CN107817319A - It is a kind of to be used for urban road and the Non-Destructive Testing robot system of pipe engineering underground defect - Google Patents
It is a kind of to be used for urban road and the Non-Destructive Testing robot system of pipe engineering underground defect Download PDFInfo
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- CN107817319A CN107817319A CN201711373227.0A CN201711373227A CN107817319A CN 107817319 A CN107817319 A CN 107817319A CN 201711373227 A CN201711373227 A CN 201711373227A CN 107817319 A CN107817319 A CN 107817319A
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- 230000007547 defect Effects 0.000 title claims abstract description 24
- 238000009659 non-destructive testing Methods 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 49
- 238000001514 detection method Methods 0.000 claims abstract description 39
- 238000007689 inspection Methods 0.000 claims abstract description 22
- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 238000012360 testing method Methods 0.000 claims abstract description 9
- 238000004891 communication Methods 0.000 claims description 14
- 238000012544 monitoring process Methods 0.000 claims description 13
- 238000012545 processing Methods 0.000 claims description 12
- 238000005183 dynamical system Methods 0.000 claims description 9
- 230000007613 environmental effect Effects 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 239000000725 suspension Substances 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
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- 230000004927 fusion Effects 0.000 abstract description 5
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- 229910000831 Steel Inorganic materials 0.000 description 1
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- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/12—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with electromagnetic waves
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
- G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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Abstract
The invention discloses a kind of for urban road and the Non-Destructive Testing robot system of pipe engineering underground defect, including mobile platform, detecting system, operating mechanism and intelligence control system；Operating mechanism mechanically connects with mobile platform, detecting system, operating mechanism, intelligence control system is respectively mounted on a mobile platform, the intelligence control system is electrically connected with detecting system, operating mechanism respectively, mobile platform is used to support whole robot system, and power is provided for whole robot system while driving robot system mass motion.The present invention detects the fusion of data by pipeline inspection gage and GPR, determine various defects inside road, efficient, accurately autonomous Non-Destructive Testing can be carried out, the robot system reliable operation, instead of the intensive work by artificial detection and the inaccuracy of testing result completely.
Description
Technical field
It is specifically a kind of for urban road and the nothing of pipe engineering underground defect the present invention relates to a kind of detecting system
Damage detection robot system.
Background technology
The pipeline inspection gage for being currently used in Road Detection is mainly that nonmetallic can hardly the defects of detecting metallic conduit
Detection, but investigation depth is deep；And GPR mainly detects the defects of road surface inside and various defect of pipeline, but
It is that investigation depth is more shallow than pipeline inspection gage；And the said equipment mostly uses manually-operated mode, to the experience of staff
It is required that it is very high, and the degree of accuracy detected, than relatively low, detection efficiency is low；Pipeline inspection gage and detection radar are all each independent
Manual work, shortage one kind can be integrated into can realize intelligentized Non-Destructive Testing robot system together.
The content of the invention
To overcome problem above existing for prior art, the invention provides one kind to be used for urban road with pipe engineering
The Non-Destructive Testing robot system of lower defect, not only detection efficiency is high for the system, and the degree of accuracy of testing result is high, and reduces
The labor intensity of staff, can effective guarantee staff personal safety.
The present invention is realized by following technical scheme：
It is a kind of to be used for urban road and the Non-Destructive Testing robot system of pipe engineering underground defect, including mobile platform, detection
System, operating mechanism and intelligence control system；Operating mechanism mechanically connects with mobile platform, detecting system, operating mechanism, intelligence
Control system is respectively mounted on a mobile platform, and the intelligence control system is electric with detecting system, operating mechanism, mobile platform respectively
Gas connects；The detecting system includes pipeline inspection gage and detection radar, and the pipeline inspection gage and detection radar pass through respectively
Operating mechanism is connected with mobile platform, and the pipeline inspection gage and detection radar are electrically connected with intelligence control system respectively；Move
Moving platform is used to support whole robot system, is provided while driving robot system mass motion for whole robot system
Power.
Further, the mobile platform includes dynamical system, control system and battery module；The control system is used for
Receive control signal, control dynamical system operating；The battery module provides power for detection robot system.
Further, the dynamical system includes train, motor, driver, reductor and suspension；Train passes through outstanding
Extension system is connected with mobile platform, and motor, driver and reductor are connected with train, and control system passes through driver control electricity
Machine operates, so as to realize the motion of control train.
Further, the mobile platform is the omni-directional moving platform based on McCrum wheel, based on rubber tyre
Rear-guard mobile platform, the mobile platform of four main wheel type of drive, two main wheels drive and mobile platform, the double masters of two driven wheel modes
Wheel is any with the mobile platform of the Two-wheeled mode of four auxiliary wheels.
Further, the operating mechanism is hoisting mechanism, and the pipeline inspection gage and detection radar pass through lifting respectively
Mechanism is connected with mobile platform.
Further, the operating mechanism is hoisting mechanism and attachment structure, and the pipeline inspection gage passes through hoisting mechanism
It is connected with mobile platform, the detection radar is connected by rigidity or flexible connecting structure with mobile platform, and mobile platform provides
Power pulls GPR work.
Further, the hoisting mechanism includes motor, decelerator, driver, frame, shaft coupling, ball-screw, leading screw
Nut, guide pillar nut and linear guide poles；Intelligence control system controls the driver of hoisting mechanism, driver control motor, subtracts
The operating of fast device, motor, decelerator and ball-screw are connected by shaft coupling, the operating of motor driven ball-screw, ball-screw with
The feed screw nut occlusion transmission being fixed in frame, so as to drive whole frame to be lifted or decline；Linear guide poles are by being fixed on
Guide pillar nut in frame, it is oriented to for whole gantry motion.
Further, the intelligence control system includes positioning navigation module, obstacle avoidance module, kernel control module, environment
Monitoring module, remote communication module, data processing module；The data processing module is arranged in kernel control module, remaining
Each module is respectively mounted on a mobile platform, the positioning navigation module, obstacle avoidance module, environmental monitoring module, remote communication module
It is electrically connected respectively with kernel control module.
Further, in addition to remote control device, remote control device send control signal, control to intelligence control system
The movement of robot system processed and working condition, and distant surveillance testing result.
Compared with prior art, beneficial effects of the present invention are as follows：
The present invention is used to inside autonomous Non-Destructive Testing road coming to nothing, cavity, the position of loosening body disease and beneath pipeline, cable etc.
Put, move towards, the defects of depth and the position of steel pipeline anti-corrision layer breaking point and size etc. threaten urban safety, being examined by pipeline
The fusion of instrument and GPR detection data is surveyed, determines various defects inside road, can be carried out efficient, accurately autonomous lossless
Detection, the robot system reliable operation, it instead of completely by the intensive work of artificial detection and being forbidden for testing result
True property.
Simple and reliable for structure the invention provides a kind of hoisting mechanism and attachment structure, control is simple flexible, with autonomous type
Mobile platform is used cooperatively, and drastically increases operating efficiency.
Brief description of the drawings
Fig. 1 is the mobile platform bottom schematic view of the present invention.
Fig. 2 is the mobile platform schematic diagram of the invention based on Mecanum wheel.
Fig. 3 is the rear-guard mobile platform schematic diagram of the invention based on rubber tyre.
Fig. 4 is the mobile platform schematic diagram of the invention based on double main wheels, the Two-wheeled mode of four auxiliary wheels.
Fig. 5 is the mobile platform schematic diagram of the invention based on four main wheel type of drive.
Fig. 6 is driven for the present invention based on two main wheels, the mobile platform schematic diagram of two driven wheel modes.
Fig. 7 is a kind of schematic diagram of embodiment of the present invention.
Fig. 8 is the schematic diagram of another embodiment of the present invention.
Fig. 9 is a kind of structural representation of hoisting mechanism of the present invention.
Figure 10 is the intelligence control system logic composition and connection block diagram of the present invention.
Figure 11 is the remote control device structural representation of the present invention.
Embodiment
The present invention is further illustrated below in conjunction with the drawings and specific embodiments.
A kind of Non-Destructive Testing robot system for being used for urban road and pipe engineering underground defect, including mobile platform,
Detecting system, operating mechanism and intelligence control system；Operating mechanism mechanically connects with mobile platform, detecting system, operating mechanism,
Intelligence control system is respectively mounted on a mobile platform, and the intelligence control system electrically connects with detecting system, operating mechanism respectively
Connect, mobile platform is used to support whole robot system, is whole system of robot while driving robot system mass motion
System provides power.Whole detection robot system is also equipped with remote control device, robot system by remote communication module with
Remote control device communicates, and facilitates motion of the operating personnel from distant surveillance testing result and control machine people's system.
As shown in figure 1, mobile platform is the body support of robot system, band mobile robot mass motion is simultaneously whole
Robot system provides power.Mobile platform is made up of dynamical system, control system and battery module, and control system receives intelligence
The control signal of control system, control dynamical system operating；Battery module is that robot integrally provides power.The dynamical system
By train, motor, driver, reductor and suspension composition.Train is connected by suspension with mobile platform body, electricity
Machine, driver and reductor are connected with train, and control system is operated by driver control motor, so as to realize control train
Motion.
Mobile platform provides five kinds of schemes in this patent, but is not limited to this following five kinds of modes：
As shown in Fig. 2 using the omni-directional moving platform based on McCrum wheel, using this kind of chassis, translational speed is not more than
5km/h, climbing capacity can realize 5 °, can be with all-around mobile, flexibly, steadily.
As shown in figure 3, using the rear-guard mobile platform based on rubber tyre, this kind of chassis, translational speed 20- are used
30km/h, climbing capacity can realize 20 °, and the speed of service is fast, efficiency high.
As shown in figure 4, using double main wheels, the mobile chassis of the Two-wheeled mode of four auxiliary wheels, using this kind of chassis, four
Steamboat independent suspension, steady is aided in, bearing capacity is strong.
As shown in figure 5, with the mobile platform of four main wheel type of drive, four-wheel can realize driving respectively and turn to, operating
Flexibly, it is suitable for the detection of Different Ground.
As shown in fig. 6, being driven using two main wheels, the mobile platform of two driven wheel modes, two front-wheels are driving wheel, can be distinguished
Realize driving and turn to, two trailing wheels are driven pulley.
As shown in Fig. 7, Fig. 8, Fig. 9, the detecting system includes pipeline inspection gage and detection radar, detects robot system
By the detection data fusion to pipeline inspection gage and GPR, the information of various defects inside road can be accurately provided,
Such as defect kind, position, depth and size information.
Pipeline inspection gage and GPR are connected by operating mechanism with mobile platform respectively, and electric with intelligence control system
Gas connects, and intelligence control system sends instruction control operation mechanism detecting system and reaches operating position, then again by control system
Issue instructions to detecting system and do detection work, and pass gathered data back in real time and data processing is carried out into intelligence control system；
Operating personnel can also be by remote control device distant surveillance testing result, and by remotely leading to intelligence control system
Letter, so as to control operation mechanism kinematic, the working condition of detecting system.
Pipeline inspection gage is connected to mobile platform front end by hoisting mechanism, and hoisting mechanism places pipeline inspection during working condition
Survey instrument to start to detect to ground, hoisting mechanism lifts deposit position of the pipeline inspection gage to mobile platform during off working state.
The operating mechanism that GPR is connected with mobile platform, this patent provide two schemes, but be not limited to it is following this two
Kind mode, connection scheme can be determined according to actual use operating mode：
1. use intergration model, GPR is connected to mobile platform rear end by hoisting mechanism, hoisting mechanism during working condition
Place GPR to start to detect to ground, hoisting mechanism lifts storage of the GPR to mobile platform during off working state
Position.
2. using dragging pattern, GPR is connected to mobile platform posterior end by attachment structure, can be as needed
Using rigidity or flexible connection, mobile platform provides the work of power traction GPR.
Intelligence control system controls the driver of hoisting mechanism by industrial computer, and driver control motor reducer operates,
Motor reducer is connected with ball-screw by shaft coupling, and the operating of motor driven ball-screw, ball-screw is with being fixed on frame
On feed screw nut occlusion transmission, so as to drive whole frame to be lifted or decline；Linear guide poles are by being fixed on leading in frame
Post nut, it is oriented to for whole gantry motion.
Shown in Figure 10, intelligence control system includes positioning navigation module, obstacle avoidance module, kernel control module, environmental monitoring
Module, remote communication module, data processing module etc..Data processing module is arranged on kernel control module, remaining each module
Be separately mounted on mobile platform, positioning navigation module, obstacle avoidance module, environmental monitoring module, remote communication module respectively with core
Heart control module is electrically connected.
Positioning navigation module is including but not limited to monitoring camera, odometer, gyroscope, GPS geo-location system.Odometer
For recording relative displacement, and gyroscope, GPS realize outdoor high precision position and gesture stability together, are kernel control module
Carry out path planning and condition is provided.Monitoring camera is arranged on four orientation of mobile platform, for observing surrounding environment, phase during work
Each sensor information that the video image information and kernel control module of machine shooting are collected is sent to by remote communication module
Remote control device is shown.
Obstacle avoidance module is made up of two single-line type laser radars, is separately mounted to the front and rear oblique angle orientation of robot, is realized
All standing scanning to robot surrounding environment, object of the obstacle avoidance module detection higher than 50cm, such as runs into barrier, robot meeting
Stop and pathfinding bypasses.
Pipeline inspection gage and the data of GPR collection pass intelligence control system back, and data processing module is carried out at data
Reason, the data after processing can then be read by remote control device.
Kernel control module is mainly made up of one or more industrial computer.Kernel control module is by operating in industrial computer
Control software, obtain positioning navigation module data, carry out path planning and decision-making；Issue a command to the control system of mobile platform
System, control mobile platform motion；During work, moved by the driver control hoisting mechanism of hoisting mechanism；Control detecting system
Detection work simultaneously stores detection data into industrial computer hard disk；Control data processing module is to detection data processing fusion；Pass through
Remote communication module will detect data and data result is sent to remote control device；Constantly handle the module scans letter that keeps in obscurity
Breath, control machine people mobile platform stops if finding obstacle, and calculates path cut-through simultaneously.
Meanwhile operating personnel's also operable remote control device, give kernel control module to send by remote communication module
Control instruction.
Remote control device can send instruction control meter robot system directly to robot system and perform action, may be used also
Line number biography is entered with the remote communication module with intelligence control system and figure is passed and communicated, obtains working condition, the mistake letter of robot
The video of breath, detection data and the shooting of multiple cameras.
Remote control device this patent provides two schemes, but is not limited to both following modes：
1st, haulage vehicle and monitoring system composition, monitoring system are built in haulage vehicle.
2nd, portable remote control terminal as shown in Figure 10, is made up of, man-machine interaction human-computer interaction module and display module
Module includes multiple three axles industry handles, button, knob, indicator lamp, and operating personnel can be by human-computer interaction module to machine
People's system sends instruction control meter robot system and performs action, can also pass through remote communication module and portable remote control
Hold and passed into line number and scheme to pass communication, obtain regarding for the working condition of robot, error message, detection data and the shooting of multiple cameras
Frequently；Display module is made up of an industrial display, can show the detailed operation state of each module of testing result and robot.
Invention additionally discloses invention additionally discloses a kind of autonomous road Non-Destructive Testing flow of robot system：
S1：Operating personnel are moved near workspace by remote control device, remote-controlled robot, and positioning navigation module obtains
GPS absolute positions simultaneously position on the map at control software interface；
S2：Operating personnel gather three points using remote control device（Origin, x, y）Establish coordinate system, the core of robot system
Heart control module marks off rectangular area, " bow " font is then set in rectangular active regions domain according to the coordinate system of foundation
Operating path simultaneously finds a series of key points, realizes that robot realizes the shifting of point-to-point using velocity feed forward binding site feedback
It is dynamic, so as to realize the autonomous path planning of robot；
S3：Robot is switched to by remote control device by automatic control mode, the automatic row of robot to coordinate origin, intelligence
Energy control system control hoisting mechanism falls, and pipeline inspection gage and GPR is in detection height, starts along path planning
Detection, while monitoring camera collection road conditions environmental information；
S4：Pipeline inspection gage and the data storage of GPR detection are on the industrial computer hard disk of robot system, data processing
Module carries out analysis fusion to gathered data, while is regarded by remote communication module by what detection data and monitoring camera gathered
Frequency information and data results pass back to remote control device, in order to operating personnel's distant surveillance testing result, divide
Analyse result and robot system environmental monitoring；Operating personnel can also switch to robot manually by remote control device
Control model, carry out the motion of real-time control operation mechanism, mobile platform；
S5：If robot obstacle-avoiding module finds barrier, robot stops and attempts to bypass, and as obstacle can not bypass, can use
Robot system is switched to MANUAL CONTROL mode by remote control device, after operating personnel's remote manual control cut-through, machine
People continues to detect along path planning.
S6：After the completion of the detection of working region, robot is automatically stopped, and robot is switched to manually with remote control device
Control model, it is moved to next detection zone and continues to detect.
The description of understanding for embodiment is only to understand the present invention for help, rather than for limiting this hair
Bright.Those skilled in the art can carry out some changes and change using the thought of the present invention, as long as its technological means does not have
There are the thought and main points for departing from the present invention, still within protection scope of the present invention.
Claims (9)
- It is 1. a kind of for urban road and the Non-Destructive Testing robot system of pipe engineering underground defect, it is characterised in that：Including Mobile platform, detecting system, operating mechanism and intelligence control system；Operating mechanism mechanically connects with mobile platform, detecting system, Operating mechanism, intelligence control system are respectively mounted on a mobile platform, the intelligence control system respectively with detecting system, operation machine Structure, mobile platform electrical connection；The detecting system includes pipeline inspection gage and detection radar, the pipeline inspection gage and detection Radar is connected by operating mechanism with mobile platform respectively, and the pipeline inspection gage and detection radar are respectively and intelligence control system Electrical connection；Mobile platform is used to support whole robot system, is whole machine while driving robot system mass motion Device people system provides power.
- It is 2. according to claim 1 a kind of for urban road and the system of Non-Destructive Testing robot of pipe engineering underground defect System, it is characterised in that：The mobile platform includes dynamical system, control system and battery module；The control system is used to connect Receive control signal, control dynamical system operating；The battery module provides power for detection robot system.
- It is 3. according to claim 2 a kind of for urban road and the system of Non-Destructive Testing robot of pipe engineering underground defect System, it is characterised in that the dynamical system includes train, motor, driver, reductor and suspension；Train is by hanging system System is connected with mobile platform, and motor, driver and reductor are connected with train, and control system is transported by driver control motor Turn, so as to realize the motion of control train.
- It is 4. according to claim 1 a kind of for urban road and the system of Non-Destructive Testing robot of pipe engineering underground defect System, it is characterised in that：The mobile platform is the omni-directional moving platform based on McCrum wheel, the rear-guard based on rubber tyre Mobile platform, the mobile platform of four main wheel type of drive, the driving of two main wheels and the mobile platforms of two driven wheel modes, double main wheels and The mobile platform of the Two-wheeled mode of four auxiliary wheels it is any.
- It is 5. according to claim 1 a kind of for urban road and the system of Non-Destructive Testing robot of pipe engineering underground defect System, it is characterised in that：The operating mechanism is hoisting mechanism.
- It is 6. according to claim 1 a kind of for urban road and the system of Non-Destructive Testing robot of pipe engineering underground defect System, it is characterised in that：The operating mechanism is hoisting mechanism and attachment structure, and the pipeline inspection gage is by hoisting mechanism with moving Moving platform connects；The detection radar is connected by rigidity or flexible connecting structure with mobile platform, and mobile platform provides power Pull GPR work.
- 7. according to a kind of any described Non-Destructive Testing for urban road and pipe engineering underground defect of claim 5 or 6 Robot system, it is characterised in that：The hoisting mechanism includes motor, decelerator, driver, frame, shaft coupling, ball wire Thick stick, feed screw nut, guide pillar nut and linear guide poles；Intelligence control system controls the driver of hoisting mechanism, driver control Motor, decelerator operating, motor, decelerator and ball-screw are connected by shaft coupling, the operating of motor driven ball-screw, ball Leading screw is engaged transmission with the feed screw nut being fixed in frame, so as to drive whole frame to be lifted or decline；Linear guide poles pass through The guide pillar nut being fixed in frame, it is oriented to for whole gantry motion.
- It is 8. according to claim 1 a kind of for urban road and the system of Non-Destructive Testing robot of pipe engineering underground defect System, it is characterised in that：The intelligence control system includes positioning navigation module, obstacle avoidance module, kernel control module, environmental monitoring Module, remote communication module, data processing module；The data processing module is arranged in kernel control module, remaining each mould Block is respectively mounted on a mobile platform, the positioning navigation module, obstacle avoidance module, environmental monitoring module, remote communication module difference It is electrically connected with kernel control module.
- It is 9. according to claim 1 a kind of for urban road and the system of Non-Destructive Testing robot of pipe engineering underground defect System, it is characterised in that：Also include remote control device, remote control device sends control signal, control to intelligence control system The movement of robot system and working condition, and distant surveillance testing result.
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| CN201711373227.0A CN107817319A (en) | 2017-12-19 | 2017-12-19 | It is a kind of to be used for urban road and the Non-Destructive Testing robot system of pipe engineering underground defect |
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| CN201711373227.0A CN107817319A (en) | 2017-12-19 | 2017-12-19 | It is a kind of to be used for urban road and the Non-Destructive Testing robot system of pipe engineering underground defect |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108733053A (en) * | 2018-04-23 | 2018-11-02 | 上海圭目机器人有限公司 | A kind of Intelligent road detection method based on robot |
| CN108748178A (en) * | 2018-06-10 | 2018-11-06 | 上海钧工机器人有限公司 | A kind of clearance intelligent robot system |
| CN108803312A (en) * | 2018-04-19 | 2018-11-13 | 彭楷文 | A kind of new road damage detecting system |
| CN111122616A (en) * | 2019-12-25 | 2020-05-08 | 昆山市水利测绘有限公司 | Underground sewage pipeline defect detection system |
| CN112032569A (en) * | 2020-08-24 | 2020-12-04 | 绍兴晋元生态环保科技有限公司 | Pipeline detection and maintenance device |
| CN112179398A (en) * | 2019-07-02 | 2021-01-05 | 和旺昌喷雾股份有限公司 | Man-machine interface of measuring device |
| WO2021240787A1 (en) * | 2020-05-29 | 2021-12-02 | 日本電信電話株式会社 | Underground exploration device |
| CN114366356A (en) * | 2022-01-17 | 2022-04-19 | 北京理工大学 | Positioning precision evaluation device and method for autonomous dental implant robot |
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| CN108733053A (en) * | 2018-04-23 | 2018-11-02 | 上海圭目机器人有限公司 | A kind of Intelligent road detection method based on robot |
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| CN112179398A (en) * | 2019-07-02 | 2021-01-05 | 和旺昌喷雾股份有限公司 | Man-machine interface of measuring device |
| CN111122616A (en) * | 2019-12-25 | 2020-05-08 | 昆山市水利测绘有限公司 | Underground sewage pipeline defect detection system |
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| JP7311824B2 (en) | 2020-05-29 | 2023-07-20 | 日本電信電話株式会社 | Underground Exploration Device |
| CN112032569A (en) * | 2020-08-24 | 2020-12-04 | 绍兴晋元生态环保科技有限公司 | Pipeline detection and maintenance device |
| CN112032569B (en) * | 2020-08-24 | 2022-05-20 | 绍兴晋元生态环保科技有限公司 | Pipeline detection and maintenance device |
| CN114366356A (en) * | 2022-01-17 | 2022-04-19 | 北京理工大学 | Positioning precision evaluation device and method for autonomous dental implant robot |
| CN114366356B (en) * | 2022-01-17 | 2023-03-14 | 北京理工大学 | Positioning precision evaluation device and method for autonomous dental implant robot |
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