CN212137107U - Robot and transmission line inspection system - Google Patents
Robot and transmission line inspection system Download PDFInfo
- Publication number
- CN212137107U CN212137107U CN202020256556.8U CN202020256556U CN212137107U CN 212137107 U CN212137107 U CN 212137107U CN 202020256556 U CN202020256556 U CN 202020256556U CN 212137107 U CN212137107 U CN 212137107U
- Authority
- CN
- China
- Prior art keywords
- robot
- transmission line
- power transmission
- shell
- controller
- 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
- 230000005540 biological transmission Effects 0.000 title claims abstract description 83
- 238000007689 inspection Methods 0.000 title claims abstract description 59
- 238000004891 communication Methods 0.000 claims description 23
- 230000009194 climbing Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 14
- 238000000034 method Methods 0.000 description 9
- 230000004888 barrier function Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 229910052744 lithium Inorganic materials 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000012216 screening Methods 0.000 description 2
Images
Landscapes
- Alarm Systems (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The application discloses robot and transmission line system of patrolling and examining. Wherein, this robot includes: a housing; the controller is arranged in the shell and used for controlling the robot to carry out inspection work on the power transmission line according to a preset control instruction; the driving wheel is arranged outside the shell and used for enabling the robot to move along a guide rail or a power transmission line, wherein the guide rail is arranged in advance at the position of a cross arm on the power transmission line; and the pressing wheel is arranged outside the shell and used for pressing the power transmission line when the driving wheel moves along the guide rail. The application solves the technical problems that the existing line inspection robot does not have the function of crossing towers, can only execute line inspection tasks on power transmission lines between the towers, and has weak climbing capability and poor obstacle crossing stability.
Description
Technical Field
The application relates to the field of power transmission line inspection, in particular to a robot and a power transmission line inspection system.
Background
At present, an overhead transmission line mainly adopts a traditional manual inspection mode, the influence of weather, terrain and traffic conditions on manual operation is large, the inspection efficiency is low, and the labor intensity is large. In addition, in recent years, helicopters and unmanned aerial vehicles are adopted to carry out line routing inspection, but the two routing inspection modes are strictly controlled by national airspace, are greatly influenced by weather and depend on high-tech personnel. Related documents in the field of overhead transmission line three-dimensional inspection intelligent robots exist at home and abroad, but the existing line inspection robot does not have the function of crossing towers, can only execute line inspection tasks on transmission lines among the towers, and has weak climbing capability and poor obstacle crossing stability.
In view of the above problems, no effective solution has been proposed.
SUMMERY OF THE UTILITY MODEL
The embodiment of the application provides a robot and transmission line system of patrolling and examining to at least, solve current circuit and patrol and examine the robot and do not possess and stride across the shaft tower function, can only carry out the circuit on the transmission line between the shaft tower and patrol and examine the task, climbing ability weak and obstacle crossing poor stability's technical problem.
According to an aspect of an embodiment of the present application, there is provided a robot including: a housing; the controller is arranged in the shell and used for controlling the robot to carry out inspection work on the power transmission line according to a preset control instruction; the driving wheel is arranged outside the shell and used for enabling the robot to move along a guide rail or a power transmission line, wherein the guide rail is arranged in advance at the position of a cross arm on the power transmission line; and the pressing wheel is arranged outside the shell and used for pressing the power transmission line when the driving wheel moves along the guide rail.
Optionally, the position of the pinch roller on the housing is below the drive wheel, and the number of pinch rollers is the same as the number of drive wheels.
Optionally, the robot further comprises: the image acquisition equipment is arranged outside the shell, is in communication connection with the controller, and is used for acquiring images of the power transmission line when the robot executes polling work and sending the acquired images to the controller.
Optionally, the controller further includes a first alarm circuit, configured to send alarm information to the server when the power transmission line is identified to have a fault according to the image.
Optionally, the robot further comprises: the power supply circuit is arranged in the shell and used for supplying power to the robot; the power supply circuit comprises a second alarm circuit used for sending an alarm signal to the server when detecting that the electric quantity of the battery pack contained in the power supply circuit is lower than a preset threshold value.
Optionally, the robot further comprises: and the communication equipment is in communication connection with the controller and is used for sending the image and the fault information of the power transmission line to the server.
According to another aspect of the embodiments of the present application, there is also provided a power transmission line inspection system, including: the robot comprises a shell, a controller, a driving wheel and a pinch roller, wherein the controller is arranged in the shell and used for controlling the robot to carry out inspection work on a power transmission line according to a preset control instruction; the driving wheel is arranged outside the shell and used for enabling the robot to move along a guide rail or a power transmission line, wherein the guide rail is arranged in advance at the position of a cross arm on the power transmission line; the pressing wheel is arranged outside the shell and used for pressing the power transmission line when the driving wheel moves along the guide rail; the server is in communication connection with the robot and used for sending a control command to the robot; receiving the inspection work information fed back by the robot; a guide rail; and the track is used for providing a path for the robot to get on and off the tower where the transmission line is located.
Optionally, the position of the pinch roller on the housing is below the drive wheel, and the number of pinch rollers and drive wheel is the same.
Optionally, the robot further comprises: the image acquisition equipment is arranged outside the shell, is in communication connection with the controller, and is used for acquiring images of the power transmission line when the robot executes polling work and sending the acquired images to the controller.
Optionally, the controller further includes a first alarm circuit, configured to send alarm information to the server when the power transmission line is identified to have a fault according to the image.
Optionally, the robot further comprises: the power supply circuit is arranged in the shell and used for supplying power to the robot; the power supply circuit comprises a second alarm circuit used for sending an alarm signal to the server when detecting that the electric quantity of the battery pack contained in the power supply circuit is lower than a preset threshold value.
Optionally, the robot further comprises: and the communication equipment is in communication connection with the controller and is used for sending the image and the fault information of the power transmission line to the server.
In an embodiment of the present application, there is provided a robot including: a housing; the controller is arranged in the shell and used for controlling the robot to carry out inspection work on the power transmission line according to a preset control instruction; the driving wheel is arranged outside the shell and used for enabling the robot to move along a guide rail or a power transmission line, wherein the guide rail is arranged in advance at the position of a cross arm on the power transmission line; the pinch roller, the setting is outside at the casing, when being used for the drive wheel to remove along the guide rail, compress tightly transmission line, through setting up the drive wheel, the pinch roller, the cooperation sets up the guide rail of cross arm position on transmission line in advance, thereby realized that the robot can easily stride across the barrier on the shaft tower when patrolling the line, and can prevent that the robot from skidding or the technological effect of derailing at the drive wheel when removing, and then solved current circuit and patrolled and examined the robot and do not possess and stride across the shaft tower function, can only carry out the circuit on the transmission line between the shaft tower and patrol and examine the task, the technical problem that climbing ability is weak and obstacle crossing poor stability.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a block diagram of a robot according to an embodiment of the present application;
FIG. 2 is a block diagram of another robot in accordance with an embodiment of the present application;
FIG. 3 is a block diagram of another robot in accordance with an embodiment of the present application;
FIG. 4 is a schematic illustration of operation of a patrol robot in accordance with an embodiment of the present application;
FIG. 5 is a block diagram of another robot in accordance with an embodiment of the present application;
fig. 6 is a structural diagram of a power transmission line inspection system according to an embodiment of the present application;
fig. 7 is a structural diagram of another power transmission line inspection system according to an embodiment of the present application;
fig. 8 is a structural diagram of another power transmission line inspection system according to an embodiment of the present application;
fig. 9 is a structural diagram of another power transmission line inspection system according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a structural diagram of a robot according to an embodiment of the present application, as shown in fig. 1, the robot including:
a housing 10;
and the controller 12 is arranged inside the shell 10 and used for controlling the robot to carry out the inspection work on the power transmission line according to the preset control instruction.
According to an optional embodiment of the application, before the robot executes the polling task, the control center completely defines the behavior of the robot, and after the robot is on line, the robot autonomously executes polling according to a preset program, and sequentially takes pictures and detects equipment on the power transmission line. And automatically alarming when the circuit is abnormal, and reminding the control center of further checking and confirming.
And the driving wheels 14 are arranged outside the shell 10 and used for enabling the robot to move along a guide rail or a power transmission line, wherein the guide rail is arranged at the position of a cross arm on the power transmission line in advance.
And the pressing wheel 16 is arranged outside the shell 10 and used for pressing the power transmission line when the driving wheel 14 moves along the guide rail.
The robot can stride across barriers such as damper, splicing sleeve on the shaft tower, uses the profile modeling direction technique to install the guide rail additional in overhead earth wire cross arm department, can easily stride across the barrier on the shaft tower.
Preferably, the robot has two driving wheels, and the pressing wheels are respectively arranged below the two driving wheels to prevent the driving wheels from slipping and derailing during walking.
Through the robot, the driving wheels and the pressing wheels are arranged and matched with the guide rails arranged at the positions of the cross arms arranged on the power transmission line in advance, so that the robot can easily cross the tower when patrolling the line, and the technical effect that the driving wheels slip or derail when the robot moves can be prevented.
According to an alternative embodiment of the present application, the location of the pinch rollers 16 on the housing 10 is below the drive wheels 14, and the number of pinch rollers 16 and drive wheels 14 is the same.
Fig. 2 is a structural view of another robot according to an embodiment of the present application, and as shown in fig. 2, the robot further includes: and the image acquisition equipment 18 is arranged outside the shell 10, is in communication connection with the controller 12, and is used for acquiring the image of the power transmission line when the robot performs the inspection work and sending the acquired image to the controller 12.
According to an alternative embodiment of the present application, the image capturing device 18 may be a high-definition camera provided on the inspection robot.
According to an alternative embodiment of the present application, the controller 12 further includes a first warning circuit, configured to send warning information to the server when the image identifies that the power transmission line has a fault.
The first warning circuit is used for screening foreign matters to be hung by applying an image intelligent identification technology. And sending warning information to a server due to equipment defects and environmental hidden dangers such as mechanical construction. The inspection image and the measurement data can be transmitted back to the background server in real time through the encrypted 4G network.
Fig. 3 is a structural view of another robot according to an embodiment of the present application, and as shown in fig. 3, the robot further includes: a power supply circuit 110 disposed inside the housing 10 for supplying power to the robot; the power supply circuit comprises a second alarm circuit used for sending an alarm signal to the server when detecting that the electric quantity of the battery pack contained in the power supply circuit is lower than a preset threshold value.
According to an optional embodiment of the application, the robot is powered by a lithium battery pack, can continuously work for more than 8 hours, automatically alarms and returns to a solar base station for supplying and charging when the electric quantity is low, so that daytime inspection and night charging are realized, and a single line inspection is not required to be carried out in the whole process. As shown in the schematic diagram of the inspection robot in fig. 4, the robot automatically goes up and down the tower to perform the inspection task of the power transmission line, crosses the obstacle after encountering the obstacle, and continues to perform the inspection task. When the electric quantity of the lithium battery of the endurance module is lower than a certain threshold value, the solar energy base station automatically gives an alarm and returns to the solar energy base station for supplying and charging. And ending the polling task.
Fig. 5 is a structural view of another robot according to an embodiment of the present application, and as shown in fig. 5, the robot further includes: and the communication device 112 is in communication connection with the controller 12 and is used for sending the image and the fault information of the power transmission line to the server.
Preferably, the communication device 112 may use the encrypted 4G communication technology to transmit the inspection image, the measurement data, and other information back to the background system in real time.
Table 1 shows that compared with other inspection methods, when the inspection robot provided by the embodiment of the present application is used for inspecting the power transmission line, as shown in table 1,
TABLE 1 comparison of robot and other inspection modes
The following technical effects can be realized by utilizing the robot to patrol the power transmission line: the line three-dimensional routing inspection, line state monitoring and channel early warning are effectively realized, the problems of low efficiency, low automation degree and the like in routing inspection modes such as manual operation, helicopters and unmanned aerial vehicles are solved, and the system has high popularization value.
Fig. 6 is a structural diagram of a power transmission line inspection system according to an embodiment of the present application, and as shown in fig. 6, the system includes:
robot 70 includes a housing 700, a controller 702, a drive wheel 704, and a pinch wheel 706, wherein,
the controller 702 is arranged inside the shell 700 and used for controlling the robot to perform inspection work on the power transmission line according to a preset control instruction;
according to an optional embodiment of the application, before the robot executes the polling task, the control center completely defines the behavior of the robot, and after the robot is on line, the robot autonomously executes polling according to a preset program, and sequentially takes pictures and detects equipment on the power transmission line. And automatically alarming when the circuit is abnormal, and reminding the control center of further checking and confirming.
A driving wheel 704 arranged outside the housing 700 for moving the robot along the guide rail 74 or the power transmission line, wherein the guide rail 74 is preset at the position of the cross arm on the power transmission line;
and the pressing wheel 706 is arranged outside the shell 700 and is used for pressing the power transmission line when the driving wheel 704 moves along the guide rail.
The robot can stride across barriers such as damper, splicing sleeve on the shaft tower, uses the profile modeling direction technique to install the guide rail additional in overhead earth wire cross arm department, can easily stride across the barrier on the shaft tower.
Preferably, the robot has two driving wheels, and the pressing wheels are respectively arranged below the two driving wheels to prevent the driving wheels from slipping and derailing during walking.
Through the robot, the driving wheels and the pressing wheels are arranged and matched with the guide rails arranged at the positions of the cross arms arranged on the power transmission line in advance, so that the robot can easily cross the tower when patrolling the line, and the technical effect that the driving wheels slip or derail when the robot moves can be prevented.
A server 72 connected to the robot for transmitting a control command to the robot; and receiving the inspection work information fed back by the robot.
A guide rail 74.
And the track 76 is used for providing a path for the robot to get on and off the tower where the transmission line is located.
Before carrying out the work of patrolling and examining, track about the shaft tower body presets, place the robot on the platform of track lower extreme, the robot can be automatic go up and down the tower, and the operation of turning on the court on many circuits, full play its maximum utility.
Through the inspection system, three-dimensional inspection, line state monitoring and channel early warning of the line are effectively achieved, the problems of low efficiency, low automation degree and the like of inspection modes such as manual inspection, helicopter inspection, unmanned aerial vehicle and the like are solved, and the inspection system has high popularization value.
It should be noted that, reference may be made to the description related to the embodiments shown in fig. 1 to 5 for a preferred implementation of the embodiment shown in fig. 7, and details are not repeated here.
According to an alternative embodiment of the present application, the position of the pinch rollers 706 on the housing 700 is below the drive wheels 704, and the number of pinch rollers 706 is the same as the number of drive wheels 704.
Fig. 7 is a structural diagram of another power transmission line inspection system according to an embodiment of the present application, and as shown in fig. 7, the robot 70 further includes: and the image acquisition equipment 708 is arranged outside the shell 700, is in communication connection with the controller 702, and is used for acquiring the image of the power transmission line when the robot performs the inspection work and sending the acquired image to the controller 702.
According to an alternative embodiment of the present application, the image capturing device 708 may be a high-definition camera disposed on the robot 70.
According to an alternative embodiment of the present application, the controller 702 further includes a first warning circuit, configured to send a warning message to the server 72 when the image identifies that the power transmission line has a fault.
The first warning circuit is used for screening foreign matters to be hung by applying an image intelligent identification technology. And sending warning information to a server due to equipment defects and environmental hidden dangers such as mechanical construction. The inspection image and the measurement data can be transmitted back to the background server in real time through the encrypted 4G network.
Fig. 8 is a structural diagram of another power transmission line inspection system according to an embodiment of the present application, and as shown in fig. 8, the robot 70 further includes: a power supply circuit 710 disposed inside the case 700 for supplying power to the robot 70; the power supply circuit 710 includes a second alarm circuit for sending an alarm signal to the server 72 when the power level of the battery pack included in the power supply circuit 710 is detected to be lower than a preset threshold.
According to an optional embodiment of the application, the robot is powered by a lithium battery pack, can continuously work for more than 8 hours, automatically alarms and returns to a solar base station for supplying and charging when the electric quantity is low, so that daytime inspection and night charging are realized, and a single line inspection is not required to be carried out in the whole process.
Fig. 9 is a structural diagram of another power transmission line inspection system according to an embodiment of the present application, and as shown in fig. 9, the robot 70 further includes: and a communication device 712, communicatively connected to the controller 702, for transmitting the image and the fault information of the power transmission line to the server 72.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (12)
1. A robot, comprising:
a housing;
the controller is arranged in the shell and used for controlling the robot to carry out inspection work on the power transmission line according to a preset control instruction;
the driving wheel is arranged outside the shell and used for enabling the robot to move along a guide rail or the power transmission line, wherein the guide rail is arranged in advance at the position of a cross arm on the power transmission line;
and the pressing wheel is arranged outside the shell and used for pressing the power transmission line when the driving wheel moves along the guide rail.
2. The robot of claim 1,
the position of the pinch roller on the shell is located below the driving wheel, and the number of the pinch rollers is the same as that of the driving wheel.
3. The robot of claim 1, further comprising:
the image acquisition equipment is arranged outside the shell, is in communication connection with the controller, and is used for acquiring the images of the power transmission line when the robot executes the inspection work and sending the acquired images to the controller.
4. The robot of claim 3, wherein the controller further comprises a first alarm circuit configured to send an alarm message to a server if the power transmission line is identified to have a fault according to the image.
5. The robot of claim 1, further comprising:
the power supply circuit is arranged inside the shell and used for supplying power to the robot;
the power supply circuit comprises a second alarm circuit used for sending an alarm signal to the server when detecting that the electric quantity of the battery pack contained in the power supply circuit is lower than a preset threshold value.
6. The robot of claim 4, further comprising:
and the communication equipment is in communication connection with the controller and is used for sending the image and the fault information of the power transmission line to the server.
7. The utility model provides a transmission line system of patrolling and examining which characterized in that includes:
the robot comprises a shell, a controller, a driving wheel and a pinch roller, wherein,
the controller is arranged in the shell and used for controlling the robot to carry out inspection work on the power transmission line according to a preset control instruction; the driving wheel is arranged outside the shell and used for enabling the robot to move along a guide rail or the power transmission line, wherein the guide rail is arranged in advance at the position of a cross arm on the power transmission line; the pressing wheel is arranged outside the shell and used for pressing the power transmission line when the driving wheel moves along the guide rail;
the server is in communication connection with the robot and is used for sending the control instruction to the robot; receiving the inspection work information fed back by the robot;
the guide rail;
and the track is used for providing a path for the robot to go up and down the tower where the power transmission line is located.
8. The system of claim 7,
the position of the pinch roller on the shell is located below the driving wheel, and the number of the pinch rollers is the same as that of the driving wheel.
9. The system of claim 7, wherein the robot further comprises:
the image acquisition equipment is arranged outside the shell, is in communication connection with the controller, and is used for acquiring the images of the power transmission line when the robot executes the inspection work and sending the acquired images to the controller.
10. The system of claim 9, wherein the controller further comprises a first alarm circuit configured to send an alarm message to a server if the image identifies that the power transmission line has a fault.
11. The system of claim 7, wherein the robot further comprises:
the power supply circuit is arranged inside the shell and used for supplying power to the robot;
the power supply circuit comprises a second alarm circuit used for sending an alarm signal to the server when detecting that the electric quantity of the battery pack contained in the power supply circuit is lower than a preset threshold value.
12. The system of claim 10, wherein the robot further comprises:
and the communication equipment is in communication connection with the controller and is used for sending the image and the fault information of the power transmission line to the server.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020256556.8U CN212137107U (en) | 2020-03-04 | 2020-03-04 | Robot and transmission line inspection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020256556.8U CN212137107U (en) | 2020-03-04 | 2020-03-04 | Robot and transmission line inspection system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212137107U true CN212137107U (en) | 2020-12-11 |
Family
ID=73672957
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020256556.8U Active CN212137107U (en) | 2020-03-04 | 2020-03-04 | Robot and transmission line inspection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212137107U (en) |
-
2020
- 2020-03-04 CN CN202020256556.8U patent/CN212137107U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104284151B (en) | A kind of transformer station ground method for inspecting and cruising inspection system | |
| CN202474607U (en) | Automatic patrol inspection robot system of intelligent transformer substation | |
| CN109412079B (en) | Unmanned aerial vehicle inspection system for power transmission line | |
| CN103986087B (en) | Transmission line patrol system and method based on optical transmission | |
| CN104269777A (en) | Patrol robot system for overhead high-voltage transmission line | |
| CN203245872U (en) | Two-wheel self-balancing patrolling robot for transformer substation | |
| CN111049058B (en) | Unmanned aerial vehicle for deicing of overhead transmission line and control method thereof | |
| CN102097765A (en) | Running state inspection method of high voltage line | |
| CN110112674A (en) | A kind of autonomous crusing robot of transmission line of electricity based on flight obstacle detouring and obstacle-detouring method | |
| CN104122892A (en) | Large-scale motor-type test-stand intelligent tour inspection dolly system | |
| CN203932804U (en) | Transmission line inspection robot system | |
| CN111347401A (en) | Snakelike line climbing robot and line patrol method | |
| CN111585643A (en) | Remote real-time monitoring method applied to power line stringing process | |
| CN212137107U (en) | Robot and transmission line inspection system | |
| CN209963606U (en) | Transformer substation intelligent inspection robot based on wireless charging | |
| CN203932833U (en) | A kind of aerial high-voltage power transmission line robot inspection system | |
| CN207782276U (en) | Cable duct of substation intelligent patrol robot | |
| CN204731641U (en) | High mountain high hill Intelligent patrol robot control system | |
| CN210570803U (en) | Electric power system monitoring and collecting device | |
| CN204334629U (en) | A kind of power line shaft tower monitoring system based on wireless sensor network | |
| CN114243568A (en) | All-weather long-distance inspection system for overhead line | |
| CN209419095U (en) | The control circuit of transmission line wire equipotential intelligence repair apparatus | |
| CN207897085U (en) | A kind of unmanned machine management system for patrolling railway | |
| CN215870916U (en) | Low-burden and high-efficiency intelligent substation inspection system | |
| CN110601366A (en) | Electric power monitored control system based on thing networking |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |