CN209946056U - Robot for detecting inside of oil-immersed transformer - Google Patents
Robot for detecting inside of oil-immersed transformer Download PDFInfo
- Publication number
- CN209946056U CN209946056U CN201920401697.1U CN201920401697U CN209946056U CN 209946056 U CN209946056 U CN 209946056U CN 201920401697 U CN201920401697 U CN 201920401697U CN 209946056 U CN209946056 U CN 209946056U
- Authority
- CN
- China
- Prior art keywords
- oil
- spherical
- shell
- radar
- hemispherical shell
- 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
Images
Landscapes
- Manipulator (AREA)
Abstract
The application relates to an oil-immersed transformer internal detection robot. At least two vertical jet pumps are arranged in the spherical cavity and are positioned on the upper hemispherical shell. At least three transverse jet pumps are arranged in the spherical cavity and are positioned on the equatorial plane of the spherical shell. The radar device is arranged in the spherical cavity and is positioned on the equatorial plane of the spherical shell. The radar device is used for measuring the distance of the spherical shell relative to a front obstacle. The infrared device is arranged in the spherical cavity and is positioned on the equatorial plane of the spherical shell. The posture and the running path of the spherical shell can be flexibly adjusted through the vertical jet pump and the transverse jet pump. Obstacles can be positioned through the radar device, and damage to the robot for detecting the inside of the oil-immersed transformer is avoided. The infrared device can be used for accurately positioning the defects of the transformer winding. Therefore, the robot for detecting the interior of the oil-immersed transformer has the characteristics of high detection efficiency and accuracy.
Description
Technical Field
The application relates to the field of electrical control, in particular to an internal detection robot for an oil-immersed transformer.
Background
The high-speed development of intelligent power grids and extra-high voltage power transmission technologies puts higher requirements on the operation reliability of power grid equipment, and the operation reliability of a transformer serving as one of power grid core equipment directly influences the safety and stability of a power grid. The traditional method for overhauling the inside of the oil immersed transformer is to empty transformer oil after power failure, and the transformer oil is overhauled by entering the inside of the transformer by detection personnel, but the manual maintenance cost is high, the efficiency is low, and the accuracy is not high enough.
SUMMERY OF THE UTILITY MODEL
Therefore, the robot for detecting the inside of the oil-immersed transformer is needed to solve the problems that the maintenance cost of the inside of the oil-immersed transformer is high, the efficiency is low and the accuracy is not high enough.
An oil-immersed transformer internal detection robot, comprising:
the spherical shell comprises an upper hemispherical shell and a lower hemispherical shell, and the upper hemispherical shell and the lower hemispherical shell surround to form a spherical cavity;
at least two vertical jet pumps arranged in the spherical cavity and positioned on the upper hemispherical shell;
at least three transverse jet pumps arranged in the spherical cavity and positioned on the equatorial plane of the spherical shell;
the radar device is arranged in the spherical cavity, is positioned on the equatorial plane of the spherical shell and is used for measuring the distance between the spherical shell and a front obstacle;
the infrared device is arranged in the spherical cavity and is positioned on the equatorial plane of the spherical shell, and the infrared device and the radar device are sequentially arranged along the direction of the sphere center of the spherical shell.
In one embodiment, the spherical shell further comprises:
the middle ring is arranged between the upper hemispherical shell and the lower hemispherical shell, the upper hemispherical shell, the lower hemispherical shell and the middle ring are surrounded to form the spherical shell, and the infrared device and the radar device are arranged on one side, close to the spherical cavity, of the middle ring.
In one embodiment, the radar device includes a laser emitting device, the middle ring is provided with two radar through holes, the two radar through holes are arranged along the extending direction of the equator, and laser emitted by the laser emitting device is emitted through the two radar through holes.
In one embodiment, the middle ring is provided with an infrared through hole, the infrared through hole is arranged between the two radar through holes and close to the lower hemispherical shell, and the transmitting end of the infrared device is arranged corresponding to the infrared through hole.
In one embodiment, the device further comprises an image acquisition device which is arranged in the spherical cavity and is positioned at one side of the middle ring close to the spherical cavity.
In one embodiment, the middle ring is provided with an image acquisition through hole, the image acquisition through hole is arranged between the two radar through holes and is close to the upper hemisphere, and the transmitting end of the image acquisition device is arranged corresponding to the image acquisition through hole.
In one embodiment, the radar apparatus further includes:
an optical receiving device for receiving a reflected signal passing through an obstacle;
and the signal analysis device is used for receiving and analyzing the reflection signal so as to reflect the distance information of the obstacle relative to the oil-immersed transformer internal detection robot.
In one embodiment, the detection robot further comprises a control device, which is arranged in the spherical cavity and used for controlling the motion state of the robot inside the oil-immersed transformer according to the distance information.
In one embodiment, the middle ring is provided with at least three sets of first pump body communication devices, the first pump body communication devices are arranged in one-to-one correspondence with the transverse jet pumps, each set of the first pump body communication devices comprises a first liquid inlet and a first liquid outlet, and the first liquid inlet and the first liquid outlet are respectively communicated with the transverse jet pumps.
In one embodiment, the upper hemispherical shell includes at least two sets of second pump body communication devices, the second pump body communication devices are disposed in one-to-one correspondence with the vertical injection pumps, each set of the second pump body communication devices includes a second liquid inlet and a second liquid outlet, and the second liquid inlet and the second liquid outlet are respectively communicated with the vertical injection pumps.
The robot for detecting the inside of the oil-immersed transformer can flexibly adjust the posture and the operation path of the spherical shell through the vertical jet pump and the horizontal jet pump, so that the robot can detect different positions inside the transformer. Obstacles can be positioned through the radar device, and damage to the robot for detecting the inside of the oil-immersed transformer is avoided. The infrared device can be used for accurately positioning the defects of the transformer winding. Therefore, the robot for detecting the interior of the oil-immersed transformer has the characteristics of high detection efficiency and accuracy.
Drawings
Fig. 1 is an explosion diagram of an internal detection robot of an oil-immersed transformer according to an embodiment of the present application;
fig. 2 is an exploded view of an internal detection robot for an oil-immersed transformer according to another embodiment of the present application;
fig. 3 is a schematic view of an internal detection robot of an oil-immersed transformer according to an embodiment of the present application;
fig. 4 is a schematic view of an internal detection robot for an oil-immersed transformer according to another embodiment of the present application.
Upper hemispherical shell 110
Lower hemispherical shell 120
Radar through hole 271
Infrared via 272
Image capturing through hole 273
First pump body communication means 280
A first liquid inlet 281
First liquid outlet 282
Second pump body communication 290
Second liquid outlet 292
Upper electric hole 293
Charging hole 294
Detailed Description
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and those skilled in the art will be able to make similar modifications without departing from the spirit of the application and it is therefore not intended to be limited to the embodiments disclosed below.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present application and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be considered as limiting the present application.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Referring to fig. 1-2, an embodiment of the present application provides an internal inspection robot 10 for an oil-immersed transformer. The robot 10 for detecting the inside of the oil-immersed transformer comprises a spherical shell 100, at least two vertical jet pumps 210, at least three transverse jet pumps 220, a radar device 230 and an infrared device 240. The spherical shell 100 includes an upper hemispherical shell 110 and a lower hemispherical shell 120. The upper hemispherical shell 110 and the lower hemispherical shell 120 enclose a spherical cavity 130. The at least two vertical jet pumps 210 are disposed in the spherical cavity 130 and are located in the upper hemispherical shell 110. The at least three transverse jet pumps 220 are disposed in the spherical cavity 130 and are located in the equatorial plane of the spherical housing 100. The radar device 230 is disposed in the spherical cavity 130 and located in the equatorial plane of the spherical housing 100. The radar device 230 is used to measure the distance of the spherical housing 100 relative to the obstacle in front. The infrared device 240 is disposed in the spherical cavity 130 and located in the equatorial plane of the spherical shell 100. In the equatorial plane, the infrared device 240 and the radar device 230 are arranged in sequence in a direction toward the center of the spherical shell 100.
In this embodiment, the upper hemispherical shell 110 and the lower hemispherical shell 120 may be hemispherical thin shells with non-metallic structures. The vertical jet pump 210 may be a jet propeller. At least two vertical jet pumps 210 can maintain the oil-immersed transformer internal detection robot 10 in a balanced state when ascending and descending. The end face of the jet propeller can be of a flange structure. The jet propeller may be connected to the circumferential surface mounting boss of the upper hemispherical shell 110 by a screw. The number of the transverse jet pumps 220 is at least 3, and may be arranged at 120 ° centering on the center of the equatorial plane. When the number of the transverse jet pumps 220 is 4, the transverse jet pumps 220 may be arranged at 90 ° from each other centering on the center of the equatorial plane. The vertical injection pump 210 can control the ascending and descending of the oil-immersed transformer internal detection robot 10. The transverse jet pump 220 can control the traveling direction of the oil-immersed transformer internal detection robot 10. The different transverse injection pumps 220 and the vertical injection pump 210 are matched to enable the oil-immersed transformer internal detection robot 10 to turn over to obtain different postures. It is understood that the equatorial plane is a cross section of the spherical shell 100, and the cross section is located in the middle of the upper hemispherical shell 110 and the lower hemispherical shell 120 after being fastened.
The radar device 230 may be used to measure the distance of the spherical housing 100 relative to an obstacle in front. According to the distance between the spherical shell 100 and the front obstacle, the running path and the running state of the internal detection robot 10 of the oil-immersed transformer can be adjusted. The infrared device 240 may be a thermal infrared imager. The thermal infrared imager can be FLIR T600, and has the characteristics of rapid communication and instant image acquisition. The thermal infrared imager can present different images according to different transformer winding states and record the images in real time, and meanwhile, the thermal infrared imager can capture a temperature field around the inspection and convert the temperature field into temperature parameters, so that the accurate positioning of the defects of the transformer windings is realized. In addition, under the working condition of night or poor light, the Fluke thermal infrared imager can capture images, so that the robot 10 for detecting the interior of the oil-immersed transformer can be accurately detected.
In the above embodiment, the robot 10 for detecting the inside of the oil-immersed transformer can flexibly adjust the posture and the operation path of the spherical shell 100 through the vertical injection pump 210 and the horizontal injection pump 220, so that detection can be performed for different positions inside the transformer. Obstacles can be positioned through the radar device 230, and damage to the robot 10 for detecting the inside of the oil-immersed transformer is avoided. The infrared device 240 can be used for accurately positioning the defects of the transformer winding. Therefore, the robot 10 for detecting the inside of the oil-immersed transformer has the characteristics of high detection efficiency and accuracy.
In one embodiment, the spherical shell 100 further includes a middle ring 270. The middle ring 270 is disposed between the upper hemispherical shell 110 and the lower hemispherical shell 120. The upper hemispherical shell 110, the lower hemispherical shell 120 and the middle ring 270 surround and form the spherical shell 100. The infrared device 240 and the radar device 230 are disposed on a side of the middle ring 270 close to the spherical cavity 130. The radar device 230 realizes the motion distance measurement of the robot during inspection, performs instant positioning, and feeds information back to the control system of the electric control system to avoid motion collision. In one embodiment, the middle ring 270 may be made of an aluminum alloy material.
Referring to fig. 3-4, in one embodiment, the radar device 230 includes a laser emitting device 232. The middle ring 270 is provided with two radar through holes 271, the two radar through holes 271 are arranged along the extending direction of the equator, and the laser emitted by the laser emitting device 232 is emitted through the two radar through holes 271. The radar penetration hole 271 may be formed at a boss formed at an upper end of the middle ring 270. The laser emitting device 232 may be fixed to the radar through hole 271.
In one embodiment, the middle ring 270 is provided with an infrared through hole 272. The infrared through hole 272 is disposed between the two radar through holes 271 and is close to the lower hemispherical shell 120. The emitting end of the infrared device 240 is disposed corresponding to the infrared through hole 272. The infrared via 272 may have a card slot. The infrared device 240 may be mounted to the infrared through hole 272 by the card slot. The infrared device 240 can transmit the image information to the matched image receiver for imaging through the wireless module.
In one embodiment, the middle ring 270 is annular in shape. The upper and lower ends of the middle ring 270 may be provided with cylindrical bosses. The boss can be provided with a sealing groove. The inner surfaces of the upper hemispherical shell 110 and the lower hemispherical shell 120 may have cylindrical surfaces. The upper hemispherical shell 110, the middle ring 270, and the lower hemispherical shell 120 may be connected through the cylindrical boss, the cylindrical surface, the sealing groove, and the sealing ring.
In one embodiment, the oil-filled transformer internal inspection robot 10 further includes an image acquisition device 250. The image capturing device 250 is disposed in the spherical cavity 130 and is located at a side of the middle ring 270 close to the spherical cavity 130.
In one embodiment, the middle ring 270 is provided with an image capturing through hole 273. The image capturing through hole 273 is disposed between the two radar through holes 271 and close to the upper hemisphere. The emitting end of the image capturing device 250 is disposed corresponding to the image capturing through hole 273.
The image capturing device 250 may employ a CCD camera. The camera lenses are mounted in corresponding mounting holes in the middle ring 270. The camera may be fixed to a boss of an inner surface of the middle ring 270 by a screw. The resolution of the camera is 750TVL, the CCD type is 1/3' SONY 960H Exview HAD CCD II, and a 3.2mm lens is selected. The camera has the overall dimension of 20mm (length) multiplied by 20mm (width), and can be sealed by the oil-proof cover to prevent the transformer oil from entering the machine body. The data collected by the camera can be subjected to image processing through the image processing device, and the image processor is arranged on the control panel.
In an embodiment, the oil-immersed transformer internal inspection robot 10 may further include an illumination device, the illumination device employs two small LED underwater illumination lamps, and the overall structure of the illumination lamps may be cylindrical and are installed in corresponding installation holes of the middle ring 270.
In one embodiment, the radar device 230 further comprises an optical receiving device and a signal analyzing device. The optical receiving device is used for receiving the reflected signal passing through the obstacle. The signal analysis device is used for receiving and analyzing the reflected signal so as to reflect the distance information of the obstacle relative to the oil-immersed transformer internal detection robot 10. After the signal emitted by the laser emitting device 232 is reflected by the obstacle, the signal is received by the receiving device and the signal processing device, so that the distance to the obstacle in front can be measured, and the distance information is transmitted to the control device 260 in real time, so that the propulsion system is controlled to ensure the safety of the robot 10 for detecting the inside of the oil-immersed transformer.
In one embodiment, the oil-filled transformer internal inspection robot 10 further includes a control device 260. The control device 260 is disposed in the spherical cavity 130. The control device 260 is configured to control the motion state of the robot 10 inside the oil-immersed transformer according to the distance information. The inside detection robot 10 of oil-immersed transformer can be provided with the control panel inside. The control device 260 may be provided to the control board. The control panel can be the ring form face structure. The middle of the spherical housing 100 may be provided with a disk-shaped mounting plate. The control device 260 may be mounted on the disk-shaped mounting plate. The control device 260 may be equipped with a sensing system. The sensing system may include a pose sensor and an obstacle sensing sensor. The pose sensor adopts a miniature navigation pose reference system. The obstacle sensing sensor is an OD laser sensor. The attitude sensor adopts a miniature attitude heading reference system and is composed of sensors of three-axis MEMS gyroscope, three-axis MEMS accelerometer, three-axis magneto-resistive magnetometer and the like. The obstacle perception sensor adopts an OD laser sensor, has an intuitive setting process and is convenient to operate. The CMOS technology ensures high precision and reliability of measurement and is suitable for precise measurement of short distance.
The control means 260 may transmit the signal to an external control terminal. An external control terminal may also transmit signals to the control means 260. The control device 260 can control the motion state of the robot 10 inside the oil-immersed transformer.
In one embodiment, the middle ring 270 is provided with at least three sets of first pump body communication means 280. The first pump body communication means 280 are provided in one-to-one correspondence with the transverse jet pumps 220. Each set of said first pump communication means 280 comprises a first inlet port 281 and a first outlet port 282. The first liquid inlet 281 and the first liquid outlet 282 are respectively communicated with the transverse jet pump 220. The transverse jet pump 220 may have an inlet connection and an outlet connection. The transverse jet pump 220 may be connected to the first inlet port 281 and the first outlet port 282 through the inlet connection and the outlet connection.
In one embodiment, the upper hemispherical shell 110 includes at least two sets of second pump body communication devices 290. The second pump body communication device 290 is disposed in one-to-one correspondence with the vertical jet pumps 210. Each set of said second pump body communication means 290 includes a second inlet port 291 and a second outlet port 292. The second inlet port 291 and the second outlet port 292 are respectively communicated with the vertical jet pump 210. The vertical jet pump 210 may have an inlet connection and an outlet connection. The vertical jet pump 210 may be connected to the second liquid inlet 291 and the second liquid outlet 292 through the liquid inlet joint and the liquid outlet joint.
In one embodiment, the oil-filled transformer internal detection robot 10 may further include an electric storage device. The power storage device may also employ a polymer lithium ion battery of a ring structure to adapt to the shape of the spherical housing 100. In one embodiment, the polymer lithium ion battery has a battery energy reserve of 90 Wh.
In one embodiment, the middle ring 270 is further provided with a power-up hole 293 and a charging hole 294. The upper power supply hole 293 and the charging hole 294 may be electrically connected to the power storage device. The power on/off condition of the robot 10 in the oil-immersed transformer can be controlled through the power on hole 293. The oil-immersed transformer internal detection robot 10 can be charged through the charging hole 294.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The utility model provides an inside inspection robot of oil-immersed transformer which characterized in that includes:
the spherical shell (100) comprises an upper hemispherical shell (110) and a lower hemispherical shell (120), and the upper hemispherical shell (110) and the lower hemispherical shell (120) surround to form a spherical cavity (130);
at least two vertical jet pumps (210) disposed in the spherical cavity (130) and located in the upper hemispherical shell (110);
at least three transverse jet pumps (220) arranged in said spherical cavity (130) and located in the equatorial plane of said spherical shell (100);
a radar device (230) arranged in the spherical cavity (130) and positioned on the equatorial plane of the spherical shell (100) and used for measuring the distance of the spherical shell (100) relative to a front obstacle;
the infrared device (240) is arranged in the spherical cavity (130) and is positioned on the equatorial plane of the spherical shell (100), and the infrared device (240) and the radar device (230) are sequentially arranged along the direction of the sphere center of the spherical shell (100).
2. Oil filled transformer internal inspection robot according to claim 1, characterized in that the spherical shell (100) further comprises:
the middle ring (270) is arranged between the upper hemispherical shell (110) and the lower hemispherical shell (120), the upper hemispherical shell (110), the lower hemispherical shell (120) and the middle ring (270) are enclosed to form the spherical shell (100), and the infrared device (240) and the radar device (230) are arranged on one side, close to the spherical cavity (130), of the middle ring (270).
3. The oil filled transformer internal detection robot according to claim 2, characterized in that the radar device (230) comprises a laser emitting device (232), the middle ring (270) is provided with two radar through holes (271), the two radar through holes (271) are arranged along the extending direction of the equator, and laser emitted by the laser emitting device (232) is emitted through the two radar through holes (271).
4. The oil-filled transformer internal detection robot according to claim 3, wherein the middle ring (270) is provided with an infrared through hole (272), the infrared through hole (272) is arranged between the two radar through holes (271) and close to the lower hemispherical shell (120), and the transmitting end of the infrared device (240) is arranged corresponding to the infrared through hole (272).
5. The oil-filled transformer internal detection robot of claim 4, further comprising an image acquisition device (250) disposed in the spherical cavity (130) and located at a side of the middle ring (270) close to the spherical cavity (130).
6. The oil-filled transformer internal detection robot of claim 5, wherein the middle ring (270) is provided with an image acquisition through hole (273), the image acquisition through hole is arranged between the two radar through holes (271) and close to the upper hemisphere, and a transmitting end of the image acquisition device (250) is arranged corresponding to the image acquisition through hole (273).
7. Oil filled transformer internal inspection robot according to claim 3, characterized in that the radar arrangement (230) further comprises:
an optical receiving device for receiving a reflected signal passing through an obstacle;
and the signal analysis device is used for receiving and analyzing the reflection signal so as to reflect the distance information of the obstacle relative to the oil-immersed transformer internal detection robot.
8. The oil-filled transformer internal detection robot according to claim 7, further comprising a control device (260) disposed in the spherical cavity (130) for controlling a motion state of the oil-filled transformer internal detection robot (10) according to the distance information.
9. The oil immersed transformer internal detection robot as claimed in claim 2, wherein the middle ring (270) is provided with at least three sets of first pump body communication devices (280), the first pump body communication devices (280) are arranged in a one-to-one correspondence with the transverse jet pumps (220), each set of the first pump body communication devices (280) comprises a first liquid inlet (281) and a first liquid outlet (282), and the first liquid inlet (281) and the first liquid outlet (282) are respectively communicated with the transverse jet pumps (220).
10. The oil-filled transformer internal inspection robot according to claim 1, wherein the upper hemispherical shell (110) comprises at least two sets of second pump body communication devices (290), the second pump body communication devices (290) are arranged in one-to-one correspondence with the vertical injection pumps (210), each set of second pump body communication devices (290) comprises a second liquid inlet (291) and a second liquid outlet (292), and the second liquid inlet (291) and the second liquid outlet (292) are respectively communicated with the vertical injection pumps (210).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920401697.1U CN209946056U (en) | 2019-03-25 | 2019-03-25 | Robot for detecting inside of oil-immersed transformer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920401697.1U CN209946056U (en) | 2019-03-25 | 2019-03-25 | Robot for detecting inside of oil-immersed transformer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209946056U true CN209946056U (en) | 2020-01-14 |
Family
ID=69125559
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920401697.1U Active CN209946056U (en) | 2019-03-25 | 2019-03-25 | Robot for detecting inside of oil-immersed transformer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209946056U (en) |
-
2019
- 2019-03-25 CN CN201920401697.1U patent/CN209946056U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204808049U (en) | Communication system with unmanned aerial vehicle | |
| CN204822097U (en) | Anti -jamming unmanned aerial vehicle system | |
| CN204810432U (en) | Monitored control system with unmanned aerial vehicle | |
| CN107014971B (en) | Underwater hiding-machine buoy base station with efficient charging and remote data transmission function | |
| CN102126544B (en) | Underwater self-propulsion omnibearing sensor | |
| CN110161339A (en) | Inside transformer detects robot | |
| KR102160734B1 (en) | Image taking system using wireless rechargeable drones | |
| CN208027170U (en) | A kind of power-line patrolling unmanned plane and system | |
| CN109945861A (en) | Small drone is directed at tracking device and method with ground surface end uni-directional wireless optic communication | |
| CN204846371U (en) | Can keep away unmanned aerial vehicle system of barrier | |
| CN209946056U (en) | Robot for detecting inside of oil-immersed transformer | |
| CN210090600U (en) | Robot for detecting inside of oil-immersed transformer | |
| CN104570032B (en) | Automatic positioning device for unmanned remote control boat and water surface indication floating body | |
| CN110987074A (en) | Multi-functional intelligent perception magic cube structure | |
| CN110340889A (en) | The detection device of transformer | |
| CN212695608U (en) | Overhead transmission line inspection operation system and flight operation platform | |
| CN207198323U (en) | A kind of search and rescue positioner based on power transmission tower | |
| CN209946055U (en) | Oil-immersed transformer internal detection robot | |
| CN210923502U (en) | Detection equipment for oil immersed transformer | |
| CN210690702U (en) | Transformer internal detection robot | |
| CN210742398U (en) | Transformer internal detection robot | |
| CN209525293U (en) | A kind of thermal imaging system and chassis trolley | |
| CN210923501U (en) | Detection equipment for oil immersed transformer | |
| CN107144830A (en) | Search and rescue positioner and localization method in a kind of field | |
| CN110376591A (en) | Transformer crusing robot positioning system and localization method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |