CN202748028U - Detection system - Google Patents
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- CN202748028U CN202748028U CN 201220461352 CN201220461352U CN202748028U CN 202748028 U CN202748028 U CN 202748028U CN 201220461352 CN201220461352 CN 201220461352 CN 201220461352 U CN201220461352 U CN 201220461352U CN 202748028 U CN202748028 U CN 202748028U
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Abstract
The utility model discloses a detection system. The detection system comprises a detection assembly, a data processing assembly and a control assembly, wherein the detection assembly comprises a height-adjustable universal-rotation night-vision camera, a travelable camera and a serpentine camera; the data processing assembly comprises a wireless transmitter, a receiver and an information processor, wherein the wireless transmitter is arranged on the detection assembly and used for carrying out information transmission, the receiver is matched with the wireless transmitter, and the information processor is electrically connected with the receiver; and the control assembly comprises a controller which is arranged on the detection assembly and used for controlling the action of the detection assembly, wherein the controller is in wireless communication connection with the information processor. According to the detection system disclosed by the utility model, different detection requirements can be met in multiple complicated work environments due to the adoption of the cameras of three forms, and meanwhile, the wireless transmission is adopted to carry out monitored information output and detection system control, so that the detection system can carry out automated remote detection and control, and the automatic detection on power grids in complicated environments is realized in a manner that manual work is completely replaced.
Description
Technical field
The utility model relates to the grid maintenance equipment technical field, more particularly, and particularly a kind of detection system.
Background technology
In network system or local power net; for fear of electron device be subject to physical environment for example sleet or external force impact and be damaged; and the safety when guaranteeing personnel near high voltage electronics, protection housing etc. all can be set the electric device more than the earth's surface.And to the transformation of electrical network, most areas all is transferred to cable and electrical network relevant device underground along with in recent years.It is above or be arranged at the following electrical equipment in earth's surface no matter to be arranged at the earth's surface, all can have test problems in various degree when detecting.
For example:
1, overhauls for the device in the casing, at first need casing is opened, if run into narrow space or the electronic component closely situation of arranging, will cause the electronic component that the maintainer can only effects on surface to detect, can't overhaul device its inside or deep layer, cause maintenance to omit;
2, for the cable maintenance of underpass or cable duct, hole, then need the maintainer to climb into to passage, cause the inconvenience of detection;
3, for altitude plant, then need to set up ladder and carry out the high-altitude detection, reduced dramatically job security.
Simultaneously, unusual, the defectives such as generation oil impregnate, breakage if electrical equipment is in operation, or equipment occurs with the situation that high-tension electricity also can exist the maintainer to get an electric shock.When concrete maintenance, if checking, power failure will affect power supply reliability; Or in the large-scale work such as electric substation's technological transformation, capital construction, monthly safety inspection, because cable laying is very many, and cable size is not of uniform size, and the cable shaft height is darker, cause on-site cable is imported and exported shutoff inspection difficulty, thereby directly affect defective Accuracy of Judgement and work efficiency.
In sum, how to provide a kind of pick-up unit that can automatically detect network system, become those skilled in the art's problem demanding prompt solution.
The utility model content
The technical problems to be solved in the utility model is for providing a kind of detection system, and this detection system has the advantage of the pick-up unit that can automatically detect network system.
For solving the problems of the technologies described above, the utility model provides a kind of detection system, is used for the detection of electrical network and related electric equipment, comprising:
Detection components, described detection components comprises: adjustable for height everything rotates night viewing camera, can walk video camera and snakelike video camera;
Data handling component, described data handling component comprises: the receiver that be arranged on the described detection components wireless launcher that is used for carrying out communication, is complementary with described wireless launcher and with the message handler of described receiver electrical connection;
Control Component, described Control Component comprise being arranged at and are used on the described detection components controlling the controller that described detection components is moved that described controller is connected with described message handler radio communication.
Preferably, described detection components is focusing camera for the video camera of making a video recording.
Preferably, described detection components is provided with light fixture for the video camera of making a video recording.
Preferably, described detection components, described data handling component and described Control Component connect by the WIFI network wireless.
Preferably, the utility model also comprises the two-way receiver for the wireless signal relaying.
Preferably, described everything rotates night viewing camera and comprises bracing frame and the video camera that turns to that is arranged on the support frame as described above, and support frame as described above is the stepless height-regulating insulating support.
Preferably, the described video camera of walking is four-wheel-type walking video camera.
Preferably, described snakelike video camera is the snakelike video camera of gastroscope formula, and described snakelike video camera is by data line and the electrical connection of described message handler.
The utility model provides a kind of detection system, is used for the detection to electrical network and related electric equipment, comprising: detection components, and detection components comprises: adjustable for height everything rotates night viewing camera, can walk video camera and snakelike video camera; Data handling component, data handling component comprises: the receiver that be arranged on the detection components wireless launcher that is used for carrying out communication, is complementary with wireless launcher and with the message handler of receiver electrical connection; Control Component, Control Component comprise being arranged at and are used on the detection components controlling the controller that detection components is moved that controller is connected with the message handler radio communication.
Everything rotates night viewing camera and adopts adjustable for height structure, and its realization can realize by support is set, can carry out image collection to the electrical equipment with certain altitude; The video camera of can walking can carry out straight line moving, turns to even have the function that retreats, and by controlling the progress path of the video camera of can walking, arrives named place of destination and carries out the device detection, or carry out image recording; Snakelike video camera is a kind of assembly that camera is set at elongated deformable ends, be applicable in the intensive situation of electrical equipment design, especially for the unapproachable small space of human body (in the switch cubicle, in the narrow and small cabinet), by changing its shape, can deep enoughly to small space, carry out image recording.In the utility model, by the video camera of above-mentioned three kinds of forms is set, can be applied to improve the reliability that network system detects in most testing environments.
In the data handling component that the utility model provides, comprise wireless launcher, receiver and message handler.The video information that wireless launcher can be recorded video camera is converted to the discernible digital signal of computing machine, then sends transmission by wireless network; Receiver then is for the device that receives this digital signal, receiver and message handler electrical connection, and the video information that receiver is recorded detection system (being converted to the video information of digital signal) transfers on the message handler; Message handler is a kind of device that can carry out image processing, can directly adopt computer as message handler generally speaking.The data handling component that the utility model provides can be finished post-processed and the case study of the video information (image information) that detection system is recorded.
In the Control Component that the utility model provides, comprise controller, controller is connected with the message handler radio communication, and controller can be controlled three kinds of video cameras that detection components comprises and move, to satisfy different video recording requirements.Controller is subjected to the controlled in wireless of message handler, and cooperates the structural design (wireless transmitter and receiver wireless adaptation) of data handling component, can realize Wireless remote control of the present utility model.
The detection system that the utility model provides, detection components adopts the video camera of three kinds of forms, can in the working environment of Various Complex, satisfy different testing requirements, adopt simultaneously wireless transmission to carry out the output of monitoring information and to the control of detection system (being specially video camera), can be so that the utility model carries out the remote detection control of robotization.The detection system that the utility model provides can replace manually carrying out the automatic detection of electrical network in the complex environment fully.
Description of drawings
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, the below will do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art, apparently, accompanying drawing in the following describes only is embodiment of the present utility model, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to the accompanying drawing that provides other accompanying drawing.
Fig. 1 is the structural representation of detection system among a kind of embodiment of the utility model;
The corresponding relation of component names and Reference numeral is among Fig. 1:
Detection components 1; Everything rotates night viewing camera 11; The video camera 12 of can walking;
Snakelike video camera 13; Message handler 2; Two-way receiver 3.
Embodiment
Core of the present utility model is for providing a kind of detection system, and this detection system has the advantage of the pick-up unit that can automatically detect network system.
In order to make those skilled in the art understand better the technical solution of the utility model, the utility model is described in further detail below in conjunction with the drawings and specific embodiments.
Please refer to Fig. 1, Fig. 1 is the structural representation of detection system among a kind of embodiment of the utility model.
The utility model provides a kind of detection system, is used for the detection to electrical network and related electric equipment.In network system, comprise national grid and local power net, chief component comprises: cable and corresponding electrical equipment.In order can either the cable that be arranged in the pipeline to be detected the electrical equipment equipment that is arranged in the bin again, among the embodiment of the present utility model, following technical scheme has been proposed, comprise: detection components 1, detection components 1 comprises: adjustable for height everything rotates night viewing camera 11, can walk video camera 12 and snakelike video camera 13; Data handling component, data handling component comprises: the receiver that be arranged on the detection components 1 wireless launcher that is used for carrying out communication, is complementary with wireless launcher and with the message handler 2 of receiver electrical connection; Control Component, Control Component comprise being arranged at and are used on the detection components 1 controlling the controller that detection components 1 is moved that controller is connected with message handler 2 radio communications.
In the detection system that the utility model provides, detection components 1 is applicable to realize the critical piece that detects, wherein:
1, everything rotates night viewing camera 11 and adopts adjustable for height structure, its realization can realize by support is set, can carry out image collection to the electrical equipment with certain altitude, by regulating its height, can satisfy the detection of multiple requirement for height, and what the utility model adopted is to have the video camera that everything rotates and has night vision function, has the function that everything rotates, can so that video camera its environment is everywhere made a video recording, the bit manipulation personnel provide more case study data, have night vision function then can so that the utility model be applicable to improve applicability of the present utility model in the darker environment;
2, the video camera 12 of can walking can carry out straight line moving, turns to even have the function that retreats, add camera on the basis of the remote-control toy dolly that the video camera 12 of can walking can provide in the prior art, progress path by the control dolly, arrive named place of destination and carry out the device detection, or carry out image recording;
3, snakelike video camera 13 is a kind of assemblies that camera is set at elongated deformable ends, be applicable in the intensive situation of electrical equipment design, especially for the unapproachable small space of human body (in the switch cubicle, in the narrow and small cabinet), by changing its shape, can deep enoughly to small space, carry out image recording.
In the utility model, by the video camera of above-mentioned three kinds of forms is set, can be applied to improve the reliability that network system detects in most testing environments.
In the data handling component that the utility model provides, comprise wireless launcher, receiver and message handler 2.The video information that wireless launcher can be recorded video camera is converted to the discernible digital signal of computing machine, then sends transmission by wireless network; Receiver then is for the device that receives this digital signal, receiver and message handler 2 electrical connections, and the video information that receiver is recorded detection system (being converted to the video information of digital signal) transfers on the message handler 2; Message handler 2 is a kind of devices that can carry out image processing, can directly adopt generally speaking computer as message handler 2.The data handling component that the utility model provides can be finished post-processed and the case study of the video information (image information) that detection system is recorded.
In the Control Component that the utility model provides, comprise controller, controller is connected with message handler 2 radio communications, and controller can be controlled three kinds of video cameras that detection components 1 comprises and move, to satisfy different video recording requirements.Controller is subjected to the controlled in wireless of message handler 2, and cooperates the structural design (wireless transmitter and receiver wireless adaptation) of data handling component, can realize Wireless remote control of the present utility model.
The detection system that the utility model provides, detection components 1 adopts the video camera of three kinds of forms, can in the working environment of Various Complex, satisfy different testing requirements, adopt simultaneously wireless transmission to carry out the output of monitoring information and to the control of detection system (being specially video camera), can be so that the utility model carries out the remote detection control of robotization.The detection system that the utility model provides can replace manually carrying out the automatic detection of electrical network in the complex environment fully.
Need to prove that at this utility model adopts transmission of wireless signals can adopt Bluetooth transmission also can adopt WIFI or even mode of frequency regulation to transmit.
Particularly, in an embodiment of the present utility model, the video camera (everything rotates night vision camera, can walk video camera 12 and snakelike video camera 13) that detection components 1 is used for making a video recording is focusing camera.Adopt focusing camera can adjust distance and the sharpness of video image, finish much information and gather requirement.
Particularly, in another embodiment of the present utility model, the video camera that detection components 1 is used for making a video recording is provided with light fixture, be provided with the brightness that lighting device can improve video camera environment of living in, for the testing staff provides the monitoring image of high definition, guarantee that the monitoring high-quality finishes.
In order to guarantee stability and the accuracy of signal transmission, in the utility model, detection components 1, data handling component and Control Component connect by the WIFI network wireless.
For so that the utility model can carry out long-range control, carry out especially at the scene cable detection in the duct, the utility model also provides the two-way receiver 3 of wireless signal relaying, for increasing camera head can advance farther.
Particularly, in the first embodiment of the present utility model, everything rotates night viewing camera 11 and comprises bracing frame and the video camera that turns to that is arranged on the bracing frame, and bracing frame is the stepless height-regulating insulating support.
Particularly, in the second embodiment of the present utility model, the video camera 12 of can walking is four-wheel-type walking video camera.
Particularly, in the 3rd embodiment of the present utility model, snakelike video camera 13 is the snakelike video camera 13 of gastroscope formula, and snakelike video camera 13 is by data line and message handler 2 electrical connections.
The below does more detailed description with a kind of embodiment of the present utility model to detection system.
The camera that detection system adopts adopts the WIFI transmitting image, sets up IP by wireless router and notebook and is connected, and Image Real-time Transmission is arrived the notebook terminal.
The application sets up WIFI transmission module and comes the realization valency than high, with low cost wireless IP camera take the 88W8510 chip as core.As good value-added service of wireless IP communication, the IP bearer network that this programme utilization transmission is cheap, select the 88W8510WIFI module to realize a wireless bridging equipment (calling the 88W8510WIFI wireless bridge in the following text) with IEEE 802.11b/g function, to make up the wireless transmission environment, digital signal process packing grouping (IP bag) with camera DSP sends is sent to computer or wireless network by wireless environment.
The hardware design of wireless IP camera realizes IP camera and wireless network bridge joint with the 88W8010WIFI module.In this application, comparatively crucial set of devices becomes AP and the gateway chipset based on WLAN 802.11b/g of 88W8010 and 88W8510 formation, be used for outer CPU and the fast ethernet port that wired infrastructure connects owing to eliminated, can have significantly reduced overall material (BOM) cost.
88W8010 adopts the 2.4GHz ISM band, and integrated all RF Analog Baseband transmission-receiving functions have high performance heterodyne radio-frequency structure; Power amplifier and emissive power that high linear built-in power is 23dBm are the modulation scheme that the 20dBm antenna is connected respectively to 802.11b/g; Detected through-put power cycle control function integrated for real power, adopted highly sensitive receiver, to guarantee the quality of reception; Low power dissipation design and advanced powder source management mode, 48 pin QFN encapsulation, package dimension is 7mm * 7mm only.
The main advantage of 88W8010 is that one chip just supports all RF to the function of Analog Baseband and the standard of IEEE 802.11b/g, has reduced material cost, has simplified plate level wires design, and minimum installation dimension is provided.Comparing with direct transformational structure, improved performance, omitted the use of sound surface band bandpass filter, reduced cost, can be that (emissive power of 0dBm ~ 20dBm), cost is low, performance is high for 0.5dBm and wide ranges for antenna provides resolution.Even designated parameter has surpassed rated temperature, the parameter change of power supply piezoelectric voltage and device, the output power of this device is also very stable.Improve in addition the detection mode of feeble signal, enlarged investigative range.For device transmitting-receiving, sleep and energy saver mode, leading low-power consumption characteristic is provided, hardware design is compact, has reduced bulk.
The built-in embedded-type ARM 946S-E processor cores of 88W8510, high multidiameter delay expansion is tolerant, built-in aerial adopts diversity receiving technology, encrypt and CCM authentification of message built in hardware crypto engine for WEP and 80211i AES, support 802.11e QoS quality services to guarantee, can match MII or PCI external interface, integrated 10/100M Fast Ethernet MAC and the phy interface that adopts the VCT technology, support the 802.1X safety mouthful agreement of advanced secure authentication special use, 256 pin TFBGA encapsulation, package dimension is 17mm * 17mm only.
The advantage of 88W8510 is a lot, and it is the 802.11g solution, compatible 802.11b agreement of while, and range of receiving is large, and it is good to connect robustness, has reduced losing of information; The transmitting-receiving performance is good, scope is large; On the basis of low power dissipation design, integrated function as much as possible and performance boost; Can connect simultaneously more wireless terminal, need not to reduce wireless throughput performance; The data that can guarantee to transmit, audio frequency, video data continuous and stable; Can external many mouthfuls of routers and external system bus; Reduced Material Cost and the stube cable method for diagnosing faults is provided; Be to improve the security under public environment, added more authentication mechanism; Use AP and the gateway chip of 802.11b agreement in the pin compatibility Marvell product, make things convenient for the switching between 802.11b and 802.11g.
The application has adopted 88W8510WIFI chip module and Traditional IP camera, has realized the wireless transformation of camera.Through actual test, wireless IP camera can be realized errorless code communication in the 20MHz scope, and transmission of video images is superior in quality, stable, flexible.Compare other camera design proposals, this programme tool also has the advantages such as low-cost (no matter being communications cost or hardware cost), low-power consumption, is a kind of design that economy and technological value are relatively arranged.
In the data handling component, the video control software that message handler 2 adopts mainly is to adopt the motion of PELCO-D/P agreement control The Cloud Terrace.
In the utility model, utilize the wireless bridge technology, a plurality of monitoring points and CCC can be coupled together, and build rapidly, can within the shortest time, set up rapidly wireless network links, the wireless bridging technology is to utilize a pair of wireless bridge, the network connection of two separation is got up, and carry out data transmission by wireless bridge.
The high network bandwidth of the 11Mbps/54Mbps that wired link can reach can guarantee the stable transmission that continues of video flowing fully.Use wireless bridge, do not have the worry of wiring, do not destroy original environmental facility, short construction period, cost performance is high, and extendibility is strong, as long as increase or reduce the wireless bridge of monitored point, just can finish increase or the minimizing of monitored point.In the situation of condition license, utilize wireless bridge can support farthest bridge joint more than 50 kilometers.Radio network product support 11,22/54Mbps and the higher network bandwidth of IEEE802.11b/g/a can guarantee to adopt fully and H.263/MPEG-1/2/4 wait the digital video frequency flow of form reliablely and stablely to transmit, and reach the purpose of wireless video monitoring.
In the utility model, detection components 1 provides three kinds of video cameras, is respectively:
Adjustable for height everything rotates night viewing camera 11, and this mode of inspecting is to adopt the stepless height-regulating insulating support as bracing frame, and wireless camera (anti-electric field interference performance is strong) is installed on the top.The implementation method of stepless height-regulating insulating support: frame bottom adopts the scalable three-legged support of metal, be convenient to firmly wireless camera be stood aloft with its weight, be unlikely to topple over, one side is installed a hand rolling wheel at the top of metal tripod pipe core, this hand rolling wheel is the key point of stepless height-regulating insulating support, can be along with the height that shakes random adjusting insulating support rod (the namely height of wireless camera); The rubber plastic pipe that 2 internal-and external diameters cooperate is installed in the A-frame pipe core, prop up weighing lever and tripod in order to isolated insulation, guarantee good dielectric strength, built-in plastic tube one side two ends respectively stay 8 centimeters to open a groove, this groove is convenient to the motion of elevating control insulating cord, reduce friction the good descending operation effect of light, safe arrival; An insulating bar is installed in inside at interior plastic tube, the internal diameter of its external diameter and plastic tube cooperates suitably, at the bottom of insulating bar one side perforating, one end of insulating cord is fixed in the bottom of insulating bar, the insulating cord other end is fixed on the rolling wheel by hand rolling wheel by interior plastic tube side channel, thereby reach the lifting of insulating bar, a metal connector is installed on top at insulating bar, be used for connecting another insulating bar, such mode can be regulated insulating bar and highly the highlyest can be reached 5M, the insulating bar two ends of every adjunction are equipped with metal male and female web member, insulating bar insulation bearing strength is 110kV, can solve the work of inspecting for eminence, for example as the rheology bottom, the general video camera such as main transformer top or the camera situation of can not completely clearly information being made a video recording, can guarantee like this information safety and comprehensive, also can not cause discharge dangerous even without enough safe distances like this;
The video camera 12 of can walking, in cable duct, the hole, personnel's inconvenience enters or distance long place again, adopts the wireless remote control robot camera.Embodiment is: the part of advancing adopts high-quality wireless remote control dolly, the video camera that can turn to up and down is installed at this dolly, video camera has the night vision shoot function, and at dolly installation tyre light source, the computer background control system is adopted in the remote control of video camera, and independent telepilot is adopted in the control of dolly, is a marline at the dolly rear portion, prevent that dolly from blocking in advancing, thereby guarantee that shooting information is clear.
4, protection of instrumentation: totally be divided into two parts, first is the video camera guard box, and second portion is tripod and insulating bar protection putting bag.
More than a kind of detection system provided by the utility model is described in detail.Used specific case herein principle of the present utility model and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present utility model and core concept thereof.Should be understood that; for those skilled in the art; under the prerequisite that does not break away from the utility model principle, can also carry out some improvement and modification to the utility model, these improvement and modification also fall in the protection domain of the utility model claim.
Claims (8)
1. a detection system is used for the detection of electrical network and related electric equipment, it is characterized in that, comprising:
Detection components (1), described detection components (1) comprising: adjustable for height everything rotates night viewing camera (11), can walk video camera (12) and snakelike video camera (13);
Data handling component, described data handling component comprises: the receiver that be arranged at the upper wireless launcher that is used for carrying out communication of described detection components (1), is complementary with described wireless launcher and with the message handler (2) of described receiver electrical connection;
Control Component, described Control Component comprise that being arranged at described detection components (1) upward is used for controlling the controller that described detection components (1) is moved, and described controller is connected with described message handler (2) radio communication.
2. detection system according to claim 1 is characterized in that, the video camera that is used in the described detection components (1) making a video recording is focusing camera.
3. detection system according to claim 1 is characterized in that, the video camera that described detection components (1) is used for making a video recording is provided with light fixture.
4. according to claim 1 to 3 each described detection systems, it is characterized in that described detection components (1), described data handling component and described Control Component connect by the WIFI network wireless.
5. detection system according to claim 4 is characterized in that, also comprises the two-way receiver (3) for the wireless signal relaying.
6. detection system according to claim 1 is characterized in that, described everything rotates night viewing camera (11) and comprises bracing frame and the video camera that turns to that is arranged on the support frame as described above, and support frame as described above is the stepless height-regulating insulating support.
7. detection system according to claim 1 is characterized in that, the described video camera of walking (12) is four-wheel-type walking video camera.
8. detection system according to claim 1 is characterized in that, described snakelike video camera (13) is the snakelike video camera of gastroscope formula (13), and described snakelike video camera (13) is by data line and described message handler (2) electrical connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220461352 CN202748028U (en) | 2012-09-11 | 2012-09-11 | Detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220461352 CN202748028U (en) | 2012-09-11 | 2012-09-11 | Detection system |
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| CN202748028U true CN202748028U (en) | 2013-02-20 |
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| CN 201220461352 Expired - Fee Related CN202748028U (en) | 2012-09-11 | 2012-09-11 | Detection system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103245875A (en) * | 2013-03-19 | 2013-08-14 | 湖南省电力公司永州冷水滩供电局 | Viewfinder for faults of wireless cable pipe trench |
| CN105091770A (en) * | 2015-05-22 | 2015-11-25 | 北京路桥瑞通科技发展有限公司 | Bridge support deformation disease detection system |
| WO2018014398A1 (en) * | 2016-07-17 | 2018-01-25 | 杨越 | Operation method for lifting and lowering device of underwater pressure tapping system used by unmanned vessel |
| CN109465803A (en) * | 2018-06-25 | 2019-03-15 | 中国人民解放军第二军医大学 | Tow-armed robot system of subject |
-
2012
- 2012-09-11 CN CN 201220461352 patent/CN202748028U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103245875A (en) * | 2013-03-19 | 2013-08-14 | 湖南省电力公司永州冷水滩供电局 | Viewfinder for faults of wireless cable pipe trench |
| CN105091770A (en) * | 2015-05-22 | 2015-11-25 | 北京路桥瑞通科技发展有限公司 | Bridge support deformation disease detection system |
| CN105091770B (en) * | 2015-05-22 | 2017-11-24 | 北京路桥瑞通科技发展有限公司 | Bridge pad deforms Defect inspection system |
| WO2018014398A1 (en) * | 2016-07-17 | 2018-01-25 | 杨越 | Operation method for lifting and lowering device of underwater pressure tapping system used by unmanned vessel |
| CN109465803A (en) * | 2018-06-25 | 2019-03-15 | 中国人民解放军第二军医大学 | Tow-armed robot system of subject |
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