CN108908372A - A kind of cruising inspection system - Google Patents
A kind of cruising inspection system Download PDFInfo
- Publication number
- CN108908372A CN108908372A CN201810917340.9A CN201810917340A CN108908372A CN 108908372 A CN108908372 A CN 108908372A CN 201810917340 A CN201810917340 A CN 201810917340A CN 108908372 A CN108908372 A CN 108908372A
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- information
- crusing robot
- server
- user
- intelligent terminal
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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
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- 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)
- Manipulator (AREA)
Abstract
The invention discloses a kind of cruising inspection systems, including server, intelligent terminal and at least two crusing robots, crusing robot and intelligent terminal are communicated with server, inspection machine includes information acquisition terminal per capita, information acquisition terminal is for obtaining indoor real time information of performing the operation, and the real time information that will acquire is sent to server, server is sent to intelligent terminal after handling the real time information received, user can check the real time information that crusing robot is got by intelligent terminal, and user can also understand the current location information of crusing robot by intelligent terminal, user patrols to specified operating room according to the specified crusing robot of the current location information of crusing robot selection；User can control situations such as crusing robot carries out inspection, user is facilitated to understand airborne, temperature, humidity and wind speed in operating room to operating room at any time, grasp the situation in operating room in time convenient for user, improve the efficiency of inspection.
Description
Technical field
The present invention relates to automation inspection technical fields, and in particular to a kind of cruising inspection system.
Background technique
Operating room（Operating room English abbreviation OR）It is that the place of operation and rescue is provided for patient, is hospital
Important technology department.Operating room should with surgical departments mutually in succession, will also with blood bank, face shield room, anesthesia recovery room etc. is closed on.It grabs
The link management of good four approach of surgery cut infection, i.e.,：The air of operating room；Article needed for operation；The hand of doctors and nurses
Finger and the skin of patient, prevent from infecting, it is ensured that success rate of operation.It is required that design is rationally, self-contained, nurse job reaction spirit
It is quick, quick, there is efficient working efficiency.Operating room will have a set of stringent reasonable rules and regulations and sterile working specification.With
Surgical technic rapid development, operation room work modernize increasingly.
The air pressure of operating room is according to its different zones（As between operating room, sterile preparation, Scrub Room, between anesthesia and week
Enclose clean region etc.）Cleanliness difference require and it is different.Its air purity standard of the laminar flow operation room of different stage is different, example
As 1000 grades of U.S. federal standard in every cubic chi of air >=0.5 μm of grit number, in≤1000 or every lift-off gas≤35
?.The standard of 10000 grades of laminar flow operation rooms is in every cubic chi of air >=0.5 μm of grit number ,≤10000 or every lift-off gas
In≤350.
Therefore, for operating room, to performing the operation, indoor environmental monitoring is just particularly important, and only environmental condition is full
Foot requires, and just can be carried out corresponding operation；It answers in group operating room and is monitored in progress operation consent, guarantee operation constant indoor temperature,
Constant humidity, constant pressure；People cannot whether environment to operating room be qualified carries out real-time monitoring, is thus likely to result in surgical environments
It is not up to standard, it causes patient to infect, the indoor environment of operation can be understood in real time and be very important；But some hospitals may
Several operating rooms are provided with, if each operating room, which all passes through, manually carries out inspection, the workload of personnel will be special
It is not big, improve cost of labor.
Summary of the invention
The purpose of the present invention is to provide a kind of cruising inspection system, which patrols to operating room by robot, uses
Family can control at any time crusing robot to operating room carry out inspection, facilitate user understand operating room in airborne, temperature,
Situations such as humidity and wind speed, grasps the situation in operating room in time convenient for user, improves the efficiency of inspection.
In order to solve the above technical problems, the technical scheme adopted by the invention is that：
A kind of cruising inspection system, including server, intelligent terminal and at least two crusing robots, crusing robot and intelligent terminal
Communicated with server, it is characterised in that：Inspection machine includes information acquisition terminal per capita, and information acquisition terminal is for obtaining
The indoor real time information of operation is taken, and the real time information that will acquire is sent to server, the real-time letter that server will receive
Intelligent terminal is sent to after breath processing, user can check the real time information that crusing robot is got by intelligent terminal, and use
Family can also understand the current location information of crusing robot by intelligent terminal, and user is according to the current location of crusing robot
The specified crusing robot of information selection patrols to specified operating room；The real time information includes temperature information, humidity
Information, wind speed information and dust information.
The server includes data memory module, and data memory module is used to store the movement routine letter of crusing robot
Breath, is provided with multiple tasks test point, task test point is located on crusing robot polling path, user in each operating room
It is issued and is instructed to server by intelligent terminal, server generates control instruction after receiving the instruction, and crusing robot receives
It patrols after to control instruction along the appointed task test point in specified routing information respective path.
The crusing robot stops 1-2 minutes after reaching appointed task test point, obtains the real-time of the task test point
Information, and the real time information that will acquire is sent to server, is sent to intelligence after handling via the data processing module of server
It can terminal.
After the completion of the real time information for obtaining the task test point, crusing robot continues to remaining task on the path
Test point carries out circulation inspection.
The crusing robot further includes power information monitoring terminal, and power information monitors the electricity of terminal and crusing robot
Source connection, and the information about power that will acquire is transmitted to server, server is according to the information about power numerical value received and itself
Preset information about power numerical value comparison, itself preset information about power include minimum information about power and saturation information about power, are obtained
When the information about power numerical value arrived is lower than minimum information about power numerical value, crusing robot is moved to the charging pile direction of setting indoors
Dynamic, after reaching charging pile, crusing robot is docked and is started to charge with charging pile.
The crusing robot further includes Image Acquisition terminal, and Image Acquisition terminal is for acquiring crusing robot in movement
When periphery image information, described image information includes video information and pictorial information, Image Acquisition terminal acquired image
The data memory module that information is sent to server is stored, and user can obtain image by intelligent terminal from server
Information.
The crusing robot further includes automatic obstacle avoiding device, and automatic obstacle avoiding device includes ultrasonic sensor, ultrasonic wave
The signal that sensor will test is transmitted to server, and server generates control instruction, survey monitor after being handled the signal
Device people carries out avoidance movement according to the control instruction received.
The crusing robot is equipped with article placing cabinet, and article placing cabinet is equipped with cabinet door, and cabinet door is equipped with encryption lock.
Traction device is additionally provided on the crusing robot, traction device includes the groove that crusing robot lower part is arranged in
And it is mounted on the boss in the groove, boss is hinged with a connecting rod, and the other end of connecting rod with trolley for hospital use for connecting.
Compared with prior art, the invention has the advantages that：
1. information acquisition terminal of the present invention is for obtaining the indoor real time information of performing the operation, the real time information include temperature information,
Humidity information, wind speed information and dust information, user can understand the present bit of each crusing robot according to intelligent terminal
Confidence breath, then specifies a crusing robot to carry out inspection to operating room according to location information, accordingly even when there are many operating room,
It does not need by the way of manual inspection, inspection is carried out to each operating room, it is only necessary to specify one by intelligent terminal yet
Crusing robot carries out inspection to operating room by the crusing robot, user is facilitated to grasp the temperature of each operating room at any time
Degree, humidity etc. can be adjusted indoor situation of performing the operation according to the result of detection, so that being constantly in operating room good
State, convenient for the progress of operation；Meanwhile inspection is carried out to operating room using crusing robot, that is, avoid manual inspection, energy
Enough greatly improve the efficiency of inspection；Reduce cost of labor；At least two crusing robots, which can satisfy, carries out simultaneously operating room
The purpose of inspection, user remotely control each crusing robot by intelligent terminal and carry out inspection to each operating room, substantially increase
The efficiency of inspection.
2. data memory module of the present invention is used to store the movement routine information of crusing robot, in the routing information
Multiple tasks test point is provided on corresponding path, user is issued to server by intelligent terminal and instructed, and server receives
Generate control instruction after to the instruction, crusing robot receives after control instruction along in specified routing information respective path
Appointed task test point patrol, so i.e. may specify that one of crusing robot carries out letter along a wherein paths
Breath, each paths each lead to an operating room in practice, and task test point is arranged in operating room, in this way can be according to reality
The needs on border carry out fast inspection to the operating room of required inspection.
3. crusing robot of the present invention stops 1-2 minutes after reaching appointed task test point, task detection is obtained
The real time information of point, and the real time information that will acquire is sent to server, after the data processing module processing of server
It is sent to intelligent terminal；Crusing robot, which reaches appointed task test point, to be stopped, the correlation for the dust particle that detected in this way
Value and air speed value are more accurate, improve the accuracy of crusing robot detection data.
4. crusing robot continues on the path after the completion of the present invention obtains the real time information of the task test point
Remaining task test point carries out circulation inspection, can understand actual temp, the humidity etc. of each task test point in operating room in this way,
I.e. an operating room detects multi-group data, so that user can more be apparent from the tool in operating room in each region
Body situation；The mean temperature and medial humidity of the task test point can also be found out according to the multi-group data measured simultaneously.
5. crusing robot of the present invention further includes power information monitoring terminal, power information monitors terminal and survey monitor
The power supply of device people connects, and the information about power that will acquire is transmitted to server, and server is according to the information about power number received
Value is compared with itself preset information about power numerical value, itself preset information about power includes minimum information about power and saturation electricity letter
Breath, when the information about power numerical value got is lower than minimum information about power numerical value, charging pile of the crusing robot to setting indoors
Direction is mobile, and after reaching charging pile, crusing robot is docked and started to charge with charging pile；It ensure that crusing robot in electricity
When lower can autonomous travel charge at charging pile so that the stand-by time of crusing robot is longer.
6. crusing robot of the present invention further includes Image Acquisition terminal, Image Acquisition terminal is for acquiring inspection machine
The image information on people periphery when moving, described image information include video information and pictorial information, the acquisition of Image Acquisition terminal
To image information be sent to the data memory module of server and stored, user can be from server by intelligent terminal
Obtain image information；When crusing robot carries out inspection, user is facilitated to check the situation in operating room.
7. crusing robot of the present invention further includes automatic obstacle avoiding device, automatic obstacle avoiding device includes supersonic sensing
Device, the signal that ultrasonic sensor will test are transmitted to server, and server generates control after being handled the signal and refers to
It enables, crusing robot carries out avoidance movement according to the control instruction received, can effectively avoid crusing robot and barrier
It collides；Improve the safety of crusing robot when in use.
8. crusing robot of the present invention is equipped with article placing cabinet, article placing cabinet is equipped with cabinet door, and cabinet door is equipped with encryption lock；
For holding medical article, the setting of cabinet door enables the article held to be constantly in the state of sealing, avoids curing article placing cabinet
It is contaminated with article.
9. being additionally provided with traction device on crusing robot of the present invention, traction device includes being arranged under crusing robot
The groove in portion and the boss being mounted in the groove, boss are hinged with a connecting rod, and the other end of connecting rod with medical for pushing away
Vehicle connection；User can such as draw trolley for hospital use using crusing robot as drafting tool according to the actual needs, convenient to article
Transfer, save the physical strength of user.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of crusing robot of the present invention；
Fig. 2 is the state diagram that crusing robot of the present invention draws trolley for hospital use.
Appended drawing reference：1 shell, 2 light shields, 3 encryption locks, 4 cabinet doors, 5 traction devices, 6 connecting rods, 7 trolley for hospital use.
Specific embodiment
The present invention will be further described with reference to the examples below, and described embodiment is only present invention a part
Embodiment is not whole embodiment.Based on the embodiments of the present invention, those skilled in the art are not making
Other embodiments used obtained, belong to protection scope of the present invention under the premise of creative work.
A kind of cruising inspection system, including server, intelligent terminal and 3 crusing robots, while operating room also has between 3；
That is one operating room of a crusing robot inspection, crusing robot include a shell 1, crusing robot and intelligent terminal with
Server is communicated, and inspection machine includes information acquisition terminal per capita, and information acquisition terminal is for obtaining indoor reality of performing the operation
When information, and the real time information that will acquire is sent to server, and server will be sent to after the real time information received processing
Intelligent terminal, user can check the real time information that crusing robot is got by intelligent terminal, and user can also pass through intelligence
Energy terminal understands the current location information of crusing robot, and user specifies according to the selection of the current location information of crusing robot
Crusing robot patrols to specified operating room；The real time information include temperature information, humidity information, wind speed information and
Dust information；The quantity of crusing robot can be determined according to the particular number of operating room；
Wherein, information acquisition terminal is specially temperature sensor, humidity sensor, air velocity transducer and dust particle sensor,
Temperature sensor is for detecting indoor temperature value, and for detecting indoor humidity value, air velocity transducer is used for humidity sensor
Indoor air speed value is detected, dust particle sensor is for detecting indoor dust numerical value.
It advanced optimizes, the server includes data memory module, and data memory module is for storing crusing robot
Movement routine information, multiple tasks test point is provided in each operating room, task test point is patrolled positioned at crusing robot
It examines on path, user is issued to server by intelligent terminal and instructed, and server generates control instruction after receiving the instruction, patrols
Inspection robot patrols after receiving control instruction along the appointed task test point in specified routing information respective path；
Wherein, 4 task test points are set in every operating room, respectively：A task test point, B task test point, C task
Test point and D task test point；4 task test points are located on crusing robot polling path；User can directly specify and patrol
Examining robot, perhaps D task test point carries out inspection or specifies to A task test point, B task test point, C task test point
Wherein any 2 task test points, or specified wherein 3 task test points carry out inspection.
It advanced optimizes, the crusing robot stops 1 minute after reaching appointed task test point, obtains task detection
The real time information of point, and the real time information that will acquire is sent to server, after the data processing module processing of server
It is sent to intelligent terminal；Crusing robot reach task test point after surveyed this at dust particle the correlation period be 1
Minute, into the correlation for the dust particle that upper one minute can be read after one minute；
Certainly, dwell time can also be 2 minutes after crusing robot reaches appointed task test point.
Meanwhile the air speed value detected after crusing robot stopping is more accurate.
It advanced optimizes, after the completion of the real time information for obtaining the task test point, crusing robot continues to the path
On remaining task test point carry out circulation inspection；After the task test point inspection that user specifies, if user is without other
Instruction, crusing robot then patrol along the path, the task test point on the path are patrolled and recorded and is patrolled
It looks into as a result, being checked at any time convenient for user.
It advanced optimizes, the crusing robot further includes power information monitoring terminal, and power information monitors terminal and patrols
The power supply connection of robot is examined, and the information about power that will acquire is transmitted to server, server is believed according to the electricity received
It ceases numerical value and itself preset information about power numerical value compares, itself preset information about power includes minimum information about power and saturation electricity
Information is measured, when the information about power numerical value got is lower than minimum information about power numerical value, crusing robot is to setting filling indoors
Electric stake direction is mobile, and after reaching charging pile, crusing robot is docked and started to charge with charging pile；
When the information about power numerical value detected is equal to saturation information about power numerical value, crusing robot charging terminates, inspection machine
People and charging pile disconnect, and crusing robot is in standby.
It advanced optimizes, the crusing robot further includes Image Acquisition terminal, and Image Acquisition terminal is for acquiring inspection
The image information on robot periphery when moving, described image information includes video information and pictorial information, Image Acquisition terminal
The data memory module that acquired image information is sent to server is stored, and user can be from service by intelligent terminal
Image information is obtained on device；
Wherein, described image acquisition terminal is camera, which is arranged in 1 upper end of shell, and has a transparent light shield 2 that will take the photograph
As head-shield is lived.
It advanced optimizes, the crusing robot further includes automatic obstacle avoiding device, and automatic obstacle avoiding device includes that ultrasonic wave passes
Sensor, the signal that ultrasonic sensor will test are transmitted to server, and server generates control after being handled the signal
Instruction, crusing robot carry out avoidance movement according to the control instruction received；
Wherein, ultrasonic sensor is the sensor developed using the characteristic of ultrasonic wave, by transmission sensor, receives sensing
Device, control section and power unit form.Transmitter sensor is made of transmitter and ceramic vibrator energy converter, the work of energy converter
With being the electric oscillation energy of ceramic vibrator to be converted into ultrasonic energy and to aerial radiation；Receiving sensor is by ceramic vibrator energy converter
It is formed with amplifying circuit, energy converter received wave generates mechanical oscillation, electric flux is converted into, as the defeated of transducer receivers
Out, so that the ultrasonic wave to transmission detects.In actual use, it also is used as receiving as the ceramic vibrator for sending sensor
Ceramic vibrator on device sensor.Ultrasonic transmitter emits ultrasonic wave, counter while emission time to a direction
Starting timing, ultrasonic wave is propagated in air, and the blocking of obstacle object plane is encountered on the way just to be reflected immediately, ultrasonic wave two receptions
Device receives back wave respectively and just stops timing immediately, according to the time t and ultrasonic propagation velocity V of timer record（Air
In be 340m/s）, so that it may distance s of the launch point away from obstacle object plane is calculated, i.e.,：s=vt/2；To know to barrier
Not and determine.
It advanced optimizes, the crusing robot is equipped with article placing cabinet, and article placing cabinet is equipped with cabinet door 4, and cabinet door 4, which is equipped with, to be added
Close lock 3.
It advanced optimizes, the cabinet door 4 is arranged on shell 1, and cabinet door 4 and shell 1 carry out hingedly.
It advanced optimizes, traction device 5 is additionally provided on the crusing robot, traction device 5 includes being arranged in survey monitor
The groove of 1 lower part of device people shell and the boss being mounted in the groove, boss are hinged with a connecting rod 6, the other end of connecting rod 6
For being connect with trolley for hospital use 7.
Claims (10)
1. a kind of cruising inspection system, including server, intelligent terminal and at least two crusing robots, crusing robot and intelligence are eventually
End is communicated with server, it is characterised in that：Inspection machine includes information acquisition terminal per capita, and information acquisition terminal is used for
Indoor real time information of performing the operation is obtained, and the real time information that will acquire is sent to server, server is real-time by what is received
Intelligent terminal is sent to after information processing, user can check the real time information that crusing robot is got by intelligent terminal, and
User can also understand the current location information of crusing robot by intelligent terminal, and user is according to the present bit of crusing robot
The specified crusing robot of confidence breath selection patrols to specified operating room.
2. a kind of cruising inspection system according to claim 1, it is characterised in that：The server includes data memory module,
Data memory module is used to store the movement routine information of crusing robot, and multiple tasks detection is provided in each operating room
Point, task test point are located on crusing robot polling path, and user is issued to server by intelligent terminal and instructed, server
It receives and generates control instruction after the instruction, crusing robot receives and corresponds to road along specified routing information after control instruction
Appointed task test point on diameter is patrolled.
3. a kind of cruising inspection system according to claim 2, it is characterised in that：The crusing robot reaches appointed task inspection
Stop 1-2 minutes after measuring point, the real time information that obtains the real time information of the task test point, and will acquire is sent to service
Device is sent to intelligent terminal after handling via the data processing module of server.
4. a kind of cruising inspection system according to claim 3, it is characterised in that：The real time information for obtaining the task test point is complete
Cheng Hou, crusing robot continue to remaining task test point on the path and carry out circulation inspection.
5. a kind of cruising inspection system according to claim 1, it is characterised in that：The crusing robot further includes power information
Terminal is monitored, power information monitors terminal and the power supply of crusing robot connects, and the information about power that will acquire is transmitted to clothes
Business device, server are compared according to the information about power numerical value received and itself preset information about power numerical value, itself preset electricity
Amount information includes minimum information about power and saturation information about power, and the information about power numerical value got is lower than minimum information about power numerical value
When, crusing robot is mobile to the charging pile direction of setting indoors, and after reaching charging pile, crusing robot is docked with charging pile
And it starts to charge.
6. a kind of cruising inspection system according to claim 1, it is characterised in that：The crusing robot further includes Image Acquisition
Terminal, Image Acquisition terminal are used to acquire the image information on crusing robot periphery when moving, and described image information includes view
Frequency information and pictorial information, the data memory module that Image Acquisition terminal acquired image information is sent to server are deposited
Storage, user can obtain image information by intelligent terminal from server.
7. a kind of cruising inspection system according to claim 1, it is characterised in that：The crusing robot further includes automatic obstacle avoiding
Device, automatic obstacle avoiding device include ultrasonic sensor, and the signal that ultrasonic sensor will test is transmitted to server, service
Device generates control instruction after being handled the signal, crusing robot carries out avoidance movement according to the control instruction received.
8. a kind of cruising inspection system according to any one of claims 1-7, it is characterised in that：On the crusing robot
Equipped with article placing cabinet, article placing cabinet is equipped with cabinet door, and cabinet door is equipped with encryption lock.
9. a kind of cruising inspection system according to claim 8, it is characterised in that：Traction dress is additionally provided on the crusing robot
It sets, traction device includes the boss that the groove of crusing robot lower part is arranged in and is mounted in the groove, and boss is hinged with one
Connecting rod, the other end of connecting rod with trolley for hospital use for connecting.
10. a kind of cruising inspection system according to claim 1, it is characterised in that：The real time information includes temperature information, wet
Spend information, wind speed information and dust information.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810917340.9A CN108908372A (en) | 2018-08-13 | 2018-08-13 | A kind of cruising inspection system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810917340.9A CN108908372A (en) | 2018-08-13 | 2018-08-13 | A kind of cruising inspection system |
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| CN108908372A true CN108908372A (en) | 2018-11-30 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109683609A (en) * | 2018-12-13 | 2019-04-26 | 杭州申昊科技股份有限公司 | A kind of electric intelligent inspection system and method |
| CN109752300A (en) * | 2019-01-02 | 2019-05-14 | 五邑大学 | A kind of coating material production safe and intelligent crusing robot, system and method |
| CN109765889A (en) * | 2018-12-31 | 2019-05-17 | 深圳市越疆科技有限公司 | A kind of monitoring method of robot, device and intelligent terminal |
| CN110877341A (en) * | 2019-05-23 | 2020-03-13 | 哈尔滨理工大学 | Video recording monitoring robot for operating room |
| CN111412913A (en) * | 2020-04-17 | 2020-07-14 | 上海擎朗智能科技有限公司 | Navigation method, device, equipment and medium based on robot |
| CN111650336A (en) * | 2020-06-09 | 2020-09-11 | 新石器慧通（北京）科技有限公司 | Atmospheric pollution detection method, device and system for unmanned vehicle |
| CN112578372A (en) * | 2020-12-21 | 2021-03-30 | 广东电网有限责任公司电力科学研究院 | Positioning system of rail-mounted tunnel inspection robot |
| CN113739850A (en) * | 2021-09-03 | 2021-12-03 | 浙江国净净化科技有限公司 | Patrol and examine sampling robot based on data automatic processing |
| CN114501189A (en) * | 2022-04-04 | 2022-05-13 | 天津市拓甫网络科技开发有限公司 | Industrial sensor data acquisition terminal |
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| CN113739850B (en) * | 2021-09-03 | 2024-01-19 | 浙江国净净化科技有限公司 | Inspection sampling robot based on automatic data processing |
| CN114501189A (en) * | 2022-04-04 | 2022-05-13 | 天津市拓甫网络科技开发有限公司 | Industrial sensor data acquisition terminal |
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Address after: No.2 Keyuan south 2nd Road, high tech Zone, Chengdu, Sichuan 610041 Applicant after: Sangruisi Medical Technology Co.,Ltd. Address before: No.2 Keyuan south 2nd Road, high tech Zone, Chengdu, Sichuan 610041 Applicant before: SICHUAN SUNRISE ENVIRONMENTAL TECHNOLOGY ENGINEERING CO.,LTD. |
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