley, the internal control system is connected with an external control system through a wireless network, the external control system drives the trolley to move by controlling the rotating speed of the motors with the encoders, and the speed of the trolley is obtained through the encoders, so that the speed of the trolley is adjusted;
step three, detecting the inner wall of the scraper conveyor by the trolley:
in the running detection process of the trolley, a main camera is supplemented with light through a main light supplement lamp, side cameras are supplemented with light through side light supplement lamps, images shot by the main camera and the two side cameras on the inner wall of the scraper conveyor can be transmitted to external control equipment through a wireless network to generate a complete image of the inner wall of the scraper conveyor, and in the implementation process, an operator checks the internal defect condition through the external control equipment; in the process, the main camera and the two side cameras can be adjusted to rotate through the external control system, so that a wider clear image can be obtained; when the real-time image returned by the camera on one side of the trolley is not clear enough, the camera on the other side of the trolley is driven to rotate through the control system, so that auxiliary photographing is completed, and a clearer real-time image is obtained;
step four, inner wall defect part detection treatment:
when the defects of the inner wall of the scraper conveyor are found in the detection process, the defect type of the inner wall of the scraper conveyor is further judged, the position of the defect is determined according to the real-time position of the trolley, and corresponding measures are taken for maintaining the inner wall of the scraper conveyor under the damage conditions of impurity accumulation, spiral looseness, inner wall abrasion and different inner wall corrosion of the inner wall of the scraper conveyor; the inner wall of the whole scraper conveyor is shot by controlling the movement of the trolley, and the detection of the inner wall of the scraper conveyor is finally completed by the real-time transmitted image.
The invention has the following beneficial effects:
1. this scrape trigger inner wall defect visual inspection dolly simple structure, convenient operation uses the mode that permanent magnet wheel and electro-magnet combined together, adsorbs the dolly at scraping trigger inner wall, prevents to take place the situation that drops.
2. The main camera of dolly and the side camera of both sides carry out the video and observe to scraping trigger inner wall, acquire more observation angles through the motor rotation of taking the encoder, and the light filling lamp cooperation camera of dolly is to observing the position illumination.
3. By adopting the automatic detection trolley and the detection method, the internal defects of the scraper conveyor are detected in real time, the intelligent, unmanned and automatic detection of the scraper conveyor is realized, the manual detection cost is greatly reduced, and the manual detection risk is reduced.
4. The IMU sensor of the trolley can adopt a micro navigation attitude reference system, consists of sensors of a three-axis MEMS gyroscope, a three-axis MEMS accelerometer, a three-axis magneto-resistive magnetometer and the like, is used for acquiring the attitude information of the detection robot in real time, and is used for acquiring the specific position of the inner wall with faults through the real-time attitude information of the trolley, thereby adopting further maintenance work.
Drawings
The invention is further illustrated by the following figures and examples.
FIG. 1 is a schematic structural view of the inspection trolley of the present invention.
FIG. 2 is a block diagram of a control system for the internal structure of the cart.
Fig. 3 is a flowchart at the time of detection.
In the figure: permanent magnet wheel 1, side light 2, side camera 3, electro-magnet 4, main light filling lamp 5, main camera 6, automobile body 7, wireless network 8 are mended to the side.
Detailed Description
Embodiments of the present invention will be further described with reference to the accompanying drawings.
Example 1:
referring to fig. 1-3, the visual inspection trolley for detecting defects on the inner wall of the scraper conveyor comprises a trolley body 7 for bearing the whole inspection device, wherein an adsorption unit for controlling the whole trolley to move is arranged on the trolley body 7; a power system for providing power for the trolley is arranged; a control system for controlling the whole trolley is arranged; and a peripheral unit for auxiliary detection is installed. The visual inspection trolley is adopted to carry out video observation through the camera body, is adsorbed on the inner wall of the scraper conveyor through the permanent magnet wheels and the electromagnet, and is manually controlled to rotate, so that the defects of the inner wall of the scraper conveyor are shot, and the visual inspection trolley is beneficial to maintenance of a user on the scraper conveyor.
Further, the adsorption unit comprises a permanent magnet wheel 1 which is arranged on the vehicle body 7 and used for driving the whole trolley to move; symmetrically arranged electromagnets 4 are fixed at the bottom end of the vehicle body 7; when the permanent magnet wheel 1 does not meet the requirement of the adsorption force, the control system supplies power to the electromagnet 4 so as to meet the required adsorption force. Through adopting foretell absorption unit can be used for adsorbing whole automobile body 7 to fix on waiting to detect the inside wall of scraping the trigger, and then can make it adsorb the walking along the inner wall to the cooperation camera detects the inner wall.
Further, the permanent magnet wheel 1 is made of a magnet made of Nb-Fe-B neodymium iron boron rare earth materials. By making of the above materials, a sufficient magnetic attraction force is ensured.
Furthermore, the power system is powered by a lithium battery, and the lithium battery is connected with the control system and the adsorption unit at the same time and provides electric energy. The power system can be used for providing electric energy for the whole trolley.
Further, the control system is divided into an internal control system and an external control system; the internal control system consists of an internal control chip, and the internal control chip is used for controlling light, an electromagnet, a motor with an encoder, a motor and receiving and sending information; the internal control system is connected with the external control system in a wireless network manner; the external control system is used for receiving the images and the position information transmitted by the trolley and controlling the trolley to complete the designated operation. The control system can be used for controlling the normal operation of the whole trolley.
Further, the peripheral unit comprises an IMU sensor, a camera, a motor, a wireless network 8 and a light source; the IMU sensor is integrated on the control system and used for acquiring the pose information of the trolley and sending the generated data to the inner control system; the IMU sensor can adopt a micro navigation attitude reference system, is composed of sensors of a three-axis MEMS gyroscope, a three-axis MEMS accelerometer, a three-axis magneto-resistive magnetometer and the like, is used for acquiring the attitude information of the detection robot in real time, and is used for acquiring the specific position of the inner wall with a fault through the real-time attitude information of the trolley, so that further maintenance work is adopted.
Furthermore, the camera is matched with a motor, and the motor is connected with an internal control system to realize the rotation operation of the camera; and then the shooting demand of multi-angle has been realized, has guaranteed to scrape the detection of making a video recording of trigger inner wall.
Further, the wireless network 8 and the light source are connected with the internal control system, and the light source can be turned on when the trolley moves, so that the camera is supplemented with light. The light source is used for supplementing illumination, and therefore shooting definition is guaranteed.
Further, the cameras comprise side cameras 3 arranged at the middle parts of the two outer sides of the vehicle body 7 and a main camera 6 arranged at the top end of the head of the vehicle body 7; the main camera 6 and the side camera 3 are respectively provided with independent rotation control and are respectively controlled to rotate by a motor with an encoder; the main camera 6 and the side camera 3 are used for acquiring defects of the inner wall of the scraper conveyor. The omnibearing detection of the inner wall of the scraper conveyor can be realized through the plurality of cameras in different directions.
Further, the light source comprises a side light supplement lamp 2 and a main light supplement lamp 5; the side light supplement lamps 2 are fixed on two outer sides of the vehicle body 7, and the main light supplement lamp 5 is fixed in the middle of the outer side wall of the head of the vehicle body 7; the wireless network 8 is fixed on the top of the vehicle body 7. The light source can be used for providing all-around lighting and supplementary lighting, and then the shooting definition is guaranteed.
Example 2:
referring to fig. 3, the method for detecting the defects of the inner wall of the scraper by using the visual detection trolley for detecting the defects of the inner wall of the scraper comprises the following steps:
step one, detecting the adsorption force:
the four permanent magnet wheels 1 of the trolley are adsorbed on the inner wall of the scraper conveyor, aiming at different adsorption forces of different plates, the magnetic adsorption force of the trolley is detected by a tension meter initially, and when the adsorption force of the trolley does not meet the requirement, the electromagnet 4 is supplied with power by a control system to meet the required adsorption force;
step two, controlling the trolley to walk:
when the trolley is initially started, the IMU sensor of the trolley is reset, the trolley controls the four permanent magnet wheels 1 to move through the four motors with the encoders respectively, the motors with the encoders are connected with an internal control system of the trolley, the internal control system is connected with an external control system through a wireless network, the external control system drives the trolley to move by controlling the rotating speed of the motors with the encoders, and the speed of the trolley is obtained through the encoders, so that the speed of the trolley is adjusted;
step three, detecting the inner wall of the scraper conveyor by the trolley:
in the running detection process of the trolley, a main camera 6 is supplemented with light through a main light supplement lamp 5, side cameras 3 are supplemented with light through side light supplement lamps 2, images shot by the main camera 6 and the two side cameras 3 on the inner wall of the scraper conveyor can be transmitted to external control equipment through a wireless network 8 to generate a complete image of the inner wall of the scraper conveyor, and in the implementation process, an operator checks the internal defect condition through the external control equipment; in the process, the main camera 6 and the two side cameras 3 can be adjusted to rotate through the external control system, so that a wider clear image can be obtained; when the real-time image returned by the camera on one side of the trolley is not clear enough, the camera on the other side of the trolley is driven to rotate through the control system, so that auxiliary photographing is completed, and a clearer real-time image is obtained;
step four, inner wall defect part detection treatment:
when the defects of the inner wall of the scraper conveyor are found in the detection process, the defect type of the inner wall of the scraper conveyor is further judged, the position of the defect is determined according to the real-time position of the trolley, and corresponding measures are taken for maintaining the inner wall of the scraper conveyor under the damage conditions of impurity accumulation, spiral looseness, inner wall abrasion and different inner wall corrosion of the inner wall of the scraper conveyor; the inner wall of the whole scraper conveyor is shot by controlling the movement of the trolley, and the detection of the inner wall of the scraper conveyor is finally completed by the real-time transmitted image.
Claims (9)
1. Scrape visual detection dolly of trigger inner wall defect detection, its characterized in that: the trolley comprises a trolley body (7) for bearing the whole detection device, wherein an adsorption unit for controlling the whole trolley to move is arranged on the trolley body (7); a power system for providing power for the trolley is arranged; a control system for controlling the whole trolley is arranged; and a peripheral unit for auxiliary detection is installed.
2. The visual inspection trolley for the defect detection of the inner wall of the scraper conveyor as claimed in claim 1, is characterized in that: the adsorption unit comprises a permanent magnet wheel (1) which is arranged on a vehicle body (7) and used for driving the whole trolley to move; electromagnets (4) which are symmetrically arranged are fixed at the bottom end of the vehicle body (7); when the permanent magnet wheel (1) does not meet the requirement of the adsorption force, the control system supplies power to the electromagnet (4) so as to meet the required adsorption force.
3. The visual inspection trolley for the defect detection of the inner wall of the scraper conveyor as claimed in claim 2, is characterized in that: the permanent magnet wheel (1) is made of a magnet made of Nb-Fe-B neodymium iron boron rare earth materials.
4. The visual inspection trolley for the defect detection of the inner wall of the scraper conveyor as claimed in claim 1, is characterized in that: the power system is powered by a lithium battery, and the lithium battery is connected with the control system and the adsorption unit at the same time and provides electric energy.
5. The visual inspection trolley for the defect detection of the inner wall of the scraper conveyor as claimed in claim 1, is characterized in that: the control system is divided into an internal control system and an external control system; the internal control system consists of an internal control chip, and the internal control chip is used for controlling light, an electromagnet, a motor with an encoder, a motor and receiving and sending information; the internal control system is connected with the external control system in a wireless network manner; the external control system is used for receiving the images and the position information transmitted by the trolley and controlling the trolley to complete the designated operation.
6. The visual inspection trolley for the defect detection of the inner wall of the scraper conveyor as claimed in claim 1, is characterized in that: the peripheral unit comprises an IMU sensor, a camera, a motor, a wireless network (8) and a light source; the IMU sensor is integrated on the control system and used for acquiring the pose information of the trolley and sending the generated data to the inner control system;
the camera is matched with the motor, and the motor is connected with the internal control system to realize the rotation operation of the camera;
the wireless network (8) and the light source are connected with the internal control system, and the light source can be turned on when the trolley moves, so that the camera is supplemented with light.
7. The visual inspection trolley for the defect detection of the inner wall of the scraper conveyor as claimed in claim 6, is characterized in that: the camera comprises side cameras (3) arranged at the middle parts of the two outer sides of the vehicle body (7) and a main camera (6) arranged at the top end of the head of the vehicle body (7); the main camera (6) and the side camera (3) are respectively provided with independent rotation control and are respectively controlled to rotate by a motor with an encoder; the main camera (6) and the side camera (3) are used for acquiring defects of the inner wall of the scraper conveyor.
8. The visual inspection trolley for the defect detection of the inner wall of the scraper conveyor as claimed in claim 6, is characterized in that: the light source comprises a side light supplement lamp (2) and a main light supplement lamp (5); the side light supplement lamps (2) are fixed on two outer sides of the vehicle body (7), and the main light supplement lamp (5) is fixed in the middle of the outer side wall of the head of the vehicle body (7); the wireless network (8) is fixed on the top of the vehicle body (7).
9. The method for detecting the defects of the inner wall of the scraper by adopting the visual detection trolley for detecting the defects of the inner wall of the scraper as claimed in any one of claims 1 to 8 is characterized by comprising the following steps:
step one, detecting the adsorption force:
the four permanent magnet wheels (1) of the trolley are adsorbed on the inner wall of the scraper conveyor, aiming at different adsorption forces of different plates, the magnetic adsorption force of the trolley is detected by a tension meter initially, and when the adsorption force of the trolley does not meet the requirement, the electromagnet (4) is supplied with power through a control system to enable the trolley to meet the required adsorption force;
step two, controlling the trolley to walk:
when the trolley is initially started, the IMU sensor of the trolley is reset, the trolley controls four permanent magnet wheels (1) to move through four motors with encoders respectively, the motors with the encoders are connected with an internal control system of the trolley, the internal control system is connected with an external control system through a wireless network, the external control system drives the trolley to move by controlling the rotating speed of the motors with the encoders, and the speed of the trolley is obtained through the encoders, so that the speed of the trolley is adjusted;
step three, detecting the inner wall of the scraper conveyor by the trolley:
in the running detection process of the trolley, a main camera (6) is supplemented with light through a main light supplement lamp (5), a side camera (3) is supplemented with light through a side light supplement lamp (2), images shot by the main camera (6) and the two side cameras (3) on the inner wall of the scraper conveyor are transmitted to external control equipment through a wireless network (8) and used for generating a complete image of the inner wall of the scraper conveyor, and in the implementation process, an operator checks the internal defect condition through the external control equipment; in the process, the main camera (6) and the two side cameras (3) can be adjusted to rotate through the external control system, so that a wider clear image can be obtained; when the real-time image returned by the camera on one side of the trolley is not clear enough, the camera on the other side of the trolley is driven to rotate through the control system, so that auxiliary photographing is completed, and a clearer real-time image is obtained;
step four, inner wall defect part detection treatment:
when the defects of the inner wall of the scraper conveyor are found in the detection process, the defect type of the inner wall of the scraper conveyor is further judged, the position of the defect is determined according to the real-time position of the trolley, and corresponding measures are taken for maintaining the inner wall of the scraper conveyor under the damage conditions of impurity accumulation, spiral looseness, inner wall abrasion and different inner wall corrosion of the inner wall of the scraper conveyor; the inner wall of the whole scraper conveyor is shot by controlling the movement of the trolley, and the detection of the inner wall of the scraper conveyor is finally completed by the real-time transmitted image.
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| CN210427398U (en) * | 2019-07-26 | 2020-04-28 | 新野县正博机械设备有限公司 | Flaw detection device in tank body |
| CN210978973U (en) * | 2019-08-01 | 2020-07-10 | 海宁立潮工程咨询有限公司 | Pipeline defect detection device |
| CN110567590A (en) * | 2019-09-18 | 2019-12-13 | 华中科技大学 | Tunnel infiltration detects omnidirectional movement robot based on binocular vision |
| CN111505009A (en) * | 2020-04-21 | 2020-08-07 | 国网河南省电力公司电力科学研究院 | Power transformer internal fault detection system based on wall-climbing robot |
| CN212808103U (en) * | 2020-07-14 | 2021-03-26 | 保定金迪科学仪器有限公司 | Peep detection device in portable rotation type wind-powered electricity generation blade |
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