CN111300453A - Intelligent inspection robot for comprehensive pipe rack - Google Patents
Intelligent inspection robot for comprehensive pipe rack Download PDFInfo
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- CN111300453A CN111300453A CN202010246434.5A CN202010246434A CN111300453A CN 111300453 A CN111300453 A CN 111300453A CN 202010246434 A CN202010246434 A CN 202010246434A CN 111300453 A CN111300453 A CN 111300453A
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- 238000007689 inspection Methods 0.000 title claims abstract description 53
- 230000007246 mechanism Effects 0.000 claims abstract description 97
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- 230000010365 information processing Effects 0.000 claims abstract description 13
- 238000012544 monitoring process Methods 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 8
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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
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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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
- B25J19/023—Optical sensing devices including video camera means
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- 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
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/10—Actuation by presence of smoke or gases, e.g. automatic alarm devices for analysing flowing fluid materials by the use of optical means
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/12—Alarms for ensuring the safety of persons responsive to undesired emission of substances, e.g. pollution alarms
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/20—Status alarms responsive to moisture
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Abstract
The invention discloses an intelligent inspection robot for a comprehensive pipe gallery, which comprises a control system and a robot body controlled by the control system, wherein the robot body comprises an information acquisition unit, and a lifting mechanism, a telescopic mechanism and a rotating mechanism which are connected with the information acquisition unit; the control system comprises a central control system, an information processing unit and a mobile control unit, wherein the central control system receives the information acquired by the information acquisition unit, processes the information by the information processing unit, and finally controls the robot body to move through the mobile control unit so as to realize the secondary acquisition of the specific part or abnormal information; the intelligent inspection robot for the comprehensive pipe gallery provided by the invention can eliminate inspection blind areas on one hand and can perform repeated inspection on abnormal parts on the other hand.
Description
Technical Field
The invention belongs to the field of pipe gallery monitoring management, and particularly relates to an intelligent inspection robot for a comprehensive pipe gallery.
Background
The utility tunnel is a modern, scientific and intensive city infrastructure integrating various engineering pipelines such as sewage, electric power, communication, comprehensive communication, gas, heat supply, water supply and drainage, can avoid the problems of repeated excavation and repair of road surfaces, electric wire nets and the like, high use risk of the pipelines and the like, and is an important guarantee for ensuring the normal operation of cities.
In recent years, with the rapid development of the urbanization speed of China, the comprehensive pipe gallery is being built at an accelerated speed, the scale is continuously enlarged, the problems of the traditional inspection mode are obvious, the main problems include that the internal environment of the comprehensive pipe gallery is severe, the inspection process is complex, the inspection content is large and complex, the manual inspection task is heavy, the requirement on the comprehensive capacity of personnel is high, and the physical and mental health of the inspection personnel is influenced. To solve the above problems, robots have been widely used for inspection. However, the existing inspection robot often has the problems of incomplete inspection coverage and irregular inspection flow in inspection, even if multi-party resources are utilized, an inspection blind area can exist, an ideal effect cannot be achieved, and abnormal areas cannot be confirmed and rechecked for many times, so that the problem that information is missed or not found in time can occur in the abnormal areas.
Disclosure of Invention
The invention aims to provide an intelligent inspection robot for a comprehensive pipe gallery, which can eliminate inspection blind areas and can perform multiple rechecks on abnormal parts.
The invention discloses an intelligent inspection robot for a comprehensive pipe gallery, which comprises a control system and a robot body controlled by the control system, wherein the robot body comprises an information acquisition unit, and a lifting mechanism, a telescopic mechanism and a rotating mechanism which are connected with the information acquisition unit;
the control system comprises a central control system, an information processing unit and a mobile control unit, wherein the central control system receives the information acquired by the information acquisition unit, the information is processed by the information processing unit, and finally the mobile control unit controls the robot body to move so as to realize the purpose of acquiring the specific part or abnormal information again.
Preferably, the robot body further comprises a traveling mechanism connected with the inspection track and a connecting part connected with the traveling mechanism, and the lifting mechanism is arranged at the bottom of the connecting part and fixedly connected with the connecting part;
the rotating mechanism is connected to the bottom of the lifting mechanism, the telescopic mechanism is connected with the rotating mechanism, the lifting mechanism drives the rotating mechanism, the telescopic mechanism and the information acquisition unit to lift, the rotating mechanism drives the telescopic mechanism and the information acquisition unit to rotate around the rotating mechanism, and the telescopic mechanism drives the information acquisition unit to be close to or far away from the rotating mechanism.
Preferably, the connecting part comprises a fixed supporting plate, the top surface and the bottom surface of the fixed supporting plate are respectively fixed with a travelling mechanism and a lifting mechanism, and the travelling mechanism comprises a rechargeable battery, a travelling servo motor and a travelling wheel, wherein the rechargeable battery is arranged on the top surface of the fixed supporting plate, the travelling servo motor is driven by the travelling servo motor and the travelling wheel is arranged on the inspection track;
the lifting mechanism comprises a lifting cylinder fixedly connected with the bottom surface of the fixed supporting plate, the rotating mechanism comprises a fixed box connected with the end part of a cylinder push rod of the lifting cylinder, and a fixed support and a rotating cylinder which are arranged in the fixed box, and the rotating cylinder and the bottom surface of the fixed box are fixedly installed;
the telescopic mechanism comprises a telescopic cylinder hinged with the fixed support, and the end part of a cylinder push rod of the rotary cylinder is hinged with the outer wall of the telescopic cylinder; the rotary cylinder works to drive the telescopic cylinder to rotate around the hinged part of the telescopic cylinder and the fixed support.
Preferably, the information acquisition unit comprises an information acquisition box, and the information acquisition box is at least provided with a signal processor, an alarm, a camera, a high-definition camera, a temperature and humidity sensor, a gas sensor, a smoke alarm sensor and a lighting lamp;
the high-definition camera carries out faultless sectional shooting on the inspection area, the shot picture is transmitted to the common control system, the received picture information is analyzed and processed through the information processing unit, and the robot body is controlled to carry out recheck on the abnormal position of the information through the mobile control unit.
Preferably, the control system further comprises a wireless communication unit, a man-machine interaction unit, an emergency alarm unit and a power supply charging unit, the power supply charging unit monitors the electric quantity of the robot body and timely controls the robot body to charge and supplement the electric quantity, the wireless communication unit achieves signal transmission between the control system and the robot body, and the emergency alarm unit is arranged in a control room of the control system, achieves alarming and reminds monitoring staff of timely finding abnormality.
The intelligent inspection robot for the comprehensive pipe rack has the beneficial effects that:
1. the information acquisition units are used for acquiring all positions by utilizing the lifting mechanism, the rotating mechanism and the telescopic mechanism, so that information acquisition blind areas, especially blocking areas such as pipelines, are avoided, and the information acquisition units can deeply acquire the information.
2. Utilize central control system control robot body, carry out repeated collection to information abnormal area information, gather many times multi-angle multiposition even, improve collection precision and collection accuracy, avoid appearing leaking the condition of gathering or not discovering the anomaly in time.
Drawings
FIG. 1 is a schematic structural diagram of a robot body of an intelligent inspection robot for a comprehensive pipe gallery according to the technical scheme of the invention,
FIG. 2 is a schematic diagram showing the state of acquiring different positions by a robot body of the intelligent inspection robot for the utility tunnel according to the technical scheme of the invention,
figure 3 is a right side view of figure 1,
fig. 4 is a control system operation schematic.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
As shown in fig. 1 and 4, the intelligent inspection robot for the comprehensive pipe rack in the technical scheme of the invention comprises a control system and a robot body controlled by the control system. The robot body comprises an information acquisition unit 4, and an elevating mechanism 1, a telescopic mechanism 3 and a rotating mechanism 2 which are connected with the information acquisition unit 4, wherein the elevating mechanism 1 controls the information acquisition unit 4 to ascend and descend, and the telescopic mechanism 3 and the rotating mechanism 2 jointly control the position of the information acquisition unit 4 in the horizontal direction.
In the piping lane, generally be at the piping lane top installation track of patrolling and examining, the robot that patrols and examines along patrolling and examining orbital motion, realizes patrolling and examining monitoring in the piping lane. Install information acquisition equipment in the information acquisition box of a box form such as camera, sensor, integrated information acquisition unit utilizes information acquisition unit collection piping lane in information and with information transfer to control system, and control system compares the normal contrast information in the system database with the real-time information of gathering, judges whether abnormal conditions appear, realizes monitoring management in the piping lane.
In the prior art, the information acquisition unit can be lifted or rotated around the axis of the information acquisition box, so that the information acquisition of the front, back, left and right positions of the inspection robot is realized. But the pipe gallery interior conduit is more, and a lot of positions that are blockked by the pipeline can not directly be detected, will have the detection blind area like this, and a lot of abnormal conditions can not in time discover, leave the potential safety hazard. According to the technical scheme, the information acquisition unit 4 is controlled to move in the vertical, horizontal and inclined directions through the lifting mechanism 1, the telescopic mechanism 3 and the rotating mechanism 2, so that a blind area blocked by a pipeline is detected, the detection blind area is eliminated, any abnormal condition is found in time, and the safety of a pipe gallery is ensured.
As shown in fig. 4, the control system in the technical solution of the present invention includes a central control system, an information processing unit, and a mobile control unit. The central control system receives the information collected by the information collection unit 4 on the robot body, the information is processed by the information processing unit, and finally the movement of the robot body is controlled by the mobile control unit, so that the specific part or abnormal information is collected again. Namely, when some part is abnormal or suspected to be abnormal, the central control system can control the travelling mechanism, the lifting mechanism 1, the rotating mechanism 2 and the telescopic mechanism 3 on the robot body through the mobile control unit to realize that the robot body returns to be rechecked, or appoint the information acquisition unit to go deep into a specified position to carry out heavy inspection or multiple inspections or nearby amplified inspections, so that the inspection accuracy is improved. Eliminate and patrol and examine the blind area and patrol and examine the information and judge unclear scheduling problem unusually.
As shown in fig. 2 and 3, the robot body further includes a traveling mechanism connected to the inspection rail 10, and a connecting portion 5 connected to the traveling mechanism, and the lifting mechanism is disposed at the bottom of the connecting portion 5 and is fixedly connected to the connecting portion. The rotating mechanism 2 is connected to the bottom of the lifting mechanism 1, the telescopic mechanism 3 is connected with the rotating mechanism 2, and the lifting mechanism 1 drives the rotating mechanism 2, the telescopic mechanism 3 and the information acquisition unit 4 to lift. The rotating mechanism 2 drives the telescopic mechanism 3 and the information acquisition unit 4 to rotate around the rotating mechanism 2. The telescopic mechanism 3 drives the information acquisition unit 4 to be close to or far away from the rotating mechanism 2. Can realize that information acquisition unit 4 gathers arbitrary position, especially to the back that the pipeline blockked, information acquisition unit 4 can go deep into pipeline lower part or upper portion under rotary mechanism 2 and telescopic machanism 3's effect and gather its back that blocks, eliminates to patrol and examine the robot among the prior art and patrol and examine the blind area.
As shown in fig. 2 and 3, the connecting portion 5 includes a fixed supporting plate, and the top surface and the bottom surface of the fixed supporting plate respectively fix the traveling mechanism and the lifting mechanism 1. The walking mechanism comprises a rechargeable battery 9 arranged on the top surface of the fixed supporting plate, a walking servo motor 8 and a walking wheel 7 driven by the walking servo motor 8 and arranged on the inspection track 10. The rechargeable battery 9 is arranged at the bottom of the walking servo motor 8 and the lifting mechanism 1, the telescopic mechanism 3 and the rotating mechanism 2 work to supply power, and charging and power supplementing are carried out before the electric quantity is exhausted. The walking servo motor 8 drives the walking wheels 7 through power transmission assemblies such as belts and gears to drive the walking wheels 7 to move, and the robot body walks on the inspection track 10. Meanwhile, the walking servo motor 8 can also work reversely under the control of the mobile control unit, so that the robot body retreats, and the rechecking of the patrolled part is realized.
As shown in fig. 1 and fig. 2, the lifting mechanism 1 includes a lifting cylinder fixedly connected with the bottom surface of the fixed supporting plate, the rotating mechanism 2 includes a fixed box 23 connected to the end of a cylinder push rod of the lifting cylinder, and a fixed bracket 21 and a rotating cylinder 22 arranged in the fixed box 23, the rotating cylinder 22 is fixedly mounted on the bottom surface of the fixed box 23, and the end of the cylinder push rod of the rotating cylinder 22 is hinged to the outer wall of the telescopic cylinder. The telescopic mechanism 3 comprises a telescopic cylinder hinged with the fixed support 21, and the rotary cylinder 22 works to drive the telescopic cylinder to rotate around the hinged part of the telescopic cylinder and the fixed support 21. The rotating mechanism 2 and the telescopic mechanism 3 jointly realize the adjustment of the position of the information acquisition unit 4, so that the information acquisition unit 4 can be oriented to different positions for acquisition, and information acquisition blind areas are eliminated.
In the technical scheme, the information acquisition unit 4 comprises an information acquisition box, at least one information acquisition device or monitoring device such as a signal processor, an alarm, a camera, a high-definition camera, a temperature and humidity sensor, a gas sensor, a smoke alarm sensor, a gas pressure sensor and an illuminating lamp is installed on the information acquisition box, and is used for acquiring or monitoring each monitoring information in the pipe gallery respectively and transmitting the signal to the central control system through the signal processor.
The high-definition camera carries out faultless sectional shooting on the inspection area, the shot picture is transmitted to the common control system, the received picture information is analyzed and processed through the information processing unit, and the robot body is controlled to carry out recheck on the abnormal position of the information through the mobile control unit.
Namely: an information processing unit in the central control system divides the image shot by the camera and the patrol position information into coordinates and divides the images into a plurality of monitoring units; then, a high-definition camera is used for photographing each monitoring unit, and real-time pictures obtained by photographing are uploaded to a central control system; and the information processing unit in the central control system processes and compares the acquired real-time picture with the original information in the database to judge whether the abnormality occurs in the monitoring unit.
If not, the robot body continues to move forward for inspection; if the abnormal monitoring unit exists, the robot body is controlled to return through the mobile control unit, the abnormal monitoring unit is subjected to routing inspection again or routing inspection for multiple times, or the mobile information acquisition unit is close to the abnormal part to carry out nearby amplification routing inspection, and routing inspection precision is improved.
If the collected information of the sensors such as the gas sensor, the temperature and humidity sensor and the like is abnormal, the robot body returns to collect the information. Through the inspection mode, no dead angle is ensured, the repeated inspection of an abnormal area or a suspected abnormal area is improved, and the problems that inspection errors or abnormality is not found and the like are avoided.
As shown in fig. 4, the control system further comprises a wireless communication unit, a human-computer interaction unit, an emergency alarm unit and a power supply charging unit, the power supply charging unit monitors the electric quantity of the robot body and timely controls the robot body to charge and supplement the electric quantity, the wireless communication unit realizes signal transmission between the control system and the robot body, and the emergency alarm unit is arranged in a control room of the control system, realizes alarming and reminds monitoring staff of timely finding abnormality. The human-computer interaction unit comprises conveying equipment such as a keyboard and a touch control screen, a worker inputs a control instruction through the human-computer interaction unit, the robot body is controlled through the central control system, and the robot body is controlled to patrol or charge a lamp.
It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by one of ordinary skill in the art and related arts based on the embodiments of the present invention without any creative effort, shall fall within the protection scope of the present invention. Structures, devices, and methods of operation not specifically described or illustrated herein are generally practiced in the art without specific recitation or limitation.
Claims (5)
1. The intelligent inspection robot for the comprehensive pipe gallery comprises a control system and a robot body controlled by the control system, and is characterized in that the robot body comprises an information acquisition unit, and a lifting mechanism, a telescopic mechanism and a rotating mechanism which are connected with the information acquisition unit, wherein the lifting mechanism controls the information acquisition unit to lift, and the telescopic mechanism and the rotating mechanism jointly control the position of the information acquisition unit in the horizontal direction;
the control system comprises a central control system, an information processing unit and a mobile control unit, wherein the central control system receives the information acquired by the information acquisition unit, the information is processed by the information processing unit, and finally the mobile control unit controls the robot body to move so as to realize the purpose of acquiring the specific part or abnormal information again.
2. The intelligent inspection robot for the comprehensive pipe rack according to claim 1, is characterized in that the robot body further comprises a traveling mechanism connected with the inspection track and a connecting part connected with the traveling mechanism, and the lifting mechanism is arranged at the bottom of the connecting part and fixedly connected with the connecting part;
the rotating mechanism is connected to the bottom of the lifting mechanism, the telescopic mechanism is connected with the rotating mechanism, the lifting mechanism drives the rotating mechanism, the telescopic mechanism and the information acquisition unit to lift, the rotating mechanism drives the telescopic mechanism and the information acquisition unit to rotate around the rotating mechanism, and the telescopic mechanism drives the information acquisition unit to be close to or far away from the rotating mechanism.
3. The intelligent inspection robot for the comprehensive pipe rack according to claim 2, wherein the connecting part comprises a fixed supporting plate, the top surface and the bottom surface of the fixed supporting plate are respectively fixed with a walking mechanism and a lifting mechanism, the walking mechanism comprises a rechargeable battery arranged on the top surface of the fixed supporting plate, a walking servo motor and a walking wheel driven by the walking servo motor and arranged on the inspection track;
the lifting mechanism comprises a lifting cylinder fixedly connected with the bottom surface of the fixed supporting plate, the rotating mechanism comprises a fixed box connected with the end part of a cylinder push rod of the lifting cylinder, and a fixed support and a rotating cylinder which are arranged in the fixed box, and the rotating cylinder and the bottom surface of the fixed box are fixedly installed;
the telescopic mechanism comprises a telescopic cylinder hinged with the fixed support, and the end part of a cylinder push rod of the rotary cylinder is hinged with the outer wall of the telescopic cylinder; the rotary cylinder works to drive the telescopic cylinder to rotate around the hinged part of the telescopic cylinder and the fixed support.
4. The intelligent inspection robot for the comprehensive pipe rack according to claim 1, wherein the information acquisition unit comprises an information acquisition box, and at least a signal processor, an alarm, a camera, a high-definition camera, a temperature and humidity sensor, a gas sensor, a smoke alarm sensor and a lighting lamp are installed on the information acquisition box;
the high-definition camera carries out faultless sectional shooting on the inspection area, the shot picture is transmitted to the common control system, the received picture information is analyzed and processed through the information processing unit, and the robot body is controlled to carry out recheck on the abnormal position of the information through the mobile control unit.
5. The utility model provides a utility tunnel intelligence inspection robot according to claim 1, characterized in that, control system still includes wireless communication unit, man-machine interaction unit, emergent alarm unit and power supply charging unit, power supply charging unit monitors the robot body electric quantity and in time controls the robot body and mends the electricity of charging, wireless communication unit realizes signal transmission between control system and the robot body, emergent alarm unit sets up in control system's control chamber, realizes reporting to the police, reminds monitoring staff in time to discover unusually.
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| CN202010246434.5A CN111300453A (en) | 2020-03-31 | 2020-03-31 | Intelligent inspection robot for comprehensive pipe rack |
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| CN202010246434.5A CN111300453A (en) | 2020-03-31 | 2020-03-31 | Intelligent inspection robot for comprehensive pipe rack |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111716359A (en) * | 2020-06-30 | 2020-09-29 | 福州大学 | Composite navigation type differential storage robot and working method thereof |
| CN111948226A (en) * | 2020-08-13 | 2020-11-17 | 深圳市朗驰欣创科技股份有限公司 | Track damage recognition system based on track inspection robot |
| CN112037449A (en) * | 2020-09-15 | 2020-12-04 | 绍兴越智科技有限公司 | At home, wisdom safety fire control early warning protection system |
| CN112207799A (en) * | 2020-11-27 | 2021-01-12 | 北京京能能源技术研究有限责任公司 | Explosion-proof special track robot |
| CN112297021A (en) * | 2020-10-14 | 2021-02-02 | 杭州环研科技有限公司 | Environment-friendly housekeeper inspection robot based on cloud computing |
| CN112434600A (en) * | 2020-11-23 | 2021-03-02 | 国网安徽省电力有限公司淮南供电公司 | Unmanned aerial vehicle inspection method and system |
| CN112530045A (en) * | 2020-11-26 | 2021-03-19 | 重庆电子工程职业学院 | Intelligent inspection system of factory |
| CN113021307A (en) * | 2021-04-15 | 2021-06-25 | 山东东辰共赢服务有限公司 | Positioning inspection system and method for power plant rail type inspection robot |
| CN113517651A (en) * | 2021-09-14 | 2021-10-19 | 国网山东省电力公司莒县供电公司 | Wireless sensor type cable trench comprehensive early warning device and method |
| CN113643526A (en) * | 2021-09-10 | 2021-11-12 | 吴月晨 | City underground pipe gallery positioning device and system thereof |
| CN113739077A (en) * | 2021-08-20 | 2021-12-03 | 慧感(上海)物联网科技有限公司 | Intelligent automatic inspection method and device for industrial pipe gallery pipeline |
| CN113910254A (en) * | 2021-10-13 | 2022-01-11 | 北京华能新锐控制技术有限公司 | Ceiling type inspection robot |
| WO2022016708A1 (en) * | 2020-07-22 | 2022-01-27 | 华能国际电力股份有限公司日照电厂 | Inspection device for conveying system of thermal power plant |
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| CN113739077A (en) * | 2021-08-20 | 2021-12-03 | 慧感(上海)物联网科技有限公司 | Intelligent automatic inspection method and device for industrial pipe gallery pipeline |
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| CN113517651B (en) * | 2021-09-14 | 2021-12-10 | 国网山东省电力公司莒县供电公司 | Wireless sensor type cable trench comprehensive early warning device and method |
| CN113517651A (en) * | 2021-09-14 | 2021-10-19 | 国网山东省电力公司莒县供电公司 | Wireless sensor type cable trench comprehensive early warning device and method |
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Application publication date: 20200619 |