CN115158498A - High-voltage insulator detection robot and detection method - Google Patents
High-voltage insulator detection robot and detection method Download PDFInfo
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- CN115158498A CN115158498A CN202210765255.1A CN202210765255A CN115158498A CN 115158498 A CN115158498 A CN 115158498A CN 202210765255 A CN202210765255 A CN 202210765255A CN 115158498 A CN115158498 A CN 115158498A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
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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
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
- G01R31/52—Testing for short-circuits, leakage current or ground faults
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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
Abstract
The invention relates to a high-voltage insulator detection robot and a detection method, wherein the robot comprises a control box and a horizontally arranged mounting plate, the control box is fixed on the outer end face of the mounting plate, the free ends of two limiting plates respectively extend to the outer sides of two strings of insulators, a rotatable probe is fixed in the middle of the inner end face of the mounting plate, the probe points to the neutral position between the two strings of insulators, a pair of cameras are symmetrically arranged on two sides of the probe, and the tracks of two track moving mechanisms are respectively supported on the corresponding insulators. The method comprises the following steps: placing a high-voltage insulator detection robot on the double-string insulator; adjusting the position of a limiting plate of the high-voltage insulator detection robot; shooting the two insulators respectively through a camera to judge whether external damage exists; the probe contacts the outer walls of the double strings of insulators in sequence to detect whether the insulators leak electricity or not; the crawler moving mechanism is controlled to move forwards through the remote control device. The invention can meet the requirements of detecting the high-voltage insulator when the line is electrified and detecting without power failure, and has strong adaptability.
Description
Technical Field
The invention relates to a high-voltage insulator detection robot and a high-voltage insulator detection method, and belongs to the technical field of insulator detection.
Background
The insulator is an insulating control applied to an overhead transmission line, is usually made of glass or ceramic, and can play a role in mechanically suspending a wire and electrically isolating the wire from a tower in the transmission line. In practical application, because the insulating property of each insulator is limited, a plurality of insulators need to be connected into an insulator string for use. According to different suspension forms, the insulator string can be divided into a suspension insulator string and a strain insulator string. The suspension insulator string is suitable for a linear tower and bears wires, additional vertical loads and wind loads. The strain insulator string is suitable for strain towers and mainly bears all horizontal tension of a lead. Due to manufacturing defects, changes of electrical loads, environmental pollution and the like, the insulation performance of the insulators can be continuously reduced, when the number of zero-value or low-value insulators in a string of insulators exceeds a certain number, a line can be tripped, personal safety accidents and electric energy loss are caused, and the service life of the whole transmission line are shortened. Therefore, the method has great significance for detecting the insulator string.
Currently, the detection of the insulator string is mainly manual detection. Namely, the insulator is detected one by holding the insulating rod of which the tail end is provided with detection equipment such as a resistance detector or a distributed voltage detector by an electric power operator. The manual detection has the defects of low efficiency, high danger, high operation strength and the like, and along with the continuous development of electric power systems in China, the voltage grade is higher and higher, the length of an insulator string is longer and longer, and the manual detection cannot meet the detection requirement of an ultrahigh voltage line.
In recent years, with the construction of smart power grids and the development of robot technology in China, more and more insulator string detection robots are applied to the overhead transmission line to carry out insulator string detection.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a high-voltage insulator detection robot which can detect a high-voltage insulator when a line is electrified and meet the requirement of detection without power outage.
A high-voltage insulator detection robot comprises a control box and a mounting plate, wherein the control box is fixed on the outer side surface of the mounting plate, two ends of the mounting plate are respectively provided with a 7-shaped limiting plate facing the same side, the free ends of the two limiting plates respectively extend to the outer sides of two strings of insulators, the middle part of the inner side surface of the mounting plate is provided with a rotatable probe, the probe points to a neutral position between the two strings of insulators, the probe divides a detection area into two symmetrical insulator detection spaces, each detection space is provided with two cameras and a crawler moving mechanism, the crawler moving mechanisms crawl on the surface of the insulators, the two cameras are symmetrically positioned on one opposite surface of the insulators, and the surface of the insulators is shot;
the number of the probes is two, the bottoms of the probes are fixed on the same probe connecting plate, and the lower part of the probe connecting plate is arranged on the inner side surface of the mounting plate through a nylon swing frame.
Furthermore, the cameras are fixed on the inner side surface of the mounting plate through mounting plate hinge lugs respectively; the camera is arranged in the camera fixing box, and light sensation sensors used for detecting the walking distance of the robot are respectively arranged in the camera fixing box.
Furthermore, the two edges of the mounting plate, which are perpendicular to the axis of the insulator, are respectively fixed with a connecting strip, the two ends of the two connecting strips respectively extend towards the limiting plate direction and are respectively provided with a waist-shaped long groove, and an adjusting screw respectively penetrates through the waist-shaped long groove and is fixedly connected with the limiting plate.
Furthermore, the below of probe connecting plate is provided with more than one driven gear, driven gear's center pin and probe connecting plate are fixed connection, fixed connection's concrete form does, probe connecting plate is towards a driven gear side, the position that is close to both ends is provided with the vertical plate perpendicularly, the both ends of driven gear's center pin alternate respectively in the vertical plate of corresponding end, driven gear's center pin is fixed connection with corresponding end vertical plate, can be fixed for the key cooperation, driven gear also is fixed connection with its center pin, can fix through the key cooperation.
More than one driving gear is arranged inside the nylon swing frame, the driving gears share one driving shaft, each driven gear is meshed with one driving gear, the driving shafts are connected with driving motors, and when the driving gears are driven to rotate by the driving motors, the driven gears are driven to rotate, so that the probe connecting plate is driven to overturn, and the probes are driven to obliquely move. The inclination control of the probe towards the two sides is realized by driving the motor to rotate forwards or backwards.
Furthermore, the nylon swing frame is in a concave shape, the bottom of the nylon swing frame is fixed with the mounting plate, two ends of the nylon swing frame are connected with the corresponding vertical plates, and the nylon swing frame is connected with the vertical plates through rivets penetrating through the nylon swing frame to realize rotatable connection;
the two ends of the driving shaft are inserted into the nylon supports at the corresponding ends, the driving shaft is rotatably connected with the nylon supports, the bearing is sleeved with the driving shaft, the bearing seat is embedded in the nylon supports, and the bearing is matched with the bearing seat.
Further, insulating panel, shielding case and antenna are installed to the inner chamber of control box, the shielding case is located the inner chamber middle part of control box, be equipped with the PCB board of receiving camera and probe signal in the shielding case, be equipped with a plurality of RJ45 interfaces that have the shielding function on one side tank wall of shielding case, insulating panel is located the one side that is close to the RJ45 interface that has the shielding function, the antenna is located the one side of keeping away from the RJ45 interface that has the shielding function.
Further, the insulating panel is fixed on the insulating panel support plate, a support plate parallel to the insulating panel is installed on one side of the insulating panel facing the shielding box, and a switch and a charging head are installed on the support plate.
Furthermore, gaps and screws of the control box are sealed by copper foils.
Furthermore, the inner wall in opposite directions of the limiting plate is respectively provided with a limiting strip, the two limiting strips are parallel to each other and are parallel to the axis of the insulator, and two ends of the two limiting strips are respectively bent outwards to form a guide head.
Another object of the present invention is to provide a method for detecting a high-voltage insulator, comprising the steps of:
step 1: placing a high-voltage insulator detection robot on the double-string insulator;
and 2, step: adjusting the position of a limiting plate of the high-voltage insulator detection robot to enable the limiting plate to be respectively attached to the outer sides of the double strings of insulators;
and step 3: shooting the two insulators respectively through a camera to judge whether external damage exists;
and 4, step 4: driving the probe to swing through a probe motor, and enabling the probe to contact the outer walls of the double strings of insulators in sequence to detect whether the insulators leak electricity or not;
and 5: the method comprises the following steps that an insulator appearance image shot by a camera and a leakage signal detected by a probe are respectively uploaded to a shielding box, and the shielding box sends the shot image and the leakage signal to a control center through an antenna for processing;
step 6: the crawler belt moving mechanism is controlled to move forwards through the remote control device;
and 7: when the light sensor measures that the moving distance reaches a set value, the crawler moving mechanism stops moving forwards;
and 8: and (5) repeating the actions of the steps 3-7 until all the double-string insulators are detected.
The invention has the beneficial effects that: the control box adopts the RJ45 interface that has shielding function, and the gap all seals with the copper foil, can play anti-jamming effect, can detect high-voltage insulator when the circuit is electrified, satisfies the detection that does not have a power failure, strong adaptability.
The mounting plate and the limiting plate are adopted, so that the detection robot can more stably and safely move on the insulator when detecting the insulator; the invention can be matched with an unmanned aerial vehicle to detect the power transmission lines on the ground such as a suspension bridge, meets the detection requirement of ultrahigh voltage, and has wide application range.
The high-voltage insulator detection robot is a robot with a double-span insulator string, can walk stably in a high-altitude and windy environment, and solves the problem of unstable single span.
Drawings
FIG. 1 is a perspective view of a bracket mounted on an insulator;
fig. 2 is a perspective view of the high voltage insulator testing robot according to the present invention;
FIG. 3 is a partial structure view of a probe of the high voltage insulator inspection robot according to the present invention;
FIG. 4 is a front view of FIG. 1;
fig. 5 is a perspective view of a control box in the high voltage insulator testing robot according to the present invention;
fig. 6 is a sectional view of a control box in the high voltage insulator testing robot according to the present invention.
In the figure: 1. a double string of insulators; 2. a limiting plate; 3. a camera; 4. a probe; 5. a control box; 5a, a shielding box; 5b, an antenna; 5c, an insulating panel; 5d, an RJ45 interface with a shielding function; 5e, a PCB board; 5f, an insulating panel support plate; 6. mounting a plate; 6a, mounting plate hinge lugs; 7. a connecting strip; 7a, a waist-shaped long groove; 8. a crawler movement mechanism; 9. a light sensor; 10. a nylon swing frame; 11. a switch; 12. a charging head; 13. a limiting strip; 14. A probe connecting plate; 15. driven gear, 16, driving gear.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
As shown in fig. 1 and 2, the high-voltage insulator detection robot comprises a control box 5 and a horizontally arranged mounting plate 6, wherein the control box 5 is fixed on the outer end surface of the mounting plate 6, two ends of the mounting plate 6 are respectively provided with a 7-shaped limiting plate 2, free ends of the two limiting plates 2 respectively extend to the outer sides of the two strings of insulators 1, a rotatable probe 4 is fixed in the middle of the inner end surface of the mounting plate 6, the probe 4 points to a neutral position between the two strings of insulators 1, the axis of a driving shaft of the probe 4 is parallel to the axis of the two strings of insulators 1, two sides of the probe 4 are symmetrically provided with a pair of cameras 3, the two cameras 3 respectively incline towards the direction of the two insulators, two ends of the mounting plate 6 are respectively fixed on crawler movement mechanisms 8, the two crawler movement mechanisms 8 are parallel to each other and to the axis of the two strings of insulators 1, and the crawlers of the two crawler movement mechanisms 8 are respectively supported on the corresponding insulators and can walk along the insulators.
The camera 3 is respectively fixed on the inner end surface of the mounting plate 6 through mounting plate hinge lugs 6 a; the two camera 3 fixing boxes are respectively and fixedly provided with a light sensor 9 for detecting the walking distance of the robot, and the two light sensors 9 and the two cameras 3 are distributed in a diagonal manner.
Connecting strips 7 are respectively fixed on two edges of the mounting plate 6 perpendicular to the axis of the insulator, two ends of the two connecting strips 7 respectively extend towards the direction of the limiting plate 2 and are respectively provided with a waist-shaped elongated slot 7a, and adjusting screws respectively penetrate through the waist-shaped elongated slots 7a and are fixedly connected with the limiting plate 2.
The number of the probes 4 is two, the two probes 4 are respectively fixed on the nylon swing frames 10, the two nylon swing frames 10 are respectively fixed at two ends of a driving shaft of the probes 4, two ends of the driving shaft of the probes 4 are rotatably supported on the probe 4 support, and the probe 4 support is fixed on the inner end surface of the mounting plate 6; a driven gear 15 is fixed at the middle section of a driving shaft of the probe 4 or a position close to one end of the driving shaft through a flat key, the driven gear 15 is meshed with a driving gear 16, the driving gear 16 is fixed on a rotor shaft of a probe motor, and the probe motor is fixed in a probe support.
The nylon swing frame is concave as shown in fig. 3, the bottom of the nylon swing frame is fixed with the mounting plate, two ends of the nylon swing frame are connected with the corresponding vertical plates, and the nylon swing frame is connected with the vertical plates through rivets penetrating through the nylon swing frame to realize rotatable connection;
the both ends of drive shaft alternate in the nylon bracket that corresponds the end, and drive shaft and nylon bracket be rotatable coupling, establish the bearing through the drive shaft cover, inlay in the nylon bracket and establish the bearing frame, bearing and bearing frame cooperation.
The crawler moving mechanism 8 moves on the insulator, the nylon probe 4 swings left and right to detect whether the insulator leaks electricity or not, the cameras on the two sides collect images to detect whether the surface of the insulator is damaged or not, the light sensation sensor 9 is a distance sensor, and the advancing distance of the crawler moving mechanism 8 on the insulator is judged by detecting the insulator.
The specific arrangement of the crawler belt moving mechanism 8 is as follows: the tight cover of track is established in actuating mechanism outside, and actuating mechanism includes the motor, and the setting of being connected with motor drive is close to the tight gyro wheel at both ends inside the track, and one of them tight gyro wheel is connected with driving motor, and another tight gyro wheel is for following the driving wheel, and the track outside is provided with the sand grip, the sand grip and the outside burr block of a circle of high-voltage insulator, and when the track was by motor drive, outside the removal at actuating mechanism, remove the in-process, outside the realization climbing of high-voltage insulator.
As shown in fig. 4 and 5, an insulating panel 5c is installed in the inner cavity of the control box 5, a shielding box 5a and an antenna 5b, the shielding box 5a is located in the middle of the inner cavity of the control box 5, a PCB 5e for receiving signals of the camera 3 and the probe 4 is arranged in the shielding box 5a, a plurality of RJ45 interfaces 5d with shielding function are arranged on the box wall on one side of the shielding box 5a, the insulating panel 5c is located on one side close to the RJ45 interface 5d with shielding function, and the antenna 5b is located on one side far away from the RJ45 interface 5d with shielding function. There are 12 RJ45 interfaces 5d with shielding function. The invention uses RJ45 with shielding function as connector, which has good shielding effect.
The shielding box 5a in the control box adopts a closed metal box body structure, all pores are filled and sealed through copper foil paper, and simultaneously, an RJ45 metal shielding interface is adopted for data line connection, so that the electromagnetic shielding performance is fully ensured to meet the working requirement, and the problem of circuit interference in a strong electromagnetic environment is solved; the outside insulating protection case adopts insulating material preparation, and uncovered one side realizes double-deck insulating seal through outer apron and interior baffle, fully guarantees detection device's operational safety.
The insulating panel 5c is fixed on the insulating panel support plate 5f, a support plate parallel to the insulating panel 5c is installed on one side of the insulating panel 5c facing the shielding box 5a, and a switch 11 and a charging head 12 are installed on the support plate. The gap and the screw of the control box 5 are sealed by copper foil.
The opposite inner walls of the limiting plate 2 are respectively provided with a limiting strip 13, the two limiting strips 13 are parallel to each other and parallel to the axis of the insulator, and two ends of the two limiting strips 13 are respectively bent outwards to form a guide head.
The invention discloses a high-voltage insulator detection method, which comprises the following steps:
step 1: placing a high-voltage insulator detection robot on the double-string insulator 1;
and 2, step: adjusting the position of a limiting plate 2 of the high-voltage insulator detection robot to enable the limiting plate 2 to be respectively attached to the outer sides of the double-string insulators 1;
and step 3: the two insulators are shot by the camera 3 respectively to judge whether external damage exists;
and 4, step 4: the probe 4 is driven by the motor of the probe 4 to swing, so that the probe 4 contacts the outer walls of the double-string insulators 1 in sequence to detect whether the insulators leak electricity or not;
and 5: the insulator appearance image shot by the camera 3 and the leakage signal detected by the probe 4 are respectively uploaded to the shielding box 5a, and the shielding box 5a sends the shot image and the leakage signal to a control center through the antenna 5b for processing;
step 6: the crawler belt moving mechanism 8 is controlled to move forwards through a remote control device;
and 7: when the light sensor 9 measures the moving distance and reaches a set value, the crawler moving mechanism 8 stops moving forwards;
and step 8: and (4) repeating the actions in the step (3) until all the double-string insulators 1 are detected.
The invention can be matched with an unmanned aerial vehicle to detect the power transmission lines in places such as a suspension bridge and the like, meets the detection requirement of ultrahigh voltage, and has strong adaptability and wide application range.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. A high-voltage insulator detection robot is characterized by comprising a control box and a mounting plate, wherein the control box is fixed on the outer side surface of the mounting plate, two ends of the mounting plate are respectively provided with a 7-shaped limiting plate facing the same side, the free ends of the two limiting plates respectively extend to the outer sides of two strings of insulators, the middle part of the inner side surface of the mounting plate is provided with a rotatable probe, the probe points to a neutral position between the two strings of insulators, the probe divides a detection area into two symmetrical insulator detection spaces, each detection space is provided with two cameras and a crawler moving mechanism, the crawler moving mechanisms crawl on the surface of the insulator, the two cameras are symmetrically positioned on one opposite surface of the insulator, and the surface of the insulator is photographed;
the number of the probes is two, the bottoms of the probes are fixed on the same probe connecting plate, and the lower part of the probe connecting plate is arranged on the inner side surface of the mounting plate through a nylon swing frame.
2. The high-voltage insulator detection robot as claimed in claim 1, wherein the cameras are respectively fixed on the inner side surfaces of the mounting plates through mounting plate hinge lugs; the camera is arranged in the camera fixing box, and light sensation sensors used for detecting the walking distance of the robot are respectively arranged in the camera fixing box.
3. The high-voltage insulator detection robot according to claim 1, wherein two edges of the mounting plate perpendicular to the axis of the insulator are respectively fixed with a connecting strip, two ends of the two connecting strips respectively extend towards the direction of the limiting plate and are respectively provided with a waist-shaped elongated slot, and adjusting screws respectively penetrate through the waist-shaped elongated slots to be fixedly connected with the limiting plate.
4. The high-voltage insulator detection robot as claimed in claim 1, wherein more than one driven gear is arranged below the probe connecting plate, and a central shaft of the driven gear is fixedly connected with the probe connecting plate;
more than one driving gear is arranged inside the nylon swing frame, the driving gears share one driving shaft, each driven gear is meshed with one driving gear, the driving shaft is connected with a driving motor, and when the driving gears are driven to rotate by the driving motors, the driven gears are driven to rotate, so that the probe connecting plate is driven to overturn, and the probes are driven to obliquely move.
5. The high-voltage insulator detection robot as claimed in claim 4, wherein the nylon swinging frame is in a concave shape, the bottom of the nylon swinging frame is fixed with the mounting plate, two ends of the nylon swinging frame are connected with the corresponding vertical plates, and the nylon swinging frame and the vertical plates are connected through rivets to realize rotatable connection;
the two ends of the driving shaft are inserted into the nylon supports at the corresponding ends, the driving shaft is rotatably connected with the nylon supports, the bearing is sleeved with the driving shaft, the bearing seat is embedded in the nylon supports, and the bearing is matched with the bearing seat.
6. The high-voltage insulator detection robot according to claim 1, wherein an insulating panel, a shielding box and an antenna are installed in an inner cavity of the control box, the shielding box is located in the middle of the inner cavity of the control box, a PCB board for receiving signals of the camera and the probe is arranged in the shielding box, a plurality of RJ45 interfaces with shielding functions are arranged on a box wall on one side of the shielding box, the insulating panel is located on one side close to the RJ45 interfaces with shielding functions, and the antenna is located on one side far away from the RJ45 interfaces with shielding functions.
7. The robot for inspecting high-voltage insulator according to claim 6, wherein the insulation panel is fixed on an insulation panel support plate, a support plate parallel to the insulation panel is installed on one side of the insulation panel facing the shielding box, and a switch and a charging head are installed on the support plate.
8. The high-voltage insulator testing robot according to claim 1, wherein gaps and screws of the control box are sealed by copper foil.
9. The high-voltage insulator detection robot according to any one of claims 1 to 8, wherein the inner facing walls of the limiting plates are respectively provided with a limiting bar, the two limiting bars are parallel to each other and parallel to the axis of the insulator, and two ends of the two limiting bars are respectively bent outwards to form a guide head.
10. A high-voltage insulator detection method is characterized by comprising the following steps:
step 1: placing a high-voltage insulator detection robot on the double-string insulator;
step 2: adjusting the position of a limiting plate of the high-voltage insulator detection robot to enable the limiting plate to be respectively attached to the outer sides of the double strings of insulators;
and step 3: shooting the two insulators respectively through a camera to judge whether external damage exists;
and 4, step 4: the probe motor drives the probe to swing, so that the probe contacts the outer walls of the double strings of insulators in sequence to detect whether the insulators leak electricity or not;
and 5: the method comprises the following steps that an insulator appearance image shot by a camera and a leakage signal detected by a probe are respectively uploaded to a shielding box, and the shielding box sends the shot image and the leakage signal to a control center through an antenna for processing;
step 6: the crawler moving mechanism is controlled to move forwards through the remote control device;
and 7: when the light sensor measures that the moving distance reaches a set value, the track moving mechanism stops moving forwards;
and step 8: and (5) repeating the actions of the steps 3-7 until all the double-string insulators are detected.
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| CN202210765255.1A CN115158498A (en) | 2022-07-01 | 2022-07-01 | High-voltage insulator detection robot and detection method |
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| CN202210765255.1A CN115158498A (en) | 2022-07-01 | 2022-07-01 | High-voltage insulator detection robot and detection method |
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| KR20090123478A (en) * | 2008-05-28 | 2009-12-02 | 한국전력공사 | Apparatus and system for inspecting insulator |
| CN201331558Y (en) * | 2008-12-30 | 2009-10-21 | 中国科学院沈阳自动化研究所 | Insulator detection robot |
| CN101769971A (en) * | 2008-12-30 | 2010-07-07 | 中国科学院沈阳自动化研究所 | Insulator detecting robot |
| KR20090131242A (en) * | 2009-02-17 | 2009-12-28 | 박준 | Apparatus and method for detecting the degraded component in the overhead distribution line using ultrasonic waves |
| KR101252080B1 (en) * | 2011-11-16 | 2013-04-12 | 김영진 | The apparatus and method of inspecting with flying robot of quad roter |
| CN103091579A (en) * | 2013-01-11 | 2013-05-08 | 山东鲁能智能技术有限公司 | Insulator chain intelligent detection robotic system |
| CN207931529U (en) * | 2018-03-12 | 2018-10-02 | 唐旭升 | a kind of strain insulator string detection robot |
| CN217212970U (en) * | 2022-03-14 | 2022-08-16 | 南京中泓智电电气有限公司 | High-voltage insulator detection robot |
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