CN105500337A - Comprehensive pipe gallery inspection robot - Google Patents

Comprehensive pipe gallery inspection robot Download PDF

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Publication number
CN105500337A
CN105500337A CN201610066996.5A CN201610066996A CN105500337A CN 105500337 A CN105500337 A CN 105500337A CN 201610066996 A CN201610066996 A CN 201610066996A CN 105500337 A CN105500337 A CN 105500337A
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China
Prior art keywords
motor
rubber blanket
wire
sensor
middle housing
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Granted
Application number
CN201610066996.5A
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Chinese (zh)
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CN105500337B (en
Inventor
吴振宇
安禹臣
冯林
李航
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Dalian University of Technology
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Dalian University of Technology
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Priority to CN201610066996.5A priority Critical patent/CN105500337B/en
Publication of CN105500337A publication Critical patent/CN105500337A/en
Application granted granted Critical
Publication of CN105500337B publication Critical patent/CN105500337B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • B25J19/021Optical sensing devices
    • B25J19/023Optical sensing devices including video camera means

Abstract

The invention relates to the technical field of robots and provides a comprehensive pipe gallery inspection robot. The comprehensive pipe gallery inspection robot mainly comprises metal wheels, a motor, a speed reducing box rubber cushion, a motor fixing plate, an oil seal end cover rubber cushion, an oil seal end cover, a motor fixing plate rubber cushion, a middle box body connection plate and a robot whole circuit, wherein the motor is connected with a speed reducing box through a screw; the speed reducing box, the speed reducing box rubber cushion, the motor fixing plate, the oil seal end cover rubber cushion and the oil seal end cover are connected in sequence through screws and nuts; the oil seal end cover is connected with an oil seal through tight matching; and the metal wheel is connected with an output shaft of the speed reducing box through tight matching. The comprehensive pipe gallery inspection robot provided by the invention takes a wireless network bridge as a communication mode, and a communication distance of the robot in a comprehensive pipe gallery is extremely improved. A plurality of types of gas sensors are used so that the concentration of various types of gas in the comprehensive pipe gallery can be monitored in real time, and safety guarantees are provided for workers who enter a cable tunnel to repair. Furthermore, a low-delaying camera is adopted, so that the real-time operation capability of operators is guaranteed, the operability is improved, and accidents are prevented.

Description

A kind of pipe gallery crusing robot
Technical field
The present invention relates to a kind of pipe gallery crusing robot, belong to robotics.
Background technology
Pipe gallery more and more becomes the important component part of the system such as city or dense population areas electrical network, the network of rivers, and its reliable and stable operation is the basis ensureing city function.Checking pipe gallery, is all rely on manually for a long time.Along with the fast development of Robotics with in each field, application deepens continuously, and some researchers started in the last few years to pay close attention to and Robotics is introduced pipe gallery patrol and examine field both at home and abroad.
, although obstacle climbing ability by force, but still there is some deficiency following: one is take action comparatively slowly, cannot meet the demand of fast inspection in existing crusing robot many employings crawler type type of drive; Two is because complex structure, is difficult to realize in the inside turn of narrow tunnel, cannot tackle the inner complicated condition of pipe gallery; Three is because pipe gallery entirety is higher, cannot observe in a lot of position of lower.
The intelligent electric power tunnel intelligent robot moving monitoring system opening up the exploitation of intelligent company, for core with electric power tunnel intelligent inspection robot, coordinate the autonomous extinguishing vehicle in tunnel, simultaneously in conjunction with remote monitoring platform, data server and related accessories, can realize coming and going purpose monitoring and emergent fire alarm and disposal to the continual movement of power tunnel environment and equipment.But adopt rail mounted robot because of it and cannot use in the pipe gallery that some are built, and a lot of pipe gallery is because of physical features complexity, and be not suitable for using rail mounted robot.Use rail mounted robot need early investment a large amount of manpower, expense, cause great waste.
Summary of the invention
In order to overcome the deficiencies in the prior art, the object of the invention is to provide a kind of pipe gallery crusing robot.This robot has following characteristics: one is have employed bamboo joint type lifting platform mechanism, top camera can be elevated to close to pipe gallery tip position, also camera can be dropped to subaerial position, be used for realizing omnibearing observation.Two is sizes of the most of pipe gallery of this robot size conforms, can adapt to multiple different pipe gallery environment.Three is that this robot and contact area of ground are little, and the road clearance is high, can easily walk around or stride across barrier.Four is that this robot uses metal wheel, can tackle muddy road surface and scene of fire.Five is that this robot adopts waterproof, fire protection design, can tackle the inner various complex situations of pipe gallery.
In order to realize foregoing invention object, solve problem existing in prior art, the technical scheme that the present invention takes is: a kind of pipe gallery crusing robot, mainly comprises metal wheel, motor, reduction box rubber blanket, motor fixing plate, oil sealing end cap rubber blanket, oil sealing end cap, motor fixing plate rubber blanket, middle housing connecting plate and robot integrated circuit, described motor is connected with reduction box by screw, described reduction box, reduction box rubber blanket, motor fixing plate, oil sealing end cap rubber blanket is connected by screw and nut successively with oil sealing end cap, described oil sealing end cap is connected with oil sealing by tight fit, described metal wheel is connected with reduction gearbox output shaft by tight fit, described motor is connected with rubber pad for motor and motor support respectively by screw, described motor fixing plate is connected with motor support and motor support rubber blanket by screw, described motor fixing plate and motor fixing plate rubber blanket are fixed by screw and nut and motor case body, described motor case body is connected with motor housing reinforcement by screw and nut, and described motor case body is by screw and motor housing top board, motor housing ceiling rubber blanket and motor housing connecting plate connect, and described motor housing top board is by screw and hanger, hanger rubber blanket connects, and described middle housing connecting plate is by screw and lifting platform, lifting platform rubber blanket, middle housing, middle housing connecting plate rubber blanket, middle housing reinforcement, middle housing reinforcement rubber blanket, motor housing connecting plate and motor housing connecting plate rubber blanket connect, and described middle housing is connected with middle housing cover plate and middle housing cover plate rubber blanket by screw.
Described robot integrated circuit, comprise top canister circuit, middle housing circuit, left side casing circuit, right side casing circuit, robotic end bridge, operator hold bridge and operator to hold computer, wherein, described middle housing circuit is connected with top canister circuit, left side casing circuit, right side casing circuit, robotic end bridge respectively by wire, described robotic end bridge adopts communication to hold bridge to be connected with operator, and described operator holds bridge to hold computer to be connected by netting twine with operator.
Described middle housing circuit, the battery voltage sensor comprising main control chip STM32F103ZET6 and be connected by wire with it, left side casing PORT COM, temperature sensor, floor light, laser sensor, steering wheel, right side casing PORT COM, lifting platform, serial server module and power management module, described battery voltage sensor is connected with battery by wire, described battery, power management module and floor light are connected successively by wire, described power management module, serial server module and lifting platform by wire respectively with robotic end bridge, router and camera are connected, described robotic end bridge, router and camera are connected successively by wire, described power management module is crossed wire and is also connected with router and camera respectively.
Described left side casing circuit is identical with right side casing circuit, the battery voltage sensor comprising main control chip STM32F103ZET6 and be connected by wire with it, water depth sensor, middle housing communication module, motor speed sensor, motor drive module, current sensor and power management module, described battery voltage sensor is connected with battery by wire, described battery is connected with power management module by wire, described power management module is connected with current sensor with motor drive module respectively by wire, described motor drive module is connected with rear portion motor with anterior motor respectively by wire, described motor speed sensor is connected with rear portion motor with anterior motor respectively by wire.
Described top canister circuit, the carbon monoxide/methane concentration sensor, gas concentration lwevel sensor, oxygen concentration sensor, PM2.5 sensor, light intensity sensor, power management module, serial server, router, camera and the floor light that comprise main control chip STM32F103ZET6 and be connected by wire with it, described floor light is connected with camera, router and serial server successively by wire.
Beneficial effect of the present invention is: a kind of pipe gallery crusing robot, mainly comprises metal wheel, motor, reduction box rubber blanket, motor fixing plate, oil sealing end cap rubber blanket, oil sealing end cap, motor fixing plate rubber blanket, middle housing connecting plate and robot integrated circuit, described motor is connected with reduction box by screw, described reduction box, reduction box rubber blanket, motor fixing plate, oil sealing end cap rubber blanket is connected by screw and nut successively with oil sealing end cap, described oil sealing end cap is connected with oil sealing by tight fit, described metal wheel is connected with reduction gearbox output shaft by tight fit, described motor is connected with rubber pad for motor and motor support respectively by screw, described motor fixing plate is connected with motor support and motor support rubber blanket by screw, described motor fixing plate and motor fixing plate rubber blanket are fixed by screw and nut and motor case body, described motor case body is connected with motor housing reinforcement by screw and nut, and described motor case body is by screw and motor housing top board, motor housing ceiling rubber blanket and motor housing connecting plate connect, and described motor housing top board is by screw and hanger, hanger rubber blanket connects, and described middle housing connecting plate is by screw and bamboo joint type lifting platform, bamboo joint type lifting platform rubber blanket, middle housing, middle housing connecting plate rubber blanket, middle housing reinforcement, middle housing reinforcement rubber blanket, motor housing connecting plate and motor housing connecting plate rubber blanket connect, and described middle housing is connected with middle housing cover plate and middle housing cover plate rubber blanket by screw.Compared with the prior art, the present invention uses wireless bridge as communication modes, greatly improves the communication distance of robot in pipe gallery inside.Employ multiple gases sensor, can the inner various gas concentration of Real-Time Monitoring pipe gallery, cable tunnel maintenance is entered to staff and provides safety guarantee.In addition, the present invention adopts low delay camera, ensures the real-time operation ability of operating personnel, improves navigability, prevents the generation of contingency.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is integrated circuit block diagram of the present invention.
Fig. 3 is the middle housing circuit block diagram in the present invention.
Fig. 4 is the left and right side casing circuit block diagram in the present invention.
Fig. 5 is the top canister circuit block diagram in the present invention.
In figure: 1, metal wheel, 2, oil sealing end cap, 3, oil sealing, 4, oil sealing end cap rubber blanket, 5, motor fixing plate, 6, reduction box rubber blanket, 7, motor fixing plate rubber blanket, 8, reduction box, 9, motor, 10, motor support rubber blanket, 11, rubber pad for motor, 12, motor support, 13, motor case body, 14, motor housing reinforcement, 15, motor housing ceiling rubber blanket, 16, motor housing ceiling, 17, hanger rubber blanket, 18, hanger, 19, motor housing connecting plate, 20, motor housing connecting plate rubber blanket, 21, middle housing connecting plate, 22, middle housing connecting plate rubber blanket, 23, middle housing, 24, middle housing reinforcement rubber blanket, 25, middle housing reinforcement, 26, lifting platform rubber blanket, 27, middle housing cover plate rubber blanket, 28, middle housing cover plate, 29, lifting platform.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 1, a kind of pipe gallery crusing robot, mainly comprises metal wheel 1, motor 9, reduction box rubber blanket 6, motor fixing plate 5, oil sealing end cap rubber blanket 4, oil sealing end cap 2, motor fixing plate rubber blanket 7, middle housing connecting plate 21 and robot integrated circuit, described motor 9 is connected with reduction box 8 by screw, described reduction box 8, reduction box rubber blanket 6, motor fixing plate 5, oil sealing end cap rubber blanket 4 is connected by screw and nut successively with oil sealing end cap 2, described oil sealing end cap 2 is connected with oil sealing 3 by tight fit, described metal wheel 1 is connected with reduction box 8 output shaft by tight fit, described motor 9 is connected with rubber pad for motor 11 and motor support 12 respectively by screw, described motor fixing plate 5 is connected with motor support 12 and motor support rubber blanket 10 by screw, described motor fixing plate 5 and motor fixing plate rubber blanket 7 are fixed by screw and nut and motor case body 13, described motor case body 13 is connected with motor housing reinforcement 14 by screw and nut, and described motor case body 13 is by screw and motor housing top board 16, motor housing ceiling rubber blanket 15 and motor housing connecting plate 19 connect, and described motor housing top board 16 is by screw and hanger 18, hanger rubber blanket 17 connects, and described middle housing connecting plate 21 is by screw and lifting platform 29, lifting platform rubber blanket 26, middle housing 23, middle housing connecting plate rubber blanket 22, middle housing reinforcement 25, middle housing reinforcement rubber blanket 24, motor housing connecting plate 19 and motor housing connecting plate rubber blanket 20 connect, and described middle housing 23 is connected with middle housing cover plate 28 and middle housing cover plate rubber blanket 27 by screw.
As shown in Figure 2, described robot integrated circuit, comprise top canister circuit, middle housing circuit, left side casing circuit, right side casing circuit, robotic end bridge, operator hold bridge and operator to hold computer, wherein, described middle housing circuit is connected with top canister circuit, left side casing circuit, right side casing circuit, robotic end bridge respectively by wire, described robotic end bridge adopts communication to hold bridge to be connected with operator, and described operator holds bridge to hold computer to be connected by netting twine with operator.
As shown in Figure 3, described middle housing circuit, the battery voltage sensor comprising main control chip STM32F103ZET6 and be connected by wire with it, left side casing PORT COM, temperature sensor, floor light, laser sensor, steering wheel, right side casing PORT COM, lifting platform, serial server module and power management module, described battery voltage sensor is connected with battery by wire, described battery, power management module and floor light are connected successively by wire, described power management module, serial server module and lifting platform by wire respectively with robotic end bridge, router and camera are connected, described robotic end bridge, router and camera are connected successively by wire, described power management module is crossed wire and is also connected with router and camera respectively.Main control chip STM32F103ZET6 collecting temperature sensor information, to ensure that robot is operated in reasonable temperature interval, temperature too high prompting operator sails out of high-temperature area as early as possible; When pipe gallery intraoral illumination is not enough, main control chip opens floor light to ensure the observation of camera to environment; Gather laser sensor information, with perception Environment Obstacles thing, under autonomous driving mode, control independently travels forward; Control steering wheel to ensure that laser sensor works in possible angle; With left side casing PORT COM and right side casing PORT COM communication to control left and right sides motor speed, obtain battery electric quantity in left and right sides casing, left and right sides casing flooded condition, left and right sides motor load situation etc.; Its magnitude of voltage, by gathering the output voltage of battery, is passed to main control chip STM32F103ZET6 to determine robot battery dump energy by battery voltage sensor; Battery management module by the voltage transitions of battery is become each circuit required voltage, for floor light, main control chip STM32F103ZET6, robotic end bridge, serial port service module, router, lifting platform, camera provide power supply; Main control chip STM32F103ZET6 is sent to router by needing the information being sent to operator's computer by serial port service module, and then is sent to robotic end bridge, and reverse transfer can receive control instruction; Main control chip STM32F103ZET6 controls the height of top canister by controlling lifting of lifting table; Image information is sent to router by camera, then by router, information is sent to robotic end bridge.
As shown in Figure 4, described left side casing circuit is identical with right side casing circuit, the battery voltage sensor comprising main control chip STM32F103ZET6 and be connected by wire with it, water depth sensor, middle housing communication module, motor speed sensor, motor drive module, current sensor and power management module, described battery voltage sensor is connected with battery by wire, described battery is connected with power management module by wire, described power management module is connected with current sensor with motor drive module respectively by wire, described motor drive module is connected with rear portion motor with anterior motor respectively by wire, described motor speed sensor is connected with rear portion motor with anterior motor respectively by wire.Main control chip STM32F103ZET6 gathers water depth sensor information, determines robot flooded condition, and with the communication of middle housing communication module to obtain motor speed control information, sends the depth of water, voltage, current information; The rotating speed of two motors, by gathering anterior motor and rear portion motor speed, is sent to main control chip STM32F103ZET6 by motor speed sensor; The motion of main control chip STM32F103ZET6 by controlling anterior motor and rear portion motor to motor drive module sending controling instruction; Battery voltage sensor gathers battery voltage information, sends to main control chip STM32F103ZET6 to determine battery dump energy; Cell voltage is converted to each circuit required voltage by power management module, for main control chip STM32F103ZET6 and motor drive module provide power supply; Current sensor gathers power management module output current, is sent to main control chip STM32F103ZET6 to determine each motor load situation.
As shown in Figure 5, described top canister circuit, the carbon monoxide/methane concentration sensor, gas concentration lwevel sensor, oxygen concentration sensor, PM2.5 sensor, light intensity sensor, power management module, serial server, router, camera and the floor light that comprise main control chip STM32F103ZET6 and be connected by wire with it, described floor light is connected with camera, router and serial server successively by wire.Main control chip STM32F103ZET6 gathers carbon monoxide/methane concentration sensor, gas concentration lwevel sensor, oxygen concentration sensor, PM2.5 sensor, light intensity sensor information, and is sent to serial server by after finish message; By serial server, information is sent to router again, and sends to main control chip STM32F103ZET6, for controlling the brightness of floor light from router acquisition control information; Image information is sent to router by camera, and power management module provides corresponding power supply for main control chip STM32F103ZET6, floor light, camera and router.
The invention has the advantages that: a kind of pipe gallery crusing robot uses wireless bridge as communication modes, greatly improves the communication distance of robot in pipe gallery inside.Employ multiple gases sensor, can the inner various gas concentration of Real-Time Monitoring pipe gallery, cable tunnel maintenance is entered to staff and provides safety guarantee.In addition, the present invention adopts low delay camera, ensures the real-time operation ability of operating personnel, improves navigability, prevents the generation of contingency.

Claims (5)

1. a pipe gallery crusing robot, mainly comprises metal wheel, motor, reduction box rubber blanket, motor fixing plate, oil sealing end cap rubber blanket, oil sealing end cap, motor fixing plate rubber blanket, middle housing connecting plate and robot integrated circuit, is characterized in that: described motor is connected with reduction box by screw, described reduction box, reduction box rubber blanket, motor fixing plate, oil sealing end cap rubber blanket is connected by screw and nut successively with oil sealing end cap, described oil sealing end cap is connected with oil sealing by tight fit, described metal wheel is connected with reduction gearbox output shaft by tight fit, described motor is connected with rubber pad for motor and motor support respectively by screw, described motor fixing plate is connected with motor support and motor support rubber blanket by screw, described motor fixing plate and motor fixing plate rubber blanket are fixed by screw and nut and motor case body, described motor case body is connected with motor housing reinforcement by screw and nut, and described motor case body is by screw and motor housing top board, motor housing ceiling rubber blanket and motor housing connecting plate connect, and described motor housing top board is by screw and hanger, hanger rubber blanket connects, and described middle housing connecting plate is by screw and bamboo joint type lifting platform, bamboo joint type lifting platform rubber blanket, middle housing, middle housing connecting plate rubber blanket, middle housing reinforcement, middle housing reinforcement rubber blanket, motor housing connecting plate and motor housing connecting plate rubber blanket connect, and described middle housing is connected with middle housing cover plate and middle housing cover plate rubber blanket by screw.
2. a kind of pipe gallery crusing robot according to claim 1, it is characterized in that: described robot integrated circuit, comprise top canister circuit, middle housing circuit, left side casing circuit, right side casing circuit, robotic end bridge, operator holds bridge and operator to hold computer, wherein, described middle housing circuit by wire respectively with top canister circuit, left side casing circuit, right side casing circuit, robotic end bridge connects, described robotic end bridge adopts communication to hold bridge to be connected with operator, described operator holds bridge to hold computer to be connected by netting twine with operator.
3. a kind of pipe gallery crusing robot according to claim 2, it is characterized in that: described middle housing circuit, the battery voltage sensor comprising main control chip STM32F103ZET6 and be connected by wire with it, left side casing PORT COM, temperature sensor, floor light, laser sensor, steering wheel, right side casing PORT COM, lifting platform, serial server module and power management module, described battery voltage sensor is connected with battery by wire, described battery, power management module and floor light are connected successively by wire, described power management module, serial server module and lifting platform by wire respectively with robotic end bridge, router and camera are connected, described robotic end bridge, router and camera are connected successively by wire, described power management module is crossed wire and is also connected with router and camera respectively.
4. a kind of pipe gallery crusing robot according to claim 2, it is characterized in that: described left side casing circuit is identical with right side casing circuit, the battery voltage sensor comprising main control chip STM32F103ZET6 and be connected by wire with it, water depth sensor, middle housing communication module, motor speed sensor, motor drive module, current sensor and power management module, described battery voltage sensor is connected with battery by wire, described battery is connected with power management module by wire, described power management module is connected with current sensor with motor drive module respectively by wire, described motor drive module is connected with rear portion motor with anterior motor respectively by wire, described motor speed sensor is connected with rear portion motor with anterior motor respectively by wire.
5. a kind of pipe gallery crusing robot according to claim 2, it is characterized in that: described top canister circuit, the carbon monoxide/methane concentration sensor, gas concentration lwevel sensor, oxygen concentration sensor, PM2.5 sensor, light intensity sensor, power management module, serial server, router, camera and the floor light that comprise main control chip STM32F103ZET6 and be connected by wire with it, described floor light is connected with camera, router and serial server successively by wire.
CN201610066996.5A 2016-01-30 2016-01-30 A kind of pipe gallery crusing robot Active CN105500337B (en)

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Cited By (10)

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Publication number Priority date Publication date Assignee Title
CN105945895A (en) * 2016-06-08 2016-09-21 徐洪军 Intelligent patrol inspection robot for cable tunnel
CN105977871A (en) * 2016-07-18 2016-09-28 李霞林 Power emergency maintenance robot suitable for multiple cables
CN106080814A (en) * 2016-07-18 2016-11-09 李霞林 A kind of crawler type electric power first-aid robot
CN106200485A (en) * 2016-08-10 2016-12-07 上海化学工业区公共管廊有限公司 Public piping lane supervisory-controlled robot based on android system
CN107322567A (en) * 2017-07-11 2017-11-07 丁志国 A kind of piping lane monitoring robot
CN108032301A (en) * 2017-12-15 2018-05-15 沈坤龙 It is a kind of that there is the robot of path planning
CN108414153A (en) * 2018-02-05 2018-08-17 深圳市中科智诚科技有限公司 A kind of intelligent piping lane crusing robot with emergency function
CN108769136A (en) * 2018-05-07 2018-11-06 安徽恒诺机电科技有限公司 A kind of underground pipe gallery total management system that BIM is combined with Internet of Things
CN110794900A (en) * 2019-09-25 2020-02-14 武汉圣达电气股份有限公司 Comprehensive pipe rack ACU cabinet
CN112571427A (en) * 2020-12-01 2021-03-30 山东中烟工业有限责任公司 Power cable trench inspection robot and operation method thereof

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Publication number Priority date Publication date Assignee Title
CN105945895A (en) * 2016-06-08 2016-09-21 徐洪军 Intelligent patrol inspection robot for cable tunnel
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CN106200485A (en) * 2016-08-10 2016-12-07 上海化学工业区公共管廊有限公司 Public piping lane supervisory-controlled robot based on android system
CN107322567A (en) * 2017-07-11 2017-11-07 丁志国 A kind of piping lane monitoring robot
CN108032301A (en) * 2017-12-15 2018-05-15 沈坤龙 It is a kind of that there is the robot of path planning
CN108414153A (en) * 2018-02-05 2018-08-17 深圳市中科智诚科技有限公司 A kind of intelligent piping lane crusing robot with emergency function
CN108414153B (en) * 2018-02-05 2020-04-28 河南省乾憬光电科技有限公司 Intelligent pipe gallery inspection robot with emergency function
CN108769136A (en) * 2018-05-07 2018-11-06 安徽恒诺机电科技有限公司 A kind of underground pipe gallery total management system that BIM is combined with Internet of Things
CN110794900A (en) * 2019-09-25 2020-02-14 武汉圣达电气股份有限公司 Comprehensive pipe rack ACU cabinet
CN112571427A (en) * 2020-12-01 2021-03-30 山东中烟工业有限责任公司 Power cable trench inspection robot and operation method thereof

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