CN102941204A - Intelligent six feet crawling robot applied to clean central air conditioning pipelines - Google Patents
Intelligent six feet crawling robot applied to clean central air conditioning pipelines Download PDFInfo
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- CN102941204A CN102941204A CN2012104754460A CN201210475446A CN102941204A CN 102941204 A CN102941204 A CN 102941204A CN 2012104754460 A CN2012104754460 A CN 2012104754460A CN 201210475446 A CN201210475446 A CN 201210475446A CN 102941204 A CN102941204 A CN 102941204A
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Abstract
The invention discloses an intelligent six feet crawling robot applied to clean central air conditioning pipelines. The intelligent robot can achieve automatic control, cleans pipelines automatically according to acquired environment data, functions of crawling up and down and crossing pot holes are achieved through a six feet device, a comprehensive cleaning capability of central air conditioning pipelines is achieved, acquired environment data are sent to a user through a wireless transmission device in real time simultaneously, the user can monitor the cleaning condition of the robot in real time, the user can control the robot remotely simultaneously, and the robot cleans the central air conditioning pipelines according to user orders after control commands are received. The intelligent six feet crawling robot can be applied to most of the current used clean central air conditioning pipelines to perform dust removing and disinfecting, the operation is simple, and the adaptability is high.
Description
Technical field
The invention belongs to field in intelligent robotics, relate in particular to a kind of intelligent robot that central air-conditioning pipe cleans that is applied to.
Background technology
Along with the develop rapidly of science and technology and the continuous progress of society, central air-conditioning has been widely used in heavy construction in order to environment temperature is regulated, central air-conditioning can be realized a large number of users adjustment is carried out integrated system control, and can realize low carbonization energy-saving.But the pollution problem of central air-conditioning is on the rise, sweeps owing to manually can not enter directly, so that pipeline dust is piled up, bacterium is gathered.Therefore the cleaning problem that solves ventilating system for central air-conditioner has been a problem demanding prompt solution.
Day by day strong along with demand, the invention and the design that have had some to clean central air-conditioning pipe are arisen at the historic moment, and it mainly relies on the robot of similar intelligent vehicle, use electric rotating machine band electric brush that pipeline is cleaned, also have by rapping simultaneously, the modes such as dust suction are carried out.But the distribution of central air-conditioning pipe is day by day complicated, the robot that works out on the market now can only realize the cleaning of flat tube, the up-to-date robot that develops can only realize at most the climbing cleaning at maximum 40 ° of angles, can not thoroughly satisfy the demand that central air-conditioning pipe is cleaned.
Summary of the invention
The object of the invention is to for the deficiencies in the prior art, a kind of four-wheel six pin formula intelligent robots that central air-conditioning pipe cleans that are applied to are provided.The present invention uses the mode of four-wheel drive to advance in flat tube, advance in similar mode of creeping on duct wall by six pin simultaneously, can realize that robot crosses over the hole, hole and creep up and down, by globular motor control hairbrush pipeline be cleaned simultaneously.
The objective of the invention is to be achieved through the following technical solutions: a kind of intelligence six pin climbing robots that are applied to the central air-conditioning pipe cleaning, it comprises the hairbrush control module, cleaning bar control globular motor, the ultraviolet-sterilization module, expansion link, central control module, power supply module, the monitoring camera-shooting module, the wireless communication transmission module, motor drive module, crawling machinery pin control module, stepper motor, wheel, the crawling machinery pin, machinery foot control globular motor processed, auxiliary support bar, electromagnetic valve device, support bar draw-in groove flabellum, the solid hole of flabellum, the hollow hole of flabellum, the flabellum connecting hole, sleeve, intelligent robot, the permanent magnetism iron core, the robot chassis, the chuck control module, the remote monitoring PC; Electromagnetic valve device partly is comprised of electromagnetic valve device A part and electromagnetic valve device B; Central control module, power supply module, wireless communication transmission module, motor drive module, crawling machinery pin control module, stepper motor and mechanical foot control globular motor processed all are fixed on the robot chassis, the crawling machinery pin links to each other with mechanical foot control globular motor processed, wheel is connected on the stepper motor, and stepper motor is connected on the robot chassis; Described auxiliary support bar, electromagnetic valve device A part, electromagnetic valve device B part, support bar draw-in groove flabellum, the equal embedding machine people's inside chassis of chuck control module, wherein, described electromagnetic valve device A part, electromagnetic valve device B part are respectively at the right and left on robot chassis, auxiliary support bar passes the robot inside chassis, the end that two ends distribution connected electromagnetic valve device A part, electromagnetic valve device B part, support bar draw-in groove flabellum are positioned at electromagnetic valve device A part is connected with the chuck control module; The center of support bar draw-in groove flabellum has the flabellum connecting hole, two solid holes of flabellum and two hollow holes of flabellum evenly distribute on the circumference, support bar draw-in groove flabellum is fixed on the robot inside chassis by the flabellum connecting hole, and central control module is by the rotation of chuck control module control support bar draw-in groove flabellum.
Further, described auxiliary support bar skin is sleeve, and inside is a permanent magnetism iron core, permanent magnetism iron core two ends are respectively permanent magnet S level and permanent magnet N level, support bar places in the electromagnetic valve device, and motion in electromagnetic valve device A part and electromagnetic valve device B part realizes automatically controlled flexible function
The invention has the beneficial effects as follows, the present invention is applied to the four-wheel six pin formula intelligent robots of central air-conditioning pipe cleaning according to the environmental data that collects, carry out the automatic cleaning of pipeline, and by six pin crawling devices, realize the function that robot creeps up and down and crosses over the hole, hole, realization is to comprehensive cleansing power of central air-conditioning pipe, send in real time simultaneously the environmental data that gathers and send it back the user by radio transmitting device, the user can carry out Real Time Monitoring to the cleaning situation of robot, simultaneously the user also can carry out Remote to robot, and robot receives after the control command according to user's instruction and finishes cleaning work to central air-conditioning pipe; Most of central air-conditioning pipe that the present invention can be applied to use now carries out dedusting and disinfection, and is simple to operate, strong adaptability.
Description of drawings
Fig. 1 is the composition structural representation that is applied to the intelligence six pin climbing robots of central air-conditioning pipe cleaning;
Fig. 2 is the telecommunication mode figure that is applied to the intelligence six pin climbing robots of central air-conditioning pipe cleaning;
Fig. 3 is the internal module connection layout that is applied to the intelligence six pin climbing robots of central air-conditioning pipe cleaning;
Fig. 4 is side view and camera monitoring system and the purging system rotation schematic diagram that is applied to the intelligence six pin climbing robots of central air-conditioning pipe cleaning;
Fig. 5 is the auxiliary support structure schematic diagram that is applied to the intelligence six pin climbing robots of central air-conditioning pipe cleaning;
Fig. 6 is the auxiliary support bar structural representation that is applied to the intelligence six pin climbing robots of central air-conditioning pipe cleaning;
Fig. 7 is the support bar draw-in groove blade structure schematic diagram that is applied to the intelligence six pin climbing robots of central air-conditioning pipe cleaning;
Fig. 8 is the overall process flow chart that is applied to the intelligence six pin climbing robots of central air-conditioning pipe cleaning;
Fig. 9 is the cleaning process flow chart that is applied to the intelligence six pin climbing robots of central air-conditioning pipe cleaning;
Figure 10 is that the walking manner that is applied to the intelligence six pin climbing robots of central air-conditioning pipe cleaning is judged flow process;
Among the figure: hairbrush control module 1, cleaning bar control globular motor 2, ultraviolet-sterilization module 3, expansion link 4, central control module 5, power supply module 6, monitoring camera-shooting module 7, wireless communication transmission module 8, motor drive module 9, crawling machinery pin control module 10, stepper motor 11, wheel 12, crawling machinery pin 13, machinery foot control globular motor 14 processed, auxiliary support bar 15, electromagnetic valve device, support bar draw-in groove flabellum 18, the solid hole 19 of flabellum, the hollow hole 20 of flabellum, flabellum connecting hole 21, sleeve 22, intelligent robot 23, permanent magnet S level 24, permanent magnet N level 25, permanent magnetism iron core 26, robot chassis 27, chuck control module 28, remote monitoring PC 29, electromagnetic valve device is comprised of electromagnetic valve device A part 16 and electromagnetic valve device B part 17.
The specific embodiment
As shown in Figure 1, the intelligence six pin climbing robots that the present invention is applied to the central air-conditioning pipe cleaning comprise hairbrush control module 1, cleaning bar control globular motor 2, ultraviolet-sterilization module 3, expansion link 4, central control module 5, power supply module 6, monitoring camera-shooting module 7, wireless communication transmission module 8, motor drive module 9, crawling machinery pin control module 10, stepper motor 11, wheel 12, crawling machinery pin 13, machinery foot control globular motor 14 processed, auxiliary support bar 15, electromagnetic valve device, support bar draw-in groove flabellum 18, the solid hole 19 of flabellum, the hollow hole 20 of flabellum, flabellum connecting hole 21, sleeve 22, intelligent robot 23, permanent magnetism iron core 26, robot chassis 27, chuck control module 28, remote monitoring PC 29, electromagnetic valve device is comprised of electromagnetic valve device A part 16 and electromagnetic valve device B part 17.
This robot adopts the cleaning way from uptake to lower air port as shown in Figure 8, show according to related data, central air conditioner system commonly used is top-down circulating form now, adopt this kind mode can realize after robot sweeps the dust of inner-walls of duct get off, can the flow direction with the wind waft to lower air port, therefore only need to the purpose that dust collection bag can reach the cleaning dust be installed in lower air port.
When using robot, at first robot is placed on the summit position of uptake () (can adopt the mode of artificial placement also can adopt lift that robot is delivered to summit) of central air-conditioning pipe, then robot will bring into operation just, at first robot will carry out Real Time Monitoring by 7 pairs of environment of monitoring camera-shooting module, gather image, range data, process by the data of 5 pairs of collections of central control module as shown in Figure 2, and data are sent to user's PC 29 by wireless communication transmission module 8, the user is according to manually control or automatically control of the data selection of receiving, robot begins cleaning just, along with robot advances forward, central control module 5 control hairbrush control modules 1, cleaning bar control globular motor 2, ultraviolet-sterilization module 3, expansion link 4 is adjusted angles duct wall is cleaned and sterilization operation, and the realization of above function is to take when being straight when pipeline.
The pipe-line system of the various central air-conditioning of analysis-by-synthesis, what robot need to overcome mainly is two difficulties, the first is crossed over downward hole, hole, T-shaped road junction, the turning point that flex point is 90 °.The below will describe this intelligence hexagonal climbing robot in detail to the treating method of these two difficulties.
As shown in figure 10 when running into downward hole, hole, T-shaped road junction, central control module 5 will be controlled four-wheel stepper motor driver module 9, stepper motor 11 shuts down, hairbrush control module 1, cleaning bar control globular motor 2, ultraviolet-sterilization module 3, expansion link 4 is returned to reset condition, and electromagnetic valve device A part 16 and electromagnetic valve device B part 17 operate so that auxiliary support bar 15 stretches out, block at second half of robot health, other end support bar draw-in groove flabellum 18 blocks the other end of support bar, form stable supporting construction, drive crawling machinery pin control module 10 and crawling machinery pin 13, machinery foot control globular motor 14 processed, the machinery pin stretches out to the duct wall of both sides, and be fixed on above the duct wall, after six pin fix, be positioned at two mechanical pin A of forefront, B will stretch out forward certain angle under the control of globular motor, then fixing again, subsequently, two mechanical pin C in the middle of being positioned at, D will stretch out same angle under the control of globular motor, then fixing, at last, two mechanical pin that are positioned at the back are finished as above four same action, after fixing, six globular motors operate jointly, realize travelling forward of robot.Be illustrated in figure 9 as the cleaning T-shaped road junction and cheat dust in the hole downwards, robot crawling to cheat the hole directly over the time, central control module 5 control cleaning bar control globular motors 2 and expansion link 4 make cleaning bar be rotated down 90 °, then lower fixing of six mechanical pin 13, by stretching of expansion link 4, to cleaning in downward hole, hole, after cleaning is finished, cleaning rod returns to original state, and robot continues to creep forward by mechanical pin 13.
When running into 90 ° of turnings of flex point, be the robot cleaning to the situation of the end of this layer pipeline, need to be with the direction of advance half-twist, advance downwards, climb to lower one deck, the running that stop equally cleaning module and wheel this moment, climb by six mechanical pin 13, make it finish 90 ° turning by central control module 5 control crawling machinery pin control modules 10 simultaneously, that dolly can be creeped downwards, when creeping downwards, central control module 5 control hairbrush control modules 1, cleaning bar control globular motor 2, ultraviolet-sterilization module 3, expansion link 4 makes it proceed identical in cleaning form and the flat tube, 90 ° of angles have just been rotated, the flex point of one deck pipeline under next T-shaped road junction is only advanced by robot, adopt identical method, realize the direction of advance of robot half-twist, when this moment, robot was with respect to last layer, upper surface and lower surface exchange, and because dividing up and down not during Robot Design, on outward appearance, this robot is laterally zygomorphic, also be symmetrical simultaneously, this is not just so that about robot exists all around, that is to say that any one face can also be lower on can being, after before can being being, this is just so that there is very strong adaptability in robot, eliminated the demand of in pipeline, carrying out exceedingly difficult movements, so that this robot architecture's simple motion is flexible.After robot arrives new one deck, proceed cleaning according to the cleaning way of last layer and get final product!
Globular motor is controlled mechanical pin can finish much flexibly action, aforesaid is the action that realization seesaws, globular motor can the implementation space in the rotation of three orthogonal vectors, wherein the both direction rotation is 300 °, 360 ° of direction rotations, this robot is provided with six pin when design, mainly be to consider that such design can make its motion more flexible, and can carry more load, hoisting machine people's performance.Flexible collocation by six pin can realize robot unsettled advance, the function such as big angle rotary, any direction advance.
The auxiliary support structure purpose of robot is auxiliary cleaning bar control globular motor 2 bearings as shown in Figure 5, the common robot integral frame that supports, when robot travels work in straight pipeline, auxiliary support bar 15 is forms of regaining, make things convenient for robot to travel and cleaning bar control globular motor 2 control expansion links 4 carry out cleaning, 27 both sides, robot chassis are connected by bearing simultaneously, can carry out the adjustment of robot ambulation attitude according to different surface states, when action will be creeped by robot, auxiliary support bar is under the control of electromagnetic valve device A part 16 and electromagnetic valve device B part 17, make according to the magnetic of permanent magnetism iron core 26 and to stretch out action, chuck control module 28 control support bar draw-in groove flabellums 18 rotate to the solid hole 19 of flabellum and block the auxiliary support bar 15 that has stretched out simultaneously, realize chassis supplemental support and fixing action, after robot has finished the action of creeping, the permanent magnetism iron core 26 of control auxiliary support bar 15 inside is made and is regained action under the control of electromagnetic valve device A part 16 and electromagnetic valve device B part 17, and meanwhile chuck control module 28 control support bar draw-in groove flabellums 18 rotate to the hollow hole 20 of flabellum and regain auxiliary support bar 15.
Simultaneously, the camera that is equipped with of robot and cleaning bar are fixed on the globular motor and are 180 ° of angles as shown in Figure 4, this is not just so that cleaning bar can shelter from the sight line of camera, and the design class of cleaning bar is similar to the tail of robot, in cleaning, the dust that produces also can not shelter from the sight line of camera like this.In robot cleaning duct wall, can transmit image data to the user, the user can the real-time monitoring images situation, if the user has some special instructions, can finish cleaning by remote-controlled robot.
After robot finishes the cleaning of last one deck, descending the air port to be recovered most, simultaneously robot cleans the dirts such as dust that get off and also will reclaim in the collection bag in lower air port and finish, and robot has also just finished the cleaning of central air-conditioning.
Most of central air-conditioning pipe that the present invention can be applied to use now carries out dedusting and disinfection, and is simple to operate, strong adaptability.
The below describes the present invention in detail according to embodiment, and it is more obvious that purpose of the present invention and effect will become.
Embodiment
In the present embodiment, each functions of modules of robot and type selecting are with reference to being described below:
Ultraviolet-sterilization module 3 control ultraviolet sterilization devices carry out sterilization operation, can adopt Philips company's T UV6W model ultraviolet germicidal, but be not limited to this.
The powered operation of power supply module 6 control integral body can adopt Allnte company 2596 DC-DC model energy supply control modules, but be not limited to this.
Monitoring camera-shooting module 7 collection machine People's Bank of China advance the view data in the process and simply process, and can adopt the s508cr of KaiCong company model monitor camera device, but be not limited to this.
Wireless communication transmission module 8 is carried out real-time Transmission to remote monitoring PC 29 with view data and the central control module that robot collects to the control situation of modules and the working condition of modules, can adopt the DRF2619A model radio communication device of Zigbee, but be not limited to this.
The stepper motor 11 of four-wheel stepper motor driver module 9 controls and the work of wheel 12 can be adopted the L298N of ST company model motor drive ic, but be not limited to this.
The moving situation of the mechanical pin 13 of crawling machinery pin control module 10 controls can adopt the A3988SJP-T of ST company model globular motor to drive chip, but be not limited to this.
The moving situation of electromagnetic valve device A part 16 and electromagnetic valve device B part 17 control auxiliary support bars 15 can adopt the 4V210-08 of Bosun company model monitor camera device, but be not limited to this.
The rotation auxiliary selenoid valve gear of chuck control module 28 control support bar draw-in groove flabellums 18 is realized the control of auxiliary support bar 15 jointly, can adopt the L298N of ST company model motor drive ic, but be not limited to this.
Can be according to the environmental data that collects by the four-wheel six pin formula intelligent robots that are applied to the central air-conditioning pipe cleaning that above-mentioned concrete module forms, carry out the automatic cleaning of pipeline, and by six pin crawling devices, realize the function that robot creeps up and down and crosses over the hole, hole, realize the comprehensive cleansing power to central air-conditioning pipe.
Claims (2)
1. one kind is applied to the intelligence six pin climbing robots that central air-conditioning pipe cleans, it is characterized in that it comprises hairbrush control module (1), cleaning bar control globular motor (2), ultraviolet-sterilization module (3), expansion link (4), central control module (5), power supply module (6), monitoring camera-shooting module (7), wireless communication transmission module (8), motor drive module (9), crawling machinery pin control module (10), stepper motor (11), wheel (12), crawling machinery pin (13), machinery foot control globular motor processed (14), auxiliary support bar (15), electromagnetic valve device, support bar draw-in groove flabellum (18), the solid hole of flabellum (19), the hollow hole of flabellum (20), flabellum connecting hole (21), sleeve (22), intelligent robot (23), permanent magnetism iron core (26), robot chassis (27), chuck control module (28) and remote monitoring PC (29) etc.; Electromagnetic valve device is comprised of electromagnetic valve device A part (16) and electromagnetic valve device B part (17); Central control module (5), power supply module (6), wireless communication transmission module (8), motor drive module (9), crawling machinery pin control module (10), stepper motor (11) and mechanical foot control globular motor processed (14) all are fixed on the robot chassis (27), crawling machinery pin (13) links to each other with mechanical foot control globular motor processed (14), wheel (12) is connected on the stepper motor (11), and stepper motor (11) is connected on the robot chassis (27); Described auxiliary support bar (15), electromagnetic valve device A part (16), electromagnetic valve device B part (17), support bar draw-in groove flabellum (18), chuck control module (28) is inside, embedding machine people chassis (27) all, wherein, described electromagnetic valve device A part (16), electromagnetic valve device B part (17) is respectively at the right and lefts of robot chassis (27), auxiliary support bar (15) passes inside, robot chassis (27), two ends distribution connected electromagnetic valve device A part (16), the end that electromagnetic valve device B part (17), support bar draw-in groove flabellum (18) are positioned at electromagnetic valve device A part (16) is connected with chuck control module (28); The center of support bar draw-in groove flabellum (18) has flabellum connecting hole (21), two solid holes of flabellum (19) and two hollow holes of flabellum (20) evenly distribute on the circumference, support bar draw-in groove flabellum (18) is fixed on inside, robot chassis (27) by flabellum connecting hole (21), and central control module (5) is by chuck control module (28) control support bar draw-in groove flabellum (18) rotation.
2. according to the above-mentioned intelligence six pin climbing robots that are applied to the central air-conditioning pipe cleaning, it is characterized in that, described auxiliary support bar (15) skin is sleeve (22), inside is a permanent magnetism iron core (26), permanent magnetism iron core (26) two ends are respectively permanent magnet S level (24) and permanent magnet N level (25), support bar (15) places in the electromagnetic valve device, and motion in electromagnetic valve device A part (16) and electromagnetic valve device B part (17) realizes automatically controlled flexible function.
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| CN201210475446.0A CN102941204B (en) | 2012-11-20 | 2012-11-20 | Intelligent six feet crawling robot applied to clean central air conditioning pipelines |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103240246A (en) * | 2013-05-15 | 2013-08-14 | 上海市时代中学 | Robot for cleaning central air conditioner |
| CN103418587A (en) * | 2013-09-05 | 2013-12-04 | 昆山市三星机械制造有限公司 | Device for cleaning central air-conditioner air hose |
| CN103639162A (en) * | 2013-11-19 | 2014-03-19 | 无锡新人居科贸有限公司 | Central air conditioner washing robot |
| CN104265221A (en) * | 2014-09-17 | 2015-01-07 | 哈尔滨工业大学 | Milling cutter type horizontal well traction robot obstacle clearing mechanism |
| CN104339250A (en) * | 2013-07-26 | 2015-02-11 | 青岛大仓管道防腐保温器材有限公司 | Dotted anchor pattern derusting and dedusting cart for steel pipelines |
| CN107442528A (en) * | 2017-08-06 | 2017-12-08 | 杭州立阳环保科技有限公司 | A kind of pipeline cleaning and its control method with inwall overview function |
| CN107497794A (en) * | 2017-08-06 | 2017-12-22 | 杭州立阳环保科技有限公司 | A kind of high pressure gas with complete monitoring function rushes pipeline cleaning and its control method |
| CN107597745A (en) * | 2017-08-06 | 2018-01-19 | 杭州立阳环保科技有限公司 | A kind of screw high-pressure gas with inwall overview function rushes pipeline cleaning and its control method |
| CN108388180A (en) * | 2018-03-16 | 2018-08-10 | 中国安全生产科学研究院 | A kind of control system of pipe detection sweeping robot |
| CN109928454A (en) * | 2019-03-14 | 2019-06-25 | 西安建筑科技大学 | A kind of equipment inactivated for biomembrane in pipeline |
| CN111551126A (en) * | 2020-04-20 | 2020-08-18 | 清华大学 | Irregular pipeline inner wall mobile measurement robot and three-dimensional reconstruction method and system |
| GB2597784A (en) * | 2020-08-06 | 2022-02-09 | Innovolo Ltd | Robotic apparatus |
| CN114630719A (en) * | 2019-10-17 | 2022-06-14 | 德兰博特公司 | Automatic self-cleaning drainage system for tunnel system |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103240246A (en) * | 2013-05-15 | 2013-08-14 | 上海市时代中学 | Robot for cleaning central air conditioner |
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| CN104339250A (en) * | 2013-07-26 | 2015-02-11 | 青岛大仓管道防腐保温器材有限公司 | Dotted anchor pattern derusting and dedusting cart for steel pipelines |
| CN104339250B (en) * | 2013-07-26 | 2016-08-24 | 青岛大仓管道防腐保温器材有限公司 | A kind of steel conduit point-like anchor line rust cleaning dedusting dolly |
| CN103418587A (en) * | 2013-09-05 | 2013-12-04 | 昆山市三星机械制造有限公司 | Device for cleaning central air-conditioner air hose |
| CN103639162A (en) * | 2013-11-19 | 2014-03-19 | 无锡新人居科贸有限公司 | Central air conditioner washing robot |
| CN104265221A (en) * | 2014-09-17 | 2015-01-07 | 哈尔滨工业大学 | Milling cutter type horizontal well traction robot obstacle clearing mechanism |
| CN107497794A (en) * | 2017-08-06 | 2017-12-22 | 杭州立阳环保科技有限公司 | A kind of high pressure gas with complete monitoring function rushes pipeline cleaning and its control method |
| CN107442528A (en) * | 2017-08-06 | 2017-12-08 | 杭州立阳环保科技有限公司 | A kind of pipeline cleaning and its control method with inwall overview function |
| CN107597745A (en) * | 2017-08-06 | 2018-01-19 | 杭州立阳环保科技有限公司 | A kind of screw high-pressure gas with inwall overview function rushes pipeline cleaning and its control method |
| CN108388180A (en) * | 2018-03-16 | 2018-08-10 | 中国安全生产科学研究院 | A kind of control system of pipe detection sweeping robot |
| CN108388180B (en) * | 2018-03-16 | 2019-08-20 | 中国安全生产科学研究院 | A kind of control system of pipe detection sweeping robot |
| CN109928454A (en) * | 2019-03-14 | 2019-06-25 | 西安建筑科技大学 | A kind of equipment inactivated for biomembrane in pipeline |
| CN109928454B (en) * | 2019-03-14 | 2021-10-15 | 西安建筑科技大学 | Device for inactivating biological membrane in pipeline |
| CN114630719A (en) * | 2019-10-17 | 2022-06-14 | 德兰博特公司 | Automatic self-cleaning drainage system for tunnel system |
| CN111551126A (en) * | 2020-04-20 | 2020-08-18 | 清华大学 | Irregular pipeline inner wall mobile measurement robot and three-dimensional reconstruction method and system |
| GB2597784A (en) * | 2020-08-06 | 2022-02-09 | Innovolo Ltd | Robotic apparatus |
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