CN109752300A - A kind of coating material production safe and intelligent crusing robot, system and method - Google Patents
A kind of coating material production safe and intelligent crusing robot, system and method Download PDFInfo
- Publication number
- CN109752300A CN109752300A CN201910000701.8A CN201910000701A CN109752300A CN 109752300 A CN109752300 A CN 109752300A CN 201910000701 A CN201910000701 A CN 201910000701A CN 109752300 A CN109752300 A CN 109752300A
- Authority
- CN
- China
- Prior art keywords
- module
- information
- inspection
- coating material
- intelligent
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 55
- 239000011248 coating agent Substances 0.000 title claims abstract description 49
- 238000000576 coating method Methods 0.000 title claims abstract description 49
- 239000000463 material Substances 0.000 title claims abstract description 43
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000007689 inspection Methods 0.000 claims abstract description 85
- 239000000428 dust Substances 0.000 claims abstract description 50
- 239000002341 toxic gas Substances 0.000 claims abstract description 44
- 238000004458 analytical method Methods 0.000 claims abstract description 13
- 238000001514 detection method Methods 0.000 claims description 70
- 230000004927 fusion Effects 0.000 claims description 29
- 238000012545 processing Methods 0.000 claims description 25
- 238000001816 cooling Methods 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 14
- 230000005611 electricity Effects 0.000 claims description 13
- 238000007418 data mining Methods 0.000 claims description 8
- 238000007599 discharging Methods 0.000 claims description 7
- 238000013527 convolutional neural network Methods 0.000 claims description 4
- 238000012546 transfer Methods 0.000 claims description 2
- 238000005259 measurement Methods 0.000 claims 1
- 230000008859 change Effects 0.000 description 7
- 239000000126 substance Substances 0.000 description 7
- 239000000523 sample Substances 0.000 description 6
- 230000007613 environmental effect Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 239000000843 powder Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000000153 supplemental effect Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000009529 body temperature measurement Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- 239000007789 gas Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 239000002994 raw material Substances 0.000 description 2
- 231100000419 toxicity Toxicity 0.000 description 2
- 230000001988 toxicity Effects 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 240000008067 Cucumis sativus Species 0.000 description 1
- 235000010799 Cucumis sativus var sativus Nutrition 0.000 description 1
- CBENFWSGALASAD-UHFFFAOYSA-N Ozone Chemical compound [O-][O+]=O CBENFWSGALASAD-UHFFFAOYSA-N 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 238000000149 argon plasma sintering Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005842 biochemical reaction Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000000112 cooling gas Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000002737 fuel gas Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 239000004615 ingredient Substances 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000001537 neural effect Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 238000003909 pattern recognition Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 231100000614 poison Toxicity 0.000 description 1
- 230000007096 poisonous effect Effects 0.000 description 1
- 238000002203 pretreatment Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
- 238000007794 visualization technique Methods 0.000 description 1
- 239000012855 volatile organic compound Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K1/00—Details of thermometers not specially adapted for particular types of thermometer
- G01K1/02—Means for indicating or recording specially adapted for thermometers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume or surface-area of porous materials
- G01N15/06—Investigating concentration of particle suspensions
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
- G01R31/382—Arrangements for monitoring battery or accumulator variables, e.g. SoC
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
Landscapes
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Automation & Control Theory (AREA)
- Medicinal Chemistry (AREA)
- Food Science & Technology (AREA)
- Aviation & Aerospace Engineering (AREA)
- Dispersion Chemistry (AREA)
- Manipulator (AREA)
- General Factory Administration (AREA)
Abstract
The invention discloses a kind of coating material production safe and intelligent crusing robots, system and method, information collection can be carried out to inspection environment, construct the relief map of inspection environment, target object is shown on relief map, and cook up the optimal path of inspection, crusing robot can then select different polling paths to carry out inspection according to different target objects, without manually participating in, reduce the use of manpower, reduce cost, crusing robot can acquire the temperature information in inspection environment during inspection simultaneously, concentration of toxic gases information and dust concentration information, and forecast analysis is carried out by forecasting system, the variation tendency of parameter each in future time is predicted, guarantee the safety of inspection environment.
Description
Technical field
The present invention relates to inspection technical field, especially a kind of coating material production safe and intelligent crusing robot, system and side
Method.
Background technique
Coating material production industry is a kind of chemical industry, and coating material production belongs to harmful influence production process, and raw material is mostly various danger
Dangerous chemicals, many kinds of and differing chemical properties, wherein most have flammable and toxicity, nature of danger is more serious, so
It needs to arrange special patrol officer and comprehensive, detailed inspection is carried out to the various pieces in workshop, however current coating industry
Shop safety inspection it is obviously insufficient, the safety accident of production process frequently occurs, and not can be carried out in coating production process automatic
Inspection needs to expend more human resources.
Also need to be provided with sensor simultaneously for detecting temperature, concentration of toxic gases and dust concentration in workshop
Deng, existing detection method it is arranged sensor is as much as possible in workshop, needs the position distribution in view of sensor, and
And sensor is chronically exposed in workshop condition, is easily damaged, and cost is caused to improve, while existing detection method can not be to adopting
The temperature information of collection, concentration of toxic gases, dust concentration carry out forecast analysis.
Summary of the invention
To solve the above problems, the purpose of the present invention is to provide a kind of coating material production safe and intelligent crusing robot, being
System and method, crusing robot can carry out automatic detecting, avoidance, reduce the use of manpower, save cost, while in survey monitor
It is provided with sensor on device people, temperature, concentration of toxic gases and powder in workshop can be detected under the drive of inspection sensor
Dust concentration, and forecast analysis is carried out, guarantee shop safety.
Technical solution used by the present invention solves the problems, such as it is:
In a first aspect, the invention proposes a kind of coating material production safe and intelligent crusing robots, including for realizing automatic
It navigates with the vision system of avoidance, for detecting workshop temperature, concentration of toxic gases and the sensor detecting system of dust concentration
And the forecasting system for carrying out forecast analysis to temperature, concentration of toxic gases and dust concentration, the sensor detection system
System is connect with forecasting system；The vision system includes for acquiring the data acquisition module of inspection environment point cloud data, being used for
Construct the map structuring module of inspection environmental perspective map, the path planning module for planning polling path, for identification and
Position the object recognition and detection module of target object and the control module for carrying out data processing, the data acquisition module
Connect respectively with map structuring module, path planning module and target fixation and recognition module, the control module respectively with ground
Figure building module, path planning module and the connection of object recognition and detection module data.
Further, the vision system further includes the transmission module for carrying out data transmission, and the control module passes through
Transmission module receives the data of map structuring module, path planning module and object recognition and detection module transfer.
Further, the sensor detecting system includes dust detection module, toxic gas detection module, temperature detection mould
Block, signal processing module and data fusion module, the signal processing module is by dust detection module, toxic gas detection mould
Block and the information of temperature detecting module detection are converted into electric signal, and are transferred in data fusion module, the data fusion
Module is connect with forecasting system.
Further, the forecasting system includes prediction module based on data mining and for displays temperature prediction letter
The information display module of breath, dust predictive information and toxic gas predictive information, the prediction module are detected with sensor respectively
System, information display module connection.
It further, further include for detecting the whether too low electric power detection module of electricity, the electric power detection module and road
The connection of diameter planning module.
It further, further include alarm system, the alarm system is connect with electric power detection module, forecasting system respectively.
Second aspect, it to include as described above that the invention also provides a kind of coating material production safe and intelligent cruising inspection systems
Coating material production safe and intelligent crusing robot further includes for excluding house exhaust and reducing the intelligent cooling, air discharging system of heat
System, the intelligence cooling, air discharging system are connect with forecasting system.
It further, further include the charge position being arranged on crusing robot inspection route, the crusing robot electricity
It is moved at charge position and charges when low.
The third aspect, the invention also provides a kind of coating material production safe and intelligent method for inspecting, comprising the following steps:
Acquire the point cloud data of inspection environment；
According to the crucial point feature of point cloud data, point cloud data is matched one by one, building inspection environment is three-dimensionally
Figure；
Depth information is obtained according to point cloud data, polling path is planned in the position of disturbance in judgement object；
Using the object recognition algorithm based on convolutional neural networks fusion three-dimensional feature, at the point cloud data of acquisition
Reason carries out identification positioning to target object, and will be in location information feedback to relief map；
Control crusing robot carries out inspection on the polling path planned.
Further, crusing robot acquires temperature information, concentration of toxic gases letter in inspection environment during inspection
Breath and dust concentration information, and using the algorithm based on data mining to temperature information, concentration of toxic gases information and powder
Dust concentration information is predicted.
The one or more technical solutions provided in the embodiment of the present invention, at least have the following beneficial effects: and pass through acquisition
Inspection environmental information builds the relief map of inspection environment, has planned the best polling path of inspection, while will be to be detected
It is shown on relief map after target positioning, crusing robot can be made to carry out inspection according to the polling path set, realized
Automatic detecting, avoidance reduce the use of manpower, at the same can acquire during inspection the temperature information in inspection environment,
Concentration of toxic gases information and dust concentration information, and forecast analysis is carried out to the information of these acquisitions, for predicting these
Situation of change after information guarantees the safety of inspection environment.
Detailed description of the invention
The invention will be further described with example with reference to the accompanying drawing.
Fig. 1 is a kind of schematic diagram of one embodiment of coating material production safe and intelligent inspection machine of the invention；
Fig. 2 is a kind of schematic diagram of one embodiment of coating material production safe and intelligent cruising inspection system of the invention；
Fig. 3 is a kind of flow chart of one embodiment of coating material production safe and intelligent method for inspecting of the invention.
Specific embodiment
Coating material production industry is a kind of chemical industry, and coating material production belongs to harmful influence production process, and raw material is mostly various danger
Dangerous chemicals, many kinds of and differing chemical properties, wherein most have flammable and toxicity, nature of danger more serious；And
During chemicals production, Cucumber is easy physics, chemistry and biochemical reaction since inside is occurred and generates heat
Amount, the accumulation of heat keeps combustibles temperature higher and higher, when temperature reache a certain level and fuel gas or toxic gas just
When reaching certain dense, burning or explosion accident will occur, embody the insecurity of coating material production；Operator carries out by hand
It is inherently kept by equipment when operation, toxic gas is easy to damage the person, and exists in operating process and be not easy to discover
Hidden danger also hide too late in outburst, threaten the life security of operator；A large amount of mineral powder is used in production process,
Long Term Contact can endanger health, and dust harzard is mainly in ingredient post, if the dust concentration in air is excessively high or air is logical
It crosses crack to be deep into equipment installation, forms flammable mixture and cause explosion accident.So enterprise should strongly pay attention to production peace
Entirely, the normal operation and production efficiency of entire workshop just be can guarantee；
Since the type of toxic gas is relatively more, required sensor is also relatively more, but single sensor institute any at present
The information of offer is one-side, incomplete, it may be possible to mistake, inaccurate, sensor accuracy is not identical, is provided
Information category is not also identical, by carrying out integrated treatment to information provided by multiple sensors, it will do than single sensor
More reliable judgement and decision out, and the precision of detection is greatly improved, traditional safety detection method to the greatest extent may be used in workshop
Installation various kinds of sensors more than energy needs to consider the position distribution of sensor in this way, and sensor is chronically exposed to workshop ring
It in border, is easily damaged, cost is caused to improve.
The shop safety inspection of coating industry is obviously insufficient at present, and the safety accident of production process frequently occurs, and coating is raw
To accomplish accessible, uninterrupted manual inspection during production, tool acquires a certain degree of difficulty, so needing to make a kind of intelligent survey monitor
Device people replaces manual inspection, can autonomous finishing department safety patrol inspection work.
Based on this, the present invention provides a kind of coating material production safe and intelligent crusing robot, system and method, inspection machines
People can automatically plan inspection route, avoid the barrier in inspection environment, reduce the use of manpower, save cost, together
When by sensor be arranged on crusing robot, crusing robot can acquire the temperature in inspection environment during inspection
Information, concentration of toxic gases information and dust concentration information, and forecast analysis is carried out to these information, if relevant parameter exists
Have the tendency that then staff being notified to perform corresponding processing higher than normal range (NR) in regular hour.
With reference to the accompanying drawing, the embodiment of the present invention is further elaborated.
Referring to Fig.1, An embodiment provides a kind of coating material production safe and intelligent crusing robots, including with
In the vision system of realization self-navigation and avoidance, for detecting workshop temperature, concentration of toxic gases and the sensing of dust concentration
Device detection system and for temperature, concentration of toxic gases and dust concentration carry out forecast analysis forecasting system, the biography
Sensor detection system is connect with forecasting system；The vision system includes acquiring for acquiring the data of inspection environment point cloud data
Module 11, the map structuring module 12 for constructing inspection environmental perspective map, the path planning mould for planning polling path
Block 13, the control module for identification with the object recognition and detection module 14 of positioning target object and for carrying out data processing
15, the data acquisition module 11 respectively with map structuring module 12, path planning module 13 and target fixation and recognition module
Connection, the control module 15 respectively with map structuring module 12, path planning module 13 and object recognition and detection module 14
Data connection.
In the present embodiment, the functions such as automatic detecting, avoidance may be implemented by vision system in crusing robot, can subtract
The use of few manpower, reduces cost, while during inspection, can acquire the temperature letter in each place in inspection environment
Breath, concentration of toxic gases information and dust concentration information etc. carry out forecast analysis to the information of these acquisitions, predict future
Trend, if relevant supplemental characteristic has the tendency that within the regular hour higher than normal range (NR), can notify staff into
The corresponding processing of row.
Wherein data acquisition module 11 is made of RGBD video camera, for acquiring the point cloud data of inspection environment, and
RGBD video camera can control the angle of rotation, realize 360 degrees to inspection environment according to acquisition, map structuring module 12 passes through
Using a cloud integration technology, the relief map of inspection environment, road are constructed according to the point cloud data that data acquisition module 11 acquires
Diameter planning module 13 calculated using point cloud data acquire based on Artificial Potential Field Method according to data acquisition module 11 and barrier it
Between distance, and plan the optimal path for reaching target position, object recognition and detection module 14 is then using based on convolutional Neural
The object recognition algorithm of network integration three-dimensional feature carries out identification positioning to target object, and by location information feedback to three-dimensionally
On figure, so that crusing robot can be moved at corresponding target according to corresponding polling path, full automatic inspection is realized
Process participates in without artificial, reduces the use of manpower.
And sensor detecting system includes multiple sensors, for acquiring different information, such as temperature collection information, is had
Sensor, is arranged in the surface of crusing robot by poisonous gas concentration information, dust concentration information etc., in crusing robot inspection
During acquire various information, the data of acquisition are then transferred to forecasting system, forecast analysis are carried out by forecasting system, in advance
Each parameter is surveyed in following development trend, when some supplemental characteristic has becoming higher than normal range (NR) within the regular hour
When gesture, staff can be notified to perform corresponding processing, guarantee the safety of inspection environment, such as air draft and cold can be carried out
But it handles.
Further, another embodiment of the invention additionally provides a kind of coating material production safe and intelligent crusing robot,
The vision system further includes the transmission module 16 for carrying out data transmission, and the control module 15 is connect by transmission module 16
Receive the data that map structuring module 12, path planning module 13 and object recognition and detection module 14 are transmitted.
In the present embodiment, transmission module 16 is connect with control module 15, is used for transmission map structuring module 12, path rule
The data that module 13 and object recognition and detection module 14 are transmitted are drawn, control module 15 based on the received believe to issue driving by data
Breath, control crusing robot carry out inspection according to the path planned.
Further, another embodiment of the invention additionally provides a kind of coating material production safe and intelligent crusing robot,
The sensor detecting system include dust detection module 21, toxic gas detection module 22, temperature detecting module 23, at signal
Manage module 24 and data fusion module 25, the signal processing module 24 is by dust detection module 21, toxic gas detection mould
The information that block 22 and temperature detecting module 23 detect is converted into electric signal, and is transferred in data fusion module 25, the number
It is connect according to Fusion Module 25 with forecasting system.
In the present embodiment, the number that dust detection module 21, toxic gas detection module 22, temperature detecting module 23 detect
It is pre-processed according to can first be transferred in signal processing module 24, then again by data fusion module 25 to pretreated information
Data fusion is carried out, the information after data fusion, which is just transferred in forecasting system, carries out forecast analysis.
Dust detection module 21 mainly includes new micro chip, the sensitive probe of dust, one-chip computer module, electron process list
Member, minicell, low battery alarm module, oneself state selftest module, working principle are as follows: 1) light scattering method；2) LED emits
Light meets dust and generates reflected light out；3) receiving sensor monitors the light intensity of reflected light, output signal；4) pass through the big of light intensity
Small judgement dust concentration installs four sensitive probes based on above-mentioned principle, and near dust particles are by probe, one micro-
Weak electricity is incuded by the sensitive probe of dust and is conducted to electronic processing unit, and electronic processing unit has OFF signal change for dust
It at electric signal, handles, can be finally shown in the form of numerical value on led charactron, dust again via one-chip computer module
The new micro chip of detection module 21 can receive dust concentration change in the related workshop that the sensitive probe of dust issues
Signal and send it to signal processing module 24, if signal processing module 24 occur receive exception in the case where, this is novel
Microchip will automatically save signal data, and the electricity of minicell of the low battery alarm module in dust detection module 21 is low
In the case where will will start the breath light of the module, prompt to charge, while crusing robot can voluntarily return to charge position
It sets and charges；Self-test, self-correcting, self-diagnostic function also may be implemented in oneself state selftest module, and ordinary sensors need regular
It examines and demarcates, to guarantee that its enough accuracy in normal use, these work generally require sensor is existing from using
Field disassembly is carried out to laboratory or testing department, and dust detection module 21 can carry out self-test, without additional periodic maintenance
And sampling observation, cost is reduced, and the detection error of dust detection module 21 is no more than 0.05%, the new micro charging electricity of use
Cost is relatively low in pond, Maintenance free.
Toxic gas detection module 22 includes highly performance sensitive component module, high brightness led display module, basic circuit
Construction module, explosion-proof connection screw thread module, one-chip computer module, analog voltage/current and serial port module, minicell, novel half
Conductor chip, low battery alarm module, oneself state selftest module, the module can detecte a variety of toxic gases, toxic gas
The course of work of detection module 22 are as follows: detection probe obtains the dense of the toxic gas (including volatile organic compounds) in workshop
Data-signal is spent, and digital signal is converted by one-chip computer module, then by novel semi-conductor chip by toxic gas
Concentration information is transferred to signal processing module 24, while data can also be shown on high brightness led display module, such as signal
In the case that exception occurs in processing module 24, which will automatically save signal data, if toxic gas detection module 22 is micro-
When type battery capacity is lower, crusing robot can voluntarily return to charge position charging, the toxic gas detection mould of the present embodiment
Block 22 is smaller by environmental disturbances factor, and cost is relatively low, suitable for mass production, and the service life is long, small, precision 0.03%, through adjusting
It, can efficient operation after examination.
And temperature detecting module 23 includes accurate temperature measurement module, one-chip computer module, drive circuit module and display circuit
Module, novel chip module, minicell, low battery warning module and selftest module composition, the course of work: accurate thermometric mould
Block is accurate by accurate temperature measurement module and induction in time produces the temperature variation data signal in the workshop in coating, passes through single-chip microcontroller
The signal of the related temperature change sensed can be converted into digital signal by module, and by the case where temperature change intuitively
It is shown in led module, related staff is facilitated to check, novel chip module uploads the data-signal in relation to temperature change
Into signal processing module 24, low battery warning module is issued warning signal in the case where minicell electricity is low, survey monitor
Device people can be charged with auto-returned charge position, and the modules in the temperature detecting module 23 of the present embodiment efficiently and have item
Respective function is not executed not disorderlyly, operating temperature is suitble to use in robot body between -10 degrees Celsius -80 degrees Celsius,
Design essence is small, easy to maintain, and performance is stablized, and resolving accuracy is 0.01 degree Celsius.
Signal processing module 24 can amplify received information, filter and the pretreatments such as A/D conversion, then exist
It is transferred to data fusion module 25, data fusion module 25 can carry out data fusion, including three levels to received information,
1. pixel-based fusion: for the data of sensor detection module acquisition, depending on sensor type, carry out melting for homogeneous data
It closes；2. feature-based fusion: extracting the feature vector that acquired data include, for embodying the attribute of monitored physical quantity, this is
Fusion towards monitoring object feature；3. Decision-level fusion: according to the obtained data characteristics of feature-based fusion, carrying out certain
Differentiation, classification and simple logical operation carry out higher decision according to application demand, are advanced fusions, data are melted
Molding block 25 can realize the fusion of the mass data information transmitted to each sensor with related algorithm, will hair after the completion of fusion
It is sent to forecasting system.
Further, another embodiment of the invention additionally provides a kind of coating material production safe and intelligent crusing robot,
The forecasting system includes prediction module 31 based on data mining and for displays temperature predictive information, dust predictive information
With the information display module 32 of toxic gas predictive information, the prediction module 31 is shown with sensor detecting system, information respectively
Show that module 32 connects.
In the present embodiment, prediction module 31 receives the information that data fusion module 25 is sent, using based on data mining
Algorithm to temperature information, dust concentration information, concentration of toxic gases information carry out forecast analysis, and using utilize artificial intelligence
The technologies such as energy, machine learning, pattern-recognition, statistics, database, visualization technique and related algorithm, to receive data into
Row is analyzed increasingly automatedly, is integrated, training, concluding and reasoning, predicts that the development in each detection information future becomes formula, and with
The form of chart is simply shown in information display module 32, if some supplemental characteristic is within the regular hour
Have the tendency that being higher than normal range (NR), then staff can be notified to perform corresponding processing, pass through the prediction based on data mining
Module 31 can play the role of preventing trouble before it happens, and largely reduce the probability that safety accident occurs, reduce cost,
It is highly reliable, the effect of coating material production safety monitoring has been played to the maximum extent, guarantees the efficient production of coating.
Further, another embodiment of the invention additionally provides a kind of coating material production safe and intelligent crusing robot,
It further include for detecting the whether too low electric power detection module 4 of electricity, the electric power detection module 4 connects with path planning module 13
It connects.
In the present embodiment, whether the battery capacity that electric power detection module 4 can be used for detecting crusing robot props up enough
The electricity for holding inspection one week, so electric power detection module 4 can also be connected with path planning module 13.
Further, another embodiment of the invention additionally provides a kind of coating material production safe and intelligent crusing robot,
It further include alarm system 5, the alarm system 5 is connect with electric power detection module 4, forecasting system respectively.
In the present embodiment, alarm system 5 includes low battery alarm module, sensor alarm module and voice output mould
Block, low battery alarm module are connect with electric power detection module 4, and sensor alarm module is connect with prediction module 31, work as survey monitor
It when device people's low battery, is alarmed by low battery alarm module, while voice output module occurs sound and alarms, and
Sensor alarm module can receive the information of the transmission of prediction module 31, when prediction module 31 issues alarm signal, sensor
Detection module can alarm, and be sent control signals in subsequent air draft cooling system simultaneously, for inspection environment
Carry out cooling gas exhaust treatment.
Voice output module includes sensor noise and volume control module 15, when workshop ambient noise volume is greater than first
When threshold value, when improving the volume value in voice-output unit, or being lower than second threshold, the volume value in output unit is reduced.
Further, another embodiment of the invention additionally provides a kind of coating material production safe and intelligent crusing robot,
Include including vision system, sensor detecting system, forecasting system, electric power detection module 4 and alarm system 5, vision system
Data acquisition module 11, map structuring module 12, path planning module 13, object recognition and detection module 14, control module 15 with
And transmission module 16, sensor detecting system include dust detection module 21, toxic gas detection module 22, temperature detecting module
23, signal processing module 24 and data fusion module 25, forecasting system include prediction module 31 and information display module 32,
Data acquisition module 11 is connect with map structuring module 12, path planning module 13, object recognition and detection module 14 respectively, control
Module 15 is connected with map structuring module 12, path planning module 13, object recognition and detection module 14 respectively by transmission module 16
Connect, signal processing module 24 respectively with dust detection module 21, toxic gas detection module 22, temperature detecting module 23 and number
It is connected according to Fusion Module 25, electric quantity acquisition module is connect with alarm system 5, path planning module 13 respectively, and prediction module 31
It is connect respectively with information display module 32, alarm system 5.
In the present embodiment, crusing robot can carry out data acquisition to inspection environment by vision system, and building is patrolled
It examines the relief map of environment and cooks up polling path and identification positioning target object, then crusing robot can be according to not
With target object carry out inspection according to the polling path that sets, participated in without artificial, reduce the use of manpower, reduce at
This.
The various information on inspection route can be acquired by sensor detecting system simultaneously, including temperature letter
Breath, concentration of toxic gases information and dust concentration information etc. can carry out trend prediction by prediction module 31 after information collection, in advance
The variation of the parameters within subsequent a period of time is surveyed, if some parameter is higher than normal model within the regular hour of prediction
It encloses, then can be alarmed by alarm system 5, staff is notified to perform corresponding processing, while the inspection of the present embodiment
Robot is additionally provided with electric power detection module 4, and whether the electricity that can detecte crusing robot is sufficient, when not enough power supply so as to patrol
When inspection robot carries out inspection one week, alarm can occur, prompt to charge, can be arranged on polling path multiple
Crusing robot can be automatically returned at charging pile and charges for charging pile.
In addition, another embodiment of the invention additionally provides a kind of coating material production safe and intelligent inspection system referring to Fig. 2
System, includes the coating material production safe and intelligent crusing robot in any embodiment as described above, further includes for excluding workshop
Exhaust gas and the intelligent cooling, air discharging system 6 for reducing heat, the intelligence cooling, air discharging system 6 are connect with forecasting system.
In the present embodiment, forecasting system can issue alarm signal into intelligent cooling, air discharging system 6, and Intelligent drainage is air-cooled
But system can issue signal to Intelligent drainage fan and cooling device, and receiving Intelligent drainage fan and cooling device after signal will cut
Change rudimentary wind-force air draft mode or rudimentary refrigerating mode into, when the forecasting system still issues alarm signal, intelligent air exhausting
Cooling system will issue signal to air exhausting device and cooling device, receive Intelligent drainage fan and cooling device after signal and be switched to
Urgent reply mode excludes house exhaust by intelligent air exhausting cooling system and reduces heat, reinforce air under normal circumstances
Flowing, cooling device can be by ozone flood chamber, while indoor pressure will increase, and the turbidity thereof of the inside can be through
Filtering discharge is outdoor, to achieve the purpose that cooling ventilation.
Further, another embodiment of the invention additionally provides a kind of coating material production safe and intelligent cruising inspection system, also
Including the charge position being arranged on crusing robot inspection route, the crusing robot electricity is moved to charge position when low
It charges at place.
In the present embodiment, charge position can be charging pile, and crusing robot when the power is insufficient, can automatically return to
It charges at charging pile, and charging pile can be set on polling path, facilitate the charging of crusing robot.
In addition, another embodiment of the invention also proposed a kind of coating material production safe and intelligent inspection side referring to Fig. 3
Method, comprising the following steps:
Acquire the point cloud data of inspection environment；
According to the crucial point feature of point cloud data, point cloud data is matched one by one, building inspection environment is three-dimensionally
Figure；
Depth information is obtained according to point cloud data, polling path is planned in the position of disturbance in judgement object；
Using the object recognition algorithm based on convolutional neural networks fusion three-dimensional feature, at the point cloud data of acquisition
Reason carries out identification positioning to target object, and will be in location information feedback to relief map；
Control crusing robot carries out inspection on the polling path planned.
In the present embodiment, it is acquired and handles by the point cloud data to inspection environment, so as to obtain
Relief map, polling path and the target object of inspection environment, different inspections can be set for different target objects
Path, and the identification positioning of target object is calculated using the object identification based on convolutional neural networks fusion three-dimensional feature
Method, specific steps are as follows: with the three-dimensional feature of target object to input, the aspect of model of training target object to be identified, with
Softmax classifier identifies the target object during inspection as output, and according to target object and data acquisition module 11
Between mapping relations, be accurately positioned three-dimensional coordinate of the target object relative to data acquisition module 11, and pass through matching target
The feature of both object and relief map key point determines position of the target object in relief map, high in relief map
Bright displaying target object.
Further, another embodiment of the invention additionally provides a kind of coating material production safe and intelligent method for inspecting, patrols
Inspection robot acquires temperature information, concentration of toxic gases information and dust concentration letter in inspection environment during inspection
Breath, and temperature information, concentration of toxic gases information and dust concentration information are carried out in advance using the algorithm based on data mining
It surveys.
In the present embodiment, crusing robot can be with temperature collection information, concentration of toxic gases information during inspection
And dust concentration information, then forecasting system can carry out forecast analysis according to above- mentioned information, predict parameters in future
If trend in a period of time is alarmed have parameter to show a increasing trend and be higher than normal range (NR) within a certain period of time, work
Making personnel can perform corresponding processing.
It is to be illustrated to preferable implementation of the invention, but the invention is not limited to above-mentioned embodiment party above
Formula, those skilled in the art can also make various equivalent variations on the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (10)
1. a kind of coating material production safe and intelligent crusing robot, it is characterised in that: including for realizing self-navigation and avoidance
Vision system, the sensor detecting system for detecting workshop temperature, concentration of toxic gases and dust concentration and for temperature
Degree, concentration of toxic gases and dust concentration carry out the forecasting system of forecast analysis, the sensor detecting system and forecasting system
Connection；The vision system includes for acquiring the data acquisition module of inspection environment point cloud data, for constructing inspection environment
The map structuring module of relief map, the path planning module for planning polling path, for identification with positioning target object
Object recognition and detection module and control module for carrying out data processing, the data acquisition module respectively with map structure
Model block, path planning module and target fixation and recognition module connection, the control module respectively with map structuring module, road
Diameter planning module and the connection of object recognition and detection module data.
2. a kind of coating material production safe and intelligent crusing robot according to claim 1, it is characterised in that: the vision system
System further includes the transmission module for carrying out data transmission, the control module by transmission module receive map structuring module,
The data of path planning module and object recognition and detection module transfer.
3. a kind of coating material production safe and intelligent crusing robot according to claim 1, it is characterised in that: the sensor
Detection system includes that dust detection module, toxic gas detection module, temperature detecting module, signal processing module and data are melted
Block is molded, the signal processing module detects dust detection module, toxic gas detection module and temperature detecting module
Information is converted into electric signal, and is transferred in data fusion module, and the data fusion module is connect with forecasting system.
4. a kind of coating material production safe and intelligent crusing robot according to claim 1, it is characterised in that: the prediction system
System includes prediction module based on data mining and pre- for displays temperature predictive information, dust predictive information and toxic gas
The information display module of measurement information, the prediction module are connected with sensor detecting system, information display module respectively.
5. a kind of coating material production safe and intelligent crusing robot according to claim 1, it is characterised in that: further include being used for
The whether too low electric power detection module of electricity is detected, the electric power detection module is connect with path planning module.
6. a kind of coating material production safe and intelligent crusing robot according to claim 5, it is characterised in that: further include alarm
System, the alarm system are connect with electric power detection module, forecasting system respectively.
7. a kind of coating material production safe and intelligent cruising inspection system, it is characterised in that: including any coating material production of claim 1-6
Safe and intelligent crusing robot further includes for excluding house exhaust and reducing the intelligent cooling, air discharging system of heat, the intelligence
Energy cooling, air discharging system is connect with forecasting system.
8. a kind of coating material production safe and intelligent cruising inspection system according to claim 7, it is characterised in that: further include that setting exists
Charge position on crusing robot inspection route, the crusing robot electricity are moved at charge position when low to be filled
Electricity.
9. a kind of coating material production safe and intelligent inspection side using coating material production safe and intelligent cruising inspection system described in claim 7
Method, it is characterised in that: the following steps are included:
Acquire the point cloud data of inspection environment；
According to the crucial point feature of point cloud data, point cloud data is matched one by one, constructs the relief map of inspection environment；
Depth information is obtained according to point cloud data, polling path is planned in the position of disturbance in judgement object；
Using the object recognition algorithm based on convolutional neural networks fusion three-dimensional feature, the point cloud data of acquisition is handled,
Identification positioning is carried out to target object, and will be in location information feedback to relief map；
Control crusing robot carries out inspection on the polling path planned.
10. a kind of coating material production safe and intelligent method for inspecting according to claim 9, it is characterised in that: crusing robot
Temperature information, concentration of toxic gases information and the dust concentration information in inspection environment are acquired during inspection, and are used
Temperature information, concentration of toxic gases information and dust concentration information are predicted based on the algorithm of data mining.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910000701.8A CN109752300A (en) | 2019-01-02 | 2019-01-02 | A kind of coating material production safe and intelligent crusing robot, system and method |
| PCT/CN2019/075903 WO2020140316A1 (en) | 2019-01-02 | 2019-02-22 | Robot, system and method for intelligently inspecting safety of manufacturing coating |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910000701.8A CN109752300A (en) | 2019-01-02 | 2019-01-02 | A kind of coating material production safe and intelligent crusing robot, system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109752300A true CN109752300A (en) | 2019-05-14 |
Family
ID=66405086
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910000701.8A Pending CN109752300A (en) | 2019-01-02 | 2019-01-02 | A kind of coating material production safe and intelligent crusing robot, system and method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109752300A (en) |
| WO (1) | WO2020140316A1 (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110209552A (en) * | 2019-05-29 | 2019-09-06 | 北京百度网讯科技有限公司 | A kind of device management method and device |
| CN110246235A (en) * | 2019-06-18 | 2019-09-17 | 广州供电局有限公司 | A kind of power distribution room scene method for inspecting and system based on Hololens mixed reality technology |
| CN110370284A (en) * | 2019-08-07 | 2019-10-25 | 北京凌天世纪控股股份有限公司 | A kind of automatic control system of explosion-proof autonomous crusing robot |
| CN110442127A (en) * | 2019-07-15 | 2019-11-12 | 广州杰赛科技股份有限公司 | Intelligent polling method, equipment and device |
| CN110456001A (en) * | 2019-08-14 | 2019-11-15 | 中国工商银行股份有限公司 | Detection method, detection device and electronic equipment |
| CN110909653A (en) * | 2019-11-18 | 2020-03-24 | 南京七宝机器人技术有限公司 | Method for automatically calibrating screen cabinet of distribution room by indoor robot |
| CN112034108A (en) * | 2020-09-16 | 2020-12-04 | 上海市环境科学研究院 | Device and method for analyzing regional pollution condition and computer readable storage medium |
| CN112332541A (en) * | 2020-10-29 | 2021-02-05 | 国网山西省电力公司检修分公司 | Monitoring system and method for transformer substation |
| CN112904844A (en) * | 2021-01-14 | 2021-06-04 | 广东核电合营有限公司 | Intelligent inspection method and system for nuclear power station |
| CN113376331A (en) * | 2021-08-16 | 2021-09-10 | 广东科凯达智能机器人有限公司 | Gas detection robot system and early warning method |
| CN113617575A (en) * | 2021-07-30 | 2021-11-09 | 北京戴纳实验科技有限公司 | Automatic explosion-proof spraying room control system |
| CN115830578A (en) * | 2023-02-23 | 2023-03-21 | 北京金石视觉数字科技有限公司 | Object inspection method and device applied to target unmanned vehicle and electronic equipment |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IL310031A (en) | 2017-05-01 | 2024-03-01 | Juno Therapeutics Inc | Combination of a cell therapy and an immunomodulatory compound |
| 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 |
| CN113720394B (en) * | 2021-09-08 | 2023-10-31 | 苏州融萃特种机器人有限公司 | Intelligent detection robot and searching method thereof |
| CN116993166A (en) * | 2023-09-25 | 2023-11-03 | 北京帮安迪信息科技股份有限公司 | Park safety risk monitoring method |
| CN117405178B (en) * | 2023-12-15 | 2024-03-15 | 成都电科星拓科技有限公司 | Mobile monitoring method for automatically detecting indoor environment parameters |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2879190Y (en) * | 2005-12-22 | 2007-03-14 | 辽宁工程技术大学 | Multi-sensor gas protrudent forecast instrument |
| CN103995509A (en) * | 2014-05-13 | 2014-08-20 | 北京华科数能科技发展有限公司 | Robot for poultry house environment monitoring and monitoring method and system thereof |
| CN104345020A (en) * | 2014-10-24 | 2015-02-11 | 海安能度软件科技有限公司 | Dust detection alarm system |
| CN205484275U (en) * | 2016-03-24 | 2016-08-17 | 无锡泓瑞航天科技有限公司 | Automatic inspection device of big space harmful gas |
| CN106598052A (en) * | 2016-12-14 | 2017-04-26 | 南京阿凡达机器人科技有限公司 | Robot security inspection method based on environment map and robot thereof |
| CN106780822A (en) * | 2017-01-09 | 2017-05-31 | 安徽杰瑞信息科技有限公司 | A kind of intelligent inspection system for factory |
| CN106873677A (en) * | 2017-03-01 | 2017-06-20 | 连京华 | A kind of pouity dwelling place environment is patrolled and examined and regulator control system |
| CN107167139A (en) * | 2017-05-24 | 2017-09-15 | 广东工业大学 | A kind of Intelligent Mobile Robot vision positioning air navigation aid and system |
| CN207139822U (en) * | 2017-09-12 | 2018-03-27 | 北京中油瑞飞信息技术有限责任公司 | Data center's crusing robot |
| CN108171796A (en) * | 2017-12-25 | 2018-06-15 | 燕山大学 | A kind of inspection machine human visual system and control method based on three-dimensional point cloud |
| CN108189043A (en) * | 2018-01-10 | 2018-06-22 | 北京飞鸿云际科技有限公司 | A kind of method for inspecting and crusing robot system applied to high ferro computer room |
| CN108908372A (en) * | 2018-08-13 | 2018-11-30 | 四川桑瑞思环境技术工程有限公司 | A kind of cruising inspection system |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103823465A (en) * | 2012-11-17 | 2014-05-28 | 安徽蓝德集团股份有限公司 | Wireless automatic routing-inspection alarm vehicle |
| US20160195613A1 (en) * | 2015-01-05 | 2016-07-07 | Robert M. Knox | Dual Mode Undercarriage Vehicle Inspection System |
| JP2017133838A (en) * | 2016-01-25 | 2017-08-03 | 三菱電機株式会社 | Facility management data extracting device, and facility management data extracting method |
| JP2017223467A (en) * | 2016-06-13 | 2017-12-21 | 三菱自動車工業株式会社 | Vehicle drive assistance device |
| CN206598277U (en) * | 2016-08-31 | 2017-10-31 | 杭州申昊科技股份有限公司 | A kind of crusing robot |
-
2019
- 2019-01-02 CN CN201910000701.8A patent/CN109752300A/en active Pending
- 2019-02-22 WO PCT/CN2019/075903 patent/WO2020140316A1/en active Application Filing
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2879190Y (en) * | 2005-12-22 | 2007-03-14 | 辽宁工程技术大学 | Multi-sensor gas protrudent forecast instrument |
| CN103995509A (en) * | 2014-05-13 | 2014-08-20 | 北京华科数能科技发展有限公司 | Robot for poultry house environment monitoring and monitoring method and system thereof |
| CN104345020A (en) * | 2014-10-24 | 2015-02-11 | 海安能度软件科技有限公司 | Dust detection alarm system |
| CN205484275U (en) * | 2016-03-24 | 2016-08-17 | 无锡泓瑞航天科技有限公司 | Automatic inspection device of big space harmful gas |
| CN106598052A (en) * | 2016-12-14 | 2017-04-26 | 南京阿凡达机器人科技有限公司 | Robot security inspection method based on environment map and robot thereof |
| CN106780822A (en) * | 2017-01-09 | 2017-05-31 | 安徽杰瑞信息科技有限公司 | A kind of intelligent inspection system for factory |
| CN106873677A (en) * | 2017-03-01 | 2017-06-20 | 连京华 | A kind of pouity dwelling place environment is patrolled and examined and regulator control system |
| CN107167139A (en) * | 2017-05-24 | 2017-09-15 | 广东工业大学 | A kind of Intelligent Mobile Robot vision positioning air navigation aid and system |
| CN207139822U (en) * | 2017-09-12 | 2018-03-27 | 北京中油瑞飞信息技术有限责任公司 | Data center's crusing robot |
| CN108171796A (en) * | 2017-12-25 | 2018-06-15 | 燕山大学 | A kind of inspection machine human visual system and control method based on three-dimensional point cloud |
| CN108189043A (en) * | 2018-01-10 | 2018-06-22 | 北京飞鸿云际科技有限公司 | A kind of method for inspecting and crusing robot system applied to high ferro computer room |
| CN108908372A (en) * | 2018-08-13 | 2018-11-30 | 四川桑瑞思环境技术工程有限公司 | A kind of cruising inspection system |
Non-Patent Citations (1)
| Title |
|---|
| 魏世民 等: "《邮政快递技术与装备》", 31 August 2018, 北京邮电大学出版社 * |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110209552A (en) * | 2019-05-29 | 2019-09-06 | 北京百度网讯科技有限公司 | A kind of device management method and device |
| CN110246235A (en) * | 2019-06-18 | 2019-09-17 | 广州供电局有限公司 | A kind of power distribution room scene method for inspecting and system based on Hololens mixed reality technology |
| CN110442127A (en) * | 2019-07-15 | 2019-11-12 | 广州杰赛科技股份有限公司 | Intelligent polling method, equipment and device |
| CN110442127B (en) * | 2019-07-15 | 2022-06-17 | 广州杰赛科技股份有限公司 | Intelligent inspection method, equipment and device |
| CN110370284A (en) * | 2019-08-07 | 2019-10-25 | 北京凌天世纪控股股份有限公司 | A kind of automatic control system of explosion-proof autonomous crusing robot |
| CN110456001A (en) * | 2019-08-14 | 2019-11-15 | 中国工商银行股份有限公司 | Detection method, detection device and electronic equipment |
| CN110909653B (en) * | 2019-11-18 | 2022-03-15 | 南京七宝机器人技术有限公司 | Method for automatically calibrating screen cabinet of distribution room by indoor robot |
| CN110909653A (en) * | 2019-11-18 | 2020-03-24 | 南京七宝机器人技术有限公司 | Method for automatically calibrating screen cabinet of distribution room by indoor robot |
| CN112034108A (en) * | 2020-09-16 | 2020-12-04 | 上海市环境科学研究院 | Device and method for analyzing regional pollution condition and computer readable storage medium |
| CN112332541A (en) * | 2020-10-29 | 2021-02-05 | 国网山西省电力公司检修分公司 | Monitoring system and method for transformer substation |
| CN112904844A (en) * | 2021-01-14 | 2021-06-04 | 广东核电合营有限公司 | Intelligent inspection method and system for nuclear power station |
| CN113617575A (en) * | 2021-07-30 | 2021-11-09 | 北京戴纳实验科技有限公司 | Automatic explosion-proof spraying room control system |
| CN113376331A (en) * | 2021-08-16 | 2021-09-10 | 广东科凯达智能机器人有限公司 | Gas detection robot system and early warning method |
| CN115830578A (en) * | 2023-02-23 | 2023-03-21 | 北京金石视觉数字科技有限公司 | Object inspection method and device applied to target unmanned vehicle and electronic equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020140316A1 (en) | 2020-07-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109752300A (en) | A kind of coating material production safe and intelligent crusing robot, system and method | |
| CN108189043B (en) | Inspection method and inspection robot system applied to high-speed rail machine room | |
| CN110492607A (en) | A kind of intelligent substation condition monitoring system based on ubiquitous electric power Internet of Things | |
| CN106774322B (en) | Photovoltaic power station inspection system and operation method thereof | |
| CN107966534A (en) | Toxic and harmful gas network monitor instrument and monitoring data processing method with sensor detecting element | |
| CN110163485A (en) | A kind of computer room cruising inspection system | |
| US20160264262A1 (en) | Collaborative robot for visually inspecting an aircraft | |
| CN110011994A (en) | A kind of EMS based on big data | |
| CN107545707A (en) | Industrial environment hazardous gas spillage detecting system based on ZigeBee | |
| CN101937214A (en) | Industrial Ethernet based monitoring system of sea-crossing suspension bridge | |
| CN109683609A (en) | A kind of electric intelligent inspection system and method | |
| WO2022242759A1 (en) | Unmanned intelligent inspection system and method applied to offshore booster station | |
| CN106348119B (en) | Isolated elevator operation safety monitoring system and method based on Internet of things | |
| CN113409538A (en) | Intelligent remote monitoring and early warning management system | |
| CN113643515A (en) | Combustible dust automatic identification judges and alarm system | |
| CN115939996A (en) | Automatic inspection system of power inspection robot | |
| CN113478500A (en) | Ship cabin multi-source data collection system based on intelligent inspection robot | |
| CN109272162A (en) | It is a kind of based on the security protection forecasting system and method that fire index | |
| CN115562349A (en) | Inspection method and device for cooperative operation of unmanned aerial vehicle and ground inspection robot | |
| CN108093210A (en) | A kind of transformer oil level warning system and its alarm method | |
| CN115393142A (en) | Intelligent park management method and management platform | |
| CN209805505U (en) | Mobile inspection device for power distribution room | |
| CN205983585U (en) | Join in marriage net transformer system of patrolling and examining, RFID module and handheld piece module | |
| CN207540589U (en) | A kind of natural gas crusing robot | |
| CN104089656A (en) | Storage yard coal spontaneous combustion detection method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190514 |
|
| RJ01 | Rejection of invention patent application after publication |