CN109546573A - A kind of high altitude operation crusing robot - Google Patents
A kind of high altitude operation crusing robot Download PDFInfo
- Publication number
- CN109546573A CN109546573A CN201811529819.1A CN201811529819A CN109546573A CN 109546573 A CN109546573 A CN 109546573A CN 201811529819 A CN201811529819 A CN 201811529819A CN 109546573 A CN109546573 A CN 109546573A
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- Prior art keywords
- high altitude
- altitude operation
- crusing robot
- left clamp
- control device
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Classifications
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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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of high altitude operation crusing robots, including the clip shell being made of the left clamp and right clamping body that are symmetrical set and the driving mechanism being installed on clip shell, battery, battery controller, electric platform, camera, control device and data transmitter-receiver set, the battery is driving mechanism by battery controller, electric platform, camera, data transmitter-receiver set, control device provides operating voltage, the camera is mounted on electric platform, and the camera and electric platform are communicated to connect with control device, the control device is communicated to connect by data transmitter-receiver set and remote terminal equipment.The present invention can realize clamping walking automatically；Electric energy can also be converted the solar by solar panel, it is charged by battery controller to battery, situation is filmed by camera in walking process, and the data of acquisition are sent to control device, and control device is sent to internet cloud by data transmitter-receiver set.
Description
Technical field
The present invention relates to crusing robot fields, and in particular to a kind of high altitude operation crusing robot.
Background technique
Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run preparatory volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work.
Crusing robot is to aid in the installations that the mankind carry out inspection.With the propulsion of urbanization process, power cable
Application increasingly increase, the coverage area of cable system constantly expands, so reinforcing the maintenance management of power cable, have very much must
It wants.Since there are certain height for the power transmission line in pylon, it is big that there are labor intensities in such a way that manual inspection is checked,
And low efficiency, and replaced by the way of mechanical manually, device has that structure is complicated and installs trouble.In order to improve
Dynamics is checked in the inspection of high-altitude power transmission line, it is necessary to propose a kind of high altitude operation crusing robot.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to provide a kind of high altitude operation crusing robot, can pass through
The mode of clamping realizes efficient installation, improves the routing inspection efficiency of high-altitude power cable.
In order to solve the above-mentioned technical problem, it adopts the following technical scheme that
A kind of high altitude operation crusing robot, including the clip shell being made of the left clamp and right clamping body that are symmetrical set
Body and the driving mechanism being installed on clip shell, battery, battery controller, electric platform, camera, control device sum number
According to R-T unit, the battery by battery controller be driving mechanism, electric platform, camera, data transmitter-receiver set,
Control device provides operating voltage, and the camera is mounted on electric platform, and the camera and electric platform is equal
It is communicated to connect with control device, the control device is communicated to connect by data transmitter-receiver set and remote terminal equipment；
The control device is used for: the image information that the camera obtains is sent to by the data transmitter-receiver set
The remote terminal equipment；The control instruction for receiving the remote terminal equipment feedback, exports according to the control instruction and controls
Signal drives the high altitude operation crusing robot to walk to the driving mechanism；
Wherein, the control instruction of the remote terminal equipment feedback is generated by following steps:
The first step receives a frame described image information f (x, y), according to high altitude operation crusing robot walking environment
The standard deviation sigma of corresponding background pixel value carries out the gaussian filtering that standard deviation is σ to described image information f (x, y), and right
Picture construction its eigenmatrix after gaussian filteringWherein, Lxx、Lxy、Lyx
And LyyThe convolution results of the corresponding gaussian filtering second order local derviation of pixel respectively in described image information；
Second step, to the optical sieving after the gaussian filtering, its point of interest is the point P for meeting det (H) > 0；Wherein, det
(H)=LxxLxy-LxyLyx；
Third step constructs the multiscale space of described image information f (x, y)；
4th step, in the multiscale space, each point of interest P and its adjacent in the multiscale space
26 points in domain, when judging the point of interest P for the minimum or maximum extreme point in multiscale space neighborhood, label should
Point of interest is characterized point Q；
5th step obtains the corresponding coordinate in described image information f (x, y) of each characteristic point Q, judges each spy
The positional relationship between point Q and preset coordinates regional is levied, and generates the control instruction according to the positional relationship accordingly, with
The high altitude operation crusing robot is driven to adjust its walking states accordingly.
Further, the left clamp and right clamping body are hollow shell structure, are pacified in the inner cavity of the left clamp
Equipped with battery, the bottom of the left clamp is equipped with electric platform, and the camera is installed on the electric platform,
Battery controller, control device and data transmitter-receiver set are installed in the inner cavity of the right clamping body.
Further, the driving mechanism is two groups, is respectively arranged on left clamp and right clamping body, every group of driving mechanism packet
Belt wheel shaft, driving motor and electric machine controller are included, the both ends of the belt wheel shaft respectively pass through a bearing and corresponding clamp
It is coupled, one end of the belt wheel shaft is coupled with the motor shaft of the driving motor, the driving motor and electricity
Machine controller is electrically connected, and the electric machine controller and control device communicate to connect, the driving motor and motor control
Device provides operating voltage by battery controller, and the wheel in the belt wheel shaft is located at the outside of corresponding clamp.
Further, it in the 5th step, is generated according to the positional relationship between each characteristic point Q and preset coordinates regional
The control instruction, specifically: when before the characteristic point Q being located at the preset coordinates regional, the control instruction is
The driving mechanism of high altitude operation crusing robot two sides is driven to slow down；It is located at the preset seat in the characteristic point Q
When after mark region, the control instruction is that the driving mechanism of high altitude operation crusing robot two sides is driven to accelerate；?
When the characteristic point Q is located on the left of the preset coordinates regional, the control instruction is to drive the high altitude operation survey monitor
Driving mechanism on the right side of device people is slowed down；When the characteristic point Q is located on the right side of the preset coordinates regional, the control instruction
To drive the driving mechanism on the left of the high altitude operation crusing robot to accelerate.
Further, the lower part of the left clamp and right clamping body is the arc-shaped structure for gripper rail, and top is to use
In the ear of pulling of manual operation, the left clamp is symmetrical set to form a similar circular hole with right clamping body, and moves
Ear is close to each other for pulling on left clamp and right clamping body, and opening is formed at the lower part of clip shell, is provided with one on the left clamp
To the first hinged ear, a pair of the second hinged ear matched with the first hinged ear is provided on the right clamping body, and match
The first hinged ear and the second hinged ear between by connection pin connection, be arranged with spring, and connecting pin on the connecting pin
Both ends installation nuts limited, ear phase is pulled with left clamp and right clamping body top respectively in the both ends extended segment of the spring
It resists, during the work time, the wheel in two belt wheel shafts is located at the two sides of track.
It further, further include two groups of solar panels being respectively arranged on the left clamp and right clamping body, every group too
Positive energy solar panel and the battery controller are electrically connected.
Further, the clump weight to balance is provided in the left clamp and right clamping body.
Further, the perforation passed through for connecting line is provided on the left clamp and right clamping body.
As a result of the above technical solution, the following beneficial effects are obtained:
The present invention is a kind of high altitude operation crusing robot, and clip shell, and left folder are made of left clamp and right clamping body
Power cable to be inspected is clamped automatically by spring realization between body and right clamping body, on left clamp and right clamping body respectively
One driving mechanism is installed, is driven by the driving mechanism of two sides, and then realizes and walks on power cable；In addition, left folder
It is additionally provided with solar panel on body and right clamping body, the inspection of power cable high-altitude is carried out in the case where there is sunlight, can be led to
It crosses solar panel and converts the solar into electric energy, charged by battery controller to battery, energy conservation, walking process
The case where power cable, is filmed by middle camera, and the data of acquisition are sent to control device, and control device passes through number
Internet cloud is sent to according to R-T unit.
Detailed description of the invention
The present invention will be further explained below with reference to the attached drawings:
Fig. 1 is a kind of structural schematic diagram of high altitude operation crusing robot in the present invention；
Fig. 2 is a kind of top view of high altitude operation crusing robot in the present invention.
In figure: 1- clip shell, the left clamp of 11-, the first hinged ear of 111-, 12- right clamping body, the second hinged ear of 121-, 13-
Spring, 14- connecting pin, 15- opening, 16- nut, 17- perforation；2- driving mechanism, 21- belt wheel shaft, 22- driving motor, 23-
Electric machine controller；3- battery, 4- battery controller, 5- electric platform, 6- camera, 7- control device, 8- data transmit-receive dress
It sets, 9- solar panel, 10- clump weight.
Specific embodiment
In order to make the objectives, technical solutions and advantages of the present invention clearer, below by accompanying drawings and embodiments, to this
Invention is further elaborated.However, it should be understood that the specific embodiments described herein are merely illustrative of the present invention,
The range being not intended to restrict the invention.In addition, in the following description, descriptions of well-known structures and technologies are omitted, to keep away
Exempt from unnecessarily to obscure idea of the invention.
As shown in Figure 1 to Figure 2, a kind of high altitude operation crusing robot, including 11 He of left clamp by being symmetrical set
The clip shell 1 that right clamping body 12 is constituted and the driving mechanism 2 being installed on clip shell 1, battery 3, battery controller 4, electricity
Dynamic holder 5, camera 6, control device 7 and data transmitter-receiver set 8, the battery 3 are driving machine by battery controller 4
Structure 2, electric platform 5, camera 6, data transmitter-receiver set 7, control device 8 provide operating voltage, and the camera 6 is mounted on
On electric platform 5, and the camera 6 and electric platform 5 is communicated to connect with control device 7, and the control device 7 is logical
It crosses data transmitter-receiver set 8 and remote terminal equipment communicates to connect.
Control device 7 therein is used for: the image information that the camera 6 is obtained passes through the data transmitter-receiver set 8
It is sent to the remote terminal equipment；The control instruction of the remote terminal equipment feedback is received, it is defeated according to the control instruction
Control signal drives the high altitude operation crusing robot to walk to the driving mechanism 2 out；
Wherein, the control instruction of the remote terminal equipment feedback is generated by following steps:
The first step receives a frame described image information f (x, y), according to high altitude operation crusing robot walking environment
The standard deviation sigma of corresponding background pixel value carries out the gaussian filtering that standard deviation is σ to described image information f (x, y), and right
Picture construction its eigenmatrix after gaussian filteringWherein, Lxx、Lxy、Lyx
And LyyThe convolution results of the corresponding gaussian filtering second order local derviation of pixel respectively in described image information, with LxxFor
Example, Lxx=[f (x+1, y)-f (x, y)]-[f (x, y)-f (x-1, y)]=f (x+1, y)+f (x-1, y) -2f (x, y)；
Second step, to the optical sieving after the gaussian filtering, its point of interest is the point P for meeting det (H) > 0；Wherein, det
(H)=LxxLxy-LxyLyx；
Third step constructs the multiscale space of described image information f (x, y), in the multiscale space, schemes between different groups
The size of picture is consistent, and the template size of the gaussian filtering used between different groups is gradually increased, and different interlayers use between same group
The fuzzy coefficient for the gaussian filtering that different interlayers use between identical but same group of the template size of gaussian filtering is gradually increased；
4th step, in the multiscale space, each point of interest P and its adjacent in the multiscale space
26 points in domain, when judging the point of interest P for the minimum or maximum extreme point in multiscale space neighborhood, label should
Point of interest is characterized point Q；
5th step obtains the corresponding coordinate in described image information f (x, y) of each characteristic point Q, judges each spy
The positional relationship between point Q and preset coordinates regional is levied, and generates the control instruction according to the positional relationship accordingly, with
The high altitude operation crusing robot is driven to adjust its walking states accordingly.
Wherein, the left clamp 11 and right clamping body 12 are hollow shell structure, the inner cavity of the left clamp 11
In battery 3 is installed, the bottom of the left clamp 11 is equipped with electric platform 5, on the electric platform 5 described in installation
Camera 6, battery controller 4, control device 7 and data transmitter-receiver set 8 are installed in the inner cavity of the right clamping body 12.
Further, the driving mechanism 2 is two groups, is respectively arranged on left clamp 11 and right clamping body 12, every group of drive
Motivation structure 2 includes belt wheel shaft 21, driving motor 22 and electric machine controller 23, and the both ends of the belt wheel shaft 21 respectively pass through one
Bearing is coupled with corresponding clamp, and the motor shaft of one end of the belt wheel shaft 21 and the driving motor 22 joins
Knot, the driving motor 22 and electric machine controller 23 are electrically connected, the electric machine controller 23 and 7 communication link of control device
It connects, the driving motor 22 and electric machine controller 23 provide operating voltage, the belt wheel shaft 21 by battery controller 4
On wheel be located at the outside of corresponding clamp.
Further, it in the 5th step, is generated according to the positional relationship between each characteristic point Q and preset coordinates regional
The control instruction, specifically: when before the characteristic point Q being located at the preset coordinates regional, the control instruction is
The driving mechanism 2 of high altitude operation crusing robot two sides is driven to slow down；It is located at the preset seat in the characteristic point Q
When after mark region, the control instruction is that the driving mechanism 2 of high altitude operation crusing robot two sides is driven to accelerate；?
When the characteristic point Q is located on the left of the preset coordinates regional, the control instruction is to drive the high altitude operation survey monitor
Driving mechanism 2 on the right side of device people is slowed down；When the characteristic point Q is located on the right side of the preset coordinates regional, the control refers to
It enables to drive the driving mechanism 2 on the left of the high altitude operation crusing robot to accelerate.
Wherein, the preset coordinates regional is described in the power cable to be inspected is obtained in the camera 6
Shared coordinate range in image information, about at the middle part of described image information, width accounts for institute in described image information
State the 1/5~1/3 of image information.
The image that remote terminal equipment of the invention can be obtained according to the high altitude operation inspection machine man-hour as a result,
Information represents the characteristic point Q at power cable edge by eigenmatrix identification, according to characteristic point Q described image information f (x,
Y) positional relationship or coordinate range in, the corresponding driving mechanism 2 for driving high altitude operation crusing robot.High-altitude is made as a result,
Industry crusing robot can adjust accordingly its walking states according to the control instruction that remote terminal equipment is fed back, avoiding obstacles,
Or its direction of travel of timely correction when deviateing power cable edge.
In embodiments of the present invention, the lower part of the left clamp 11 and right clamping body 12 is for the arc-shaped of gripper rail
Structure, top are the ear of pulling for manual operation, and the left clamp 11 and right clamping body 12 are symmetrical set to form a class
It like circular hole, and moves pulling on left clamp 11 and right clamping body 12 ear is close to each other, opening is formed at the lower part of clip shell 1
15, it is provided with a pair of first hinged ear 111 on the left clamp 11, is provided on the right clamping body 12 a pair of with the first hinge
The second hinged ear 121 that lug 111 matches, and pass through company between the first hinged ear 111 and the second hinged ear 121 matched
Outbound 14 connects, and spring 13 is arranged on the connecting pin 14, and the both ends installation nut 16 of connecting pin 14 is limited, institute
Pull ear of the both ends extended segment for the spring 13 stated respectively with 12 top of left clamp 11 and right clamping body mutually resists, during the work time,
Wheel in two belt wheel shafts 21 is located at the two sides of track.
It further, further include two groups of solar panels being respectively arranged on the left clamp 11 and right clamping body 12
9, every group of solar panel 9 and the battery controller 4 are electrically connected；It is all provided in the left clamp 11 and right clamping body 12
It is equipped with the clump weight 10 to balance；The perforation passed through for connecting line is provided on the left clamp 11 and right clamping body 12
17。
A kind of working principle of high altitude operation crusing robot of the present invention: it is pulled with hand by left clamp 11 and right clamping body 12
It pulls that ear is close to each other, clip shell 1 is clamped to power cable to be inspected, driving mechanism 2 drives the crusing robot to move ahead, takes the photograph
As the situation on first 6 pairs of power cables is shot, situations such as cable on periphery, can also be shot, and by the data of acquisition
It is sent to control device 7, then is sent to the remote terminal of networking by data transmitter-receiver set 8 by control device 7, in remote terminal
On can see inspection situation immediately, also, remote terminal can also be sent to control device 7 by data transmitter-receiver set 8 and be executed
Order, such as the rotation of control electric platform 5, the start and stop of control driving mechanism 2, solar panel 9 will too in the process of walking
Sun can be converted to electric energy, be charged by battery controller 4 to battery 3, avoid the midway of battery 3 out of power and can not be normal
The problem of work.
A kind of high altitude operation crusing robot of the present invention, clip shell, and left clamp are made of left clamp and right clamping body
Power cable to be inspected is clamped automatically by spring realization between right clamping body, is pacified respectively on left clamp and right clamping body
A driving mechanism is filled, is driven by the driving mechanism of two sides, and then realizes and walks on power cable；In addition, left clamp
With solar panel is additionally provided on right clamping body, in the case where there is sunlight carry out the inspection of power cable high-altitude, can pass through
Solar panel converts the solar into electric energy, is charged by battery controller to battery, energy conservation, in walking process
The case where power cable, is filmed by camera, and the data of acquisition are sent to control device, and control device passes through data
R-T unit is sent to internet cloud.The present invention can not only be used positioned on the enterprising enforcement of power cable, moreover it is possible on round tube, edge
Round tube to periphery the case where carry out inspection.
The above is only specific embodiments of the present invention, but technical characteristic of the invention is not limited thereto.It is any with this hair
Based on bright, to solve essentially identical technical problem, essentially identical technical effect is realized, made ground simple change, etc.
With replacement or modification etc., all it is covered by among protection scope of the present invention.
Claims (8)
1. a kind of high altitude operation crusing robot, it is characterised in that: including the left clamp and right clamping body structure by being symmetrical set
At clip shell and be installed on clip shell driving mechanism, battery, battery controller, electric platform, camera, control
Device and data transmitter-receiver set processed, the battery are driving mechanism, electric platform, camera, number by battery controller
There is provided operating voltage according to R-T unit, control device, the camera is mounted on electric platform, and the camera and
Electric platform is communicated to connect with control device, and the control device is communicated by data transmitter-receiver set with remote terminal equipment
Connection；
The control device is used for: image information that the camera obtains being sent to by the data transmitter-receiver set described
Remote terminal equipment；The control instruction for receiving the remote terminal equipment feedback exports control signal according to the control instruction
To the driving mechanism to drive the high altitude operation crusing robot to walk；
Wherein, the control instruction of the remote terminal equipment feedback is generated by following steps:
The first step receives a frame described image information f (x, y), and according to high altitude operation crusing robot walking environment, institute is right
The standard deviation sigma for the background pixel value answered carries out the gaussian filtering that standard deviation is σ to described image information f (x, y), and to Gauss
Its eigenmatrix of filtered picture construction Wherein, Lxx、Lxy、LyxAnd Lyy
The convolution results of the corresponding gaussian filtering second order local derviation of pixel respectively in described image information；
Second step, to the optical sieving after the gaussian filtering, its point of interest is the point P for meeting det (H) > 0；
Wherein, det (H)=LxxLxy-LxyLyx；
Third step constructs the multiscale space of described image information f (x, y)；
4th step, in the multiscale space, each point of interest P and its in the multiscale space neighborhood
26 points mark the interest when judging the point of interest P for the minimum or maximum extreme point in multiscale space neighborhood
Point is characterized point Q；
5th step obtains the corresponding coordinate in described image information f (x, y) of each characteristic point Q, judges each characteristic point
Positional relationship between Q and preset coordinates regional, and the control instruction is generated according to the positional relationship accordingly, with corresponding
The driving high altitude operation crusing robot adjust its walking states.
2. a kind of high altitude operation crusing robot according to claim 1, it is characterised in that: the left clamp and right folder
Body is hollow shell structure, and battery, the bottom installation of the left clamp are equipped in the inner cavity of the left clamp
There is electric platform, the camera is installed on the electric platform, battery control is installed in the inner cavity of the right clamping body
Device, control device and data transmitter-receiver set processed.
3. according to claim 1 to a kind of high altitude operation crusing robot described in 2 any one, it is characterised in that: described
Driving mechanism be two groups, be respectively arranged on left clamp and right clamping body, every group of driving mechanism include belt wheel shaft, driving motor and
Electric machine controller, the both ends of the belt wheel shaft respectively pass through a bearing and are coupled with corresponding clamp, the band rotation
One end of axis is coupled with the motor shaft of the driving motor, and the driving motor and electric machine controller are electrically connected, described
Electric machine controller and control device communicate to connect, the driving motor and electric machine controller pass through battery controller and provide
Operating voltage, the wheel in the belt wheel shaft are located at the outside of corresponding clamp.
4. a kind of high altitude operation crusing robot according to claim 3, it is characterised in that: in the 5th step, according to
The control instruction that positional relationship between each characteristic point Q and preset coordinates regional generates, specifically: in the characteristic point
When Q is located at before the preset coordinates regional, the control instruction is driving high altitude operation crusing robot two sides
Driving mechanism is slowed down；When the characteristic point Q is located at after the preset coordinates regional, the control instruction is driving institute
The driving mechanism for stating high altitude operation crusing robot two sides accelerates；It is located at the preset coordinates regional in the characteristic point Q
When left side, the control instruction is that the driving mechanism on the right side of the driving high altitude operation crusing robot is slowed down；In the feature
When point Q is located on the right side of the preset coordinates regional, the control instruction is to drive on the left of the high altitude operation crusing robot
Driving mechanism accelerate.
5. according to claim 1 to a kind of high altitude operation crusing robot described in 2 any one, it is characterised in that: described
The lower part of left clamp and right clamping body is the arc-shaped structure for gripper rail, and top is the ear of pulling for manual operation, described
Left clamp be symmetrical set to form a similar circular hole with right clamping body, and move and pull ear on left clamp and right clamping body
Close to each other, opening is formed at the lower part of clip shell, and a pair of first hinged ear, the right folder are provided on the left clamp
A pair of the second hinged ear matched with the first hinged ear, and the first hinged ear matched and the second hinged ear are provided on body
Between by connection pin connection, spring is arranged on the connecting pin, and the both ends installation nut of connecting pin is limited, institute
Pull ear of the both ends extended segment for the spring stated respectively with left clamp and right clamping body top mutually resists, during the work time, two belt wheels
Wheel in shaft is located at the two sides of track.
6. a kind of high altitude operation crusing robot according to claim 1, it is characterised in that: further include two groups and install respectively
Solar panel on the left clamp and right clamping body, every group of solar panel electrically connect with the battery controller
It connects.
7. a kind of high altitude operation crusing robot according to claim 1, it is characterised in that: the left clamp and right folder
It is provided with the clump weight to balance in vivo.
8. a kind of high altitude operation crusing robot according to claim 2, it is characterised in that: the left clamp and right folder
The perforation passed through for connecting line is provided on body.
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| CN201811529819.1A CN109546573A (en) | 2018-12-14 | 2018-12-14 | A kind of high altitude operation crusing robot |
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| CN110492387A (en) * | 2019-08-30 | 2019-11-22 | 国网山东省电力公司商河县供电公司 | A kind of high-tension cable maintenance device |
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| CN113524250A (en) * | 2021-08-21 | 2021-10-22 | 安徽省路港工程有限责任公司 | Cable detection robot for cable-stayed bridge |
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| CN110492387A (en) * | 2019-08-30 | 2019-11-22 | 国网山东省电力公司商河县供电公司 | A kind of high-tension cable maintenance device |
| CN111130016A (en) * | 2020-02-19 | 2020-05-08 | 刘任穷 | High-voltage electric power tower climbing robot |
| CN113524250A (en) * | 2021-08-21 | 2021-10-22 | 安徽省路港工程有限责任公司 | Cable detection robot for cable-stayed bridge |
| CN113581465A (en) * | 2021-09-15 | 2021-11-02 | 郑州科技学院 | Electric power inspection walking mechanism, electric power inspection robot and electric power inspection system thereof |
| CN113581465B (en) * | 2021-09-15 | 2023-04-18 | 郑州科技学院 | Electric power inspection walking mechanism, electric power inspection robot and electric power inspection system thereof |
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Application publication date: 20190329 |