CN107218474A - A kind of detecting robot of pipe and its detection method - Google Patents
A kind of detecting robot of pipe and its detection method Download PDFInfo
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- CN107218474A CN107218474A CN201710440966.0A CN201710440966A CN107218474A CN 107218474 A CN107218474 A CN 107218474A CN 201710440966 A CN201710440966 A CN 201710440966A CN 107218474 A CN107218474 A CN 107218474A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
本发明公开了一种管道检测机器人机器检测方法，机器人包括移动组件、升降组件、水平旋转组件、俯仰组件、纵向测距传感器、横向测距传感器和摄像头。该管道检测机器人能够在管道里移动，拍摄管道内的图像，机器人在管道移动时，能自动转弯，在管道图像拍摄过程中，能够调整摄像头的高度，左右角度和俯仰角度。本发明一种管道检测机器人便于人们对管道缺陷的检测，减少了管道内壁检测的人工作业量，提高了管道缺陷的效率，能够适应大范围变化的管径，克服了现有技术中存在的驱动轮打滑或摄像头高度不能调整的不足。
The invention discloses a pipeline detection robot machine detection method. The robot includes a moving component, a lifting component, a horizontal rotation component, a pitching component, a longitudinal distance measuring sensor, a lateral distance measuring sensor and a camera. The pipeline inspection robot can move in the pipeline and take images inside the pipeline. When the robot is moving in the pipeline, it can turn automatically. During the pipeline image capture process, the camera can be adjusted in height, left and right angles and pitch angles. The pipeline detection robot of the present invention is convenient for people to detect pipeline defects, reduces the manual workload of pipeline inner wall detection, improves the efficiency of pipeline defects, can adapt to a wide range of pipe diameters, and overcomes the problems existing in the prior art. The driving wheel slips or the height of the camera cannot be adjusted.
Description
Technical Field
The invention relates to a pipeline detection robot, in particular to a pipeline detection robot based on vision.
Background
In daily life, pipelines with different functions and sizes exist, such as petroleum pipelines, gas pipelines, underground communication cable pipelines and the like. These pipes need to be inspected before use to ensure that the interior is free of defects. In use, the inner wall of the pipeline also needs to be frequently inspected, so that the condition and the defect of the inner wall of the pipeline can be found in time, and the pipeline is convenient to maintain.
The detection robot for different pipe diameters adopts a telescopic or sliding block type mechanism, the robot often has the phenomenon that a driving wheel slips in the moving process of a pipeline, the robot cannot adapt to the pipe diameter which changes in a large range, or the shooting height of a camera cannot be adjusted, and the image shooting effect is influenced.
Disclosure of Invention
The invention aims to: and providing a pipeline inner wall defect detection robot, and shooting an image of the inner wall of the pipeline by the pipeline robot to analyze the defect condition of the pipeline.
In order to solve the problems, the invention adopts the technical scheme that:
a pipeline detection robot comprises a moving assembly, a lifting assembly, a horizontal rotating assembly, a pitching assembly, a camera and a control unit; wherein,
the moving assembly is arranged at the lower part of the robot and used for moving in the pipeline;
the horizontal rotating assembly is arranged above the moving assembly and is connected with the moving assembly through the lifting assembly;
the horizontal rotating assembly is connected with the pitching assembly, and a camera is fixed on the pitching assembly;
the moving assembly, the lifting assembly, the horizontal rotating assembly, the pitching assembly and the camera are in control connection with the control unit;
the moving assembly includes: the device comprises a first supporting platform, a steering wheel and a driving wheel assembly with adjustable supporting angle, wherein one end of the first supporting platform is fixedly connected with the steering wheel, and the other end of the first supporting platform is connected with the driving wheel assembly with adjustable supporting angle;
the support angularly adjustable drive wheel assembly includes: two screw rods fixed at the end part of the first supporting platform;
the wheel frame is connected with a driving wheel and a wheel driving mechanism, and the wheel frame is rotatably sleeved on the screw and is mutually fixed with the first supporting platform through a nut;
the robot comprises a robot body, a control unit and a ranging unit, wherein the robot body is provided with a pipeline turning part, the ranging unit is arranged on the robot body and is in signal connection with the control unit, and the ranging unit is used for judging whether the robot moves to the pipeline turning part and whether the robot is in the middle of the pipeline.
The lifting assembly comprises: the lifting steering engine comprises a first supporting arm, a second supporting arm and a lifting steering engine, wherein one end of the lifting steering engine is fixed at the lower end of the first supporting arm, the other end of the lifting steering engine is fixed at the upper end of the second supporting arm, the lower end of the first supporting arm is connected with the moving assembly through a hinge, and the upper end of the second supporting arm is connected with the horizontal rotating assembly through a hinge.
The horizontal rotation assembly includes: the rotary device comprises a second supporting platform, a slewing bearing, a rotary platform and a first rotary steering engine; the first rotary steering engine is installed on the second supporting platform and connected with the rotary platform through a transmission mechanism, the rotary platform is installed on the rotary support, and the rotary support is installed on the second supporting platform.
Every single move subassembly includes second rotary steering wheel, every single move seat, every single move platform and mounting panel, and wherein, the last installation every single move seat of rotary platform, every single move seat have an arc concave surface, every single move platform bottom have with arc concave surface matched with arc convex surface is equipped with the shaft hole on the every single move platform, and the second rotary steering wheel passes through the mounting panel and installs on rotary platform, the output shaft of second rotary steering wheel with shaft hole cooperation on the every single move platform is connected.
The distance measuring unit comprises a longitudinal distance measuring sensor and two transverse distance measuring sensors, the longitudinal distance measuring sensor is installed in the middle of the front end of the second supporting platform, the two transverse distance measuring sensors are symmetrically installed on the two sides of the second supporting platform, and the longitudinal distance measuring sensor and the transverse distance measuring sensors are in signal connection with the control unit.
The transmission mechanism includes: the output shaft of the first rotary steering engine passes through the second supporting platform and then is connected with the small belt pulley, the synchronous belt is arranged between the small belt pulley and the large belt pulley, a vertical shaft is arranged on the rotary platform and passes through the second supporting platform and then is connected with the large belt pulley.
4 mounting bosses are mounted on the upper surface of the first supporting platform and used for mounting a first supporting arm of the lifting assembly, and a threaded hole is machined in the middle of the front section of the second supporting platform and used for mounting a steering wheel; and two screws are processed at the tail end of the first supporting platform.
The invention also discloses a pipeline detection method based on the pipeline detection robot, aiming at pipelines with different diameters, the installation angle of the wheel frame relative to the first supporting platform and the installation height of the steering wheel relative to the first supporting platform are adjusted, so that the steering wheel and the two driving wheels are fully contacted with the pipelines;
horizontal range finding sensor is used for measuring the first distance of robot apart from the pipeline left and right sides wall to give the control unit with first distance signal transmission, be equipped with first threshold value in the control unit in advance, carry out the comparison with first distance and first threshold value and judge whether the robot is in the intermediate position of pipeline, if judge that the robot is in the intermediate position of pipeline, then the linear motion of control unit control robot, specifically be: the control unit controls the wheel driving mechanism to drive the two driving wheels to rotate at the same rotating speed, and the pipeline detection robot moves linearly;
the longitudinal distance measuring sensor is used for measuring a second distance between the robot and the front pipe wall, sending a second distance signal to the control unit, the control unit is internally provided with a second threshold value in advance, the second distance is compared with the second threshold value to judge whether the robot moves to a pipe turning part, and when the robot is judged to be in the pipe turning part, the control unit controls the wheel driving mechanism to make a corresponding turn, specifically: when the rotating speed of the left driving wheel is higher than that of the right driving wheel, the pipeline detection robot turns to the right; when the rotating speed of the right driving wheel is higher than that of the left driving wheel, the pipeline detection robot turns left.
The invention has the beneficial effects that:
the pipeline detection robot provided by the invention is convenient for people to detect the defects of the pipeline, reduces the manual work amount of the detection of the inner wall of the pipeline, and improves the efficiency of the defects of the pipeline. The concrete advantages are that:
firstly, the pipeline detection robot can change the height of picture shooting, the left-right angle and the pitching angle, and can better perform omnibearing detection on the inner wall of a pipeline;
secondly, the steering wheel and the driving wheel can be fully contacted with the pipeline by changing the mounting height of the steering wheel and the mounting angle of the driving wheel, so that the slipping phenomenon in the moving process is avoided, and meanwhile, the pipeline detection robot can be suitable for detecting pipelines with different diameters, so that the application range of the pipeline detection robot is expanded;
and thirdly, the installed longitudinal distance sensor and the installed transverse distance sensor can sense the position of the robot relative to the inner wall of the pipeline, so that automatic turning and azimuth adjustment are realized.
Drawings
FIG. 1 is a schematic view of the overall structure of the pipeline inspection robot of the present invention;
FIG. 2 is a left side view of FIG. 1;
FIG. 3 is a top view of FIG. 1 (camera omitted);
FIG. 4 is a schematic structural view of a moving assembly;
FIG. 5 is a right side view of FIG. 4;
FIG. 6 is a schematic view of a first support platform configuration;
FIG. 7 is a top view of FIG. 6;
FIG. 8 is a schematic view of the placement of the moving assembly within a small conduit;
FIG. 9 is a schematic view of the placement of the moving assembly within a large pipe;
FIG. 10 is a schematic structural view of the lift assembly;
FIG. 11 is a left side view of FIG. 10;
FIG. 12 is a schematic view of the structure of the horizontal rotary assembly;
FIG. 13 is a schematic structural view of a pitch assembly;
FIG. 14 is a view A-A of FIG. 13;
FIG. 15 is a top view of FIG. 13;
wherein: 1. the device comprises a steering wheel, 2, a first supporting platform, 3, a first supporting arm, 4, a lifting steering engine, 5, a second supporting arm, 6, a second supporting platform, 7, a longitudinal distance measuring sensor, 8, a rotary bearing, 9, a rotary platform, 10, a second rotary steering engine, 11, a camera, 12, a large belt wheel, 13, a synchronous belt, 14, a transverse distance measuring sensor, 15, a first rotary steering engine, 16, a small belt wheel, 17, a wheel frame, 18, a driving wheel, 19, a pitching seat, 20, a pitching platform, 21, a mounting plate, 22, a wheel driving mechanism and 23, a pipeline.
Detailed Description
Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 3, a pipe inspecting robot includes: the device comprises a moving assembly, a lifting assembly, a horizontal rotating assembly, a pitching assembly, a longitudinal distance measuring sensor, a transverse distance measuring sensor and a camera.
This pipeline inspection robot can remove in the pipeline, shoots the image in the pipeline, and the robot can turn automatically when the pipeline removes, shoots the in-process at the pipeline image, can adjust the height of camera, control angle and every single move angle.
As shown in fig. 4 to 5, the moving assembly includes a steering wheel 1, a first support platform 2, a wheel carrier 17, a driving wheel 18, and a wheel driving mechanism 22. The moving component is responsible for the movement of the robot in the pipeline.
As shown in fig. 6 and 7, 4 mounting bosses are mounted on the upper surface of the first supporting platform 2 for mounting the first supporting arm 3 of the lifting assembly, a threaded hole is processed at the middle position of the front section of the first supporting platform 2 for mounting the steering wheel 1, and two horizontal mounting rods are processed at the tail end of the first supporting platform 2 for mounting the wheel carrier 17.
As shown in fig. 4 to 7, the steering wheel 1 is mounted on the first supporting platform 2 through a screw mechanism, the wheel frame 17 is mounted on a horizontal mounting rod at the rear end of the platform 2, and the wheel frame 17 is pressed on the first supporting platform 2 through a nut (not shown in the figures), so as to ensure that the wheel frame 17 cannot rotate around the horizontal mounting rod at the rear end of the first supporting platform 2.
The wheel drive mechanism 22 is mounted on the wheel carrier 17, the driving wheel 18 is mounted on the shaft of the wheel drive mechanism 22, and the driving wheel 18 is located between the U-shaped grooves of the wheel carrier 17.
The pipeline detection robot is provided with a steering wheel 1 and two driving wheels 18, and when the rotating speeds of the two driving wheels 18 are the same, the pipeline detection robot moves linearly; when the rotating speed of the left driving wheel is higher than that of the right driving wheel, the pipeline detection robot turns to the right; when the rotating speed of the right driving wheel is higher than that of the left driving wheel, the pipeline detection robot turns left.
As shown in fig. 8 and 9, for pipelines 23 with different diameters, by adjusting the installation angle of the wheel frame 17 relative to the first support platform 2 and the installation height of the steering wheel 1 relative to the first support platform 2, the steering wheel 1 and the driving wheel 18 can be fully contacted with the pipeline, so that the slipping phenomenon in the moving process is avoided, and meanwhile, the pipeline detection robot can be suitable for detecting pipelines with different diameters, so that the application range of the pipeline detection robot is expanded.
As shown in fig. 10 to 11, the lifting assembly includes a first support arm 3, a lifting steering gear 4, a second support arm 5, and a second support platform 6. One end of the lifting steering engine 4 is fixed at the lower end of the second supporting arm 5, and the other end of the lifting steering engine is fixed at the upper end of the first supporting arm 3, so that a powered hinge connection is formed between the first supporting arm 3 and the second supporting arm 5. The lower extreme of first support arm 3 passes through hinged joint with the first supporting platform that removes the subassembly, and the upper end of second support arm 5 is connected with second supporting platform 6 through the hinge. The swing of the lifting steering engine 4 enables the first supporting arm 3 and the second supporting arm 5 to rotate relatively, so that the second supporting platform is driven to move up and down, and lifting is achieved.
As shown in fig. 12, the horizontal rotation assembly includes a slewing bearing 8, a rotation platform 9, a large pulley 12, a synchronous belt 13, a rotation steering engine 15 and a small pulley 16. Rotatory steering wheel 15 install and lean on back intermediate position in the top of second supporting platform 6 of lifting unit, rotatory steering wheel 15 output shaft passes second supporting platform 6 and is connected with little band pulley 16 cooperation, gyration is supported 8 and is installed and lean on preceding intermediate position in the top of second supporting platform 6, and rotary platform 9 is installed on gyration is supported 8, and rotary platform 9's intermediate position has a vertical axis, and the vertical axis passes second supporting platform 6, installs big band pulley 12 on rotary platform 9's the vertical axis, installs hold-in range 16 between big band pulley 12 and the little band pulley 16. The rotary steering engine 15 rotates to drive the small belt wheel 13 to rotate, so that the large belt wheel 9 is driven to rotate, and the rotary table 9 rotates.
As shown in fig. 13 to 15, the pitch assembly includes a second rotary steering engine 10, a pitch seat 19, a pitch platform 20, and a mounting plate 21. Second rotary steering wheel 10 pass through mounting panel 21 and install on horizontal rotation subassembly's rotary platform 9, pitch seat 19 installation rotary platform 9 on, pitch platform 20's semicircle orifice transition fit, pitch platform 20 semicircle orifice can rotate in pitch seat 19's semicircle orifice, pitch platform 20's central point puts and is processed the semicircle orifice, the axle of second rotary steering wheel 10 and the semicircle orifice interference fit of pitch platform 20's central point position, the swing of second rotary steering wheel 10 just drives pitch platform 20's swing like this.
The camera 11 is fixedly mounted on the upper surface of the tilt platform 20.
As shown in fig. 3, a longitudinal distance measuring sensor 7 is installed at the middle position of the front end of the second supporting platform 6, a transverse distance measuring sensor 14 is installed at each of the two sides of the middle of the second supporting platform 6, the longitudinal distance measuring sensors 7 are used for measuring the distance from the robot to the front pipe wall to judge whether the robot moves to the turning position of the pipeline, and the transverse distance measuring sensors 14 are used for measuring the distance from the robot to the left and right side walls of the pipeline to judge whether the robot is in the middle position of the pipeline.
A pipeline detection method based on the pipeline detection robot specifically comprises the following steps:
aiming at pipelines with different diameters, the steering wheel and the two driving wheels are in full contact with the pipelines by adjusting the installation angle of the wheel frame relative to the first supporting platform and the installation height of the steering wheel relative to the first supporting platform;
horizontal range finding sensor is used for measuring the first distance of robot apart from the pipeline left and right sides wall to give the control unit with first distance signal transmission, be equipped with first threshold value in the control unit in advance, carry out the comparison with first distance and first threshold value and judge whether the robot is in the intermediate position of pipeline, if judge that the robot is in the intermediate position of pipeline, then the linear motion of control unit control robot, specifically be: the control unit controls the wheel driving mechanism to drive the two driving wheels to rotate at the same rotating speed, and the pipeline detection robot moves linearly;
the longitudinal distance measuring sensor is used for measuring a second distance between the robot and the front pipe wall, sending a second distance signal to the control unit, the control unit is internally provided with a second threshold value in advance, the second distance is compared with the second threshold value to judge whether the robot moves to a pipe turning part, and when the robot is judged to be in the pipe turning part, the control unit controls the wheel driving mechanism to make a corresponding turn, specifically: when the rotating speed of the left driving wheel is higher than that of the right driving wheel, the pipeline detection robot turns to the right; when the rotating speed of the right driving wheel is higher than that of the left driving wheel, the pipeline detection robot turns left.
Claims (8)
1. A pipeline detection robot comprises a moving assembly, a lifting assembly, a horizontal rotating assembly, a pitching assembly, a camera, a distance measuring unit and a control unit; wherein,
the moving assembly is arranged at the lower part of the robot and used for moving in the pipeline;
the horizontal rotating assembly is arranged above the moving assembly and is connected with the moving assembly through the lifting assembly;
the horizontal rotating assembly is connected with the pitching assembly, and a camera is fixed on the pitching assembly;
the moving assembly, the lifting assembly, the horizontal rotating assembly, the pitching assembly and the camera are in control connection with the control unit;
characterized in that said moving assembly comprises: the device comprises a first supporting platform, a steering wheel and a driving wheel assembly with adjustable supporting angle, wherein one end of the first supporting platform is fixedly connected with the steering wheel, and the other end of the first supporting platform is connected with the driving wheel assembly with adjustable supporting angle;
the support angularly adjustable drive wheel assembly includes: two screw rods fixed at the end part of the first supporting platform;
the wheel frame is connected with a wheel body and a wheel driving mechanism, and the wheel frame is rotatably sleeved on the screw and is mutually fixed with the first supporting platform through a nut;
the distance measuring unit is arranged on the body of the robot and is in signal connection with the control unit so as to judge whether the robot moves to a pipeline turning position and is in the middle position of the pipeline.
2. The pipe inspection robot of claim 1, wherein the lift assembly comprises: the lifting steering engine comprises a first supporting arm, a second supporting arm and a lifting steering engine, wherein one end of the lifting steering engine is fixed at the lower end of the first supporting arm, the other end of the lifting steering engine is fixed at the upper end of the second supporting arm, the lower end of the first supporting arm is connected with the moving assembly through a hinge, and the upper end of the second supporting arm is connected with the horizontal rotating assembly through a hinge.
3. The pipe inspection robot of claim 1, wherein the horizontal rotation assembly comprises: the rotary device comprises a second supporting platform, a slewing bearing, a rotary platform and a first rotary steering engine; the first rotary steering engine is installed on the second supporting platform and connected with the rotary platform through a transmission mechanism, the rotary platform is installed on the rotary support, and the rotary support is installed on the second supporting platform.
4. The pipeline inspection robot of claim 1, wherein the pitching assembly comprises a second rotary steering engine, a pitching seat, a pitching platform and a mounting plate, wherein the pitching seat is mounted on the rotary platform and provided with an arc-shaped concave surface, the bottom of the pitching platform is provided with an arc-shaped convex surface matched with the arc-shaped concave surface, a shaft hole is formed in the pitching platform, the second rotary steering engine is mounted on the rotary platform through the mounting plate, and an output shaft of the second rotary steering engine is matched and connected with the shaft hole in the pitching platform.
5. The pipeline inspection robot according to claim 3, wherein the ranging unit comprises a longitudinal ranging sensor installed at a middle position of the front end of the second supporting platform and two transverse ranging sensors symmetrically installed at two side positions of the second supporting platform, and the longitudinal ranging sensor and the transverse ranging sensors are in signal connection with the control unit.
6. The pipe inspection robot of claim 3, wherein the transmission mechanism comprises: the output shaft of the first rotary steering engine passes through the second supporting platform and then is connected with the small belt pulley, the synchronous belt is arranged between the small belt pulley and the large belt pulley, a vertical shaft is arranged on the rotary platform and passes through the second supporting platform and then is connected with the large belt pulley.
7. The pipeline inspection robot of claim 1, wherein 4 mounting bosses are mounted on the upper surface of the first support platform for mounting a first support arm of the lifting assembly, and a threaded hole is machined in the middle of the front section of the second support platform for mounting a steering wheel; and two screws are processed at the tail end of the first supporting platform.
8. The pipeline inspection method based on the pipeline inspection robot of claim 1, wherein the steering wheel and the two driving wheels are in full contact with the pipeline by adjusting the installation angle of the wheel frame relative to the first supporting platform and the installation height of the steering wheel relative to the first supporting platform for pipelines with different diameters;
horizontal range finding sensor is used for measuring the first distance of robot apart from the pipeline left and right sides wall to give the control unit with first distance signal transmission, be equipped with first threshold value in the control unit in advance, carry out the comparison with first distance and first threshold value and judge whether the robot is in the intermediate position of pipeline, if judge that the robot is in the intermediate position of pipeline, then the linear motion of control unit control robot, specifically be: the control unit controls the wheel driving mechanism to drive the two driving wheels to rotate at the same rotating speed, and the pipeline detection robot moves linearly;
the longitudinal distance measuring sensor is used for measuring a second distance between the robot and the front pipe wall, sending a second distance signal to the control unit, the control unit is internally provided with a second threshold value in advance, the second distance is compared with the second threshold value to judge whether the robot moves to a pipe turning part, and when the robot is judged to be in the pipe turning part, the control unit controls the wheel driving mechanism to make a corresponding turn, specifically: when the rotating speed of the left driving wheel is higher than that of the right driving wheel, the pipeline detection robot turns to the right; when the rotating speed of the right driving wheel is higher than that of the left driving wheel, the pipeline detection robot turns left.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710440966.0A CN107218474B (en) | 2017-06-13 | 2017-06-13 | A kind of pipeline inspection robot and its inspection method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710440966.0A CN107218474B (en) | 2017-06-13 | 2017-06-13 | A kind of pipeline inspection robot and its inspection method |
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| CN107218474A true CN107218474A (en) | 2017-09-29 |
| CN107218474B CN107218474B (en) | 2019-04-23 |
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| CN113531285A (en) * | 2021-06-09 | 2021-10-22 | 宁波江北宏安市政设施养护有限公司 | Pipeline detection device and detection method thereof |
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| CN115684205A (en) * | 2022-11-09 | 2023-02-03 | 中车青岛四方机车车辆股份有限公司 | An intelligent detection device for the state of the inner wall of a profile |
| WO2023035377A1 (en) * | 2021-09-09 | 2023-03-16 | 南京蹑波物联网科技有限公司 | Pipeline evaluation robot having diameter measurement function, and evaluation method therefor |
| CN116428908A (en) * | 2023-04-10 | 2023-07-14 | 河北科技大学 | Large pipe hole inner bore automatic wiping device |
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