KR101074510B1 - Robot for inspecting distribution power line - Google Patents

Robot for inspecting distribution power line Download PDF

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Publication number
KR101074510B1
KR101074510B1 KR1020090136062A KR20090136062A KR101074510B1 KR 101074510 B1 KR101074510 B1 KR 101074510B1 KR 1020090136062 A KR1020090136062 A KR 1020090136062A KR 20090136062 A KR20090136062 A KR 20090136062A KR 101074510 B1 KR101074510 B1 KR 101074510B1
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South Korea
Prior art keywords
distribution line
post
grip
microphone
inspection robot
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KR1020090136062A
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Korean (ko)
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KR20110079097A (en
Inventor
유재식
전시식
양정권
김진봉
김진원
이재훈
장택영
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(주)대홍전력
한국전력공사
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Priority to KR1020090136062A priority Critical patent/KR101074510B1/en
Priority to PCT/KR2010/005398 priority patent/WO2011081274A1/en
Publication of KR20110079097A publication Critical patent/KR20110079097A/en
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Publication of KR101074510B1 publication Critical patent/KR101074510B1/en

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to a distribution line inspection robot, wherein the distribution line inspection robot is connected to a processing branch line to travel along a processing branch line by traveling to a processing branch line to check a distribution line and a distribution facility by hanging on a processing branch line connecting a post. Connected to the posts with the posts in between and grip the telephone pole when moving from one side to the other side, the grip device for moving the traveling device by rotating around the post, the connecting device connecting the traveling device and the grip device and the traveling device along the processing line It includes a check device for moving and checking the distribution line by sensing the temperature, image and sound waves of the distribution line.

Distribution Line Inspection Robot

Description

Distribution line inspection robot {ROBOT FOR INSPECTING DISTRIBUTION POWER LINE}

The present invention relates to a distribution line inspection robot, and more particularly, to a self-driven distribution line inspection robot having a distribution line inspection device.

Distribution Line Inspection The robot checks the abnormality of the high-voltage distribution line installed through the wire supports. Distribution Line Inspection The robot runs on its own along the existing overhead line installed at the top of the post, the wire support, to check for damage and corrosion of the distribution line. The distribution line inspection robot checks a distribution line disposed below the existing processing branch while moving along the existing processing branch.

The distribution line inspection robot checks the existing line and, when encountering the post, which is the wire support, moves to the next processing branch from the traveling processing ground by grasping and rotating the post. Thus, the distribution line inspection robot includes grip means for sensing and grasping the post to grasp and rotate the post.

The problem to be solved by the present invention is to provide a distribution line inspection robot for inspecting the distribution line while moving itself along the processing branch line of the distribution line.

The distribution line inspection robot according to an embodiment of the present invention is connected to the processing branch line to run along the processing branch line, the traveling device is fastened to the processing branch line to check the distribution line and the power distribution equipment hanging on the processing branch line connecting the posts; A grip device that is connected to grip the telegraph pole when moving from one side to the other side with the post therebetween, and rotates with respect to the post to move the traveling device, a connecting device connecting the traveling device and the grip device, and the traveling And an inspection apparatus that moves along the overhead branch line by a device, and checks the distribution line by sensing a temperature, an image, and sound waves of the distribution line.

The distribution line inspection robot according to an exemplary embodiment of the present invention can stably grip the posts by mitigating a shock caused by the movement of loads by dividing the grip part which grips the post into a fixed part and a swing part.

In addition, the distribution line inspection robot according to an embodiment of the present disclosure may accurately detect partial discharges generated in the distribution line and the distribution facility by providing a sound wave diagnostic apparatus including a plurality of microphones arranged in a triangular form.

As the inventive concept allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description. However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all transformations, equivalents, and substitutes included in the spirit and scope of the present invention. In the following description of the present invention, if it is determined that the detailed description of the related known technology may obscure the gist of the present invention, the detailed description thereof will be omitted.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

Hereinafter, an embodiment of a distribution line inspection robot according to the present invention will be described in detail with reference to the accompanying drawings, in the following description with reference to the accompanying drawings, the same or corresponding components are given the same reference numerals and duplicated thereto. The description will be omitted.

1 is a view showing the driving of the distribution line inspection robot according to an embodiment of the present invention.

Referring to Figure 1, the distribution line inspection robot 100 according to an embodiment of the present invention while running suspended from the processing branch line 10 is installed on the top end of the post 50, the wire support of the processing branch line 10 Check the abnormality of the power distribution line 30 and the power distribution facility 40 installed below.

2 is a view showing the side of the distribution line inspection robot according to an embodiment of the present invention. 3 is a view showing the front of the distribution line inspection robot according to an embodiment of the present invention.

2 and 3, the distribution line inspection robot 100 according to an embodiment of the present invention includes a traveling device 200, a connection device 300, a grip device 400, a check device 500, and a controller. And 600.

The traveling device 200 is a pulley that fixes the first travel pulley 210 and the second travel pulley 220, the first travel pulley 210, and the second travel pulley 220 that travel the processing branch line 10. It includes a sensor 270 installed in the fixing unit 230 and the pulley fixing unit 230 for detecting the position of the processing branch line (10).

The first driving pulley 210 and the second driving pulley 220 are connected to the driving pulley of the driving motor and driven together.

The pulley fixing part 230 is coupled to the pulley guide plate 240 to fix the first driving pulley 210 and the second driving pulley 220. The pulley fixing part 230 includes a cable wire lock pulley 250 disposed adjacent to the first travel pulley 210 and the second travel pulley 220 at one end and the other end, respectively. The cable wire lock pulley 250 is installed on the pulley support which rises and falls, and is contacted and spaced apart from the processing branch line 10.

The sensor 270 is installed on the sensor support 280 coupled to the pulley guide plate 240 to detect the processing branch line 10. The sensor 270 may include an ultrasonic sensor or a photo sensor.

The traveling device 200 includes a rotation support part 290 coupled to the pulley fixing part 230 to rotate the pulley fixing part 230. The rotation support part 290 includes a first coupling bracket 291 coupled to the pulley fixing part 230 and a circular guide frame 293 for guiding rotation of the first coupling bracket 291.

The connection device 300 includes a travel device support 320 and a travel device support 320 coupled with the pulley fixing part 230 and the rotation support part 290 of the travel device 200 to support the travel device 200. It is connected to include a height adjustment unit 305 for fixing the driving device support 320. In addition, the connection device 300 includes a rotation support 330 coupled with the grip device 400 to rotate the grip device 400.

The traveling device supporter 320 is inclined to the height adjuster 305, and supports the pulley fixing part 230 and the rotation supporter 330.

The height adjusting part 305 vertically moves the second coupling bracket 325 coupled with the driving device support 320, the vertical movement guide 310 and the rotation support 330 to guide the vertical movement of the rotation support 330. And a positioning screw 311 to move. The second coupling bracket 325 is installed on the height adjusting unit 305 to couple with the traveling device support 320. The vertical movement guide 310 includes a pair of LM guides disposed vertically to face each other. The positioning screw 311 is installed inside the vertical movement guide 310. The positioning screw 311 is driven by the positioning motor 312.

The rotary support 330 may move up and down along the position adjusting screw 311, and may be inclined with the vertical movement guide 310 by the tilting unit 340. The rotary support 330 is engaged by a gear (not shown) formed in an arc-shaped CM guide rail (not shown) of the gripper swivel 411 and operated by the rotation drive motor 341. The rotary support 330 may rotate in the horizontal direction by the gripper swivel 411.

The grip device 400 includes a pair of horizontal grippers 410 that grip the vertical portions of the posts 50 and a pair of vertical grippers 450 that grip the uneven portions of the posts 50. In FIG. 2, the vertical gripper 450 is omitted for convenience of expressing the post 50. The grip device 400 is described in more detail below with reference to the associated drawings.

The inspection apparatus 500 includes a photographing unit 505 for photographing the distribution line 30, a plurality of microphones 531, 532, 533, 534, and a sound wave analyzer 540 for photographing the distribution line 30 to check an abnormality of the distribution line 30. And a sound wave diagnosis device 530 for diagnosing the abnormality of the sound wave 30 by sound waves. The photographing unit 505 includes a thermal imaging camera 510 for capturing a thermal image of the power distribution line 30, and a CCD camera 520 capable of visually identifying a failure portion of the power distribution line 30. The inspection apparatus 500 will be described in more detail with reference to the accompanying drawings below.

The controller 600 controls the traveling device 200, the connection device 300, the grip device 400, and the inspection device 500. The controller 600 controls the traveling device 200 and the sensor 270 to drive the distribution line inspection robot 100 along the processing branch line 10, and the height of the rotation support 330 corresponds to the post 50. And rotation. In addition, the control unit 600 may control the grip device 400 to hold the post 50 by the grip device 400, and transmit the check information received by the check device 500 to the outside.

Hereinafter, a grip device of a distribution line inspection robot according to an exemplary embodiment of the present invention will be described.

4 is a view showing a grip device of the distribution line inspection robot according to an embodiment of the present invention. FIG. 5 is a diagram illustrating the horizontal gripper shown in FIG. 4. FIG. 6 is a view illustrating the vertical gripper shown in FIG. 4.

4, 5, and 6, the distribution line inspection robot 100 according to an embodiment of the present invention stops driving when detecting the post 50 and according to the instruction of the control unit 600, the grip device ( The grip device 400 rotates based on the tilting part 340 of the height adjusting part 305 after holding the post 50 with 400.

The grip device 400 includes a horizontal gripper 410 for holding the vertical portion of the post 50 and a vertical gripper 450 for holding the uneven portion 55 of the post 50.

The horizontal gripper 410 includes a first grip portion 422 that contacts the vertical portion of the post 50 including a first fixing portion 423 and a first swing portion 425. The first grip part 422 may prevent a phenomenon that the load moves and tilts when the horizontal gripper 410 is rotated after the vertical part of the post 50 is caught.

In detail, the first grip part 422 is coupled to one side of the first cylinder 427 and the first cylinder 427 for moving the first fixing part 423 and the first swing part 425. And a first gripper connector 426 for supporting the 423 and the first swing portion 425, and a first cylinder motor 430 for driving the first cylinder 427. The first cylinder 427 is coupled to the fixed cylinder 428 and the fixed cylinder 428 fixed to the gripper swivel 411 of the horizontal gripper 410 to move the first gripper connector 426 in a sliding motion. (429).

The first fixing part 423 is in close contact with the vertical part of the post 50 to support the vertical post 50.

The first swing part 425 is in contact with the vertical part of the post 50 to reinforce the bearing force by the weight of the distribution line check robot 100 when the horizontal gripper 410 rotates. In this case, the first swing part 425 may swing up and down with a horizontal center axis coupled to the first gripper connector 426.

The vertical gripper 450 includes a second grip portion 462 in contact with the uneven portion 55 of the post 50 including a second fixing portion 463 and a second swing portion 465. In addition, the vertical gripper 450 is coupled to the horizontal gripper 410 using the support frame 451.

After the second grip part 462 catches the uneven part 55 of the post 50, the force supporting the load of the distribution line inspection robot 100 and the force of reinforcing the rotational force of the vertical gripper 450 may be improved. Can be. In addition, the vertical gripper 450 includes a sliding plate 455 moving in one direction in combination with the second grip part 462.

The sliding plate 455 mechanically complements the grip position of the unfolding portion 55 of the post 50 that varies depending on the angle, span, tension, and the like, so that the second grip portion 462 has the unfolding portion 55 of the post 50. It helps to hold it stably.

The second grip part 462 is coupled to one side of the second cylinder 470 and the second cylinder 470 that moves the second fixing part 463 and the second swing part 465, and the second fixing part 463. And a second gripper connector 466 for supporting the second swing portion 465 and a second cylinder motor 480 for driving the second cylinder 470. The second gripper connector 466 is coupled to the sliding plate 455 using the third coupling bracket 458.

The second fixing part 463 is in close contact with the uneven portion 55 of the post 50 to support the uneven portion 55 of the post 50.

The second swing portion 465 contacts the uneven portion 55 of the post 50 to mitigate the flow due to the weight of the distribution line check robot 100 when the vertical gripper 450 rotates. Here, the second swing portion 465 may have a vertical center axis coupled to the second gripper connector 466 to swing from side to side.

The sliding plate 455 is coupled to the second grip part 462 to support the second grip part 462. The sliding plate 455 is horizontally coupled to the support frame 451 of the vertical gripper 450 by the LM guide. Accordingly, the sliding plate 455 may move the second grip part 462 corresponding to the position of the unfolding part 55 of the post 50.

7 and 8 are views for explaining the inspection device of the distribution line inspection robot shown in FIG. In FIG. 7, the microphone arrangement of the inspection apparatus observed from the front of the distribution line inspection robot is illustrated. In addition, FIG. 8 illustrates a microphone arrangement of the inspection apparatus observed from the side of the distribution line inspection robot. Here, the inspection apparatus of the distribution line inspection robot is further described with reference to FIGS. 1 to 3.

1, 2, 3, 7 and 8, the inspection apparatus 500 of the distribution line inspection robot according to an embodiment of the present invention to check the abnormality of the distribution line 30 and the distribution facilities And a thermal imaging camera 510, a CCD camera 520, and a sound wave diagnosis device 530. In addition, the inspection apparatus 500 may further include a GPS (not shown).

The thermal imaging camera 510 diagnoses the abnormality of the power distribution line 30 by diagnosing the temperature of the power distribution line 30 and the power distribution facility 40. The thermal imaging camera 510 is disposed under the rotation support 330 of the height adjusting unit 305 for temperature diagnosis of the power distribution line 30 and the power distribution equipment.

The CCD camera 520 may visually identify a failure site of the power distribution line 30. That is, the CCD camera 520 directly diagnoses the failure of the power distribution line 30 and the power distribution equipment. Here, the CCD camera 520 is disposed below the rotation support 330 of the height adjusting unit 305 together with the thermal imaging camera 510.

The sound wave diagnosis device 530 is indirectly diagnosed the deterioration facility by detecting the discharge noise emitted from the power distribution facility located on the distribution line 30 and the power distribution facility. To this end, the sound wave diagnosis apparatus 530 includes a plurality of microphones 531, 532, 533, 534 and a sound wave analyzer 540 installed in the connection device 300.

In detail, the sound wave diagnosis apparatus 530 includes a first microphone 531, a second microphone 532, a third microphone 533, and a fourth microphone 534 arranged in a triangular or cross shape. Here, each of the first microphone 531, the second microphone 532, the third microphone 533, and the fourth microphone 534 is disposed to maintain a constant distance from each other. For example, the first microphone 531 is positioned above the ultrasonic sensor 270 that detects the post 50. The second microphone 532 and the third microphone 533 are positioned at both the left and right sides of the height adjusting unit 305 around the height adjusting unit 305 of the traveling device 200. The fourth microphone 534 is located at the rear of the grip device 400. In this case, each of the first microphone 531, the second microphone 532, the third microphone 533, and the fourth microphone 534 is spaced apart from each other at a first distance D1 as shown in FIG. 7. . For example, the first distance D1 is about 25 cm. In addition, the first microphone 531 may be spaced apart from the second microphone 532 and the third microphone 533 by a second distance D2 when viewed from the side. For example, the second distance D2 is about 20 cm.

The sound wave analyzer 540 analyzes the position and distance of the sound waves received through the first microphone 531, the second microphone 532, the third microphone 533, and the fourth microphone 534 using a sound wave diagnosis algorithm. . For example, the sound wave analyzer 540 may include four sound wave collection devices.

The sound wave diagnosis apparatus 530 has a sound source detection width set according to the positions of the first microphone 531, the second microphone 532, the third microphone 533, and the fourth microphone 534. For example, as illustrated in FIG. 7, the sound wave diagnosis device 530 may include a first microphone 531, a second microphone 532, a third microphone 533, and a fourth microphone 534 arranged in a triangular shape. If so, it has a sound source detection width that is set forward downward.

The sound wave diagnosis device 530 filters only the noise source band when the distribution line inspection robot 100 travels the processing branch line 10 to detect only the noise generated from the distribution facility. When the sound source of the same band as the power distribution equipment is detected, the sound wave diagnosis device 530 sounds the sound source collected from the first microphone 531, the second microphone 532, the third microphone 533, and the fourth microphone 534. The analysis unit 540 analyzes the 3D sound source detection program to find the direction and distance of the noise source. In this case, the sound wave diagnosis apparatus 530 may determine that noise having a detection distance of about 5 meters or more is noise.

The sound wave diagnosis apparatus 530 may set the noise source that reaches the first microphone 531, the second microphone 532, the third microphone 533, and the fourth microphone 534 as an image on the 3D virtual film. At this time, the noise source without the focus of the image is determined to be separated from the sound wave diagnosis apparatus 530 at a distance of about 5 meters or more and excluded from the detection target. The acoustic wave diagnosis device 530 detects only the frequency band of the partial discharge noise source. In this case, the sound wave diagnosis apparatus 530 may store the position of the detected portion at a detection distance within about 5 meters, and determine that the same portion is a partial discharge noise source when the same portion is detected again.

The sound wave diagnosis device 530 adjusts positions of the first microphone 531, the second microphone 532, the third microphone 533, and the fourth microphone 534 to estimate the acoustic characteristics of the noise source and the position of the noise source. Arrange by The sound wave diagnosis apparatus 530 estimates the location of the noise source using the correlation function of the received sound wave signal. For example, the sound wave diagnosis device 530 arranges the first microphone 531, the second microphone 532, the third microphone 533, and the fourth microphone 534, and then detects each of the microphones 531, 532, 533, and 534. Draw a virtual circle by calculating the arrival time and delay time of the noise source. Then, the portions where the green circles meet with each other based on the microphones are estimated as the generation point of the noise source.

Here, the sound wave diagnosis apparatus 530 may further use time delay information according to a correlation function between the microphones to detect a generation point of the noise source. For example, the sound wave diagnosis apparatus 530 presets a reference microphone among the first microphone 531, the second microphone 532, the third microphone 533, and the fourth microphone 534. For example, the sound wave diagnosis apparatus 530 sets the first microphone 531 in advance as a reference microphone. In addition, the sound wave diagnosis device 530 calculates the distance to the noise source by multiplying the distance between the reference microphone and the microphone that sensed the noise source, and the cosine of an angle formed by an extension line of the line connecting the reference microphone and the sensing microphone with the direction of sound wave progression. The distance calculated by dividing the calculated distance by the speed of sound in the air calculates the time delay between the reference microphone and the sensing microphone. Accordingly, the sound wave diagnosis device 530 may detect a noise source located within about 5 meters.

In addition, the sound wave diagnostic device 530 may represent the position of the noise source in coordinates. For example, the sound wave diagnosis apparatus 530 coordinates the position of the noise source by using the time delay according to the distance from the reference microphone to the noise source image of the virtual film and the time delay with respect to the focal length from the reference microphone to the noise source. It can be represented as.

The sound source detection result of the sound wave diagnosis apparatus 530 may be described with reference to FIGS. 9 and 10.

9 and 10 are views illustrating a sound source detection result of the sound wave diagnostic apparatus according to an embodiment of the present invention.

The sound wave diagnosis apparatus according to an embodiment of the present invention may represent the results of one sound source and two sound sources, respectively, as shown in FIGS.

9 illustrates a detection result of a single sound source 610 in which a sound wave diagnosis apparatus is located at a center. In addition, FIG. 10 shows detection results of the dual sound sources 621 and 622 in which the sound wave diagnosis apparatus is disposed left and right. The sound wave diagnosis apparatus may detect an accurate position and distance by using a plurality of microphones arranged in an inverted triangular shape to generate noise generated by partial discharge.

Such a sound wave diagnosis apparatus may be operated from a predetermined distance before approaching the post while driving the processing branch line, since power distribution facilities such as a switch, LP insulator, and suspension insulator, which are noise source detection targets, are installed in the post. For example, the acoustic diagnostic apparatus detects noise due to partial discharge while moving from about 4 cm to about 1 m from the post, moving about 50 cm apart.

The distribution line inspection robot according to an exemplary embodiment of the present invention can stably grip the posts by mitigating a shock caused by the movement of loads by dividing the grip part which grips the post into a fixed part and a swing part.

In addition, the distribution line inspection robot according to an embodiment of the present invention may accurately detect partial discharges generated in the distribution line and the distribution facility by providing a sound wave diagnosis apparatus including a plurality of microphones arranged in a triangular form.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

1 is a view showing the driving of the distribution line inspection robot according to an embodiment of the present invention.

2 is a view showing the side of the distribution line inspection robot according to an embodiment of the present invention.

3 is a view showing the front of the distribution line inspection robot according to an embodiment of the present invention.

4 is a view showing a grip device of the distribution line inspection robot according to an embodiment of the present invention.

FIG. 5 is a diagram illustrating the horizontal gripper shown in FIG. 4.

FIG. 6 is a view illustrating the vertical gripper shown in FIG. 4.

7 and 8 are views for explaining the inspection device of the distribution line inspection robot shown in FIG.

9 and 10 are views illustrating a sound source detection result of the sound wave diagnostic apparatus according to an embodiment of the present invention.

<Explanation of symbols for the main parts of the drawings>

200: traveling device 300: connecting device

400: grip device 500: check device

600: control unit

Claims (7)

In the distribution line inspection robot which checks a distribution line and a distribution facility by hanging on the overhead line which connects a post, A traveling device fastened to the processing branch line and traveling along the processing branch line; A grip device connected to the traveling device to grip the post when moving from one side to the other side with the post interposed therebetween, and moving the traveling device by rotating with respect to the post; A connecting device connecting the traveling device and the grip device; And The inspection apparatus moves along the processing branch line by the traveling device, and checks the distribution line by detecting a temperature, an image, and sound waves of the distribution line. The grip device A horizontal gripper which grips a portion perpendicular to the ground of the post; And a vertical gripper that grips a portion protruding from a portion perpendicular to the ground of the post, Each of the horizontal gripper and the vertical gripper A fixing part in close contact with the post to support the post; And And a swing part in close contact with the post to mitigate an impact caused by the movement of the load during rotation of the grip device. delete The method according to claim 1, The swing part The distribution line inspection robot, characterized in that swinging up and down or left and right with respect to the grip surface that the grip device and the post abut. The method according to claim 1, The inspection device A camera photographing the power distribution line; And And a sound wave diagnostic device for detecting an arc discharge sound generated from the power distribution line. 5. The method of claim 4, The sound wave diagnostic device A plurality of microphones for collecting the sound waves; And And a sound wave analyzer for analyzing a position and a distance of the arc discharge sound through the collected sound waves. 6. The method of claim 5, The plurality of microphones Distribution line inspection robot, characterized in that arranged in a triangular form spaced apart from each other at a set interval. The method according to claim 1, The inspection device Distribution line inspection robot, characterized in that coupled to the traveling device or the connecting device.
KR1020090136062A 2009-12-31 2009-12-31 Robot for inspecting distribution power line KR101074510B1 (en)

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KR1020090136062A KR101074510B1 (en) 2009-12-31 2009-12-31 Robot for inspecting distribution power line
PCT/KR2010/005398 WO2011081274A1 (en) 2009-12-31 2010-08-16 Robot for inspecting a power distribution line

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KR1020090136062A KR101074510B1 (en) 2009-12-31 2009-12-31 Robot for inspecting distribution power line

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KR100846743B1 (en) * 2007-04-11 2008-07-16 (주)대홍전력 Grip apparatus of robot for inspecting distribution power line

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KR102411136B1 (en) 2021-08-17 2022-06-23 (주)스마트 제어계측 an automatic inspection robot system for the prestressed concrete electric pole
KR102577219B1 (en) 2022-12-08 2023-09-11 (주)조이엔지니어링 A robot device for an overhead earth wire of distribution poles

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