CN108132670A - Multifunctional inspecting robot and method of work based on distributed AC servo system - Google Patents
Multifunctional inspecting robot and method of work based on distributed AC servo system Download PDFInfo
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- CN108132670A CN108132670A CN201810091412.9A CN201810091412A CN108132670A CN 108132670 A CN108132670 A CN 108132670A CN 201810091412 A CN201810091412 A CN 201810091412A CN 108132670 A CN108132670 A CN 108132670A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Abstract
The present invention relates to robotic technology fields, more particularly to a kind of Multifunctional inspecting robot based on distributed AC servo system, including control module, cruise module, motion module, image capture module, gas detection module, soil sampling module, wireless communication transceiver module and host computer monitoring module；Control module uses MSP430G2553 microcontrollers, cruise module uses RX23T5F523T5ADFM microcontrollers, RX23T5F523T5ADFM microcontrollers are read by CMOS camera the image collected information in real time by SCCB communication modes, and location information is transferred to MSP430G2553 microcontrollers through serial communication mode.The present invention is using MSP430 processors as main control core, and using RX23T as supplementary controlled system, this distributed AC servo system reduces calculating error in data processing, increases data processing precision.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of Multifunctional inspecting robots based on distributed AC servo system
And method of work.
Background technology
Currently, the development of artificial intelligence technology has driven robot field, and intelligent inspection robot is outdoor indoors, power transformation
It stands, computer room or market have very big demand.
Existing crusing robot system is limited by hardware, software, and only there are one main control chip, main control chip work(
Consumption is big, and long-play processing can cause the robot speed of service to decline, and operational efficiency is lower, and finally influences entire robot
Work.
Invention content
It is an object of the invention to overcome the shortcomings of above-mentioned technology, and a kind of multi-functional based on distributed AC servo system is provided and is patrolled
Examine robot and method of work.
The present invention to achieve the above object, using following technical scheme：A kind of Multifunctional inspecting based on distributed AC servo system
Robot, it is characterised in that：Including control module, cruise module, motion module, image capture module, gas detection module, soil
Earth sampling module, wireless communication transceiver module and host computer monitoring module；The control module uses MSP430G2553 microcontrollers
As key control unit；
The cruise module uses RX23T5F523T5ADFM microcontrollers, and the RX23T5F523T5ADFM microcontrollers pass through
SCCB communication modes are read in real time by CMOS camera the image collected information, are handled through binary conversion treatment and fuzzy control
Afterwards, so as to obtain current location information, location information is transferred to the MSP430G2553 microcontrollers through serial communication mode,
The route planning information of crusing robot is obtained after being computed processing later；
The motion module uses crawler type motion structure and differential steering mode, and by the MSP430G2553 monolithics
Machine controls；
Described image acquisition module uses infrared high definition network head, acquires image information in real time and passes through wireless network
Send host computer monitoring module to；
The gas detection module due to detection pm2.5, ammonia, hydrogen sulfide, air pollution gas, the data such as smog, and
Send data information to the MSP430G2553 microcontrollers；
The soil sampling module is for acquiring soil information, including two steering engines and early scoop, by MSP430G2553
Microcontroller controls；
The wireless communication module includes ZigBee and WI FI, and wherein ZigBee is used for RX23T5F523T5ADFM monolithics
The transmission of data is transmitted between machine and host computer monitoring module, WI FI are used for RX23T5F523T5ADFM microcontrollers and host computer
The transmission of image between monitoring module；
The host computer monitoring module is monitored using PC machine.
Preferably, IR evading obstacle sensors are further included, for monitoring robot peripheral obstacle information, and are sent to
MSP430G2553 microcontrollers.
A kind of method of work of the Multifunctional inspecting machine based on distributed AC servo system, it is characterised in that：Include the following steps：
1) it by the CMOS camera and RX23T5F523T5ADFM microcontrollers of cruise module carrying, is adopted in real time using SCCB communications protocol
Collect image information, by the way of external interrupt, through binary conversion treatment and FUZZY ALGORITHMS FOR CONTROL, read CMOS camera in real time and catch
The track position information caught after being handled eventually by MSP430G2553 COMPREHENSIVE CALCULATINGs, obtains the path planning letter of crusing robot
Breath, and then worked, and corresponding pose adjustment is made according to path locus by PWM speed regulating controls motion module；
2) by gas detection module, the detection work of pm2.5, ammonia, hydrogen sulfide, air pollution gas, smog are realized,
Pm2.5, ammonia, hydrogen sulfide, air pollution gas data are acquired by A/D sample modes；It is acquired by SPI communication mode infrared
Smog alarm signal；The data most acquired at last are sent to MSP430G2553 microcontrollers；
3) by the IP Camera of image capture module, WI FI wireless communication technique real-time image acquisition videos are utilized
Information, and transmit information to host computer monitoring module；
4) soil collection is sent by host computer monitoring module to instruct, by wirelessly communicating transceiver module transmission,
MSP430G2553 microcontrollers respond, and are responsible for the steering engine successive relay trip of soil sampling, complete lifting, pitching, digging, one system of recycling
Row sampling action terminates sampling；
5) data are finally sent to host computer by ZigBee wireless modules by MSP430G2553 microcontrollers and monitor mould
Block realizes the acquisition of gas data and monitoring in real time judges and the real-time monitoring of live view.
Preferably, by host computer monitoring module, the one key switching between remote manual control and autonomous cruise function is realized；Cruise
The setting of parameter；Body movement offset adjusts；Holder picture acquires orientation adjustment；Smog alert；The functions such as obstacle alarm.
Preferably, the main cruise is included the following steps, using vision guided navigation mode first with CMOS high speed cameras
Real-time image acquisition, and image information is transferred to RX23T5F523T5ADFM microcontrollers by SCCB communication modes, it is receiving
After each frame image, whole image is 80*60 dot matrix, and the region of memory of 4800 bytes is handled later by image binaryzation,
I.e. each byte data and threshold values are compared, and are then white if greater than threshold values, are otherwise black, white uses " 1 " or " 0 "
It represents, finally by 600 byte storages in memory, and sends data to MSP430G2553 microcontrollers, obtaining 600
After the black-and-white image data of a byte, finally after data filtering, control algolithm processing, pwm pulse width is calculated, into
And direct current generator is controlled to export.
Preferably, the threshold value is voluntarily set by staff in host computer monitoring module.
The beneficial effects of the invention are as follows:The present invention is made using dual processor distributed control mode with MSP430 processors
For the main control core of the system, using RX23T as supplementary controlled system, this distributed AC servo system reduces meter in data processing
Error is calculated, increases data processing precision, simplifies data operation process, so as to reduce the burden of core processor, make control
System becomes more safe and stable；
2. 32 RX23T5F523T5ADFM processors have a variety of peripheral hardware communication interfaces, such as SC I, RSP I, RI I
C, UART etc..The largest optimization scheme with flexibility is provided in wake-up delay and power consumption, several battery saving modes.
3. the present invention can realize separate men from machines, remote operation enters complex environment operation, certain journey instead of staff
The injury coefficient to staff is reduced on degree.
4. robot motion's system and soil sampling module using PWM speed-regulating controling modes, make control more precisely with spirit
Living, speed adjusts more smooth, whole system reliable operation small by external interference.
5. using Zi gBee CC2500 radio transmitting and receiving chips, working frequency range is the I SM frequency ranges of 2.4GHz；It is one
Money low cost, low-power consumption, high performance radio transmitting and receiving chip.With good wireless receiving sensitivity and powerful anti-interference energy
Power.
6. host computer monitoring unit of the present invention uses the man-machine interface of Vi sua l Stud i o software development close friends, can
Realize real-time Transmission and the control of site environment data and image/video.
Description of the drawings
Fig. 1 is system hardware block diagram according to the present invention；
Fig. 2 is system initialization routine flow chart according to the present invention；
Fig. 3 samples subroutine flow chart for gas data according to the present invention；
Fig. 4 is autonomous cruise system flow block diagram according to the present invention；
Fig. 5 is design principle flow chart according to the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings and the preferred embodiment specific embodiment that the present invention will be described in detail.As shown in Figure 1, a kind of base
In the Multifunctional inspecting robot of distributed AC servo system, including：Power supply, level switch module 1, level switch module 2, level conversion
Module 3, level switch module 4, the first direct current generator, the second direct current generator, motor driving plate, robot control unit, gas
Detection unit, wireless communication transceiver module, IP Camera, router, IR evading obstacle sensors, CMOS camera, OLED are shown
Display screen and host computer composition.
Power output end connects the input terminal of level switch module 1,2 and DC24v terminal block input terminals respectively；Level turns
The input terminal of the output terminal connection DC5v terminal blocks of block 1 is changed the mold, the output terminal connection DC12v terminal blocks of level switch module 2
Input terminal, the output terminal of the input terminal connection DC5v terminal blocks of level switch module 3, the input terminal connection of level switch module 4
The output terminal of DC5v terminal blocks, the power input of the output terminal connection RX23T5F523T5ADFM control panels of level switch module 4
End；First direct current generator, the second direct current generator power input connection DC24v terminal blocks output terminal, the first direct current generator
Control signal connects out1, out2 output terminal of motor driving plate, the connection motor driving of the second DC MOTOR CONTROL input terminal
Out3, out4 output terminal of plate；Motor driving plate power input connects the output terminal of DC24v terminal blocks；Control control source
End connection DC5v terminal block output terminals；The signal input part I N1/I N2/I N3/I N4 of motor driving plate are connected respectively
The output terminal of the P2.1/P2.2/P2.4/P2.5 of MSP430G2553 microcontrollers；The power input of MSP430G2553 microcontrollers
Connect DC5v terminal block output terminals；The power input connection RX23T5F523T5ADFM circuits of second wireless communication transceiver module
The output terminal of plate；
First wireless communication transceiver module power input is connected to the output terminal of host computer USB interface；IP Camera
Power input connection DC12v terminal block output terminals, its data output end pass through cable connect router input terminal；Road
By the output terminal of the power input connection level switch module 3 of device；
PM2.5 sensors, hydrogen sulfide sensor, ammonia gas sensor, smog alarm sensor, the confession of combustible gas sensor
Piezoelectric voltage is DC5v, all access terminal block DC5v output terminals in parallel；
The output terminal connection MSP430G2553 single-chip microcomputer input mouths P1.0 of PM2.5 sensors；
The output terminal connection MSP430G2553 single-chip microcomputer input mouths P1.3 of ammonia gas sensor；
The output terminal connection MSP430G2553 single-chip microcomputer input mouths P1.4 of hydrogen sulfide sensor；
The output terminal connection MSP430G2553 single-chip microcomputer input mouths P1.5 of smog alarm sensor；
The output terminal connection MSP430G2553 single-chip microcomputer input mouths P1.7 of air pollution gas detection sensor；
The output terminal connection MSP430G2553 single-chip microcomputer input mouths P2.0 of IR evading obstacle sensors；
The power input parallel connection of CMOS camera, OLED display screen accesses the power supply of RX23T5F523T5ADFM circuit boards
Input terminal.
The P1.1/P1.2 ports of MSP430G2553 circuit boards are correspondingly connected with the 16/14 of RX23T5F523T5ADFM circuit boards
Port；The signal input part of the output terminal connection RX23T5F523T5ADFM circuit boards of CMOS camera；OLED display screen exports
The signal input part of end connection RX23T5F523T5ADFM circuit boards.
The power supply DC24v is provided for rechargeable lithium battery, and the level switch module 1 turns DC12v modules for DC24v,
Level switch module 2 turns DC5v modules for DC24v, and level switch module 3 turns DC9v modules for DC5v, and level switch module 4 is
DC5v turns 3.3v modules.
The MSP430G2553 microcontrollers are a kind of 16 super low-power consumptions of Texas Instruments (T I), have reduced instruction
Collect the mixed-signal processor of (RI SC)；RX23T5F523T5ADFM microcontrollers are the low of a kind of 32 of Rui Sa semiconductor companies
Power consumption, the high-performance processor with multiple communication interface.
The gas detection cell selects high-precision meteorological sensor, and PM2.5, vulcanization are acquired by A/D sample modes
Hydrogen, ammonia, air pollution gas data pass through switch acquisition IR evading obstacle sensors, infrared electro smoke sensor device data.
The data transmission of all acquisitions to MSP430G2553 microcontrollers, then by MSP430G2553 microcontrollers by TTL communication modes with
RX23T5F523T5ADFM microcontrollers connect, and transceiver module is sent to host computer by radio communication.
The soil sampling module is made of 2 steering engines, digging bucket, stents.Servos control uses PWM pulsewidth controls
Mode processed.Device power, soil sampling apptss set back, steering engine successive relay trip, complete lifting, pitching, digging, one system of recycling
Row sampling action terminates sampling.
The wireless communication transceiver module, is divided into the first radio receiving transmitting module and the second radio receiving transmitting module.First nothing
Line transceiver module is connected by USB interface with host computer, and the second wireless communication transceiver module passes through TTL communication modes and RX23T
Processor unit connects.IP Camera is connect by network interface with router, and acquiring CMOS camera by SCCB agreements captures
Information, OLED display screen connect by SP PCI interfaces with RX23T5F523T5ADFM microcontrollers, and RX23T5F523T5ADFM is mono-
Piece machine first sends the data to the second radio receiving transmitting module by asynchronous receiving-transmitting mouth UART1, between the first radio receiving transmitting module
The mutual transmission of data is realized by Radio Link, in host computer real-time display relevant parameter.
The method of work of Multifunctional inspecting robot based on distributed AC servo system includes the following steps in detail：
By gas detection module, it can be achieved that pm2.5, the detection work of ammonia, hydrogen sulfide, air pollution gas, smog,
It sampled by A/D, switch acquisition mode, SPI communication mode, the gas data of acquisition be sent to MSP430 processor lists
Member.
By CMOS camera and RX23T5F523T5ADFM microcontrollers, believed using SCCB communications protocol real-time image acquisition
Breath by the way of external interrupt, reads the track position information that CMOS camera captures in real time, through binary conversion treatment and obscures
Control algolithm obtains current location information, is handled eventually by MSP430G2553 microcontrollers COMPREHENSIVE CALCULATING, obtains inspection machine
The route planning information of people, and then by PWM speed regulating controls, corresponding pose adjustment is made according to path locus.
By IP Camera, using WI FI wireless communication technique real-time Transmission the image collected video informations, and
Host computer display window directly displays.
DC24v power supplys can provide power supply directly to 2 direct current generators and motor driving plate.Pass through the first level switch module
DC5v is exported, can be supplied directly to PM2.5, ammonia, hydrogen sulfide, the detection of air pollution gas, smog alarm, IR evading obstacle sensors
Electricity can give MSP430G2553 microcontrollers to provide power supply or third, the 4th level switch module offer input power.It is logical
Second electrical level modular converter output DC12v is crossed, can be powered to IP Camera.It is exported by third level switch module
DC9v can power to router.DC3.3v is exported by the 4th level switch module, is RX23T5F523T5ADFM microcontrollers
And CMOS camera, OLED display screen, wireless communication transceiver module 2 provide power supply.
Soil collection is sent by host computer to instruct, by wirelessly communicating transceiver module transmission, MSP430G2553 microcontrollers
Two steering engine successive relay trips of soil sampling are responsible in response, complete lifting, pitching, digging, a series of sampling actions of recycling, knot
Beam samples.
Data are sent to host computer monitoring unit by MSP430G2553 microcontrollers by ZigBee wireless modules, realize gas
The acquisition of volume data and in real time monitoring judge and the real-time monitoring of live view.
Finally by host computer monitoring unit, it can be achieved that one key switching between remote manual control and autonomous cruise function；Cruise
The setting of parameter；Body movement offset adjusts；Holder picture acquires orientation adjustment；Smog alert；The functions such as obstacle alarm.
The software of meteorological data collection described in above-mentioned steps is realized：
As shown in Fig. 2, system initialization routine is only performed in system electrification once, mainly to system status register
Setting, the setting of interrupt identification and permission, the setting of house dog, timer, external crystal-controlled oscillation, capturing unit initialization, OLED
Screen display initialization, CMOS camera initialization, infrared camera initialization, I/O mouthfuls of setting and initialization etc..
After timer period interrupt service routine performs, subprogram is sampled into corresponding gas data.Such as Fig. 3
It is shown.After main program initialization, the working method and initial value of number of sampling points and timer 0 are set, opens interrupters simultaneously start timing
Device starts to sample, judges timing, and A/D samplings and the comparison of maximum value are carried out if reaching, otherwise returns to previous step,
A/D samplings are completed to start to judge whether to complete frequency in sampling, if it is not, starting timer re-starts A/D samplings, if complete
Cheng Ze is terminated by maximum value calculation virtual value, calculating, opens AD kernels, is selected the conversion of reference voltage commencing signal, is judged whether
Conversion finishes, if it is not, previous step is returned to, if so, sampling terminates.Acquired original data are removed later, are finally recycled
Perform the sampling of next round.
After initialization program performs completion and obtains tracing signal, the program that tracks enters initialization wait state.Such as Fig. 4
It is shown.When being initialized to work(, then into Automatic Track Finding program, otherwise return and continue to execute upper level order, unlatching is adjusted after tracking
It is tracked camera with CMOS, while the image of capture is sent to OLED display screen.Cycle criterion capture image be black also
It is white, if white, then returns to upper level, otherwise records center line, later into judgement center, is carried out according to center line
Judge to correct, left and right offset adjustment or straight trip are carried out according to the location information of feedback.Agreement is sent, completes the data that once track
Acquisition.
As shown in figure 5, the principle software flow of the present invention to crusing robot control system is as follows：
(1) system power-on reset；
(2) system program initializes：According to initialization program, system items state and each control register are initialized；
(3) sensor initializing：According to the sequence of setting, perform successively；
(4) sensor signal is read；Acquire the gas data that each sensor is beamed back；
(5) judge reading situation：Continuing to read if returned without if, otherwise performing next stage order；
(6) information is handled：The gas data of sensor acquisition is handled by MSP processor units, by radio communication
Transceiver module is sent to host computer and does final process.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (6)
1. a kind of Multifunctional inspecting robot based on distributed AC servo system, it is characterised in that：Including control module, cruise module,
Motion module, image capture module, gas detection module, soil sampling module, wireless communication transceiver module and host computer monitoring
Module；
The control module is using MSP430G2553 microcontrollers as key control unit；
The cruise module uses RX23T5F523T5ADFM microcontrollers, and the RX23T5F523T5ADFM microcontrollers pass through SCCB
Communication modes are read in real time by CMOS camera the image collected information, after binary conversion treatment and fuzzy control processing, from
And obtain current location information, location information is transferred to the MSP430G2553 microcontrollers through serial communication mode, after pass through
The route planning information of crusing robot is obtained after calculation processing；
The motion module uses crawler type motion structure and differential steering mode, and by the MSP430G2553 microcontrollers control
System；
Described image acquisition module uses infrared high definition network head, acquires image information in real time and is transmitted by wireless network
Give host computer monitoring module；
The gas detection module is due to detection pm2.5, ammonia, hydrogen sulfide, air pollution gas, the data such as smog, and by number
It is believed that breath sends the MSP430G2553 microcontrollers to；
The soil sampling module is for acquiring soil information, including two steering engines and early scoop, by MSP430G2553 monolithics
Machine controls；
The wireless communication module include ZigBee and WIFI, wherein ZigBee for RX23T5F523T5ADFM microcontrollers with
The transmission of data is transmitted between the machine monitoring module of position, WIFI is for RX23T5F523T5ADFM microcontrollers and host computer monitoring module
Between image transmission；
The host computer monitoring module is monitored using PC machine.
2. the Multifunctional inspecting robot according to claim 1 based on distributed AC servo system, it is characterised in that：It further includes red
Outer avoidance sensor for monitoring robot peripheral obstacle information, and sends MSP430G2553 microcontrollers to.
3. a kind of Multifunctional inspecting robot method of work as described in claim 1 and 2 is arbitrary, it is characterised in that：Including with
Lower step：1) it by the CMOS camera and RX23T5F523T5ADFM microcontrollers of cruise module carrying, is communicated and assisted using SCCB
Real-time image acquisition information is discussed, by the way of external interrupt, through binary conversion treatment and FUZZY ALGORITHMS FOR CONTROL, reads CMOS in real time
The track position information that camera captures after being handled eventually by MSP430G2553 COMPREHENSIVE CALCULATINGs, obtains the road of crusing robot
Diameter planning information, and then worked, and corresponding pose adjustment is made according to path locus by PWM speed regulating controls motion module；
2) by gas detection module, the detection work of pm2.5, ammonia, hydrogen sulfide, air pollution gas, smog is realized, is passed through
A/D sample modes acquisition pm2.5, ammonia, hydrogen sulfide, air pollution gas data；Infrared smoke is acquired by SPI communication mode
Alarm signal；The data most acquired at last are sent to MSP430G2553 microcontrollers；
3) by the IP Camera of image capture module, using WIFI wireless communication technique real-time image acquisition video informations,
And transmit information to host computer monitoring module；
4) it sends soil collection by host computer monitoring module to instruct, by wirelessly communicating transceiver module transmission, MSP430G2553
Microcontroller responds, and is responsible for the steering engine successive relay trip of soil sampling, completes lifting, pitching, digging, a series of sampling actions of recycling,
Terminate sampling；
5) data are finally sent to host computer monitoring module by ZigBee wireless modules by MSP430G2553 microcontrollers, it is real
The acquisition of existing gas data and in real time monitoring judge and the real-time monitoring of live view.
4. Multifunctional inspecting robot according to claim 3 method of work, it is characterised in that：Mould is monitored by host computer
Block realizes the one key switching between remote manual control and autonomous cruise function；The setting for parameter of cruising；Body movement offset adjusts；
Holder picture acquires orientation adjustment；Smog alert；The functions such as obstacle alarm.
5. Multifunctional inspecting robot according to claim 3 method of work, it is characterised in that：The main cruise, which uses, to be regarded
Feel navigation mode, include the following steps, first with CMOS high speed camera real-time image acquisitions, and image information is passed through
SCCB communication modes are transferred to RX23T5F523T5ADFM microcontrollers, and after each frame image is received, whole image is 80*60 points
Battle array, the region of memory of 4800 bytes are handled later by image binaryzation, i.e. each byte data and threshold values is compared
Compared with, it is then white if greater than threshold values, is otherwise black, it is white to be represented with " 1 " or " 0 ", finally 600 bytes are stored in interior
In depositing, and MSP430G2553 microcontrollers are sent data to, after the black-and-white image data of 600 bytes have been obtained, most passed through afterwards
After crossing data filtering, control algolithm processing, pwm pulse width is calculated, and then controls direct current generator output.
6. Multifunctional inspecting robot according to claim 5 method of work, it is characterised in that：The threshold value is by the people that works
Member is voluntarily set in host computer monitoring module.
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| CN108839056A (en) * | 2018-06-25 | 2018-11-20 | 盐城工学院 | A kind of robot method for tracing and follow-up mechanism |
| CN108918781A (en) * | 2018-07-17 | 2018-11-30 | 南京客莱沃智能科技有限公司 | A kind of hydrogen sulfide gas on-line monitoring system |
| CN109144111A (en) * | 2018-09-20 | 2019-01-04 | 青岛工学院 | A kind of intelligent security guard patrol robot |
| CN109283930A (en) * | 2018-10-16 | 2019-01-29 | 华南理工大学 | A kind of spherical intelligent inspection robot |
| CN109653500A (en) * | 2018-11-02 | 2019-04-19 | 筑梦高科建筑有限公司 | A kind of construction site 3-D scanning quality inspection device |
| CN111243120A (en) * | 2020-01-17 | 2020-06-05 | 重庆第二师范学院 | Environment inspection system based on big data |
| CN111650336A (en) * | 2020-06-09 | 2020-09-11 | 新石器慧通（北京）科技有限公司 | Atmospheric pollution detection method, device and system for unmanned vehicle |
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