CN104787144A - Magnetic-adsorption multifunctional flaw detection robot - Google Patents
Magnetic-adsorption multifunctional flaw detection robot Download PDFInfo
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- CN104787144A CN104787144A CN201510189324.9A CN201510189324A CN104787144A CN 104787144 A CN104787144 A CN 104787144A CN 201510189324 A CN201510189324 A CN 201510189324A CN 104787144 A CN104787144 A CN 104787144A
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- wheel
- housing
- magnetic
- flaw detection
- detection robot
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- 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
Abstract
The invention discloses a magnetic-adsorption multifunctional flaw detection robot and belongs to the technical field of robot manufacturing. The magnetic-adsorption multifunctional flaw detection robot is mainly used for flaw detection of large ships and tanks, data collection of a dangerous point and the like and is efficient, simple, flexible and high in carrying capacity. The magnetic-adsorption multifunctional flaw detection robot comprises a shell and a remote control handle arranged outside the shell, wherein a floating mechanism, a transmission mechanism, a controller, a motor and at least two magnetic wheels are arranged in the shell; the floating mechanism, the transmission mechanism, the controller and the motor are fixed in the shell; the power output end of the motor is fixedly connected with a wheel shaft of the magnetic wheels through the transmission mechanism; the control end of the motor is connected with the controller; a wireless emitter is arranged in the remote control handle; a wireless receiver is arranged in the shell, corresponds to the wireless emitter and is connected with the controller; a camera is arranged on the shell and connected with an external display screen through an image transmission module.
Description
Technical field
The invention belongs to robot building technical field, be specifically related to the multi-functional flaw detection robot of a kind of magnetic suck, be mainly used in the flaw detection of large ship, tank body, the data acquisition etc. of dangerous point.
Background technology
Oil tank and boats and ships are common Large Steel iron surfaces, due to the effect of pressure and the erosion of rainwater and oil product, wall may produce the defects such as pit, crackle, inner void, and these defects are easy to the generation causing Peril Incident, therefore must regularly detect.At present, to the detection 97% of large tank and marine surface by manually realizing, need scaffold erecting, efficiency is very low and dangerous.Under special environment, as the leakage of noxious gas, the nuclear leakage of nuclear station etc., robot replaces the mankind to go some tasks to seem particularly important.
But the magnetic suck machine National People's Congress domestic is at present many in conceptual phase, practicality is poor or cannot apply at all.The magnetic suck machine National People's Congress now generally can be divided into crawler type and wheeled two kinds; Crawler type: if notification number is the Chinese patent " climbing robot " of CN201633804U, it has, and complex structure, inefficiency, traveling are dumb, maintenance difficult and the high shortcoming of cost, poor practicability; Wheeled: if publication number is the Chinese patent " climbing robot " of CN101947776A, due to its permanent magnet with had distance by absorption surface, therefore adsorption power is not strong, be difficult to safely in work general work, say nothing of the equipment carrying other, therefore can not use in real environment well.This just causes the relatively blank of home market, and practical, the cheap specialized robot of domestic urgent need replaces workman to complete high-altitude detecting operation, fills up that this is blank.
Summary of the invention
For prior art Problems existing, the invention provides a kind of efficient, simple, flexibly, the multi-functional flaw detection robot of magnetic suck that lift-launch ability is strong.
To achieve these goals, the present invention adopts following technical scheme, the multi-functional flaw detection robot of a kind of magnetic suck, comprises housing and is arranged on the remote control handle outside housing, be provided with relocation mechanism, transmission device, controller, motor and at least two magnetic wheels in described housing; Described relocation mechanism, transmission device, controller and motor are fixed in housing, and the clutch end of motor is fixedly connected with through the wheel shaft of transmission device with magnetic wheel, and the control end of motor is connected with controller; In described remote control handle, be provided with wireless launcher, in housing, be provided with wireless receiver, described wireless launcher is corresponding with wireless receiver, and wireless receiver is connected with controller; Housing is provided with camera, and camera is connected with outside read-out through image transmission module.
Described housing adopts carbon fiber sheet to make.
Described relocation mechanism comprises wheel fixed mount, and omni-directional wheel is arranged on wheel fixed mount by horizontally disposed optical axis B, and can rotate on wheel fixed mount; Be respectively arranged with slide block fixed mount in the both sides of wheel fixed mount, slide block is arranged on slide block fixed mount by the optical axis A vertically arranged, and can slide on optical axis A; The slide block of both sides is fixedly connected with the both sides of wheel fixed mount respectively, optical axis A between slide block top and slide block fixed mount is outside equipped with spring, described slide block fixed mount is fixed in housing, the bottom of housing is provided with the groove corresponding with the bottom of described omni-directional wheel, and the bottom of omni-directional wheel can be arranged on outside housing through groove.
Described relocation mechanism is set to two covers, and two cover relocation mechanisms are separately positioned on front side and the rear side of housing.
Described transmission device comprises the first finishing bevel gear cuter and the second finishing bevel gear cuter, first finishing bevel gear cuter is fixedly connected with the clutch end of motor, first finishing bevel gear cuter is meshed with the second finishing bevel gear cuter, second finishing bevel gear cuter is fixedly connected with the wheel shaft of magnetic wheel, and the wheel shaft of described magnetic wheel is arranged in housing by bearing flange.
Described magnet pulley attached bag draws together the annular permanent magnet magnetized by thickness direction, two outer back-up rings of ring magneto conducting piece, aluminum alloy inner ring and nylon, and two ring magneto conducting piece are separately positioned on N pole and the S pole of annular permanent magnet; The outer back-up ring of described nylon is arranged between two ring magneto conducting piece, the outside of annular permanent magnet, and aluminum alloy inner ring is arranged between two ring magneto conducting piece, the inner side of annular permanent magnet, and the center of described magnetic wheel is provided with wheel shaft.
The multi-functional flaw detection robot of described magnetic suck also comprises marking mechanism, described marking mechanism is arranged in housing, and it comprises steering wheel, steering wheel and marking pen, and described steering wheel is fixed in housing, the clutch end of steering wheel is fixedly connected with steering wheel, and steering wheel and marking pen flexibly connect.
Described steering wheel and marking pen are flexibly connected by emulsion tube.
Beneficial effect of the present invention:
Compared with wheeled magnetic suck robot in the past, the present invention has the following advantages:
1. the present invention wheel make band magnetic, make directly to be contacted with absorbent bodies by absorption surface, adsorption power maximized, remain again wheeled alerting ability;
2. the present invention is integrated with the function that robot climbs wall, wireless remote control, wireless image transmission and marked.
Present invention improves absorption property and the performance of running stability of magnetic suck robot, improve service efficiency and the work efficiency of the energy, and simple structure greatly reduces the manufacturing cost of robot, makes this kind of robot have wide prospect of the application and good generalization.
Accompanying drawing explanation
Fig. 1 is the structural representation after the fine top board of one embodiment of the present of invention removing housing carbon;
Fig. 2 is the block diagram of relocation mechanism of the present invention;
Fig. 3 is the front view of Fig. 2;
Fig. 4 is the structural representation of transmission device of the present invention;
Fig. 5 is the structural representation of magnetic wheel of the present invention;
Fig. 6 is the structural representation of marking mechanism of the present invention;
Fig. 7 is the diagram of circuit of traveling control process of the present invention;
Fig. 8 is the diagram of circuit of image transmitting process of the present invention;
In figure: 1-first motor flange, 2-second motor flange, 3-motor, the fine plate of carbon before in 4-, 5-camera, 6-front-wheel floating mechanism, the fine plate of carbon before 7-is outer, the outer carbon of 8-fine plate attaching parts A, the fine plate of the outer left front carbon of 9-, the fine plate attaching parts of carbon before in 10-, the outer carbon of 11-fine plate attaching parts B, 12-aluminum alloy square frame, the fine plate of the outer left carbon of 13-, the fine plate of left carbon in 14-, the fine plate of the outer right front carbon of 15-, the outer carbon of 16-fine plate attaching parts C, the fine plate of the outer left back carbon of 17-, the fine plate attaching parts of carbon after in 18-, the outer carbon of 19-fine plate attaching parts D, the fine plate of carbon after 20-is outer, the fine plate of carbon after in 21-, 22-trailing wheel relocation mechanism, the fine base plate of 23-carbon, the outer back-up ring of 24-nylon, 25-aluminum alloy inner ring, 26-annular permanent magnet, the fine plate of right carbon in 27-, 28-ring magneto conducting piece, 29-wheel fixed mount, 30-omni-directional wheel, 31-slide block fixed mount, 32-screw, 33-slide block, 34-spring, 35-optical axis A, 36-the-finishing bevel gear cuter, 37-second finishing bevel gear cuter, 38-magnetic wheel, 39-the-bearing flange, 40-second bearing flange, 41-wheel shaft, 42-steering wheel, 43-marking pen, 44-steering wheel, 45-marking mechanism, 46-optical axis B, the fine plate of the outer right carbon of 47-, the fine plate of the outer right back carbon of 48-, the right transmission device of 49-, 50-housing, 51-Left Drive mechanism, 52-jackscrew.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
As shown in Fig. 1 ~ Fig. 5, the multi-functional flaw detection robot of a kind of magnetic suck, the remote control handle comprising housing 50 and be arranged on outside housing 50, described housing 50 adopts carbon fiber sheet to make; In housing 50, be provided with relocation mechanism, transmission device, controller, motor 3 and at least two magnetic wheels 38, the present embodiment adopts two magnetic wheels 38; Described relocation mechanism, transmission device, controller and motor 3 is fixed in housing 50, and the clutch end of motor 3 is fixedly connected with the wheel shaft 41 of magnetic wheel 38 through transmission device, and the control end of motor 3 is connected with controller; In described remote control handle, be provided with wireless launcher, in housing 50, be provided with wireless receiver, described wireless launcher is corresponding with wireless receiver, and wireless receiver is connected with controller; Housing 50 is provided with camera 5, camera 5 turns AV module through HDMI and is connected with the transmitting terminal of image transmission module, the receiving end of image transmission module is arranged on ground, and it is corresponding with the transmitting terminal of image transmission module, and is connected with the AV read-out of outside.
Described housing 50 comprises the fine plate of outer carbon, the fine plate of interior carbon, the fine base plate 23 of carbon and the fine top board of carbon, and the fine plate of described outer carbon is made up of the fine plate 7 of outer front carbon, the fine plate 20 of outer rear carbon, the fine plate 9 of outer left front carbon, the fine plate 13 of outer left carbon, the fine plate 17 of outer left back carbon, the fine plate 15 of outer right front carbon, the fine plate 47 of outer right carbon and the fine plate 48 of outer right back carbon; Before outer, the fine plate 7 of carbon is connected by outer carbon fine plate attaching parts A8 with the fine plate 9 of outer left front carbon and the fine plate 15 of outer right front carbon, the fine plate 13 of outer left carbon is connected by outer carbon fine plate attaching parts B11 with the fine plate 15 of outer right front carbon with the fine plate 9 of outer left front carbon, the fine plate 47 of outer right carbon, the fine plate 13 of outer left carbon is connected by outer carbon fine plate attaching parts C16 with the fine plate 48 of outer right back carbon with the fine plate 17 of outer left back carbon, the fine plate 47 of outer right carbon, and the fine plate 17 of outer left back carbon is connected by outer carbon fine plate attaching parts D19 with the fine plate 20 of outer rear carbon with the fine plate 48 of outer right back carbon.The fine plate of described interior carbon is made up of the fine plate 4 of interior front carbon, the fine plate 14 of interior left carbon, the fine plate 27 of interior right carbon and the fine plate 21 of interior rear carbon, before interior, the fine plate 4 of carbon is connected by interior front carbon fibre plate attaching parts 10 with the fine plate 14 of interior left carbon and the fine plate 27 of interior right carbon, and the fine plate 21 of interior rear carbon is connected by the fine plate attaching parts 18 of interior rear carbon with the fine plate 14 of interior left carbon and the fine plate 27 of interior right carbon.Outside between the fine plate of carbon and the fine plate of interior carbon, the aluminum alloy square frame 12 with tapped bore is also set, is connected by countersunk head socket head cap screw between each part.After installing the fine base plate 23 of carbon and the fine top board of carbon again, described housing 50 defines the inside of a relatively airtight space as robot.
In the present embodiment, described relocation mechanism is set to two covers, is respectively front-wheel floating mechanism 6 and trailing wheel relocation mechanism 22, and front-wheel floating mechanism 6 and trailing wheel relocation mechanism 22 are separately positioned on front side and the rear side of housing 50; Front-wheel floating mechanism 6 is identical with trailing wheel relocation mechanism 22 structure, includes wheel fixed mount 29, and omni-directional wheel 30 is arranged on wheel fixed mount 29 by horizontally disposed optical axis B46, and can rotate on wheel fixed mount 29; Be respectively arranged with slide block fixed mount 31 in the both sides of wheel fixed mount 29, slide block 33 is arranged on slide block fixed mount 31 by the optical axis A35 vertically arranged, and can slide on optical axis A35, and described slide block 33 adopts aluminum alloy slide block; The slide block 33 of both sides is fixedly connected with by screw 32 with the both sides of wheel fixed mount 29 respectively, optical axis A35 between slide block 33 top and slide block fixed mount 31 is outside equipped with spring 34, described slide block fixed mount 31 is fixed in housing 50, the fine base plate 23 of the carbon of housing 50 is provided with the groove corresponding with the bottom of described omni-directional wheel 30, and the bottom of omni-directional wheel 30 can be arranged on outside housing 50 through groove.
In the present embodiment, described transmission device is set to two covers, be respectively Left Drive mechanism 51 and right transmission device 49, Left Drive mechanism 51 is identical with right transmission device 49 structure, include the first finishing bevel gear cuter 36 and the second finishing bevel gear cuter 37, first finishing bevel gear cuter 36 is fixedly connected with by the clutch end of jackscrew 52 with motor 3, and the first finishing bevel gear cuter 36 is meshed with the second finishing bevel gear cuter 37; Second finishing bevel gear cuter 37 is connected on the wheel shaft 41 of magnetic wheel 38 by jackscrew 52 and carries out axial location, the wheel shaft 41 being connected to magnetic wheel 38 carries out circumference location by key; The wheel shaft 41 of described magnetic wheel 38 is arranged in housing 50 by clutch shaft bearing flange 39 and the second bearing flange 40, and clutch shaft bearing flange 39 is fixedly connected with by the fine base plate 23 of screw and carbon with the second bearing flange 40.
Described magnetic wheel 38 comprises N pole and the S pole that outer back-up ring 24, two ring magneto conducting piece 28 of ring magneto conducting piece 28, aluminum alloy inner ring 25 and nylon that annular permanent magnet 26, two No. 45 steel of being magnetized by thickness direction make are separately positioned on annular permanent magnet 26; The outer back-up ring 24 of described nylon is arranged between two ring magneto conducting piece 28, the outside of annular permanent magnet 26, and aluminum alloy inner ring 25 is arranged between two ring magneto conducting piece 28, the inner side of annular permanent magnet 26; The center of described magnetic wheel 38 is provided with wheel shaft 41, and wheel shaft 41 is connected by key with magnetic wheel 38; Two ring magneto conducting piece 28 contact with by adsorption plane.
The multi-functional flaw detection robot of described magnetic suck also comprises marking mechanism 45, described marking mechanism 45 is arranged in housing 50, it comprises steering wheel 42, steering wheel 44 and marking pen 43, the power of marking mechanism 45 is provided by steering wheel 42, described steering wheel 42 is fixed by screws on the fine plate 27 of interior right carbon of housing 50, the clutch end of steering wheel 42 is fixedly connected with by screw with steering wheel 44, and steering wheel 44 and marking pen 43 are flexibly connected by emulsion tube, and steering wheel 42 is connected with controller.
Traveling control process of the present invention, as shown in Figure 6, remote control handle of the present invention adopts the world to fly 6, controllers makes wireless launcher launch ppm ripple by the rocking bar stirring remote control handle, ppm signal receiving is six road pwm signals by the wireless receiver in housing 50, interruption is entered again by the capturing function (catching the saltus step of pwm signal low and high level) of PWM module and TIMER module, the signal that controller process receives, and the speed of corresponding magnetic wheel 38 is changed according to the signal received, complete the control out of shape to robot.
Image transmitting process of the present invention, as shown in Figure 7, the present embodiment adopts 5.8G image transmission module, and this image transmission module is divided into transmitting terminal and receiving end, needs 12V to power respectively.Camera 5 connects the HDMI port that HDMI turns AV module, and HDMI turns the transmitting terminal of the AV port connection image transmission module of AV module, and the receiving end of image transmission module is arranged on ground, and it is connected with outside AV read-out, and AV read-out is for showing image.
The main control chip of controller of the present invention is LPC1768, the present invention's core controller of this chip as circuit, the external VP230 bus transceiver of this chip and MAX3232, VP230 is used for CAN communication, MAX3232 is used for the Transistor-Transistor Logic level signal of LPC1768 to be converted into 232 level signals, LPC1768 can be communicated, convenient debugging with PC.
Power pack employing rated voltage of the present invention is the LI-PO battery of 22.2V, in addition circuit also has several lowering and stabilizing blood pressure module, for giving each module for power supply of circuit, comprises MP2482DN, AMS1117-3.3, LM2576-ADJ and LM2576-5.0; Wherein, MP2482DN and AMS1117-3.3 is used for 22.2V and 5V photovoltaic conversion being that 3.3V, LM2576-ADJ are used for 22.2V photovoltaic conversion being that 12V, LM2576-5.0 are used for 22.2V photovoltaic conversion being 5V voltage.
On supplying cell, the present invention is having supervisory circuit above, this circuit has a microprocessor equally, STM32F103C8T6, there is electric power detection module and power detection module simultaneously, electric power detection is realized by the ADC pin of STM32F103C8T6, and power detection uses MAX4080, and whole supervisory circuit can realize the monitoring to battery.
The motor that the present invention uses has 12V steering wheel and 24V brush direct current motor, steering wheel is that main control chip LPC1768 is directly controlled by PWM ripple, brush direct current motor be main control chip by CAN communication control and drive system, thus control brush direct current motor by actuator.
Claims (8)
1. the multi-functional flaw detection robot of magnetic suck, is characterized in that the remote control handle comprising housing and be arranged on outside housing, is provided with relocation mechanism, transmission device, controller, motor and at least two magnetic wheels in described housing; Described relocation mechanism, transmission device, controller and motor are fixed in housing, and the clutch end of motor is fixedly connected with through the wheel shaft of transmission device with magnetic wheel, and the control end of motor is connected with controller; In described remote control handle, be provided with wireless launcher, in housing, be provided with wireless receiver, described wireless launcher is corresponding with wireless receiver, and wireless receiver is connected with controller; Housing is provided with camera, and camera is connected with outside read-out through image transmission module.
2. the multi-functional flaw detection robot of magnetic suck according to claim 1, is characterized in that described housing adopts carbon fiber sheet to make.
3. the multi-functional flaw detection robot of magnetic suck according to claim 1, is characterized in that described relocation mechanism comprises wheel fixed mount, and omni-directional wheel is arranged on wheel fixed mount by horizontally disposed optical axis B, and can rotate on wheel fixed mount; Be respectively arranged with slide block fixed mount in the both sides of wheel fixed mount, slide block is arranged on slide block fixed mount by the optical axis A vertically arranged, and can slide on optical axis A; The slide block of both sides is fixedly connected with the both sides of wheel fixed mount respectively, optical axis A between slide block top and slide block fixed mount is outside equipped with spring, described slide block fixed mount is fixed in housing, the bottom of housing is provided with the groove corresponding with the bottom of described omni-directional wheel, and the bottom of omni-directional wheel can be arranged on outside housing through groove.
4. the multi-functional flaw detection robot of the magnetic suck according to claim 1 or 3, is characterized in that described relocation mechanism is set to two covers, and two cover relocation mechanisms are separately positioned on front side and the rear side of housing.
5. the multi-functional flaw detection robot of magnetic suck according to claim 1, it is characterized in that described transmission device comprises the first finishing bevel gear cuter and the second finishing bevel gear cuter, first finishing bevel gear cuter is fixedly connected with the clutch end of motor, first finishing bevel gear cuter is meshed with the second finishing bevel gear cuter, second finishing bevel gear cuter is fixedly connected with the wheel shaft of magnetic wheel, and the wheel shaft of described magnetic wheel is arranged in housing by bearing flange.
6. the multi-functional flaw detection robot of magnetic suck according to claim 1, it is characterized in that described magnet pulley attached bag draws together the annular permanent magnet magnetized by thickness direction, two outer back-up rings of ring magneto conducting piece, aluminum alloy inner ring and nylon, two ring magneto conducting piece are separately positioned on N pole and the S pole of annular permanent magnet; The outer back-up ring of described nylon is arranged between two ring magneto conducting piece, the outside of annular permanent magnet, and aluminum alloy inner ring is arranged between two ring magneto conducting piece, the inner side of annular permanent magnet, and the center of described magnetic wheel is provided with wheel shaft.
7. the multi-functional flaw detection robot of magnetic suck according to claim 1, it is characterized in that the multi-functional flaw detection robot of described magnetic suck also comprises marking mechanism, described marking mechanism is arranged in housing, it comprises steering wheel, steering wheel and marking pen, described steering wheel is fixed in housing, the clutch end of steering wheel is fixedly connected with steering wheel, and steering wheel and marking pen flexibly connect.
8. the multi-functional flaw detection robot of magnetic suck according to claim 7, is characterized in that described steering wheel and marking pen are flexibly connected by emulsion tube.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510189324.9A CN104787144B (en) | 2015-04-20 | 2015-04-20 | Magnetic-adsorption multifunctional flaw detection robot |
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|---|---|---|---|
| CN201510189324.9A CN104787144B (en) | 2015-04-20 | 2015-04-20 | Magnetic-adsorption multifunctional flaw detection robot |
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| CN104787144A true CN104787144A (en) | 2015-07-22 |
| CN104787144B CN104787144B (en) | 2017-01-25 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105114397A (en) * | 2015-09-06 | 2015-12-02 | 哈尔滨工业大学 | Fluid artificial muscle driving and controlling system |
| CN105857428A (en) * | 2016-03-31 | 2016-08-17 | 华北理工大学 | Movement mechanism and movement method of magnetic-drive wall climbing device |
| US10343276B2 (en) | 2017-07-12 | 2019-07-09 | Saudi Arabian Oil Company | Compact magnetic crawler vehicle with anti-rocking supports |
| CN110481655A (en) * | 2019-09-12 | 2019-11-22 | 无锡金诚工程技术服务有限公司 | Crawler belt magnetic suck steel construction climbs row detection robot |
| WO2020063759A1 (en) * | 2018-09-30 | 2020-04-02 | 友联船厂（蛇口）有限公司 | Magnetic circuit structure for permanent magnet crawler of wall-climbing robot |
| CN111650122A (en) * | 2020-05-08 | 2020-09-11 | 邬时飞 | Hull shell plane color difference vision technology device |
| US11760127B2 (en) | 2020-12-03 | 2023-09-19 | Saudi Arabian Oil Company | Two-wheel compact inspection crawler with automatic probe normalization |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105114397A (en) * | 2015-09-06 | 2015-12-02 | 哈尔滨工业大学 | Fluid artificial muscle driving and controlling system |
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| US10343276B2 (en) | 2017-07-12 | 2019-07-09 | Saudi Arabian Oil Company | Compact magnetic crawler vehicle with anti-rocking supports |
| US11021197B2 (en) | 2017-07-12 | 2021-06-01 | Saudi Arabian Oil Company | Compact magnetic crawler vehicle with anti-rocking supports |
| US11021198B2 (en) | 2017-07-12 | 2021-06-01 | Saudi Arabian Oil Company | Compact magnetic crawler vehicle with anti-rocking supports |
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| CN111650122A (en) * | 2020-05-08 | 2020-09-11 | 邬时飞 | Hull shell plane color difference vision technology device |
| CN111650122B (en) * | 2020-05-08 | 2023-04-18 | 舟山市污水处理有限公司 | Hull shell plane color difference vision technology device |
| US11760127B2 (en) | 2020-12-03 | 2023-09-19 | Saudi Arabian Oil Company | Two-wheel compact inspection crawler with automatic probe normalization |
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