CN206194076U - Substation equipment detecting system - Google Patents
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- CN206194076U CN206194076U CN201621083656.5U CN201621083656U CN206194076U CN 206194076 U CN206194076 U CN 206194076U CN 201621083656 U CN201621083656 U CN 201621083656U CN 206194076 U CN206194076 U CN 206194076U
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Abstract
The utility model provides a substation equipment detecting system, the walking robot can be checked the equipment of transformer substation in walking location back, the image of the equipment of shooing through the cloud platform, give the initiative end through a communication device with image transmission, master terminal's treater carries out image recognition to field device's image to be handled, can obtain corresponding device identification according to the image, obtain the equipment standard picture that this device identification corresponds in can addressable memory slave unit standard graphics library according to device identification, the image that the field device that walking robot transmission came will be followed to the treater matches with the equipment standard picture that corresponds, if match unsuccessfully, then represent certain position of equipment isabnormal condition that has appeared becoming flexible, has drop, the treater gets nowhere in time according to matcing that control and alarm devices reports to the police to can in time notify the control personnel with abnormal conditions at the automatic in -process of patrolling and examining, so that the further abnormal treatment circumstances.
Description
Technical field
The utility model is related to transformer station's detection technique field, more particularly to a kind of substation equipment detecting system.
Background technology
With the development of national grid " intelligent grid ", the unattended popularization of power transmission and transforming equipment is traditional manually patrolling
Mode depending on ensureing place and equipment safety can not meet the requirement of the big collection control development of power transmission and transforming equipment.With national grid
As a example by transformer station, even if many transformer stations realize " five is distant " function of remote measurement, remote signalling, remote control, remote regulating, remote viewing at present, that is, exist
Video camera and all kinds of probes are installed, by the fire prevention of unattended substation, the operation of antitheft and equipment, heating and thing in transformer station
Therefore situation directly perceived and involve scope, scheduling institute is passed to by passages such as station communication system line or optical fiber, so that dispatcher makes just
True decision-making.But this remotely monitor also has what is brought by nobody at the scene monitoring in time, tour to a certain extent
The breakage of the part such as a series of problems, such as apparatus body, water diversion part, operating mechanism, porcelain part, binding post loosens
Will the influence even operation of destruction equipment.Additionally, the device interior thermal defect such as substation transformer, breaker, disconnecting switch,
Cannot in time detect for a long time, cause many power failures and potential safety hazard, once outburst consequence is hardly imaginable.Therefore, only
By means in the prior art of dispatching automation, realize the unattended of transformer station or " unattended " be it is incomplete, it is existing
Routine inspection mode and technology there is suitable distance compared with the security requirement of power generation.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of substation equipment detecting system, to environment and room
Inside and outside high-tension apparatus is detected that the outside mechanical problem of discovery power equipment, completes the Daily Round Check of automation in time.
Additionally, can also in time find the inside thermal defect or electrical problems of power equipment, for operations staff, to provide accident hidden
Suffer from and failure tendency data.
To solve the above problems, the utility model proposes a kind of substation equipment detecting system, including walking robot and
Main control end；
Be provided with the walking robot head that is used to that IMAQ is carried out to the equipment of transformer station and to and it is main
The first communication device of control end communication, the walking robot sends the figure that the head is gathered by the first communication device
As data；
The main control end include to and the walking robot communication secondary communication device, memory, processor and
Warning device；The main control end receives described image data by the secondary communication device；The memory at least includes the
One memory cell, first memory cell is used to storage device standard gallery；The processor, connects the memory, uses
Device identification is obtained to carry out image recognition to described image data, is read from first memory cell according to device identification
Taking equipment standard gallery and obtain relevant device standard drawing, view data and equipment standard figure are carried out into images match, matching
Alarm signal is generated when unsuccessful；The warning device, connects the processor, is alarmed in response to the alarm signal.
According to one embodiment of the present utility model, the memory also includes the second memory cell, second storage
Unit is used to storage device liquid level normal range (NR) storehouse；The processor is also used to described image data are carried out image recognition and obtained
Device identification and equipment level value are obtained, equipment liquid level normal range (NR) storehouse is read from second memory cell according to device identification
And relevant device liquid level normal range (NR) is obtained, the equipment level value and the equipment liquid level normal range (NR) are compared,
The alarm signal of the control warning device alarm is generated during beyond normal range (NR).
According to one embodiment of the present utility model, SF6 air leakage detectors are additionally provided with the walking robot, are used to examine
Measurement equipment SF6 gases simultaneously generate leakage signal when detecting；The walking robot is also sent out by the first communication device
Send the leakage signal；The main control end receives the leakage signal by the secondary communication device；The processor according to
The leakage signal and generate the alarm signal of control warning device alarm.
According to one embodiment of the present utility model, voice collection device is additionally provided with the walking robot, it is right to be used to
The noise of transformer is acquired and carries out audio analysis, and transformer normal work voice data is exceeded in the voice data of noise
Fault-signal is generated during scope；The walking robot also sends the fault-signal by the first communication device；It is described
Main control end receives the fault-signal by the secondary communication device；The processor generates control according to the fault-signal
Make the alarm signal of the warning device alarm.
According to one embodiment of the present utility model, thermal infrared imager is additionally provided with the walking robot, it is relatively described
Head is fixed, and being used to the water diversion part to equipment, lead, joint, and/or tie point carries out infrared data's acquisition；The walking
Robot also sends the infrared data of the thermal infrared imager by the first communication device；The main control end is by described the
Two communicators receive the infrared data；The processor compares whether infrared data overheats, and the generation control in overheat
The alarm signal of the warning device alarm.
According to one embodiment of the present utility model, the head is connected to the vehicle with walking machine by 360 degree of whirligigs
On device people such that it is able to 360 degree of rotations are carried out on the walking robot.
According to one embodiment of the present utility model, positioning navigation device is additionally provided with the walking robot, is used to control
The walking positioning of the walking robot is made, is detected with being directed at relevant device.
According to one embodiment of the present utility model, buffer storage is additionally provided with the walking robot, be used to institute
The view data for stating head collection is cached.
According to one embodiment of the present utility model, the processor is realized using dsp chip.
After adopting the above technical scheme, the utility model has the advantages that compared to existing technology：Walking robot
Equipment that can be to transformer station after positioning of walking is checked, by the image of head capture apparatus, filled by the first communication
Put image transmitting to drive end, the processor of main control end carries out image recognition processing to the image of field apparatus, can basis
Image obtains corresponding device identification, and the device identification is obtained in can addressing memory slave unit standard gallery according to device identification
Corresponding equipment standard figure, the image and corresponding equipment standard of the field apparatus that processor will be transmitted from walking robot
Figure is matched, if matching is unsuccessful, is represented certain position of equipment and the abnormal conditions, processor such as is occurred in that loosening, comes off
According to match it is unsuccessful can in time control warning device to be alarmed, such that it is able in time will be different during being patrolled and examined in automation
Reason condition notifies monitoring personnel, further to process abnormal conditions.
Brief description of the drawings
Fig. 1 is the structured flowchart of the substation equipment detecting system of the embodiment of the utility model one；
Fig. 2 is the structured flowchart of the substation equipment detecting system of another embodiment of the utility model.
Specific embodiment
To enable above-mentioned purpose of the present utility model, feature and advantage more obvious understandable, below in conjunction with the accompanying drawings to this
The specific embodiment of utility model is described in detail.
Elaborate many details in order to fully understand the utility model in the following description.But this practicality is new
Type can be implemented with being much different from other manner described here, and those skilled in the art can be new without prejudice to this practicality
Similar popularization is done in the case of type intension, therefore the utility model is not limited by following public specific implementation.
Referring to Fig. 1, the substation equipment detecting system of the present embodiment, including walking robot 1 and main control end 2.Vehicle with walking machine
Device people 1 is provided with head 11 and first communication device 12.Main control end 2 is provided with secondary communication device 21, memory 23, processor 22
With warning device 24.Walking robot 1 can also set the controller for scheduling controlling as needed.First communication device 12
For example can be to be connected into the device of WLAN with secondary communication device 21 or be by having Internet access by dialing into line number
According to the device of transmission, it is not limited specifically.
Referring to Fig. 2, positioning navigation device 16 is also provided with walking robot 1.Positioning navigation device 16 can be controlled
The walking positioning of walking robot 1, is detected with being directed at relevant device.
Walking robot 1 can be using various alignment sensor fusions such as laser navigation, gyroscope, odometer, the GPS that checks the mark
Complex environment location and navigation technology, can be according to difference (indoor and outdoor, complicated, regular, dynamic, static state etc. of running environment
Change), led with reaching positioning under circumstances with Environments technology automatic switchover station-keeping mode according to Data fusion technique
The seamless link of boat, makes up the existing position error under environmental change of each single alignment sensor, positioning precision is more defined
Really.
The step of walking robot trackless navigates is specifically divided into two steps (1) and (2)：
(1) when walking robot is first entered into and patrols and examines environment, surrounding enviroment will be scanned by laser radar, will be used
Map from constructing technology prestore environment in coordinate value of all road signs under global coordinate system, by synchronous map structuring with
Positioning (SLAM) algorithm build environment map.
Walking robot can build a map for tunneling environment equal proportion using laser acquisition method, i.e., by hard
The laser detector and the map structuring function of software that are configured on part complete the equal proportion mapping for strange working environment
Task, the structure map denotation frame that can pass through in Console program control panel can show real-time two-dimensional map in building process
Formation information.
Specific construction method：On the premise of laser scanning function is opened, the remote control by the way of remote-controlled walking robot
Walking robot row in actually environment is maked an inspection tour takes a round.Meanwhile, the information special trip original image of laser collection can be in computer
Presented in control software map structuring display box, be easy to operating personnel to be remotely controlled structure map, it is ensured that walking robot is expert at
Laser scanning is to the every nook and cranny of actual working environment during entering.The circle of walking robot traveling one in running environment to scanning
After the completion of the original map that can be completed, the original image is derived, carry out later stage treatment with special map software, take
Go out i.e. reducible actual working environment after image noise, preserving can form the map that software can be called.
Equal proportion map structuring technology realizes speed quickly completely without surrounding enviroment are carried out with any change.When
Robot is in another indoor foreign environment, and robot can pass through laser acquisition method structure in (24 hours) in the short period of time
Build a map for working environment.
(2) in follow-up operation, the road sign that laser radar will be detected carries out Auto-matching with the road sign of storage, is computed
The current accurate coordinates of robot are obtained, so as to realize controlled map navigation feature.
For the path planning of walking robot, original random walk algorithm can be extended using quadtree approach
(PRM).Step is produced relative to original random walk, map is cut using quaternary tree, and with a kind of recurrence side of rule
Formula generates path profile.Path profile produced by quaternary tree is very sparse in open region, and very intensive around object.Root
According to the performance of practical application, the method is highly effective, and has robustness very high.
First, the running route of walking robot can be set on the map having been built up：Point takes the starting point of operation
And terminating point, the automatic generation one on map of software program meeting in control main frame bypasses various barriers can be applied to
The route that walking robot is advanced.After software startup optimization, walking robot is to be travelled by the design route, if in vehicle with walking machine
Device people encounters barrier during advancing, and walking robot can again plan course in time, by real time laser information
The mode cut-through thing of matching.After walking robot cut-through thing, path planning can be matched by laser intelligence, again
Return to planned orbit.
The location navigation of walking robot 1 is also not restricted to aforementioned manner, can be that other can realize guiding vehicle with walking machine
The mode of device people 1, or walking robot 1 can also realize the positioning of equipment by the way of rail navigation.
In the process of walking or after equipment positioning, head 11 carries out figure to walking robot 1 to the equipment of transformer station
As collection, head 11 are preferably high-definition tripod, captured image can carry out image preprocessing, to obtain more high-definition image.
The positioning of walking robot 1, is preferably such that, the angle of the capture apparatus of head 11 is preferably and shooting forms the angle of equipment standard picture library
Degree is identical.
Walking robot 1 sends the view data that head 11 is gathered by first communication device 12, and main control end passes through second
Communicator 21 receives the view data that walking robot 1 sends.First communication device 12 may be also connected to other communications and set
It is standby, realize data transfer, the communication dress of first communication device 12 and second by other communication equipments and secondary communication device 21
The communication data put between 21 is not limited to view data, can also transmit other data, and both can also carry out two-way communication.
Optionally, referring to Fig. 2, buffer storage 17 is also provided with walking robot 1.Buffer storage 17 is used for cloud
The view data of the collection of platform 11 is cached, and the view data of caching is transmitted by first communication device 12, can be passed through
Be transported to the view data that head 11 is gathered in buffer storage 17 by controller, then the data in buffer storage 17 are passed through into first
Communicator 12 is transmitted.
Memory 23 at least includes the first memory cell, and the first memory cell is used to storage device standard gallery, processor
22 connection memories, it is possible to access the data that memory 23 reads storage, equipment standard picture library at least includes each equipment just
Acquired image data in the case of often.Processor 22 connects secondary communication device 21, receives the output of secondary communication device 21
View data, carries out image recognition and obtains device identification to view data, and image recognition can recognize skill using conventional images
Art realization, e.g. rim detection etc..After processor 22 recognizes device identification, memory 23 is accessed according to device identification, from
Equipment standard picture library is read in first memory cell and obtain relevant device standard drawing.It is corresponding that processor 22 obtains device identification
After equipment standard figure, view data and equipment standard figure are carried out into images match, alarm signal is generated when matching unsuccessful, schemed
As matching can equally be realized using existing image matching technology.
Preferably, processor 22 can use DSP (digital signal processing, Digital Signal Processing) core
Piece realizes that arithmetic speed is high, and image processing speed is faster.
Warning device 24 connects processor 22, is alarmed under control of processor 22, in the present embodiment, alarm dress
24 are put to be alarmed in response to alarm signal.Warning device 24 can be for example the warning devices such as sound, light, not limit herein.Report
Alarm device 24 can send different alarms or identical alarm when receiving different alarm signals.
Substation equipment detecting system can be to the mechanical feelings of main transformer, disconnecting switch, breaker, buckling, rheology etc.
Condition detected, can for example check whether the mark of equipment label intact, whether dust stratification, whether porcelain part damaged, have and split
Line, have serious dirty, whether screw loosens, comes off, and whether whether terminal plate has crackle, deforms, drainage thread whether have loose stock and
The phenomenon such as stranded, is detected to environment and indoor and outdoor high-tension apparatus, and the outside mechanical problem of power equipment is found in time, complete
Into the Daily Round Check of automation.
Transformer oil level is possible to be higher by the oil level instruction limit because temperature rises, when the pasta of oil level indicator is raised extremely or is exhaled
Desorption system has exception, when through finding out be not caused by false oil level, then should drain the oil, and oil level is down to the height corresponding with oil temperature at that time
Degree, in order to avoid oil spilling.
In one embodiment, memory 23 can also include the second memory cell.Second memory cell storage device liquid
Position normal range (NR) storehouse, liquid level normal range (NR) storehouse includes the normal higher limit of liquid level and lower limit of equipment, can be with more than one liquid
Position equipment, equipment for example can be the oil level indicator of transformer.After processor 22 receives view data, figure is carried out to view data
As identification, device identification is obtained, while identify equipment level value therein, memory 23 is accessed according to device identification, from the
Equipment liquid level normal range (NR) storehouse is read in two memory cell, and obtains relevant device liquid level normal range (NR), processor 22 is by equipment
Level value and equipment liquid level normal range (NR) are compared, and the alarm of the control alarm of warning device 24 is generated when beyond normal range (NR)
Signal.The exception of monitoring personnel liquid level can be in time pointed out, so as to timely overhaul plan.
When gas sampling is operated and processes general seepage, to be carried out under ventilation condition, cause a large amount of when GIS breaks down
When SF6 gases are escaped, scene should be immediately withdrawn, and open indoor ventilation equipment.Optionally, referring to Fig. 2, on walking robot 1
SF6 air leakage detectors 13 are also provided with, leakage signal, vehicle with walking machine are generated to testing equipment SF6 gases and when detecting
Device people 1 also sends leakage signal by first communication device 12.Main control end 2 receives walking robot by secondary communication device 21
1 leakage signal for sending, processor 22 generates the alarm signal of the control alarm of warning device 24 according to leakage signal.Vehicle with walking machine
SF6 leak detectors 13 entrained by device people 1 have up to 0.025 DEG C of heat sensitivity, can read the temperature value of detected equipment, find
The small temperature difference of tested measurement equipment, can effectively and accurately detect the leakage point of SF6 gases at a distance.
At present, also need to carry out the abnormality detection of main transformer audio frequency for main transformer body, mainly by aural method and some
The detection of instrument instrument is mingled with noise when equipment breaks down, but this method is dangerous high, there is potential safety hazard, and inspection
Measured frequency is low.
Optionally, voice collection device 14 is also provided with walking robot, is used to adopt the noise of transformer
Collect and carry out audio analysis, the generation failure letter when the voice data of noise exceeds transformer normal work voice data scope
Number, walking robot 1 also sends fault-signal by first communication device 12.Main control end receives row by secondary communication device 21
The fault-signal that robot walking 1 sends, processor 22 generates the alarm signal of the control alarm of warning device 24 according to fault-signal
Number.
Sound detection is carried out, it is necessary to be based on Noise Acquisition analytical technology, by institute to main transformer body using walking robot 1
The voice collection device 14 of carrying is completed.By carrying voice collection device 14 on walking robot 1, transformer is made an uproar
Sound is acquired.Sound to gathering carries out fast fourier transform algorithm, with normal sound in two kinds of dimensions of time domain and frequency domain
Frequency carries out data comparison and analysis, judges whether in normal operating conditions.When transformer is in abnormal conditions, warning device
24 send fault alarm, notify that operation maintenance personnel carries out vision or temperature inspection to scene or remote-controlled walking robot to fault zone
Survey, further the abnormal generic of identification.
Optionally, it is also provided with thermal infrared imager 15 on walking robot 1.Thermal infrared imager 15 is consolidated with respect to head 11
It is fixed, can for example be fixed on head 11, follow head 11 to move.Thermal infrared imager 15 to the water diversion part of equipment, lead,
Joint, and/or tie point carry out infrared data's acquisition, and walking robot 1 also sends infrared thermal imagery by first communication device 12
The infrared data of instrument 15.Main control end 2 receives the infrared data that walking robot 1 sends, processor by secondary communication device 21
Whether 22 comparison infrared datas overheat, and the alarm signal that generation control warning device 24 is alarmed in overheat.Walking robot 1
Carrying thermal infrared imager 15 can carry out infrared measurement of temperature, timely discovering device heating defect, diagnosing electric power fortune to device node
Accident potential and failure tendency in row, situations such as to equipment thermal defect can automatic decision and alarm, to take measures in time
Eliminate accident potential.
Preferably, head 11 is connected on walking robot 1 by 360 degree of whirligigs such that it is able in running machine
360 degree of rotations are carried out on people 1.Walking robot 1 can reach any position maked an inspection tour in region, with reference to can 360 degrees omnidirection
The head and thermal infrared imager of shooting, the device temperature in collecting device area, so as to realize all standing of equipment during thermometric.
Main control end 2 can also set display device 25.Display device 25 carries out signal, number under control of processor 22
Shown according to, image, such as display image data, fault-signal, alarm signal etc., it is also possible to show chart.
Although the utility model is disclosed as above with preferred embodiment, it is not for limiting claim, Ren Heben
Art personnel are not being departed from spirit and scope of the present utility model, can make possible variation and modification, therefore
The scope that protection domain of the present utility model should be defined by the utility model claim is defined.
Claims (9)
1. a kind of substation equipment detecting system, it is characterised in that including walking robot and main control end；
Be provided with the walking robot head that is used to that IMAQ is carried out to the equipment of transformer station and to and main control end
The first communication device of communication, the walking robot sends the picture number that the head is gathered by the first communication device
According to；
The main control end is included to the secondary communication device with walking robot communication, memory, processor and alarm
Device；The main control end receives described image data by the secondary communication device；The memory is at least deposited including first
Storage unit, first memory cell is used to storage device standard gallery；The processor, connects the memory, and it is right to be used to
Described image data carry out image recognition and obtain device identification, are read from first memory cell according to device identification and set
Standby standard gallery and obtain relevant device standard drawing, view data and equipment standard figure are carried out into images match, matching not into
Alarm signal is generated during work(；The warning device, connects the processor, is alarmed in response to the alarm signal.
2. substation equipment detecting system as claimed in claim 1, it is characterised in that the memory also includes the second storage
Unit, second memory cell is used to storage device liquid level normal range (NR) storehouse；The processor is also used to described image number
Device identification and equipment level value are obtained according to image recognition is carried out, is read from second memory cell according to device identification
Equipment liquid level normal range (NR) storehouse and obtain relevant device liquid level normal range (NR), by the equipment level value and the equipment liquid level just
Normal scope is compared, and the alarm signal of the control warning device alarm is generated when beyond normal range (NR).
3. substation equipment detecting system as claimed in claim 1, it is characterised in that be additionally provided with the walking robot
SF6 air leakage detectors, leakage signal is generated to testing equipment SF6 gases and when detecting；The walking robot also leads to
Cross the first communication device and send the leakage signal；The main control end receives the leakage by the secondary communication device
Signal；The processor generates the alarm signal of the control warning device alarm according to the leakage signal.
4. substation equipment detecting system as claimed in claim 1, it is characterised in that be additionally provided with sound on the walking robot
Sound harvester, is used to be acquired the noise of transformer and carry out audio analysis, and transformation is exceeded in the voice data of noise
Fault-signal is generated during device normal work voice data scope；The walking robot is also sent by the first communication device
The fault-signal；The main control end receives the fault-signal by the secondary communication device；The processor is according to institute
State fault-signal and generate the alarm signal that the control warning device is alarmed.
5. substation equipment detecting system as claimed in claim 1, it is characterised in that be additionally provided with the walking robot red
Outer thermal imaging system, relatively described head is fixed, be used to the water diversion part to equipment, lead, joint, and/or tie point carry out it is infrared
Data acquisition；The walking robot also sends the infrared data of the thermal infrared imager by the first communication device；Institute
State main control end and the infrared data is received by the secondary communication device；The processor compares whether infrared data overheats,
And the alarm signal that the generation control warning device is alarmed in overheat.
6. the substation equipment detecting system as described in claim 1 or 5, it is characterised in that the head is rotated by 360 degree
Device is connected on the walking robot such that it is able to 360 degree of rotations are carried out on the walking robot.
7. substation equipment detecting system as claimed in claim 1, it is characterised in that it is fixed to be additionally provided with the walking robot
Position guider, is used to control the walking of the walking robot to position, and is detected with being directed at relevant device.
8. substation equipment detecting system as claimed in claim 1, it is characterised in that be additionally provided with the walking robot
Buffer storage, is used to cache the view data of head collection.
9. substation equipment detecting system as claimed in claim 1, it is characterised in that the processor uses dsp chip reality
It is existing.
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| CN201621083656.5U CN206194076U (en) | 2016-09-27 | 2016-09-27 | Substation equipment detecting system |
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| CN201621083656.5U CN206194076U (en) | 2016-09-27 | 2016-09-27 | Substation equipment detecting system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107179772A (en) * | 2017-07-06 | 2017-09-19 | 重庆瑞景信息科技有限公司 | Mainboard control device and its method |
| CN107798812A (en) * | 2017-11-23 | 2018-03-13 | 太原工业学院 | A kind of factory building Omni-mobile fire-fighting monitoring robot system and method |
| CN107907217A (en) * | 2017-11-11 | 2018-04-13 | 成都市龙泉星源机械厂 | A kind of Novel welder transformer On-line Fault monitoring system and monitoring method |
| CN109357772A (en) * | 2018-12-10 | 2019-02-19 | 国网浙江义乌市供电有限公司 | A kind of transformer equipment infrared thermal imaging method of data capture based on SLAM technology |
| CN110470379A (en) * | 2019-08-23 | 2019-11-19 | 武汉理工大学 | A kind of substation's movable-type intelligent noise continuous collecting system |
| CN110514957A (en) * | 2019-08-19 | 2019-11-29 | 深圳供电局有限公司 | Automatic inspection method and platform for transformer substation |
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| CN110514957A (en) * | 2019-08-19 | 2019-11-29 | 深圳供电局有限公司 | Automatic inspection method and platform for transformer substation |
| CN110470379A (en) * | 2019-08-23 | 2019-11-19 | 武汉理工大学 | A kind of substation's movable-type intelligent noise continuous collecting system |
| CN110736816A (en) * | 2019-10-08 | 2020-01-31 | 西安安森智能仪器股份有限公司 | methane leakage detection and positioning method based on intelligent inspection robot |
| CN111672045A (en) * | 2020-05-21 | 2020-09-18 | 国网湖南省电力有限公司 | Fire-fighting robot, fire-fighting system and fire-fighting control method |
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| CN113067905A (en) * | 2021-06-02 | 2021-07-02 | 南方电网数字电网研究院有限公司 | Subsystem special for power chip |
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| CN113593174A (en) * | 2021-07-15 | 2021-11-02 | 国网河北省电力有限公司石家庄市栾城区供电分公司 | Join in marriage and become intelligent theftproof self-diagnosis terminal |
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