CN107433621A - A kind of autonomous type lightweight climbing robot detecting system and its application method - Google Patents
A kind of autonomous type lightweight climbing robot detecting system and its application method Download PDFInfo
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- CN107433621A CN107433621A CN201710507359.1A CN201710507359A CN107433621A CN 107433621 A CN107433621 A CN 107433621A CN 201710507359 A CN201710507359 A CN 201710507359A CN 107433621 A CN107433621 A CN 107433621A
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- wireless communication
- communication apparatus
- motor
- detecting system
- autonomous type
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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
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
Abstract
The invention discloses a kind of autonomous type lightweight climbing robot detecting system and its application method, including robot body, tele-control system, wireless communication apparatus a and wireless communication apparatus b, tele-control system and wireless communication apparatus a wireless connections, wireless communication apparatus a electrically connects with wireless communication apparatus b, wireless communication apparatus b and tele-control system wireless connection, robot body include housing, bottom plate, drive mechanism, absorbing unit and/or head and/or universal wheel.The present invention makes the communication information between wireless communication apparatus B and wireless communication apparatus A be transmitted by wireless communication apparatus a and wireless communication apparatus b, can strengthen conveying signal；In addition, the present invention effectively improves magnetic energy utilization rate, reduces the processing weight and difficulty of processing of robot body by the way of absorbing unit is respectively provided with movable pulley both sides.
Description
Technical field
The present invention relates to a kind of autonomous type lightweight climbing robot detecting system and its application method, belong to robot and
Detection technique field.
Background technology
The automatic machinery people that climbing robot can be climbed and fulfiled assignment in perpendicular walls.Such robot is to move
One important branch in mobile robot field, it combines ground mobile robot technology with adsorption technology, can be
Attachment is creeped in vertical walls, and can be carried instrument and be completed certain job task, greatly expands the application of robot.
At present, climbing robot is mainly used in nuclear industry, petrochemical industry, shipbuilding industry, fire department and investigation etc., such as to high building
Outside wall surface is cleaned, and the storing tank wall in petroleum chemical enterprise is detected and safeguarded, large-area steel plate is painted, with
And rescue and relief work etc. is carried out in high building accident.
Climbing robot possesses absorption and mobile two basic functions, and common suction type has negative pressure of vacuum to adsorb, forever
Magnetic suck, thrust absorption several ways.Wherein, negative pressure of vacuum mode can be adsorbed in wall by producing negative pressure in sucker
On, do not limited by wall surface material；Magnetic suck mode then has permanent magnet and electromagnet two ways, is only applicable to adsorb magnetic conductivity
Wall；Thrust absorption is to produce suitable thrust using propeller or ducted fan, is robot stabilized absorption in wall
On, the humanoid robot points to wall all the time due to thrust, it is difficult to realizes right angle obstacle detouring.
Climbing robot is by locomotive function point mainly sucked type, wheel type and crawler type.Sucked type can cross over very little
Obstacle, but translational speed is slow.Wheel type translational speed is fast, control is flexible, but maintains certain absorption affinity more difficult.Crawler type pair
Wall strong adaptability, the area that lands is big, but is not easy to turn.And the obstacle crossing ability of these three move modes is all very weak, it is impossible to
Adapt to the operation of creeping at wall and top inside and outside container.
At present, as container plays more and more important effect, existing packaging in cargoes imported and exported transportation
Detection method is mainly personnel to scene in case, and article carrying is handled, and takes out of and detected, because technical staff's quantity has
Limit, and container quantity is numerous, only low with maintenance personal's micro-judgment, efficiency, effect is poor, needs device fabrication in many cases
Enterprise or expert provide technical support.Therefore, suitable for container climbing robot and its detection technique for improving itself
Security, reliability and validity, it is all significant to reduce economic loss.
The content of the invention
It is an object of the present invention to provide a kind of autonomous type lightweight climbing robot detecting system and its application method,
The detection efficiency for article in container and the validity of detection can be improved.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：
A kind of autonomous type lightweight climbing robot detecting system, one kind in can carrying welding or polishing or detecting is certainly
Dynamicization mechanical device；Including robot body, tele-control system, wireless communication apparatus a and wireless communication apparatus b, long-range control
System processed and wireless communication apparatus a wireless connections, wireless communication apparatus a electrically connect with wireless communication apparatus b, wireless communication apparatus
B and tele-control system wireless connection, robot body include at least one robot body, and robot body includes housing, bottom
Plate, drive mechanism, absorbing unit and/or head and/or universal wheel, drive mechanism are arranged in the inner panel of bottom plate, absorption
Unit is arranged on the outer side panel of bottom plate, and universal wheel is arranged on the outer side panel of bottom plate, and head is arranged on housing, housing
It is connected with bottom plate.Drive mechanism is used to drive movable pulley to rotate, and is the mobile offer power of robot body.Universal wheel is used to protect
Demonstrate,prove the stability of motion of the robot in startup, stopped process.Universal wheel refers to the wheel for possessing 360 ° of rotatory powers, can be but
It is not limited to ball wheel or ox horn or universal caster wheel etc..
In a kind of foregoing autonomous type lightweight climbing robot detecting system, 2 are provided with the robot body
Movable pulley, and the both sides of each movable pulley are provided with absorbing unit；Absorbing unit includes yoke and magnet, and yoke is fixed on bottom
On plate, magnet is fixed on yoke；And opposite polarity between adjacent magnet.Inhaled by being set in the both sides of each movable pulley
Coupon member, can be such that robot body preferably adsorbs on container or wall wall, and the magnetic energy utilization rate of magnet is higher,
Meanwhile reduce the processing weight and difficulty of processing of robot body.
In a kind of foregoing autonomous type lightweight climbing robot detecting system, it is provided with the robot body universal
Wheel, the universal wheel are arranged on the outer side panel of bottom plate, for ensureing the stabilization of motion of the robot in startup, stopped process
Property, universal wheel includes but is not limited to ball wheel, ox horn, universal caster wheel etc..
In a kind of foregoing autonomous type lightweight climbing robot detecting system, control is provided with the robot body
Device, control device are arranged in the inner panel of bottom plate, and head electrically connects with control device.
In a kind of foregoing autonomous type lightweight climbing robot detecting system, it is provided with the robot body wireless
Communication device B, wireless communication apparatus B electrically connect with control device, and wireless communication apparatus B also wirelessly connects with wireless communication apparatus b
Connect.
In a kind of foregoing autonomous type lightweight climbing robot detecting system, the robot body is provided with and control
Three-axis gyroscope, accelerometer and at least one ultrasonic radar distance measuring sensor of device electrical connection.
Three-axis gyroscope, the spatial attitude and speed of the real-time recorder human body of accelerometer energy, ultrasonic ranging pass
Sensor can measure to distance around, under known surrounding space situation, can pass through spatial attitude and range measurement
Judge robot in the position of known spatial.
In a kind of foregoing autonomous type lightweight climbing robot detecting system, the head includes the first motor, a
Support frame, b support frames, the second motor, the 3rd motor and image collecting device, the support and shell of the first motor
Body is connected, and the body of the first motor is connected with one end of a support frames, and the other end of a support frames and the second motor connect
Connect, the second motor is also connected with b support frames one end, and the other end of b support frames is connected with the 3rd motor, IMAQ
Device is arranged on the drive end of the 3rd motor, and image collecting device electrically connects with control device, a support frames and b supports
The L-shaped shape of frame.
First motor, the second motor and the 3rd motor may each be brushless DC servomotor, brushless
Motor or stepper motor.The image for driving head by the first motor, the second motor and the 3rd motor is adopted
Acquisition means, by the first motor, the second motor and the 3rd motor ensure that image collecting device can around X,
Y, Z axis is rotated, and image collecting device is adjusted shooting angle according to actual conditions, while can be according to robot body
The overall angle of pose adjustment head, is shot, and ensure the stability of shooting picture in specific angle.
In a kind of foregoing autonomous type lightweight climbing robot detecting system, the tele-control system includes control
Device, display and wireless communication apparatus A, display and wireless communication apparatus A are electrically connected with the controller, wireless communication apparatus A
With wireless communication apparatus a wireless connections.
In a kind of foregoing autonomous type lightweight climbing robot detecting system, the drive mechanism include power motor,
Decelerator, motor supporting base, shaft coupling and wheel shaft, the output shaft of power motor are connected with decelerator, and decelerator connects with shaft coupling
Connect, shaft coupling is connected with wheel axis connection, wheel shaft with movable pulley.The inside of wheel shaft is provided with bearing, and wheel shaft passes through bearing and movable pulley
Connection.
In a kind of foregoing autonomous type lightweight climbing robot detecting system, described image harvester is that monocular is infrared
Camera or binocular infrared camera, image collecting device is by the image information of acquisition by electric signal transmission to control device, control
After device processed is filtered processing, edge detection process and image binaryzation processing to the image information received, Classification and Identification
The determinand gone out in region to be detected, then demarcates determinand, forms corresponding detection image.
Image collecting device is used to collecting image information in detection zone, and image information is transmitted to being arranged on machine
Control device on human body, then transmitted by control device, wireless communication apparatus b and wireless communication apparatus a to remote control
On the display of system.
A kind of application method of autonomous type lightweight climbing robot detecting system, including wireless communication apparatus a is fixed
In the outside of container, wireless communication apparatus b is fixed on to the inside of container, believed by operating tele-control system and will control
Number wireless communication apparatus a is sent to, control signal is passed to wireless communication apparatus b, wireless communication apparatus by wireless communication apparatus a
B sends control signals to robot body again；Robot body is by the information collected successively through wireless communication apparatus b, nothing
Line communication device a is sent to tele-control system, and is shown on the display of tele-control system.
Compared with prior art, wireless communication apparatus a of the invention is connected with wireless communication apparatus b by circuit, and
In use, one is placed in outside container, another is placed in internal container so that wireless communication apparatus B and wireless telecommunications dress
The communication information put between A is transmitted by wireless communication apparatus a and wireless communication apparatus b, can greatly enhance conveying signal,
The signal shielding that container is formed is prevented to cause signal transmission not smooth；In addition, the present invention is using equal in movable pulley both sides
The mode of absorbing unit is set, and yoke is combined with magnet, so as to effectively improve magnetic energy utilization rate, makes robot sheet
Body can be moved freely and turned on the horizontal wall surface with barrier, vertical wall or magnetic conduction wall, meanwhile, reduce machine
The processing weight and difficulty of processing of device human body；Using autonomous type restructural climbing robot detecting system of the present invention and its make
Article in container is detected with method, it is possible to increase detection efficiency and detection for article in container it is effective
Property.
Brief description of the drawings
Fig. 1 is a kind of operation principle schematic diagram of embodiment of the present invention；
Fig. 2 is Fig. 1 partial enlarged drawing；
Fig. 3 is a kind of schematic diagram of the structure side of embodiment of the present invention；
Fig. 4 is a kind of schematic diagram of the structure opposite side of embodiment of the present invention；
Fig. 5 is a kind of internal structure schematic diagram of embodiment of the present invention；
Fig. 6 is the structural representation of drive mechanism of the present invention；
Fig. 7 is the structural representation of head of the present invention；
Fig. 8 is the structural representation of absorbing unit of the present invention；
Fig. 9 is the connection diagram of an embodiment of the present invention.
Reference：1- robot bodies；2- movable pulleys；3- wireless communication apparatus B；4- heads；5-b support frames；6- inhales
Coupon member；7- control devices；8- drive mechanisms；9- power motors；10- decelerators；11- motor supporting bases；12- shaft couplings；13-
Wheel shaft；The motors of 14- first；15-a support frames；The motors of 16- second；The motors of 17- the 3rd；18- image collectors
Put；19- accelerometers；20- ultrasonic radar distance measuring sensors；21- displays；22- magnet；23- yokes；24- wireless telecommunications
Device A；25- drive ends；26- controllers；27- tele-control systems；28- wireless communication apparatus a；29- wireless communication apparatus b；
30- three axis accelerometers, 31- housings, 32- bottom plates, 33- universal wheels.
The present invention is further illustrated with reference to the accompanying drawings and detailed description.
Embodiment
Embodiments of the invention 1：A kind of autonomous type lightweight climbing robot detecting system, welding or polishing can be carried
Or a kind of automated machine device in detection, and can be with mounting robot body 1.
The system includes robot body 1, tele-control system 27, wireless communication apparatus a28 and wireless communication apparatus
B29, tele-control system 27 and wireless communication apparatus a28 wireless connections, wireless communication apparatus a28 and wireless communication apparatus b29
Electrical connection, wireless communication apparatus b29 and the wireless connection of tele-control system 27, robot body 1 include housing 31, bottom plate 32,
Drive mechanism 8, absorbing unit 6 and head 4 and universal wheel 33, drive mechanism 8 are arranged in the inner panel of bottom plate 32, and absorption is single
Member 6 is arranged on the outer side panel of bottom plate 32, and universal wheel 33 is arranged on the outer side panel of bottom plate 32, and head 4 is arranged at housing
On 31, housing 31 is connected with bottom plate 32.
Embodiments of the invention 2：A kind of autonomous type lightweight climbing robot detecting system, welding or polishing can be carried
Or a kind of automated machine device in detection, and may be mounted on robot body 1.
The system includes robot body 1, tele-control system 27, wireless communication apparatus a28 and wireless communication apparatus
B29, tele-control system 27 and wireless communication apparatus a28 wireless connections, wireless communication apparatus a28 and wireless communication apparatus b29
Electrical connection, wireless communication apparatus b29 and the wireless connection of tele-control system 27, robot body 1 include housing 31, bottom plate 32,
Drive mechanism 8, absorbing unit 6, head 4 and universal wheel 33 are provided with the robot body 1 of head end, drive mechanism 8 is arranged at
In the inner panel of bottom plate 32, absorbing unit 6 is arranged on the outer side panel of bottom plate 32, and head 4 is arranged on housing 31, housing
31 are connected with bottom plate 32, can 360 degree rotation universal wheels 33 be arranged on the outer side panel of bottom plate 32.
Further, 2 movable pulleys 2 are provided with robot body 1, and the both sides of each movable pulley 2 are provided with suction
Coupon member 6；Absorbing unit 6 includes yoke 23 and magnet 22, and yoke 23 is fixed on bottom plate 32, and magnet 22 is fixed on yoke 23
On；And opposite polarity between adjacent magnet 22.Magnet 22 is permanent magnet.
Movable pulley 2 can be common rubber wheel, for increasing friction force, improve obstacle climbing ability, can increase ditch in tyre surface
Groove；Absorbing unit 6 is set in the both sides of movable pulley 2, and makes opposite polarity between adjacent magnet, it is ensured that magnetic energy utilization rate is higher
In the case of, the overall weight and difficulty of processing of reduction robot body 1.
Further, robot body 1 also includes control device 7, and control device 7 is arranged on the inner panel of bottom plate 32
On, head 4 electrically connects with control device 7.
Further, robot body 1 also includes wireless communication apparatus B3, wireless communication apparatus B3 and the electricity of control device 7
Connection, wireless communication apparatus B3 also with wireless communication apparatus b29 wireless connections.
Further, robot body 1 is provided with three-axis gyroscope 30, the accelerometer 19 electrically connected with control device 7
With at least one ultrasonic radar distance measuring sensor 20.
Further, head 4 includes the first motor 14, a support frames 15, b support frames 5, the second motor 16, the
Three motors 17 and image collecting device 18, the support of the first motor 14 are connected with housing 31, the first motor 14
Body be connected with one end of a support frames 15, the other end of a support frames 15 is connected with the second motor 16, second driving electricity
Machine 16 is also connected with the one end of b support frames 5, and the other end of b support frames 5 is connected with the 3rd motor 17, image collecting device 18
It is arranged on the drive end 25 of the 3rd motor 17, image collecting device 18 electrically connects with control device 7, a support frames 15 and b
The L-shaped shape of support frame 5.
Further, tele-control system 27 includes controller 26, display 21 and wireless communication apparatus A24, display
21 and wireless communication apparatus A24 electrically connects with controller 26, and wireless communication apparatus A24 wirelessly connects with wireless communication apparatus a28
Connect.
Further, drive mechanism 8 includes power motor 9, decelerator 10, motor supporting base 11, shaft coupling 12 and wheel shaft
13, the output shaft of power motor 9 is connected with decelerator 10, and decelerator 10 is connected with shaft coupling 12, and shaft coupling 12 connects with wheel shaft 13
Connect, wheel shaft 13 is connected with movable pulley 2.
When robot body 1 turns to, differential fortune is carried out by the drive mechanism 8 being arranged on the both sides of robot body 1
It is dynamic to realize preliminary steering, then drive bottom plate 32 to turn to, due to being arranged with permanent magnet on each robot body 1, ensure that
The adsorption capacity of each robot body 1 and the load capacity of robot body 1.
In the present invention, the image collecting device 18 being arranged on robot body 1 is red for monocular infrared camera or binocular
Outer camera, image collecting device 18 dock the image information of acquisition by electric signal transmission to control device 7, control device 7
After the image information received is filtered processing, edge detection process and image binaryzation processing, treats and treated in detection zone
Survey thing and carry out Classification and Identification, then demarcate determinand, form corresponding detection image.
The embodiment of the present invention 3：A kind of application method of autonomous type lightweight climbing robot detecting system, including with lower section
Method：First, wireless communication apparatus a28 is fixed on to the outside of container, then, wireless communication apparatus b29 is fixed on packaging
The inside of case, wireless communication apparatus a28, wireless communication apparatus are sent control signals to by operating tele-control system 27
Control signal is passed to wireless communication apparatus b29 by a28, and wireless communication apparatus b29 sends control signals to robot sheet again
Body 1, so as to the operation of each device and mechanism on control machine human body 1；Robot body 1 passes through the information collected successively
Wireless communication apparatus b29, wireless communication apparatus a28 are sent to tele-control system 27, and in the display of tele-control system 27
Shown on device 21.Because container is by metallic material, it can form barrier to wireless signal, influence the normal fortune of system
OK, the system ensures system by setting wireless communication apparatus a28 and wireless communication apparatus b29 to overcome this problem
Normal operation.
The present invention is not limited to detect container, can also detect the inner chamber of the metal structure object such as hull, specifically, making
Testing process with the present invention is as follows：
S1：Control machine human body 1 is moved to the position to be detected specified；
S2：The crucial point coordinates or space structure in region to be detected are inputted in the control terminal of tele-control system 27,
And detection zone and detection mode are set, record a video, fixed point is taken pictures；
S3：Calculated according to program and treat detection zone progress contexture by self detection path；
S4：Control machine human body 1 advances along path planning, and is carried out according to detection workflow video set in advance
Detection；
S5：Control terminal-pair detection data are gathered in real time, are analyzed and are watched for operator；
S6:Operator can carry out manual control by interventional systems to total system at any time.
Claims (10)
1. a kind of autonomous type lightweight climbing robot detecting system, it is characterised in that welding or polishing or detection can be carried
In a kind of automated machine device；Including robot body (1), tele-control system (27), wireless communication apparatus a (28) and
Wireless communication apparatus b (29), the tele-control system (27) and wireless communication apparatus a (28) wireless connection, wireless telecommunications dress
Put a (28) to electrically connect with wireless communication apparatus b (29), the wireless communication apparatus b (29) is wireless with tele-control system (27)
Connection, the robot body (1) include housing (31), bottom plate (32), drive mechanism (8), absorbing unit (6) and/or head
(4) and/or universal wheel (33), the drive mechanism (8) are arranged in the inner panel of bottom plate (32), and absorbing unit (6) is set
In on the outer side panel of bottom plate (32), universal wheel (33) is arranged on the outer side panel of bottom plate (32), and the head (4) is arranged at
On housing (31) top surface, housing (31) is connected with bottom plate (32).
A kind of 2. autonomous type lightweight climbing robot detecting system according to claim 1, it is characterised in that robot
2 movable pulleys (2) are provided with body (1), and the both sides of each movable pulley (2) are provided with absorbing unit (6)；The absorption
Unit (6) includes yoke (23) and magnet (22), and yoke (23) is fixed on bottom plate (32), and magnet (22) is fixed on yoke (37)
On；And opposite polarity between adjacent magnet (22).
A kind of 3. autonomous type lightweight climbing robot detecting system according to claim 1, it is characterised in that the machine
Control device (7) is provided with device human body (1), the control device (7) is arranged in the inner panel of bottom plate (32), described
Head (4) electrically connects with control device (7).
A kind of 4. autonomous type lightweight climbing robot detecting system according to claim 3, it is characterised in that the machine
Wireless communication apparatus B (3) is provided with device human body (1), the wireless communication apparatus B (3) electrically connects with control device (7),
The wireless communication apparatus B (3) also with wireless communication apparatus b (29) wireless connection.
A kind of 5. autonomous type lightweight climbing robot detecting system according to claim 3, it is characterised in that the machine
Device human body (1) is provided with three-axis gyroscope (30), the accelerometer (19) and at least 1 electrically connected with the control device (7)
Individual ultrasonic radar distance measuring sensor (20).
A kind of 6. autonomous type lightweight climbing robot detecting system according to claim 3, it is characterised in that the cloud
Platform (4) includes the first motor (14), a support frames (15), b support frames (5), the second motor (16), the 3rd driving electricity
Machine (17) and image collecting device (18), the support of first motor (14) are connected with housing (31), the first driving electricity
The body of machine (14) is connected with one end of a support frames (15), and the other end and the second motor (16) of a support frames (15) are even
Connect, the one end of second motor (16) also with b support frames (5) is connected, the other end of b support frames (5) and the 3rd driving
Motor (17) is connected, and described image harvester (18) is arranged on the drive end (25) of the 3rd motor (17), and image is adopted
Acquisition means (18) electrically connect with control device (7), a support frames (15) and the L-shaped shape of b support frames (5).
7. a kind of autonomous type lightweight climbing robot detecting system according to claim 1, it is characterised in that described remote
Process control system (27) includes controller (26), display (21) and wireless communication apparatus A (24), display (21) and channel radio
News device A (24) electrically connects with controller (26), and the wireless communication apparatus A (24) is wireless with wireless communication apparatus a (28)
Connection.
A kind of 8. autonomous type lightweight climbing robot detecting system according to claim 2, it is characterised in that the drive
Motivation structure (8) includes power motor (9), decelerator (10), motor supporting base (11), shaft coupling (12) and wheel shaft (13), described
The output shaft of power motor (9) is connected with decelerator (10), and decelerator (10) is connected with shaft coupling (12), shaft coupling (12) and wheel
Axle (13) connects, and the wheel shaft (13) is connected with movable pulley (2).
A kind of 9. autonomous type lightweight climbing robot detecting system according to claim 6, it is characterised in that the figure
As harvester (18) is monocular infrared camera or binocular infrared camera, image collecting device (18) is by the image information of acquisition
Control device (7) is given by electric signal transmission, control device (7) is filtered processing, edge inspection to the image information received
After surveying processing and image binaryzation processing, determinand that Classification and Identification goes out in region to be detected, determinand is then demarcated, form phase
The detection image answered.
A kind of 10. user of autonomous type lightweight climbing robot detecting system according to any one of claim 1~9
Method, it is characterised in that including following methods：Wireless communication apparatus a (28) is fixed on to the outside of container, wireless telecommunications are filled
The inside that b (29) is fixed on container is put, wireless telecommunications dress is sent control signals to by operating tele-control system (27)
A (28) is put, control signal is passed to wireless communication apparatus b (29), wireless communication apparatus b (29) by wireless communication apparatus a (28)
Robot body (1) is sent control signals to again；Robot body (1) is by the information collected successively through wireless communication apparatus
B (29), wireless communication apparatus a (28) are sent to tele-control system (27), and in the display of tele-control system (27)
(21) shown on.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710507359.1A CN107433621A (en) | 2017-06-28 | 2017-06-28 | A kind of autonomous type lightweight climbing robot detecting system and its application method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710507359.1A CN107433621A (en) | 2017-06-28 | 2017-06-28 | A kind of autonomous type lightweight climbing robot detecting system and its application method |
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| CN107433621A true CN107433621A (en) | 2017-12-05 |
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| CN201710507359.1A Pending CN107433621A (en) | 2017-06-28 | 2017-06-28 | A kind of autonomous type lightweight climbing robot detecting system and its application method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108674511A (en) * | 2018-05-31 | 2018-10-19 | 杭州展翔智能科技有限公司 | It is a kind of can frame carry application device autonomous climbing device |
| CN110398497A (en) * | 2019-08-12 | 2019-11-01 | 浙江工业大学 | A kind of absorption type blade of wind-driven generator image collecting device |
| CN110588823A (en) * | 2019-10-08 | 2019-12-20 | 广东省智能制造研究所 | Wall-climbing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202624434U (en) * | 2012-06-07 | 2012-12-26 | 中国东方电气集团有限公司 | Full driving magnetic attraction type multifunctional wall climbing robot with small-folding-size mechanical arm |
| CN103167514A (en) * | 2013-03-12 | 2013-06-19 | 京信通信系统（广州）有限公司 | Elevator mobile communication coverage system, power controller and method |
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- 2017-06-28 CN CN201710507359.1A patent/CN107433621A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202624434U (en) * | 2012-06-07 | 2012-12-26 | 中国东方电气集团有限公司 | Full driving magnetic attraction type multifunctional wall climbing robot with small-folding-size mechanical arm |
| CN103167514A (en) * | 2013-03-12 | 2013-06-19 | 京信通信系统（广州）有限公司 | Elevator mobile communication coverage system, power controller and method |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108674511A (en) * | 2018-05-31 | 2018-10-19 | 杭州展翔智能科技有限公司 | It is a kind of can frame carry application device autonomous climbing device |
| CN108674511B (en) * | 2018-05-31 | 2024-04-09 | 杭州展翔智能科技有限公司 | Autonomous climbing device capable of carrying application device |
| CN110398497A (en) * | 2019-08-12 | 2019-11-01 | 浙江工业大学 | A kind of absorption type blade of wind-driven generator image collecting device |
| CN110398497B (en) * | 2019-08-12 | 2024-03-26 | 浙江工业大学 | Adsorption type wind driven generator blade image acquisition device |
| CN110588823A (en) * | 2019-10-08 | 2019-12-20 | 广东省智能制造研究所 | Wall-climbing robot |
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Application publication date: 20171205 |