CN205646630U - Novel multi -functional robot that patrols and examines of overhead transmission line - Google Patents
Novel multi -functional robot that patrols and examines of overhead transmission line Download PDFInfo
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- CN205646630U CN205646630U CN201620441028.3U CN201620441028U CN205646630U CN 205646630 U CN205646630 U CN 205646630U CN 201620441028 U CN201620441028 U CN 201620441028U CN 205646630 U CN205646630 U CN 205646630U
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Abstract
The utility model discloses a novel multi -functional robot that patrols and examines of overhead transmission line compares with the method device of traditional high tension transmission line routine maintenance, and this novel multi -functional robot that patrols and examines of overhead transmission line can replace the equipment of manpower to carry out transmission line's maintenance, has used advance wireless remote control technique, adopts the modularized design, the clearance sacrifice device module can go on dismantling fast with the installation. This system control device adopts 51 singlechips and arduino singlechip, utilizes NRF2401 and remote control terminal to carry out long -range contact, can realize deicing, dust removal, remove debris, detect multiple functions such as early warning. This system lightly easily carries, and stand -by time is long, and the price / performance ratio is very high, has very strong practical value, can introduce its commercialization to the market, has very wide market prospect.
Description
Technical field
This utility model belongs to high pressure overhead power line maintenance field, particularly relates to a kind of novel overhead transmission line Multifunctional inspecting robot.
Background technology
For guaranteeing the continuous safe power supply of overhead transmission line, it is to avoid accident occurs, and needs circuit operating management department to patrol transmission line of electricity, monitor, keep in repair, understand the situation grasping transmission line of electricity, and the problem repairing transmission line of electricity in time in real time.There is variety of problems in modern electric transmission line of electricity maintenance repair in safeguarding, causes electric wire to be waved including: serious icing, breaks and shaft tower collapses；Plastic bag, kite, the floating thing such as balloon is wrapped on high-voltage line, the problem of harm circuit safety；The liquid substances such as bird dung stick on high-voltage line, the problem causing short circuit；And often we can not find out fault scene rapidly after being short-circuited, thus cause the most serious consequence and the biggest economic loss.
Icing problem for overhead transmission line, China mainly uses exchange ice-melt and artificial mechanical's deicing to 220kV and following circuit at present, but there is some deficiency following: the electric energy required for using exchange ice-melt is huge, practical exchange de-icing technology is only applicable to the electric pressure transmission line of electricity of below 220kV；Lightning conducter and aerial earth wire and insulator cannot be implemented ice-melt by exchange de-icing technology；DC power transmission line cannot be implemented ice-melt by exchange de-icing technology；Exchange ice-melt needs large-area power-cuts；It is artificial that deicing labor intensity is big, efficiency is low, dangerous greatly.For other three classes problems, China's method currently mainly or manual work.
Development due to robotics, research is with a wide range of applications for high voltage overhead line line walking multi-function robot, its object is to provide the operating system of a set of robot automation for patrolling and examining of high pressure overhead power line, use crusing robot, manpower can be saved participate in, it is to avoid the potential safety hazard of maintainer work high above the ground, reduce the input of expense, quality and the management technique level patrolling and examining operation can also be improved, reach to improve line management and maintenance levels.
Therefore, utilizing multi-function robot realize overhead transmission line to patrol and examine maintenance is the development trend of current power transmission circuit clearing ice technology, and it has, and power consumption is little, low cost, efficiency high, personnel are without advantages such as injures and deaths.At present, both at home and abroad power transmission line inspection robot there is is certain research, be mostly only limitted to single function Work robot, such as removing ice of power transmission line robot, overhead transmission line cleaning robot, transmission line of electricity block removing robot etc..But, unifunctional transmission power line robot can not meet overhead transmission line and patrol and examine the needs of maintenance, and China's electrical network improves line voltage grade, the increase of one-level circuit mileage the most in recent years.So, development of new overhead transmission line Multifunctional inspecting robot is of great practical significance and good market prospect.
Utility model content
This utility model is in order to solve the problems referred to above, it is provided that a kind of novel overhead transmission line Multifunctional inspecting robot, adopts the following technical scheme that
A kind of novel overhead transmission line Multifunctional inspecting robot, including robot body's framework, control system, walking gear, barrier clearing device, monitoring device and prior-warning device；Walking gear, barrier clearing device and monitoring device are installed on robot body's framework.
Monitoring device is bi-directionally connected with control system, and the signal monitored is passed to control system by monitoring device, and control system controls the operating of monitoring device；Control system controls walking gear work；Control system is connected with barrier clearing device, and control system controls barrier clearing device work；Control system is connected with prior-warning device, and control system controls prior-warning device work.
Barrier clearing device includes dust arrester, deicer and miscellaneous object-removing equipment, and described dust arrester uses cleaning brush；Described deicer is two saw blades, and two saw blades are symmetrical in power transmission line both sides；Described miscellaneous object-removing equipment includes a three-freedom mechanical arm, installs blade on three-freedom mechanical arm top.Dust arrester, deicer and miscellaneous object-removing equipment are the module of detachable replacement, are provided with barrier clearing device support on robot body's framework, and dust arrester, deicer or miscellaneous object-removing equipment are installed on barrier clearing device support；Described barrier clearing device connected barrier clearing device support consists of the module of removing obstacles that quick release is replaced, robot body's framework is provided with quick stationary fixture, the Fast Installation of module of conveniently removing obstacles and dismounting, barrier clearing device and barrier clearing device support are installed on robot body's framework by quick stationary fixture, control its work by control system；
Control system includes remote control terminal and single-chip microcomputer, and single-chip microcomputer is installed on robot body's lower portion, and single-chip microcomputer is provided with wireless communication module；Control signal both can control the operation of barrier clearing device, walking gear, monitoring device by remote control terminal transmission to single-chip microcomputer, when remote control terminal does not has control signal to send, single-chip microcomputer controls the operation of barrier clearing device, walking gear and monitoring device according to the signal that the control command stored or monitoring device return.
Monitoring device is made up of path monitoring data collection station, and Monitoring Data acquisition terminal includes photographic head and Radio infrared temperature measurement module, and photographic head is installed on the top of robot body's framework, and Radio infrared temperature measurement module is installed on the front portion of robot body's framework.Monitoring Data acquisition terminal by the data signal transmission that collects to single-chip microcomputer, single-chip microcomputer is transmitted to remote control terminal by wireless communication module, data data1 received are compared by remote control terminal with early warning value data0 set in advance, as data1 >=data0, control system sends prior-warning device to early warning signal in time, and prior-warning device sends alarm signal.
In the case of usually without icing, dustless or no-sundries, when data1 is < during data0, prior-warning device is in a dormant state, low-power consumption, when control system judges that monitoring device detects that line parameter circuit value is higher than early warning value, control system will wake up prior-warning device up, and early warning information is passed to prior-warning device carry out sound and light alarm and fault location, provided line information to management personnel before deicing, dedusting or impurity removing.
Walking gear includes front walking gear and rear walking gear, front walking gear is connected with the front walking gear stand being installed on robot body's framework first half top, rear walking gear is connected with the rear walking gear support being installed on robot body's framework latter half top, connecting walking gear motor after connecting on front walking gear motor, rear walking gear electric machine support on front walking gear motor support, forward and backward walking gear motor is respectively used to drive forward and backward walking gear to work.
Said two forward and backward walking gear motor is powerful servomotor, provides powerful power for forward and backward walking gear.
Described forward and backward walking gear uses deep trouth rubber wheel, is effectively increased the frictional force of forward and backward walking gear and overhead transmission line, when overhead transmission line has certain angle with horizontal line, it is simple to climbing.
Robot body's framework is made up of aluminium alloy, effectively alleviates robot overall weight.
The beneficial effects of the utility model are:
A kind of novel overhead transmission line Multifunctional inspecting robot is made up of with prior-warning device six part robot body's framework, control system, walking gear, barrier clearing device, monitoring device, use closed loop control, can accomplish that monitoring, early warning, deicing, dedusting, scrubbing thing several functions are carried out simultaneously, moment monitoring line condition, takes avoidance measure in time.The control mode remotely controlled, solution of emergent event at any time can be taked again simultaneously.Having extreme high reliability, stand-by time length allows it have the time to complete major part task；In a dormant state, low-power consumption, when only occurring icing or foreign material, prior-warning device just can start this system, and carries out sound and light alarm and fault location.
1. low cost: this product by simple combination die blocking structure and dexterously intention greatly reduce material consumption, and simply structures shape it can save in actual production substantial amounts of manually.Adding it can be with large-scale production, and after product formation certain scale, cost can also drop again.The cheapest cost can be that the market competition of this product provides extremely strong competitiveness.
2. market is wide: along with China's rapid development of economy, increasing to the demand of supertension large capacity transmission circuit.In recent years, the accident such as transmission line of electricity ice damage occurs thousands of times in China, seriously jeopardizes power grid security reliability service.Therefore, utilize robot to carry out the power-on servings such as overhead transmission line deicing, dedusting, impurity removing and detection, there is the biggest popularizing application prospect.
3. function is strong: these works are applicable to maintenance and the monitoring of high-tension line network, not only can improve work efficiency and quality, reduce the loss that brings because of icing, foreign material or fault of circuit, and to promote intelligent grid construction, improve grid automation level of operation, ensure power network safety operation, promoting economic development is respectively provided with important strategic importance.Comparing with other products, this system uses modularized design, gathers multi-function in integral whole, it is simple to carry, dismantle and keep in repair, has great economic benefit and wide marketing prospect.
Accompanying drawing explanation
Fig. 1 is novel overhead transmission line Multifunctional inspecting robot system architecture figure；
Fig. 2 is the mechanical assembly drawing of novel overhead transmission line Multifunctional inspecting robot；
Wherein, 1. power transmission line, 2. robot body's framework, 3. after walking gear motor, 4. camera bracket, 5. photographic head, 6. barrier clearing device, 7. before walk gear motor, 8. before walk gear motor support, 9. after walking gear, 10. barrier clearing device support, walking gear before 11., walking gear electric machine support, 13. Radio infrared temperature measurement modules, 14. quick stationary fixtures, 15. barrier clearing devices driving motors after 12..
Detailed description of the invention:
The utility model is described in further detail with embodiment below in conjunction with the accompanying drawings.
A kind of novel overhead transmission line Multifunctional inspecting robot, its system construction drawing is as it is shown in figure 1, include control system, walking gear, barrier clearing device, monitoring device and prior-warning device；Monitoring device is bi-directionally connected with control system, and the signal monitored is passed to control system by monitoring device, and control system controls the operating of monitoring device；The outfan of control system is unidirectional with the input of walking gear to be connected, and control system controls walking gear work；Control system is unidirectional with barrier clearing device to be connected, and the outfan of control system is connected with the input of barrier clearing device, and control system controls barrier clearing device work；The outfan of control system is unidirectional with the input of prior-warning device to be connected, and control system controls prior-warning device work.
Control system includes remote control terminal and single-chip microcomputer, remote control terminal can be computer, mobile phone, panel computer, described single-chip microcomputer is 51 single-chip microcomputers and arduino single-chip microcomputer, and single-chip microcomputer is installed on robot body's lower portion, and single-chip microcomputer connects contact switch；Control signal both can control the operation of barrier clearing device, walking gear, monitoring device by remote control terminal transmission to single-chip microcomputer, when remote control terminal does not has control signal to send, single-chip microcomputer controls the operation of barrier clearing device, walking gear and monitoring device according to the signal that the control command stored or monitoring device return.
Barrier clearing device, monitoring device and walking gear are installed on robot body's framework 2, shown in the mechanical assembly drawing of as novel in Fig. 2 overhead transmission line Multifunctional inspecting robot, this product is overall in rectangular-shaped, total length: 603mm, overall width: 166mm, total height: 168mm, gross weight: 2.7kg.Walking gear includes front walking gear 11 and rear walking gear 9, front walking gear 11 is connected with the front walking gear stand 8 being installed on robot body's framework 2 first half top, rear walking gear 9 is connected with the rear walking gear support 12 being installed on robot body's framework 2 latter half top, connecting walking gear motor 3 after connecting on front walking gear motor 7, rear walking gear electric machine support 12 on front walking gear motor support 8, forward and backward walking gear motor 7/3 is respectively used to drive forward and backward walking gear work 11/9.Forward and backward walking gear 11/9 uses deep trouth rubber wheel, and radius is 20mm, and thickness is 18mm, and frictional force is easy to greatly climbing.Camera bracket 4 is arranged on the top of robot body's framework 2, and photographic head 5 is installed on camera bracket 4, it is possible to observation accurately observes the situation on high voltage overhead line 1.The Monitoring Data acquisition terminal of monitoring device not only includes that photographic head 5 also includes being arranged at the infrared measurement of temperature module 13 of on robot body's framework 2.Walking gear is mainly responsible for product walking on high voltage transmission line and activity, function is realized by two special forward and backward walking gears, forward and backward walking gear 11/9 is while being securely seated between product on power transmission line, freely advancing of product can be realized, and forward and backward walking gear is all by high-power driven by servomotor, using the teaching of the invention it is possible to provide powerful power.
Monitoring device is made up of path monitoring data collection station.Monitoring Data acquisition terminal includes photographic head 5 and Radio infrared temperature measurement module 13, and photographic head 5 is installed on the top of robot body's framework, and Radio infrared temperature measurement module is installed on the front portion of robot body's framework.Monitoring Data acquisition terminal by the data signal transmission that collects to single-chip microcomputer, single-chip microcomputer is transmitted to remote control terminal by wireless communication module, the data received are calculated data1 by model and compare with early warning value data0 set in advance by remote control terminal, as data1, < during data0, prior-warning device is in a dormant state；As data1 >=data0, control system wakes up prior-warning device up, in time early warning signal is sent to prior-warning device, and prior-warning device sends alarm signal.
In the case of usually without icing, dustless or no-sundries, prior-warning device is in a dormant state, low-power consumption, when control system judges that monitoring device detects that line parameter circuit value is higher than early warning value, control system will wake up prior-warning device up, and early warning information is passed to prior-warning device report to the police, and provided line information by monitoring device to management personnel before deicing, dedusting or impurity removing.
Wireless communication module utilizes NRF2401 and Wi-Fi and remote control terminal to carry out remote contact, remote control terminal can move by remote control robot on aerial high-voltage power transmission line, controller can stay in indoor or control the motion of robot below circuit, the image collected according to photographic head 5 and Radio infrared temperature measurement module 13 or signal, it is analyzed with or without alarm signal in conjunction with prior-warning device and judges, and then assigning operational order.
The principle of Radio infrared temperature measurement module is: can quickly raise this principle according to the position being short-circuited temperature at short notice, by having installed Radio infrared temperature measurement module in robot additional, it is achieved thereby that the function of detection off position.
Evening or the most serious weather of haze, the visibility in air is the lowest, adds high aerial complex environment, and the ability to work to robot is a great test.In order to be effectively improved the ability that robot works under the mal-condition at similar night, robot body's framework has installed additional a night lamp, it is fully able to the brightness of night lamp meet the ability that robot worked under night or serious haze weather, thus is effectively improved all weather operations ability of robot.
Barrier clearing device 6 includes dust arrester, deicer and miscellaneous object-removing equipment, dust arrester, deicer and miscellaneous object-removing equipment are the modularized design of detachable replacement, as shown in Figure 2, robot body's framework 2 is provided with quick stationary fixture 14, dust arrester, deicer or miscellaneous object-removing equipment form barrier clearing device module after being installed on barrier clearing device support 10, by quick stationary fixture 14, barrier clearing device module is quickly fixed on robot body's framework 2, during work, barrier clearing device drives motor 15 to drive barrier clearing device to be operated.Barrier clearing device 6 is exactly for adapting to different task, installing the part of disparate modules additional.This barrier clearing device system uses modularized design, gathers multi-function in integral whole, and can realize different functions by assembling different modules, it is possible to achieve general monitoring and the maintaining to transmission line of electricity.By using easy quick stationary fixture 14, can be flexible different modules is dismantled and is installed.The factor causing transmission line fault also has a lot in addition to freezing, and such as falls the bird dung on circuit, plastic bag etc. and is likely to cause power transmission line short circuit, initiating failure.In order to make the functional diversities of this robot, the most only sticking to this kind of function of deicing, we have carried out replaceable modulesization design to it.Concrete see following example:
Embodiment 1:
The barrier clearing device of the deicing module of a kind of novel overhead transmission line Multifunctional inspecting robot is two radius 30mm, the saw blade of thickness 1mm, two saw blades are symmetrically placed in power transmission line both sides, angled with circuit, saw blade and two direct current generators are connected, by two driven by motor woodworking saw blades and the most angled cut deicing, all there is in view of high-voltage line iron sheet to wrap up, even if controlling bad angle, also completely dispensing with the problem that worry can hurt electric wire.When ice detachment is desired, controlling motor and move, saw blade just high speed rotating gets up, it is possible to carry out the ice on circuit excising, destroying.After saw blade rotates, linear velocity is very big, and kinetic energy is the biggest, it is possible to cut away by hard ice cube, overcomes beating type deicing energy not enough, it is impossible to the problem removing hard ice cube.
Embodiment 2:
The barrier clearing device of the dedusting module of a kind of novel overhead transmission line Multifunctional inspecting robot is diameter 42mm, the cleaning brush of thickness 54mm, dedusting, except bird dung part is as the standing part of deicing part, uses two motors to connect brush unit, the cleaning dedusting to circuit can be realized.Change saw blade into hairbrush, the position of two motors has been changed, become upper and lower pattern, can preferably complete task.
Embodiment 3:
The barrier clearing device of the remove impurity module of a kind of novel overhead transmission line Multifunctional inspecting robot is a three-freedom mechanical arm, except the parts such as plastic bag, kite, balloon are completed by its three-freedom mechanical arm, the sharp blade controlling three-freedom mechanical arm top by three-freedom mechanical arm can remove the rubbish on transmission line of electricity, prevents the generation of the faults such as short circuit.
Through test and Theoretical Calculation, this robot ambulation is reliable and stable, and its speed of travel is between 0.1m/s to 0.15m/s, and the angle more than 15 degree of can creeping.Battery capacity S=10000mah, device maximum operating currenbt i=2A, average operating current I=1.2A, therefore the working time be T=S/I=8h.Owing to this device center of gravity is the lowest, it is positioned at below circuit about 5cm, it is possible to resist bigger rocking, more than 8 grades strong wind can be resisted.
Altitude hot-line operation is the work of a benign, and in order to reduce the injures and deaths caused because of this work, we can replace people to complete work with Selection utilization robot completely.This robot that we make, first it has very many functions, and the function that different modules is different can meet quite a few on-line operation needs completely；Secondly its cost is low, cheap cost determination it there is the highest universal value, this let us completely can in network-wide basis large-scale promotion；It has extreme high reliability in addition, and overlength standby allows it have the time to complete major part task, and remote control system is other one heavily to ensure, can handle by staff when robot oneself can not solve problem.
Although detailed description of the invention of the present utility model is described by the above-mentioned accompanying drawing that combines; but the not restriction to this utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art need not to pay various amendments or deformation that creative work can make still at protection domain of the present utility model.
Claims (10)
1. a novel overhead transmission line Multifunctional inspecting robot, is characterized in that: include robot body's framework, walking gear, control system, barrier clearing device, monitoring device and prior-warning device；Described walking gear is installed on robot body's framework by walking gear support, and control system controls walking gear and works on overhead transmission line；Described barrier clearing device is connected with barrier clearing device support, is provided with quick stationary fixture on robot body's framework, and barrier clearing device and barrier clearing device support are installed on robot body's framework by quick stationary fixture, control its work by control system；Described monitoring device is installed on robot body's framework, and the signal monitored is passed to control system by monitoring device, and control system controls the operating of monitoring device；Described prior-warning device is connected with control system, and control system controls prior-warning device work.
A kind of novel overhead transmission line the most as claimed in claim 1 Multifunctional inspecting robot, is characterized in that: described barrier clearing device includes dust arrester, deicer or miscellaneous object-removing equipment, drives motor to drive barrier clearing device to work by barrier clearing device.
A kind of novel overhead transmission line the most as claimed in claim 2 Multifunctional inspecting robot, is characterized in that: described dust arrester uses cleaning brush.
A kind of novel overhead transmission line the most as claimed in claim 2 Multifunctional inspecting robot, is characterized in that: described deicer is two saw blades, two saw blades are symmetrical in power transmission line both sides.
A kind of novel overhead transmission line the most as claimed in claim 2 Multifunctional inspecting robot, is characterized in that: described miscellaneous object-removing equipment includes a three-freedom mechanical arm, installs blade on three-freedom mechanical arm top.
A kind of novel overhead transmission line the most as claimed in claim 1 Multifunctional inspecting robot, is characterized in that: described control system includes remote control terminal and single-chip microcomputer；Described single-chip microcomputer is installed on robot body's lower portion, and single-chip microcomputer is provided with wireless communication module, and single-chip microcomputer is communicated by wireless communication module with remote control terminal.
A kind of novel overhead transmission line the most as claimed in claim 1 Multifunctional inspecting robot, is characterized in that: described monitoring device, including photographic head and Radio infrared temperature measurement module；Photographic head is installed on the top of robot body's framework, and Radio infrared temperature measurement module is installed on the front portion of robot body's framework.
A kind of novel overhead transmission line the most as claimed in claim 1 Multifunctional inspecting robot, it is characterized in that: described walking gear includes being installed on the front walking gear motor support on robot body's framework first half top, is installed on the rear walking gear electric machine support on robot body's framework latter half top, connecting walking gear motor after connecting on front walking gear motor, rear walking gear electric machine support on front walking gear motor support, front walking gear motor connects walking gear after front walking gear, the connection of rear walking gear motor；Forward and backward walking gear motor is respectively used to drive forward and backward walking gear to work.
A kind of novel overhead transmission line the most as claimed in claim 8 Multifunctional inspecting robot, is characterized in that: described forward and backward walking gear motor is servomotor.
A kind of novel overhead transmission line the most as claimed in claim 8 Multifunctional inspecting robot, is characterized in that: described forward and backward walking gear uses deep trouth rubber wheel；Described robot body is made up of aluminium alloy.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620441028.3U CN205646630U (en) | 2016-05-13 | 2016-05-13 | Novel multi -functional robot that patrols and examines of overhead transmission line |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620441028.3U CN205646630U (en) | 2016-05-13 | 2016-05-13 | Novel multi -functional robot that patrols and examines of overhead transmission line |
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| CN205646630U true CN205646630U (en) | 2016-10-12 |
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| CN201620441028.3U Expired - Fee Related CN205646630U (en) | 2016-05-13 | 2016-05-13 | Novel multi -functional robot that patrols and examines of overhead transmission line |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106569308A (en) * | 2016-11-16 | 2017-04-19 | 国家电网公司 | Power cable line obstacle removing device |
| CN108011321A (en) * | 2017-12-25 | 2018-05-08 | 周治安 | A kind of convenient high-voltage line Electric Power Patrol robot |
| CN108110677A (en) * | 2018-02-05 | 2018-06-01 | 刘春梅 | A kind of intelligent inspection system for high voltage cable |
| CN110086114A (en) * | 2019-02-23 | 2019-08-02 | 曲阜师范大学 | A kind of Intelligent patrol robot control system and method based on ultra-high-tension power transmission line |
| CN112003185A (en) * | 2020-08-21 | 2020-11-27 | 南京智能仿真技术研究院有限公司 | Inspection robot for overhead transmission line |
| CN113848412A (en) * | 2021-10-19 | 2021-12-28 | 中国三峡建工(集团)有限公司 | Intelligent dry-type air-core reactor running state on-line monitoring auxiliary system |
| CN114400572A (en) * | 2022-01-10 | 2022-04-26 | 綦晓华 | High-voltage cable inspection and repair robot |
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2016
- 2016-05-13 CN CN201620441028.3U patent/CN205646630U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106569308A (en) * | 2016-11-16 | 2017-04-19 | 国家电网公司 | Power cable line obstacle removing device |
| CN108011321A (en) * | 2017-12-25 | 2018-05-08 | 周治安 | A kind of convenient high-voltage line Electric Power Patrol robot |
| CN108011321B (en) * | 2017-12-25 | 2020-10-30 | 嘉兴麦瑞网络科技有限公司 | Convenient high-voltage line electric power inspection robot |
| CN108110677A (en) * | 2018-02-05 | 2018-06-01 | 刘春梅 | A kind of intelligent inspection system for high voltage cable |
| CN108110677B (en) * | 2018-02-05 | 2024-02-27 | 西藏谦诚信息科技有限公司 | Intelligent inspection system for high-voltage cable |
| CN110086114A (en) * | 2019-02-23 | 2019-08-02 | 曲阜师范大学 | A kind of Intelligent patrol robot control system and method based on ultra-high-tension power transmission line |
| CN112003185A (en) * | 2020-08-21 | 2020-11-27 | 南京智能仿真技术研究院有限公司 | Inspection robot for overhead transmission line |
| CN112003185B (en) * | 2020-08-21 | 2021-06-18 | 南京智能仿真技术研究院有限公司 | Inspection robot for overhead transmission line |
| CN113848412A (en) * | 2021-10-19 | 2021-12-28 | 中国三峡建工(集团)有限公司 | Intelligent dry-type air-core reactor running state on-line monitoring auxiliary system |
| CN114400572A (en) * | 2022-01-10 | 2022-04-26 | 綦晓华 | High-voltage cable inspection and repair robot |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161012 Termination date: 20170513 |