CN209860670U - Monitoring system for working state of isolating switch - Google Patents
Monitoring system for working state of isolating switch Download PDFInfo
- Publication number
- CN209860670U CN209860670U CN201920932507.9U CN201920932507U CN209860670U CN 209860670 U CN209860670 U CN 209860670U CN 201920932507 U CN201920932507 U CN 201920932507U CN 209860670 U CN209860670 U CN 209860670U
- Authority
- CN
- China
- Prior art keywords
- monitoring
- image acquisition
- controller
- isolating switch
- acquisition equipment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Studio Devices (AREA)
Abstract
The utility model discloses a monitoring system for the working state of an isolating switch, which comprises a controller and a state monitoring device; the state monitoring equipment comprises image acquisition equipment, an electric pan-tilt and a motorized zoom lens, wherein the image acquisition equipment is arranged on the electric pan-tilt; the electric cradle head rotates under the control of the controller, and the image acquisition equipment on the electric cradle head acquires images of the isolating switches with the mark points along with the rotation of the electric cradle head; the motorized zoom lens is mounted on the image acquisition device: the focus length used for adjusting the shooting of the image acquisition equipment; the controller controls the electric platform to work, the electric zoom lens to zoom and the image acquisition equipment to perform acquisition work, and judges the opening and closing state of the isolating switch according to the position of a mark point in the currently acquired isolating switch image; the utility model discloses can realize a plurality of isolator's in on a large scale monitoring, have with low costs, simple to operate, image acquisition equipment control simple and isolator operating condition monitoring accuracy height, advantage that degree of automation is high.
Description
Technical Field
The utility model belongs to the technical field of the electric power detects, in particular to isolator operating condition monitoring system.
Background
The isolating switch is core equipment of a transformer substation, and has the functions of ensuring the safety of high-voltage electrical appliances and devices during maintenance work and isolating voltage. In the process of overhauling the transformer substation equipment, the isolating switch needs to be moved to a specified position to realize the opening and closing of the circuit, so whether the isolating switch moves in place or not directly determines whether the circuit can normally run or not. Considering that the line voltage of a transformer substation can reach hundreds of kilovolts, the maximum current can reach dozens of kiloamperes, and the isolation switch does not move in place, so that the equipment can be greatly damaged, great economic loss can be caused, and serious safety production accidents such as personal injury are more likely to occur.
At present, a mode of judging whether the isolating switch moves in place by a motor signal and cooperating with human eye observation is generally adopted for judging whether the isolating switch moves in place by a travel switch rotated by a motor in a mechanical actuating device, and then secondary confirmation is carried out by human eye observation. This method has a big problem in the practical use: firstly, various gaps and abrasion caused by processing, installation and long-term use exist in a mechanical device, and the rotation angle of a motor and the movement angle of an isolating switch cannot be completely synchronous, so that the condition that the motor rotates in place but the isolating switch does not move in place occurs, and the judgment error rate is high; secondly, secondary confirmation is required through human eyes, the experience-dependent method is poor in standard performance and needs to consume a large amount of manpower and time; thirdly, with the continuous progress of the power grid technology in China, the intelligent and automatic power grid control technology based on the idea of 'one-key sequential control' enters a substantial implementation stage, and the requirement cannot be met obviously by a mode of distinguishing through naked eyes.
Considering that the isolating switch is subjected to high current and is not suitable for installing sensor equipment, a non-contact measuring means is an optimal option. The camera shooting measurement method based on high-resolution imaging and digital image analysis is a means most suitable for distinguishing the motion state of the isolating switch by virtue of the advantages of non-contact, high-resolution, large-range and full-field measurement. However, in the process of using the camera measurement to judge the state of the disconnecting switch, the following problems still exist: the digital camera is used as an image acquisition device for the image pickup measurement, and the observation range and the measurement resolution ratio of the digital camera have natural contradiction, namely the measurement precision is low when the observation range is large. The number of isolating switches owned by one substation is few, dozens of isolating switches and hundreds of isolating switches, and the view field of a single camera cannot cover all the isolating switches. An individual image acquisition device must be configured for each isolating switch, and the method has the defects of high cost, complex installation, difficult camera control and the like.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art's shortcoming and not enough, provide a distributing type isolator operating condition monitoring system, this system can realize isolator's monitoring in on a large scale, has with low costs, simple to operate, image acquisition equipment control simply and the high advantage of isolator operating condition monitoring accuracy degree.
The purpose of the utility model is realized through the following technical scheme: a working state monitoring system of an isolating switch comprises a controller and state monitoring equipment connected with the controller; the state monitoring equipment comprises image acquisition equipment for acquiring images of the isolating switch, a motorized zoom lens for adjusting the shooting focal length of the image acquisition equipment and a motorized pan and tilt head:
the image acquisition equipment is arranged on the electric holder and is driven to rotate by the electric holder;
the motorized zoom lens is arranged on the image acquisition equipment;
the image acquisition equipment, the motorized zoom lens and the motorized pan-tilt are respectively connected with the controller.
Preferably, the device further comprises a light source, and the light source is connected with the controller.
Preferably, the image acquisition device is provided with a mark point corresponding to the acquired isolating switch.
Furthermore, a plurality of marking points are respectively arranged on two arms of the isolating switch which move relatively, and the marking points on each arm are sequentially arranged along the length direction of the arm.
Preferably, the number of the state monitoring devices is multiple, and each state monitoring device is respectively arranged at each position of the transformer substation and used for monitoring the disconnecting switch in each area of the transformer substation.
Furthermore, the condition monitoring devices are arranged at positions so that the same isolating switch is subjected to image acquisition by the image acquisition devices of the condition monitoring devices.
Preferably, the system further comprises an upper master control machine, wherein the controller is connected with the upper master control machine and transmits the judged opening and closing states of the isolating switches to the upper master control machine.
Preferably, the number of the controllers is one or more, when the number of the controllers is more than one, each controller is respectively connected with one or more state monitoring devices, and each controller is respectively connected with an upper master control machine.
Preferably, the state monitoring equipment further comprises a control handle connected with the controller or the upper master control machine, and the control handle is provided with an electric pan-tilt rotation control button and a focal length adjusting button.
The utility model discloses for prior art have following advantage and effect:
(1) the utility model discloses a monitoring system for the working state of an isolating switch, which comprises a controller and a state monitoring device connected with the controller; the state monitoring equipment comprises image acquisition equipment, an electric pan-tilt and a motorized zoom lens, wherein the image acquisition equipment is arranged on the electric pan-tilt; the electric cradle head rotates under the control of the controller, and the image acquisition equipment on the electric cradle head acquires images of the isolating switches with the mark points along with the rotation of the electric cradle head and transmits the acquired images of the isolating switches to the controller; the motorized zoom lens is mounted on the image acquisition device: the focus adjusting device is used for adjusting the focus of the image acquisition device when the image acquisition device performs shooting every time; the controller is connected with the electric pan-tilt and the electric zoom lens and used for controlling the electric platform to work, the electric zoom lens to zoom and the image acquisition equipment to acquire, and the controller judges the opening and closing state of the isolating switch according to the isolating switch image acquired by the image acquisition equipment. The utility model discloses in, image acquisition equipment can rotate under the drive of electronic cloud platform, and this rotation can be including electronic cloud platform horizontal plane rotation and rotation from top to bottom to gather the isolator in the outer circumference certain altitude range of electronic cloud platform everywhere, have the monitoring that can realize isolator in the transformer substation very large range, under controller and electronic zoom's cooperation in addition, the utility model discloses image acquisition equipment can carry out focus when shooting at every turn and adjust, gathers clear isolator image, improves the degree of accuracy of isolator operating condition monitoring, has with low costs, simple to operate and image acquisition equipment simple control's advantage.
(2) The utility model discloses among the isolator operating condition monitoring system, still include the light source of being connected with the controller, can pass through the operating condition of controller control light source the utility model discloses in, can provide the illumination for image acquisition equipment through the light source, guarantee that image acquisition equipment gathers clear image.
(3) The utility model discloses among the isolator operating condition monitoring system, the number of state monitoring equipment can be a plurality of, and each state monitoring equipment arranges respectively in each position of transformer substation for the isolator in each region of monitoring transformer substation, thereby realize the monitoring of transformer substation's more in-range isolator. Under the condition, the same isolating switch can acquire images through image acquisition equipment in state monitoring equipment at different positions, namely, the working state of the same isolating switch is monitored from multiple directions through a plurality of image acquisition equipment, and when the working state monitoring is carried out, the same isolating switch can be judged according to the images acquired by the plurality of image acquisition equipment, so that the accuracy of monitoring the working state of the isolating switch is further ensured, and the observation dead angle caused by shielding is avoided.
(4) The utility model discloses among the isolator operating condition monitoring system, still include upper main control computer, the upper main control computer is connected to the controller, transmits the divide-shut brake state of each isolator that will judge to upper main control computer, realizes remote monitoring through upper main control computer; the utility model discloses in, the number of controller can be a plurality of, and one or more state monitoring facilities are connected respectively to every controller, and each controller passes through network connection to master control machine on, and is visible the utility model discloses the system has realized the network deployment of multiple equipment through distributed architecture, observes all isolator of regional coverability transformer substation.
(5) The utility model discloses among the isolator operating condition monitoring system, state monitoring facilities still includes the control handle who is used for the electronic cloud platform of manual control rotatory that is connected with controller or upper master control machine, consequently the utility model discloses the system can be through manual mode for the electronic cloud platform of remote control is rotatory, realizes carrying out special monitoring to certain isolator, has improved the flexibility of system's use.
Drawings
Fig. 1 is the structural block diagram of the working condition monitoring system of the isolating switch of the utility model.
Fig. 2 is the structural schematic diagram of the working condition monitoring system of the isolating switch of the utility model.
Fig. 3 is the utility model discloses among the isolator operating condition monitoring system electronic cloud platform direction of rotation schematic diagram.
Detailed Description
The present invention will be described in further detail with reference to the following examples and drawings, but the present invention is not limited thereto.
Examples
The embodiment discloses a monitoring system for the working state of an isolating switch, which comprises an upper master controller, a controller 5 connected with the upper master controller and state monitoring equipment connected with the controller, as shown in fig. 1 and 2; the state monitoring equipment comprises an image acquisition device 1, an electric holder 2, an electric zoom lens 3, a control handle and a light source 4: image acquisition equipment sets up on electronic cloud platform, and power-driven zoom installs on image acquisition equipment, and control handle connection director or upper master control machine, power-driven cloud platform, image acquisition equipment, light source and power-driven zoom are connection director respectively, wherein:
electric pan-tilt: the image acquisition equipment is driven to rotate; in this embodiment, the electric cradle head may be a multi-degree-of-freedom cradle head, and a motor capable of driving the multi-degree-of-freedom cradle head to rotate is disposed on the electric cradle head, the motor is connected to the controller through a motor driver, and the controller controls a working state of the motor through the motor driver. As shown in fig. 3, the rotation of the motorized pan and tile head includes horizontal rotation and up and down rotation of the motorized pan and tile head, as shown in fig. 3. The horizontal plane of the electric holder rotates to enable the image acquisition equipment to acquire the isolating switches at different positions, the electric holder rotates up and down to change the shooting angle of the lens of the image acquisition equipment, the shooting angle refers to a pitching angle, and the electric holder is suitable for the isolating switches at different positions and different heights.
And the control handle is used for controlling the rotation of the electric holder in a manual mode, wherein an electric holder rotation control button and a focusing button are arranged on the control handle, and the rotation control button comprises a horizontal plane direction rotation control button and an up-down rotation control button.
An image acquisition device: the device is used for acquiring images of the isolating switches 6 along with the rotation of the electric pan-tilt head and transmitting the acquired images of the isolating switches to the controller; wherein, the isolating switch is provided with a mark point; in this embodiment, as shown in fig. 1, a plurality of mark points are respectively disposed on two arms of the disconnecting switch which move relatively, and the mark points on each arm are sequentially disposed along the arm length direction.
In this embodiment, each arm of the isolation switch is provided with 2 mark points, and certainly, more mark points may be provided, where the mark points on the same arm of the isolation switch are arranged along the arm length direction, and the mark points are on the same straight line, and the direction of the straight line is the same as the arm length direction. In this embodiment, the color of the mark point may be red, blue, yellow, or the like with strong contrast with the background, and the shape of the mark point may be set to be circular or in the shape of other gray scale or geometric features.
The light source is composed of a high-brightness LED array and is used for being turned on to provide illumination when the image acquisition equipment performs acquisition control, and the controller controls the turning on and off of the light source.
Motorized zoom lens: the focus adjusting device is used for adjusting the focus of the image acquisition device when the image acquisition device performs shooting every time; the electric zoom lens is connected with the controller, and the focal length of the image acquisition equipment is adjusted according to a zoom instruction sent by the controller, so that the image acquisition equipment acquires a clear isolation switch image.
A controller: the device is used for sending a motion instruction to the electric pan-tilt; the image acquisition device is used for sending an acquisition control instruction to the image acquisition device; the zoom lens is used for sending a zoom instruction to the motorized zoom lens; and the switching-on and switching-off state of the disconnecting switch is judged according to the position of the mark point in the current disconnecting switch image acquired by the image acquisition equipment. In this embodiment, the controller may be an MCU (micro control unit) or an FPGA (field programmable gate array).
The upper main control computer receives the working state signals of the isolating switches and the isolating switch images sent by the controller; sending an automatic operation command or a manual operation command of the electric pan-tilt to a controller; when the controller receives an automatic operation command, the controller controls the electric holder to automatically rotate; when the controller receives a manual operation command, the automatic rotation control of the controller on the electric pan-tilt is stopped, when the electric pan-tilt is connected with the controller, the electric pan-tilt receives an operation control command of the control handle through the controller, and when the electric pan-tilt is connected with the upper master control machine, the electric pan-tilt receives the operation control command of the control handle through the upper master control machine and the controller, so that the handle controls the rotation of the electric pan-tilt. In this embodiment, the upper general control machine may be a server or an image workstation remotely installed, and stores data such as images in a database or the like.
In this embodiment, after the controller acquires the image of the disconnecting switch acquired by the image acquisition device, the controller identifies each mark point in the image of the disconnecting switch through an image segmentation algorithm, calculates a gray scale barycentric coordinate of each mark point, determines a position of the mark point in the image of the disconnecting switch, and then determines the opening/closing state of the currently shot disconnecting switch according to the position of the mark on the image of the disconnecting switch. When each arm of the isolating switch is provided with a plurality of mark points, the working state of the isolating switch can be judged in the following mode: before monitoring, aiming at each isolating switch, firstly, images of each isolating switch in the opening and closing states are obtained, and the included angle of each isolating switch in the opening and closing states is determined according to the positions of the mark points in the images in the opening and closing states. During monitoring, aiming at an acquired image of the isolating switch, a current included angle of the isolating switch is determined according to the position of a mark point in the image of the isolating switch, the current included angle is compared with an included angle of the isolating switch under the switching-off state and the switching-on state of the isolating switch, if the included angle is close to the included angle under the switching-off state of the isolating switch, for example, the difference is less than 1 degree, the current switching-off state of the isolating switch is judged, if the included angle is close to the included angle under the switching-on state of the isolating switch, the current switching-on state of the isolating switch is judged, and if the included angle is close to the included. In this embodiment, the calculation method of the included angle of the isolator may be as follows, and a straight line is fitted to the mark point on one arm of the isolator to obtain a slope k 1; performing straight line fitting on the mark point on the other arm of the isolating switch to obtain a slope k 2; and calculating the included angle alpha of the isolating switch according to the slope k1 and the slope k 2.
In this embodiment, the switching-on/off state of the disconnecting switch may also be determined according to other manners, for example, a coordinate position of a mark point of the disconnecting switch in a current image of the disconnecting switch is directly compared with a coordinate position of the disconnecting switch in the switching-on/off state in the isolation image, and if the horizontal and vertical coordinates of the mark point of the disconnecting switch fall within a certain range of the horizontal and vertical coordinates of the disconnecting switch, the switching-on/off state is determined as the switching-off or switching-on state.
In this embodiment, the number of the state monitoring devices may be multiple, and each state monitoring device is respectively arranged at each position of the substation and is used for monitoring the disconnecting switch in each area of the substation. Aiming at some isolating switches with special positions, the same isolating switch can be set to acquire images by image acquisition equipment of a plurality of state monitoring devices, so that the working state of the same isolating switch can be monitored from a plurality of directions through the plurality of image acquisition equipment, and the phenomenon that the monitoring precision of the working state of the isolating switch is influenced due to shielding is avoided.
In this embodiment, the number of the controllers may be multiple, each controller is connected to one or more state monitoring devices, each controller is connected to the upper master control machine through a network, the state monitoring devices connected to each controller are respectively arranged in different areas, networking of multiple devices is achieved through a distributed architecture, and all disconnecting switches of the substation can be covered in an observation area.
In the embodiment, the monitoring of the working state of the isolating switch can be in an automatic or manual mode under the condition of adding the control handle;
the automatic mode is as follows:
at isolator's operating condition monitoring stage, when the controller received the automatic operation order that master control machine sent on, the controller control electronic cloud platform autogiration makes image acquisition equipment gather each isolator's image in proper order, specifically does:
acquiring the position of each isolating switch, and determining the angle of the electric holder to rotate each time when the image acquisition equipment is switched from acquiring the current isolating switch to acquiring the adjacent isolating switch according to the position relation between the two adjacent isolating switches; and after the working state of the isolating switch is monitored and started, controlling the electric holder to automatically rotate by a corresponding angle every time according to the obtained angle information, and staying for a certain time.
Manual mode:
in the working state monitoring stage of the isolating switch, when the controller receives a manual operation command sent by an upper main control machine, the automatic rotation control of the electric pan-tilt is stopped; the electric pan-tilt receives an operation control signal sent by the control handle through the controller, and the electric zoom lens receives a focal length adjusting signal sent by the control handle through the controller. At the moment, the image acquisition equipment enters a continuous acquisition mode, acquired video streams are transmitted back to the upper master control machine in real time through the controller, and operators can see images displayed in real time through the upper master control machine. Under the condition, an operator can freely control the electric pan-tilt through the control handle to realize special monitoring of a certain isolating switch, and can amplify a certain interested area in real time through a zoom button on the control handle to observe details.
The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.
Claims (10)
1. A monitoring system for the working state of an isolating switch is characterized by comprising a controller and state monitoring equipment connected with the controller; the state monitoring equipment comprises image acquisition equipment for acquiring images of the isolating switch, a motorized zoom lens for adjusting the shooting focal length of the image acquisition equipment and a motorized pan and tilt head:
the image acquisition equipment is arranged on the electric holder and is driven to rotate by the electric holder;
the motorized zoom lens is arranged on the image acquisition equipment;
the image acquisition equipment, the motorized zoom lens and the motorized pan-tilt are respectively connected with the controller.
2. The system for monitoring the operating condition of the disconnecting switch according to claim 1, further comprising a light source, wherein the light source is connected with the controller.
3. The system for monitoring the working state of the isolating switch according to claim 1, wherein the image acquisition equipment is provided with a mark point corresponding to the acquired isolating switch.
4. The system for monitoring the working state of the isolating switch as claimed in claim 3, wherein a plurality of marking points are respectively arranged on two arms of the isolating switch which move relatively, and the marking points on each arm are sequentially arranged along the length direction of the arm.
5. The system for monitoring the working condition of the disconnecting switch according to claim 1, wherein the condition monitoring devices are multiple in number, and each condition monitoring device is respectively arranged at each position of the substation and used for monitoring the disconnecting switch in each area of the substation.
6. The monitoring system for the working condition of the disconnecting switch according to claim 5, wherein each condition monitoring device is arranged at a position such that the same disconnecting switch is imaged by the image capturing devices of a plurality of condition monitoring devices.
7. The system for monitoring the working state of the isolating switch according to claim 1, further comprising an upper main control computer, wherein the controller is connected with the upper main control computer and transmits the determined opening and closing state of each isolating switch to the upper main control computer.
8. The system for monitoring the working state of the disconnecting switch according to claim 1, wherein the number of the controllers is one or more, when the number of the controllers is more, each controller is respectively connected with one or more state monitoring devices, and each controller is respectively connected with an upper master control machine.
9. The system for monitoring the working state of the isolating switch according to claim 1, wherein the state monitoring equipment further comprises a control handle connected with the controller or an upper master control machine, and an electric pan-tilt rotating control button and a focal length adjusting button are arranged on the control handle.
10. The system for monitoring the working state of the isolating switch according to claim 1, wherein the electric cradle head is a multi-degree-of-freedom cradle head, a motor for driving the multi-degree-of-freedom cradle head to rotate is arranged on the electric cradle head, and the motor is connected with the controller through a motor driver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920932507.9U CN209860670U (en) | 2019-06-19 | 2019-06-19 | Monitoring system for working state of isolating switch |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920932507.9U CN209860670U (en) | 2019-06-19 | 2019-06-19 | Monitoring system for working state of isolating switch |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209860670U true CN209860670U (en) | 2019-12-27 |
Family
ID=68942426
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920932507.9U Active CN209860670U (en) | 2019-06-19 | 2019-06-19 | Monitoring system for working state of isolating switch |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209860670U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110212644A (en) * | 2019-06-19 | 2019-09-06 | 西安图玛智能科技有限公司 | Disconnecting switch working state monitoring system and method |
-
2019
- 2019-06-19 CN CN201920932507.9U patent/CN209860670U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110212644A (en) * | 2019-06-19 | 2019-09-06 | 西安图玛智能科技有限公司 | Disconnecting switch working state monitoring system and method |
| CN110212644B (en) * | 2019-06-19 | 2024-08-09 | 西安图玛智能科技有限公司 | Isolating switch working state monitoring system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108489425B (en) | All-weather automatic video monitoring system and method for opening and closing states of isolating switch | |
| CN107765145B (en) | Automatic partial discharge detection device, system and method | |
| CN101650224B (en) | Mobile infrared thermal image on-line detection system for electric equipment | |
| CN110008937B (en) | Switch cabinet running state management monitoring system and method and computing equipment | |
| CN104242459A (en) | Real-time monitoring and analyzing system and real-time monitoring and analyzing method for substation | |
| CN110212644B (en) | Isolating switch working state monitoring system and method | |
| CN110605718A (en) | Transformer substation inspection robot system and inspection method | |
| CN210377085U (en) | Underground water pump house inspection system for coal mine | |
| CN202135260U (en) | High-definition image detection system of transformer station inspection robot | |
| CN109176534B (en) | Robot multi-camera real-time fusion system and method | |
| CN110961289B (en) | Transformer substation insulator anti-pollution flashover coating spraying tool and spraying method | |
| CN214337647U (en) | Online intelligent inspection system of transformer substation | |
| CN108174111A (en) | Crusing robot target image grasping means | |
| CN209860670U (en) | Monitoring system for working state of isolating switch | |
| CN109494617A (en) | One kind is removed obstacles crusing robot and its method of removing obstacles | |
| CN111531521A (en) | A virtual reality inspection robot for transformer substation | |
| CN202885975U (en) | Three-dimensional infrared temperature measurement monitoring system of transformer substation | |
| CN212784891U (en) | Intelligent inspection system for secondary cabinet of transformer substation | |
| Pinto et al. | Mobile robot for hot spot monitoring in electric power substation | |
| CN208323406U (en) | A kind of robot used for intelligent substation patrol monitoring system Internet-based | |
| CN106583294A (en) | Method for sweeping tension insulator by live working robot | |
| CN106454275A (en) | Visual mobile communication terminal based on computer | |
| CN210578914U (en) | Substation equipment monitoring system | |
| CN114274152A (en) | All-round robot of patrolling and examining | |
| CN109540793A (en) | A kind of vision inspection apparatus with far field vision image transmitting |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |