CN109405870A - Detection robot - Google Patents
Detection robot Download PDFInfo
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- CN109405870A CN109405870A CN201810955278.2A CN201810955278A CN109405870A CN 109405870 A CN109405870 A CN 109405870A CN 201810955278 A CN201810955278 A CN 201810955278A CN 109405870 A CN109405870 A CN 109405870A
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- detection
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- 238000001514 detection method Methods 0.000 title claims abstract description 62
- 238000012544 monitoring process Methods 0.000 claims abstract description 4
- 239000007788 liquid Substances 0.000 claims description 9
- 230000004888 barrier function Effects 0.000 claims description 7
- 239000012530 fluid Substances 0.000 claims description 6
- 230000001939 inductive effect Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 abstract description 3
- 230000001681 protective effect Effects 0.000 description 6
- 238000012360 testing method Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 238000000605 extraction Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910001416 lithium ion Inorganic materials 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000012780 transparent material Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
Classifications
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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
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Abstract
The invention relates to a detection robot which is used for detecting the interior of an oil-immersed transformer. The detection robot comprises a shell, a fixing frame arranged in the shell, a driving system, an image acquisition device and an electric control system, wherein the driving system is used for driving the detection robot to move. The image acquisition device is used for acquiring internal images of the oil-immersed transformer. And the electronic control system is used for monitoring and detecting the motion state of the machine and processing images. The detection robot can enter the oil-immersed transformer to detect when the oil-immersed transformer does not discharge oil, so that the detection time is shortened, the detection cost is reduced, and the safety of workers is guaranteed.
Description
Technical field
The present invention relates to transformer detection technique fields, more particularly to a kind of detection robot.
Background technique
For power transformer as one of power grid core equipment, reliability of operation directly affects electricity net safety stable,
So needing periodically to carry out preservation & testing to transformer.Tradition is the space-variant side by side that has a power failure for the detection method of oil-immersed transformer
After depressor oil, inside transformer is entered by testing staff and is overhauled, not only time-consuming, at high cost for maintenance, and easily by contaminated zone
Enter inside transformer.Testing staff's safety problem is also related in inside transformer operation simultaneously.
Summary of the invention
Based on this, it is necessary in view of the above-mentioned problems, providing a kind of detection robot
A kind of detection robot, is detected for the inside to oil-immersed transformer, comprising:
Shell；
Fixed frame is set in the shell；
Drive system, to control the movement of robot；
Image collecting device, for acquiring the internal image of the oil-immersed transformer；And
Electric-control system is set on the fixed frame, for monitoring the motion state of the detection machine.
Above-mentioned detection robot enters inside oil-immersed transformer in the state of may be implemented in oil-immersed transformer not oil extraction
It is detected, reduces detection time, reduces testing cost, ensured work people's safety.
The shell includes upper cover, lower cover and protective cover in one of the embodiments,；The edge of the fixed frame
It is provided with seal groove, the upper cover and the lower cover and the seal groove is clamped；The protective cover is set to the fixed frame
Close described image acquisition device one end.
The drive system is fixedly installed on the fixed frame in one of the embodiments, including for driving institute
State the vertical driving device of detection robot vertical motion and for driving the detection robot to move horizontally and rotate
Horizontal drive apparatus.
The fixed frame has on horizontal cross-section there are four edge angle in one of the embodiments, each edge
Angle is provided with boss, and each boss is provided with the horizontal drive apparatus.
The horizontal drive apparatus includes jet propeller in one of the embodiments, the jet propeller
On be provided with liquid inlet joint and draining connector, offered on the boss with the external inlet being connected to of the shell and
Leakage fluid dram, the liquid inlet joint are connected to the inlet, and the draining connector is connected to the leakage fluid dram.
The horizontal drive apparatus includes screw propeller and vertical channel in one of the embodiments, described
Screw propeller is set in the vertical channel, and the both ends of the vertical channel are connected to the external of the shell respectively.
The shell offers first through hole and the second through-hole, institute in the vertical direction in one of the embodiments,
It states on shell along the first through hole is circumferential and the circumferential direction of the second through-hole is provided with multiple counter sinks, the two of the vertical channel
End is configured with mounting flange, and the mounting flange is circumferentially arranged the connecting hole to match with the counter sink, the countersunk head
Fastener is equipped in hole and connector.
Described image acquisition device includes camera and headlamp in one of the embodiments, the fixed frame
One end offers multiple mounting holes, and the camera and the lighting device are set in the mounting hole.
The electric-control system includes power-supply system in one of the embodiments, and the power-supply system includes battery pack, fills
Electric installation and electrifying device, the fixed mount setting have battery case, and the battery pack is set in the battery case, described solid
Determine to be also provided with charge port and upper power port on frame, the charge port is connected to the port of the charging unit, the upper power port
It is connected to the port of the electrifying device.
The electric-control system further includes mounting disc and the control that is set in the mounting disc in one of the embodiments,
Making sheet offers mounting groove on the fixed frame, and the mounting disc and control panel are set in the mounting groove；The control
Processor and sensor are provided on plate, the processor includes movement processor and image processor, the sensor
Including Position and attitude sensor and barrier inductive pick-up.
Detailed description of the invention
Fig. 1 is the Structure explosion diagram of the detection robot of an embodiment；
Fig. 2 is the Section A-A cross-sectional view that robot is detected shown in Fig. 1；
Fig. 3 is the front view that robot is detected shown in Fig. 1；
Fig. 4 is the left view that robot is detected shown in Fig. 1；
Fig. 5 is the right view that robot is detected shown in Fig. 1.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.Many details are explained in the following description in order to fully understand this hair
It is bright.But the invention can be embodied in many other ways as described herein, those skilled in the art can be not
Similar improvement is done in the case where violating intension of the present invention, therefore the present invention is not limited to the specific embodiments disclosed below.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the listed item of pass.
In conjunction with Fig. 1-Fig. 5, the embodiment of the present application provides what a kind of inside for the transformer to oil immersed type was detected
Robot 100 is detected, specifically, detection robot 100 includes shell 110, fixed frame 120, drive system 130, Image Acquisition
Device 140 and electric-control system 150.Further, shell 110 is with closed cavity, image collecting device 140 and electricity
Control system 150 may be disposed in sealing cavity, and shell 110 can completely cut off the oil inside oil-immersed transformer, prevent oil from adopting to image
Acquisition means 140 and electric-control system 150 damage.Fixed frame 120 is arranged in shell 110, offers on fixed frame 120 more
A conduit (not indicating) and through-hole (not indicating), to be routed and to install drive system 130, image collecting device
140 and electric-control system 150.
Drive system 130 may be provided in shell 110, could be secured to the outer surface of shell 110.Drive system 130 is used
It is mobile in the inside of oil-immersed transformer in driving detection robot 100.Further, drive system 130 can drive detection machine
Device people rising, sinking, horizontal forward, retrogressing and left-right rotation, so that oil-immersed transformer can be reached by detecting robot 100
The position detected needed for interior.
Image collecting device 140 is set on fixed frame 120, and specifically, image collecting device 140 is arranged in fixed frame
120 one end along direction of advance.Image collecting device 140 is used to acquire the internal image or image of oil-immersed transformer, with
It is observed for operator, to achieve the purpose that the inside of detection acquisition oil-immersed transformer.
Specifically, electric-control system 150 is used for the motion state of monitor and detection robot 100, such as location status, angle shape
State and away from obstacle distance state etc., so that the convenient motion state for detection robot 100 carries out its motion profile
Adjustment, avoiding barrier.Further, electric-control system 150 can be used for carrying out 140 acquired image of image collecting device
Processing, to obtain the internal image of clear, effective oil-immersed transformer.
Above-mentioned detection robot 100 can be by the oil and detection robot 100 inside oil-immersed transformer due to shell 110
Internal part is isolated, and enters oil immersed type in the state of oil-immersed transformer not oil extraction to detect robot 100 and may be implemented in
Inside transformer is detected.Also, drive system 130 can drive detection robot 100 freely to move in oil-immersed transformer
It is dynamic, and then the structure and working condition for the oil-immersed transformer inside each position that can be got.Robot 100 is detected simultaneously also
It is integrated with image collecting device 140 and electric-control system 150, so that image collecting device 140 can be run in detection robot 100
In the process, oil-immersed transformer inner workings are got, in real time to achieve the purpose that detect inside transformer.Electricity
The working condition of 150 energy Real-time Feedback detection robot 100 of control system and position location, can monitor detection robot in time
100 working environment, with assist operators' planning path, avoiding barrier.In conclusion detection robot 100 reduces
Detection time reduces testing cost, while having ensured the safety of staff.
Specifically, the shell 110 for detecting robot 100 in one of the embodiments, is whole cylindrical, including upper cover
111, lower cover 112 and protective cover 113.Upper cover 111 is barrel-shaped in half, and 122 structure of lower cover is identical and symmetrical as 111 structure of upper cover
Setting.Upper cover 111 and lower cover 112 are separately fixed at the two sides up and down of fixed frame 120.Further, the edge of fixed frame 120 is set
It is equipped with a circle seal groove (not shown), upper cover 111 and lower cover 112 and seal groove is clamped, so that upper cover 111 and lower cover
112 are sealedly attached on fixed frame.Protective cover 113 is set to one end of the close image collecting device 140 of fixed frame 120, from
Image collecting device 140 is protected.Further, protective cover 113 is hemispherical, so that detection robot 100 is whole
Body has streamlined structure, reduces the resistance of motion.Further, protective cover 113 is transparent material, upper cover 111 and lower cover
112 use aluminum alloy materials.
Specifically, drive system 130 is fixedly installed on fixed frame 120.Drive system 130 includes vertical driving device
131 and horizontal drive apparatus 132.The driving force of vertical driving device 131 along oil-immersed transformer vertical direction, for driving
Dynamic detection 100 vertical motion of robot, i.e., vertical driving device 131 is for driving detection robot 100 in oil-immersed transformer
Inside rise or sink.The driving force of horizontal drive apparatus 132 detects 100 level of robot in the horizontal direction, for driving
Mobile and rotation, i.e. horizontal drive apparatus 132 can drive detection robot 100 to horizontally advance or retreat in oil-immersed transformer
And adjust left-right rotation.Drive system 130 is integrated with the vertical driving device 131 that can drive detection 100 vertical motion of robot
And the horizontal drive apparatus 132 of detection 100 horizontal movement of robot and rotation can be driven, so as in complicated transformer
It is neatly walked in internal structure.
Specifically, fixed frame 120 has on horizontal cross-section there are four edge angle in one of the embodiments, Mei Gebian
Edge angle is provided with boss 121, and each boss 121 is provided with horizontal drive apparatus 132.Further, horizontal drive apparatus
The front or dead astern of 132 driving force direction direct detection robots 100.To the horizontal drive apparatus arranged by quadrangle
132 are able to achieve advance, retrogressing and the left and right turn of detection robot, and flexibly and controllability is strong, no roll phenomenon, safety
It is high.
Further, horizontal drive apparatus 132 is jet propeller, such as liquid pump.Jet propeller uses method
Blue mounting structure is fixed on boss 121.Specifically, it is provided on jet propeller for sucking oily liquid inlet joint (not
Show) and for spraying oily draining connector (not shown).Accordingly, it offers on boss 121 and is connected to outside shell 110
Inlet 1211 and leakage fluid dram 1212, and liquid inlet joint is connected to inlet 1211, draining connector and leakage fluid dram 1212
Connection so that jet propeller can suck oil from inlet 1211, then is discharged, in turn from leakage fluid dram 1212 mesohigh high speed
Generate motive force.It should be noted that in another embodiment, jet propeller also can be arranged directly on direct setting
On the upper outer surface of shell 110, to remove the setting boss 121 on fixed frame 120 from and open up inlet 1211 and row
Increased costs problem brought by liquid mouth 1212.Specifically, jet propeller is set to the horizontal centre section of shell 110
On four corners.Jet propeller is fixed at by fastener can be on the outer surface of shell 110.
Specifically, vertical driving device 131 includes vertical channel 1311 and setting perpendicular in one of the embodiments,
Screw propeller 1312 in straight trough road 1311.Vertical channel 1311 has tubular structure, and vertical channel 1311 is along vertical side
To setting in shell 110, and the both ends of vertical channel 1311 are connected to the external of shell 110 respectively, to make shell 110
The oil of outside can enter in vertical channel 1311, so that screw propeller 1312 drives, further, propeller is promoted
Device 1312 is driven using brshless DC motor, and brshless DC motor is also disposed in vertical channel 1311.
It is worth noting that in another embodiment, a kind of driving device can also be only arranged in drive system 130,
Without distinguishing horizontal drive apparatus and vertical driving device.Specifically, in this embodiment, driving device is rotationally set
It is placed in the outer surface of shell 110.Further, driving device is distributed on four angles of the horizontal cross-section of shell 100.Driving dress
It sets and 110 surface of shell is fixed on by rotary shaft, and driving device can be freely rotated around rotary shaft, so as to flexibly control drive
The thrust direction of dynamic device.Specifically, when control detection robot 100 rises or sinks, the thrust direction court of driving device
To vertical direction.When system detection robot 100 moves horizontally, driving device can turn to thrust direction towards water around rotary shaft
Square to, with driving detection robot 100 move ahead retreat or left-right rotation.Further, in this embodiment, driving device
It can be propeller type driver or jet drive.
Further, the upper cover 111 of shell 110 offers first through hole 1111, and the second through-hole is offered in lower cover 112
1121, and first through hole 1111 and the second through-hole 1121 are connected to the inside of vertical channel 1311.Further, exist
Circumferential direction on shell 110 along the circumferential direction of first through hole 1111 and the second through-hole 1121 is provided with multiple for installing fastener
160 counter sink 161.The both ends of vertical channel 1311 are configured with mounting flange 1313, and mounting flange 1313 is circumferentially arranged to be had
Connecting hole 1314, and the quantity of connecting hole 1314 and size match with counter sink 161.Further, multiple countersunk heads
Hole 161 and multiple connecting holes 1314 are uniformly arranged in the circumferential direction.Fastener 161 is threaded through counter sink 161 and connecting hole
In 1314, so that vertical channel 1311 and the sealing of shell 110 be fixed.Specifically, fastener 160 can be bolt.
Further, vertical driving device 131 is multiple, axis of multiple vertical driving devices 131 along detection robot 100
To being uniformly distributed.Specifically, such as in the present embodiment, vertical driving device 131 is two, two vertical driving devices 131
It is located at 1/4 before and after detecting 100 fuselage of robot.
Specifically, image capturing system 140 includes camera 141 and headlamp 142 in one of the embodiments,
Further, headlamp 142 is two.And two headlamps are respectively arranged at the left and right sides of camera 141, to provide light
According to.Further, the front end of fixed frame 120 is provided with multiple mounting hole (not shown), and camera 141 and headlamp 142 are set
It is placed in mounting hole.Camera 141 uses CCD (Charge Coupled Device, charge coupling in one of the embodiments,
Clutch part) camera, CCD type is 1/3, and " SONY 960H Exview HAD CCD II, the resolution ratio of camera 141 can be with
For 700TVL, 3.6mm camera lens is selected, to can also obtain clear image in the environment of inside transformer low illumination.Headlamp
142 use compact LED underwater luminaire.
Specifically, electric-control system 150 includes that power-supply system, mounting disc 152 and setting exist in one of the embodiments,
Control panel 153 in mounting disc 152.Wherein, power-supply system includes battery pack 151, charging unit (not shown) and upper Denso
Set (not shown).Battery pack 151 uses polymer Li-ion battery in one of the embodiments, and battery power reserves are
90Wh, battery pack structure are ring structure.Battery case (not shown) is provided on fixed frame 120, battery pack 151 is set to battery
In slot.Electrifying device and charging unit are connected with the power inside equipment of detection robot 100 and battery pack 151.To
Battery pack is charged and powered on.Further, charge port 1511 and upper power port are also provided on fixed frame 120
1512, charge port 1511 is connected to the port of charging unit, and upper power port 1512 is connected to the port of electrifying device.
Further, mounting groove (not shown) is also provided on fixed frame 120, mounting disc 152 and control panel 153 are arranged
In in mounting groove.Specifically, processor 1531 and sensor 1532 are provided on control panel 153, wherein processor 1531 wraps
It includes the movement processor for controlling adjustment detection robot motion state and the image for acquiring to camera 141 carries out
The image processor of processing.
Further, sensor 1532 include for monitor the Position and attitude sensor of the detection position of robot 100, angle with
And the barrier inductive pick-up of monitoring barrier.Specifically, which uses miniature attitude heading reference system, by three axis
The sensors of the types such as MEMS gyro, 3 axis MEMS accelerometer and three axis magnetic resistance type magnetometers is constituted, and has size small, again
The advantages that amount is light, small power consumption.It is additionally provided with High Performance DSP on control panel 153 and resolves chip, detection robot can be exported in real time
The absolute angular velocities in 100 3 directions, acceleration, magnetic field strength.Barrier detecting sensor uses OD laser sensor, has
Intuitive setting up procedure, to facilitate operation.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of detection robot, is detected for the inside to oil-immersed transformer characterized by comprising
Shell,
Fixed frame is set in the shell；
Drive system, to drive the detection robot mobile；
Image collecting device, for acquiring the internal image of the oil-immersed transformer；And
Electric-control system is set on the fixed frame, for monitoring the motion state of the detection machine.
2. detection robot according to claim 1, which is characterized in that the shell includes upper cover, lower cover and protection
Lid；The edge of the fixed frame is provided with seal groove, the upper cover and the lower cover and the seal groove is clamped, the protection
Lid is set to one end of the close described image acquisition device of the fixed frame.
3. detection robot according to claim 1, which is characterized in that the drive system is fixedly installed on the fixation
On frame, including for driving the vertical driving device of the detection robot vertical motion and for driving the detection machine
The horizontal drive apparatus that people moves horizontally and rotates.
4. detection robot according to claim 3, which is characterized in that there are four the fixed frame has on horizontal cross-section
Edge angle, each edge angle are provided with boss, and each boss is provided with the horizontal drive apparatus.
5. detection robot according to claim 4, which is characterized in that the horizontal drive apparatus includes that injecting type promotes
Device is provided with liquid inlet joint and draining connector on the jet propeller, offers on the boss and the shell
The inlet and leakage fluid dram of outside connection, the liquid inlet joint are connected to the inlet, the draining connector and the row
The connection of liquid mouth.
6. detection robot according to claim 3, which is characterized in that the vertical driving device includes that propeller promotes
Device and vertical channel, the screw propeller are set in the vertical channel, the both ends of the vertical channel respectively with
The external connection of the shell.
7. detection robot according to claim 6, which is characterized in that the shell offers first in the vertical direction
Through-hole and the second through-hole, along the first through hole is circumferential and the circumferential direction of the second through-hole is provided with multiple countersunk heads on the shell
The both ends in hole, the vertical channel are configured with mounting flange, and the mounting flange is circumferentially arranged to be had and the counter sink phase
The connecting hole matched is equipped with fastener in the counter sink and connector.
8. detection robot according to claim 1, which is characterized in that described image acquisition device include camera and
Headlamp, one end of the fixed frame offer multiple mounting holes, and the camera and the lighting device are set to the peace
It fills in hole.
9. detection robot according to claim 1, which is characterized in that the electric-control system includes power-supply system, described
Power-supply system includes battery pack, charging unit and electrifying device, and the fixed mount setting has battery case, the battery pack setting
In in the battery case, being also provided with charge port and upper power port on the fixed frame, the charge port and the charging unit
Port connection, the upper power port is connected to the port of the electrifying device.
10. detection robot according to claim 9, which is characterized in that the electric-control system further include mounting disc and
The control panel being set in the mounting disc offers mounting groove, the mounting disc and control panel setting on the fixed frame
In in the mounting groove；Be provided with processor and sensor on the control panel, the processor include movement processor with
And image processor, the sensor include Position and attitude sensor and barrier inductive pick-up.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810955278.2A CN109405870A (en) | 2018-08-21 | 2018-08-21 | Detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810955278.2A CN109405870A (en) | 2018-08-21 | 2018-08-21 | Detection robot |
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| CN109405870A true CN109405870A (en) | 2019-03-01 |
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| CN201810955278.2A Pending CN109405870A (en) | 2018-08-21 | 2018-08-21 | Detection robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109870636A (en) * | 2019-03-25 | 2019-06-11 | 深圳供电局有限公司 | Robot for detecting inside of oil-immersed transformer |
| CN109870637A (en) * | 2019-03-25 | 2019-06-11 | 深圳供电局有限公司 | Robot for detecting inside of oil-immersed transformer |
| CN110254713A (en) * | 2019-05-28 | 2019-09-20 | 清华大学 | Transformer inspection machine fish |
| CN110308181A (en) * | 2019-06-20 | 2019-10-08 | 深圳供电局有限公司 | Detection robot |
| CN117053876A (en) * | 2023-10-11 | 2023-11-14 | 深圳市铭昱达电子有限公司 | Transformer fault detection positioning method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109870636A (en) * | 2019-03-25 | 2019-06-11 | 深圳供电局有限公司 | Robot for detecting inside of oil-immersed transformer |
| CN109870637A (en) * | 2019-03-25 | 2019-06-11 | 深圳供电局有限公司 | Robot for detecting inside of oil-immersed transformer |
| CN110254713A (en) * | 2019-05-28 | 2019-09-20 | 清华大学 | Transformer inspection machine fish |
| CN110254713B (en) * | 2019-05-28 | 2021-03-26 | 清华大学 | Transformer inspection robot fish |
| CN110308181A (en) * | 2019-06-20 | 2019-10-08 | 深圳供电局有限公司 | Detection robot |
| CN117053876A (en) * | 2023-10-11 | 2023-11-14 | 深圳市铭昱达电子有限公司 | Transformer fault detection positioning method |
| CN117053876B (en) * | 2023-10-11 | 2023-12-19 | 深圳市铭昱达电子有限公司 | Transformer fault detection positioning method |
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