CN211954433U - Cable automated inspection robot - Google Patents
Cable automated inspection robot Download PDFInfo
- Publication number
- CN211954433U CN211954433U CN202020781324.4U CN202020781324U CN211954433U CN 211954433 U CN211954433 U CN 211954433U CN 202020781324 U CN202020781324 U CN 202020781324U CN 211954433 U CN211954433 U CN 211954433U
- Authority
- CN
- China
- Prior art keywords
- vehicle body
- control unit
- cable
- mechanical arm
- assembly
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides an automatic cable detection robot, which comprises a vehicle body, a path identification component and a cable detection component; the vehicle body is provided with a control unit and a traveling wheel assembly in control connection with the control unit, and the traveling wheel assembly can drive the vehicle body to travel in response to the control of the control unit; the path identification assembly is arranged on the vehicle body and comprises a video identification unit in signal connection with the control unit; the control unit can receive the identification signal of the video identification unit, and control the action of the traveling wheel assembly according to the identification result, and is used for adjusting the traveling direction of the vehicle body; and the cable detection assembly is arranged on the vehicle body and is connected with the control unit, and the cable detection assembly can respond to the control of the control unit to detect the cable. The utility model discloses a cable automated inspection robot can be automatic, comprehensive to the monitoring of cable inlet wire, the prevention cable fault takes place.
Description
Technical Field
The utility model relates to a cable maintenance technical field, in particular to cable automated inspection robot.
Background
In the current underground cable construction process, the problems of difficult maintenance, large engineering quantity, hidden cable faults, difficult test and long repair time after the cable is damaged exist; the traditional method for monitoring the temperature of the underground cable is to install a point type temperature sensing device, such as a thermocouple, on an important part of the cable to measure the temperature; the method can only realize the on-line temperature monitoring on the local part of the cable, but not on the whole line. The distributed optical fiber temperature measurement technology is widely applied abroad at present, but the distributed optical fiber temperature measurement technology cannot realize the comprehensive monitoring of the cable.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing a cable automated inspection robot to can be automatic, comprehensive completion is to the monitoring of cable.
In order to achieve the above purpose, the technical scheme of the utility model is realized like this:
an automatic cable inspection robot, comprising:
the device comprises a vehicle body, a control unit and a travelling wheel assembly, wherein the vehicle body is provided with the control unit and the travelling wheel assembly which is in control connection with the control unit; and the traveling wheel component can drive the vehicle body to travel in response to the control of the control unit;
the path identification assembly is arranged on the vehicle body and comprises a video identification unit in signal connection with the control unit; the control unit can receive the identification signal of the video identification unit and control the action of the travelling wheel assembly according to the identification result, so as to adjust the travelling direction of the vehicle body;
and the cable detection assembly is arranged on the vehicle body and connected with the control unit, and can respond to the control of the control unit to detect the cable.
Further, the automatic cable detection robot further comprises a mechanical arm assembly arranged on the vehicle body, and the cable detection assembly is arranged on the mechanical arm assembly.
Furthermore, the arm subassembly is including rotating to be located base on the automobile body, with base articulated first arm, with first arm articulated second arm, and with second arm articulated third arm, still including the drive unit who drives respectively the base, first arm, second arm and third arm.
Further, the cable detection assembly comprises at least one of an infrared detector, an acoustic emission sensor and a fringe electric field sensor which are arranged on the mechanical arm assembly.
Furthermore, the path recognition assembly further comprises an ultrasonic sensor arranged on the vehicle body, the ultrasonic sensor is in signal connection with the control unit, and the control unit can receive a detection signal of the ultrasonic sensor and control the action of the traveling wheel assembly to adjust the traveling direction of the vehicle body.
Furthermore, the travel wheel assembly comprises two Mecanum wheels symmetrically arranged on two opposite sides of the vehicle body, and the Mecanum wheels on each side are arranged at intervals in the front-back direction.
Furthermore, the infrared detector adopts a double laser aiming infrared thermometer.
Further, the control unit adopts an Arduino Mega 2560 chip.
Further, the automatic cable detection robot further comprises a first wireless communication unit arranged on the vehicle body and a server end arranged outside; the first wireless communication unit is in control connection with the control unit, and a second wireless communication unit which can be communicated with the first wireless communication unit is arranged on the server side; due to the communication between the first wireless communication unit and the second wireless communication unit, the detection result of the cable detection component can be transmitted to the server side, and the server side can send a control instruction to the control unit.
Further, the automatic cable detection robot further comprises a GPS module disposed on the vehicle body, the GPS module can detect the position information of the vehicle body, and the first wireless communication unit can transmit the position information of the vehicle body to the server side.
Compared with the prior art, the utility model discloses following advantage has:
(1) the automatic cable detection robot has the advantages that the travelling wheel assembly and the path identification assembly are arranged on the robot body, so that the robot body can adjust the travelling direction according to the identification result of the path identification assembly, and further the robot body can travel along the cable to be monitored better; and through set up cable detection subassembly on the automobile body for this cable automated inspection robot can accomplish the monitoring to the cable at the in-process of marcing, can in time detect out the problem of cable, so that the troubleshooting reduces the economic loss because of the outage causes.
(2) Through set up robotic arm assembly on the automobile body to set up cable detecting component on the robotic arm assembly, because robotic arm assembly has great degree of freedom, make cable detecting component can have better measuring position, also can have more accurate measuring result.
(3) The mechanical arm assembly comprises a rotatable base, a first mechanical arm hinged to the base, a second mechanical arm hinged to the first mechanical arm and a third mechanical arm hinged to the second mechanical arm, so that the mechanical arm assembly can better meet the moving requirement of the cable detection assembly.
(4) Through setting up ultrasonic sensor, can make this cable automated inspection robot can be better avoid the obstacle.
(5) Through setting up above-mentioned mecanum wheel for the cable automated inspection robot of this embodiment can have better mobility.
(6) Through set up wireless communication unit on the automobile body for this cable automated inspection robot can be with data real-time transmission to outside server end, makes outside personnel can know the cable testing result in real time.
(7) Through setting up the GPS module, the better location cable fault point of being convenient for.
Drawings
The accompanying drawings, which form a part hereof, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. In the drawings:
fig. 1 is the utility model discloses cable automated inspection robot's overall structure schematic diagram.
Description of reference numerals:
1-a vehicle body, 2-a traveling wheel assembly, 21-a Mecanum wheel, 3-a mechanical arm assembly, 31-a base, 32-a first mechanical arm, 33-a second mechanical arm and 34-a third mechanical arm.
Detailed Description
In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. Several embodiments of the invention are given in the accompanying drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
The present embodiment relates to an automatic cable inspection robot, and as shown in fig. 1, the automatic cable inspection robot includes a vehicle body 1, a path recognition component, and a cable inspection component; wherein, a control unit and a travelling wheel assembly 2 in control connection with the control unit are arranged on the vehicle body 1, and the travelling wheel assembly 2 can drive the vehicle body 1 to travel in response to the control of the control unit; the path identification component is arranged on the vehicle body 1 and comprises a video identification unit in signal connection with the control unit; the control unit can receive the identification signal of the video identification unit, and control the motion of the traveling wheel assembly 2 according to the identification result, and is used for adjusting the traveling direction of the vehicle body 1; a cable detection assembly, which may constitute detection of a cable in response to control by the control unit, is provided on the vehicle body 1 and is connected to the control unit.
Specifically, referring to fig. 1, the traveling wheel assembly 2 specifically includes two mecanum wheels 21 disposed on two opposite sides of the vehicle body 1, and each mecanum wheel 21 on each side of the vehicle body 1 is disposed in tandem. It should be noted that the structure of mecanum wheel 21 itself, and the structure of its mounting on body 1, can be referred to the state of the art, and will not be described herein. Through setting up foretell mecanum wheel 21 on automobile body 1, compare in traditional drive wheel, because mecanum wheel 21 has omnidirectional movement, freely keeps away the ability of barrier, therefore the cable automated inspection robot of this embodiment can be better shuttles back and forth in the cable duct, the detection to the cable that just also can be better is accomplished.
In this embodiment, the video recognition unit includes a camera fixed on the vehicle body 1, the camera can transmit the shot image information to the control unit, and the control unit can recognize information such as obstacles and corners through the image information shot by the camera and control the traveling direction of the traveling wheel assembly 2 according to the recognition result, so that the automatic cable detection robot can travel along the cable in the cable duct well. It should be noted that the technology for installing the camera and the control unit to identify the information of the obstacle, the corner and the like according to the image information shot by the camera and control the wheel steering according to the information can be applied to the existing mature technology, and is not described herein again.
It should be noted that the control unit can automatically control the automatic cable detection robot to move; the image information shot by the camera can be transmitted to the server end through the wireless communication unit; and the operator sends an instruction to the control unit according to the image information seen at the server end, and the operator controls the cable to automatically detect the advancing direction of the robot so as to finish the detection of the cable.
Preferably, in this embodiment, the above-mentioned identification unit further includes an ultrasonic sensor fixed on the vehicle body 1, the ultrasonic sensor is in signal connection with the control unit, and the control unit can receive a detection signal of the ultrasonic sensor and control the movement of the traveling wheel assembly 2 according to the detection result, so as to adjust the traveling direction of the vehicle body 1. In the embodiment, because the shooting range of the camera is limited, the ultrasonic sensor is arranged to measure the distance between the cable detection vehicle and the surrounding obstacles; the automatic cable detection robot can better avoid obstacles. Even if, through the combination of the video identification unit and the ultrasonic wave sensor, the automatic cable detection robot can better move along the cable duct, namely better along the cable to be detected, so as to complete the detection of the cable. It should be noted that the ultrasonic sensor may be an existing product, and the principle of ranging under the control of the control unit may also refer to the existing mature technology, and will not be described in detail herein.
In this embodiment, referring to fig. 1, a robot arm assembly 3 is disposed on the automatic cable detection robot, and the cable detection assembly is disposed on the robot arm assembly 3. Specifically, referring to fig. 1, the robot assembly 3 includes a base 31 rotatably disposed on the vehicle body 1, a first robot arm 32 hinged to the base 31, a second robot arm 33 hinged to the first robot arm 32, and a third robot arm 34 hinged to the second robot arm 33, and further includes driving units for respectively driving the base 31, the first robot arm 32, the second robot arm 33, and the third robot arm 34, wherein the driving units are motors that are in control connection with a control unit, for example. It should be noted that, the connection mode of each robot arm and the structure of the driving unit driving the corresponding robot arm to move refer to the existing mature technology, and are not described herein again.
Through setting up this arm subassembly 3, because of the rotation of base 31 to and first arm 32, second arm 33, the removal of third arm 34, and set up cable detecting element on this arm subassembly 3, because this arm subassembly 3 can rotate and extend, can drive cable detecting element and remove to the detection position of preferred on, can make the testing result more accurate.
In this embodiment, the cable detection assembly includes at least one of an infrared detector, an acoustic emission sensor, and a fringe electric field sensor, which are disposed on the mechanical arm assembly 3.
That IS, the cable detection assembly may only include an infrared detector disposed on the robot arm assembly 3, and the infrared detector may be, for example, a dual laser aiming infrared thermometer of type IS-LAS500AL, and the infrared detector may measure the infrared radiation intensity of the target without contacting the target, and calculate the surface temperature of the object according to the infrared radiation intensity of the target, and when the infrared detector detects that the temperature of a certain cable IS higher than the normal temperature, it may indicate that the cable has a fault or a potential fault, and it should be noted that the installation and use of the infrared detector may refer to the existing mature technology, and will not be described in detail herein.
The cable detection assembly can also only comprise an acoustic emission sensor arranged on the mechanical arm assembly 3, and the acoustic emission sensor can be used for detecting partial discharge of the cable, wherein the partial discharge of the cable is one of main reasons of aging of a cable insulating layer, and the aging of the cable insulating layer can cause a power failure accident in serious conditions, so that huge economic loss is brought. In the embodiment, the acoustic emission sensor is arranged on the automatic cable detection robot, so that the partial discharge phenomenon of the cable can be detected in time, the fault can be eliminated in time, and the power failure accident can be avoided. It should be noted that, the principle that this acoustic emission sensor detects cable partial discharge can refer to the application of current acoustic emission sensor on cubical switchboard and transformer, and no longer repeated here, this embodiment makes acoustic emission sensor can closely contact the cable through setting up mecanum wheel 21 and mechanical arm subassembly 3 on automobile body 1, through the removal of automobile body 1 itself to and mechanical arm subassembly 3's drive, thereby overcome the difficulty that acoustic emission sensor needs closely contact the cable, accomplish the detection to cable partial discharge.
The cable detection assembly can also only comprise a fringe electric field sensor arranged on the mechanical arm assembly 3, the fringe electric field sensor can measure the complex dielectric constant of the cable insulation material, and whether a water tree exists in the cable insulation layer can be judged by comparing the complex dielectric constant of the cable insulation material with a preset threshold value. It should be noted that the principle of the fringe electric field sensor for measuring the cable insulation material can refer to the existing mature technology, and is not detailed here.
The cable detection assembly can also simultaneously comprise an infrared detector and an acoustic emission sensor, or simultaneously comprise an infrared detector and a fringe electric field sensor, or simultaneously comprise an acoustic emission sensor and a fringe electric field sensor, or simultaneously comprise an infrared detector, an acoustic emission sensor and a fringe electric field sensor.
Wherein, the cable detection assembly preferably comprises at least an acoustic emission sensor and a fringe electric field sensor which are arranged on the mechanical arm assembly 3. Because the partial discharge phenomenon is generated intermittently in the cable aging process, the acoustic emission sensor can detect the partial discharge phenomenon of the cable only at the accurate time and position. And through setting up marginal electric field sensor, if there is the water tree in some position of cable insulating layer, show that this position has the partial discharge phenomenon that has great possibility, can make acoustic emission sensor focus monitor this position, improve the monitoring effect to the cable.
In this embodiment, in order to further improve the usability of the automatic cable detection robot, the automatic cable detection robot preferably further includes a first wireless communication unit provided on the vehicle body 1 and a server provided outside; the first wireless communication unit is in control connection with the control unit, and a second wireless communication unit which can be communicated with the first wireless communication unit is arranged on the server side; due to the communication between the first wireless communication unit and the second wireless communication unit, the detection result of the cable detection assembly can be transmitted to the server side, and the server side can send a control command to the control unit.
Preferably, the automatic cable detection robot further comprises a GPS module disposed on the vehicle body 1, the GPS module can detect position information of the vehicle body 1, and the first wireless communication unit can transmit the position information of the vehicle body 1 to the server. By arranging the GPS module, when the automatic cable detection robot detects a fault, fault information and fault position information can be transmitted to the host machine, so that maintenance personnel can conveniently carry out operations such as fault removal and the like according to the detection result and the position information,
the server may also be a palm machine in the hand of a maintenance person, and the maintenance person may send a control instruction to the control unit to control the advance of the automatic cable detection robot, control each cable detection component to detect the cable, and perform operations such as troubleshooting according to the detection structure. The control unit is, for example, an Arduino Mega 2560 chip.
According to the automatic cable detection robot, the travelling wheel assembly 2 and the path identification assembly are arranged on the vehicle body 1, so that the vehicle body 1 can adjust the travelling direction according to the identification result of the path identification assembly, and the vehicle body 1 can travel along a cable to be monitored better; and through set up cable detection subassembly on automobile body 1 for this cable automated inspection robot can accomplish the monitoring to the cable at the in-process of marcing, can in time detect out the problem of cable, reduces the economic loss because of the outage causes.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An automatic cable inspection robot, comprising:
the device comprises a vehicle body, a control unit and a travelling wheel assembly, wherein the vehicle body is provided with the control unit and the travelling wheel assembly which is in control connection with the control unit; and the traveling wheel component can drive the vehicle body to travel in response to the control of the control unit;
the path identification assembly is arranged on the vehicle body and comprises a video identification unit in signal connection with the control unit; the control unit can receive the identification signal of the video identification unit and control the action of the travelling wheel assembly according to the identification result, so as to adjust the travelling direction of the vehicle body;
and the cable detection assembly is arranged on the vehicle body and connected with the control unit, and can respond to the control of the control unit to detect the cable.
2. The automatic cable inspection robot of claim 1, wherein: the automatic cable detection robot further comprises a mechanical arm assembly arranged on the vehicle body, and the cable detection assembly is arranged on the mechanical arm assembly.
3. The automatic cable inspection robot of claim 2, wherein: the mechanical arm assembly comprises a base, a first mechanical arm, a second mechanical arm and a third mechanical arm, wherein the base is rotatably arranged on the vehicle body, the first mechanical arm is hinged to the base, the second mechanical arm is hinged to the first mechanical arm, the third mechanical arm is hinged to the second mechanical arm, and the driving unit is used for driving the base, the first mechanical arm, the second mechanical arm and the third mechanical arm respectively.
4. The automatic cable inspection robot of claim 2, wherein: the cable detection assembly comprises at least one of an infrared detector, an acoustic emission sensor and a fringe electric field sensor which are arranged on the mechanical arm assembly.
5. The automatic cable inspection robot of claim 1, wherein: the path identification assembly further comprises an ultrasonic sensor arranged on the vehicle body, the ultrasonic sensor is in signal connection with the control unit, and the control unit can receive a detection signal of the ultrasonic sensor and control the traveling wheel assembly to act so as to adjust the traveling direction of the vehicle body.
6. The automatic cable inspection robot of claim 1, wherein: the travel wheel assembly comprises two Mecanum wheels symmetrically arranged on two opposite sides of the vehicle body, and the Mecanum wheels on each side are arranged at intervals in the front-back direction.
7. The automatic cable inspection robot of claim 4, wherein: the infrared detector adopts a double-laser aiming infrared thermometer.
8. The automatic cable inspection robot of claim 1, wherein: the control unit adopts an Arduino Mega 2560 chip.
9. The automatic cable inspection robot according to any one of claims 1 to 8, wherein: the automatic cable detection robot further comprises a first wireless communication unit arranged on the vehicle body and a server end arranged outside; the first wireless communication unit is in control connection with the control unit, and a second wireless communication unit which can be communicated with the first wireless communication unit is arranged on the server side; due to the communication between the first wireless communication unit and the second wireless communication unit, the detection result of the cable detection component can be transmitted to the server side, and the server side can send a control instruction to the control unit.
10. The automatic cable inspection robot of claim 9, wherein: the automatic cable detection robot further comprises a GPS module arranged on the vehicle body, the GPS module can detect the position information of the vehicle body, and the first wireless communication unit can transmit the position information of the vehicle body to the server side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020781324.4U CN211954433U (en) | 2020-05-12 | 2020-05-12 | Cable automated inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020781324.4U CN211954433U (en) | 2020-05-12 | 2020-05-12 | Cable automated inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211954433U true CN211954433U (en) | 2020-11-17 |
Family
ID=73171509
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020781324.4U Expired - Fee Related CN211954433U (en) | 2020-05-12 | 2020-05-12 | Cable automated inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211954433U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112578152A (en) * | 2020-12-08 | 2021-03-30 | 创维集团智能装备有限公司 | Method, system and assembly for improving wire plugging and unplugging efficiency of signal wire |
| CN112817061A (en) * | 2021-01-13 | 2021-05-18 | 陕西奇力达电子科技有限公司 | Buried cable path detection device |
| CN113030641A (en) * | 2021-03-05 | 2021-06-25 | 国网四川省电力公司技能培训中心 | Intelligent cable fault inspection robot vehicle and method |
| CN113078736A (en) * | 2021-05-19 | 2021-07-06 | 淮北师范大学 | Multifunctional intelligent micro-grid system |
| CN113093269A (en) * | 2021-05-08 | 2021-07-09 | 北京潞电电气设备有限公司 | Method for automatically identifying cable line path |
| CN113093267A (en) * | 2021-05-08 | 2021-07-09 | 北京潞电电气设备有限公司 | Method for identifying cable line path |
| CN113093293A (en) * | 2021-05-08 | 2021-07-09 | 北京潞电电气设备有限公司 | Cable path identification and fault positioning equipment |
| CN113093268A (en) * | 2021-05-08 | 2021-07-09 | 北京潞电电气设备有限公司 | Method for automatically identifying cable line path |
| CN116061147A (en) * | 2021-11-04 | 2023-05-05 | 中国科学院沈阳自动化研究所 | Cable tunnel inspection robot |
| CN116061147B (en) * | 2021-11-04 | 2024-06-25 | 中国科学院沈阳自动化研究所 | Cable tunnel inspection robot |
-
2020
- 2020-05-12 CN CN202020781324.4U patent/CN211954433U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112578152A (en) * | 2020-12-08 | 2021-03-30 | 创维集团智能装备有限公司 | Method, system and assembly for improving wire plugging and unplugging efficiency of signal wire |
| CN112817061B (en) * | 2021-01-13 | 2022-06-14 | 陕西奇力达电子科技有限公司 | Buried cable path detection device |
| CN112817061A (en) * | 2021-01-13 | 2021-05-18 | 陕西奇力达电子科技有限公司 | Buried cable path detection device |
| CN113030641A (en) * | 2021-03-05 | 2021-06-25 | 国网四川省电力公司技能培训中心 | Intelligent cable fault inspection robot vehicle and method |
| CN113030641B (en) * | 2021-03-05 | 2023-08-15 | 国网四川省电力公司技能培训中心 | Intelligent cable fault inspection machine vehicle and method |
| CN113093293B (en) * | 2021-05-08 | 2023-02-10 | 北京潞电电气设备有限公司 | Cable path identification and fault positioning equipment |
| CN113093293A (en) * | 2021-05-08 | 2021-07-09 | 北京潞电电气设备有限公司 | Cable path identification and fault positioning equipment |
| CN113093268A (en) * | 2021-05-08 | 2021-07-09 | 北京潞电电气设备有限公司 | Method for automatically identifying cable line path |
| CN113093267A (en) * | 2021-05-08 | 2021-07-09 | 北京潞电电气设备有限公司 | Method for identifying cable line path |
| CN113093269A (en) * | 2021-05-08 | 2021-07-09 | 北京潞电电气设备有限公司 | Method for automatically identifying cable line path |
| CN113078736A (en) * | 2021-05-19 | 2021-07-06 | 淮北师范大学 | Multifunctional intelligent micro-grid system |
| CN116061147A (en) * | 2021-11-04 | 2023-05-05 | 中国科学院沈阳自动化研究所 | Cable tunnel inspection robot |
| CN116061147B (en) * | 2021-11-04 | 2024-06-25 | 中国科学院沈阳自动化研究所 | Cable tunnel inspection robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN211954433U (en) | Cable automated inspection robot | |
| KR101948523B1 (en) | Managing method of substation facilities utilzing a robot system | |
| JP5237472B2 (en) | Line inspection robot and system | |
| CN105835059B (en) | Robot control system | |
| CN103286785B (en) | Wireless cable crusing robot and control system thereof | |
| CN103605365A (en) | Fully automatic operation method of substation equipment pollution inspection, determination and cleaning | |
| KR102199752B1 (en) | Apparatus for fault detection and recovery device in underground distribution lines using portable sensor | |
| CN102317041A (en) | Route inspecting robot and system | |
| CN105730540A (en) | Transformer substation patrol and inspection robot with rod climbing function and drive method for transformer substation patrol and inspection robot | |
| CN104020768A (en) | Infrared temperature measurement track inspection robot | |
| CN103341858B (en) | cable inspection robot and control system thereof | |
| CN106129889A (en) | A kind of insulator contamination on-Line Monitor Device and insulator decontamination apparatus | |
| CN109341861B (en) | Urban rail train axle box temperature monitoring device and method | |
| CN113771053A (en) | Robot with intelligent patrol early warning function | |
| Dong et al. | A review of indoor-orbital electrical inspection robots in substations | |
| CN111505009A (en) | Power transformer internal fault detection system based on wall-climbing robot | |
| JPH03289310A (en) | Self-running type monitoring robot | |
| CN111707484A (en) | Magnetic wave positioning vehicle bottom intelligent detection system | |
| CN104266597A (en) | Linear motor air gap on-line monitoring system | |
| CN210191678U (en) | Robot | |
| CA2745815C (en) | Line inspection robot and system | |
| CN220187938U (en) | Water leakage detection device and water leakage detection system | |
| CN105484603A (en) | Omni-directional video monitoring hangar door | |
| CN114709747B (en) | Self-adaptive special-shaped space cable duct inspection robot | |
| CN219174531U (en) | Wheel type blast furnace tuyere safety inspection robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201117 Termination date: 20210512 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |