CN105511472A - Underground detection robot capable of adapting to various extreme environments - Google Patents
Underground detection robot capable of adapting to various extreme environments Download PDFInfo
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- CN105511472A CN105511472A CN201610008601.6A CN201610008601A CN105511472A CN 105511472 A CN105511472 A CN 105511472A CN 201610008601 A CN201610008601 A CN 201610008601A CN 105511472 A CN105511472 A CN 105511472A
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- 238000001514 detection method Methods 0.000 title claims abstract description 34
- 238000012545 processing Methods 0.000 claims abstract description 35
- 239000002689 soil Substances 0.000 claims description 26
- 229910001385 heavy metal Inorganic materials 0.000 claims description 18
- 238000011835 investigation Methods 0.000 claims description 15
- 239000000463 material Substances 0.000 claims description 7
- 210000001364 upper extremity Anatomy 0.000 claims description 7
- 229910017052 cobalt Inorganic materials 0.000 claims description 4
- 239000010941 cobalt Substances 0.000 claims description 4
- GUTLYIVDDKVIGB-UHFFFAOYSA-N cobalt atom Chemical compound [Co] GUTLYIVDDKVIGB-UHFFFAOYSA-N 0.000 claims description 4
- 229910000601 superalloy Inorganic materials 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 14
- 230000002093 peripheral effect Effects 0.000 abstract description 12
- 230000008569 process Effects 0.000 abstract description 11
- 238000009412 basement excavation Methods 0.000 abstract description 9
- 230000008901 benefit Effects 0.000 abstract description 7
- 239000003344 environmental pollutant Substances 0.000 abstract description 7
- 231100000719 pollutant Toxicity 0.000 abstract description 7
- 230000000694 effects Effects 0.000 description 9
- 230000004888 barrier function Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 6
- 239000000203 mixture Substances 0.000 description 6
- 229910052751 metal Inorganic materials 0.000 description 5
- 239000002184 metal Substances 0.000 description 5
- 230000015556 catabolic process Effects 0.000 description 4
- 238000006731 degradation reaction Methods 0.000 description 4
- 230000000813 microbial effect Effects 0.000 description 4
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 3
- 241001074085 Scophthalmus aquosus Species 0.000 description 3
- 239000000356 contaminant Substances 0.000 description 3
- 239000012535 impurity Substances 0.000 description 3
- 244000005700 microbiome Species 0.000 description 3
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 2
- VYZAMTAEIAYCRO-UHFFFAOYSA-N Chromium Chemical compound [Cr] VYZAMTAEIAYCRO-UHFFFAOYSA-N 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000011651 chromium Substances 0.000 description 2
- 239000010949 copper Substances 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 231100001240 inorganic pollutant Toxicity 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 241000241125 Gryllotalpa gryllotalpa Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 229910052785 arsenic Inorganic materials 0.000 description 1
- RQNWIZPPADIBDY-UHFFFAOYSA-N arsenic atom Chemical compound [As] RQNWIZPPADIBDY-UHFFFAOYSA-N 0.000 description 1
- 238000003556 assay Methods 0.000 description 1
- 229910052793 cadmium Inorganic materials 0.000 description 1
- BDOSMKKIYDKNTQ-UHFFFAOYSA-N cadmium atom Chemical compound [Cd] BDOSMKKIYDKNTQ-UHFFFAOYSA-N 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 229910052804 chromium Inorganic materials 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
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- 238000010353 genetic engineering Methods 0.000 description 1
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- 238000005259 measurement Methods 0.000 description 1
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- QSHDDOUJBYECFT-UHFFFAOYSA-N mercury Chemical compound [Hg] QSHDDOUJBYECFT-UHFFFAOYSA-N 0.000 description 1
- 229910052753 mercury Inorganic materials 0.000 description 1
- 238000004452 microanalysis Methods 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 229910052757 nitrogen Inorganic materials 0.000 description 1
- 150000002894 organic compounds Chemical class 0.000 description 1
- 230000003647 oxidation Effects 0.000 description 1
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- 238000006722 reduction reaction Methods 0.000 description 1
- 238000005067 remediation Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- JBQYATWDVHIOAR-UHFFFAOYSA-N tellanylidenegermanium Chemical compound [Te]=[Ge] JBQYATWDVHIOAR-UHFFFAOYSA-N 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Other Investigation Or Analysis Of Materials By Electrical Means (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an underground detection robot capable of adapting to various extreme environments, comprising a machine portion, a detection system, a control portion and an intelligent processing system which are successively in connection. The machine portion and the control portion are in connection; the intelligent processing system and the detection system are in connection. The robot can accurately and rapidly position the scope of large scope underground pollution, excavate and process a polluted area, and timely send pollutant samples to a peripheral control center. The underground detection robot is provided with an obstacle crossing function, and can freely switch between a walking mode and a flying mode according to the size of a detected obstacle; in addition, the underground detection robot can intelligently detect the hardness of an underground layer, and various components and contents in the underground, and timely send pollutant samples to the peripheral control center. Under different work conditions, the underground detection robot can automatically switch different excavation modes for excavation, fully utilize energy, and possess the advantages of high energy utilization rate, high work efficiency, high intelligent degree, and accurate excavation.
Description
Technical field
The present invention relates to a kind of Robotics, particularly a kind of subsurface investigation robot that can adapt to various extreme environment.
Background technology
Existing excavating equipment cannot adapt to extreme environment at all, and when running into substantial risk situation, people often feel simply helpless.And existing excavating equipment energy consumption is large, energy utilization rate is low, major part all needs manual operation, intelligence degree is low, cannot to subterranean layer ingredient, and especially objectionable impurities detects, and cannot accomplish accurate excavation.
For subsurface investigation robot, be still in conceptual phase in the world at present, the domestic research for its problem is also at the early-stage.Chinese patent CN1328017C discloses a kind of bionic mole cricket robot, and this invention adopts crank and rocker mechanism to realize excavating, and automatically can walk in the soil layer of certain depth by projected path.But this invention does not possess intelligent detecting function, as detect dig inorganics in subterranean layer, the composition of organism, particularly heavy metal and content.
Summary of the invention
For the deficiencies in the prior art, the invention provides and a kind ofly can adapt to the subsurface investigation robot of various extreme environment, this robot has that energy utilization rate is high, work efficiency is high, intelligence degree is high, can accomplish the advantages such as accurately excavation.
Realizing technical scheme of the present invention is:
Can adapt to a subsurface investigation robot for various extreme environment, comprise the mechanical part, detection system, control section and the intelligent processing system that are connected successively, mechanical part is also connected with control section, and intelligent processing system is connected with detection system.
Described mechanical part comprises body, be arranged on the head of body front end, arrange the foreleg of both sides, body front end, to be arranged in the middle part of body leg in both sides and be arranged on back leg, wing, the tail of bun both sides, and wing is arranged on whole body both sides.Wherein:
The effect of body supports miscellaneous part;
Middle leg, back leg, wing and other modules, can realize the functions such as walking and flight under the control of control section, intelligent processing system;
Foreleg and head match and can reach multiple mining effect; Foreleg can carry out bucker-type excavation, head can carry out the excavation of brill formula, can carry out different digging operations for different operating mode.
Tail its to equilibrium activity, no matter be in walking or balance is most critical in-flight, in tail, its key effect is gyro ceremony balance device, can reach in walking and roll in-flight and be no more than 1 degree.
Mechanical part adopts cobalt base superalloy material to make.This kind of material has the advantages such as high strength, high temperature resistant, good corrosion resistivity and inoxidizability, is applicable to the unapproachable extreme environment of the various mankind.Mechanical part is also responsible for the effect gathering pollutant sample and sample is passed to the conveying equipments such as unmanned plane simultaneously, and peripheral control center sent in time back to by sample the most at last.
Described control section is made up of main control module and secondary control module, main control module is connected with wireless receiving and dispatching end I, instruction etc. is received and dispatched by wireless receiving and dispatching end I, secondary control module is connected with wireless receiving and dispatching end II, by wireless receiving and dispatching end II receiving and transmitting voice, video instructions, secondary control module has camera function, can photograph constantly to environment residing for robot, and send peripheral control center to by wireless receiving and dispatching end II, the instruction that peripheral control center sends is transferred to the wireless receiving and dispatching end II of intelligent processing system by radio transmission apparatus, the processing module of intelligent processing system makes corresponding process, pass to mechanical part again, mechanical part has acted accordingly the execution of order.
Described detection system is by soil hardness instrument, inorganic mass spectrometer, organic mass spectrometer, heavy metal detector forms, detection system is by soil hardness instrument, inorganic mass spectrometer, organic mass spectrometer and heavy metal detector distinguish the soil hardness of subterranean layer in measuring robots present position, inorganics, organism, the composition of heavy metal and content, and the setting value in detected composition and content and detection system is contrasted, when finding the soil hardness of subterranean layer, inorganic content, organic content and content of beary metal have during significant change and at once situation of change are reached peripheral control center, situation of change is passed to the processing module of intelligent processing system simultaneously, processing module makes corresponding strategy through process, control mechanical part fill order process objectionable impurities.
Described intelligent processing system is made up of processing module, 3D identification module, wireless receiving and dispatching end I, wireless receiving and dispatching end II.3D identification module can show 3 dimensions in dug region dynamically constantly, and is contrasted by processing module and target shape, so that correct constantly, reaches the object accurately excavated.Processing module can processing instruction, voice, video etc.Wireless receiving and dispatching end I can receive and dispatch instruction etc.Wireless receiving and dispatching end II can receiving and transmitting voice, video etc.
Advantage of the present invention is: this robot adopts cobalt base superalloy material to make, and can adapt to various extreme environment; And there is flight function, gyro ceremony balance device in tail is utilized to play the effect of balance awing, can movement fast, accurate quick position on a large scale in underground pollution in-scope, subsequently Polluted area is excavated, processes and in time pollutant sample delivered to peripheral control center; There is obstacle crossing function, according to the barrier size detected, freely can switch between walking mode and offline mode.Various inorganicss contained in the hardness of Intelligent Measurement subterranean layer, subterranean layer, the composition of organism, especially heavy metal and content, and in time pollutant sample is delivered to peripheral control center, can site disposal for majority pollution, makes it reach criterion of acceptability.Under different operating modes, automatically switch into multiple different mining mode and excavate, the energy is fully used, have that energy utilization rate is high, work efficiency is high, intelligence degree is high, the advantages such as accurately excavation can be accomplished.
Accompanying drawing explanation
Fig. 1 is a kind of connection block diagram that can adapt to the subsurface investigation robot of various extreme environment.
In figure: 1. leg 1-4. back leg 1-5. foreleg 1-6. wing 1-7. tail 2. intelligent processing system 2-1. processing module 2-2.3D identification module 2-3. wireless receiving and dispatching end I2-4. wireless receiving and dispatching end II3. control section 3-1. main control module 3-2. pair control module 4. detection system 4-1. soil hardness instrument 4-2. inorganic mass spectrometer 4-3. organic mass spectrometer 4-4 heavy metal detector in mechanical part 1-1. head 1-2. body 1-3.
Fig. 2 is the workflow diagram of subsurface investigation robot obstacle-overpass thing.
In figure: S100. original state S200. walking mode S300. has barrier S400. offline mode S500. clear.
Embodiment
Below in conjunction with accompanying drawing, technical solution of the present invention is described in further detail.
With reference to Fig. 1, a kind of subsurface investigation robot that can adapt to various extreme environment, is made up of interconnective mechanical part 1, intelligent processing system 2, control section 3 and detection system 4.Wherein:
Mechanical part 1 comprises head 1-1, body 1-2, middle leg 1-3, back leg 1-4, foreleg 1-5, wing 1-6, tail 1-7 form.Head 1-1 is assemblied in body 1-2 front end.Foreleg 1-5 is assemblied in the both sides of body 1-2 front end.Middle leg 1-3 is assemblied in both sides in the middle part of body 1-2.Back leg 1-4 is assemblied in both sides, body 1-2 rear portion.Wing 1-6 is assemblied in whole body 1-2 both sides, extends tail 1-7.Tail 1-7 is assemblied in body 1-2 afterbody.It acts on respectively:
Body 1-2 uses for supporting miscellaneous part;
Middle leg 1-3, back leg 1-4, wing 1-6 coordinate other modules, can realize the functions such as walking and flight under the control of control section 3, intelligent processing system 2;
Tail 1-7 its to equilibrium activity, no matter be in walking or balance is most critical in-flight.In tail 1-7, its key effect is gyro ceremony balance device, can reach walking and in-flight roll be no more than 1 degree;
Whole mechanical part 1 adopts cobalt base superalloy material to make, and this kind of material has the advantages such as certain high strength, high temperature resistant, good corrosion resistivity and inoxidizability.Be applicable to the unapproachable extreme environment of the various mankind, mechanical part 1 is also responsible for and gathers pollutant sample simultaneously, and sample is passed to the conveying equipments such as unmanned plane, sample is passed to peripheral control center in time.
Control section 3 is made up of main control module 3-1 and secondary control module 3-2, and main control module 3-1 is connected with wireless receiving and dispatching end I2-3, can by wireless receiving and dispatching end I2-3 wireless receiving and dispatching instruction etc., secondary control module 3-2 is connected with wireless receiving and dispatching end II2-4, can by wireless receiving and dispatching end II2-4 wireless receiving and dispatching voice, video instructions, secondary control module 3-2 has camera function, can photograph constantly to environment residing for robot, and send peripheral control center to by wireless receiving and dispatching end II2-4, the instruction that peripheral control center sends is transferred to the wireless receiving and dispatching end II2-4 of intelligent processing system 2 by radio transmission apparatus, the processing module 2-1 of intelligent processing system 2 makes corresponding process, pass to mechanical part 1 again, mechanical part 1 responds action, complete the execution of order.
Detection system 4 is made up of soil hardness instrument 4-1, inorganic mass spectrometer 4-2, organic mass spectrometer 4-3, heavy metal detector 4-4, wherein:
Soil hardness instrument 4-1 and stratometer, be mainly used in the degree of packing measuring soil, utilize the theoretical value Kg/Cm2 of pressure gauge, directly measure the hardness number of soil, its assay method is generally all inserted in soil by measuring instrument tip portion, vertically forward extracts measuring instrument, reads hardness indicated value from indicating gauge, after reading, rotary drive pin knob, makes indicating gauge make zero.
Inorganic mass spectrometer 4-2 makes measured matter ionization, for aspects such as inorganic elements microanalysis and isotope analyses with inductive coupling high-frequency discharge (ICP) or other mode.
Organic mass spectrometer 4-3 makes tested soil ion with electronics bombardment or other mode, form the ion of various mass-to-charge ratio (m/e), then electromagnetic principles is utilized to make ion be separated by different mass-to-charge ratioes and measure the intensity of various ion, thus determine molecular weight and the structure of tested soil, be mainly used in the Structural Identification of organic compound, the structural informations such as the molecular weight of compound, element composition and functional group are provided.
Heavy metal detector 4-4 is used for heavy metal in testing soil (total chromium (Cr), sexavalent chrome (Cr6+), plumbous (Pb), mercury (Hg), cadmium (Cd), trivalent arsenic (As3+), copper (Cu), zinc (Zn), nickel (Ni)) equal size.
Detection system 4 is by soil hardness instrument 4-1, inorganic mass spectrometer 4-2, organic mass spectrometer 4-3, the soil hardness of subterranean layer in heavy metal detector 4-4 difference measuring robots present position, inorganic content, organic content and content of beary metal, and the setting value in detected composition and content and detection system 4 is contrasted, when finding the soil hardness of subterranean layer, inorganic content, organic content and content of beary metal have during significant change and at once situation of change are reached peripheral control center, situation of change is passed to the processing module 2-1 of intelligent processing system 2 simultaneously, processing module 2-1 makes corresponding strategy through process, control mechanical part 1 fill order process objectionable impurities.
If when the soil hardness instrument 4-1 of detection system 4 detects that the hardness of dug subterranean layer is less than setting range or excavates power demand lower than rated range, then bucker-type can be adopted to excavate, sharp work, improve operating efficiency.
If the soil hardness instrument 4-1 of detection system 4 detects that the hardness of dug subterranean layer is greater than setting range or excavates power demand when overruning, then brill formula can be adopted to excavate, not fragile scraper bowl, the sample of high rigidity material can be obtained again fast.
If the soil hardness instrument 4-1 of detection system 4 detects that the hardness of dug subterranean layer belongs to setting range and excavates power demand when belonging to rated range, then brill formula can be adopted to excavate and bucker-type excavation is carried out simultaneously, can greatly increase work efficiency.
If when the inorganic mass spectrometer 4-2 of detection system 4 detects that the inorganic content of residing subterranean layer is less than setting value, then continue detection.
If when the inorganic mass spectrometer 4-2 of detection system 4 detects that the inorganic content of residing subterranean layer is greater than setting value, adopt natural microbial edman degradation Edman, namely inorganic pollutant be degraded to nitrogen or other innoxious substances by the corresponding microorganism of domestication and remove, making the inorganic pollution thing content in soil return to standard level.
If when the organic mass spectrometer 4-3 of detection system 4 detects that the organic content of residing subterranean layer is less than setting value, then continue detection.
If when the organic mass spectrometer 4-3 of detection system 4 detects that the organic content of residing subterranean layer is greater than setting value, the method removal pollutant of ventilation and microorganism remediation combination is then excavated by physics, namely by the corresponding microorganism of artificial culture using organic contaminants in soil as carbon source and the energy, be decomposed into CO
2and H
2o or other innoxious substances.
If when the heavy metal detector 4-4 of detection system 4 detects that the content of beary metal of residing subterranean layer is less than setting value, then continue detection.
If when the heavy metal detector 4-4 of detection system 4 detects that the content of beary metal of residing subterranean layer is greater than setting value, microbial degradation method is utilized to process it.Microbial degradation method is that the heavy metal utilizing the biotechnologys such as microorganism-utilization genetic engineering to cultivate has degradation capability-heavy metal to have the effects such as absorption, precipitation, oxidation and reduction, reduce the concentration of heavy metal in soil or its form is changed, thus making the content of heavy metal in soil reach standard level.
Utilize the heavy metal contaminants in microbial treatment subterranean layer soil, inorganic pollutant, organic contaminant to be a pure ecological process, have effective, small investment, speed are fast, energy consumption is low, efficiency is high and the advantages such as non-secondary pollution.
Intelligent processing system 2 is made up of processing module 2-1,3D identification module 2-2, wireless receiving and dispatching end I2-3, wireless receiving and dispatching end II2-4.3D identification module 2-2 can show 3 dimensions in dug region dynamically constantly, and is contrasted, so that correct constantly by processing module 2-1 and target shape.Processing module 2-1 can processing instruction, voice, video etc.Wireless receiving and dispatching end I2-3 can receive and dispatch instruction etc., wireless receiving and dispatching end II2-4 can receiving and transmitting voice, video etc.
For obstacle-overpass thing, the course of work of robot of the present invention is:
Subsurface investigation robot is started working by original state S100, first walking mode S200 is adopted to advance, detection system 4 through infrared remote sensing technology detects advancing barrier in real time, when necessarily large barrier (barrier volume is greater than setting value) being detected, detected state is passed to the main control module 3-1 of control section 3 by detection system, main control module 3 judges through process, judge that it has barrier S300, when enabling offline mode, S400 advances, instruction is sent by control section 3, mechanical part 1 performs flight orders, otherwise continue to adopt walking mode S200 to advance.When system again detects and is judged as clear S500, switch to walking mode S200.
Claims (6)
1. one kind can adapt to the subsurface investigation robot of various extreme environment, it is characterized in that: comprise the mechanical part, detection system, control section and the intelligent processing system that are connected successively, mechanical part is also connected with control section, and intelligent processing system is connected with detection system; Wherein:
Described mechanical part comprises body, be arranged on the head of body front end, arrange the foreleg of both sides, body front end, to be arranged in the middle part of body leg in both sides and be arranged on back leg, wing, the tail of bun both sides, wing is arranged on whole body both sides, extend tail, tail is arranged on body afterbody.
2. subsurface investigation robot according to claim 1, is characterized in that: described control section is made up of main control module and secondary control module, wherein:
Main control module is connected with wireless receiving and dispatching end I, and receives and dispatches instruction by wireless receiving and dispatching end I;
Secondary control module is connected with wireless receiving and dispatching end II, and by wireless receiving and dispatching end II receiving and transmitting voice, video instructions.
3. subsurface investigation robot according to claim 1, is characterized in that: described detection system is made up of soil hardness instrument, inorganic mass spectrometer, organic mass spectrometer, heavy metal detector.
4. subsurface investigation robot according to claim 1, is characterized in that: described intelligent processing system is made up of processing module, 3D identification module, wireless receiving and dispatching end I, wireless receiving and dispatching end II.
5. subsurface investigation robot according to claim 1, is characterized in that: described tail built-in gyro ceremony balance device.
6. subsurface investigation robot according to claim 1, is characterized in that: described mechanical part adopts cobalt base superalloy material to make.
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| CN201610008601.6A CN105511472B (en) | 2015-09-21 | 2016-01-08 | A kind of subsurface investigation robot adapting to various extreme environments |
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| CN2015105995453 | 2015-09-21 | ||
| CN201510599545.3A CN105082128A (en) | 2015-09-21 | 2015-09-21 | Underground detection robot capable of adapting to various extreme environments |
| CN201610008601.6A CN105511472B (en) | 2015-09-21 | 2016-01-08 | A kind of subsurface investigation robot adapting to various extreme environments |
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| CN105511472B CN105511472B (en) | 2018-10-12 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965547A (en) * | 2016-07-20 | 2016-09-28 | 南京市宜德思环境科技有限责任公司 | Engineering robot for environmental monitoring, environmental emergency handling and environmental remediation |
| US11988091B2 (en) | 2022-07-25 | 2024-05-21 | Saudi Arabian Oil Company | Subsurface contamination source detection and tracking device using artificial intelligence |
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| CN203259354U (en) * | 2013-04-18 | 2013-10-30 | 上海电机学院 | Soil and vegetation sample collecting car |
| CN103395493A (en) * | 2013-07-19 | 2013-11-20 | 北京理工大学 | Piezoelectric ceramic flapping-wing-type robot |
| CN205450773U (en) * | 2015-09-21 | 2016-08-10 | 桂林电子科技大学 | Secret detection robot that can adapt to various extreme environments |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105965547A (en) * | 2016-07-20 | 2016-09-28 | 南京市宜德思环境科技有限责任公司 | Engineering robot for environmental monitoring, environmental emergency handling and environmental remediation |
| CN105965547B (en) * | 2016-07-20 | 2018-01-23 | 南京市宜德思环境科技有限责任公司 | A kind of Engineering Robot for environmental monitoring, environmental emergency disposal and environment remediation |
| US11988091B2 (en) | 2022-07-25 | 2024-05-21 | Saudi Arabian Oil Company | Subsurface contamination source detection and tracking device using artificial intelligence |
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| CN105082128A (en) | 2015-11-25 |
| CN105511472B (en) | 2018-10-12 |
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