CN108775930A - A kind of automatic tour inspection system suitable for piping lane project - Google Patents
A kind of automatic tour inspection system suitable for piping lane project Download PDFInfo
- Publication number
- CN108775930A CN108775930A CN201810993286.6A CN201810993286A CN108775930A CN 108775930 A CN108775930 A CN 108775930A CN 201810993286 A CN201810993286 A CN 201810993286A CN 108775930 A CN108775930 A CN 108775930A
- Authority
- CN
- China
- Prior art keywords
- piping lane
- driving wheel
- inspection
- crusing robot
- automatic tour
- 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
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 39
- 230000005540 biological transmission Effects 0.000 claims abstract description 26
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 238000012545 processing Methods 0.000 claims description 28
- 238000004891 communication Methods 0.000 claims description 15
- 238000005259 measurement Methods 0.000 claims description 8
- 239000000203 mixture Substances 0.000 claims description 8
- 239000000428 dust Substances 0.000 claims description 7
- 238000013500 data storage Methods 0.000 claims description 6
- 239000003517 fume Substances 0.000 claims description 6
- 238000005286 illumination Methods 0.000 claims description 3
- 239000000725 suspension Substances 0.000 abstract description 2
- 230000002708 enhancing effect Effects 0.000 abstract 1
- 238000012423 maintenance Methods 0.000 description 6
- 238000012544 monitoring process Methods 0.000 description 6
- 230000002159 abnormal effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 239000007789 gas Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000011022 operating instruction Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 239000000443 aerosol Substances 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The present invention relates to a kind of automatic tour inspection systems suitable for piping lane project.Including track, power transmission cable and crusing robot, middle orbit and power transmission cable hang be located at piping lane top respectively, are laid along piping lane, and crusing robot orbits, and the contact by pantograph with power transmission cable receives electric energy.Automatic tour inspection system provided by the invention is designed for the inspection of city integrated piping lane, its is simple in structure, it is easy to operate, securely and reliably, high efficiency, using suspension type operational mode, the complex conditions inside pipe gallery are adapted to, will not be influenced by ponding, can realize comprehensive quick detection of pipe gallery and recycle dynamic inspection for 24 hours, safety and the routing inspection efficiency for greatly enhancing pipe gallery inspection, ensure that the saturability of patrol task.
Description
Technical field
The present invention relates to a kind of cruising inspection systems, more particularly to a kind of automatic tour inspection system suitable for piping lane project.
Background technology
Currently, China's major part piping lane project carries out line walking inspection still by the way of manual inspection, this mode is not only
Inefficiency, lost labor's cost, and be easy to be influenced inspection progress by piping lane ponding, it is inaccurate to be also susceptible to data acquisition
Etc. mistakes, while increasing the danger coefficient of casualties in part danger zone；The management of part piping lane project uses people
Work inspection monitors parallel form with sensing data, solves the problems, such as that data acquisition efficiency is low to a certain extent, but
Still be limited by manual operation there are the drawbacks of；And manual inspection has certain limitation with sensing data monitoring, some are hidden
Suffer from such as tiny crack not finding in time with leakage；If a large amount of placement sensors, can greatly increase project at
This and maintenance cost, a small amount of arrangement cannot accomplish comprehensive monitoring again.
Therefore it provides it is a kind of it is simple in structure, can be applied to road or piping lane, do not influenced by road conditions and ponding, Neng Gouquan
The problem of cruising inspection system of every data target of orientation comprehensively monitoring piping lane is those skilled in the art's urgent need to resolve.
Invention content
The present invention is insufficient existing for current piping lane inspection in order to solve, and provides a kind of automatic detecting suitable for piping lane project
System.
The present invention includes track, power transmission cable and crusing robot, and middle orbit and power transmission cable are hung respectively is located at piping lane
Top is laid along piping lane；Detecting system is equipped with outside the crusing robot, front end is equipped with lighting system and camera shooting is
System, is internally provided with central processing unit, motor driver, driving motor, communication system and power-supply system, the central processing
Device is connected with detecting system, lighting system, camera system, motor driver, communication system and power-supply system respectively, the electricity
Machine driver is connected with driving motor；Crusing robot top is equipped with driving wheel connecting rod, and the upper end of driving wheel connecting rod is equipped with driving
Wheel, the driving wheel are connected by transmission device with the driving motor inside crusing robot, and the driving wheel is connected to
On track, crusing robot is enable to orbit；The top of crusing robot is additionally provided with pantograph, the pantograph
Lower end is connected with power-supply system, and upper end connects with power transmission cable.
The track is the C-shaped pipeline in section, and Open Side Down hangs and be located at piping lane top；On the crusing robot
The driving wheel in portion is symmetricly set on the upper end of driving wheel connecting rod, and driving wheel is connected in c-type pipeline.
The detecting system includes composition of air detector, temperature/humidity measurement instrument, wind speed detector and supersonic sensing
Device, the composition of air detector, temperature/humidity measurement instrument, wind speed detector and ultrasonic sensor respectively with central processing
Device is connected.
The detecting system further includes fume monitor and dust detector, and the fume monitor and dust detect
Instrument is connected with central processing unit respectively.
The lighting system is searchlight；The camera system includes high-definition camera and infrared camera.
Data storage is equipped in the crusing robot, the data storage is connected with central processing unit.
The driving wheel connecting rod on the crusing robot top is divided into front and back two groups, and the upper end of every group of driving wheel connecting rod is all provided with
There is a pair of driving wheels, the driving motor inside crusing robot is also classified into front and back two groups, and the driving wheel passes through transmission device
It is connected with the driving motor inside crusing robot.
The transmission device is drive screw or driving chain.
The crusing robot is equipped with storing bin, and maintenance tool and emergency materials are placed in storing bin.
The crusing robot is equipped with spare serial line interface, and the serial line interface is connected with central processing unit.
The operation principle of the present invention：
Contact of the crusing robot by pantograph with power transmission cable in automatic tour inspection system provided by the invention receives
Electric energy, storage in the power supply system, then from power-supply system to each power structure provide electric energy；By communication system and terminal control
Center carries out data communication and command signal is sent to centre by communication system after receiving the operating instruction of control centre
Manage device, central processing unit sends control signal according to instruction to motor driver, and motor driver receives after control signal to drive
Dynamic motor sends drive signal, and control driving motor starts, and drives driving wheel rotation by transmission device, is transported in c-type pipeline
Row, and then crusing robot is driven to move forwards in orbit；
Crusing robot sends signal control detecting system, lighting system respectively in the process of running, by central processing unit
It is run with camera system, piping lane inside is detected and is shot, obtained testing result and shooting result is by central processing unit
Summarize, then control centre is sent to by communication system.When detecting that somewhere is abnormal inside piping lane, central processing unit will be every
Detection data Real-time Feedback gives staff on duty, when a certain Sensor monitoring reaches or to a certain item detection numerical value beyond center
The standard being arranged in processor, then can send out alarm signal, and staff is then different according to the location determination piping lane of crusing robot
It is overhauled normal position.
Beneficial effects of the present invention：
Automatic tour inspection system provided by the invention design for the inspection of city integrated piping lane, simple in structure, is grasped
Facilitate, securely and reliably, high efficiency adapts to the complex conditions inside pipe gallery, Bu Huishou using suspension type operational mode
To the influence of ponding, it can realize comprehensive quick detection of pipe gallery and recycle dynamic inspection for 24 hours, greatly enhance
The safety of pipe gallery inspection and routing inspection efficiency ensure that the saturability of patrol task；
This system can provide the monitoring data of a variety of aspects, while can carry out sensor by reserved data interface
Expansion and upgrading work；
This system can verify accident and the security situation of position and accident spot occurs, and take in advance in the event of an accident
Band part maintenance tool and emergency materials provide safety guarantee for repair personnel；
This system to each item data in piping lane can monitor, acquire and store in real time, can realize to historical data according to this
Analysis and arrangement, to be used for Optimal Maintenance interval and maintenance scheme.
Description of the drawings
Fig. 1 is side structure schematic view of the present invention.
Fig. 2 is main structure diagram of the present invention.
Fig. 3 is crusing robot structural schematic diagram of the present invention.
Fig. 4 is crusing robot internal structure schematic diagram of the present invention.
1, track 2, power transmission cable 3, crusing robot 4, central processing unit
5, motor driver 6, driving motor 7, communication system 8, power-supply system
9, driving wheel connecting rod 10, driving wheel 11, pantograph 12, composition of air detector
13, temperature/humidity measurement instrument 14, wind speed detector 15, ultrasonic sensor
16, searchlight 17, high-definition camera 18, infrared camera.
Specific implementation mode
Shown in please referring to Fig.1 to Fig.4：
The present invention includes track 1, power transmission cable 2 and crusing robot 3, and middle orbit 1 and power transmission cable 2 hang be located at respectively
Piping lane top, is laid along piping lane；3 outside of the crusing robot is equipped with detecting system, front end be equipped with lighting system and
Camera system is internally provided with central processing unit 4, motor driver 5, driving motor 6, communication system 7 and power-supply system 8, institute
The central processing unit 4 stated respectively with detecting system, lighting system, camera system, motor driver 5, communication system 7 and power supply system
System 8 is connected, and the motor driver 5 is connected with driving motor 6；3 top of crusing robot is equipped with driving wheel connecting rod 9, driving
The upper end for taking turns connecting rod 9 is equipped with driving wheel 10, and the driving wheel 10 passes through the driving electricity inside transmission device and crusing robot 3
Machine 6 is connected, and the driving wheel 10 clamping on track 1, enables crusing robot 3 to run on track 1；Crusing robot
3 top is additionally provided with pantograph 11, and 11 lower end of pantograph is connected with power-supply system 8, and upper end connects with power transmission cable 2.
The track 1 is the C-shaped pipeline in section, and Open Side Down hangs and be located at piping lane top；The crusing robot 3
The driving wheel 10 on top is symmetricly set on the upper end of driving wheel connecting rod 9, and driving wheel 10 is connected in c-type pipeline.
The detecting system includes composition of air detector 12, temperature/humidity measurement instrument 13, wind speed detector 14 and ultrasound
Wave sensor 15, the composition of air detector 12, temperature/humidity measurement instrument 13, wind speed detector 14 and ultrasonic sensor
15 are connected with central processing unit 4 respectively.The composition of air detector 12 is used for detecting in piping lane whether have gas leakage, with
And the type and concentration of various gases；Temperature/humidity measurement instrument 13 is for detecting temperature and humidity in piping lane；Wind speed detector 14 is used
Wind speed scale in detection piping lane, and then judge whether piping lane crack occurs；Ultrasonic sensor 15 is for piping lane crack
Position and size.
The detecting system further includes fume monitor and dust detector, for detecting piping lane internal aerosol and dust
Concentration, the fume monitor and dust detector are connected with central processing unit 4 respectively.
The lighting system is searchlight 16；The camera system includes high-definition camera 17 and infrared camera
18, the shooting being respectively used in the case of illumination and no light.
Equipped with data storage in the crusing robot 3, the data detected for storing each detecting instrument,
Facilitate and compared, the data storage is connected with central processing unit 4.
It is front and back two groups that the driving wheel connecting rod 9 on 3 top of crusing robot, which is divided to, the upper end of every group of driving wheel connecting rod 9
It is equipped with a pair of driving wheels 10, the driving motor 6 inside crusing robot 3 is also classified into front and back two groups, and the driving wheel 10 is logical
Transmission device is crossed with the driving motor 6 inside crusing robot 3 to be connected.
The transmission device is drive screw or driving chain.
The crusing robot 3 is internally provided with storing bin, and maintenance tool and emergency materials are placed in storing bin.
The crusing robot 3 is equipped with spare serial line interface, and the serial line interface is connected with central processing unit 4.
The operation principle of the present invention：
Automatic tour inspection system provided by the invention is set as one section of fire compartment according to fire compartment, by piping lane every 200m,
A crusing robot 3 is arranged in each section of fire compartment, and each crusing robot 3 has independent number, convenient for going wrong
When position rapidly.
Crusing robot 3, which is contacted by pantograph 11 with the power transmission cable 2 being laid in inside piping lane, receives electric energy, is stored in
In power-supply system 8, then from power-supply system 8 to each power structure provide electric energy；It is carried out by communication system 7 and terminal control center
Command signal is sent to central processing unit 4 by data communication after receiving the operating instruction of control centre by communication system 7, in
Central processor 4 according to instruction to motor driver 5 send control signal, motor driver 5 receive control signal after to driving electricity
Machine 6 sends drive signal, and control driving motor 6 starts, and drives driving wheel 10 to rotate by transmission device, is transported in c-type pipeline
Row, and then crusing robot 3 is driven to move forwards on track 1；
Crusing robot 3 sends signal control detecting system, illumination system respectively in the process of running, by central processing unit 4
System and camera system operation, are detected and shoot to piping lane inside, obtained testing result and shooting result is by central processing
Device 4 summarizes, then is sent to control centre by communication system 7.When detecting that somewhere is abnormal inside piping lane, central processing unit 4
Every detection data Real-time Feedback is given to staff on duty, when a certain Sensor monitoring reaches or surpasses to a certain item detection numerical value
Go out the standard being arranged in central processing unit 4, then can send out alarm signal, position of the staff then according to crusing robot 3 is true
Fixed tube corridor abnormal position is overhauled.
Claims (10)
1. a kind of automatic tour inspection system suitable for piping lane project, it is characterised in that：Including track, power transmission cable and inspection machine
People, middle orbit and power transmission cable are hung respectively is located at piping lane top, is laid along piping lane；It is set outside the crusing robot
Have a detecting system, front end is equipped with lighting system and camera system, be internally provided with central processing unit, motor driver, driving motor,
Communication system and power-supply system, the central processing unit drive with detecting system, lighting system, camera system, motor respectively
Dynamic device, communication system are connected with power-supply system, and the motor driver is connected with driving motor；Crusing robot top is equipped with
The upper end of driving wheel connecting rod, driving wheel connecting rod is equipped with driving wheel, and the driving wheel passes through in transmission device and crusing robot
The driving motor in portion is connected, and driving wheel clamping is in orbit, and crusing robot is enable to orbit；Survey monitor
The top of device people is additionally provided with pantograph, and the pantograph lower end is connected with power-supply system, and upper end connects with power transmission cable.
2. a kind of automatic tour inspection system suitable for piping lane project according to claim 1, it is characterised in that：The track
For the C-shaped pipeline in section, Open Side Down hangs and is located at piping lane top；The driving wheel on the crusing robot top is symmetrical arranged
In the upper end of driving wheel connecting rod, driving wheel is connected in c-type pipeline.
3. a kind of automatic tour inspection system suitable for piping lane project according to claim 1, it is characterised in that：The detection
System includes composition of air detector, temperature/humidity measurement instrument, wind speed detector and ultrasonic sensor, the composition of air
Detector, temperature/humidity measurement instrument, wind speed detector and ultrasonic sensor are connected with central processing unit respectively.
4. a kind of automatic tour inspection system suitable for piping lane project according to claim 3, it is characterised in that：The detection
System further includes fume monitor and dust detector, the fume monitor and dust detector respectively with central processing unit
It is connected.
5. a kind of automatic tour inspection system suitable for piping lane project according to claim 1, it is characterised in that：The illumination
System is searchlight；The camera system includes high-definition camera and infrared camera.
6. a kind of automatic tour inspection system suitable for piping lane project according to claim 1, it is characterised in that：The inspection
Data storage is equipped in robot, the data storage is connected with central processing unit.
7. a kind of automatic tour inspection system suitable for piping lane project according to claim 1, it is characterised in that：The inspection
The driving wheel connecting rod of robot upper part is divided into front and back two groups, and the upper end of every group of driving wheel connecting rod is equipped with a pair of driving wheels, inspection
The driving motor of robot interior is also classified into front and back two groups, the driving wheel by transmission device and crusing robot inside
Driving motor is connected.
8. a kind of automatic tour inspection system suitable for piping lane project according to claim 1 or claim 7, it is characterised in that：Described
Transmission device is drive screw or driving chain.
9. a kind of automatic tour inspection system suitable for piping lane project according to claim 1, it is characterised in that：The inspection
Robot is equipped with storing bin.
10. a kind of automatic tour inspection system suitable for piping lane project according to claim 1, it is characterised in that：Described patrols
It examines robot and is equipped with spare serial line interface, the serial line interface is connected with central processing unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810993286.6A CN108775930A (en) | 2018-08-29 | 2018-08-29 | A kind of automatic tour inspection system suitable for piping lane project |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810993286.6A CN108775930A (en) | 2018-08-29 | 2018-08-29 | A kind of automatic tour inspection system suitable for piping lane project |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108775930A true CN108775930A (en) | 2018-11-09 |
Family
ID=64028937
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810993286.6A Pending CN108775930A (en) | 2018-08-29 | 2018-08-29 | A kind of automatic tour inspection system suitable for piping lane project |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108775930A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109514572A (en) * | 2018-12-13 | 2019-03-26 | 杭州申昊科技股份有限公司 | Track type intelligent inspection robot |
| CN110001956A (en) * | 2019-04-28 | 2019-07-12 | 酷黑科技（北京）有限公司 | Piping lane inspection device and piping lane method for inspecting |
| CN111103743A (en) * | 2019-12-30 | 2020-05-05 | 宁波诠航机械科技有限公司 | Actuating mechanism and pipe gallery inspection device comprising same |
| CN111571609A (en) * | 2020-05-15 | 2020-08-25 | 合肥卓科智能技术有限公司 | Intelligent track inspection robot with video monitoring function |
| CN111750280A (en) * | 2019-03-27 | 2020-10-09 | 香港中华煤气有限公司 | Detection device |
| CN112743559A (en) * | 2020-12-29 | 2021-05-04 | 上海市东方海事工程技术有限公司 | Suspension type tunnel inspection robot, system and method |
| CN114191738A (en) * | 2021-12-07 | 2022-03-18 | 北京京东乾石科技有限公司 | Fire-fighting inspection robot and fire-fighting system |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2117812U (en) * | 1992-03-09 | 1992-10-07 | 王德坤 | Electric curtain |
| CN2404443Y (en) * | 1999-12-21 | 2000-11-08 | 周渭明 | Double 'C' shaped and remote controlled curtain |
| CN2762695Y (en) * | 2004-12-10 | 2006-03-08 | 梁振洪 | Romote controlled electric curtain rail |
| CN2862892Y (en) * | 2005-12-07 | 2007-01-31 | 胡伟 | Electric window curtain device |
| CN102049361A (en) * | 2009-10-29 | 2011-05-11 | 梁卫兵 | Single-track automatic traveling vertical sprayer |
| CN205350863U (en) * | 2016-01-06 | 2016-06-29 | 清华大学 | Gas pipe network leaks on -line monitoring system , monitoring devices and portable monitoring devices |
| 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 |
| CN106864739A (en) * | 2016-12-29 | 2017-06-20 | 中国矿业大学 | A kind of six rotor flying robots for underground pipe gallery detection |
| 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 |
| CN107632581A (en) * | 2017-09-13 | 2018-01-26 | 四川君逸数码科技股份有限公司 | A kind of monitoring management system of underground pipe gallery |
| CN108335480A (en) * | 2018-03-30 | 2018-07-27 | 国网江苏省电力有限公司电力科学研究院 | Integral intelligent inspection device |
| CN208536915U (en) * | 2018-08-29 | 2019-02-22 | 吉林建筑大学 | A kind of automatic tour inspection system suitable for piping lane project |
-
2018
- 2018-08-29 CN CN201810993286.6A patent/CN108775930A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2117812U (en) * | 1992-03-09 | 1992-10-07 | 王德坤 | Electric curtain |
| CN2404443Y (en) * | 1999-12-21 | 2000-11-08 | 周渭明 | Double 'C' shaped and remote controlled curtain |
| CN2762695Y (en) * | 2004-12-10 | 2006-03-08 | 梁振洪 | Romote controlled electric curtain rail |
| CN2862892Y (en) * | 2005-12-07 | 2007-01-31 | 胡伟 | Electric window curtain device |
| CN102049361A (en) * | 2009-10-29 | 2011-05-11 | 梁卫兵 | Single-track automatic traveling vertical sprayer |
| CN205350863U (en) * | 2016-01-06 | 2016-06-29 | 清华大学 | Gas pipe network leaks on -line monitoring system , monitoring devices and portable monitoring devices |
| 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 |
| CN106864739A (en) * | 2016-12-29 | 2017-06-20 | 中国矿业大学 | A kind of six rotor flying robots for underground pipe gallery detection |
| 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 |
| CN107632581A (en) * | 2017-09-13 | 2018-01-26 | 四川君逸数码科技股份有限公司 | A kind of monitoring management system of underground pipe gallery |
| CN108335480A (en) * | 2018-03-30 | 2018-07-27 | 国网江苏省电力有限公司电力科学研究院 | Integral intelligent inspection device |
| CN208536915U (en) * | 2018-08-29 | 2019-02-22 | 吉林建筑大学 | A kind of automatic tour inspection system suitable for piping lane project |
Non-Patent Citations (1)
| Title |
|---|
| 夏纪真: "《无损检测导论》", vol. 2, 中山大学出版社, pages: 23 - 24 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109514572A (en) * | 2018-12-13 | 2019-03-26 | 杭州申昊科技股份有限公司 | Track type intelligent inspection robot |
| CN111750280A (en) * | 2019-03-27 | 2020-10-09 | 香港中华煤气有限公司 | Detection device |
| CN111750280B (en) * | 2019-03-27 | 2022-11-15 | 香港中华煤气有限公司 | Detection device |
| CN110001956A (en) * | 2019-04-28 | 2019-07-12 | 酷黑科技（北京）有限公司 | Piping lane inspection device and piping lane method for inspecting |
| CN110001956B (en) * | 2019-04-28 | 2024-01-30 | 酷黑科技（北京）有限公司 | Pipe gallery inspection device and pipe gallery inspection method |
| CN111103743A (en) * | 2019-12-30 | 2020-05-05 | 宁波诠航机械科技有限公司 | Actuating mechanism and pipe gallery inspection device comprising same |
| CN111571609A (en) * | 2020-05-15 | 2020-08-25 | 合肥卓科智能技术有限公司 | Intelligent track inspection robot with video monitoring function |
| CN112743559A (en) * | 2020-12-29 | 2021-05-04 | 上海市东方海事工程技术有限公司 | Suspension type tunnel inspection robot, system and method |
| CN114191738A (en) * | 2021-12-07 | 2022-03-18 | 北京京东乾石科技有限公司 | Fire-fighting inspection robot and fire-fighting system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108775930A (en) | A kind of automatic tour inspection system suitable for piping lane project | |
| CN211087326U (en) | Electric power utility tunnel patrols and examines robot system | |
| CN210233046U (en) | Rail mounted utility tunnel patrols and examines robot and system | |
| CN103615663B (en) | Inner condition of pipeline measuring robots | |
| CN108797239B (en) | Robot and maintenance method of railway track thereof | |
| CN110319888B (en) | Petrochemical inspection robot and working method thereof | |
| NL2023493B1 (en) | Urban rail transit automatic inspection system | |
| CN101858731B (en) | Device for automatically online-detecting abrasion of pantograph pan of locomotive | |
| CN214924447U (en) | Inspection robot system for coal mine gas extraction pump station | |
| CN105096507B (en) | Fire-fighting robot video-aware inspection warning device and inspection alarm method | |
| CN111300453A (en) | Intelligent inspection robot for comprehensive pipe rack | |
| CN107816975B (en) | Automatic detection system for suspended empty rail bridge | |
| CN108335480A (en) | Integral intelligent inspection device | |
| CN209657151U (en) | A kind of intelligent track crusing robot | |
| CN208596456U (en) | Integral intelligent inspection device | |
| CN112483330B (en) | Unmanned inspection track program control method matched with state of in-service wind turbine | |
| CN208536915U (en) | A kind of automatic tour inspection system suitable for piping lane project | |
| CN210466137U (en) | Safe explosion-proof inspection robot | |
| CN203533218U (en) | Pipeline inner condition detection robot | |
| CN210036823U (en) | Petrochemical inspection robot | |
| CN110118710B (en) | Coal bunker safety monitoring device and control method thereof | |
| CN203551280U (en) | Engine general assembly detection system | |
| CN215316570U (en) | Robot system for detecting and welding weld joints of sound barrier stand columns | |
| CN113778007A (en) | Intelligent monitoring system for pipeline inspection unmanned aerial vehicle | |
| CN207643109U (en) | A kind of pipe gallery crusing robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |