CN108335480A - Integral intelligent inspection device - Google Patents
Integral intelligent inspection device Download PDFInfo
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- CN108335480A CN108335480A CN201810275109.4A CN201810275109A CN108335480A CN 108335480 A CN108335480 A CN 108335480A CN 201810275109 A CN201810275109 A CN 201810275109A CN 108335480 A CN108335480 A CN 108335480A
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- 238000007689 inspection Methods 0.000 title claims abstract description 38
- 238000012544 monitoring process Methods 0.000 claims abstract description 29
- 238000001514 detection method Methods 0.000 claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 238000006243 chemical reaction Methods 0.000 claims abstract description 15
- 230000010365 information processing Effects 0.000 claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000003331 infrared imaging Methods 0.000 claims description 6
- 238000000605 extraction Methods 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 5
- 238000012546 transfer Methods 0.000 claims description 5
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 210000005069 ears Anatomy 0.000 claims description 3
- 238000004891 communication Methods 0.000 abstract description 6
- 238000012423 maintenance Methods 0.000 abstract description 3
- 230000007613 environmental effect Effects 0.000 abstract 1
- 238000003745 diagnosis Methods 0.000 description 2
- 239000007789 gas Substances 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000002405 diagnostic procedure Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 231100000614 poison Toxicity 0.000 description 1
- 230000007096 poisonous effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
- G08C23/06—Non-electrical signal transmission systems, e.g. optical systems through light guides, e.g. optical fibres
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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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/046—Allowing translations adapted to upward-downward translation movement
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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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
- F16M11/425—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels along guiding means
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/22—Adaptations for optical transmission
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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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/06—Arms
- F16M2200/061—Scissors arms
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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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/06—Arms
- F16M2200/066—Arms being part of the head
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
- Emergency Alarm Devices (AREA)
Abstract
Include the robot hung on by walking mechanism on hanger rail the invention discloses integral intelligent inspection device；Robot built-in ontology control unit, including integrated information processing module；Respectively by detecting signal conversion module connecting detection signal gathering unit, ontology signal gathering unit is connected with by ontology signal conversion module；Walking mechanism and integrated information processing module are driven by distal end main control unit respectively.Equipment operation and environmental information in piping lane are acquired by detecting signal gathering unit, and is transmitted to ontology control unit and is handled, when finding failure, provides temporary lighting source by lighting module, while alarming by alarm module；Can fault message be uploaded to monitoring outlay in time by communication module, notice operation maintenance personnel comes to safeguard, it improves the safety of piping lane inspection, ensure that patrol task accomplishes that twenty four hours uninterruptedly carries out, be conducive to find the potential faults in piping lane as early as possible, greatly improve equipment reliability of operation.
Description
Technical field
The present invention relates to a kind of inspection devices, and in particular to a kind of integral intelligent inspection for GIL equipment piping lanes fills
It sets.
Background technology
Existing pipe gallery inspection monitoring is mainly based on manual inspection, and when manual inspection, patrol officer needs in person
It goes into the well, detection project is waited for by relevant device, the environment in eye recognition piping lane in piping lane.
Using manual inspection great work intensity, detection type is more, is susceptible to missing inspection, and the data of inspection need to carry out artificial
Statistics cannot be satisfied the dangerous requirement controlled in time, and narrow space in piping lane, lead to cause emergency response degree poor
Wind is poor, is easy to stockpile inflammable, explosive, poisonous gas, grave danger is caused to patrol officer.
Manual inspection is generally timing inspection, and inspection of going into the well within the set time is primary, and within inspection interval time,
Situation in piping lane is the blank phase, and manual inspection is difficult to carry out effective prison in real time to existing safety failure, risk in piping lane
Control.
Invention content
To solve the deficiencies in the prior art, the purpose of the present invention is to provide one kind to be replaced in GIL equipment piping lanes
Patrol officer completes Multifunctional inspecting, is convenient for the integral intelligent inspection device of equipment reliability service.
In order to realize that above-mentioned target, the present invention adopt the following technical scheme that：
Integral intelligent inspection device includes the robot hung on by walking mechanism on hanger rail；
The robot built-in ontology control unit, including integrated information processing module；Respectively by detecting signal conversion
Module connecting detection signal gathering unit connects ontology signal gathering unit with by ontology signal conversion module；
Collected signal is carried out analyzing processing by integrated information processing module, and it is main to send data to distal end by optical fiber
Control unit.
Walking mechanism and integrated information processing module are driven by distal end main control unit respectively.
Above-mentioned detection signal gathering unit includes the partial discharge detection module of parallel connection, infrared imaging leak detection module, video surveillance
Module, audio extraction module, infrared measurement of temperature module, spatial high-frequency signal monitoring module；
Wherein, video surveillance module connects integrated information processing module by GIL point position identification modules.
Signal conversion module and ontology signal conversion module are detected, for collected analog signal to be converted to digital letter
Number.
Further, above-mentioned partial discharge detection module includes mechanical arm, mechanical arm transmission system, couplant the storage box, machinery
Arm control system and data outputting unit；The accurate partial discharge detection of blanket type can be carried out to GIL equipment.
Control signal is transmitted to mechanical arm control system by ontology control unit, by mechanical arm transmission system control machinery
Arm acts；
The mechanical arm is installed on robot body and picks up the ears to locate, and couplant the storage box is installed on inside mechanical arm.
Further, above-mentioned video surveillance module includes RFID detection positioning units and is set to robot bottom by holder
The camera in portion；
The camera includes sextuple camera, infrared camera, VR cameras, and video image passes through data outputting unit
Input detection signal conversion module.
Further, above-mentioned camera is suitable for SF6 pressure detecting instruments, RFID point positions mark and piping lane environment temperature
The functions such as airspeedometer identifies, operations staff follows.
Above-mentioned ontology signal gathering unit include the power management module for being separately connected ontology signal conversion module, on the spot according to
Bright module, on the spot alarm module, drive control module, front-rear anti-collision module, in-orbit position monitoring module；
For the supply voltage information of monitoring robot ontology, illumination condition information, alarm state information, drive control shape
State information, running state information and location information ensure that the reliability of testing result, while when a failure occurs it, can be in time
It safeguards, improves robot body reliability of operation.
Wherein, the in-orbit position monitoring module connects integrated information processing module by body position identification module.
Further, above-mentioned in-orbit position monitoring module is RFID locating modules.
Further, above-mentioned GIL point positions identification module and body position identification module are mutually passed by microcontroller
Transmission of data verifies point position and body position coding.
Said distal ends main control unit includes the condition monitoring display module being connect respectively with data transfer unit, exception
Data diagnosis module, history data store module, remote operation control module and display screen；
Data transfer unit connects ontology control unit by fiber-optic signal.
Further, above-mentioned display screen is one or more of computer, industrial personal computer, IPAD and laptop.For
Show GIL piping lanes items inspection data and analysis result.
Above-mentioned walking mechanism and robot are directly provided with telescoping mechanism, for adjusting robot in the position of vertical direction.
Above-mentioned hanger rail is fixed at the top of GIL equipment piping lane.
The invention has the beneficial effects that：
The integral intelligent inspection device of the present invention acquires equipment operation and ring in piping lane by detecting signal gathering unit
Border information, and the information of acquisition is transmitted to ontology control unit and is handled, when a fault is found, provided by lighting module
Temporary lighting source, while being alarmed by alarm module, it realizes and the flashing lamp of different hidden danger or failure is prompted and identified；By logical
Fault message can be uploaded to monitoring outlay by letter module in time, and notice operation maintenance personnel comes to safeguard, improves piping lane inspection
Safety, ensure that patrol task accomplishes that twenty four hours uninterruptedly carries out, be conducive to find the potential faults in piping lane as early as possible,
Greatly improve equipment reliability of operation.Simultaneously by the real-time monitoring robot ontology information of ontology signal monitoring unit energy, protect
Robot body normal operation is demonstrate,proved, the reliability of inspection is improved.
The integral intelligent inspection device of the present invention, can be used in GIL equipment piping lanes, replace patrol officer complete in piping lane
At Multifunctional inspecting, equipment running status is grasped comprehensively convenient for operating maintenance personnel, improves equipment reliability of operation, enriches event
Diagnostic method after barrier has very strong practicability and wide applicability.
Description of the drawings
Fig. 1 is the modular structure schematic diagram of the integral intelligent inspection device of the present invention.
Fig. 2 is the structural scheme of mechanism of the integral intelligent inspection device of the present invention.
The meaning marked in attached drawing is as follows：1, sliding rail, 2, walking mechanism, 3, telescoping mechanism, 4, power management module,
5, partial discharge detection module, 6, infrared imaging stop leakage in the roof module, 7, video monitoring module, 8, audio extraction module, 9, infrared measurement of temperature mould
Block, 10, spatial high-frequency signal monitoring module, 12, lighting module on the spot, 13, alarm module on the spot, 14, drive control module,
15, in-orbit position monitoring module, 16, front-rear anti-collision module.
Specific implementation mode
Specific introduce is made to the present invention below in conjunction with the drawings and specific embodiments.
As shown in Figure 1 and Figure 2, the present invention provides a kind of integral intelligent inspection device for GIL equipment piping lanes, packets
The sliding rail 1 being fixed at the top of piping lane is included, and hangs on the robot on sliding rail 1.
Robot is included in the walking mechanism 2 moved on sliding rail 1 (hanger rail), the telescopic machine being connect with walking mechanism 2
Structure 3 and robot body.Robot body includes that ontology control unit and the detection signal being connect with ontology control unit are adopted
Collect unit, ontology signal gathering unit；Detection signal gathering unit include partial discharge detection module 5, infrared imaging stop leakage in the roof module 6,
Video surveillance module 7, audio extraction module 8, infrared measurement of temperature module 9, spatial high-frequency signal monitoring module 10；Wherein, video is supervised
It surveys module and integrated information processing module is connect by GIL point position identification modules.Multiple modules can be completed at the same time a variety of inspections
Task, the major functions of each module are as follows：
Partial discharge detection module 5：It is mainly used for realizing apparatus local discharge ultrasound examination function；Including being installed on robot
Ontology picks up the ears to locate mechanical arm, mechanical arm transmission system, mechanical arm control system and data outputting unit；Pass through ontology control unit
Control signal is transmitted to mechanical arm control system, is acted by mechanical arm transmission system control machinery arm；Mechanical arm is internally provided with
Couplant the storage box；
Infrared imaging is stopped leakage in the roof module 6：It is mainly used for realizing that equipment infrared imaging is stopped leakage in the roof function, finds that SF6 gases are let out as early as possible
Leak source, and carry out respective handling；
Video surveillance module：Including sextuple camera, infrared camera, VR cameras, it is mainly used for SF6 pressure in piping lane
Detector, RFID point positions mark and the functions such as piping lane environment temperature airspeedometer identifies, operations staff follows；
Audio extraction module 8：It is mainly used for the voice signal of real-time monitoring tubular corridor environment, can realizes and manage in special circumstances
The function of operations staff's real-time communication in corridor, and coordinate with alarm module 12 on the spot, realize the voice to different hidden danger or failure
Prompt and identification；
Infrared measurement of temperature module 9：It is mainly used for monitoring apparatus casing surface temperature in piping lane；
Spatial high-frequency signal monitoring module 10：It is mainly used for free air anomaly electromagnetic wave signal in real-time monitoring tubular corridor；
Ontology signal gathering unit includes power management module 4, on the spot lighting module 12, on the spot alarm module 13, driving
Control module 14, in-orbit position monitoring module 15 and front-rear anti-collision module 16, wherein in-orbit position monitoring module passes through ontology
Location identification module connects integrated information processing module；Believe for the supply voltage information of monitoring robot ontology, illumination condition
Breath, alarm state information, drive control status information, running state information and location information can be tieed up in time when a failure occurs it
Shield, improves robot body reliability of operation.Position monitoring module is RFID locating modules.
Ontology control unit include detection signal conversion module, integrated information processing module, ontology signal conversion module,
GIL point positions identification module and body position identification module；Detection signal acquisition can be achieved, robot body status signal is adopted
Collection, robot body position identify and the functions such as record, the conversion of detection signal format and data-signal upload.
GIL point positions identification module and body position identification module verify measuring point by microcontroller mutual data transmission
Position and body position coding.
Communication module includes wire communication module and/or wireless communication module, further includes the distal end connected with communication module
Main control unit, distal end main control unit are one or more of computer, industrial personal computer, IPAD and laptop.Distal end master control list
Member include condition monitoring display module, abnormal data diagnostic module, history data store module, remote operation control module and
Data transfer unit, for receiving the data information from ontology control unit, realization condition monitoring shows, abnormal data
Diagnosis, history data store, remote operation control function.
Telescoping mechanism 3 is between walking mechanism 2 and robot body, for adjusting robot in the position of vertical direction.
Position is adjusted according to the environment in piping lane, so that detection information is more acurrate.
Walking mechanism 2 can be set as the motor-driven roller bearing along sliding rail, or be motor-driven and sliding rail
Matched lead screw.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the invention is not limited in any way above-described embodiment, all to be obtained by the way of equivalent substitution or equivalent transformation
Technical solution is all fallen in protection scope of the present invention.
Claims (10)
1. integral intelligent inspection device, which is characterized in that include the robot hung on by walking mechanism on hanger rail；
The robot built-in ontology control unit, including integrated information processing module；Respectively by detecting signal conversion module
Connecting detection signal gathering unit connects ontology signal gathering unit with by ontology signal conversion module；
The walking mechanism and integrated information processing module are driven by distal end main control unit respectively.
2. integral intelligent inspection device according to claim 1, which is characterized in that the detection signal gathering unit packet
Include partial discharge detection module in parallel, infrared imaging leak detection module, video surveillance module, audio extraction module, infrared measurement of temperature module,
Spatial high-frequency signal monitoring module；
Wherein, video surveillance module connects integrated information processing module by GIL point position identification modules.
3. integral intelligent inspection device according to claim 2, which is characterized in that the partial discharge detection module includes machine
Tool arm, mechanical arm transmission system, couplant the storage box, mechanical arm control system and data outputting unit；
Control signal is transmitted to mechanical arm control system by ontology control unit, is moved by mechanical arm transmission system control machinery arm
Make；
The mechanical arm is installed on robot body and picks up the ears to locate, and couplant the storage box is installed on inside mechanical arm.
4. integral intelligent inspection device according to claim 2, which is characterized in that the video surveillance module includes
The camera that RFID detects positioning unit and is set to robot bottom by holder；
The camera includes sextuple camera, infrared camera, VR cameras, and video image is inputted by data outputting unit
Detect signal conversion module.
5. integral intelligent inspection device according to claim 4, which is characterized in that the camera connects SF6 pressures respectively
Tension gauge, RFID point positions mark and piping lane environment temperature airspeedometer.
6. integral intelligent inspection device according to claim 1, which is characterized in that the ontology signal gathering unit packet
Include the power management module for being separately connected ontology signal conversion module, on the spot lighting module, on the spot alarm module, drive control mould
Block, front-rear anti-collision module, in-orbit position monitoring module；
Wherein, the in-orbit position monitoring module connects integrated information processing module by body position identification module.
7. the integral intelligent inspection device according to claim 2 and 6, which is characterized in that the GIL point positions identification
Module and body position identification module verify point position and body position coding by microcontroller mutual data transmission.
8. integral intelligent inspection device according to claim 1, which is characterized in that the distal end main control unit includes point
The condition monitoring display module that is not connect with data transfer unit, abnormal data diagnostic module, history data store module,
Remote operation control module and display screen；
Data transfer unit connects ontology control unit by fiber-optic signal.
9. integral intelligent inspection device according to claim 1, which is characterized in that the walking mechanism and robot are straight
It is equipped with telescoping mechanism.
10. integral intelligent inspection device according to claim 1, which is characterized in that the hanger rail is fixed on GIL equipment
At the top of piping lane.
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| CN201810275109.4A CN108335480A (en) | 2018-03-30 | 2018-03-30 | Integral intelligent inspection device |
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| CN201810275109.4A CN108335480A (en) | 2018-03-30 | 2018-03-30 | Integral intelligent inspection device |
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Family
ID=62932537
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108775930A (en) * | 2018-08-29 | 2018-11-09 | 吉林建筑大学 | A kind of automatic tour inspection system suitable for piping lane project |
| CN110648419A (en) * | 2019-09-19 | 2020-01-03 | 陕西中建建乐智能机器人有限公司 | Inspection system and method for pipe gallery inspection robot |
| WO2020042763A1 (en) * | 2018-08-31 | 2020-03-05 | 深圳前海达闼云端智能科技有限公司 | Robot control method, device, storage medium, and electronic apparatus |
| CN111474941A (en) * | 2020-05-08 | 2020-07-31 | 唐山威程科技有限公司 | Track inspection robot |
| CN111597748A (en) * | 2020-05-22 | 2020-08-28 | 中国矿业大学 | Method for realizing fault judgment based on GIL thermal characteristics |
| CN111864608A (en) * | 2019-04-30 | 2020-10-30 | 中国航天科工飞航技术研究院（中国航天海鹰机电技术研究院） | A device is examined in fortune for open-air collection dress distribution system |
| CN112034814A (en) * | 2020-07-20 | 2020-12-04 | 深圳中冶管廊建设投资有限公司 | Overhauling method, device and system of comprehensive pipe gallery operating robot |
| CN113888768A (en) * | 2021-09-28 | 2022-01-04 | 浙江中烟工业有限责任公司 | Information equipment inspection system and method based on RFID technology |
| CN114170703A (en) * | 2021-12-15 | 2022-03-11 | 鞍钢集团自动化有限公司 | Corridor inspection system and laser scanning detection method |
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| WO2020042763A1 (en) * | 2018-08-31 | 2020-03-05 | 深圳前海达闼云端智能科技有限公司 | Robot control method, device, storage medium, and electronic apparatus |
| CN111864608A (en) * | 2019-04-30 | 2020-10-30 | 中国航天科工飞航技术研究院（中国航天海鹰机电技术研究院） | A device is examined in fortune for open-air collection dress distribution system |
| CN110648419A (en) * | 2019-09-19 | 2020-01-03 | 陕西中建建乐智能机器人有限公司 | Inspection system and method for pipe gallery inspection robot |
| CN111474941A (en) * | 2020-05-08 | 2020-07-31 | 唐山威程科技有限公司 | Track inspection robot |
| CN111597748A (en) * | 2020-05-22 | 2020-08-28 | 中国矿业大学 | Method for realizing fault judgment based on GIL thermal characteristics |
| CN111597748B (en) * | 2020-05-22 | 2024-05-17 | 中国矿业大学 | Method for realizing fault judgment based on GIL thermal characteristics |
| CN112034814A (en) * | 2020-07-20 | 2020-12-04 | 深圳中冶管廊建设投资有限公司 | Overhauling method, device and system of comprehensive pipe gallery operating robot |
| CN112034814B (en) * | 2020-07-20 | 2022-03-15 | 深圳中冶管廊建设投资有限公司 | Overhauling method, device and system of comprehensive pipe gallery operating robot |
| CN113888768A (en) * | 2021-09-28 | 2022-01-04 | 浙江中烟工业有限责任公司 | Information equipment inspection system and method based on RFID technology |
| CN114170703A (en) * | 2021-12-15 | 2022-03-11 | 鞍钢集团自动化有限公司 | Corridor inspection system and laser scanning detection method |
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