CN106123956A - Room automatic detection device and method in a kind of closing based on image real-time acquisition and simulation comparison technology - Google Patents

Room automatic detection device and method in a kind of closing based on image real-time acquisition and simulation comparison technology Download PDF

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Publication number
CN106123956A
CN106123956A CN201610471303.0A CN201610471303A CN106123956A CN 106123956 A CN106123956 A CN 106123956A CN 201610471303 A CN201610471303 A CN 201610471303A CN 106123956 A CN106123956 A CN 106123956A
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CN
China
Prior art keywords
image
module
room
closing
magnetic force
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201610471303.0A
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Chinese (zh)
Inventor
刘云龙
李文波
龙毅
杨湘伟
李登科
邹建伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
State Grid Corp of China SGCC
Hunan Electric Power Research Institute
State Grid Hunan Electric Power Co Ltd
Original Assignee
State Grid Corp of China SGCC
Hunan Electric Power Research Institute
State Grid Hunan Electric Power Co Ltd
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Filing date
Publication date
Application filed by State Grid Corp of China SGCC, Hunan Electric Power Research Institute, State Grid Hunan Electric Power Co Ltd filed Critical State Grid Corp of China SGCC
Priority to CN201610471303.0A priority Critical patent/CN106123956A/en
Publication of CN106123956A publication Critical patent/CN106123956A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D5/00Power-assisted or power-driven steering
    • B62D5/04Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046Controlling the motor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01DMEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00Measuring or testing not otherwise provided for
    • G01D21/02Measuring two or more variables by means not covered by a single other subclass
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/0002Inspection of images, e.g. flaw detection
    • G06T7/0004Industrial image inspection
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/30Subject of image; Context of image processing
    • G06T2207/30108Industrial image inspection

Abstract

The invention discloses a kind of based on image real-time acquisition and room automatic detection device and method in the closing of simulation comparison technology, this device includes magnetic force crawl device (3), location and range finder module (5), turn to and transmission module (4) and image acquisition and lighting module (6), data acquisition and process integration module (2), power supply (7) and computer simulation comparison and control system (1);This device is by controlling the coordination of 2 motor speeds, the advance of dolly can be completed, retreat, turn left and right-hand rotation action, compared to prior art, there is less volume and higher motility, it is possible to be applicable to detect the semiclosed or inspection work of closure power system device inner chamber that hole is less.This detection method combines image capture module and achieves the Real-time Collection of room image in closing, and utilizes computer simulation modeled images to compare, and quickly finds close interior room defect or fall into foreign body, has higher detection efficiency and accuracy in detection.

Description

A kind of based on image real-time acquisition with simulation comparison technology closing in room automatically detect Device and method
Technical field
The invention belongs to automatic detection field, close with simulation comparison technology based on image real-time acquisition particularly to one Interior room automatic detection device and method.
Background technology
In order to ensure the safe and stable operation of power generation, need periodically power equipment to be carried out planned detection and dimension Repair, examined environment and the restriction of testing conditions, in the maintenance to some operation power equipment, often consuming bigger people After power and material resources, still there is detection blind spot, bring potential safety hazard to equipment.
As hydroelectric power plant when C repaiies for closing in runner envelope in the detection of pressure reductor under top cover, in the feelings not opening top cover Under condition, use endoscope's (flexible pipe adds probe) air admission valve endoporus above pressure reductor or the relief hole below runner envelope more Deng position put in close under top cover in room observe, owing to endoscopic hose is manual operation, to probe built-in length and angle Spending uncontrollable, be difficult to the particular location determining detection probe in interior room, the position therefore observed probe cannot accurately be determined Position, with qualitative, even if observing foreign body and defect, also cannot effectively be instructed personnel to overhaul, additionally, there may be bigger observation blind Point.Equally, in the periodic inspection of thermal power plant, many headers fall within emphasis maintenance object, are to cut open header the most mostly The hand hole door of upper advance reservation, uses endoscope to stretch into hand hole and detects, in addition to the problem being previously mentioned before, due to certain A little the most single gateways of header, when the detection of the header inwall connected for such as threeway class, it is impossible to complete inspection on request Survey work.
Through the retrieval of prior art is found, Chinese patent " permanent magnetic suck wheeled ferrum wall climbing robot " (application number 201120479233.6) propose a kind of robot device, use the permanent magnet with certain interval to realize the absorption to ferrum wall. Chinese patent " wheeled type permanent magnetism adsorption pipeline creeping robot " (application number 200710053422.5) proposes a kind of by four wheel drivings Dynamic dolly and the pipeline climbing robot of magnetic sucking mechanism composition, four-wheel synchronizes to drive, and magnetic sucking mechanism can be by regulation Bolt changes adsorbing mechanism and pipe surface spacing, it is achieved the regulation of magnetic force size.Both approaches all uses individually control Permanent magnetic adhesion device, the former magnetic force is non-adjustable, and the latter improves to some extent on the basis of the former, and magnetic force can regulate, but both knots Structure is the most complicated, and range is subject to bigger restriction.
The electromagnet creeping mechanism that Chinese patent " electromagnet creeping mechanism " (application number 97219169.0) proposes, can control The presence or absence of magnetic force processed and size, overcome the contradiction between climbing robot absorption and motion, but the Electromagnetic Control being to increase be electric Road so that mechanism is more complicated, and reduce the reliability of mechanism.
Chinese patent " crawler-type permanent magnet creeping mechanism " (application number 00200795.9) proposes a kind of crawler-type permanent magnet Climbing mechanism, uses multiple permanent magnetism unit to make pedrail mechanism, has certain carrying capacity, the tightest Gather, but owing to crawler belt directly contacts with the scope of operation, bring bigger running resistance, and turn to less flexible, permanent magnetism is carried out simultaneously The abrasion of band is more serious, reduces service life of equipment.
Summary of the invention
In object of the present invention is to provide a kind of closing based on image real-time acquisition and simulation comparison technology, room is certainly Motion detection device and method, can realize the Real-time Collection of room image in closing, quickly finds close interior room defect or fall into different Thing, in order to maintainer finds the system failure and formulates rational maintenance solution, really in the case of being not switched on closing interior room Ensure safety reliability service.
A kind of based on room automatic detection device in image real-time acquisition and simulation comparison technology closing, including magnetic force crawl device 3, location and range finder module 5, turn to and transmission module 4 and image acquisition and lighting module 6, data acquisition and process integrated mould Block 2, power supply 7 and computer simulation comparison and control system 1;
Described location and range finder module, turn to and transmission module and image acquisition and lighting module are installed in magnetic force and creep On device, described location and range finder module, turn to and transmission module and image acquisition and lighting module are all processed and collection by data Become module to be connected with computer control system, and data process and powered by power supply with integration module;
Room in closing is modeled by described computer simulation comparison and control system, and believes according to magnetic force crawl device position Breath extraction model image from model, utilizes the image of Real-time Collection and closing interior room model image to compare, and location is closed Interior room defect or foreign body.
Described computer simulation comparison and control system use room model in the closing that 3ds max software building is to be detected, In the image information correspondence that data acquisition and processing module gather being closed, room model imports unity3d software, it is thus achieved that present bit Put room model image in the closing of correspondence, utilize the image of room model image and Real-time Collection in closing to compare.
Described magnetic force crawl device 4 includes by front-wheel 31, trailing wheel 32, front and back wheel transmission module 33 and two rear wheel drive motors 34, front-wheel 31 and trailing wheel 32 are connected by front and back wheel transmission module 33, and two trailing wheels are driven by two rear wheel drive motors respectively, Front wheels and rear wheels all uses permanent magnet to make.
Described turn to and transmission module includes that Z-direction motor and X-direction motor, described Z-direction motor are installed on In magnetic force crawl device, X-direction motor is arranged on and turns in machine transmission module, turns to and transmission module is arranged on magnetic force crawl device Front end, Z-direction motor drive.
Described image acquisition and lighting module are movably arranged on and turn to and the front end of transmission module, including ccd image collection Photographic head and LED illumination light source, described image acquisition and lighting module are driven by X-direction motor.
Described location and range finder module include along tri-direction hard-wired laser displacement sensings of magnetic force crawl device X, Y, Z Device and the laser displacement sensor of 1 adjustable angle.
Described magnetic force crawl device uses abrasive rubber wheel.
A kind of based on room automatic testing method in image real-time acquisition and simulation comparison technology closing, use above-mentioned dress Put, the image of room in utilizing image acquisition and lighting module Real-time Collection to close, and image is uploaded in real time data acquisition with Processing module, in the closing that computer simulation comparison and control system obtain according to data acquisition and procession module room image and Magnetic force crawl device positional information, is controlled the machine transmission module of turning to, to magnetic force crawl device and image acquisition and lighting module Being driven, in the closing collected, room image is carried out image feature location and extraction by data acquisition and procession module, calculates Room in closing is modeled by machine simulation comparison and control system, and extracts mould from model according to magnetic force crawl device positional information Type image, utilizes the image of Real-time Collection and closing interior room model image to compare, and completes to detect the automatic of room in closing.
Use magnetic force crawl device position and image acquisition that Harris algorithm obtains according to data acquisition and processing system With position and the directioin parameter of lighting module, extraction model image the model of room in closing.
Beneficial effect
The invention provides room automatic detection device in a kind of closing based on image real-time acquisition and simulation comparison technology And method, including magnetic force crawl device 3, location and range finder module 5, turn to and transmission module 4 and image acquisition and lighting module 6, data acquisition and process integration module 2, power supply 7 and computer simulation comparison and control system 1;Described location and range finding mould Block, turn to and transmission module and image acquisition and lighting module are installed on magnetic force crawl device, described location and range finder module, Turn to and transmission module and image acquisition and lighting module are all processed and integration module and computer control system phase by data Connect, and data process and powered by power supply with integration module;Room in closing is carried out by described computer simulation comparison and control system Modeling, and according to magnetic force crawl device positional information extraction model image from model, utilize the image of Real-time Collection and close interior Room model image is compared, and interior room defect or foreign body are closed in location.This device by the coordination of 2 motor speeds is controlled, Can complete the advance of dolly, retreat, turn left and right-hand rotation action, this driving structure, compared to existing magnetic force crawl device, has Less volume and higher motility, it is possible to be applicable to detect the semiclosed or closure power system device inner chamber that hole is less Inspection work, such as the inspection of runner envelope under hydroelectric power plant's top cover.This detection method combines image acquisition and simulation comparison technology, real Show the Real-time Collection of room image in closing, and by extracting initial pictures from model image, utilized initial pictures and reality Time image compare, fast accurate ground find to close in room defect or fall into foreign body, in order to maintainer is being not switched on envelope The system failure is found and formulates rational maintenance solution there is higher detection efficiency and detection is accurate in the case of closing interior room Degree;Can effectively shorten power plant's maintenance duration, improve overhaul efficiency, it is ensured that power generation safe and reliable operation.
Accompanying drawing explanation
Fig. 1 be the present invention closing based on image real-time acquisition technology in room automatic detection device theory diagram;
Fig. 2 is automatic detection device each building block schematic diagram of the present invention;
Fig. 3 is magnetic force crawl device and the steering transmission linkage schematic diagram of the present invention;
Fig. 4 be the present invention closing in room automatic detection device control flow chart;
Fig. 5 is room Site Detection application schematic diagram in closing;
Fig. 6 is room model inspection framing principle schematic in virtual 3D;
Label declaration: 1-, computer control system, 2-data acquisition and procession module, 3-magnetic force crawl device, 4-turns to machine Transmission module, 5-location and range finder module, 6-image acquisition and lighting module, 7-power supply, 31-front-wheel, 32-trailing wheel, before and after 33- Wheel transmission device, 34-rear wheel drive motor, 35-abrasive rubber wheel, 41-Z direction of principal axis motor, 42-X direction of principal axis motor.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described further.
It is as shown in Figure 1-Figure 3, a kind of based on room automatic detection device in image real-time acquisition and simulation comparison technology closing, Including magnetic force crawl device 3, location and range finder module 5, turn to and transmission module 4 and image acquisition and lighting module 6, data acquisition Collect and process integration module 2, power supply 7 and computer simulation comparison and control system 1;
Described location and range finder module, turn to and transmission module and image acquisition and lighting module are installed in magnetic force and creep On device, described location and range finder module, turn to and transmission module and image acquisition and lighting module are all processed and collection by data Become module to be connected with computer control system, and data process and powered by power supply with integration module;
Room in closing is modeled by described computer simulation comparison and control system, and believes according to magnetic force crawl device position Breath extraction model image from model, utilizes the image of Real-time Collection and closing interior room model image to compare, and location is closed Interior room defect or foreign body.
Described computer simulation comparison and control system use room model in the closing that 3ds max software building is to be detected, In the image information correspondence that data acquisition and processing module gather being closed, room model imports unity3d software, it is thus achieved that present bit Put room model image in the closing of correspondence, utilize the image of room model image and Real-time Collection in closing to compare.
Described magnetic force crawl device 4 includes by front-wheel 31, trailing wheel 32, front and back wheel transmission module 33 and two rear wheel drive motors 34, front-wheel 31 and trailing wheel 32 are connected by front and back wheel transmission module 33, and two trailing wheels are driven by two rear wheel drive motors respectively, Front wheels and rear wheels all uses permanent magnet to make, and all wheels all use abrasive rubber wheel 35, i.e. wheel outer layer is cased with wear-resisting antiskid Rubber, can carry detection device and complete to be less than at angle of inclination the work of creeping on the ferrimagnet surface of 55 degree.
Location and range finder module include the laser displacement sensor (respectively along three directions of x, y, z) and 1 that 3 directions are fixing Individual adjustable laser displacement transducer.Fixing laser displacement sensor is for positioning crawl device position in closing in room;Can Adjust laser displacement sensor vernier angle within 10 degree, be used for defect in gathered image or foreign body are carried out relative position mark Fixed.
Described image acquisition and illuminator include ccd image acquisition camera and LED illumination light source, for closing Interior room carries out real time image collection.
Described turn to and actuating device includes 2 groups of miniature brushless direct-current motors, controlled imaged collection and lighting module Around z-axis rotating 360 degrees, around x-axis rotation turnback (coordinate axes is as shown in Figure 3), can realize regarding 180 degree by Synchronization Control Angle scene image carries out Real-time Collection.
Described data acquisition and processing module include magnetic force crawl device action control module, position and find range displacement sensing Device data acquisition module, image acquisition data processing module, steer motor action control module, data by RS232 interface with PC control system realizes interactive correspondence.
Described computer control system includes data Collection & Processing System and each motor operation control system, and it is right to realize The control of each motor action, completes and data acquisition and the interactive correspondence of process integration module.
As shown in Figure 4, a kind of based on room automatic testing method in image real-time acquisition and simulation comparison technology closing, utilize Image acquisition and lighting module Real-time Collection close the image of interior room, and image is uploaded to data acquisition and procession mould in real time Block, computer simulation comparison and control system are climbed according to room image and magnetic force in the closing of data acquisition and procession module acquisition Row device positional information, is controlled the machine transmission module of turning to, and drives magnetic force crawl device and image acquisition and lighting module Dynamic, in the closing collected, room image is carried out image feature location and extraction, computer simulation by data acquisition and procession module Room in closing is modeled by comparison and control system, and according to magnetic force crawl device positional information extraction model figure from model Picture, utilizes the image of Real-time Collection and closing interior room model image to compare, and completes to detect the automatic of room in closing.
First entered in closing room from detection hole, according to laser displacement by crawl device delivery image acquisition and lighting module The location parameter in three directions that sensor acquisition arrives, positions magnetic force crawl device, thus can be according to image collecting device View parameter determine the relative position at detected position, to facilitate maintainer pinpoint the problems in time and formulate processing scheme.
First according to the installation drawing that dispatches from the factory of room in detected closing, 3ds max is used to set up its internal three dimensional structure Model, and 3 d structure model is imported in unity3d software, then delivered image acquisition and illuminator from inspection by crawl device Gaging hole enters in closing in room, as it is shown in figure 5, the location parameter A in three directions collected according to laser displacement sensor, B, C, positions magnetic force crawl device, according to collection lens visual angle centrage and x, the angle α of y-axis and β, to present image The characteristic image that camera lens collects positions;Meanwhile, according to location parameter A, B, C, angle α, the β in three directions and creep Device structural parameters a, b, c, m, n etc., utilize Harris algorithm to realize location and the spy of virtual perspective in unity3d dummy model Levying the extraction of image, as shown in Figure 6, described location and the extraction of image belong to prior art.The actual figure collected As controlling display interface, now, in the image once observed with the real-time split screen display available of image that recalls in dummy model Defective or foreign body, i.e. contrasts virtual image, finds concrete position in virtual image, can be quickly to room defect in closing Or fall into foreign body and be accurately positioned, to facilitate maintainer formulate processing scheme in time and place under repair and clear up, do not beating Removal system fault in the case of interior room is closed in Kaifeng.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for the skill of this area For art personnel, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, that is made any repaiies Change, equivalent, improvement etc., should be included within the scope of the present invention.

Claims (9)

1. close interior room automatic detection device based on image real-time acquisition with simulation comparison technology for one kind, it is characterised in that include Magnetic force crawl device (3), location and range finder module (5), turn to and transmission module (4) and image acquisition and lighting module (6), number According to gathering and processing integration module (2), power supply (7) and computer simulation comparison and control system (1);
Described location and range finder module, turn to and transmission module and image acquisition and lighting module are installed in magnetic force crawl device On, described location and range finder module, turn to and transmission module and image acquisition and lighting module are all processed with integrated by data Module is connected with computer control system, and data process and powered by power supply with integration module;
Room in closing is modeled by described computer simulation comparison and control system, and according to magnetic force crawl device positional information from Extraction model image in model, utilizes the image of Real-time Collection and closing interior room model image to compare, room in the closing of location Defect or foreign body.
Device the most according to claim 1, it is characterised in that described computer simulation comparison and control system use 3ds Room model in the closing that max software building is to be detected, in closing the image information correspondence that data acquisition and processing module gather Room model imports unity3d software, it is thus achieved that room model image in the closing that current location is corresponding, utilizes room model image in closing Compare with the image of Real-time Collection.
Device the most according to claim 2, it is characterised in that described magnetic force crawl device (4) includes by front-wheel (31), trailing wheel (32), front and back wheel transmission module (33) and two rear wheel drive motors (34), front-wheel (31) and trailing wheel (32) are passed by front and back wheel Dynamic model block (33) connects, and two trailing wheels are driven by two rear wheel drive motors respectively, and front wheels and rear wheels all uses permanent magnet to make.
Device the most according to claim 3, it is characterised in that described in turn to and transmission module includes Z-direction motor and X Direction of principal axis motor, described Z-direction motor is installed in magnetic force crawl device, and X-direction motor is arranged on and turns to machine transmission module In, turn to and transmission module is arranged on the front end of magnetic force crawl device, Z-direction motor drive.
Device the most according to claim 4, it is characterised in that described image acquisition and lighting module are movably arranged on and turn to And the front end of transmission module, including ccd image acquisition camera and LED illumination light source, described image acquisition and lighting module are by X Direction of principal axis motor drives.
6., according to the device described in any one of claim 1-5, described location and range finder module include along magnetic force crawl device X, Y, Z Three hard-wired laser displacement sensors in direction and the laser displacement sensor of 1 adjustable angle.
Device the most according to claim 6, it is characterised in that described magnetic force crawl device uses abrasive rubber wheel.
8. close interior room automatic testing method based on image real-time acquisition with simulation comparison technology for one kind, it is characterised in that use Device described in any one of claim 1-7, the image of room in utilizing image acquisition and lighting module Real-time Collection to close, and will Image is uploaded to data acquisition and procession module, computer simulation comparison and control system in real time according to data acquisition and procession mould Room image and magnetic force crawl device positional information in the closing that block obtains, be controlled the machine transmission module of turning to, climb magnetic force Row device and image acquisition and lighting module are driven, and in the closing collected, room image is carried out by data acquisition and procession module Room in closing is modeled by image feature location and extraction, computer simulation comparison and control system, and creeps according to magnetic force Device positional information extraction model image from model, utilizes the image of Real-time Collection and closing interior room model image to compare, Complete the automatic detection of room in closing.
Method the most according to claim 8, it is characterised in that use Harris algorithm according to data acquisition and processing system The position of the magnetic force crawl device position obtained and image acquisition and lighting module and directioin parameter, carry the model of room in closing Take model image.
CN201610471303.0A 2016-06-24 2016-06-24 Room automatic detection device and method in a kind of closing based on image real-time acquisition and simulation comparison technology Pending CN106123956A (en)

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CN106764461A (en) * 2017-01-11 2017-05-31 昆山巴城路地管业科技有限公司 A kind of intellectualized detection device and its method of work for pipe detection
WO2021092135A1 (en) * 2019-11-06 2021-05-14 Saudi Arabian Oil Company Robotic inspection device for tank and pipe inspections

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106764461A (en) * 2017-01-11 2017-05-31 昆山巴城路地管业科技有限公司 A kind of intellectualized detection device and its method of work for pipe detection
WO2021092135A1 (en) * 2019-11-06 2021-05-14 Saudi Arabian Oil Company Robotic inspection device for tank and pipe inspections

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