CN105804793A - Robot for cable tunnel - Google Patents
Robot for cable tunnel Download PDFInfo
- Publication number
- CN105804793A CN105804793A CN201610152733.6A CN201610152733A CN105804793A CN 105804793 A CN105804793 A CN 105804793A CN 201610152733 A CN201610152733 A CN 201610152733A CN 105804793 A CN105804793 A CN 105804793A
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- controller
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- tunnel
- cable tunnel
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- 238000001514 detection method Methods 0.000 claims abstract description 53
- 210000000245 forearm Anatomy 0.000 claims description 19
- 230000033001 locomotion Effects 0.000 claims description 19
- 239000000779 smoke Substances 0.000 claims description 18
- 238000001931 thermography Methods 0.000 claims description 11
- 230000004888 barrier function Effects 0.000 claims description 5
- 238000001757 thermogravimetry curve Methods 0.000 claims description 4
- 238000012546 transfer Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 abstract description 9
- 238000012544 monitoring process Methods 0.000 abstract description 6
- 230000008054 signal transmission Effects 0.000 abstract description 5
- 230000008901 benefit Effects 0.000 abstract description 3
- 239000007789 gas Substances 0.000 description 12
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 6
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 4
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 description 3
- RWSOTUBLDIXVET-UHFFFAOYSA-N Dihydrogen sulfide Chemical compound S RWSOTUBLDIXVET-UHFFFAOYSA-N 0.000 description 3
- 229910002091 carbon monoxide Inorganic materials 0.000 description 3
- 229910000037 hydrogen sulfide Inorganic materials 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 229910002092 carbon dioxide Inorganic materials 0.000 description 2
- 239000001569 carbon dioxide Substances 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- RSWGJHLUYNHPMX-ONCXSQPRSA-N abietic acid Chemical compound C([C@@H]12)CC(C(C)C)=CC1=CC[C@@H]1[C@]2(C)CCC[C@@]1(C)C(O)=O RSWGJHLUYNHPMX-ONCXSQPRSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000009970 fire resistant effect Effects 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 239000000123 paper Substances 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000007480 spreading Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot for a cable tunnel, and belongs to the technical field of cable tunnel detection. The robot comprises a robot body, a moving module, a wireless transmission module, a detection module, a controller and a receiver, wherein the wireless transmission module, the detection module and the controller are arranged on the robot body; the receiver is arranged outside the tunnel and is used for receiving a signal of the controller; the moving module used for driving the robot body to advance is arranged under the robot body; a robot body module is connected with the controller; the detection module is connected with the controller; the controller is connected with the wireless transmission module; detection information received by the controller is sent to the receiver through the wireless transmission module; and the controller receives an instruction of the receiver through a wireless receiving module. The robot solves the problem of high cost of large-area monitoring system laying, and has the advantages of remote signal transmission and low cost.
Description
Technical field
The invention belongs to detection technique field, cable tunnel, relate to cable robot direction, be specifically related to a kind of cable tunnel robot.
Background technology
Most cables are concentrated and are laid in cable tunnel, are characterized in distance, with a varied topography, mutually crisscross, moist, and cable type is many.Cable tunnel is as the space of a relative closure, and mostly the insulant of cable is combustible, as: paper, plastics, oil, fiber crops and Colophonium etc., one touches and namely fires, and can spread rapidly along cable run, be burnt by the cable insulation of surrounding further, thus short-circuit fire, expand fire scope.
Current protective measure is except the fire prevention measure of cable self, it is common to install fire alarm system and gas extinguishing system in cable tunnel.And cable tunnel is carried out online automatic temperature monitoring, grasp the variation tendency of temperature and smog in cable tunnel in real time, and find fire secret time and alarm, find in time and get rid of because the accident potential of thermal initiation crossed by cable, so that people find early and circulate a notice of fire, prevent fire from occurring to greatest extent.Additionally, Smoke Sensor is the source of alert data, so the monitoring to Smoke Sensor is very important.When there being smog to produce, alarm signal is uploaded to monitoring system, the system regional location according to alarm signal by Smoke Sensor, send warning, and be automatically switched off adjacent fire resistant doorsets, make scene of fire be closed in region little as far as possible, prevent fire spreading, loss is reduced to minimum.
But the application quantity of cable is sizable, from several kms to tens kms, connect equipment everywhere by cable tunnel, in the so long passage with bad environments, use any conventional fire detector to be impossible to really solve problem, be also unpractical.Because cable fire smoldering time length (being generally 3-4h), conventional fire detector is too low due to sensitivity, the reasons such as detection mode is passive, fire in this period not can be detected, and cable fire is once will quickly transfer vigorous combustion to through the phase of smouldering, even if at this moment reporting to the police, fire also is difficult to put out.Additionally, such large-area laying detection monitoring system, with high costs.
Summary of the invention
According to above the deficiencies in the prior art, the technical problem to be solved is to propose a kind of cable tunnel robot, by adopting double, two caterpillar drive mode, carry various detection equipment and enter the real-time condition in Tunnel testing tunnel, solve large area and lay the high cost problem of monitoring system, there is remote signal transmission, the advantage that cost is low, alarm signal can be detected or send alarm of fire, localized accident point, harmful gas concentration in detection tunnel, preserve detection Data Concurrent and deliver to outside tunnel, the staff outside tunnel is facilitated to understand the situation in tunnel in time.
In order to solve above-mentioned technical problem, the technical solution used in the present invention is: a kind of cable tunnel robot, described cable tunnel robot includes robot body, motion module, wireless transport module, detection module, controller and receptor, wireless transport module, detection module and controller are arranged on robot body, receptor is arranged on the signal of the external admission controller in tunnel, it is used for driving the motion module that robot body advances to be arranged on below robot body, robot body module connects controller, detection module connects controller, controller connects wireless transport module, the detection information that controller receives is sent to receptor by wireless transport module, controller the instruction by wireless receiving module reception receptor.
During above-mentioned robot is introduced, described cable tunnel robot also includes image capture module, image capture module is arranged on robot body, and image capture module connects controller, is used for gathering image information in tunnel and sends the image information that gathers to controller.Described motion module includes two crawler belts, 3 motors of forearm of exploring the way, wherein two each self-driven crawler belts of motor, and crawler belt lays respectively at the dual-side of robot body, remains a motor and is used for driving forearm of exploring the way.Described detection module is provided with Temperature Humidity Sensor, gas sensor and ultrasonic sensor, Temperature Humidity Sensor is connected to controller, Temperature Humidity Sensor is by the humiture data information transfer that detects to controller, gas sensor connects on the controller, ultrasonic sensor is used for detecting the barrier in cable tunnel robot front, and ultrasonic sensor connects controller.Being additionally provided with Smoke Sensor in described detection module, Smoke Sensor is used for the smokescope size detecting in cable tunnel in real time, and Smoke Sensor is connected to controller, and controller judges the intensity of a fire in tunnel according to the Smoke Sensor smokescope received.Being additionally provided with thermal imaging system in described detection module, thermal imaging system is arranged on detection module, forms Infrared Thermogram according to the emittance in tunnel, and thermal imaging system connects controller.Described receptor is provided with processor, display screen and input keyboard processor radio connection controller, and display screen connects on a processor, and input keyboard connects on a processor, and input keyboard is used for inputting instruction.Being provided with inner chamber in described robot body, inner chamber internal memory is placed with miniature relay station, and inner chamber is connected with opening, and controller controls the opening and closing of opening, and miniature relay station is used for transmitting signal.
The medicine have the advantages that the present invention provides a kind of cable tunnel robot, suitable in place, cable tunnel, cable tunnel need not be laid substantial amounts of detecting device, when part detecting device alarm signal or send alarm of fire, cable tunnel robot can be used to detect the concrete condition of cable tunnel, localized accident point, the harmful gas concentration in detection tunnel, preserve detection Data Concurrent and deliver to outside tunnel, facilitate the staff outside tunnel to understand the situation in tunnel in time.Robot in the present invention adopts crawler belt 3 formula motion mode, and controlled in wireless wireless signal transmission, simple in construction obstacle climbing ability is strong.
Accompanying drawing explanation
Below the content expressed by this specification accompanying drawing and the labelling in figure are briefly described:
Fig. 1 is the operation principle block diagram of the cable tunnel robot of the specific embodiment of the present invention.
Fig. 2 is the structural representation of the cable tunnel robot of the specific embodiment of the present invention.
In figure, 1 is forearm of exploring the way, and 2 is robot body, and 3 is crawler belt 3.
Detailed description of the invention
Below against accompanying drawing, by the description to embodiment, mutual alignment between the such as involved shape of each component of the specific embodiment of the present invention, structure, each several part and annexation, effect and operation principle, the manufacturing process of each several part and operate with method etc., it is described in further detail, to help those skilled in the art that the inventive concept of the present invention, technical scheme are had more complete, accurate and deep understanding.
A kind of cable tunnel robot, described cable tunnel robot includes robot body, motion module, wireless transport module, detection module, controller and receptor, wireless transport module, detection module and controller are arranged on robot body, receptor is arranged on the signal of the external admission controller in tunnel, it is used for driving the motion module that robot body advances to be arranged on below robot body, robot body module connects controller, detection module connects controller, controller connects wireless transport module, the detection information that controller receives is sent to receptor by wireless transport module, controller the instruction by wireless receiving module reception receptor.
Described cable tunnel robot also includes image capture module, and image capture module is arranged on robot body, and image capture module connects controller, is used for gathering image information in tunnel and sends the image information that gathers to controller.Described motion module includes two crawler belts, 3 motors of forearm of exploring the way, wherein two each self-driven crawler belts of motor, and crawler belt lays respectively at the dual-side of robot body, remains a motor and is used for driving forearm of exploring the way.Described detection module is provided with Temperature Humidity Sensor, gas sensor and ultrasonic sensor, Temperature Humidity Sensor is connected to controller, Temperature Humidity Sensor is by the humiture data information transfer that detects to controller, gas sensor connects on the controller, ultrasonic sensor is used for detecting the barrier in cable tunnel robot front, and ultrasonic sensor connects controller.Being additionally provided with Smoke Sensor in described detection module, Smoke Sensor is used for the smokescope size detecting in cable tunnel in real time, and Smoke Sensor is connected to controller, and controller judges the intensity of a fire in tunnel according to the Smoke Sensor smokescope received.Being additionally provided with thermal imaging system in described detection module, thermal imaging system is arranged on detection module, forms Infrared Thermogram according to the emittance in tunnel, and thermal imaging system connects controller.Described receptor is provided with processor, display screen and input keyboard processor radio connection controller, and display screen connects on a processor, and input keyboard connects on a processor, and input keyboard is used for inputting instruction.Being provided with inner chamber in described robot body, inner chamber internal memory is placed with miniature relay station, and inner chamber is connected with opening, and controller controls the opening and closing of opening, and miniature relay station is used for transmitting signal.
nullAs shown in Figure 1，Cable tunnel robot includes robot body 2、Wireless transport module、Detection module、Image capture module、Controller and receptor，Wireless transport module、Detection module、Image capture module and controller are arranged on robot body 2，Receptor is arranged on outside tunnel to receive the signal of robot，Motion module is arranged on below robot body 2，Drive robot body advances，Detection module installs the signal being used for detecting in tunnel，It is connected to controller，It is used for sending the signal that detects to controller，Image capture module is arranged on robot body 2 and connects controller，It is used for gathering image information in tunnel and sends the image information that gathers to controller，Controller connects wireless transport module，The detection information that controller receives is sent to receptor by wireless transport module，And the instruction of receptor is received by wireless receiving module.
As shown in Figure 2, cable tunnel robot entirety relies on motion module to move in cable tunnel, the motion mode of cable tunnel robot adopts crawler type, motion module includes two crawler belts 3 and 3 motors, wherein two each self-driven crawler belts 3 of motor, crawler belt 3 is positioned at the dual-side of robot body 2, remain a motor to be used for driving forearm 1 of exploring the way, forearm 1 of exploring the way is arranged on the front end of robot direction of advance, forearm 1 of exploring the way is arranged on and is connected with motor by worm decelerating machine, utilize worm geared self-locking performance, keep the angle of forearm.Forearm 1 of exploring the way can fold the front portion of protection robot, the forearm 1 front always situated in robot of exploring the way during operation, it is possible to the rubble being in the way, barrier are tentatively cleared up, and facilitates crawler belt 3 to move ahead, and is conducive to improving the speed of service of cable tunnel robot.Robot carrys out aiding overpass obstacle by changing crawler belt 3 shape, and the change of crawler belt 3 switch is realized by forearm 1 motion of exploring the way.Robot forearm range of movement is 0 °～90 °, and when robot needs to put into cable tunnel from vertical shaft, forearm angle is 90 °, is in rounding state, and now whole robot size is minimum.When robot needs obstacle detouring, forearm 1 of exploring the way needs to adjust angle with according to obstacle height, little as far as possible in the angle of energy climbing barrier thing premise lower swing arm, it is simple to obstacle detouring.When needs Crossing ditch, swing arm is in 0 ° of position, and now robot size is maximum, does more moat motion most beneficial for robot.Forearm 1 of exploring the way is arranged on the interior entirety of crawler belt 3 and is completed mobile working by crawler belt 3, and the roller motion of explore the way forearm 1 and support crawler belt 3, crawler belt 3 is thus moving.
Wireless transport module, detection module, image capture module and controller are arranged on robot body 2 or internal, detection module is arranged on crawler belt 3, it is used for detecting situation in tunnel, including the harmful gas concentration in tunnel such as the harmful gass such as methane, gas, hydrogen sulfide, carbon monoxide, carbon dioxide.For accurate detected gas concentration, detection module is provided with Temperature Humidity Sensor, methane transducer, hydrogen sulfide sensor, carbon monoxide transducer, carbon dioxide sensor and ultrasonic sensor, it is respectively intended to detection humiture, methane, hydrogen sulfide, carbon monoxide, gas concentration lwevel, utilizes ultrasound wave to judge preceding object thing.Detection module is additionally provided with Smoke Sensor, cable tunnel also has in common equipment Smoke Sensor, but in order to avoid in tunnel, normal damage of common equipment damages, with fault, the problem lacking measurement data caused, detection module is additionally provided with the Smoke Sensor smokescope size for detecting in cable tunnel in real time, and then judges the intensity of a fire size in tunnel.Being additionally provided with thermal imaging system in detection module, thermal imaging system is arranged on detection module, forms Infrared Thermogram according to the emittance in tunnel, is sent to the receptor outside hole and carries out thermal image analysis, analyzes the temperature conditions in tunnel, and view data becomes apparent from understanding.
Detection module connects on the controller, the detection data of detection module are after controller, it is sent to wireless transport module by controller, wireless transport module is arranged in robot, connects controller, for the instruction of wireless transmission controller, use microwave transmission mode, long transmission distance, stable performance, be conducive to the remote transmission of signal in tunnel.The signal of this outer controller output also includes image video signal, image capture module is arranged on robot body 2, image capture module includes thermal camera and image pick-up card, thermal camera and image pick-up card connect controller, the view data detected is sent in controller, and is sent on the receptor outside tunnel by controller.Controller is additionally provided with mileage working device, mileage working device connects on the controller, distance travelled for recorder people, displacement by recorder people, in conjunction with the real-time detection case according to robot and mileage situation, the operating point of positioning robot, and anchor point is determined when robot sends alarm.
Receptor is used for the signal of wireless receiving controller, and according to the tunnel information transmitted out, issue instructions to controller, the direction of advance of controller can be controlled, receptor is provided with display screen for showing the information of reception, receptor is provided with processor for processing the information data received, and analyze the gas concentration in tunnel, information in the tunnels such as intensity of a fire situation and road conditions image shows on a display screen, receptor is additionally provided with input keyboard, it is used for inputting instruction or facilitating called data to process the data in receptor, input instruction includes the direction of motion and the relay station input instruction of robot.In robot moves in tunnel, in order to avoid tunnel is long, signal can not transmit out in time or transmission range is inadequate, so being additionally provided with inner chamber in robot body 2, inner chamber internal memory is placed with miniature relay station, and inner chamber is connected with opening, and controller controls the opening and closing of opening, miniature relay station is used for transmitting signal, it is ensured that the complete transmission of robot detection signal.Confirm that the distance that robot enters is enough remote on the receiver, when needing to put next relay station, send relaying and throw in instruction, controller receives instruction will send out open the opening of inner chamber, miniature relay station falls, as relay point forward signal, although simply miniature relay station, but also it is enough in cable tunnel the transmission of signal, and, if it is very deep in tunnel, in check automatic contraction buckle can also be set in the outside of robot, it is used for hanging miniature relay station, road carries several relay station more, increase along with move distance, after putting down miniature relay station, the weight of robot also can alleviate.
Above in conjunction with accompanying drawing, the present invention is exemplarily described; the obvious present invention implements and is not subject to the restrictions described above; as long as have employed the improvement of the various unsubstantialities that the design of the method for the present invention carries out with technical scheme; or the not improved design by the present invention and technical scheme directly apply to other occasion, all within protection scope of the present invention.Protection scope of the present invention should be as the criterion with claims protection defined.
Claims (8)
1. a cable tunnel robot, it is characterized in that, described cable tunnel robot includes robot body, motion module, wireless transport module, detection module, controller and receptor, wireless transport module, detection module and controller are arranged on robot body, receptor is arranged on the signal of the external admission controller in tunnel, it is used for driving the motion module that robot body advances to be arranged on below robot body, robot body module connects controller, detection module connects controller, controller connects wireless transport module, the detection information that controller receives is sent to receptor by wireless transport module, controller the instruction by wireless receiving module reception receptor.
2. cable tunnel robot according to claim 1, it is characterized in that, described cable tunnel robot also includes image capture module, image capture module is arranged on robot body, image capture module connects controller, is used for gathering image information in tunnel and sends the image information that gathers to controller.
3. cable tunnel robot according to claim 1, it is characterized in that, described motion module includes two crawler belts, 3 motors of forearm of exploring the way, wherein two each self-driven crawler belts of motor, crawler belt lays respectively at the dual-side of robot body, remains a motor and is used for driving forearm of exploring the way.
4. cable tunnel robot according to claim 1, it is characterized in that, described detection module is provided with Temperature Humidity Sensor, gas sensor and ultrasonic sensor, Temperature Humidity Sensor is connected to controller, Temperature Humidity Sensor is by the humiture data information transfer that detects to controller, gas sensor connects on the controller, and ultrasonic sensor is used for detecting the barrier in cable tunnel robot front, and ultrasonic sensor connects controller.
5. cable tunnel robot according to claim 4, it is characterized in that, described detection module is additionally provided with Smoke Sensor, Smoke Sensor is used for the smokescope size detecting in cable tunnel in real time, Smoke Sensor is connected to controller, and controller judges the intensity of a fire in tunnel according to the Smoke Sensor smokescope received.
6. cable tunnel robot according to claim 4, it is characterised in that being additionally provided with thermal imaging system in described detection module, thermal imaging system is arranged on detection module, forms Infrared Thermogram according to the emittance in tunnel, and thermal imaging system connects controller.
7. cable tunnel robot according to claim 1, it is characterized in that, described receptor is provided with processor, display screen and input keyboard processor radio connection controller, and display screen connects on a processor, input keyboard connects on a processor, and input keyboard is used for inputting instruction.
8. cable tunnel robot according to claim 1, it is characterised in that be provided with inner chamber in described robot body, inner chamber internal memory is placed with miniature relay station, inner chamber is connected with opening, and controller controls the opening and closing of opening, and miniature relay station is used for transmitting signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610152733.6A CN105804793A (en) | 2016-03-17 | 2016-03-17 | Robot for cable tunnel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610152733.6A CN105804793A (en) | 2016-03-17 | 2016-03-17 | Robot for cable tunnel |
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| Publication Number | Publication Date |
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| CN105804793A true CN105804793A (en) | 2016-07-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610152733.6A Pending CN105804793A (en) | 2016-03-17 | 2016-03-17 | Robot for cable tunnel |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107503792A (en) * | 2017-09-18 | 2017-12-22 | 南方科技大学 | Robot lifesaving method and system |
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| CN201989147U (en) * | 2010-12-29 | 2011-09-28 | 沈阳新松机器人自动化股份有限公司 | Inspection robot for cable tunnel |
| CN102880179A (en) * | 2012-09-19 | 2013-01-16 | 山东康威通信技术股份有限公司 | Multifunctional intelligent routing inspection robot used in power tunnel |
| CN103823438A (en) * | 2014-02-11 | 2014-05-28 | 广州供电局有限公司 | Track inspection robot system |
| CN105082180A (en) * | 2015-08-04 | 2015-11-25 | 杭州华能大坝安全工程技术有限公司 | Tunnel detection robot and detection method |
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2016
- 2016-03-17 CN CN201610152733.6A patent/CN105804793A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101468664A (en) * | 2007-12-24 | 2009-07-01 | 上海市电力公司电缆输配电公司 | Small-sized caterpillar belt inspect robot system for cable tunnel hazardous environment |
| CN201345651Y (en) * | 2009-01-15 | 2009-11-11 | 福建省光微电子科技有限公司 | Miniature high-selectivity relay station |
| CN201803646U (en) * | 2010-08-04 | 2011-04-20 | 煤炭科学研究总院重庆研究院 | Detection armored vehicle for disaster area |
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| CN102880179A (en) * | 2012-09-19 | 2013-01-16 | 山东康威通信技术股份有限公司 | Multifunctional intelligent routing inspection robot used in power tunnel |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107503792A (en) * | 2017-09-18 | 2017-12-22 | 南方科技大学 | Robot lifesaving method and system |
| CN107503792B (en) * | 2017-09-18 | 2019-09-27 | 南方科技大学 | Robot lifesaving method and system |
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Application publication date: 20160727 |