CN108801340A - A kind of high-voltage line intelligent inspection robot and its method for inspecting - Google Patents
A kind of high-voltage line intelligent inspection robot and its method for inspecting Download PDFInfo
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- CN108801340A CN108801340A CN201810496045.0A CN201810496045A CN108801340A CN 108801340 A CN108801340 A CN 108801340A CN 201810496045 A CN201810496045 A CN 201810496045A CN 108801340 A CN108801340 A CN 108801340A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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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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Abstract
The invention discloses a kind of high-voltage line intelligent inspection robot and its method for inspecting, the robot includes mobile module, cantilever, measurement module and control module, mobile module includes two wheel groups, it is separately positioned on the both ends of cantilever, high-voltage line passes through two wheel groups, the bottom in cantilever is arranged in measurement module, control module is suspended on the least significant end of cantilever inner arc, including robot controller, communication module and power supply, robot is by communication module and ground based terminal platform into row data communication, robot controller control wheel group compresses high-voltage line and is moved along high-voltage line, power supply is each component power supply of robot.Wheel group of the present invention compresses high-voltage line and is moved along high-voltage line under motor drive, in moving process, measurement module carries out various detections, it may be implemented to carry out autonomous round-trip inspection to high-voltage line incessantly, it realizes high definition detection, while obstacle in advance can also be crossed over, there is using flexible, it is efficient, while detecting accurate advantage.
Description
Technical field
The present invention relates to electric system to detect research field, more particularly to a kind of high-voltage line intelligent inspection robot and its patrols
Detecting method.
Background technology
Transmission line of electricity is chronically in severe natural environment, and the stranded failure of some such as conducting wires often occurs, this
A little defects can generate the normal operation of entire transmission line of electricity greatly interference, need to find and repair in time.Traditional " patrols
Mainly manually line walking, this mode great work intensity, working efficiency are low for line " mode.
It proposes to carry out inspection to high-voltage line using unmanned plane in the prior art, but this scheme is only with visible images
Transmission line of electricity is maked an inspection tour with video, detection means is single, and rough inspection can only be done to transmission line of electricity, finds larger lack
It falls into, and the image data that inspection obtains is to sample to take a little, carries out high-definition shooting to high-voltage line with being unable to all standing.
For this purpose, research is a kind of to be directed to high voltage cable, high definition detection, the device with high line walking efficiency and side can be realized
Method has important research significance and practical value.
Invention content
The shortcomings that it is a primary object of the present invention to overcome the prior art and deficiency, provide a kind of high-voltage line Intelligent inspection machine
Device people, the robot may be implemented to carry out autonomous round-trip inspection to high-voltage line incessantly, realize high definition detection, while can also
Across obstacle in advance, there is using flexible, it is efficient, while detecting accurate advantage.
Another object of the present invention is to provide a kind of method for inspecting based on above-mentioned high-voltage line intelligent inspection robot, should
Method may be implemented to carry out autonomous round-trip inspection, intelligence to high-voltage line incessantly stranded etc. abnormal by visual identity high-voltage line
And the function across obstacle in advance.
The purpose of the present invention is realized by the following technical solution：A kind of high-voltage line intelligent inspection robot, including movement
Module, cantilever, measurement module and control module, mobile module include two wheel groups, are separately positioned on the both ends of cantilever, high-voltage line
Across two wheel groups；The bottom in cantilever is arranged in measurement module, and control module is suspended on the least significant end of cantilever inner arc, including machine
Device people controller, communication module and power supply, robot is by communication module and ground based terminal platform into row data communication, robot
Controller control wheel group compresses high-voltage line and is moved along high-voltage line, and power supply is each component power supply of robot.In the present invention, high-voltage line
It is stuck between two wheel groups, the controllable ratch group of robot controller compresses high-voltage line and moved along high-voltage line, so as to realize
Autonomous round-trip inspection is carried out to high-voltage line incessantly.
Preferably, each wheel group includes opening and closing pawl, opening and closing pawl driving motor, three rubber guide wheels and rubber guide wheel driving
Motor, rubber guide wheel both sides have guide plate, two of which rubber guide wheel to fix and connect with the upper end of opening and closing pawl in the top of high-voltage line
It connects, a rubber guide wheel is fixedly connected in the lower section of high-voltage line with the lower end of opening and closing pawl, and three rubber guide wheels are in the row of falling isosceles triangle
Row, high-voltage line are passed through from product word intermediate lateral, and rubber guide wheel driving motor driving rubber guide wheel is moved along high-voltage line；Opening and closing pawl drives
The opening and closing of dynamic motor control opening and closing pawl and then wheel group is allowed to unclamp or high tension lead.Using the above structure, robot can be made firm
Solid be fixed on high-voltage line, to resist wind or other are dangerous, while the guide plate being arranged by rubber guide wheel both sides, rubber is made to lead
The similar train wheel of wheel, ensures that rope will not be skidded off in robot motion.
Preferably, cantilever torsion motor is additionally provided between the wheel group and cantilever, cantilever torsion motor control wheel group is opposite
It rotates in cantilever.Cantilever can be made across the barrier on high-voltage line by cantilever torsion motor.
Preferably, the measurement module includes video camera, and video camera is fixed on a holder, and holder drives video camera to turn
It is dynamic.Video camera can be rotated flexibly when so as to realize robot inspection, be aligned and be detected high-voltage line.
Further, the video camera has focusing function.To which when finding suspected malfunctions point, amplification picture can be passed through
Face, which is realized, more accurately to be judged.
Preferably, the measurement module further includes laser radar, and laser radar is arranged on cantilever, and laser radar is certain
Scanning high voltage line in angle.So as to measure high-voltage line and periphery trees distance.
Preferably, the measurement module further includes infrared thermography, which is arranged on cantilever.Pass through
Infrared thermography can measure high voltage cable, cable connector, grounding box, cable terminal and terminal porcelain vase, cable termination with
And the temperature anomaly at other positions and current caused hot failure, complete temperature diagnostic and early warning.
Preferably, the measurement module further includes gas sensor and Temperature Humidity Sensor.For acquiring current high pressure
The environmental parameter of line.
Preferably, warning device is equipped in robot and/or terminal platform.For environmental data exception and other exceptions
Situation, robot, by real-time alert, remind administrative staff to pay close attention to and dispose with terminal platform.
Preferably, robot upper part is closed using metallic plate, and each metallic plate junction is filled using rubber strip.To carry out
Sealing, realizes the function of waterproof.
Preferably, mobile module, measurement module, control module are all made of modular mode, with cantilever in a manner of dismounting into
Row fits together.So as to realize quickly assembling, dismounting, replacement and fold.
Preferably, the sensor for detecting inclination or off-line is equipped in robot.Once robot suddenly encounters crosswind
Or other reasons, when robot being caused to have inclination or off-line danger, which can alarm to controller, and controller will execute
Emergency action compresses ground wire by rubber guide wheel, ensures that robot is non-off-line.
Preferably, hollow design is carried out in the wind surface of wheel group and cantilever.So that wind is passed through from hollow part, wind surface is reduced
Product reduces lateral pressure, and then hoisting machine people's wind resistance.
Preferably, the rubber guide wheel driving motor uses servo motor.It can pair event by the pulse that servo motor is sent
Barrier point is accurately positioned.
Preferably, the power supply includes solar charging panel, and solar charging panel is arranged on cantilever.To make robot
It is more suitable for operation in the wild.
A kind of method for inspecting based on above-mentioned high-voltage line intelligent inspection robot, step are：Wheel group compress high-voltage line and
Motor moves under driving along high-voltage line, and in moving process, the video camera in measurement module shoots high-voltage line, detects current high pressure
Whether line has whether stranded situation, the front of the detection robot direction of motion have barrier, and the laser radar in measurement module is surveyed
High-voltage line and periphery trees distance are measured, and obtains distance and the direction of object；Communication module in control module will be above-mentioned
The information of acquisition is sent to terminal platform.
Preferably, it during inspection, if video camera, which detects in front of robot motion direction, barrier, needs
Across obstacle, method are：
S1：Robot rubber guide wheel driving motor stalling；
S2：Robot the first side wheel group is opened so that the first side rubber guide wheel is detached from high-voltage line；
S3：The cantilever torsion motor of the second side rotates, and band mobile robot turns clockwise；
S4：It stops operating when the first side wheel group of opening will encounter high-voltage line because rotating clockwise；
S5：Second side wheel group is rotated into 180 degree so that the first side wheel group is towards rope；
S6：Close the first side wheel group so that the first side rubber guide wheel clamps high-voltage line, to realize the first side of robot
Wheel group is across obstacle；
S7：Above-mentioned six steps are repeated, realize the second side wheel group of robot across obstacle, to realize entire robot
Across obstacle.
Preferably, the rubber guide wheel driving motor uses servo motor, will when servo motor receives 1 pulse
The corresponding angle of 1 pulse is rotated, the diameter of the pulse sum and wheel that are received according to servo motor can calculate machine
The distance that device people passes by, realization are accurately positioned.
Compared with prior art, the present invention having the following advantages that and advantageous effect：
1, high-voltage line intelligent inspection robot of the present invention, can incessantly be carried out along high-voltage line autonomous round-trip inspection,
Abnormal point autonomous positioning is rechecked, have measure high-voltage line and periphery trees distance, identification high-voltage line it is stranded etc. it is abnormal, in high precision into
Row Orientation on map, accurate localization of fault, data are sent to terminal platform, and intelligence multinomial work(such as obstacle across in advancing
Energy.Actually detected art bottleneck is had a single function and is difficult to apply to solve crusing robot, in-depth robot technology is in electricity
Application in power inspection work.The working strength of track walker can be substantially reduced simultaneously, improves line walking efficiency, had prodigious
Advantage.
2, for video camera setting on holder, holder has rotating function, while coordinating camera zoom, can be effective in the present invention
Ensure to carry out effective monitoring to intelligent inspection robot all directions scene details.
3, it is additionally provided with infrared thermography in the present invention, hot monitoring can be carried out to equipment such as cable, cable connector, distribution boxs.
It, can be to current high-voltage line equipped with sensor, gas sensor and the Temperature Humidity Sensor etc. for detecting inclination or off-line
State and environment measure, and realize the stable operation of robot.
Description of the drawings
Fig. 1 is the overall structure diagram of the embodiment of the present invention.
Fig. 2 is structural schematic diagram when wheel group of the embodiment of the present invention is closed.
Fig. 3 is structural schematic diagram when wheel group of the embodiment of the present invention is opened.
Fig. 4 is the structural schematic diagram at the holder of cantilever of embodiment of the present invention bottom.
Fig. 5 is the overall structure vertical view of the embodiment of the present invention.
In figure：1- rubber guide wheels, 2- opening and closing pawls, 3- cantilever torsion motors, 4- cantilevers, 5- machine boxes, 6- laser radars, 7- take the photograph
Camera, 8- holders, 9- solar charging panels, 10- opening and closing pawl driving motors.
Specific implementation mode
The purpose of the present invention is described in further detail below by specific embodiment, embodiment cannot herein one by one
It repeats, but therefore embodiments of the present invention are not defined in following embodiment.
Embodiment 1
As shown in Figure 1, a kind of high-voltage line intelligent inspection robot of the present embodiment, including mobile module, cantilever 4, measurement mould
Block and control module, control module are arranged in machine box 5 shown in Fig. 1.All parts are specifically described below.
As Figure 2-3, mobile module includes two wheel groups, is separately positioned on the both ends of cantilever 4, and each wheel group includes
Pawl 2,10, three rubber guide wheels 1 of opening and closing pawl driving motor and rubber guide wheel driving motor, rubber guide wheel both sides are closed to lead
Plate, two of which rubber guide wheel 1 are fixedly connected in the top of high-voltage line with the upper end of opening and closing pawl 2, and a rubber guide wheel 1 is in height
The lower section of crimping is fixedly connected with the lower end of opening and closing pawl 2, and three rubber guide wheels 1 are in the arrangement of falling isosceles triangle, and high-voltage line is from product word
Between be horizontally through, rubber guide wheel driving motor driving rubber guide wheel 1 moved along high-voltage line；Opening and closing pawl driving motor 10 controls opening and closing
The opening and closing of pawl 2 and then wheel group is allowed to unclamp or high tension lead.Rubber guide wheel can be similar to train wheel, but the rubber of robot is led
There are guide plate in wheel both sides, to ensure that rope will not be skidded off in robot motion.
Cantilever torsion motor 3 is additionally provided between wheel group and cantilever, 3 control wheel group of cantilever torsion motor is done relative to cantilever revolves
Transhipment is dynamic.Cantilever can be made across the barrier on high-voltage line by cantilever torsion motor.
The rubber guide wheel driving motor uses servo motor.Servo motor is positioned mainly by pulse, works as servo motor
1 pulse is received, the corresponding angle of 1 pulse will be rotated, to realize displacement.It is sent out because servo motor itself has
The function of pulse, the number of pulses that system is passed back by calculating servo motor, is accurately controlled the rotation of motor, to realize essence
True positioning.Using a certain tower top as initial starting point, the diameter of the angle and wheel that are turned over by servo motor can be accurate
Ground calculates the distance that inspection robot is passed by, so as to be accurately obtained the position of inspection robot.When inspection robot is sent out
When existing fault point, inspection robot will record the position of fault point, and the information of fault point is sent to controller,
In this way it is known that the specific generation position that fault point occurs.
In the present embodiment, the bottom in cantilever 4 is arranged in measurement module, it may include video camera 7, laser radar 6, infrared heat
Imager, gas sensor and Temperature Humidity Sensor etc..
Wherein, video camera 7 is fixed on a holder 8, and holder 8 is responsible for that video camera 7 is driven to move, when realizing robot inspection
Video camera can be rotated flexibly, be aligned and be detected high-voltage line.Meanwhile video camera 7 has focusing function, when discovery suspected malfunctions point
When, it can be realized by magnified picture and more accurately be judged.
Wherein, laser radar 6 is arranged on cantilever 4, the scanning high voltage line within a certain angle of laser radar 6.The present embodiment
The measurement distance of middle laser radar 6 is up to 30 meters, and 360 degree of scanning angle, resolution of ranging is less than 10cm, and angular resolution is less than
0.5 degree, which greatly enhances the detectabilities of inspection robot.
Wherein, infrared thermography is arranged on cantilever 4.Warning device is equipped in robot and/or terminal platform.It patrols
Robot is examined by the infrared thermography of carrying, the facilities and equipments such as cable, cable connector can be imaged, in conjunction with thermometric number
According to image analysis technology, the working condition of installations and facilities can be obtained from thermograph, once find have overheating problem, i.e.,
It can alarm.By the warning function of automation, staff need not uninterruptedly monitor field device facility for 24 hours, only need
Alarm problem is paid close attention to and handled when having alarm.
Wherein, multiple gases sensor is arranged with Temperature Humidity Sensor on cantilever 4, after intelligent inspection robot carries,
In a mobile manner, the intensive acquisition of long term frequent is carried out.Under crusing robot routine patrol task, it can set every 10
A rice environmental data of acquisition, and environmental data is transmitted to terminal platform in real time, for carrying out subsequent data storage, depth
It excavates and trend analysis early warning.Simultaneously for environmental data exception and trend anomaly situation, robot will be real-time with terminal platform
Alert reminds administrative staff to pay close attention to and dispose.
In the present embodiment, control module is suspended on the least significant end of 4 inner arc of cantilever, including robot controller, communication module
And power supply, by communication module and ground based terminal platform into row data communication, power supply is each component power supply of robot for robot.For
It is convenient for field work, solar charging panel 9 is equipped in the present embodiment, it is solar powered so as to realize.
In order to realize water-proof function, in the present embodiment, robot upper part is closed using metallic plate, and each metallic plate junction has
Rubber strip is filled, the protecgulum metal plate and rubber strip sealing structure of similar automobile, to realize water-proof function.In the key of robot
It because having circuit or motion structure, therefore is put accordingly such as controller, motor, video camera 7, laser radar 6 etc. at position
Water designs.
The present embodiment robot will carry out anti-storm design, can be divided into three aspects, first aspect is mechanically to solve
Certainly, sensor of the setting for detecting inclination or off-line.Robot is caused to have when robot suddenly encounters crosswind or other reasons
When inclination or off-line danger, which can alarm to controller, and controller will execute emergency action, pass through rubber guide wheel 1
Ground wire is compressed, ensures that robot is non-off-line.Certainly, other than compressing rubber guide wheel, Wheels group arrangement can separately add a rubber folder, when
Wheel group is again directly clamped ground wire by rubber folder after clamping, and robot is avoided to tilt.The second aspect is walked by robot
Position is realized, when ground staff is learnt by weather forecast to have strong wind, with Manipulation of the machine people or can start robot wind sheltering
Program, the position for allowing robot motion to be connect to high-pressure tower with ground wire, to realize wind sheltering.It is hollow design in terms of third.
Robot wind surface is mainly wheel group and cantilever 4, through reasonable settings hollow out so that wind is passed through from hollow part, reduces wind-engaging
Area, to reduce lateral pressure, and then hoisting machine people's wind resistance.
Based on the method that high-voltage line intelligent inspection robot described in the present embodiment carries out inspection, step is：Wheel group compresses high
Crimping simultaneously moves under motor drive along high-voltage line, and in moving process, the video camera in measurement module shoots high-voltage line, detection
Whether current high-voltage line has whether stranded situation, the front of the detection robot direction of motion have barrier；Swashing in measurement module
Optical radar by object by objective emission beam of laser signal, reflecting, then by the laser signal received and transmitting
Signal compares, after proper treatment, so that it may with information such as the distance and the directions that obtain object.Communication module in control module
The information of above-mentioned acquisition is sent to terminal platform.
During inspection, if video camera, which detects in front of robot motion direction, barrier, need across barrier
The object, specific method is hindered to be：
The first step, robot rubber guide wheel driving motor stalling；
Second step, robot left side wheels group are opened so that left side rubber guide wheel is detached from rope；
Third walks, and the cantalever motor rotation on right side, band mobile robot turns clockwise；
4th step stops operating when the wheel group of opening will encounter rope because rotating clockwise；
Right side wheels are rotated 180 degree by the 5th step so that wheel group is towards rope；
6th step closes wheel group so that rubber guide wheel clamps rope, to realize a wheel group of robot across barrier
Hinder；
7th step repeats above-mentioned six steps, can realize second wheel group of robot across obstacle, whole to realize
A robot is across obstacle.
Due to being also equipped with a variety of detection devices in the present embodiment robot, which can be additionally used in the condition of a disaster and goes out
Money, for example, when the condition of a disaster occurs in scene, the data such as the image of the scene of the accident, infrared measurement of temperature can be sent back command centre by robot,
So that command centre's decision uses；When there is dangerous situation in scene, can with important accessory --- Intelligent fire-fighting robot is answered
Anxious linkage, remote control robot reach rapidly abnormal point, by diagnostic techniques such as infrared heat and visual processes, quickly position
Abnormal point；By the emergent broadcast carried by itself notice and sound-light alarm, first time alert, and with short message
Information is sent to relevant person in charge over there by mode.
The above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be to the present invention
Embodiment restriction.For the those of ordinary skill in the field, it can also make on the basis of the above description
Other various forms of variations or variation.There is no necessity and possibility to exhaust all the enbodiments.It is all the present invention
All any modification, equivalent and improvement etc., should be included in the protection of the claims in the present invention made by within spirit and principle
Within the scope of.
Claims (10)
1. a kind of high-voltage line intelligent inspection robot, which is characterized in that including mobile module, cantilever, measurement module and control mould
Block, mobile module include two wheel groups, are separately positioned on the both ends of cantilever, and high-voltage line passes through two wheel groups；Measurement module is arranged
In the bottom of cantilever, control module is suspended on the least significant end of cantilever inner arc, including robot controller, communication module and electricity
Source, by communication module and ground based terminal platform into row data communication, robot controller control wheel group compresses high pressure for robot
Line is simultaneously moved along high-voltage line, and power supply is each component power supply of robot.
2. high-voltage line intelligent inspection robot according to claim 1, which is characterized in that each wheel group include opening and closing pawl,
There are guide plate, two of which in opening and closing pawl driving motor, three rubber guide wheels and rubber guide wheel driving motor, rubber guide wheel both sides
Rubber guide wheel is fixedly connected in the top of high-voltage line with the upper end of opening and closing pawl, a rubber guide wheel in the lower section of high-voltage line, with
The lower end for closing pawl is fixedly connected, and three rubber guide wheels are in the arrangement of falling isosceles triangle, and high-voltage line is passed through from product word intermediate lateral, and rubber is led
Wheel drive motor driving rubber guide wheel is moved along high-voltage line；The opening and closing of opening and closing pawl driving motor control opening and closing pawl allows wheel group loose in turn
It opens or high tension lead.
3. high-voltage line intelligent inspection robot according to claim 1, which is characterized in that between the wheel group and cantilever also
Equipped with cantilever torsion motor, cantilever torsion motor control wheel group rotates relative to cantilever.
4. high-voltage line intelligent inspection robot according to claim 1, which is characterized in that the measurement module includes camera shooting
Machine, video camera are fixed on a holder, and holder drives video camera rotation；
The video camera has focusing function.
5. high-voltage line intelligent inspection robot according to claim 1, which is characterized in that the measurement module further includes swashing
Optical radar, laser radar are arranged on cantilever, laser radar scanning high voltage line within a certain angle；
The measurement module further includes infrared thermography, which is arranged on cantilever；
The measurement module further includes gas sensor and Temperature Humidity Sensor, and gas sensor is arranged with Temperature Humidity Sensor
On cantilever.
6. high-voltage line intelligent inspection robot according to claim 1, which is characterized in that
Warning device is equipped in robot and/or terminal platform；
The sensor for detecting inclination or off-line is equipped in robot；
Hollow design is carried out in the wind surface of wheel group and cantilever；
The power supply includes solar charging panel, and solar charging panel is arranged on cantilever.
7. high-voltage line intelligent inspection robot according to claim 1, which is characterized in that mobile module, measurement module, control
Molding block is all made of modular mode, is fitted together in a manner of dismounting with cantilever.
8. a kind of method for inspecting based on any one of the claim 1-7 high-voltage line intelligent inspection robots, which is characterized in that
Step is：Wheel group compresses high-voltage line and is moved along high-voltage line under motor drive, in moving process, the camera shooting in measurement module
Machine shoots high-voltage line, and whether detect current high-voltage line has whether stranded situation, the front of the detection robot direction of motion have obstacle
Object, the lidar measurement high-voltage line in measurement module and periphery trees distance, and obtain distance and the direction of object；Control
The information of above-mentioned acquisition is sent to terminal platform by molding communication module in the block.
9. method for inspecting according to claim 8, which is characterized in that during inspection, if video camera detects machine
There is barrier in front of people's direction of motion, then needs the across obstacle, method to be：
S1：Robot rubber guide wheel driving motor stalling；
S2：Robot the first side wheel group is opened so that the first side rubber guide wheel is detached from high-voltage line；
S3：The cantilever torsion motor of the second side rotates, and band mobile robot turns clockwise；
S4：It stops operating when the first side wheel group of opening will encounter high-voltage line because rotating clockwise；
S5：Second side wheel group is rotated into 180 degree so that the first side wheel group is towards rope；
S6：Close the first side wheel group so that the first side rubber guide wheel clamps high-voltage line, to realize the first side wheel group of robot
Across obstacle；
S7：Repeat above-mentioned six steps, realize the second side wheel group of robot across obstacle, to realize entire robot across
Obstacle.
10. method for inspecting according to claim 8, which is characterized in that the rubber guide wheel driving motor is using servo electricity
Machine will rotate the corresponding angle of 1 pulse, the pulse received according to servo motor when servo motor receives 1 pulse
The diameter of sum and wheel can calculate the distance that robot passes by, and realize positioning.
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| CN110091320A (en) * | 2019-06-13 | 2019-08-06 | 华北理工大学 | The driving section and its fetching device of snakelike high-voltage line crusing robot |
| CN110231668A (en) * | 2019-06-27 | 2019-09-13 | 安徽理工大学 | A kind of electric transmission line channel alarm system |
| CN110703034A (en) * | 2019-09-20 | 2020-01-17 | 国网山东省电力公司微山县供电公司 | Power pipeline inspection device |
| CN111537601A (en) * | 2020-04-26 | 2020-08-14 | 国网浙江省电力有限公司宁波供电公司 | Large-span power transmission line inspection and broken strand detection device and method |
| CN111864629A (en) * | 2020-08-04 | 2020-10-30 | 钱南林 | Urban railway inspection robot and using method thereof |
| CN112003186A (en) * | 2020-08-24 | 2020-11-27 | 南京云上自动化科技有限公司 | Ordinary type biped high-voltage line patrols and examines robot |
| CN113129559A (en) * | 2019-12-31 | 2021-07-16 | 国创新能源汽车智慧能源装备创新中心(江苏)有限公司 | Fault early warning system and method for power distribution robot |
| CN113985200A (en) * | 2021-10-25 | 2022-01-28 | 南京中科博涛科技有限公司 | Online intelligent circuit inspection and alarm device |
| CN114966718A (en) * | 2022-05-12 | 2022-08-30 | 国网安徽省电力有限公司马鞍山供电公司 | Distance measuring device adaptive to unmanned aerial vehicle and using method |
| CN115077397A (en) * | 2022-07-19 | 2022-09-20 | 云南电网有限责任公司楚雄供电局 | Portable transmission line ground wire length measuring instrument |
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