CN108335480A - Integral intelligent inspection device - Google Patents

Integral intelligent inspection device Download PDF

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Publication number
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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CN
China
Prior art keywords
module
ontology
inspection device
intelligent inspection
integral intelligent
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201810275109.4A
Other languages
Chinese (zh)
Inventor
腾云
贾勇勇
魏旭
邓洁清
谢天喜
陶加贵
谭婷月
陈双
钟岚
夏峰
关为民
杨景刚
丁然
刘媛
赵科
李玉杰
李洪涛
刘通
宋思齐
周仁彬
张略轩
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
State Grid Corp of China SGCC
State Grid Jiangsu Electric Power Co Ltd
Electric Power Research Institute of State Grid Jiangsu Electric Power Co Ltd
Shenzhen Launch Digital Technology Co Ltd
Maintenance Branch of State Grid Jiangsu Electric Power Co Ltd
Original Assignee
State Grid Corp of China SGCC
State Grid Jiangsu Electric Power Co Ltd
Electric Power Research Institute of State Grid Jiangsu Electric Power Co Ltd
Shenzhen Launch Digital Technology Co Ltd
Maintenance Branch of State Grid Jiangsu Electric Power Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by State Grid Corp of China SGCC, State Grid Jiangsu Electric Power Co Ltd, Electric Power Research Institute of State Grid Jiangsu Electric Power Co Ltd, Shenzhen Launch Digital Technology Co Ltd, Maintenance Branch of State Grid Jiangsu Electric Power Co Ltd filed Critical State Grid Corp of China SGCC
Priority to CN201810275109.4A priority Critical patent/CN108335480A/en
Publication of CN108335480A publication Critical patent/CN108335480A/en
Pending legal-status Critical Current

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Classifications

    • GPHYSICS
    • G08SIGNALLING
    • G08CTRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C23/00Non-electrical signal transmission systems, e.g. optical systems
    • G08C23/06Non-electrical signal transmission systems, e.g. optical systems through light guides, e.g. optical fibres
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16MFRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02Heads
    • F16M11/04Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043Allowing translations
    • F16M11/046Allowing translations adapted to upward-downward translation movement
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16MFRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/42Stands 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
    • F16M11/425Stands 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
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00Television systems
    • H04N7/18Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H04N7/185Closed-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
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00Television systems
    • H04N7/22Adaptations for optical transmission
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16MFRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00Details of stands or supports
    • F16M2200/06Arms
    • F16M2200/061Scissors arms
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16MFRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00Details of stands or supports
    • F16M2200/06Arms
    • F16M2200/066Arms 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

Integral intelligent inspection device
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.
CN201810275109.4A 2018-03-30 2018-03-30 Integral intelligent inspection device Pending CN108335480A (en)

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Application Number Priority Date Filing Date Title
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Cited By (9)

* Cited by examiner, † Cited by third party
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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CN106826864A (en) * 2017-03-29 2017-06-13 张胜雷 The logical integration piping lane environmental monitoring intelligent miniature robot of the towed electricity of hanger rail
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KR20170100199A (en) * 2016-02-25 2017-09-04 (주)로드닉스 Fire detection and extinguishing system Inside the tunnel using Rail movement
CN107590876A (en) * 2017-09-13 2018-01-16 四川君逸数码科技股份有限公司 Pipe gallery crusing robot and pipe gallery cruising inspection system
CN208596456U (en) * 2018-03-30 2019-03-12 国网江苏省电力有限公司电力科学研究院 Integral intelligent inspection device

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KR20170100199A (en) * 2016-02-25 2017-09-04 (주)로드닉스 Fire detection and extinguishing system Inside the tunnel using Rail movement
CN106382957A (en) * 2016-09-09 2017-02-08 重庆鼎御天科技有限公司 Intelligent tunnel robot intelligent inspection integrated monitoring and controlling system
CN106826864A (en) * 2017-03-29 2017-06-13 张胜雷 The logical integration piping lane environmental monitoring intelligent miniature robot of the towed electricity of hanger rail
CN107065868A (en) * 2017-03-29 2017-08-18 科大智能电气技术有限公司 A kind of cruising inspection system based on crusing robot
CN107590876A (en) * 2017-09-13 2018-01-16 四川君逸数码科技股份有限公司 Pipe gallery crusing robot and pipe gallery cruising inspection system
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Cited By (11)

* Cited by examiner, † Cited by third party
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
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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