CN106597962A - Unattended measurement robot field control system - Google Patents
Unattended measurement robot field control system Download PDFInfo
- Publication number
- CN106597962A CN106597962A CN201510660494.0A CN201510660494A CN106597962A CN 106597962 A CN106597962 A CN 106597962A CN 201510660494 A CN201510660494 A CN 201510660494A CN 106597962 A CN106597962 A CN 106597962A
- Authority
- CN
- China
- Prior art keywords
- robot measurement
- control system
- control module
- unattended
- field control
- 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
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The present invention discloses an unattended measurement robot field control system. The unattended measurement robot field control system is configured for the monitoring of a deformation area through a measurement robot. The system comprises a power module connected with the measurement robot through cables, and the measurement robot is connected with a control module through the cables; the control module is connected with a data transmission unit through the local area network; the data transmission unit is connected with a server through the wireless network; the power module comprise an air switch, a UPS (uninterruptible power supply) and an industrial power supply which are connected in series; and the control module emits an instruction to the measurement robot to allow the measurement robot to execute the monitoring operation according to the instruction, and the collection information in the monitoring process is stored in the control module and uploaded to the server through the wireless network. The unattended measurement robot field control system cannot be influenced by the network communication and can perform remote control of the measurement robot to automatically complete the monitoring task according to the instruction.
Description
Technical field
The invention belongs to technology for deformation monitoring field, and in particular to a kind of unattended robot measurement field control system.
Background technology
Traditional deformation monitoring means adopt manual measurement, and the monitoring point of deformed region is monitored using spirit level and total powerstation,
And some special monitored areas cannot adopt personal monitoring, such as the tunnel in runing does not allow people to enter within the service time
Tunnel, it is necessary to using unattended automatic monitoring technical.Robot measurement is because its is flexible, certainty of measurement is high, nothing connects
Touch is measured, and is widely used in the deformation monitorings such as subway tunnel, bridge, dam.Robot measurement be it is a kind of combine laser,
Communication, CCD technologies, collection automatic target detection, sight automatically, automatic angle measurement, automatic range, automatically track target, remote control,
Automatically record data is in the intelligent total powerstation of one.
There is problems with the automatic monitoring system for being currently based on robot measurement：
(1) robot measurement is located at monitored area, and it is remote by corresponding data transmission unit DTU and wireless network
It is connected with industrial computer.This framework is excessively relied on network, once there is network interruption, industrial computer cannot just send control information
To robot measurement, collection information cannot also be sent back to industrial computer by robot measurement, and ultimately resulting in robot measurement cannot work,
Reduce the reliability of unmanned control system；
(2) model of robot measurement is supported more single：Current most of automatic monitoring system, just for specific model
Robot measurement, poor compatibility；
(3) system exception disposal ability is inadequate：Monitored area situation is complicated, various abnormal conditions easily occurs, generally,
To be modified extremely, but when robot measurement uncontrollable by software, then can cannot by the reset of restarting of software
Complete the operation for restarting software reset.Even if by outside power-off, because robot measurement is generally built-in with battery, thus also without
Method completes the reset operation restarted firmly.
The content of the invention
In order to solve the above problems, it is an object of the invention to provide a kind of unattended robot measurement field control system, has
Do not affected by network communication, it is possible to which remotely control robot measurement is automatically performed monitoring task according to instruction.
For achieving the above object, the present invention is achieved by technical scheme below：
Unattended robot measurement field control system of the present invention, for monitoring of the robot measurement to deformed region,
The system includes the power supply module with robot measurement by cable connection, and the robot measurement also has control by cable connection
Module；
The control module is connected with data transmission unit by LAN；
The data transmission unit is connected with server by wireless network；
The power supply module includes air switch, UPS uninterrupted power sources and the industrial power being connected in series；
Wherein, the control module is by sending instruction to the robot measurement so that robot measurement is performed according to the instruction
Monitoring operation, the collection information Store in the monitoring process is uploaded onto the server in control module by wireless network.
Further, institute's control module is provided with host-host protocol parsing interface.
Further, the relay that the control module includes industrial computer and connects for deenergization module and robot measurement；
The relay is connected with the industrial computer.
Further, the relay is USB relays.
Further, the cable is Y type cables.
Further, the Y types cable is provided with RS232 serial ports.
Further, the LAN is Ethernet.
Compared with prior art, the invention has the beneficial effects as follows：
Unattended robot measurement field control system of the present invention, by the form of cable will control module and
Robot measurement connects, so as to solve prior art in wireless network is remotely connected network occurs and interrupt and asking of cannot working
Topic.Meanwhile, control module is connected with data transmission unit in the form of LAN, and data transmission unit is by wireless
Network is connected with server, so as to realize monitoring process in collection information upload onto the server.Even if breaking in the wireless network
During, the information for collecting can in real time send to control module and store, and after wireless network recovers, information continues automatic
Upload.In addition, carrying out the setting of long-range monitoring task by server, the monitoring task is transmitted to control by data transmission unit
The monitoring task is further sent to robot measurement and is held according to corresponding instruction in the monitoring task by molding group, the control module
Row monitoring operation.In above procedure, the power supply module on the basis of existing employing industrial power, between being also additionally arranged UPS not
Power-off source so that even if in industrial power accidental interruption, UPS uninterrupted power sources can then supplement electric power, for measuring machine
People's machine work, and the setting of air switch, will disconnect in circuit automatically if there is electric current more than rated current, from
And further ensured the security of electricity consumption.
Description of the drawings
The specific embodiment of the present invention is described in further detail below in conjunction with the accompanying drawings, wherein：
Fig. 1 is the structural schematic block diagram of unattended robot measurement field control system provided in an embodiment of the present invention；
Fig. 2 is the workflow diagram of unattended robot measurement field control system provided in an embodiment of the present invention；
Fig. 3 is the workflow that unattended robot measurement field control system provided in an embodiment of the present invention carries out Single Point Surveying
Cheng Tu；
Fig. 4 is the work that unattended robot measurement field control system provided in an embodiment of the present invention carries out many survey time observations
Flow chart；
Fig. 5 is the workflow that unattended robot measurement field control system provided in an embodiment of the present invention carries out end face observation
Cheng Tu；
Fig. 6 is the schematic diagram of data management in unattended robot measurement field control system provided in an embodiment of the present invention.
In figure：
1：Control module
11：Industrial computer 12：Relay
2：Power supply module
21：Air switch 22：Industrial power 23：UPS uninterrupted power sources
3：Data transmission unit
4：Server
Specific embodiment
The preferred embodiments of the present invention are illustrated below in conjunction with accompanying drawing, it will be appreciated that preferred embodiment described herein is only
For instruction and explanation of the present invention, it is not intended to limit the present invention.
As shown in figure 1, unattended robot measurement field control system of the present invention, by changing robot measurement
With the connected mode of control module 1, ensure that robot measurement is to be not in the communication for control module in the form of cable
Interrupt, store so as to the every terms of information for also ensuring that robot measurement Real-time Collection is transferred in the control module 1, together
The every terms of information of Shi Suoshu robot measurements collection is also fully according to the command operating sent in control module 1.Meanwhile, it is described
Control module 1 is connected by wireless network by LAN and data transmission unit 3, the data transmission unit 3 with server 4
Connect, therefore the every terms of information of control module 1 storage uploads onto the server in real time 4.Even if the process broken in the wireless network
In, the every terms of information also will not be lost, and all be stored in control module 1, after wireless network recovers, then every terms of information
Supplement uploads onto the server 4.The process just largely avoided and existing be completely dependent on being lost with the data that cause of wireless network transmissions data
The problem lost and cannot upload.
Wherein, for providing the power supply mould of electric power energy when robot measurement, control module 1 and data transmission unit 3 work
Group 2 includes air switch 21, industrial power 22 and UPS uninterrupted power sources 23, and the air switch 21, UPS is uninterruptedly electric
Source 23 and industrial power 22 are connected in series, wherein the air switch 21 is a kind of collection control and multi-protective function and one
Switch, it can disconnect automatically to electric current in circuit more than rated current, so as to play a part of protection robot.The work
Industry power supply 22 is used to provide power supply when described robot measurement works, and the UPS uninterrupted power sources 23 are then in industrial electro
Source 22 occurs after accident power-off, can provide robot measurement and work on, so that it is guaranteed that robot measurement is in whole work process
In occur without interruption.Because the power supply module 2 is also that colleague is controlled by control module 1, therefore it is different in robot measurement appearance
Reason condition, without when working according to preset instructions, then needing logical software restarting to reset abnormal amendment is carried out, but there is also software
When still cannot correct after restarting, then need to reach the purpose restarted firmly to robot measurement outside power down process.Therefore, it is described
UPS uninterrupted power sources 23 can disconnect under the control of control module 1 takes internal battery to provide not in power supply, with prior art
There is essential distinction in the mode of uninterruptible power, and also achieve the purpose restarted firmly.
Wherein, the robot measurement uses the Y type cable connections with RS232 serial ports with control module 1.The control
Molding group 1 includes industrial computer 11 and relay 12, and the relay 12 uses USB relays, by serial ports USB is turned
It is connected with the communication of industrial computer 11.It is actually logical that the control module 1 carries out power operation to power supply module 2 to robot measurement
Cross what relay 12 was completed, and then realize restarting firmly to robot measurement.
The control module 1 is additionally provided with host-host protocol parsing interface (not shown), its object is to support that different manufacturers are different
The robot measurement of model, therefore having new equipment to add, only command protocols need to be set up, so as to increased control module
1 compatibility.
It is more than that the structure to unattended robot measurement field control system of the present invention is illustrated, below, it is surveyed
Amount work is specifically described:
The automatic monitoring method for being currently based on robot measurement is to arrange survey station using resection side, using polar coordinate measurement side
Method is monitored a three-dimensional coordinate observation.Programming automation observatory control flow has been formulated according to measuring method.The number of whole system
According to the control flow of collection as shown in Fig. 2 comprising the following steps that：
Step 1：Create engineering
The essential informations such as cuit title, survey station ID, project leader.
Step 2：Communication setting
The communications parameter of robot measurement, USB serial ports, thermobarometer and extension sensor, including serial port, ripple are set
Special rate etc..
Step 3：Limit difference hierarchical selection
According to the code requirement of the affiliated industry of specific engineering project, corresponding grade is selected.If not finding respective level,
User can be observed grade and be arranged related limit poor index with self-defined, and such as angle measurement, range finding, each survey time is poor.
Step 4：If standing
Directly set station and resection to set station two ways if the mode of station have, specially：
1) station is directly set：The coordinate of survey station is directly inputted, selects a datum mark as zero direction, set up local coordinate system.
2) resection sets station：Known point coordinates is imported, is measured, then calculate the coordinate of survey station.
Step 5：Measure of learning
Sight datum mark and monitoring point is observed, and be saved in database, later robot measurement is recorded according to measure of learning
Search is sighted in point position automatically, then automatic Observation.
Step 6：Monitoring point is grouped
The management of monitoring point for convenience, each monitoring point is grouped.
Step 7：Task is arranged
According to the frequency requirement of project monitoring, time started and the time interval of system automatic Observation are set.
Step 8：Automatic Observation
After observation mission is arranged, system automatic Observation thread can carry out automatic measurement according to surveillance program and limit difference.Automatic Observation
Control flow by Single Point Surveying, many survey time are observed, sectional observation constitutes.
1) Single Point Surveying (as shown in Figure 3)：Robot measurement sights single-point, measures, and adds to mend if measurement failure and surveys
Point queue；The determined level angle difference of reading twice if observing successfully, to transfinite then add and mends measuring point queue, qualified, carries out subsequent point
Observation；After this observation mission is completed, unification carries out benefit survey to Outliers point.
2) many survey time observation (as shown in Figure 4)：After the measurement of each survey time is completed, calculate poor, the 2C mutual deviations that are zeroed, perpendicular disk and refer to
Mark difference mutual deviation, survey time range difference, if transfinited, into lower benefit the current survey time are surveyed；Qualified then data storage, enters according to task
Row observation.
3) sectional observation (as shown in Figure 5)：Judge whether the limit difference of current section is qualified, stores current section if qualified and sees
Survey data HVS.xml file；If transfiniting, mending survey current section transfinites the survey time, mends after the completion of surveying, and rejects the survey time data that transfinite.
Step 9：Data are uploaded automatically
After the completion of observation, data are saved in the industrial computer 11, while uploading data automatically to server 4；When network interrupts
When, data cannot upload server 4, now the issue be according to recording in the tables of data not uploaded, after waiting recovery network, after
It is continuous to upload.
As shown in fig. 6, the unattended robot measurement field control system major function has project management, parameter
Setting, data acquisition, data management.
Project management is mainly, and function includes newly-built, opening, closes, deletes project.Its major function is that project is entered
Row unified management.
Parameter setting：There are survey station setting, communications parameter, limit difference to arrange comprising function.Survey station is arranged, and arranges survey station type (steady
It is fixed, to be determined, change), and it is poor to arrange the coordinate limit that the coordinate and survey station of survey station change.Communications parameter, arranges measurement
Robot, temperature sensor, barometer, the device type of USB relays, serial port, baud rate, check code, data bit,
Stop position.Limit difference to arrange, observation grade, the reading mutual deviation of horizontal angle, poor, the 2C mutual deviations of zero, survey time mutual deviation, zenith are set
Away from reading mutual deviation, index is poor, survey time mutual deviation, a survey time of distance observation is poor, survey time mutual deviation.
Data acquisition, including survey station setting, measure of learning, section management, task setting, automatic measurement.Survey station is provided with list
Point orientation and resection set the two kinds of forms in station, are mainly to determine the coordinate system of survey station.Measure of learning, study monitoring point and base
Position on schedule.Section is managed, and monitoring point and datum mark are carried out into grouping management, facilitates task to arrange and automatic Observation flow process
Tissue.Task is arranged, and arranging the section of observation, time started, maximum transfinites pendulous frequency, observation interval, measurement mould
Formula.Automatic measurement, according to the task that task is arranged automatic Observation is carried out.
Data management, major function has profile data, observation data, coordinate data, deformation curve, report output, spotter
Book, data are derived.Profile data, temporally can inquire about the coordinate of section each point with section.Observation data temporally inquire about observation
Original observed data.Coordinate data, can inquire about the coordinate results of each monitoring point.Deformation curve, can show the process of monitoring point
Curve.Report output, according to system suggestion step, automatic output skew Monitoring Result.Observation handbook, for deriving original sight
Survey data.Data are derived, and can derive the original observation file of datum mark, section, measure of learning file and each phase of survey station,
When automatically upload is broken down, can manually derive data and upload onto the server.
The unattended robot measurement field control system has powerful abnormality processing function, and robot measurement exists for a long time
Work in severe monitoring of environmental, some abnormal conditions are occurred unavoidably, when robot measurement cannot be to instruction in deadlock state
When being responded, can only now pass through the break-make of the power supply of USB Control robot measurements, robot measurement is carried out firmly
Restart.Simultaneity factor has log recording function, records measuring state of the robot measurement under unmanned working condition
To the structure of unattended robot measurement field control system of the present invention and saying for operation principle by more than
Bright, it specifically has following advantage：
(1) system is not affected by network communication.Control module 1 is placed in into scene, while providing remote control function.Only need
Will be by remotely located (industrial computer 11 or server 4) measurement task, field device autonomous control robot measurement is according to plan certainly
Dynamic measurement, and store data in the machine (industrial computer 11), in the case where communication is good, by DTU data transfer lists
The wireless network of unit 3 uploads data from trend server；In the case of communicating interrupt, do not affect to measure work, after communication recovers
Data continue to upload automatically.
(2) system exception disposal ability is strong.The control module 1 there is complete error log to record and software operation affairs
Daily record, is able to record that the running of system.When robot measurement breaks down, during to instructing reactionless, relay can be passed through
12 control power supply modules 2, and then robot measurement is realized to restart firmly.
(3) system compatibility is strong, supports the robot measurement of different manufacturers different model.
(4) system has expansible row.Leave the access interface of other sensors, such as baroceptor, temperature sensor, split
Seam width sensor etc., the convenient upgrading to systemic-function.
The above, is only presently preferred embodiments of the present invention, and any pro forma restriction is not made to the present invention, therefore every
Without departing from technical solution of the present invention content, any modification made to above example according to the technical spirit of the present invention, equivalent become
Change and modification, still fall within the range of technical solution of the present invention.
Claims (7)
1. a kind of unattended robot measurement field control system, for monitoring of the robot measurement to deformed region, this is
System includes the power supply module with robot measurement by cable connection, it is characterised in that：
The robot measurement also has control module by cable connection；
The control module is connected with data transmission unit by LAN；
The data transmission unit is connected with server by wireless network；
The power supply module includes air switch, UPS uninterrupted power sources and the industrial power being connected in series；
Wherein, the control module is by sending instruction to the robot measurement so that robot measurement is performed according to the instruction
Monitoring operation, the collection information Store in the monitoring process is uploaded onto the server in control module by wireless network.
2. unattended robot measurement field control system according to claim 1, it is characterised in that：
The control module is provided with host-host protocol parsing interface.
3. unattended robot measurement field control system according to claim 1, it is characterised in that：
The control module includes industrial computer and the relay being connected with robot measurement for deenergization module；
The relay is connected with the industrial computer.
4. unattended robot measurement field control system according to claim 3, it is characterised in that：
The relay is USB relays.
5. unattended robot measurement field control system according to claim 1, it is characterised in that：
The cable is Y type cables.
6. unattended robot measurement field control system according to claim 5, it is characterised in that：
The Y types cable is provided with RS232 serial ports.
7. unattended robot measurement field control system according to claim 1, it is characterised in that：
The LAN is Ethernet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510660494.0A CN106597962A (en) | 2015-10-14 | 2015-10-14 | Unattended measurement robot field control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510660494.0A CN106597962A (en) | 2015-10-14 | 2015-10-14 | Unattended measurement robot field control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106597962A true CN106597962A (en) | 2017-04-26 |
Family
ID=58552938
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510660494.0A Pending CN106597962A (en) | 2015-10-14 | 2015-10-14 | Unattended measurement robot field control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106597962A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107991974A (en) * | 2017-12-28 | 2018-05-04 | 国电大渡河流域水电开发有限公司 | Deformation monitoring intelligent testing station host |
| CN117315808A (en) * | 2023-11-28 | 2023-12-29 | 成都博瑞科传科技有限公司 | Portable water quality inspection instrument based on data integrity verification and acquisition method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005024492A (en) * | 2003-07-02 | 2005-01-27 | Taisei Corp | Measuring method for displacement of inside shape of tunnel |
| CN203164690U (en) * | 2013-01-07 | 2013-08-28 | 南京和亦信软件有限公司 | Bridge construction monitoring system based on intent of things |
| CN104034275A (en) * | 2014-06-09 | 2014-09-10 | 同济大学 | Total station instrument based subway tunnel deformation automatic monitoring method and device |
| CN204143216U (en) * | 2014-10-21 | 2015-02-04 | 山东鲁能智能技术有限公司 | A kind of converter station valve hall crusing robot power-supply system |
| CN104612754A (en) * | 2014-12-03 | 2015-05-13 | 南京市测绘勘察研究院有限公司 | Automatic monitoring data obtaining system for tunnel structural deformation |
| CN204514310U (en) * | 2015-04-22 | 2015-07-29 | 上海海洋地质勘察设计有限公司 | A kind of robotization DEFORMATION MONITORING SYSTEM |
| CN205103613U (en) * | 2015-10-14 | 2016-03-23 | 广州地铁设计研究院有限公司 | Unmanned on duty's measuring robot field control system |
-
2015
- 2015-10-14 CN CN201510660494.0A patent/CN106597962A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005024492A (en) * | 2003-07-02 | 2005-01-27 | Taisei Corp | Measuring method for displacement of inside shape of tunnel |
| CN203164690U (en) * | 2013-01-07 | 2013-08-28 | 南京和亦信软件有限公司 | Bridge construction monitoring system based on intent of things |
| CN104034275A (en) * | 2014-06-09 | 2014-09-10 | 同济大学 | Total station instrument based subway tunnel deformation automatic monitoring method and device |
| CN204143216U (en) * | 2014-10-21 | 2015-02-04 | 山东鲁能智能技术有限公司 | A kind of converter station valve hall crusing robot power-supply system |
| CN104612754A (en) * | 2014-12-03 | 2015-05-13 | 南京市测绘勘察研究院有限公司 | Automatic monitoring data obtaining system for tunnel structural deformation |
| CN204514310U (en) * | 2015-04-22 | 2015-07-29 | 上海海洋地质勘察设计有限公司 | A kind of robotization DEFORMATION MONITORING SYSTEM |
| CN205103613U (en) * | 2015-10-14 | 2016-03-23 | 广州地铁设计研究院有限公司 | Unmanned on duty's measuring robot field control system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107991974A (en) * | 2017-12-28 | 2018-05-04 | 国电大渡河流域水电开发有限公司 | Deformation monitoring intelligent testing station host |
| CN117315808A (en) * | 2023-11-28 | 2023-12-29 | 成都博瑞科传科技有限公司 | Portable water quality inspection instrument based on data integrity verification and acquisition method |
| CN117315808B (en) * | 2023-11-28 | 2024-02-13 | 成都博瑞科传科技有限公司 | Portable water quality inspection instrument based on data integrity verification and acquisition method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205103613U (en) | Unmanned on duty's measuring robot field control system | |
| CN102750752B (en) | Power tunnel comprehensive environment automatic tour inspection system | |
| WO2016065997A1 (en) | Electric power communication network mobile operation and maintenance system and method | |
| CN102570607B (en) | Redundant data processing system of intelligent substation | |
| CN105929820B (en) | A kind of intelligent robot localization method | |
| CN110909104A (en) | Integrated pipe gallery operation management monitoring platform interactive system based on BIM and GIS | |
| KR20190106612A (en) | Cloud-based Smart Factory Manufacturing Execution System | |
| CN103441861A (en) | Method and device for generating data records | |
| CN109976853A (en) | A kind of software architecture of industrial robot modularization man-machine interactive system | |
| CN106597962A (en) | Unattended measurement robot field control system | |
| CN109186684A (en) | Unmanned plane equipment monitoring system and method | |
| CN112632088B (en) | Agricultural machinery equipment monitoring method and system and computer readable storage medium | |
| CN113194128B (en) | Positioning system and method for inspection robot by applying 5G transmission communication | |
| CN208126178U (en) | A kind of ship cold storage monitoring system | |
| CN103017824B (en) | Use the monitoring system of robot measurement | |
| CN109240232A (en) | Machinery equipment positioning and state monitoring method and system based on sensor perception | |
| CN202153309U (en) | Remote management device for oil well in oil field | |
| CN105843193A (en) | Electrode processing unmanned control system and control method | |
| CN106849346B (en) | A kind of system for testing power distribution automation equipment time adjustment function and timekeeping performance | |
| CN102563168A (en) | Multi-gas-circuit gas pressure remote control system | |
| CN104504537A (en) | Transformer substation alternating current power supply monitoring system and transformer substation alternating current power supply monitoring method | |
| CN111754647A (en) | Intelligent security robot inspection method based on environment perception | |
| CN204242248U (en) | A kind of power equipment intelligent patrol detection management system | |
| CN102814957A (en) | Embedded type mold protection system and method based on ZigBee network | |
| CN105577737A (en) | Data aggregation monitoring method, data aggregation monitoring device and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 510010 No. 204 Huanshi West Road, Guangzhou City, Guangdong Province Applicant after: Guangzhou Metro Design and Research Institute Co., Ltd. Applicant after: Wuhan University Address before: 510010 No. 204 Huanshi West Road, Guangzhou City, Guangdong Province Applicant before: Guangzhou Metro Design & Research Institute Co., Ltd. Applicant before: Wuhan University |
|
| CB02 | Change of applicant information | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170426 |
|
| RJ01 | Rejection of invention patent application after publication |