CN110567955A - imaging system for rail transit tunnel detection - Google Patents
imaging system for rail transit tunnel detection Download PDFInfo
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- CN110567955A CN110567955A CN201810570111.4A CN201810570111A CN110567955A CN 110567955 A CN110567955 A CN 110567955A CN 201810570111 A CN201810570111 A CN 201810570111A CN 110567955 A CN110567955 A CN 110567955A
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- 238000003384 imaging method Methods 0.000 title claims abstract description 29
- 238000001514 detection method Methods 0.000 title claims abstract description 27
- 238000007689 inspection Methods 0.000 claims abstract description 33
- 238000005452 bending Methods 0.000 claims abstract description 3
- 230000003287 optical effect Effects 0.000 claims description 9
- 239000011324 bead Substances 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 claims description 2
- 238000005286 illumination Methods 0.000 abstract description 2
- 230000015572 biosynthetic process Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
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- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Studio Devices (AREA)
Abstract
The invention discloses an imaging system for rail transit tunnel detection, which comprises a light source adjusting device (1) fixed on a vehicle body of an intelligent inspection robot, a light source (2) arranged in the light source adjusting device (1), and a signal acquisition device (3) arranged outside the light source adjusting device (1); the light source adjusting device (1) comprises a support (11) fixed on the intelligent inspection robot body, a lens (12) arranged at the front end of the support (11), a first driving device (13) arranged on the support (11) and used for controlling the movement of the light source (2), and a second driving device (14) arranged on the support (11) and used for controlling the bending movement of the lens (12). The imaging system for detecting the rail transit tunnel can provide enough light intensity for detection of the intelligent inspection robot, and can realize directional illumination in the tunnel through adjustment of the focal length of the light source.
Description
Technical Field
the invention relates to the field of rail transit safety, in particular to an imaging system which is arranged on an intelligent inspection robot and used for rail transit tunnel detection.
Background
With the increasing population of large cities, road traffic cannot meet the rapidly increasing traffic usage of people, and the development of urban rail traffic plays an important role in relieving urban traffic congestion. Since 1863 london built the first subway, subways have been widely used in developed countries in europe and america and developed regions in north, shanghai, guangzhou, shenzhen, etc. in China as an important urban rail vehicle.
Urban rail transit is a special service industry, and in the production process, besides the personal safety of workers, the personal safety of passengers and the operation safety of various equipment and facilities are included, and meanwhile, a plurality of unpredictable potential safety hazards exist, and the safety characteristics of urban rail transit include: (1) a utility characteristic; (2) high flow rate and high density; (3) sealing property; (4) it is difficult to prevent.
There are a large amount of tunnels in the urban rail transit, and the robot is patrolled and examined to intelligence detects the project in real time with wide application in the tunnel owing to automatic height, detects characteristics such as accurate, and the light is not enough in the tunnel usually, can influence the detection precision that the robot is patrolled and examined to intelligence greatly.
Disclosure of Invention
The invention aims to overcome the technical problem that the detection precision of the intelligent inspection robot is influenced due to insufficient light in a tunnel in the prior art, and provides an imaging system for rail transit tunnel detection, which can provide enough light intensity for the detection of the intelligent inspection robot and can realize directional illumination in the tunnel by adjusting the focal length of a light source.
The invention provides an imaging system for rail transit tunnel detection, which comprises a light source adjusting device, a light source and a signal acquisition device, wherein the light source adjusting device is fixed on a vehicle body of an intelligent inspection robot; the light source adjusting device comprises a support fixed on the intelligent inspection robot body and a lens arranged at the front end of the support.
The light source passes through lens formation light beam, can provide sufficient luminous intensity in the tunnel, for the image data in the signal acquisition device real-time acquisition tunnel provides support, and the shape of light beam can be adjusted to the imaging system support simultaneously, provides sufficient luminous intensity for signal acquisition device's directional data acquisition, improves the intelligence and patrols and examines the detection precision of robot.
In an embodiment of the imaging system for rail transit tunnel detection, the light source adjusting device further includes a first driving device disposed on the bracket and used for controlling the movement of the light source and adjusting the distance from the light source to the lens.
First drive arrangement control substrate is along lens optical axis direction fore-and-aft movement in the support, can adjust the distance between lens and the light source, makes the light beam can focus on detection area, improves the detection precision that robot was patrolled and examined to intelligence.
According to the imaging system for rail transit tunnel inspection, as a preferable mode, the lens is a linear Fresnel lens.
Preferably, the signal acquisition device comprises a line camera arranged outside the support.
The linear Fresnel lens can provide linear light, so that a consistent light source is provided for the linear array camera, and the monitoring range is wider.
Preferably, the second driving means for changing the curvature of the lens is provided on the holder. The length of the linear light emitted by the lens can be adjusted by changing the curvature of the lens, namely the coverage range of the lens is adjusted. Can adjust the light filling region according to the robot formation of image field of vision promptly, improve the detection flexibility that intelligence patrolled and examined the robot.
As a preferred mode, the support comprises a support seat fixed on the intelligent inspection robot body, support plates vertically fixed at two ends of the support seat, a top plate and a bottom plate, wherein the top plate and the bottom plate are located at the upper end and the lower end of the support seat and the support plates, and the upper end and the lower end of the lens are movably connected with the end portions of the top plate and the bottom plate of the support respectively. The lens is arranged at the front end of the bracket, and the upper end and the lower end of the lens are movably connected, so that the curvature of the lens can be conveniently adjusted.
As a preferable mode, the first driving device comprises a base plate connected with the support plate, a tension spring, a cam and a steering engine, wherein the tension spring is connected with the support seat and the base plate at two ends respectively; the base plate with lens primary optical axis sets up perpendicularly be equipped with on the mounting panel inside wall with lens primary optical axis parallel arrangement's spout, the both ends embedding spout of base plate in, and can the spout internal motion, the light source sets up on the base plate and be located the extension spring with the offside of cam.
Preferably, the second driving device comprises two motors arranged on the outer sides of the two support plates, two lead screws are arranged on the outer sides of the support plates and connected with the motors, and the lead screws are positioned in the middle of the lens and arranged in parallel with the main optical axis of the lens; the lens driving mechanism is characterized in that the screw rod is provided with a sliding block, the sliding block can linearly move along the screw rod, the other end of the screw rod is rotatably fixed on the outer side of the front end of the support plate, and one end of the sliding block extends into the inner side of the support plate and is in contact with the inside of the lens and used for driving the lens to move back and forth.
As a preferable mode, the signal acquisition device comprises an adjusting table arranged below the light source adjusting device and used for adjusting the posture of the line camera, and the adjusting table is installed between the line camera and the support; and a third driving device for controlling the movement of the adjusting table.
The third driving device can control the adjusting platform to rotate and swing, so that the camera view lines and the light source lines are overlapped.
Preferably, the third driving device includes a rotation driving motor for controlling the adjustment table to rotate around a horizontal axis and a swing driving motor for controlling the adjustment table to swing horizontally around a vertical axis.
Preferably, the imaging system further comprises a switch for controlling the light source to be turned on or off.
The switch can control opening or closing of light source, when intelligence patrols and examines the robot and marchs, the switch can cooperate signal acquisition device to open, and the light source is in a high frequency stroboscopic state during the light source light filling, configures into the formation of image with signal acquisition device. When the intelligent inspection robot is driven by the train when the robot stops, the switch controls the light source to be turned off, so that the normal driving of the train is not influenced.
The invention relates to an imaging system for rail transit tunnel detection.
In the using process of the invention, the light source emits light beams through the lens to provide brightness for the inside of the tunnel, the signal acquisition device acquires image data in the tunnel in real time, and when the shape of the tunnel changes or a certain position needs to be observed in detail, a linear Fresnel lens and a linear array camera are particularly adopted. The invention can widen the image data acquisition range, adjust the distance from the light source to the lens through the first drive device, the second drive device and the third drive device, change the curvature of the lens, adjust the posture of the camera to make it coincide with linear light, make the light beam concentrate on the section needing to be detected through adjusting the distance and angle between lens and the light source; when the train passes through the intelligent inspection robot, the switch controls the light source to be turned off, so that the normal running of the train is not influenced.
According to the invention, because the light source and the imaging system are added on the intelligent inspection robot body, the brightness can be provided for the inside of the tunnel, and the detection precision of the intelligent inspection robot is improved.
The light source and the lens are further set to be in an adjustable mode, and the light beams can be concentrated in a section needing to be detected by adjusting the distance and the angle between the light source and the lens, so that the directional detection of the intelligent inspection robot is realized.
The control device is further provided with a switch for controlling the light source to be turned on or turned off, so that the light source can be controlled to be turned off when the train passes through the intelligent inspection robot, the normal running of the train is not influenced by the light source, and the safety of a rail transit system is improved.
drawings
FIG. 1 is a front view of an imaging system for rail transit tunnel inspection;
FIG. 2 is a longitudinal cross-sectional view taken along line A-A of FIG. 1;
FIG. 3 is a left side view of FIG. 1;
FIG. 4 is a partial enlarged view of FIG. 2B;
FIG. 5 is a cross-sectional view taken at C-C of FIG. 3;
FIG. 6 is a front view of another embodiment of an imaging system for rail transit tunnel inspection;
FIG. 7 is a longitudinal cross-sectional view of FIG. 6;
Fig. 8 is a left side view of fig. 6.
Reference numerals:
1. A light source adjusting device; 11. a support; 111. a support base; 112. a mounting plate; 113. a chute; 114. a top plate; 115. a base plate; 12. a lens; 13. a first driving device; 131. a substrate; 132. a tension spring; 133. a cam; 134. a steering engine; 14. a second driving device; 141. a slider; 142. a lead screw; 143. a motor; 15. a limiting rod; 2. a light source; 3. a signal acquisition device; 31. an adjusting table; 32. a line camera; 33. a third driving device; 331. a rotary drive motor; 332. the motor is driven by swinging.
Detailed Description
Example 1
As shown in fig. 1 to 5, the invention provides an imaging system for rail transit tunnel detection, which comprises a light source adjusting device 1 fixed on a vehicle body of an intelligent inspection robot, a light source 2 arranged inside the light source adjusting device 1 and a signal acquisition device 3 arranged outside the light source adjusting device 1.
The light source adjusting device 1 comprises a support 11 fixed on the intelligent inspection robot body, a lens 12 arranged at the front end of the support 11, a first driving device 13 arranged on the support 11 and used for controlling the light source 2 to move, and a second driving device 14 arranged on the support 11 and used for controlling the lens 12 to do bending movement, wherein the lens 12 is a linear Fresnel lens; the support 11 includes a support base 111 fixed on the intelligent inspection robot body and support plates 112 vertically fixed at two ends of the support base 111 and extending forward, a top plate 114 and a bottom plate 115 are arranged at upper and lower ends of the two support plates 112, the lens 12 is arranged at a free end of the support plates 112, the upper and lower ends of the lens 12 are movably connected with front ends of the top plate 114 and the bottom plate 115, see fig. 4, the upper and lower ends of the lens 12 are limited by limiting rods 15 horizontally arranged at the two ends, and a movable connection mode is adopted, so that no clamping stagnation phenomenon is generated when the curvature of the lens 12 is changed, and damage to the lens is avoided. In this way, the holder 11 is configured as a single case structure including the holder base 111, the holder plate 112, the top plate, the bottom plate, and the lens, but it is needless to say that the structure is not limited thereto, and the lens 12 and the light source 2 may be supported.
The first driving device 13 comprises a base plate 131 connected with the support plate 112, a tension spring 132 with two ends respectively connected with the support base 111 and the base plate 131, a cam 133 arranged on the inner side of the support plate 112 and in contact with the base plate 131 for driving the base plate 131 to move horizontally, and a steering engine 134 arranged on the outer side of the support plate 112 for driving the cam 133 to move, wherein a sliding groove 113 is arranged on the inner side wall of the support plate 112, the base plate 131 is arranged in a direction perpendicular to the main optical axis of the lens 12, and two ends of the base plate 131 are embedded in the sliding groove 113 and can move horizontally in the sliding groove 113, so that the distance between the light source 2 and the; the light source 2 is disposed on the base plate 131 on the opposite side of the tension spring 132 and the cam 133, i.e., the side facing the lens 12. Through a circle of rotation of steering wheel 134 to drive cam 133 and rotate, further promote base plate 131 and move forward, or move backward under the effect of spring 132, realize adjusting the distance of light source 2 to lens 12.
As shown in fig. 5, the second driving device 14 includes a motor 143 disposed outside the supporting plate 112, and a screw 142 connected to the motor 143 and perpendicular to the middle of the lens 12, i.e. the screw 142 is disposed outside the supporting plate 112 parallel to the main optical axis of the lens and connected to the motor 143, a slider 141 is disposed on the screw 142 and can move back and forth along the screw 142, and the inner end of the slider 141 extends into the supporting plate 112 and contacts with the middle of the lens 12 to push the lens 12 to move forward. The front end of the screw 142 is rotatably fixed to the front end plate of the bracket plate 112. The second driving devices 14 are provided in two sets, respectively, at the outer sides of the two supporting plates 112, and are used for driving the two ends of the transparent tube 12. The motor 143 rotates to drive the screw 142 to rotate, the slider 141 on the screw 142 moves forward, thereby pushing the middle of the lens 12 forward, changing the curvature of the lens 12, and when the slider 141 moves backward, the lens 12 is reset to the front end of the slider 141 under the action of elastic force.
The signal acquisition device 3 comprises an adjusting table 31 arranged on the support 1, a linear array camera 32 arranged on the adjusting table 31 and a third driving device 33 used for controlling the movement of the adjusting table 31, wherein the linear array camera 32 is arranged in parallel to the horizontal plane. As shown in fig. 4, the third driving device 33 includes a rotation driving motor 331 for controlling the adjustment table 31 to rotate about the horizontal axis and a swing driving motor 332 for controlling the adjustment table 31 to swing horizontally about the vertical axis.
The light source 2 is an LED lamp bead, and a switch for controlling the LED lamp bead to be turned on or turned off is arranged behind the LED lamp bead.
In the use process of the embodiment, the light source 2 emits light beams through the lens 12 to provide brightness for the inside of the tunnel, the signal acquisition device 3 acquires image data in the tunnel in real time, when the shape of the tunnel changes or a certain position needs to be observed in detail, the first driving device 13 adjusts the distance from the light source to the lens so as to adjust the convergence degree of the linear light, and the second driving device 14 is used for changing the curvature of the lens so as to adjust the length (irradiation amplitude) of the linear light so as to adjust the coverage range of the linear light. The third driving device 33 is used for adjusting the relative position relationship between the line camera 33 and the support 11, i.e. the line camera 33 can be swung horizontally and rotated vertically, so that the linear light and the field of view of the line camera 33 coincide.
The distance between the light source 2 and the lens 12 and the radian of the lens 12 are adjusted to enable the light beams to be concentrated on the section needing to be detected; when the train passes through the intelligent patrol inspection robot, the switch control light source 2 is turned off, so that the normal running of the train is not influenced, when the train leaves the intelligent patrol inspection robot, the switch control light source 2 is turned on, and the intelligent patrol inspection robot continues to detect the tunnel in real time.
Example 2
As shown in fig. 6-8, compared with embodiment 1, the line camera 32 of the present embodiment has an angle of 20 to 40 ° with the horizontal plane, and is achieved by the bottom plate of the support 11 being inclined at 20 to 40 °. The same angle of corresponding slope of lens 12 also, the principal optic axis and the camera parallel arrangement of lens promptly, and base plate 131 is the principal optic axis direction of perpendicular lens and establishes in support 11, sets up below support 11 and personally submits 20 ~ 40 jiaos of line array camera 32 with the horizontal plane, and the detection precision of robot is patrolled and examined in coverage that can be more comprehensive improves intelligence.
The foregoing description is intended to be illustrative rather than limiting, and it will be appreciated by those skilled in the art that various modifications, changes, and equivalents may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (12)
1. An imaging system for rail transit tunnel detection, characterized by: the intelligent inspection robot comprises a light source adjusting device (1) fixed on a vehicle body of the intelligent inspection robot, a light source (2) arranged in the light source adjusting device (1) and a signal acquisition device (3) arranged outside the light source adjusting device (1); light source adjusting device (1) is including fixing support (11) on the intelligence inspection robot automobile body, the setting is in lens (12) of support (11) front end.
2. The imaging system for rail transit tunnel detection according to claim 1, wherein: the light source adjusting device (1) further comprises a first driving device (13) arranged on the support (11) and used for controlling the light source (2) to move and adjusting the distance from the light source (2) to the lens (12).
3. The imaging system for rail transit tunnel detection according to claim 2, wherein: the lens (12) is a linear Fresnel lens.
4. An imaging system for rail transit tunnel inspection according to claim 3, characterized in that: the signal acquisition device (3) comprises a linear array camera (32) arranged outside the support (11).
5. The imaging system for rail transit tunnel detection according to claim 4, wherein: a second driving device (14) for changing the bending radian of the lens (12) is arranged on the support (11).
6. An imaging system for rail transit tunnel inspection according to any one of claims 2-5, characterized in that: the support (11) comprises a support seat (111) fixed on the intelligent inspection robot body, support plates (112) vertically fixed at two ends of the support seat (111), a top plate (114) and a bottom plate (115) located at the upper end and the lower end of the support seat (111) and the support plates (112), and the upper end and the lower end of the lens (12) are movably connected with the end portions of the top plate (114) and the bottom plate (115) of the support (11) respectively.
7. The imaging system for rail transit tunnel detection according to claim 6, wherein: the first driving device (13) comprises a base plate (131) connected with the support plate (112), a tension spring (132) with two ends respectively connected with the support base (111) and the base plate (131), a cam (133) arranged on the inner side of the support plate (112) and in contact with the base plate (131) for driving the base plate (131) to horizontally move, and a steering engine (134) arranged on the outer side of the support plate (112) for driving the cam (133) to move; base plate (131) with lens (12) primary optical axis sets up perpendicularly be equipped with on mounting panel (112) inside wall with lens (12) primary optical axis parallel arrangement's spout (113), the both ends embedding spout (113) of base plate (131) in, and can spout (113) internal motion, light source (2) set up on base plate (131) and be located extension spring (132) with the offside of cam (133).
8. An imaging system for rail transit tunnel inspection according to claim 6 or 7, characterized in that: the second driving device (14) comprises two motors (143) arranged on the outer sides of the two support plates (112), two lead screws (142) are arranged on the outer sides of the support plates (112) and connected with the motors (143), and the lead screws (142) are located in the middle of the lens and arranged in parallel with the main optical axis of the lens; the lens driving mechanism is characterized in that a sliding block (141) is arranged on the screw rod (142), the sliding block (141) can do linear motion along the screw rod, the other end of the screw rod (142) is rotatably fixed on the outer side of the front end of the support plate (112), and one end of the sliding block (141) extends into the inner side of the support plate (112) and is in contact with the inside of the lens and used for driving the lens (12) to move back and forth.
9. An imaging system for rail transit tunnel inspection according to any one of claims 3-8, characterized in that: the signal acquisition device (3) comprises an adjusting table (31) which is arranged below the light source adjusting device (1) and used for adjusting the posture of the linear array camera (32), and the adjusting table (31) is installed between the linear array camera (32) and the support (11); and third drive means (33) for controlling the movement of the adjustment table (31).
10. the imaging system for rail transit tunnel detection of claim 9, wherein: the third driving device (33) comprises a rotation driving motor (331) for controlling the adjusting platform (31) to rotate around a horizontal shaft and a swing driving motor (332) for controlling the adjusting platform to swing horizontally around a vertical shaft.
11. an imaging system for rail transit tunnel inspection according to any one of claims 1-9, characterized in that: the imaging system further comprises a switch for controlling the light source (2) to be switched on or off.
12. the imaging system for rail transit tunnel detection according to any one of claims 1 to 9, wherein: the light source (2) is an LED lamp bead.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810570111.4A CN110567955A (en) | 2018-06-05 | 2018-06-05 | imaging system for rail transit tunnel detection |
| PCT/CN2018/104740 WO2019232963A1 (en) | 2018-06-05 | 2018-09-09 | Imaging system for tunnel detection of rail traffic |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810570111.4A CN110567955A (en) | 2018-06-05 | 2018-06-05 | imaging system for rail transit tunnel detection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110567955A true CN110567955A (en) | 2019-12-13 |
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ID=68769225
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810570111.4A Pending CN110567955A (en) | 2018-06-05 | 2018-06-05 | imaging system for rail transit tunnel detection |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110567955A (en) |
| WO (1) | WO2019232963A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113092494A (en) * | 2021-03-25 | 2021-07-09 | 中车青岛四方车辆研究所有限公司 | Inspection robot and intelligent detection method for train tunnel structure diseases |
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2018
- 2018-06-05 CN CN201810570111.4A patent/CN110567955A/en active Pending
- 2018-09-09 WO PCT/CN2018/104740 patent/WO2019232963A1/en active Application Filing
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| JPS6479613A (en) * | 1987-09-21 | 1989-03-24 | Komatsu Mfg Co Ltd | Tunnel crack detection apparatus |
| CN204630714U (en) * | 2014-10-10 | 2015-09-09 | 北京工业大学 | Tunnel runs the complete detection system of lighting quality |
| CN105510351A (en) * | 2016-01-28 | 2016-04-20 | 北京工业大学 | Tunnel inspection van |
| CN205786361U (en) * | 2016-01-28 | 2016-12-07 | 北京工业大学 | A kind of Tunnel testing car |
| CN107390676A (en) * | 2016-05-17 | 2017-11-24 | 深圳市朗驰欣创科技股份有限公司 | Tunnel crusing robot and tunnel cruising inspection system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113092494A (en) * | 2021-03-25 | 2021-07-09 | 中车青岛四方车辆研究所有限公司 | Inspection robot and intelligent detection method for train tunnel structure diseases |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019232963A1 (en) | 2019-12-12 |
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