CN105157737A - Multi-dimensional measuring platform with movable rail and control method thereof - Google Patents
Multi-dimensional measuring platform with movable rail and control method thereof Download PDFInfo
- Publication number
- CN105157737A CN105157737A CN201510615921.3A CN201510615921A CN105157737A CN 105157737 A CN105157737 A CN 105157737A CN 201510615921 A CN201510615921 A CN 201510615921A CN 105157737 A CN105157737 A CN 105157737A
- Authority
- CN
- China
- Prior art keywords
- dimensional measurement
- vertical lifting
- tower arm
- automatic telescopic
- automatic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The invention discloses a multi-dimensional measuring platform with a movable rail and a control method thereof, and relates to the technical field of ground remote sensing instrument measuring platforms. The multi-dimensional measuring platform comprises a traveling rail (1), a multi-dimensional measuring platform tower, a vertical lifting mechanism (8), a measuring instrument mounting platform (9) and a power distribution and automatic control system (13), wherein the traveling rail (1) is paved on the ground; the multi-dimensional measuring platform tower comprises a lower tower base (2), a traveling mechanism (3), a rotating mechanism (4), an upper tower (5), an automatic telescopic tower arm (6) and a balancing weight (7); and the bottom of the lower tower base (2) moves on the traveling rail (1) through the traveling mechanism (3). The multi-dimensional measuring platform with the movable rail is high in measurement precision and high in control automation degree, and particularly can be used for measuring underlayer surfaces in remote sensing experiments of visible light, infrared and microwave in the remote sensing field.
Description
Technical field
The present invention relates to ground remote sensing apparatus measures platform technology field, be specifically related to orbit movable multi-dimensional measurement platform and control method thereof.
Background technology
Sensor is carried in observation instrument in measuring is referred to as measuring table.In current multi-dimensional measurement platform, the research of multi-angle observation platform is more.Such as at remote sensing fields, in order to study multiple-angle thinking theory, Univ Zurich Switzerland develops a kind of ground survey platform FIGOS for 1999, its advantage for stable, precision is high, dead weight capacity is large.Shortcoming be measuring height (radius) SHAPE constant, the shade of * MERGEFORMAT large, be inconvenient to move.
The patent No. is that the patent of invention of ZL200910243719.7 proposes a kind of mobile multi-angle observation platform and uses its observation procedure, comprising: for tricycle chassis that is mobile and that support; Height adjustable and inclination girder for supporting; Length-adjustable horizontal plane rotates large arm; Length-adjustable perpendicular wheel measuring arm; The reference plate bracket that extension elongation is adjustable, the bottom of tricycle chassis is provided with wheel, inclination girder is fixed on the top of this tricycle chassis, inclination girder realizes being rotationally connected with rotation large arm by the rolling bearing of upper end, the lower end rotating large arm adopts bearing and gage beam one end to realize being rotationally connected, and there is probe mounting platform one end of gage beam, is fixed with observation probe, reference plate bracket is used for fixed reference plate, is rotationally connected by turning axle with inclination girder.This mobile multi-angle observation platform has mobile chassis, can move, and all-dimensional multi-angle is observed same observation focus, and sensor is adjustable to the distance of observation focus.But this platform is mainly applied to the multi-angle observation of field spectroradiometer, and its observation radius is limited.
Summary of the invention
Object of the present invention is exactly to solve the problems of the technologies described above, and provides orbit movable multi-dimensional measurement platform and control method thereof.
The present invention includes walking track, multi-dimensional measurement platform pylon, vertical lifting mechanism, surveying instrument mounting platform and distribution and automatic control system, described walking track laying on the ground, described multi-dimensional measurement platform pylon comprises lower tower base, travel mechanism, rotating mechanism, top pylon, automatic telescopic tower arm and balancing weight, the bottom of described lower tower base is moved on walking track by travel mechanism, the bottom of described top pylon is arranged on the top of lower tower base by rotating mechanism, described automatic telescopic tower arm is arranged on the top of top pylon, described balancing weight is arranged on the afterbody of automatic telescopic tower arm, the propulsion system of described vertical lifting mechanism are fixedly mounted on the head of automatic telescopic tower arm, described surveying instrument mounting platform carry is at the lifting steel cable end of vertical lifting mechanism, described distribution and automatic control system are respectively travel mechanism, rotating mechanism, automatic telescopic tower arm and each actuator of vertical lifting mechanism are powered, and control performing an action of each actuator.
Described rotating mechanism is electrically connected with distribution and automatic control system by central rotation current-collector, and central rotation current-collector is arranged in rotating mechanism.
Described vertical lifting mechanism is made up of servomotor, turbine and worm speed reduction unit, rotating disk, fixed pulley assembly and wire rope, the support of described servomotor, turbine and worm speed reduction unit and fixed pulley assembly is fixedly mounted on the head position of automatic telescopic tower arm respectively, described turbine and worm speed reduction unit is connected with servo motor transmission, described rotating disk is connected with the pto of turbine and worm speed reduction unit, one end of wire rope is connected with rotating disk, and respectively around on the fixed pulley of rotating disk and fixed pulley assembly, described surveying instrument mounting platform carry is at the other end of wire rope.
It also has from unwinding and rewinding line apparatus and three cables, is describedly arranged on surveying instrument mounting platform from unwinding and rewinding line apparatus, and described three cables are electrically connected with distribution and automatic control system by central rotation current-collector, and around on unwinding and rewinding line apparatus.
Described distribution and automatic control system control performing an action of travel mechanism, rotating mechanism, automatic telescopic tower arm and each actuator of vertical lifting mechanism respectively by wireless transport module.
Described wireless transport module is 2.4GZigBee transport module.
Described distribution and automatic control system are arranged on tower mount.
The control method of described orbit movable multi-dimensional measurement platform comprises the following steps:
A. test demand is determined, planning experiments key position information, velocity information.
B. after system electrification, carry out System self-test, function self-inspection is carried out to scrambler and motor driving machine; If System self-test passes through, enter step C, if do not have self-inspection to pass through, report to the police, exit test;
C. discrete point of fixity is observed, need to determine the horizontal direction translation positional information x of travel mechanism, the rotation angle information y of rotating mechanism, the vertical direction height position information z of vertical lifting mechanism, the tower arm range information t of automatic telescopic tower arm; The corresponding location variable (xi, yi, zi, ti) of each fixed observer point, wherein i represents the label of fixed observer point;
D. the location variable of fixed observer point is inputted in the control program of distribution and automatic control system;
E. operating personnel click the position needing to move to, and the location variable that control program is corresponding according to this position, controls the action of travel mechanism, rotating mechanism, vertical lifting mechanism, each actuator of automatic telescopic tower arm automatically;
F., after action puts in place, control remote sensing instrument equipment and observe, complete the measurement of this point;
G. repeat step e and step F, realize motion control and the measurement of all fixed observers point.
The present invention has the following advantages: this orbit movable multi-dimensional measurement platform measuring accuracy is high, and auto-control degree is high, especially at remote sensing fields, may be used for comprising the measurement to underlying surface in the remote sensing experiment of visible, infrared, microwave.In addition, the remarkable advantage of rail mounted multi-dimensional measurement platform is exhibition brachium, can do the measurement of extensive area when not destroying earth's surface and coverture thereof.In addition, the power supply on traditional tower crane rotating mechanism top and all cables of signal are hung down into the pulpit of bottom by center pit, make tower arm can not do continuous 360 degree of rotations.When high tower does not work, pivot arm is not braked, and because of the reason of wind, multi-turn can rotate continuously, cable is twisted together, and produces hidden danger.Invention introduces central rotation current-collector to be electrically connected.Central rotation current-collector is big current 5 pole continuous rotation current-collector, can realize keeping good contact when No. 5 electrical equipment connect arbitrarily angled horizontally rotating.Thus make tower crane can realize any number of turns rotation of level.The control of each mechanism all adopts wireless mode, selects 2.4GZigBee transport module to realize.Be interconnected by unified wireless RS485 module in system, all frequency converters, measurement module, main control system are all communicated by this bus.The antijamming capability of ZigBee technology and communication automatic recovery ability, be enough to the safe and reliable of safeguards system control.Abandon the connection cable of large handle, the problem such as avoid the cable contact that occurs in tower crane observing and controlling bad.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
In figure: track of 1, walking; 2, tower mount; 3, travel mechanism; 4, rotating mechanism; 5, top pylon; 6, automatic telescopic tower arm; 7, balancing weight; 8, vertical lifting mechanism; 9, surveying instrument mounting platform; 10, from unwinding and rewinding line apparatus; 11, three cables; 13, distribution and automatic control system; 14, central rotation current-collector.
Embodiment
Below in conjunction with accompanying drawing, the present invention will be further described.
As shown in Figure 1, the present invention includes walking track 1, multi-dimensional measurement platform pylon, vertical lifting mechanism 8, surveying instrument mounting platform 9 and distribution and automatic control system 13, described walking track 1 is laid on the ground, described multi-dimensional measurement platform pylon comprises lower tower base 2, travel mechanism 3, rotating mechanism 4, top pylon 5, automatic telescopic tower arm 6 and balancing weight 7, the bottom of described lower tower base 2 is moved on walking track 1 by travel mechanism 3, the bottom of described top pylon 5 is arranged on the top of lower tower base 2 by rotating mechanism 4, described automatic telescopic tower arm 6 is arranged on the top of top pylon 5, described balancing weight 7 is arranged on the afterbody of automatic telescopic tower arm 6, the propulsion system of described vertical lifting mechanism 8 are fixedly mounted on the head of automatic telescopic tower arm 6, described surveying instrument mounting platform 9 carry is at the lifting steel cable end of vertical lifting mechanism 8, described distribution and automatic control system 13 are respectively travel mechanism 3, rotating mechanism 4, automatic telescopic tower arm 6 and each actuator of vertical lifting mechanism 8 are powered, and control performing an action of each actuator.
Described rotating mechanism 4 is electrically connected with distribution and automatic control system 13 by central rotation current-collector 14, and central rotation current-collector 14 is arranged in rotating mechanism 4.
Described vertical lifting mechanism 8 is made up of servomotor, turbine and worm speed reduction unit, rotating disk, fixed pulley assembly and wire rope, the support of described servomotor, turbine and worm speed reduction unit and fixed pulley assembly is fixedly mounted on the head position of automatic telescopic tower arm 6 respectively, described turbine and worm speed reduction unit is connected with servo motor transmission, described rotating disk is connected with the pto of turbine and worm speed reduction unit, one end of wire rope is connected with rotating disk, and respectively around on the fixed pulley of rotating disk and fixed pulley assembly, described surveying instrument mounting platform 9 carry is at the other end of wire rope; Described VTOL (vertical take off and landing) structure 8 adopts servomotor to drive 1 wire rope to realize the VTOL (vertical take off and landing) of surveying instrument mounting platform 9 in the mode of single action pulley by worm type of reduction gearing, and the structure that single action pulley structure compares single wire rope can strengthen the load capacity of vertical lifting mechanism 8 and improve the rigidity of system.
It also has from unwinding and rewinding line apparatus 10 and three cables 11, describedly be arranged on surveying instrument mounting platform 9 from unwinding and rewinding line apparatus 10, described three cables 11 are electrically connected with distribution and automatic control system 13 by central rotation current-collector 14, and around on unwinding and rewinding line apparatus 10.
Described distribution and automatic control system 13 control performing an action of travel mechanism 3, rotating mechanism 4, automatic telescopic tower arm 6 and each actuator of vertical lifting mechanism 8 respectively by wireless transport module.
Described wireless transport module is 2.4GZigBee transport module.
Described distribution and automatic control system 13 are arranged on tower mount 2.
The control method of described orbit movable multi-dimensional measurement platform comprises the following steps:
A. test demand is determined, planning experiments key position information, velocity information.
B. after system electrification, carry out System self-test, function self-inspection is carried out to scrambler and motor driving machine; If System self-test passes through, enter step C, if do not have self-inspection to pass through, report to the police, exit test;
C. discrete point of fixity is observed, need to determine the horizontal direction translation positional information x of travel mechanism 3, the rotation angle information y of rotating mechanism 4, the vertical direction height position information z of vertical lifting mechanism 8, the tower arm range information t of automatic telescopic tower arm 6; The corresponding location variable (xi, yi, zi, ti) of each fixed observer point, wherein i represents the label of fixed observer point;
D. the location variable of fixed observer point is inputted in the control program of distribution and automatic control system 13;
E. operating personnel click the position needing to move to, and the location variable that control program is corresponding according to this position controls the action of travel mechanism 3, rotating mechanism 4, vertical lifting mechanism 8, each actuator of automatic telescopic tower arm 6 automatically;
F., after action puts in place, control remote sensing instrument equipment and observe, complete the measurement of this point;
G. repeat step e and step F, realize motion control and the measurement of all fixed observers point.
Principle of work: multi-dimensional measurement platform pylon is by travel mechanism 3 walking on walking track 1, automatic telescopic tower arm 6 completes spinning movement by rotating mechanism 4, the flexible vertical range adjusting vertical lifting mechanism 8 and surveying instrument mounting platform 9 and top pylon 5 of automatic telescopic tower arm 6, distribution and automatic control system 13 send action command by 2.4GZigBee transport module respectively to travel mechanism 3, rotating mechanism 4, vertical lifting mechanism 8, each actuator of automatic telescopic tower arm 6
Control the three-dimensional position of the surveying instrument be arranged on surveying instrument mounting platform 9;
Introduce rotation electrical collector to be electrically connected.Central rotation current-collector 14 is big current 5 pole continuous rotation current-collector, can realize keeping good contact when No. 5 electrical equipment connect arbitrarily angled horizontally rotating.Thus make top pylon 5 can realize any number of turns rotation of level.5 poles connect 3 phase lines of 380v and 1 zero line and ground wire respectively.
Most remote sensors needs when working to use 220V alternating current.Platform vertical direction has been installed from unwinding and rewinding line apparatus 10, had three cables 11 in this device, wherein 2 provide 220V AC power to instrument and equipment, and other 1 is ground wire.Be fixed on the lowermost end of digitizing VTOL (vertical take off and landing) structure from unwinding and rewinding line apparatus 10 and be fixed together with instrument construction of platform.Mainly comprise cable reel spindle from unwinding and rewinding line apparatus, the drive motor be connected on cable reel spindle, motor driver.When vertical lifting mechanism 8 rises, motor driver drive motor rotates, and drives cable reel spindle to be taken in rotating shaft by cable.When vertical lifting mechanism 8 declines, surveying instrument mounting platform 9 overcomes the moment of motor, directly cable is pulled out spool.
The action command transmission of each actuator, all adopts wireless mode, selects 2.4GZigBee transport module to realize.Be interconnected by unified wireless RS485 module in distribution and automatic control system 13, all frequency converters, measurement module, main control system are all communicated by this bus.The antijamming capability of ZigBee technology and communication automatic recovery ability, be enough to the safe and reliable of safeguards system control.Abandon the connection cable of large handle, the problem such as avoid the cable contact that occurs in tower crane observing and controlling bad.
Above embodiment only for illustration of the present invention, and is not limitation of the present invention, and the those of ordinary skill of relevant technical field, without departing from the spirit and scope of the present invention, can also make a variety of changes and modification, therefore all equivalent.Technical scheme also belong to category of the present invention, scope of patent protection of the present invention should be defined by the claims.
Claims (8)
1. orbit movable multi-dimensional measurement platform, it is characterized in that it comprises walking track (1), multi-dimensional measurement platform pylon, vertical lifting mechanism (8), surveying instrument mounting platform (9) and distribution and automatic control system (13), described walking track 1 is laid on the ground, described multi-dimensional measurement platform pylon comprises lower tower base (2), travel mechanism (3), rotating mechanism (4), top pylon (5), automatic telescopic tower arm (6) and balancing weight (7), the bottom of described lower tower base (2) is upper mobile in walking track (1) by travel mechanism (3), the bottom on described top pylon (5) is arranged on the top of lower tower base (2) by rotating mechanism (4), described automatic telescopic tower arm (6) is arranged on the top of top pylon (5), described balancing weight (7) is arranged on the afterbody of automatic telescopic tower arm (6), the propulsion system of described vertical lifting mechanism (8) are fixedly mounted on the head of automatic telescopic tower arm (6), described surveying instrument mounting platform (9) carry is at the lifting steel cable end of vertical lifting mechanism (8), described distribution and automatic control system (13) are respectively travel mechanism (3), rotating mechanism (4), automatic telescopic tower arm (6) and vertical lifting mechanism (8) each actuator are powered, and control performing an action of each actuator.
2. orbit movable multi-dimensional measurement platform according to claim 1, it is characterized in that described rotating mechanism (4) is electrically connected with distribution and automatic control system (13) by central rotation current-collector (14), and central rotation current-collector (14) is arranged in rotating mechanism (4).
3. orbit movable multi-dimensional measurement platform according to claim 1, it is characterized in that described vertical lifting mechanism (8) is by servomotor, turbine and worm speed reduction unit, rotating disk, fixed pulley assembly and wire rope composition, described servomotor, the support of turbine and worm speed reduction unit and fixed pulley assembly is fixedly mounted on the head position of automatic telescopic tower arm (6) respectively, described turbine and worm speed reduction unit is connected with servo motor transmission, described rotating disk is connected with the pto of turbine and worm speed reduction unit, one end of wire rope is connected with rotating disk, and respectively around on the fixed pulley of rotating disk and fixed pulley assembly, described surveying instrument mounting platform (9) carry is at the other end of wire rope.
4. orbit movable multi-dimensional measurement platform according to claim 1, it is characterized in that it also has from unwinding and rewinding line apparatus (10) and three cables (11), describedly be arranged on surveying instrument mounting platform (9) from unwinding and rewinding line apparatus (10), described three cables (11) are electrically connected with distribution and automatic control system (13) by central rotation current-collector (14), and around on unwinding and rewinding line apparatus (10).
5. orbit movable multi-dimensional measurement platform according to claim 1, is characterized in that described distribution and automatic control system (13) control performing an action of travel mechanism (3), rotating mechanism (4), automatic telescopic tower arm (6) and vertical lifting mechanism (8) each actuator respectively by wireless transport module.
6. orbit movable multi-dimensional measurement platform according to claim 5, is characterized in that described wireless transport module is 2.4GZigBee transport module.
7. orbit movable multi-dimensional measurement platform according to claim 1, is characterized in that described distribution and automatic control system (13) are arranged on tower mount (2).
8. orbit movable multi-dimensional measurement platform according to claim 1, is characterized in that the control method of described orbit movable multi-dimensional measurement platform comprises the following steps:
A. test demand is determined, planning experiments key position information, velocity information;
B. after system electrification, carry out System self-test, function self-inspection is carried out to scrambler and motor driving machine; If System self-test passes through, enter step C, if do not have self-inspection to pass through, report to the police, exit test;
C. discrete point of fixity is observed, need to determine the horizontal direction translation positional information x of travel mechanism (3), the rotation angle information y of rotating mechanism (4), the vertical direction height position information z of vertical lifting mechanism (8), the tower arm range information t of automatic telescopic tower arm (6); The corresponding location variable (xi, yi, zi, ti) of each fixed observer point, wherein i represents the label of fixed observer point;
D. the location variable of fixed observer point is inputted in the control program of distribution and automatic control system (13);
E. operating personnel click the position needing to move to, and the location variable that control program is corresponding according to this position, controls the action of travel mechanism (3), rotating mechanism (4), vertical lifting mechanism (8), automatic telescopic tower arm (6) each actuator automatically;
F., after action puts in place, control remote sensing instrument equipment and observe, complete the measurement of this point;
G. repeat step e and step F, realize motion control and the measurement of all fixed observers point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510615921.3A CN105157737B (en) | 2015-09-24 | 2015-09-24 | Orbit movable multi-dimensional measurement platform and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510615921.3A CN105157737B (en) | 2015-09-24 | 2015-09-24 | Orbit movable multi-dimensional measurement platform and its control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105157737A true CN105157737A (en) | 2015-12-16 |
| CN105157737B CN105157737B (en) | 2018-03-20 |
Family
ID=54798676
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510615921.3A Expired - Fee Related CN105157737B (en) | 2015-09-24 | 2015-09-24 | Orbit movable multi-dimensional measurement platform and its control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105157737B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106711572A (en) * | 2016-11-07 | 2017-05-24 | 常州大学 | Airborne SAR antenna tower type operation orbit |
| CN107702736A (en) * | 2017-11-20 | 2018-02-16 | 河南力方网络科技有限公司 | Packaged type sensor fastening device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19958306A1 (en) * | 1999-12-03 | 2001-06-07 | Zeiss Carl Fa | Coordinate measuring device |
| US6418081B1 (en) * | 1998-02-10 | 2002-07-09 | The Research Foundation Of State University Of New York | System for detection of buried objects |
| CN101726733A (en) * | 2009-12-23 | 2010-06-09 | 北京农业智能装备技术研究中心 | Mobile multi-angle observation platform and method for observing by using same |
| CN102252707A (en) * | 2011-06-29 | 2011-11-23 | 北京农业信息技术研究中心 | Observation device and method |
| CN103134548A (en) * | 2011-11-29 | 2013-06-05 | 中国科学院遥感应用研究所 | Movable type multi-dimensional measuring platform |
| CN103134535A (en) * | 2011-11-29 | 2013-06-05 | 中国科学院遥感应用研究所 | Rail-mounted multi-dimensional measurement platform |
| CN103868592A (en) * | 2012-12-12 | 2014-06-18 | 中国科学院光电研究院 | Multi-angle automatic observing system of target characteristics |
| CN204944519U (en) * | 2015-09-24 | 2016-01-06 | 中国科学院遥感与数字地球研究所 | Orbit movable multi-dimensional measurement platform |
-
2015
- 2015-09-24 CN CN201510615921.3A patent/CN105157737B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6418081B1 (en) * | 1998-02-10 | 2002-07-09 | The Research Foundation Of State University Of New York | System for detection of buried objects |
| DE19958306A1 (en) * | 1999-12-03 | 2001-06-07 | Zeiss Carl Fa | Coordinate measuring device |
| CN101726733A (en) * | 2009-12-23 | 2010-06-09 | 北京农业智能装备技术研究中心 | Mobile multi-angle observation platform and method for observing by using same |
| CN102252707A (en) * | 2011-06-29 | 2011-11-23 | 北京农业信息技术研究中心 | Observation device and method |
| CN103134548A (en) * | 2011-11-29 | 2013-06-05 | 中国科学院遥感应用研究所 | Movable type multi-dimensional measuring platform |
| CN103134535A (en) * | 2011-11-29 | 2013-06-05 | 中国科学院遥感应用研究所 | Rail-mounted multi-dimensional measurement platform |
| CN103868592A (en) * | 2012-12-12 | 2014-06-18 | 中国科学院光电研究院 | Multi-angle automatic observing system of target characteristics |
| CN204944519U (en) * | 2015-09-24 | 2016-01-06 | 中国科学院遥感与数字地球研究所 | Orbit movable multi-dimensional measurement platform |
Non-Patent Citations (2)
| Title |
|---|
| 住房和城乡建设部工程质量安全监管司: "《建筑电工》", 31 December 2009 * |
| 北京市建筑工程学校机械专业科: "《塔式起重机》", 31 December 1974 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106711572A (en) * | 2016-11-07 | 2017-05-24 | 常州大学 | Airborne SAR antenna tower type operation orbit |
| CN106711572B (en) * | 2016-11-07 | 2019-06-04 | 常州大学 | A kind of tower running track of carried SAR antenna |
| CN107702736A (en) * | 2017-11-20 | 2018-02-16 | 河南力方网络科技有限公司 | Packaged type sensor fastening device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105157737B (en) | 2018-03-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206085053U (en) | Robot is patrolled and examined to power distribution station intelligence | |
| CN101891109B (en) | Two-freedom-degree regulation self-leveling spreader and regulation method | |
| CN104440877B (en) | A kind of large-scale vertical storage tank maintenance rope parallel robot | |
| CN106239515A (en) | A kind of power distribution station intelligent inspection robot | |
| CN204944519U (en) | Orbit movable multi-dimensional measurement platform | |
| CN203345981U (en) | Intelligent monitoring tower type crane | |
| CN105523509B (en) | A kind of high altitude optical cable rushes to repair platform | |
| CN102539185B (en) | Selenographic gravity simulation system for ground traveling tests of exploration rover | |
| CN105459153A (en) | Railway tunnel lining quality nondestructive detection boom and detection method thereof | |
| CN109720609B (en) | Suspended microgravity simulation device and control method | |
| CN204575755U (en) | The sub-measuring robots of a kind of Intelligent insulation | |
| CN102878927A (en) | Device and method for automatically measuring volume of large open material yard based on vehicle carrier | |
| CN106644514B (en) | A kind of celestial body vehicle single-wheel bench frame apparatus of load continuously adjustable | |
| CN108995743A (en) | Navigation vehicle and air navigation aid | |
| CN110271965A (en) | Tower crane robot | |
| CN108706479A (en) | A kind of dynamic changes the intelligent barrier avoiding tower crane of counterweight | |
| CN111238379A (en) | Construction measuring equipment | |
| CN105157737A (en) | Multi-dimensional measuring platform with movable rail and control method thereof | |
| CN105259487A (en) | High-voltage power-frequency AC voltage-withstanding system mobile measurement device and alignment control method thereof | |
| CN207828780U (en) | A kind of bridge detecting device | |
| CN108375347A (en) | A kind of FAST radio telescopes reflecting surface unit accuracy measurement system and method | |
| CN103134535A (en) | Rail-mounted multi-dimensional measurement platform | |
| CN208842514U (en) | Navigation vehicle | |
| CN210070919U (en) | Suspension type empty rail way measuring device | |
| CN111531560A (en) | Patrol and examine robot applied to indoor and outdoor environment of transformer substation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180320 Termination date: 20190924 |