CN109571510B - Self-positioning digital installation robot for constructional engineering - Google Patents
Self-positioning digital installation robot for constructional engineering Download PDFInfo
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- CN109571510B CN109571510B CN201910075215.2A CN201910075215A CN109571510B CN 109571510 B CN109571510 B CN 109571510B CN 201910075215 A CN201910075215 A CN 201910075215A CN 109571510 B CN109571510 B CN 109571510B
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- 238000009434 installation Methods 0.000 title claims abstract description 36
- 230000003287 optical effect Effects 0.000 claims abstract description 19
- 238000010276 construction Methods 0.000 claims abstract description 17
- 238000004891 communication Methods 0.000 claims abstract description 10
- 239000011521 glass Substances 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 238000005286 illumination Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 230000002265 prevention Effects 0.000 description 3
- 238000005034 decoration Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000009435 building construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
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- 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
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- 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
- 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
- B25J19/021—Optical sensing devices
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- 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
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
-
- 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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The embodiment of the invention discloses a self-positioning digital installation robot for construction engineering, which comprises a machine body, wherein the machine body comprises a traveling device and a base arranged on the traveling device, an optical measuring instrument is arranged on the base, an automatic mechanical arm is arranged on the base, a mechanical gripper is arranged at one end of the automatic mechanical arm far away from the base, the traveling device comprises a traveling chassis and crawler wheels arranged on two sides of the traveling chassis, a first working lighting lamp and a laser scanner are arranged on the traveling chassis, a plurality of infrared distance sensors are also arranged on the traveling chassis, a main control module is arranged in the traveling chassis, the optical measuring instrument, the first working lighting lamp, the laser scanner and the infrared distance sensors are respectively and electrically connected with the main control module, a communication module and a GPS module are also arranged in the traveling chassis, and the communication module and the GPS module are respectively and electrically connected with the main control module. The invention has the characteristics of simple structure, convenient operation and high installation precision.
Description
Technical Field
The embodiment of the invention relates to the technical field of building construction, in particular to a self-positioning digital installation robot for building engineering.
Background
In the new construction, reconstruction and extension construction process of a building, the positioning of some components such as structural profession, building profession, curtain wall profession, decoration profession, electromechanical profession and the like is carried out, the coordinates and the elevation of a target point to be tested are obtained through drawing and calculation in a traditional mode, the position of a component to be installed is determined through measuring tape or a level meter, theodolite and a total station measuring back line drawing positioning or temporary support, and the complex structure can be determined by combining the above various modes.
After the paying-off and putting-on points are finished, corresponding components are installed, the components which are horizontal, flat and vertical are installed correspondingly, and the coordinates, the elevation, the distance, the angle and the like of the components can be determined by many people or steps for the components with complex modeling or the components with heavier modeling, so that the precision cannot be ensured. In addition, this kind of complex operation can not guarantee installation quality, extravagant manpower and extravagant time simultaneously.
Disclosure of Invention
Therefore, the embodiment of the invention provides a self-positioning digital installation robot for constructional engineering, which aims to solve the problems that in the construction process of structural members, curtain wall members, decoration members, electromechanical members and other building members in the prior art, the operation is complicated, the installation accuracy cannot be ensured, and the labor and time are wasted.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
the utility model provides a self-align digital installation robot for building engineering, includes the machine body, the machine body includes running gear and sets up base on the running gear, be provided with optical measurement instrument on the base, be provided with automatic robotic arm on the base, automatic robotic arm keeps away from the one end of base sets up mechanical tongs, running gear includes walking chassis and sets up the crawler wheel of walking chassis both sides, be provided with the battery in the walking chassis, be provided with first working lighting lamp and laser scanner on the walking chassis, still be provided with a plurality of infrared distance sensor on the walking chassis, set up master control module in the walking chassis, optical measurement instrument, first working lighting lamp, laser scanner and infrared distance sensor respectively with master control module electric connection, still be provided with communication module and GPS module in the walking chassis, communication module, GPS module and battery respectively with master control module electric connection.
The optical measuring instrument is an automatic measuring total station, and is fixedly arranged at the central position of the upper end of the base.
The walking chassis is provided with an annular fixing part, the lower end of the base is rotationally connected with the fixing part, and the base can rotate 360 degrees along the fixing part.
The infrared distance sensors are 8 infrared distance sensors, and the 8 infrared distance sensors are uniformly distributed on the circumferential direction of the outer side wall of the fixing part.
The automatic mechanical arm comprises a first mechanical arm and a second mechanical arm, one end of the first mechanical arm is connected with the base, the other end of the first mechanical arm is rotationally connected with one end of the second mechanical arm, a third mechanical arm is arranged at the other end of the second mechanical arm, and the end of the third mechanical arm is connected with the mechanical gripper.
The remote control terminal is in communication connection with the main control module and is used for controlling the machine body, and the remote control terminal is a microcomputer or a mobile phone.
The end part of the second mechanical arm, which is close to the first mechanical arm, is provided with a second working lighting lamp, and the second working lighting lamp is electrically connected with the main control module.
The mechanical gripper further comprises an identification device, wherein the identification device is electrically connected with the main control module, and the identification device is arranged below the mechanical gripper.
Still include high definition digtal camera and torque sensor, just high definition digtal camera and torque sensor respectively with main control module electric connection, high definition digtal camera sets up the second robotic arm is close to on the lateral wall of one end of first robotic arm.
The walking chassis is characterized by further comprising a loudspeaker, wherein the loudspeaker is fixedly arranged on the walking chassis.
The embodiment of the invention has the following advantages: the self-positioning digital installation robot for the building engineering provided by the embodiment of the invention can reduce engineering installation procedures, reduce the number of workers, lighten the fatigue degree of the workers, reduce the installation errors of components caused by measurement errors, reduce the installation errors caused by manual operation, improve the operation speed and quality, improve the safety of working operation, and can be used for processing required building components in advance by combining a BIM (Building Information Modeling, building information model) model or an accurate drawing, and the self-positioning digital installation robot for the building engineering can obtain the installation effect consistent with the BIM model.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those of ordinary skill in the art that the drawings in the following description are exemplary only and that other implementations can be obtained from the extensions of the drawings provided without inventive effort.
The structures, proportions, sizes, etc. shown in the present specification are shown only for the purposes of illustration and description, and are not intended to limit the scope of the invention, which is defined by the claims, so that any structural modifications, changes in proportions, or adjustments of sizes, which do not affect the efficacy or the achievement of the present invention, should fall within the ambit of the technical disclosure.
Fig. 1 is a schematic perspective view of a self-positioning digital installation robot for construction engineering according to an embodiment of the present invention.
Fig. 2 is a schematic perspective view of a mechanical gripper provided by the self-positioning digital installation robot for construction engineering according to an embodiment of the present invention.
Fig. 3 is an enlarged schematic structural diagram of a self-positioning digital installation robot with a recognition system matched with a mechanical gripper according to an embodiment of the present invention.
In the figure: 100. a walking device; 101. a walking chassis; 102. track wheels; 103. a first working illumination lamp; 104. a laser scanner; 105. an infrared distance sensor; 106. a fixing part; 107. a horn; 200. a base; 201. an optical measuring instrument; 300. an automated mechanical arm; 301. a first mechanical arm; 302. a second robot arm; 304. a second working illumination lamp; 400. a third mechanical arm; 500. a connecting device; 600. a mechanical gripper; 700. an identification device.
Detailed Description
Other advantages and advantages of the present invention will become apparent to those skilled in the art from the following detailed description, which, by way of illustration, is to be read in connection with certain specific embodiments, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terms such as "upper", "lower", "left", "right", "middle" and the like are also used in the present specification for convenience of description, but are not intended to limit the scope of the present invention, and the changes or modifications of the relative relationship thereof are considered to be within the scope of the present invention without substantial modification of the technical content.
Examples
As shown in fig. 1 to 3, the self-positioning digital installation robot for construction engineering provided by the embodiment of the invention comprises a machine body, wherein the machine body comprises a traveling device 100 and a base 200 arranged on the traveling device 100, an optical measuring instrument 201 is arranged on the base 200, an automatic mechanical arm 300 is further arranged on the base 200, a mechanical gripper or a glass sucker (not shown in the figure) is arranged at one end of the automatic mechanical arm 300, which is far away from the base, the traveling device 100 comprises a traveling chassis 101 and crawler wheels 102 arranged at two sides of the traveling chassis 101, a storage battery (not shown in the figure) is arranged in the traveling chassis 101, a first working lighting lamp 103 and a laser scanner 104 are arranged on the traveling chassis 101, a plurality of infrared distance sensors 105 are also arranged on the traveling chassis 101, a master control module (not shown in the figure) is arranged in the traveling chassis 101, the optical measuring instrument 201, the first working lighting lamp 103, the laser scanner 104 and the infrared distance sensors 105 are respectively connected with the master control module (not shown in the figure), and the storage battery module (not shown in the figure) is electrically connected with the traveling chassis 101. Through the storage battery, the wireless operation of the system is ensured, and the storage battery can be directly connected with a power supply for charging or taken down for charging under the condition of insufficient power of the storage battery; in addition, the walking chassis is provided with a self-leveling work function.
The embodiment of the invention provides a self-positioning digital installation robot for construction engineering, wherein an optical measuring instrument 201 is an automatic measuring total station, and the optical measuring instrument 201 is fixedly arranged at the central position of the upper end of a base 200. The optical measuring instrument 201 has the function of identifying the prisms and their specific identities, determines the coordinates (geodetic coordinates or project coordinates, the coordinate system including the points of XYZ information) of the prisms according to the known coordinates of three prisms, and determines the coordinates of the prisms of other identities in real time, when the coordinates of a plurality of prisms are determined, the motion of any three prisms is maintained, after the other prisms are moved, the positioning function is performed, and then the prisms of all specific identities can be repositioned. After the machine moves, a positioning function is automatically executed to accurately determine the coordinates of the machine and all prisms. In addition, the optical measuring instrument on the machine can be removed for determining the positions of the first three prisms when the work starts, and the machine position is reloaded after the measurement is finished.
The self-positioning digital installation robot for the constructional engineering provided by the embodiment of the invention can be operated according to a visual control system, and after the self-positioning of the robot is carried out, an automatic mechanical arm can clamp a building component (simply referred to as a component) to be installed at a specific position by means of the identification function and laser scanning, and the component to be installed is positioned to a space position to be installed according to an input building model or data. After the components are installed, the visual control system records the operation data into the system, writes the RFID marked on the components, records the operation data, completes single operation, and then installs the next component.
According to the self-positioning digital installation robot for the construction engineering, provided by the embodiment of the invention, the annular fixing part 106 is arranged on the walking chassis 101, the lower end of the base 200 is rotationally connected with the fixing part 106, and the base 200 can rotate 360 degrees along the fixing part.
According to the self-positioning digital installation robot for the constructional engineering, provided by the embodiment of the invention, the plurality of infrared distance sensors 105 are 8 infrared distance sensors 105, and the 8 infrared distance sensors 105 are uniformly distributed on the circumferential direction of the outer side wall of the fixed part 106.
The self-positioning digital installation robot for construction engineering provided by the embodiment of the invention, the automatic mechanical arm 300 comprises a first mechanical arm 301 and a second mechanical arm 302, one end of the first mechanical arm 301 is connected with the base 200, and the other end of the first mechanical arm 301 is rotatably connected with one end of the second mechanical arm 302. The robot further comprises a third mechanical arm 400, wherein the third mechanical arm 400 is movably connected with the end part, far away from the first mechanical arm, of the second mechanical arm. A connecting device 500 is arranged below the end part of the third mechanical arm 400, and the gripping device is connected with the third mechanical arm 400 through the connecting device 500. The gripping means may be a mechanical gripper 600 or a glass chuck, and the connecting means may be other forms of structure of an abutment fitting that cooperates with the mechanical gripper or the glass chuck, as long as the third mechanical arm 400 and the mechanical gripper or the glass chuck are connected together. In addition, the third mechanical arm can be provided with a replaceable module, can grasp tubular members, plate-shaped members and strip-shaped members, and can grasp plate-shaped members with smooth surfaces such as glass, and the like, so that the assembly is convenient and the later maintenance is convenient.
The embodiment of the invention provides a self-positioning digital installation robot for construction engineering, which also comprises a remote control terminal (not shown in the figure), wherein the remote control terminal is in communication connection with a main control module and is used for controlling a machine body, and the remote control terminal is a microcomputer or a mobile phone. In addition, the microcomputer can be selectively arranged on the base 200, and can be taken down, so that the state of the machine can be reflected in real time, the microcomputer can be arranged in a multifunctional way, and the machine can be operated remotely. The digital model of the component can be read, viewed, and manipulated. The microcomputer can be in communication connection with the machine through a Bluetooth module, a WiFI module and a wireless module.
According to the self-positioning digital installation robot for the construction engineering, provided by the embodiment of the invention, the end part, close to the first mechanical arm 301, of the second mechanical arm 302 is provided with the second working illumination lamp 304, and the second working illumination lamp 304 is electrically connected with the main control module. The remote control terminal performs on-off control on the second working lighting lamp 304 through the main control module, so that the operation is convenient and quick, and the working efficiency is improved.
The self-positioning digital installation robot for construction engineering provided by the embodiment of the invention further comprises an identification device 700, wherein the identification device is electrically connected with the main control module, and the identification device is arranged below the third mechanical gripper 400. The identification device is provided with code scanning identification, shooting, laser sensing distance and the like. Through the design, the automatic mechanical arm is provided with an identification system with an RFID function, a bar code and a two-dimensional code identification function, and is used for identifying information of the component to be grabbed. The identification system may also include other modules, as long as they have the function of identifying the component.
The embodiment of the invention provides a self-positioning digital installation robot for construction engineering, which also comprises a high-definition camera, a distance sensor and a torque sensor, wherein the high-definition camera, the distance sensor and the torque sensor are respectively and electrically connected with a main control module. Through the design, the mechanical gripper is provided with a moment sensor, so that the automatic mechanical arm 300 is ensured not to damage the components when firmly gripping the components; the first robot arm is provided with a torque sensor in order to prevent the gripping members from being overweight, which would lead to mechanical tipping. In addition, the automatic mechanical arm is provided with a distance sensor, so that the specific position of the accurate grabbing component is ensured to be used for automatic positioning, and collision with other objects is avoided in the automatic continuous arm movement process. Through the high definition camera that sets up, can make a video recording the robotic arm 300 in real time when firmly snatching the component to the corresponding adjustment of confession operating personnel real-time supervision parallel piece through remote control terminal. The self-positioning digital installation robot for the building engineering provided by the embodiment of the invention is also provided with the emergency stop button (not shown in the figure), the emergency stop button can be arranged on the walking chassis 101, and when the machine has an emergency in the working process, the machine can be emergently stopped through the emergency stop button, so that the accident is avoided.
The self-positioning digital installation robot for the building engineering provided by the embodiment of the invention further comprises a loudspeaker 107, wherein the loudspeaker 107 is fixedly arranged on the walking chassis 101.
According to the self-positioning digital installation robot for the building engineering, provided by the embodiment of the invention, through the design, an optical measuring instrument, a full-automatic mechanical arm and an automatic walking chassis are combined, and the first working indicator lamp, the second working indicator lamp, the laser scanning module, the distance sensor, the moment sensor, the infrared distance sensor, the removable microcomputer, the high-definition camera and the loudspeaker are assisted, so that the purpose of automatically planning a walking path of the robot is achieved, and the robot has the functions of overturning prevention, falling prevention, collision prevention, working record and voice broadcasting.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (5)
1. The self-positioning digital installation robot for the building engineering is characterized by comprising a machine body, wherein the machine body comprises a traveling device and a base arranged on the traveling device, an optical measuring instrument is arranged on the base, an automatic mechanical arm is arranged on the base, one end, far away from the base, of the automatic mechanical arm is provided with a mechanical gripper, the traveling device comprises a traveling chassis and crawler wheels arranged on two sides of the traveling chassis, a storage battery is arranged in the traveling chassis, a first working lighting lamp and a laser scanner are arranged on the traveling chassis, a plurality of infrared distance sensors are further arranged on the traveling chassis, a main control module is arranged in the traveling chassis, the optical measuring instrument, the first working lighting lamp, the laser scanner and the infrared distance sensors are respectively and electrically connected with the main control module, and a communication module and a GPS module are also arranged in the traveling chassis, and the communication module, the GPS module and the storage battery are respectively and electrically connected with the main control module;
the optical measuring instrument is an automatic measuring total station and is fixedly arranged at the center position of the upper end of the base;
the walking chassis is provided with an annular fixing part, the lower end of the base is rotationally connected with the fixing part, and the base can rotate 360 degrees along the fixing part;
the infrared distance sensors are 8 infrared distance sensors, and the 8 infrared distance sensors are uniformly distributed on the circumferential direction of the outer side wall of the fixing part;
the automatic mechanical arm comprises a first mechanical arm and a second mechanical arm, one end of the first mechanical arm is connected with the base, the other end of the first mechanical arm is rotationally connected with one end of the second mechanical arm, the other end of the second mechanical arm is provided with a third mechanical arm, and the end part of the third mechanical arm is connected with the mechanical gripper;
the self-positioning digital installation robot for the building engineering further comprises a remote control terminal, wherein the remote control terminal is in communication connection with the main control module and is used for controlling the machine body, and the remote control terminal is a microcomputer or a mobile phone;
the optical measuring instrument is an automatic measuring total station and is fixedly arranged at the center position of the upper end of the base; the optical measuring instrument has the functions of identifying the prisms and the specific identities thereof, determining the coordinates of the optical measuring instrument according to the known coordinates of the three prisms, determining the coordinates of the prisms with other identities in real time, reserving any three prisms to be motionless after determining the coordinates of the prisms, and repositioning all the prisms with specific identities after executing the positioning function after moving the other prisms.
2. The self-positioning digital installation robot for construction engineering according to claim 1, wherein a second working lighting lamp is arranged at the end part of the second mechanical arm, which is close to the first mechanical arm, and the second working lighting lamp is electrically connected with the main control module.
3. The self-positioning digital installation robot for construction engineering according to claim 1, further comprising an identification device, wherein the identification device is electrically connected with the main control module, and the identification device is arranged below the mechanical gripper.
4. The self-positioning digital installation robot for constructional engineering according to claim 1, further comprising a high-definition camera and a torque sensor, wherein the high-definition camera, the distance sensor and the torque sensor are respectively and electrically connected with the main control module, and the high-definition camera is arranged on the side wall of the second mechanical arm, which is close to one end of the first mechanical arm.
5. The self-positioning digital mounting robot for construction engineering according to claim 1, further comprising a horn fixedly disposed on the traveling chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910075215.2A CN109571510B (en) | 2019-01-25 | 2019-01-25 | Self-positioning digital installation robot for constructional engineering |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910075215.2A CN109571510B (en) | 2019-01-25 | 2019-01-25 | Self-positioning digital installation robot for constructional engineering |
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| Publication Number | Publication Date |
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| CN109571510A CN109571510A (en) | 2019-04-05 |
| CN109571510B true CN109571510B (en) | 2023-12-29 |
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| CN201910075215.2A Active CN109571510B (en) | 2019-01-25 | 2019-01-25 | Self-positioning digital installation robot for constructional engineering |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111851295B (en) * | 2019-08-26 | 2021-12-28 | 东南大学 | Intelligent bridge pier template loading and unloading device |
| CN110821113A (en) * | 2019-10-18 | 2020-02-21 | 同济大学 | Automatic installation method of curtain wall plate robot |
| CN113021309B (en) * | 2019-12-24 | 2022-09-20 | 广东博智林机器人有限公司 | Rotary platform, mobile chassis and construction robot |
| CN112376464A (en) * | 2020-10-27 | 2021-02-19 | 南京东奇智能制造研究院有限公司 | Automatic mounting robot for safety guardrail of highway |
| CN114964213B (en) * | 2022-07-26 | 2022-11-04 | 中建安装集团有限公司 | Building engineering construction positioning system and method based on attitude sensing and visual scanning |
| CN115862203B (en) * | 2023-02-24 | 2023-05-09 | 知鱼智联科技股份有限公司 | Intelligent management method, system and storage medium for park entrance guard |
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| CN107427868A (en) * | 2014-10-28 | 2017-12-01 | 恩林克公司 | For ceiling and the mobile robot formula drilling equipment and method of drill hole on wall |
| CN105856186A (en) * | 2016-04-11 | 2016-08-17 | 上海电力学院 | Transformer substation intelligent patrol robot with mechanical arms and patrol method thereof |
| CN107060369A (en) * | 2017-04-20 | 2017-08-18 | 金陵科技学院 | One kind building recovery primary and secondary robot and method of work |
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| CN109571510A (en) | 2019-04-05 |
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