CN105856186A - Transformer substation intelligent patrol robot with mechanical arms and patrol method thereof - Google Patents
Transformer substation intelligent patrol robot with mechanical arms and patrol method thereof Download PDFInfo
- Publication number
- CN105856186A CN105856186A CN201610220804.1A CN201610220804A CN105856186A CN 105856186 A CN105856186 A CN 105856186A CN 201610220804 A CN201610220804 A CN 201610220804A CN 105856186 A CN105856186 A CN 105856186A
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- robot
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- patrol
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a transformer substation intelligent patrol robot with mechanical arms and a patrol method thereof. The patrol robot comprises a walking chassis, patrol equipment and a control module (14). The patrol equipment is installed on the walking chassis. The control module (14) is connected with the walking chassis and the patrol equipment. The patrol robot further comprises the two mechanical arms which are symmetrically installed on the two sides of the walking chassis. The mechanical arms are both connected with the control module (14). Compared with the prior art, the intelligent patrol robot is capable of achieving patrol and meanwhile capable of removing foreign matter and controlling on and off of mechanical switches through the mechanical arms, thereby having a high intelligent level.
Description
Technical field
The present invention relates to a kind of Intelligent Mobile Robot and method for inspecting, especially relate to a kind of band mechanical arm
Robot used for intelligent substation patrol and method for inspecting.
Background technology
Transformer station is the hinge of power transmission network, and inspecting substation equipment is operated in guarantee substation safety, stable operation side
Extremely important status is occupied in face.Tradition routine inspection mode is mainly by manual inspection, patrols and examines workman and passes through hand-held
Thermal infrared imager gathers the thermography of power equipment, uses the work pattern of hand-kept to complete patrol task.Manually
There is the deficiency of the aspects such as labor intensity big, inefficiency, detection mass-dispersion in patrol mode.Along with Intelligent electric
Net construction, power equipment develops to high power, high reliability, high-intelligentization direction, add daily O&M with
The difficulty of detection.Therefore by using robot to replace to a certain extent manually to transformer station's implementation automatic detecting one-tenth
For the trend of substation inspection, the current robot used for intelligent substation patrol run the most simply carries collecting device
Gather the information of power equipment, do not carry mechanical arm, can't complete for dangerous operation district patrol task,
As do not completed the foreign body removing of power equipment, the folding etc. of mechanical switch, intelligent level is the highest.
Summary of the invention
Defect that the purpose of the present invention is contemplated to overcome above-mentioned prior art to exist and a kind of band mechanical arm is provided
Robot used for intelligent substation patrol and method for inspecting.
The purpose of the present invention can be achieved through the following technical solutions:
The robot used for intelligent substation patrol of a kind of band mechanical arm, this crusing robot includes walking chassis, patrols and examines
Equipment and control module, described inspection device is arranged on walking chassis, and described control module connects row respectively
Walking chassis and inspection device, this crusing robot also includes two mechanical arms being symmetrically mounted on walking both sides, chassis,
Described mechanical arm is all connected with control module.
Each mechanical arm includes four-degree-of-freedom robot body and four DC brushless motors, four brush DC electricity
Machine is connected to control module, and four DC brushless motor correspondences control four of four-degree-of-freedom robot body certainly
By the rotation spent, the anglec of rotation of each degree of freedom is 0 °～90 °.
Described walking chassis includes chassis body, crawler belt, driving motor and motor driving module, described crawler belt peace
Being contained in below chassis body, described driving motor is provided with four, and be separately mounted to crawler belt left front, left back,
Right front and right back, described motor drive module includes the first motor drive module and the second motor drive module,
The first described motor drive module connects two the driving motors being arranged on crawler belt left front and left back, described
Second motor drive module connects two drive connections being arranged on crawler belt right front and right back, the first described electricity
Machine drives module and the second motor drive module link control module respectively.
Described inspection device includes The Cloud Terrace, thermal infrared imager and the visible light camera being connected respectively with control module,
Described The Cloud Terrace is movably arranged on above walking chassis, and described thermal infrared imager and visible light camera are arranged on cloud
Above platform.
Described The Cloud Terrace is provided with for regulating the The Cloud Terrace horizontal direction anglec of rotation and the limit of the vertical direction anglec of rotation
Bit switch, described limit switch link control module, the described horizontal direction anglec of rotation is-180 °～180 °,
The described vertical direction anglec of rotation is-30 °～50 °.
This intelligent inspection robot also include tracking avoidance unit, described tracking avoidance unit include 1 infrared
Photoelectricity avoidance sensor and 2 infrared electro tracking sensors, described infrared electro avoidance sensor is arranged on
The Cloud Terrace dead ahead, described infrared electro tracking sensor is arranged on walking both sides, base, front, chassis.
This crusing robot also include power module, described power module include solar panel, accumulator,
Battery charging circuit and voltage conversion circuit, described solar panel is arranged on walking chassis side and passes through
Battery charging circuit connects accumulator input, and accumulator output end passes through voltage conversion circuit to crusing robot
Power supply.
This crusing robot communication connection host computer, this crusing robot is provided with wireless communication module, described nothing
Line communication module communication connection control module and host computer.
The method for inspecting of the robot used for intelligent substation patrol of a kind of band mechanical arm, the method comprises the steps:
(1) start crusing robot, select crusing robot mode of operation, if automatic detecting pattern performs step
Suddenly (2), if Artificial Control patrol mode performs step (5)；
(2) control module control crusing robot presses set path walking, performs step (3)；
(3) control module is according to determining whether barrier, if the step of being carried out (4), otherwise performs step (8)；
(4) remove barrier, perform step (8)；
(5) artificial selection's crusing robot walking path, performs step (6)；
(6) judge whether to arrive to specify position, if the step of being carried out (8), otherwise perform step (7)；
(7) run to specify position, perform step (8)；
(8) substation equipment is patrolled and examined and is taken pictures and perform step (9) by inspection device；
(9) control module sends patrolling and examining the image taken pictures to host computer, and performs step (10)；
(10) basis is patrolled and examined the image taken pictures and is determined whether foreign body, and if so, control module startup mechanical arm is clear
Except foreign body, otherwise terminate to patrol and examine.
Compared with prior art, present invention have the advantage that
(1) crusing robot of the present invention is provided with two mechanical arms, can automatically remove the foreign body of power equipment
Remove, the folding of mechanical switch in substation equipment can also be realized simultaneously, improve the intelligent journey of crusing robot
Degree；
(2) mechanical arm arranged uses four-degree-of-freedom robot body, and by four DC brushless motors
Control the motion in four degree of freedom directions of four-degree-of-freedom robot body respectively so that the running spirit of this mechanical arm
Living, operating reliability is strong, and four DC brushless motors all carry out PWM control by control module simultaneously, controls
Degree of accuracy is high；
(3) the tracking avoidance unit arranged on this crusing robot is capable of automatic tracking and carries out effective avoidance,
Automaticity is high；
(4) this crusing robot power module is provided with solar panel and accumulator, can when sunny
Convert solar energy into electrical energy and be stored in accumulator, it is achieved thereby that the making full use of, to a certain degree of solar energy
On saved electric energy.
Accompanying drawing explanation
Fig. 1 is the structural representation of the robot used for intelligent substation patrol of band mechanical arm of the present invention；
The robot used for intelligent substation patrol population structure block diagram that Fig. 2 is band mechanical arm of the present invention；
The robot used for intelligent substation patrol method for inspecting flow chart that Fig. 3 is band mechanical arm of the present invention.
In figure, 1 is left side mechanical arm, and 2 is infrared electro avoidance sensor, and 3 is front side solar panel,
4 is right side mechanical arm, and 5 is crawler belt, and 6 is chassis body, and 7 is warning lamp, and 8 is rear side solar panel,
9 is main switch, and 10 is The Cloud Terrace, and 11 is thermal infrared imager, and 12 is visible light camera, and 13 is guard shield, and 14 are
Control module, 15 is the first motor drive module, and 16 is the second motor drive module.
Detailed description of the invention
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
As it is shown in figure 1, the robot used for intelligent substation patrol of a kind of band mechanical arm, this crusing robot includes row
Walking chassis, inspection device and control module 14, inspection device is arranged on walking chassis, and control module 14 is respectively
Connecting walking chassis and inspection device, walking chassis includes chassis body 6, crawler belt 5, drives motor and motor to drive
Module, crawler belt 5 is arranged on below chassis body 6, drives motor to be provided with four, and it is left to be separately mounted to crawler belt 5
Front, left back, right front and right back, motor drive module includes the first motor drive module 15 and second
Motor drive module 16, the first motor drive module 15 connection is arranged on two of crawler belt 5 left front and left back
Drive motor, the second motor drive module 16 to connect and be arranged on two drivings of crawler belt 5 right front and right back even
Connect, the first motor drive module 15 and the second motor drive module 16 link control module 14 respectively, wherein
Crawler belt 5 is metal track, and chassis body 6 is all-metal stainless steel material, and weight capacity reaches 60KG.Control
Module 14 selects 32 single-chip microcomputers of STM32F103 type, and its kernel is the Cortex-M3 of ARM company, work
Working frequency be 72MHZ, Flash up to 512KB, 2 12 ADC, 5 USART, 11 16
Timer.Control module 14 controls the first motor drive module 15 and the second electricity of crusing robot by PWM
Machine drives module 16, thus drives the work of four driving motors, it is achieved turns left, turn right, advance, the merit such as stopping
Can, thus realize crusing robot and reach to specify position to carry out and patrol and examine work.
This crusing robot also includes two mechanical arms being symmetrically mounted on walking both sides, chassis, is respectively left side machine
Tool arm 1 and right side mechanical arm 4, two mechanical arms are all connected with control module 14, and each mechanical arm includes four
Degree of freedom robot body and four DC brushless motors, four DC brushless motors are connected to control module
14, the rotation of four degree of freedom of four DC brushless motor correspondence control four-degree-of-freedom robot body, each
The anglec of rotation of degree of freedom is 0 °～90 °.Thered is provided respectively for eight DC brushless motors by control module 14
The driving electric current of 0.2A, eight-path PWM controls the anglec of rotation of eight DC brushless motors thus controls left side machine
Tool arm 1 and the attitude of right side mechanical arm 4.This intelligent inspection robot also includes tracking avoidance unit, tracking
Avoidance unit includes 1 infrared electro avoidance sensor 2 and 2 infrared electro tracking sensors, infrared electro
Avoidance sensor 2 is arranged on The Cloud Terrace 10 dead ahead, and infrared electro tracking sensor is arranged at the bottom of walking front, chassis
Both sides, limit.When Intelligent Mobile Robot automatic detecting, kept away by infrared electro tracking sensor and infrared electro
Barrier sensor 2 realization that cooperates is accurately positioned, and can carry out while avoidance in time patrol and examine running into barrier
Work.Being additionally provided with warning lamp 7 on this crusing robot, this warning lamp 7 link control module 14, when infrared electro avoidance
When sensor 2 detects front fault thing, control module 14 controls warning lamp 7 flicker and reports to the police, and points out staff
Remove front fault thing.
This crusing robot communication connection host computer, this crusing robot is provided with wireless communication module, radio communication
Module communication connection control module 14 and host computer.Inspection device in this crusing robot include respectively with control
The Cloud Terrace 10, thermal infrared imager 11 and the visible light camera 12 that module 14 connects, The Cloud Terrace 10 is movably arranged on row
Walking above chassis, thermal infrared imager 11 and visible light camera 12 are arranged on above The Cloud Terrace 10, thermal infrared imager
11 and visible light camera 12 be externally provided with a guard shield 13, The Cloud Terrace 10 is provided with for regulating The Cloud Terrace 10 level side
To the anglec of rotation and the limit switch of the vertical direction anglec of rotation, limit switch link control module 14, level side
Being-180 °～180 ° to the anglec of rotation, the vertical direction anglec of rotation is-30 °～50 °, The Cloud Terrace 10 by RS485 with
Control module 14 serial ports connect, by host computer send serial ports instruct, serial ports instruction pass through radio communication mold
Block is transferred to control module 14, control module 14 by RS485 serial communication control The Cloud Terrace 10 upper and lower,
Left and right rotation, power equipment is patrolled and examined by the position specified by calling presetting bit control The Cloud Terrace 10 arrival.Red
Outer thermal imaging system 11 and visible light camera 12 can realize specifying position to carry out electric power by the rotation of The Cloud Terrace 10
Image acquisition, the power equipment image collected passes to host computer by wireless communication module and stores data base
In.
This crusing robot also includes power module, and power module includes solar panel, accumulator, accumulator
Charging circuit and voltage conversion circuit, solar panel is arranged on walking chassis side and by accumulator charged electrical
Road connects accumulator input, and accumulator output end is powered to crusing robot by voltage conversion circuit.This enforcement
In example, in walking chassis, chassis body 6 is trapezoidal mesa-shaped, and solar panel is provided with two pieces, is respectively front side too
Sun energy cell panel 3 and rear side solar panel 8, before two pieces of solar panels are symmetrically mounted on chassis body 6
Rear both sides, can convert solar energy into electrical energy and be stored in accumulator when sunny, it is achieved thereby that the sun
Making full use of of energy, has saved electric energy to a certain extent.Additionally it is additionally provided with main switch 9 on chassis body 6 trailing flank,
This main switch 9 link control module 14, can realize opening of crusing robot by the opening and closing of main switch 9
Open and close.In this crusing robot, control module, the circuit board of communication module are arranged on chassis body 6 inside,
Therefore about chassis body 6 inside, a fan is respectively installed to heat dissipation for circuit board in two sides.
It is illustrated in figure 2 crusing robot population structure block diagram, it can be seen that control module 14 device mastery reaction,
Connect left side mechanical arm 1 and right side mechanical arm 4 respectively, thus the foreign body realizing automatically removing power equipment is clear
Remove, the folding of mechanical switch in substation equipment can also be realized simultaneously；Additional control module 14 be also connected with The Cloud Terrace 10,
Thermal infrared imager 11 and visible light camera 12, thus realize patrolling and examining of converting equipment in transformer station；Control module
14 are also connected with the first motor drive module 15 and the second motor drive module 16, thus realize crusing robot
Travelling control.
As it is shown on figure 3, the method for inspecting of the robot used for intelligent substation patrol of a kind of band mechanical arm, the method bag
Include following steps:
Step 101: start crusing robot, selects crusing robot mode of operation, if automatic detecting pattern is held
Row step 102, if Artificial Control patrol mode performs step 105；
Step 102: control module 14 controls crusing robot and walks by set path, performs step 103；
Step 103: control module 14, according to determining whether barrier, if being carried out step 104, otherwise performs
Step 108；
Step 104: remove barrier, performs step 108；
Step 105: artificial selection's crusing robot walking path, performs step 106；
Step 106: judge whether to arrive and specify position, if being carried out step 108, otherwise performs step 107；
Step 107: run to specify position, perform step 108；
Step 108: substation equipment is patrolled and examined and taken pictures and perform step 109 by inspection device；
Step 109: control module 14 includes power equipment thermography, visible images by patrolling and examining the image taken pictures
Send to host computer, perform step 110；
Step 110: determine whether foreign body according to patrolling and examining the image taken pictures, if so, performs step 111: control
Module 14 starts mechanical arm and removes foreign body, otherwise terminates to patrol and examine.
Claims (10)
1. a robot used for intelligent substation patrol for band mechanical arm, this crusing robot include walk chassis,
Inspection device and control module (14), described inspection device is arranged on walking chassis, described control module
(14) walking chassis and inspection device are connected respectively, it is characterised in that this crusing robot also includes two symmetries
Being arranged on the mechanical arm of walking both sides, chassis, described mechanical arm is all connected with control module (14).
The robot used for intelligent substation patrol of a kind of band mechanical arm the most according to claim 1, its feature
Being, each mechanical arm includes four-degree-of-freedom robot body and four DC brushless motors, four brush DCs
Motor is connected to control module (14), and four DC brushless motor correspondences control four-degree-of-freedom robot body
The rotation of four degree of freedom, the anglec of rotation of each degree of freedom is 0o～90o.
The robot used for intelligent substation patrol of a kind of band mechanical arm the most according to claim 1, its feature
Being, described walking chassis includes chassis body (6), crawler belt (5), drives motor and motor driving module, institute
The crawler belt (5) stated is arranged on chassis body (6) lower section, and described driving motor is provided with four, and is respectively mounted
In crawler belt (5) left front, left back, right front and right back, described motor drive module includes the first electricity
Machine drives module (15) and the second motor drive module (16), and described the first motor drive module (15) is even
Connect two the driving motors being arranged on crawler belt (5) left front and left back, described the second motor drive module (16)
Connect two drive connections being arranged on crawler belt (5) right front and right back, the first described motor drive module
(15) and the second motor drive module (16) link control module respectively (14).
The robot used for intelligent substation patrol of a kind of band mechanical arm the most according to claim 1, its feature
Being, described inspection device includes The Cloud Terrace (10), the thermal infrared imager being connected respectively with control module (14)
(11) and visible light camera (12), described The Cloud Terrace (10) is movably arranged on above walking chassis, described
Thermal infrared imager (11) and visible light camera (12) be arranged on The Cloud Terrace (10) top.
The robot used for intelligent substation patrol of a kind of band mechanical arm the most according to claim 4, its feature
Being, described The Cloud Terrace (10) is provided with for regulating The Cloud Terrace (10) the horizontal direction anglec of rotation and vertical direction
The limit switch of the anglec of rotation, described limit switch link control module (14), described horizontal direction rotates
Angle is-180 °～180 °, and the described vertical direction anglec of rotation is-30 °～50 °.
The robot used for intelligent substation patrol of a kind of band mechanical arm the most according to claim 4, its feature
Be, this intelligent inspection robot also include tracking avoidance unit, described tracking avoidance unit include 1 infrared
Photoelectricity avoidance sensor (2) and 2 infrared electro tracking sensors, described infrared electro avoidance sensor (2)
Being arranged on The Cloud Terrace (10) dead ahead, described infrared electro tracking sensor is arranged on walking base, front, chassis two
Side.
The robot used for intelligent substation patrol of a kind of band mechanical arm the most according to claim 1, its feature
Be, this crusing robot also include power module, described power module include solar panel, accumulator,
Battery charging circuit and voltage conversion circuit, described solar panel is arranged on walking chassis side and passes through
Battery charging circuit connects accumulator input, and accumulator output end passes through voltage conversion circuit to crusing robot
Power supply.
The robot used for intelligent substation patrol of a kind of band mechanical arm the most according to claim 1, its feature
Being, this crusing robot communication connection host computer, this crusing robot is provided with wireless communication module, described
Wireless communication module communication connection control module (14) and host computer.
The robot used for intelligent substation patrol of a kind of band mechanical arm the most according to claim 1, its feature
Being, this crusing robot is provided with alarm lamp, described alarm lamp link control module (14).
10. the side of patrolling and examining of the robot used for intelligent substation patrol of the band mechanical arm as shown in claim 8
Method, it is characterised in that the method comprises the steps:
(1) start crusing robot, select crusing robot mode of operation, if automatic detecting pattern performs step
Suddenly (2), if Artificial Control patrol mode performs step (5)；
(2) control module (14) control crusing robot presses set path walking, performs step (3)；
(3) control module (14) is according to determining whether barrier, if the step of being carried out (4), otherwise performs
Step (8)；
(4) remove barrier, perform step (8)；
(5) artificial selection's crusing robot walking path, performs step (6)；
(6) judge whether to arrive to specify position, if the step of being carried out (8), otherwise perform step (7)；
(7) run to specify position, perform step (8)；
(8) substation equipment is patrolled and examined and is taken pictures and perform step (9) by inspection device；
(9) control module (14) sends patrolling and examining the image taken pictures to host computer, and performs step (10)；
(10) basis is patrolled and examined the image taken pictures and is determined whether foreign body, and if so, control module (14) starts machinery
Arm removes foreign body, otherwise terminates to patrol and examine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610220804.1A CN105856186A (en) | 2016-04-11 | 2016-04-11 | Transformer substation intelligent patrol robot with mechanical arms and patrol method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610220804.1A CN105856186A (en) | 2016-04-11 | 2016-04-11 | Transformer substation intelligent patrol robot with mechanical arms and patrol method thereof |
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| CN105856186A true CN105856186A (en) | 2016-08-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201610220804.1A Pending CN105856186A (en) | 2016-04-11 | 2016-04-11 | Transformer substation intelligent patrol robot with mechanical arms and patrol method thereof |
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| CN106514672A (en) * | 2016-12-28 | 2017-03-22 | 国网浙江省电力公司湖州供电公司 | Transformer substation inspection robot |
| CN106514654A (en) * | 2016-11-11 | 2017-03-22 | 国网浙江宁海县供电公司 | Patrol method of robot and patrol robot |
| CN106711851A (en) * | 2017-01-17 | 2017-05-24 | 广州供电局有限公司 | Inspection robot |
| CN107154591A (en) * | 2017-04-25 | 2017-09-12 | 成都中机盈科科技有限公司 | Mobile Robot for Substation Equipment Inspection |
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| CN112414457A (en) * | 2018-12-12 | 2021-02-26 | 杭州申昊科技股份有限公司 | Automatic intelligent inspection method based on work of transformer substation |
| CN112476451A (en) * | 2020-11-24 | 2021-03-12 | 国网天津市电力公司 | Underground robot for internal operation of transformer and use method |
| CN112531516A (en) * | 2021-02-18 | 2021-03-19 | 山东广域科技有限责任公司 | Automatic accurate control device of transformer substation |
| CN113894767A (en) * | 2021-11-25 | 2022-01-07 | 国网河南省电力公司洛阳供电公司 | Obstacle removing device for intelligent inspection robot |
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Application publication date: 20160817 |