CN111438677A - Robot is patrolled and examined to unmanned on duty computer lab - Google Patents
Robot is patrolled and examined to unmanned on duty computer lab Download PDFInfo
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- CN111438677A CN111438677A CN202010376409.9A CN202010376409A CN111438677A CN 111438677 A CN111438677 A CN 111438677A CN 202010376409 A CN202010376409 A CN 202010376409A CN 111438677 A CN111438677 A CN 111438677A
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- 238000007689 inspection Methods 0.000 claims abstract description 40
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 7
- 230000035939 shock Effects 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 abstract description 5
- 230000007547 defect Effects 0.000 description 5
- 230000006378 damage Effects 0.000 description 4
- 238000013016 damping Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 125000006850 spacer group Chemical group 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 208000032365 Electromagnetic interference Diseases 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Classifications
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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
- 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
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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
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to the field of automatic inspection and discloses an unattended machine room inspection robot.A laser radar is fixedly connected with the plane center of a chassis, a depth camera is connected above the plane center, a pattern transmission antenna is connected above the edge position of the plane, a pattern transmission module is connected with one side above the plane, a servo motor is connected inside the plane, a lifting screw is connected above the servo motor and is provided with a two-stage lifting mechanism, a camera holder is connected with the first-stage lifting, the second-stage lifting is connected with the chassis and the first-stage lifting, a driving wheel and a driven wheel are connected with the lower end of the chassis, and a collision sensor and the laser radar are connected above the driving; a transverse plate is arranged between the chassis, an ultrasonic sensor is fixed above the chassis, and a computer is arranged behind the ultrasonic sensor. The invention firstly presets the inspection time and sequence, automatically inspects and monitors the equipment in the machine room, realizes remote scheduling linkage and can carry out linkage by a signal centralized monitoring system.
Description
Technical Field
The invention belongs to the technical field of automatic inspection, and particularly relates to an inspection robot for an unattended machine room.
Background
At present, with the development and popularization of computer technology, the number of computer systems is increasing day by day, the number of environment equipment matched with the computer systems is increasing day by day, and a computer room becomes an important component of each large unit. Machine room equipment (power supply and distribution, UPS, air conditioner, fire protection, environment, security and the like) must provide a normal operating environment for a computer system at any moment. Once the equipment in the machine room environment fails, the operation of the computer system is affected, the reliability of data transmission, storage and system operation is threatened, and if the accident is serious and cannot be handled in time, hardware equipment can be damaged, and serious consequences are caused.
The existing railway machine room has the defects that the part of the existing railway machine room is in an unattended state and is far away in place, the inspection period of equipment in the machine room is long at present, the equipment state cannot be known in time, the construction requirement of railway machine room facilities is strict, so that the faults in the running process of a railway machine room computer system can be found in time, a rail-mounted inspection robot is generally used for carrying out related inspection operation, namely a fixed rail is arranged above the equipment for the inspection robot to walk, and a service unit capable of vertically descending and ascending is generally arranged below the robot.
Through the above analysis, the problems and defects of the prior art are as follows:
(1) when the rail-mounted inspection robot is used for inspection, the route is planned singly, and the inspection route cannot be changed after the rail is mounted;
(2) and a rail hanging type inspection mode is adopted, so that the cost is high and the construction is inconvenient.
The difficulty in solving the above problems and defects is: how to cancel the walking track of the inspection robot, the inspection robot can automatically inspect and increase the inspection route.
The significance of solving the problems and the defects is as follows: the problem and the defect are solved, automatic inspection of the inspection robot can be achieved, non-contact operation with field equipment is achieved, inspection requirements of different places are met, inspection efficiency is improved, and cost is reduced.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an unattended machine room inspection robot.
The invention is realized in such a way that the robot is provided with:
a chassis;
the laser radar is fixedly connected with the plane center of the chassis, the depth camera is connected above the plane center, the image transmission antenna is connected above the edge position of the plane, the image transmission AP is connected with one side above the plane, the lifting motor is connected inside the plane, the lifting screw is connected above the lifting motor, and the upper end of the lifting screw is connected with the rotating holder; the lower end of the chassis is connected with a driving wheel and a driven wheel, and a collision sensor and a damping mechanism are connected above the driving wheel and the driven wheel; the chassis is connected through a transverse plate, an ultrasonic sensor is sequentially fixed above the transverse plate, a computer is arranged behind the ultrasonic sensor, and a battery is arranged below the transverse plate.
Further, a high-definition camera, an infrared camera and a network camera are fixed above the rotating holder.
Further, the rotating holder is fixed on the lifting screw through a vertical plate of the holder bracket, and a horizontal plate above the holder bracket fixes the first holder motor through a fixing screw.
Further, the left side of first cloud platform motor is provided with horizontal spacer pin, and there is the camera support first cloud platform motor's top through bolted connection.
Further, camera support top left side is connected with the every single move spacer pin, and the right side is connected with second cloud platform motor, and second cloud platform motor is connected with the camera fixed slot.
By combining all the technical schemes, the invention has the advantages and positive effects that:
firstly, the laser radar has high scanning speed, the map is built quickly, and the obstacle detection is more comprehensive; the arranged laser radar, the depth camera and the ultrasonic sensor can collect environmental information, draw a 2D map, set a routing inspection task and generate a moving route according to the generated map; the driving wheel and the driven wheel can enable the device to move according to a planned route, and the image transmission AP can enable workers to interact information with the computer. The invention firstly presets the inspection time and sequence, automatically inspects and monitors the equipment in the machine room, realizes remote scheduling linkage, can realize linkage of a signal centralized monitoring system, realizes timely and accurate positioning of fault equipment, is beneficial to rapidly guiding the fault treatment of the equipment on the railway site, and reduces the delay time.
Secondly, the rotary holder provided by the invention can be adjusted according to the angle of the equipment to be inspected; the arranged holder bracket can enable the lifting screw rod to drive the rotating holder to adjust the height so as to realize the height matching with the equipment to be inspected; the horizontal limiting pin can control the horizontal rotation range of the camera support, so that damage to the data transmission line due to overlarge rotation is prevented; the second cloud platform motor that sets up can drive the camera fixed slot and rotate, and pivoted scope about every single move spacer pin control prevents rotatory too big, causes the harm to data transmission line simultaneously.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained from the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an inspection robot for an unattended machine room according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a rotating pan-tilt provided in an embodiment of the present invention;
in the figure: 1. a network camera; 2. an infrared camera; 3. a high definition camera; 4. rotating the holder; 5. lifting a screw rod; 6. a lifting motor; 7. drawing and transmitting the AP; 8. manual sudden stop; 9. a pattern transmission antenna; 10. a depth camera; 11. a chassis; 12. a laser radar; 13. a computer; 14. an ultrasonic sensor; 15. a collision sensor; 16. a damping mechanism; 17. a drive wheel; 18. a fall arrest sensor; 19. a battery; 20. a driven wheel; 21. a camera fixing groove; 22. a second pan/tilt motor; 23. a pitching limiting pin; 24. a camera head bracket; 25. a first pan/tilt motor; 26. fixing screws; 27. a cradle head bracket; 28. and a horizontal limit pin.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
According to the situation analysis of the on-site survey of the relay station, the following points are obtained:
the floor of the machine room is flat without height fluctuation, and climbing is not needed, so that the robot can select a driving structure with two differential wheels and is additionally provided with two universal supporting wheels. According to the design of the existing driving wheels and universal wheels, the maximum bearing capacity of the machine body cannot exceed 80 Kg. The cabinet is many in relay station, and the monitoring point position is many, and highly some difference moreover, and the highest can reach 2.2m, therefore the cloud platform that the robot carried should the liftable, and the cloud platform will have every single move and the turned angle scope of left and right sides direction simultaneously. The relay station has a plurality of devices, various electromagnetic interferences exist, and the robot can run safely and reliably for a long time in the environment. The channels between the cabinets in the relay station are narrow, the minimum channel width needs to be considered when designing the robot, and the robot can freely and safely operate and cannot touch any equipment on the rack. The monitoring points in the relay station are many, the data exchanged with the server is large, in order to avoid occupying the bandwidth of a communication line, the robot needs to have the capability of processing the information front end, a large amount of data is processed in the robot body, and only the processing result is interacted with the remote server.
The invention provides an unattended machine room inspection robot which can realize the following functions: the invention relates to autonomous navigation positioning, intelligent identification of equipment images, autonomous obstacle avoidance safety protection, battery management, simple user operation pages, pitching and left-right rotation control of a holder, and the invention is described in detail with reference to the attached drawings.
As shown in fig. 1, a laser radar 12 is fixedly connected to the plane center of a chassis 11, a depth camera 10 is connected to the upper portion of the plane center, a drawing antenna 9 is connected to the upper portion of the edge position of the plane, an AP7 is connected to one side above the plane, a lifting motor 6 is connected to the inner portion above the plane, a lifting screw 5 is connected to the upper portion of the lifting motor 6, and a rotating pan-tilt 4 is connected to the upper end of the lifting screw 5; the lower end of the chassis 11 is connected with a driving wheel 17 and a driven wheel 20, and a collision sensor 15 and a damping mechanism 16 are connected above the driving wheel 17 and the driven wheel 20; the chassis 11 is connected through a transverse plate, an ultrasonic sensor 14 is sequentially fixed above the transverse plate, a computer 13 is arranged behind the ultrasonic sensor 14, and a battery 19 is arranged below the transverse plate.
Wherein the number of the chassis 11 is 1.
Wherein, the scanning range of the laser radar 12 can reach 360 degrees.
The laser radar 12 arranged in the invention has high scanning speed, a map is established quickly, and the obstacle detection is more comprehensive; the arranged laser radar 12, the depth camera 10 and the ultrasonic sensor 14 can collect environmental information, draw a 2D map, set a routing inspection task and generate a moving route according to the generated map; the driving wheels 17 and the driven wheels 20 are arranged to enable the device to move according to a planned route, and the map transmission AP is arranged to enable a worker to interact information with the computer 13. The invention firstly presets the inspection time and sequence, automatically inspects and monitors the equipment in the machine room, realizes remote scheduling linkage, can realize linkage of a signal centralized monitoring system, realizes timely and accurate positioning of fault equipment, is beneficial to rapidly guiding the fault treatment of the equipment on the railway site, and reduces the delay time.
As shown in fig. 1, a high-definition camera 3, an infrared camera 2 and a network camera 1 are fixed above the rotating pan-tilt 4.
Wherein, the up-down rotation range of the rotating holder 4 is-45 degrees to 45 degrees, and the left-right rotation range is-90 degrees to 90 degrees.
The rotating holder 4 provided by the invention can be adjusted according to the angle of the equipment to be inspected.
As shown in fig. 2, the rotary head 4 is fixed on the elevating screw 5 by a vertical plate of a head bracket 27, and a horizontal plate above the head bracket 27 fixes the first head motor 25 by a fixing screw 28.
The cradle head bracket 27 provided by the invention can enable the lifting screw 5 to drive the rotating cradle head 4 to adjust the height so as to realize the height matching with the equipment to be inspected.
As shown in fig. 2, a horizontal limit pin 28 is disposed on the left side of the first pan/tilt motor 25, and the camera bracket 24 is connected to the upper side of the first pan/tilt motor 25 through a bolt.
The horizontal limiting pin 28 provided by the invention can control the horizontal rotation range of the camera support 24, and prevent the damage to the data transmission line caused by overlarge rotation.
As shown in fig. 2, a pitching limiting pin 23 is connected to the left side above the camera support 24, a second pan-tilt motor 22 is connected to the right side, and the second pan-tilt motor 22 is connected to the camera fixing groove 21.
Among them, the camera fixing groove 21 can load three cameras.
The second holder motor 22 provided by the invention can drive the camera fixing groove 21 to rotate, and meanwhile, the pitching limiting pin 23 controls the range of up-and-down rotation, so that the damage to the data transmission line due to overlarge rotation is prevented.
When the system is used, firstly, a worker sends an inspection instruction to the image transmission AP7 through the image transmission antenna 9, the laser radar 12, the depth camera 10 and the ultrasonic sensor 14 can collect environmental information and draw a 2D map, and a generated map is provided for setting an inspection task and generating a moving route; the laser radar 12, the depth camera 10, the ultrasonic sensor 14 and the anti-falling sensor 18 realize fusion navigation service based on the drawn 2D map data, and can flexibly face complex and changeable practical application environments, and the driving wheel 17 and the driven wheel 20 can enable the device to move according to a planned route; when arriving appointed patrol and examine the position, probably the height of business device is not matched with the height of waiting to patrol and examine equipment, is unfavorable for patrolling and examining the operation, consequently can be through elevator motor 6 and lifting screw 5 cooperation, adjusts the height of business device, adjusts to being convenient for carry out the height of patrolling and examining the operation.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. An unattended machine room inspection robot is characterized in that the unattended machine room inspection robot is provided with a chassis;
the laser radar is fixedly connected to the plane center of the chassis, a depth camera is connected to the upper portion of the plane center of the chassis, and a two-stage lifting mechanism is connected to the inner portion of the upper portion of the plane of the chassis;
the lower end of the chassis is connected with a driving wheel and a driven wheel, an ultrasonic sensor is sequentially fixed above the chassis, and a control computer is arranged behind the ultrasonic sensor.
2. The inspection robot for the unattended machine room according to claim 1, wherein a pattern transmission antenna is connected above the plane edge position of the chassis.
3. The inspection robot for the unattended machine room according to claim 1, wherein a drawing transmission module is connected to one side above the plane of the chassis.
4. The inspection robot for the unattended machine room according to claim 1, wherein the lifting mechanism comprises a first-level lifting and a second-level lifting, the first-level lifting is connected with the camera head, and the second-level lifting is connected with the chassis and the first-level lifting.
5. The inspection robot for the unattended machine room according to claim 1, wherein a collision sensor and a shock absorbing mechanism are connected above the driving wheel and the driven wheel
6. The inspection robot for the unattended machine room according to claim 1, wherein a battery is disposed below the chassis, and a charging port is connected to a rear end of the chassis.
7. The inspection robot for the unattended machine room according to claim 1, wherein a high-definition camera, an infrared camera and a network camera are fixed above the rotating holder.
8. The inspection robot for the unattended machine room according to claim 8, wherein the rotating pan-tilt is fixed on the first-level lift through a vertical plate of a pan-tilt bracket, and a horizontal plate above the pan-tilt bracket fixes the first pan-tilt motor through a fixing screw.
9. The inspection robot for the unattended machine room according to claim 8, wherein a horizontal limit pin is arranged on the left side of the first pan-tilt motor, and a camera support is connected above the first pan-tilt motor through a bolt.
10. The inspection robot for the unattended machine room according to claim 9, wherein a pitching limiting pin is connected to the left side above the camera support, a second pan-tilt motor is connected to the right side, and a camera fixing groove is connected to the second pan-tilt motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010376409.9A CN111438677A (en) | 2020-05-07 | 2020-05-07 | Robot is patrolled and examined to unmanned on duty computer lab |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010376409.9A CN111438677A (en) | 2020-05-07 | 2020-05-07 | Robot is patrolled and examined to unmanned on duty computer lab |
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| CN111438677A true CN111438677A (en) | 2020-07-24 |
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| CN202010376409.9A Pending CN111438677A (en) | 2020-05-07 | 2020-05-07 | Robot is patrolled and examined to unmanned on duty computer lab |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111897346A (en) * | 2020-08-17 | 2020-11-06 | 国网河南省电力公司新安县供电公司 | Adjustable transformer substation power inspection device |
| CN112025727A (en) * | 2020-08-27 | 2020-12-04 | 江苏师范大学 | Novel patrol and examine track robot device |
| CN112363159A (en) * | 2020-10-09 | 2021-02-12 | 安徽博微长安电子有限公司 | Through-wall detection radar with autonomous movement energy |
| CN112405552A (en) * | 2020-11-03 | 2021-02-26 | 山东新一代信息产业技术研究院有限公司 | Intelligent inspection robot |
| CN113031615A (en) * | 2021-03-11 | 2021-06-25 | 京东数科海益信息科技有限公司 | Inspection robot |
| CN113391636A (en) * | 2021-07-02 | 2021-09-14 | 广东工贸职业技术学院 | Ultrasonic sensing obstacle avoidance's thing networking intelligence patrols and guards against robot based on 5G communication |
| CN114399851A (en) * | 2021-12-24 | 2022-04-26 | 中国农业银行股份有限公司云南省分行 | Intelligent equipment and system for inspection machine room |
| CN114488165A (en) * | 2022-02-11 | 2022-05-13 | 山东省地质矿产勘查开发局第一地质大队（山东省第一地质矿产勘查院） | Survey and drawing geographic information field inspection auxiliary device based on unmanned aerial vehicle |
| CN115022533A (en) * | 2022-05-11 | 2022-09-06 | 黄河科技学院 | Parking lot remote monitoring equipment based on computer control and construction method |
| CN114333096B (en) * | 2021-04-09 | 2023-12-15 | 北京市燃气集团有限责任公司 | Inspection robot |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111897346A (en) * | 2020-08-17 | 2020-11-06 | 国网河南省电力公司新安县供电公司 | Adjustable transformer substation power inspection device |
| CN111897346B (en) * | 2020-08-17 | 2024-06-21 | 国网河南省电力公司新安县供电公司 | Adjustable substation power inspection device |
| CN112025727A (en) * | 2020-08-27 | 2020-12-04 | 江苏师范大学 | Novel patrol and examine track robot device |
| CN112363159B (en) * | 2020-10-09 | 2023-12-08 | 安徽博微长安电子有限公司 | Through-wall detection radar with autonomous movement capability |
| CN112363159A (en) * | 2020-10-09 | 2021-02-12 | 安徽博微长安电子有限公司 | Through-wall detection radar with autonomous movement energy |
| CN112405552A (en) * | 2020-11-03 | 2021-02-26 | 山东新一代信息产业技术研究院有限公司 | Intelligent inspection robot |
| CN113031615A (en) * | 2021-03-11 | 2021-06-25 | 京东数科海益信息科技有限公司 | Inspection robot |
| CN114333096B (en) * | 2021-04-09 | 2023-12-15 | 北京市燃气集团有限责任公司 | Inspection robot |
| CN113391636A (en) * | 2021-07-02 | 2021-09-14 | 广东工贸职业技术学院 | Ultrasonic sensing obstacle avoidance's thing networking intelligence patrols and guards against robot based on 5G communication |
| CN114399851A (en) * | 2021-12-24 | 2022-04-26 | 中国农业银行股份有限公司云南省分行 | Intelligent equipment and system for inspection machine room |
| CN114488165B (en) * | 2022-02-11 | 2022-10-25 | 山东省地质矿产勘查开发局第一地质大队（山东省第一地质矿产勘查院） | Survey and drawing geographic information field inspection auxiliary device based on unmanned aerial vehicle |
| CN114488165A (en) * | 2022-02-11 | 2022-05-13 | 山东省地质矿产勘查开发局第一地质大队（山东省第一地质矿产勘查院） | Survey and drawing geographic information field inspection auxiliary device based on unmanned aerial vehicle |
| CN115022533A (en) * | 2022-05-11 | 2022-09-06 | 黄河科技学院 | Parking lot remote monitoring equipment based on computer control and construction method |
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