CN109500826B - Tunnel inspection robot - Google Patents
Tunnel inspection robot Download PDFInfo
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- CN109500826B CN109500826B CN201811371713.3A CN201811371713A CN109500826B CN 109500826 B CN109500826 B CN 109500826B CN 201811371713 A CN201811371713 A CN 201811371713A CN 109500826 B CN109500826 B CN 109500826B
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- 238000007689 inspection Methods 0.000 title abstract description 14
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 19
- 239000010959 steel Substances 0.000 claims abstract description 19
- 238000001514 detection method Methods 0.000 claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims description 41
- 238000001179 sorption measurement Methods 0.000 claims description 24
- 230000033001 locomotion Effects 0.000 claims description 16
- 239000000779 smoke Substances 0.000 claims description 4
- 238000004891 communication Methods 0.000 abstract description 29
- 239000013307 optical fiber Substances 0.000 description 5
- 238000010276 construction Methods 0.000 description 4
- 230000002265 prevention Effects 0.000 description 4
- 229910000838 Al alloy Inorganic materials 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000002572 peristaltic effect Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- VYZAMTAEIAYCRO-UHFFFAOYSA-N Chromium Chemical compound [Cr] VYZAMTAEIAYCRO-UHFFFAOYSA-N 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052804 chromium Inorganic materials 0.000 description 1
- 239000011651 chromium Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
- 238000004062 sedimentation Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000000391 smoking effect Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a tunnel inspection robot which comprises a track, a leaky wave cable and a robot body, wherein the track, the leaky wave cable and the robot body are installed in a tunnel, the track is a hollow steel pipe, the leaky wave cable is positioned in the steel pipe, the robot body is provided with a detection assembly, and the detection assembly comprises a holder, a laser scanner and a visible light camera. The invention adopts leaky wave cable communication, and a plurality of relay stations are not required to be arranged when the tunnel is longer; the appearance, the cable outward appearance and the like of the tunnel structure can be detected through the carried detection assembly, and accidents such as structural subsidence, collapse and the like possibly occurring in the tunnel are effectively avoided.
Description
Technical Field
The invention relates to the field of special robots, in particular to a tunnel inspection robot.
Background
At present, the domestic tunnel robot is already developed and applied in part of comprehensive pipe racks and cable tunnels.
Tunnels are typically constructed underground, and a communication environment cannot be established through a ground wireless communication base station, so that a dedicated communication system must be introduced for the tunnels. In addition, the wireless signal decays more rapidly in the tunnel than in the open place, and the signal relay station is also the key point of communication environment construction. If the wireless communication system is not improved, finally, in order to construct the wireless communication environment of the inspection robot in the tunnel, a wireless communication relay station with an antenna must be constructed every 100 m. The method not only greatly improves the engineering quantity and construction cost of the tunnel inspection robot, but also causes more burden on the operation safety work in the tunnel because each relay station is necessarily provided with an independent power supply and is excessively led into the relay station from the aspect of safety.
In addition, sagging and deformation of the tunnel body are also important contents of detection. Although the underground pipeline tunnel is developed in China relatively mature, the long underground tunnel line is extremely easy to damage, such as rolling of heavy-duty automobiles, earthquakes, water and soil loss and the like, so that cracks and even collapse occur at the upper part of the tunnel, and serious influence is caused on urban traffic, communication and power supply. Therefore, real-time monitoring of the structural safety of the cable tunnel is very necessary. However, the current tunnel inspection robots do not have this function.
Disclosure of Invention
The invention aims to provide a tunnel inspection robot which adopts leaky-wave cable communication, and a plurality of relay stations are not required to be arranged when a tunnel is longer; the appearance, the cable outward appearance and the like of the tunnel structure can be detected through the carried detection assembly, and accidents such as structural subsidence, collapse and the like possibly occurring in the tunnel are effectively avoided.
The technical scheme adopted for solving the technical problems is as follows: the utility model provides a robot is patrolled and examined in tunnel which characterized in that: including installing track and the robot body in the tunnel, the track is equipped with the wave leakage cable, and the robot body is equipped with detection component, and detection component includes cloud platform, laser scanner and visible light camera.
As an optimal scheme, the tunnel inspection robot comprises a leaky wave cable, wherein the leaky wave cable is arranged in a track, a wireless client, a control system and a communication system are arranged on a moving platform, and the wireless client is respectively connected with the control system and the communication system; one end of the wireless access terminal is connected with the leaky wave cable, and the other end of the wireless access terminal is connected with the background through an optical fiber.
Preferably, a plurality of through holes for transmitting the leaky wave cable signals are formed at equal intervals below the track. The shape of the through hole is not limited, and preferably, the through hole is a round hole.
As the preferable scheme, the robot body comprises a moving platform, the detection assembly comprises a visible light camera, a laser scanner and a cloud deck, the cloud deck is fixed on the moving platform, and the visible light camera and the laser scanner are respectively fixed at two ends of the cloud deck.
As a preferable scheme, the track is a hollow steel pipe, and the leaky wave cable is positioned inside the hollow steel pipe.
As the preferable scheme, the robot body comprises a driving mechanism and a falling-preventing mechanism, and the driving mechanism and the falling-preventing mechanism are positioned between the track and the moving platform.
As the preferable scheme, the driving mechanism comprises a magnetic adsorption wheel, a transmission shaft and a transmission assembly, wherein the magnetic adsorption wheel slides along the track, and the transmission assembly drives the magnetic adsorption wheel to rotate through the transmission shaft.
As the preferable scheme, the transmission assembly adopts a belt transmission assembly, and the belt transmission assembly comprises a belt, a driving belt pulley and a driven belt pulley, wherein the driving belt pulley and the driven belt pulley are transmitted through the belt.
As a preferable scheme, the driving mechanism comprises a first bracket, a second bracket, a third bracket and a motor, wherein the motor, a driving belt pulley and a driven belt pulley are all fixed on the third bracket, an output shaft of the motor is connected with the driving belt pulley through a flat key, and the driving belt pulley and the driven belt pulley are driven through a belt; the magnetic adsorption wheels are symmetrically provided with two identical structures, one end of the transmission shaft is fixed with the second bracket through a bearing, the other end of the transmission shaft sequentially passes through the two magnetic adsorption wheels, the third bracket and the driven belt wheel, the transmission shaft is fixed with the second bracket through the bearing, the second bracket and the third bracket are both fixed on the first bracket, and the steering shaft is fixed with the first bracket through the bearing.
As a preferable scheme, the transmission assembly comprises a tensioning wheel arranged on the third bracket, and the tensioning wheel is arranged on one side of the belt.
As the preferable scheme, the anti-falling mechanism comprises a fourth bracket and a holding wheel, wherein the holding wheel comprises a plurality of holding pieces with the same structure, the holding pieces are fixed on the fourth bracket through screws, and the fourth bracket is sleeved on the steering shaft through a bearing. Preferably, the holding wheel comprises 2 holding pieces with the same structure.
Preferably, the holding piece is a linear bearing or is made of wear-resistant plastic with a lubricating function.
As a preferable scheme, the fire extinguishing bomb, the temperature and humidity detector and the smoke sensor are mounted below the moving platform.
The invention has the beneficial effects that:
(1) The invention adopts the leaky wave cable for communication, has reliable communication and avoids the defect that a plurality of relay points are required to be arranged when the tunnel is longer.
(2) The invention can detect the structural deformation and peristaltic variation of the tunnel, and effectively avoid accidents such as structural sinking and collapse which possibly occur in the tunnel.
(3) The robot running track provided by the invention adopts the low-cost steel pipe to replace high-cost aluminum alloy, so that the tunnel detection cost is effectively reduced.
(4) The invention adopts the magnetic adsorption wheel type driving mechanism, and the magnetic adsorption wheel can be adsorbed below the steel pipe by means of larger magnetic force, so that the volume of the robot is effectively reduced.
(5) The anti-falling mechanism adopted by the invention has the functions of preventing falling and serving as a driven wheel of the robot, reduces the occupied space of the robot and reduces the cost.
Drawings
Fig. 1 is a schematic diagram of a ceiling type mounting structure of the present invention.
Fig. 2 is a top view of the present invention.
Fig. 3 is a schematic structural view of the robot of the present invention.
Fig. 4 is a schematic structural view of a driving wheel assembly according to the present invention.
Fig. 5 is a schematic view of the belt drive assembly of the present invention.
Fig. 6 is a schematic view of the installation of the drive wheel assembly of the present invention on a robot.
Fig. 7 is a schematic structural view of the fall protection assembly of the present invention.
Fig. 8 is a schematic view showing the installation of the fall protection assembly of the present invention on a robot.
Fig. 9 is a schematic view of a suspended ceiling type installation structure of a track with a leaky wave cable according to embodiment 2.
Fig. 10 is a general structural schematic diagram of embodiment 2.
Fig. 11 is a schematic structural view of a driving wheel assembly of embodiment 2.
The marks in the figure are as follows: 101. a hanging bracket; 102. a transverse bracket; 103. a track; 2. a driving mechanism; 3. a fall prevention mechanism; 4. a motion platform; 5. a steering shaft; 201. a magnetic adsorption wheel; 202. a motor; 203. a transmission assembly; 204. a first bracket; 205. a second bracket; 206. a third bracket; 207. a transmission shaft; 2031. a belt; 2032. a tensioning wheel; 2033. a driven pulley; 2034. a driving pulley; 301. a clasping sheet 301; 302. a fourth bracket; 303. a holding wheel; 104. a through hole; 6. a leaky wave cable; 601. a wireless access terminal; 701. a wireless client; 702. a control system; 703. a communication system; 704. a cradle head; 705. a laser scanner; 706. a visible light camera; 8. a background; 9. an optical fiber.
Detailed Description
The invention is further described below with reference to the drawings and the detailed description.
The track may be mounted in a side-mounted or suspended ceiling manner, and will now be described by way of example.
As shown in fig. 9-11, a tunnel inspection robot includes a track 103 mounted on a tunnel and a robot body, the track 103 is provided with a leaky wave cable 6, the robot body is provided with a detection assembly, and the detection assembly includes a pan-tilt 704, a laser scanner 705 and a visible light camera 706. As a specific embodiment, the robot body includes a driving mechanism 2, a fall protection mechanism 3, and a motion platform 4.
In this embodiment, the tunnel is provided with a hanger 101, the hanger 101 is fixed on a wall in the tunnel, and the hanger 101 is fixedly connected with a transverse bracket 103. The top end face of the track 103 is a plane, a threaded hole is formed in the top end face, and the transverse support 103 is fixed with the top end face and specifically can be fixedly connected through a screw. The track 103 comprises two steel pipes symmetrically arranged. The traditional rail adopts an aluminum alloy rail hanging type driving technology, and the aluminum alloy has the advantages of light weight, rust prevention and the like, but has relatively high price; for cable tunnels with lengths of more than ten kilometers, the track cost is very high; in addition, the traditional I-shaped track is adopted by the cable tunnel inspection robot at present, and the track with a larger sectional area tends to occupy a larger tunnel space. The invention adopts the hollow steel pipe track, has high strength, low cost and light weight, and effectively reduces the detection cost of the tunnel; the track adopting the steel pipe form can reduce the tunnel space that occupies, is favorable to the robot operation. Further, in order to prevent rust on the surface of the steel pipe, chromium is plated on the surface of the steel pipe. The track adopted in the embodiment is a hollow steel pipe, and the leaky wave cable 6 is positioned in the hollow steel pipe, so that the wiring space of the leaky wave cable 6 is saved, and meanwhile, the abrasion and damage of the leaky wave cable 6 arranged on the outer side to the cable are avoided.
The tunnel inspection robot comprises a motion platform, wherein a wireless client 701, a control system 702 and a communication system 703 are installed on the motion platform, the wireless client 701 is respectively connected with the control system 702 and the communication system 703, one end of a wireless access terminal 601 is connected with a leaky wave cable 6, and the other end of the wireless access terminal 601 is connected with a background 8 through an optical fiber 9. The wireless client 701 is configured to receive a signal transmitted by the leaky wave cable 6. Further, in order to leak out the signal of the leaky wave cable 6, a plurality of through holes 104 are formed at equal intervals below the track, so as to form a plurality of uniformly arranged wireless fields for communication with the robot. The shape of the through-hole 104 is not limited, and specifically, the through-hole 104 is a circular hole. The leaky cable 6 is capable of radiating a regular signal area around a designated area of the cable, which ensures that a stable and reliable communication link is established between the wireless client 701 and the wireless access terminal 601 and provides certain data cycle access. The specific signal transmission mode is as follows: on the one hand, the background 8 transmits the instruction signal to the wireless access terminal 601 through the optical fiber 9, the wireless access terminal 601 transmits the signal to the wireless client 701 through the leaky cable 6, and the wireless client 701 transmits the signal to the control system 702 and the communication system 703 to perform communication and control on the robot. On the other hand, the wireless client 701 transmits the monitoring information to the background 8 through the leaky cable 6, the wireless access terminal 601, and the optical fiber 9.
Tunnels are typically constructed underground, and a communication environment cannot be established through a ground wireless communication base station, so that a dedicated communication system must be introduced for the tunnels. In addition, the wireless signal decays more rapidly in the tunnel than in the open place, and the signal relay station is also the key point of communication environment construction. At present, a wireless communication relay station with an antenna must be built every 100m to construct a wireless communication environment of the inspection robot in the tunnel, so that the engineering quantity and construction cost of the tunnel inspection robot are greatly improved, each relay station must have an independent power supply in terms of safety, and the relay stations are excessively introduced to cause greater burden for operation safety work in the tunnel. Therefore, the leaky wave cable 6 communication mode is adopted, the communication is reliable, and the defect that a plurality of relay points are required to be arranged when a tunnel is longer is avoided.
Detection assembly
As a specific embodiment, a detection assembly, fire extinguishing bomb, a temperature and humidity detector and a smoke sensor are mounted below the motion platform. In this embodiment, a temperature and humidity sensor with a model HTU21 is used to detect environmental information such as indoor temperature and humidity.
In this embodiment, a smoke sensor with a model of JTY-GD-S836 is used, and is mainly used for detecting possible smoking, ignition, etc. in the tunnel.
The detection assembly comprises a visible light camera 706, a laser scanner 705 and a holder 704, wherein the holder 704 is fixed on the motion platform 4, and the visible light camera 706 and the laser scanner 705 are respectively fixed with two ends of the holder 704. The visible light camera 706 is used for detecting and intelligently identifying the appearance, foreign matters and meter readings of cables in the tunnel, and the laser scanner 705 is used for detecting sedimentation and peristaltic changes of the tunnel structure, so that accidents such as structural sinking and collapse which possibly occur in the tunnel can be effectively avoided.
Driving mechanism
The driving mechanism 2 is rotationally connected with the motion platform through a steering shaft 5. The driving mechanism 2 comprises a magnetic adsorption wheel 201, a transmission shaft 207 and a transmission assembly 203, wherein the magnetic adsorption wheel 201 slides along the track 103, and the transmission assembly 203 drives the magnetic adsorption wheel 201 to rotate through the transmission shaft 207. The magnetic adsorption wheel 201 can be adsorbed below the steel pipe by means of larger magnetic force, so that the magnetic adsorption wheel 201 is tightly attached to the track, the space between the magnetic adsorption wheel 201 and the track 103 is reduced, and the size of the robot is effectively reduced. Specifically, the magnetic attraction wheel 201 has a groove that mates with the track 103, and the magnetic attraction wheel 201 moves along the track 103. Specifically, the rails 103, i.e., the semi-circles of the steel pipe, are all located in the grooves.
The transmission assembly 203 may be one of a chain transmission, a belt transmission, and a gear transmission, and in this embodiment, the transmission assembly 203 is a belt transmission assembly including a belt 2031, a driving pulley 2034, and a driven pulley 2033. Specifically, the driving mechanism 2 includes a first bracket 204, a second bracket 205, a third bracket 206, and a motor 202, where the motor 202 and the transmission assembly 203 are fixed on the third bracket 206, and an output shaft of the motor is connected with a driving pulley 2034 through a flat key, and the driving pulley 2034 and a driven pulley 2033 are transmitted through a belt 2031; the two magnetic adsorption wheels 201 are symmetrically provided with 2 magnetic adsorption wheels with the same structure, one end of a transmission shaft 207 is fixed with the second bracket 205 through a bearing, the other end sequentially passes through the two magnetic adsorption wheels 201, the third bracket 206 and the driven pulley 2033, and the transmission shaft is fixed with the second bracket 205 through the bearing. Namely, one end of the magnetic adsorption wheel 201 is fixedly connected with a driven pulley 2033 in the belt transmission assembly, and the other end of the magnetic adsorption wheel is supported on a second bracket 205 through a bearing; two magnetic attraction wheels 201 are fixed on a transmission shaft 207. The two magnetic attraction wheels 201 are arranged in parallel. The motor output shaft drives the driving pulley 2034 to rotate, the driving pulley 2034 and the driven pulley 2033 transmit motion through the belt 2031, and the driven pulley 2033 drives the transmission shaft 207 to rotate, so that the two magnetic attraction wheels 202 rotate. The second bracket 205 and the third bracket 206 are both fixed to the first bracket 204, and the steering shaft 5 is fixed to the first bracket 204 by a bearing, and the steering shaft 5 can rotate. The tunnel path is bent, so that the movement platform is favorable for turning, and the movement platform is suitable for the running path of the tunnel.
Further, to prevent the belt from slipping, idling of the belt, etc. due to the slack of the belt during the movement of the robot, the transmission assembly 203 includes a tension pulley 2032, and the tension pulley 2032 is disposed on one side of the belt 2031. The tensioning pulley 2032, the driving pulley 2034, and the driven pulley 2033 are all mounted on the third bracket 206.
Fall protection mechanism
The anti-falling mechanism 3 is rotationally connected with the motion platform through a steering shaft 5. The anti-falling mechanism 3 comprises a fourth bracket 302 and a holding wheel 303, wherein the holding wheel 303 comprises 2 holding pieces 301 with the same structure, the two holding pieces 301 are fixed on the fourth bracket 302 through screws, and the fourth bracket 302 is sleeved on the steering shaft 5 through a bearing. Specifically, each holding piece 301 is matched with the semi-outer circle of the steel pipe, and the two holding pieces 301 encircle the steel pipe. Specifically, the holding piece 301 is made of a linear bearing or wear-resistant plastic with a lubrication function, so that the service life of the holding wheel 303 can be prolonged. The linear bearing is adopted to convert sliding friction into rolling friction, so that friction force between the holding piece 301 and the track is reduced. By adopting the fall prevention mechanism 3, not only the fall prevention function of the robot but also the function as a driven wheel of the robot is provided.
In this embodiment, the driving mechanism 2 is used as a driving wheel, the anti-falling mechanism 3 is used as a driven wheel, and the driving mechanism 2 and the anti-falling mechanism 3 are arranged back and forth.
The embodiments described in the present specification are merely examples of implementation forms of the inventive concept, and the scope of protection of the present invention should not be construed as being limited to the specific forms set forth in the embodiments, and the scope of protection of the present invention and equivalent technical means that can be conceived by those skilled in the art based on the inventive concept.
Claims (1)
1. The utility model provides a robot is patrolled and examined in tunnel which characterized in that: the device comprises a track, a leaky wave cable and a robot body, wherein the track, the leaky wave cable and the robot body are installed in a tunnel, the track is a hollow steel pipe, the leaky wave cable is positioned in the steel pipe, the robot body is provided with a detection assembly, and the detection assembly comprises a holder, a laser scanner and a visible light camera;
A plurality of through holes for transmitting the leaky wave cable signals are formed in the lower portion of the track at equal intervals;
The robot body comprises a motion platform, the detection assembly comprises a visible light camera, a laser scanner and a cloud deck, the cloud deck is fixed on the motion platform, and the visible light camera and the laser scanner are respectively fixed with two ends of the cloud deck;
The robot body comprises a driving mechanism and a falling-preventing mechanism, and the driving mechanism and the falling-preventing mechanism are positioned between the track and the motion platform;
The driving mechanism comprises a magnetic adsorption wheel, a transmission shaft and a transmission assembly, the magnetic adsorption wheel slides along the track, and the transmission assembly drives the magnetic adsorption wheel to rotate through the transmission shaft; the transmission assembly adopts a belt transmission assembly, and the belt transmission assembly comprises a belt, a driving belt pulley and a driven belt pulley, wherein the driving belt pulley and the driven belt pulley are transmitted through the belt;
The driving mechanism comprises a first bracket, a second bracket, a third bracket and a motor, wherein the motor, a driving belt pulley and a driven belt pulley are all fixed on the third bracket, an output shaft of the motor is connected with the driving belt pulley through a flat key, and the driving belt pulley and the driven belt pulley are driven through a belt; the magnetic adsorption wheels are symmetrically provided with two identical structures, one end of the transmission shaft is fixed with the second bracket through a bearing, the other end of the transmission shaft sequentially passes through the two magnetic adsorption wheels, the third bracket and the driven belt wheel, the transmission shaft is fixed with the second bracket through the bearing, the second bracket and the third bracket are both fixed on the first bracket, and the steering shaft is fixed with the first bracket through the bearing; the transmission assembly comprises a tensioning wheel arranged on the third bracket, and the tensioning wheel is arranged on one side of the belt;
the anti-falling mechanism comprises a fourth bracket and a holding wheel, the holding wheel comprises a plurality of holding pieces with the same structure, the holding pieces are fixed on the fourth bracket through screws, and the fourth bracket is sleeved on the steering shaft through a bearing;
fire extinguishing bomb, temperature and humidity detector and smoke sensor are carried below the motion platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811371713.3A CN109500826B (en) | 2018-11-15 | 2018-11-15 | Tunnel inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811371713.3A CN109500826B (en) | 2018-11-15 | 2018-11-15 | Tunnel inspection robot |
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| CN109500826A CN109500826A (en) | 2019-03-22 |
| CN109500826B true CN109500826B (en) | 2024-06-04 |
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| CN201811371713.3A Active CN109500826B (en) | 2018-11-15 | 2018-11-15 | Tunnel inspection robot |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109501814B (en) * | 2018-11-15 | 2024-06-04 | 浙江大学山东工业技术研究院 | Tunnel inspection robot |
| CN114474005B (en) * | 2021-12-07 | 2023-09-15 | 江苏集萃智能制造技术研究所有限公司 | Inspection robot in limited space |
| CN114800560B (en) * | 2022-04-27 | 2023-07-21 | 招商局重庆交通科研设计院有限公司 | Heterogeneous modularized robot for emergency evacuation control of fire disaster of long and large tunnel |
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