CN112734967A - Cable tunnel's inspection device - Google Patents
Cable tunnel's inspection device Download PDFInfo
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- CN112734967A CN112734967A CN202011376846.7A CN202011376846A CN112734967A CN 112734967 A CN112734967 A CN 112734967A CN 202011376846 A CN202011376846 A CN 202011376846A CN 112734967 A CN112734967 A CN 112734967A
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- camera
- motor
- gas sensor
- control module
- inspection device
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- 238000007689 inspection Methods 0.000 title claims abstract description 49
- 238000001514 detection method Methods 0.000 claims abstract description 47
- 239000007789 gas Substances 0.000 claims description 71
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 14
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 claims description 7
- RWSOTUBLDIXVET-UHFFFAOYSA-N Dihydrogen sulfide Chemical compound S RWSOTUBLDIXVET-UHFFFAOYSA-N 0.000 claims description 7
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 7
- 229910002091 carbon monoxide Inorganic materials 0.000 claims description 7
- 229910000037 hydrogen sulfide Inorganic materials 0.000 claims description 7
- 239000001301 oxygen Substances 0.000 claims description 7
- 229910052760 oxygen Inorganic materials 0.000 claims description 7
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 7
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 7
- 238000012545 processing Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The application discloses inspection device of cable tunnel. The method comprises the following steps: the robot dog comprises a robot dog, a first motor, a second motor and a control module, wherein the first motor is arranged at the upper end of the robot dog, is connected with a first rotating rod provided with at least one first camera and is used for controlling the shooting direction of the first camera by driving the first rotating rod to rotate; the second motor is arranged at the lower end of the robot dog, is connected with a second rotating rod provided with a second camera and a gas sensor, and is used for controlling the working directions of the second camera and the gas sensor by driving the second rotating rod; and the controller is respectively connected with the first motor, the second motor, the first camera, the second camera and the gas sensor and is used for sending a control command. The tunnel has been solved in this application and has been adopted the artifical mode of patrolling and examining, has the inefficiency, and circumference detection range is little, the technical problem of the inconvenient monitoring of eminence low-point gas.
Description
Technical Field
The application relates to the field of cable tunnel inspection equipment, in particular to a cable tunnel inspection device.
Background
At present, the inspection mode of the tunnel is still mainly achieved by manual inspection, inspection personnel regularly perform cooperative inspection work of the ground and the tunnel, the inspection personnel mainly pay attention to the creep deformation condition of cables, the appearance of the cables and the tunnel, the corrosion condition of metal components of the power tunnel and the water accumulation condition of the tunnel in the tunnel, the inspection work content is gradually single, the inspection work efficiency of the personnel in the tunnel is low, the work intensity of the operation inspection personnel is gradually increased along with the rapid increase of the number of the cables and the number of the cables, meanwhile, the manual inspection is regularly performed, for some emergency situations, the best processing time is often missed, serious loss is caused, the inconvenience in high-place and low-place gas is detected, and therefore, an automatic inspection device for the cable tunnel is urgently needed.
The method of adopting the manual work to patrol and examine to the tunnel has the problem of inefficiency, and circumference detection range is little, the inconvenient monitoring of eminence low-lying gas, has not proposed effectual solution at present.
Disclosure of Invention
The embodiment of the application provides a cable tunnel's inspection device to solve the tunnel at least and adopt the artifical mode of patrolling and examining, there is inefficiency, and circumference detection range is little, the gaseous technical problem of monitoring of the low department of eminence.
According to an aspect of an embodiment of the present application, there is provided a cable tunnel inspection device, including: the robot dog comprises a robot dog, a first motor, a second motor and a control module, wherein the first motor is arranged at the upper end of the robot dog, is connected with a first rotating rod provided with at least one first camera and is used for controlling the shooting direction of the first camera by driving the first rotating rod to rotate; the second motor is arranged at the lower end of the robot dog, is connected with a second rotating rod provided with a second camera and a gas sensor, and is used for controlling the working directions of the second camera and the gas sensor by driving the second rotating rod; and the controller is respectively connected with the first motor, the second motor, the first camera, the second camera and the gas sensor and is used for sending a control command.
Optionally, the inspection device further comprises: electric telescopic handle sets up in the upper end of machine dog, and electric telescopic handle upper end is equipped with gas sensor, and wherein, gas sensor is used for detecting the less gas of density that is located the overhead.
Optionally, a screw rod is arranged at the upper end of the first rotating rod, and a first camera is arranged at least one end of the screw rod.
Optionally, the second rotating rod is provided with support rods uniformly distributed in an annular manner, and the end part of each support rod is provided with at least one second camera and a gas sensor, wherein the gas sensor is used for detecting the gas with high density and close to the ground.
Optionally, the support rods are uniformly distributed at the tail end of the second rotating rod in an annular matrix, a wire is arranged inside the support rods, and the wire passes through the second rotating rod and a main shaft of the second motor to be connected with the controller.
Optionally, the gas sensor comprises at least one of: methane detection sensor, hydrogen sulfide detection sensor, carbon monoxide detection sensor, oxygen detection sensor.
Optionally, the methane detection sensor, the hydrogen sulfide detection sensor, the carbon monoxide detection sensor and the oxygen detection sensor are respectively arranged at the upper end of the electric telescopic rod and the end of the support rod located at the lower position.
Optionally, the first camera and the second camera are visible light cameras.
Optionally, the controller is connected to a server deployed outside the cable tunnel through a wired or wireless connection, wherein at least one of the following control modules is disposed in the controller: camera control module, motor control module, gas sensor control module, electronic telescopic link control module.
Optionally, the camera control module is used for controlling the camera to acquire a video image; the motor control module is used for controlling the motor to rotate; the gas sensor control module is used for controlling the gas sensor to detect gas; the electric telescopic rod control module is used for controlling the electric telescopic rod to stretch.
In an embodiment of the present application, a routing inspection device for a cable tunnel is provided, including: the robot dog comprises a robot dog, a first motor, a second motor and a control module, wherein the first motor is arranged at the upper end of the robot dog, is connected with a first rotating rod provided with at least one first camera and is used for controlling the shooting direction of the first camera by driving the first rotating rod to rotate; the second motor is arranged at the lower end of the robot dog, is connected with a second rotating rod provided with a second camera and a gas sensor, and is used for controlling the working directions of the second camera and the gas sensor by driving the second rotating rod; the controller, with first motor, the second motor, first camera, second camera and gas sensor link to each other respectively, be used for sending control command, through set up the telescopic link in machine dog upper end, and set up gaseous detection sensor and can detect the eminence gas on the telescopic link, can detect the low gas through set up gaseous detection sensor in machine dog below, the effect of realizing the gaseous detection of height has, set up rotatory camera in machine dog upper end and lower extreme simultaneously and have the technical effect that the circumference of circumference cable and ponding was comprehensively detected about realizing, and then solved the mode that the tunnel adopted the manual work to patrol and examine, there is inefficiency, the circumference detection scope is little, the inconvenient technical problem who monitors of the low gas of eminence.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1a is a schematic structural diagram of an inspection device for a cable tunnel according to an embodiment of the present application;
FIG. 1b is a schematic diagram of another cable tunnel inspection device according to an embodiment of the present application;
FIG. 1c is a schematic diagram of another cable tunnel inspection device according to an embodiment of the present application;
FIG. 1d is a schematic diagram of another cable tunnel inspection device according to an embodiment of the present application;
fig. 2 is a front view of an inspection device for a cable tunnel according to an embodiment of the present application;
fig. 3 is a left side view of an inspection device for a cable tunnel according to an embodiment of the present application;
FIG. 4 is a top view of an inspection device for a cable tunnel according to an embodiment of the present application;
fig. 5 is a bottom view of an inspection device for a cable tunnel according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1a is a schematic structural diagram of an inspection apparatus for a cable tunnel according to an embodiment of the present application, and as shown in fig. 1a, the inspection apparatus includes:
the robot dog comprises a robot dog 1 and a first motor 2, wherein the robot dog 1 is arranged at the upper end of the robot dog 1, is connected with a first rotating rod 5 provided with at least one first camera 4 and is used for controlling the shooting direction of the first camera 4 by driving the first rotating rod 5 to rotate;
the second motor 9 is arranged at the lower end of the robot dog 1, is connected with a second rotating rod 12 with a second camera 11 and a gas sensor 7, and is used for controlling the working directions of the second camera 11 and the gas sensor 7 by driving the second rotating rod 12;
and the controller 6 is connected with the first motor 2, the second motor 9, the first camera 4, the second camera 11 and the gas sensor 7 respectively and used for sending control instructions.
Through above-mentioned device, through setting up the telescopic link in machine dog upper end to set up gaseous detection sensor and can detect the eminence gas on the telescopic link, can detect low department gas through set up gaseous detection sensor in machine dog below, have the effect that realizes high low department gas detection, set up rotatory camera in machine dog upper end and lower extreme simultaneously and have the technical effect that the circumference of circumference cable and ponding detected comprehensively about realizing.
Fig. 1b is a schematic structural diagram of another inspection apparatus for a cable tunnel according to an embodiment of the present application, and as shown in fig. 1b, the inspection apparatus further includes: electric telescopic handle 8 sets up in the upper end of machine dog 1, and electric telescopic handle 8 upper end is equipped with gas sensor 7, and wherein, gas sensor 7 is used for detecting the less gas of density that is located the sky.
Fig. 1c is a schematic structural diagram of another inspection device for a cable tunnel according to an embodiment of the present application, and as shown in fig. 1c, a screw rod 3 is disposed at an upper end of a first rotating rod 5, and at least one end of the screw rod 3 is provided with a first camera 4.
The upper end of the machine dog 1 is provided with a first motor 2 which is used for driving a first rotating rod 5 to rotate at a slow speed and further driving a screw rod 3 to rotate at a slow speed, two ends of the screw rod 3 are provided with cameras, one of the cameras faces to the lower part, the other one faces to the upper part, further circumferential all-around camera shooting detection is realized through rotation, a controller 6 is arranged for controlling the slow rotation of the first motor 2 and a second motor 9 and controlling the extension and retraction of a telescopic rod 8 and the detection of a gas sensor 7 and the video collection of the cameras, odor sensors are arranged on supporting rods 10 at the top end of the telescopic rod 8 and the tail end of a second rotating rod 12, the detection of gas with lower density above the air is realized, meanwhile, gas with higher density is realized and is close to the ground, the gas detection effect is better, the gas sensor 7 can be selectively arranged according to the actual gas type condition, the setting of second motor 9 and second dwang 12 drives second dwang 12 slow rotating through the motor, and then realizes the detection to low department's axis and below water level, and wherein camera one sets up towards the below, and one sets up towards the level, and the barrier is kept away to the remote control of being convenient for simultaneously.
Fig. 1d is a schematic structural diagram of another inspection device for a cable tunnel according to an embodiment of the present application, and as shown in fig. 1d, support rods 10 are uniformly distributed on a second rotating rod 12 in an annular manner, and at least one second camera 11 and a gas sensor 7 are arranged at an end of each support rod 10, where the gas sensor 7 is used for detecting a dense gas located near the ground.
According to an alternative embodiment of the present application, the support rods 10 are uniformly distributed at the end of the second rotating rod 12 in a circular matrix, and the support rods 10 are internally provided with wires, and the wires pass through the second rotating rod 12 and the main shaft of the second motor 9 to be connected with the controller 6.
In an alternative embodiment of the present application, the gas sensor 7 comprises at least one of: methane detection sensor, hydrogen sulfide detection sensor, carbon monoxide detection sensor, oxygen detection sensor. The methane detection sensor, the hydrogen sulfide detection sensor, the carbon monoxide detection sensor and the oxygen detection sensor are respectively connected with the controller 6.
According to an alternative embodiment of the present application, a methane detection sensor, a hydrogen sulfide detection sensor, a carbon monoxide detection sensor and an oxygen detection sensor are respectively disposed at the upper end of the electric telescopic rod 8 and the end of the support rod 10 located at the lower position.
Preferably, the first camera 4 and the second camera 11 are visible light cameras.
In some optional embodiments of the present application, the controller 6 is connected with a server deployed outside the cable tunnel through wire or wireless, wherein at least one of the following control modules is disposed inside the controller 6: camera control module, motor control module, gas sensor control module, electronic telescopic link control module.
Preferably, the controller 6 is a CMS-51 single chip microcomputer. Be equipped with first camera 4 control module, 11 control module of second camera, 2 control module of first motor, 9 control module of second motor, 7 control module of gas sensor, 8 control module of electric telescopic handle in the controller 6, 4 control module of first camera, 11 control module of second camera, 2 control module of first motor, 9 control module of second motor, 7 control module of gas sensor, 8 control module of electric telescopic handle link to each other with the central processing unit of controller 6 respectively. First camera 4 control module links to each other with first camera 4, and 11 control module of second camera link to each other with second camera 11, and 2 control module of first motor link to each other with first motor 2, and 9 control module of second motor link to each other with second motor 9, and 7 control module of gas sensor link to each other with gas sensor 7, and 8 control module of electric telescopic handle link to each other with electric telescopic handle 8.
According to an optional embodiment of the present application, the camera control module is configured to control the camera to perform video image acquisition; the motor control module is used for controlling the motor to rotate; the gas sensor control module is used for controlling the gas sensor to detect gas; the electric telescopic rod control module is used for controlling the electric telescopic rod to stretch.
The first camera 4 control module is used for controlling the first camera 4 to collect video images, the second camera 11 control module is used for controlling the second camera 11, the first motor 2 control module is used for controlling the first motor 2, the second motor 9 control module is used for controlling the second motor 9 to rotate, the gas sensor 7 control module is used for controlling the gas sensor 7 to detect gas, and the electric telescopic rod 8 control module is used for controlling the electric telescopic rod 8 to stretch out and draw back. The central processing unit of the controller 6 is used for controlling each module, the robot dog 1 and the controller 6 are connected with the server outside the tunnel in a wired or wireless mode, and therefore the robot dog 1 and the controller 6 are remotely controlled to further control the routing inspection of the cable tunnel.
Fig. 2 is a front view of an inspection device for a cable tunnel according to an embodiment of the present application;
fig. 3 is a left side view of an inspection device for a cable tunnel according to an embodiment of the present application;
FIG. 4 is a top view of an inspection device for a cable tunnel according to an embodiment of the present application;
fig. 5 is a bottom view of an inspection device for a cable tunnel according to an embodiment of the present application.
According to the invention, the telescopic rod is arranged at the upper end of the machine dog, the gas detection sensor is arranged on the telescopic rod, so that high-position gas can be detected, the gas detection sensor is arranged below the machine dog, so that the effect of detecting high-position gas is realized, and meanwhile, the rotating cameras arranged at the upper end and the lower end of the machine dog have the technical effect of realizing circumferential comprehensive detection of upper and lower circumferential cables and accumulated water. The system has the advantages of improving the inspection efficiency and accuracy, facilitating high-low camera shooting and high-low gas detection.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a Read Only Memory (ROM), a random access Memory (RBJDLM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (10)
1. The utility model provides a cable tunnel's inspection device which characterized in that includes:
the machine dog is provided with a mechanical dog body,
the first motor is arranged at the upper end of the robot dog, is connected with a first rotating rod provided with at least one first camera and is used for driving the first rotating rod to rotate so as to control the shooting direction of the first camera;
the second motor is arranged at the lower end of the robot dog, is connected with a second rotating rod provided with a second camera and a gas sensor, and is used for controlling the working directions of the second camera and the gas sensor by driving the second rotating rod;
and the controller is connected with the first motor, the second motor, the first camera, the second camera and the gas sensor respectively and is used for sending a control command.
2. The inspection device according to claim 1, further including: electric telescopic handle sets up the upper end of machine dog, just the electric telescopic handle upper end is equipped with gas sensor, wherein, gas sensor is used for detecting the less gas of density that is located the sky.
3. The inspection device according to claim 1, wherein a screw rod is provided at an upper end of the first rotating rod, and at least one end of the screw rod is provided with one of the first cameras.
4. The inspection device according to claim 1, wherein the second rotating rod is annularly and uniformly provided with support rods, and the end part of each support rod is provided with at least one second camera and the gas sensor, wherein the gas sensor is used for detecting the gas with higher density close to the ground.
5. The inspection device according to claim 4, wherein the support rods are uniformly distributed at the tail end of the second rotating rod in an annular matrix, and wires are arranged inside the support rods and pass through the second rotating rod and the main shaft of the second motor to be connected with the controller.
6. The inspection device according to any one of claims 1 to 5, wherein the gas sensor includes at least one of: methane detection sensor, hydrogen sulfide detection sensor, carbon monoxide detection sensor, oxygen detection sensor.
7. The inspection device according to claim 6, wherein the methane detection sensor, the hydrogen sulfide detection sensor, the carbon monoxide detection sensor and the oxygen detection sensor are respectively arranged at the upper end of the electric telescopic rod and the end of the support rod at the lower position.
8. The inspection device according to claim 7, wherein the first and second cameras employ visible light cameras.
9. The inspection device according to claim 1, wherein the controller is connected with a server deployed outside the cable tunnel by wire or wirelessly, wherein at least one of the following control modules is provided in the controller: camera control module, motor control module, gas sensor control module, electronic telescopic link control module.
10. The inspection device according to claim 9, including:
the camera control module is used for controlling the camera to acquire video images;
the motor control module is used for controlling the motor to rotate;
the gas sensor control module is used for controlling the gas sensor to detect gas;
the electric telescopic rod control module is used for controlling the electric telescopic rod to stretch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011376846.7A CN112734967A (en) | 2020-11-30 | 2020-11-30 | Cable tunnel's inspection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011376846.7A CN112734967A (en) | 2020-11-30 | 2020-11-30 | Cable tunnel's inspection device |
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| Publication Number | Publication Date |
|---|---|
| CN112734967A true CN112734967A (en) | 2021-04-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011376846.7A Pending CN112734967A (en) | 2020-11-30 | 2020-11-30 | Cable tunnel's inspection device |
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| CN (1) | CN112734967A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102562154A (en) * | 2010-12-29 | 2012-07-11 | 沈阳新松机器人自动化股份有限公司 | Cable tunnel routing inspection robot |
| CN104954756A (en) * | 2015-06-26 | 2015-09-30 | 国网安徽省电力公司蚌埠供电公司 | Intelligent integrated online monitoring system and method for underground cable operation |
| CN110014436A (en) * | 2019-05-09 | 2019-07-16 | 贵州理工学院 | A kind of mine safety inspection intelligent robot |
| CN110501124A (en) * | 2019-08-23 | 2019-11-26 | 北京航星网讯技术股份有限公司 | The laser gas of program-controlled lifting and horizontal sweep detects cradle head device |
| CN210850282U (en) * | 2019-08-02 | 2020-06-26 | 武庆珍 | Highway tunnel inspection robot |
| CN211223653U (en) * | 2019-12-26 | 2020-08-11 | 新疆工程学院 | Industrial inspection equipment |
| CN111609283A (en) * | 2020-04-16 | 2020-09-01 | 安徽华希电力科技有限公司 | Cable tunnel environment intelligent monitoring system |
| CN111882696A (en) * | 2020-07-31 | 2020-11-03 | 广东电网有限责任公司 | Intelligent robot for machine room inspection and inspection method thereof |
-
2020
- 2020-11-30 CN CN202011376846.7A patent/CN112734967A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102562154A (en) * | 2010-12-29 | 2012-07-11 | 沈阳新松机器人自动化股份有限公司 | Cable tunnel routing inspection robot |
| CN104954756A (en) * | 2015-06-26 | 2015-09-30 | 国网安徽省电力公司蚌埠供电公司 | Intelligent integrated online monitoring system and method for underground cable operation |
| CN110014436A (en) * | 2019-05-09 | 2019-07-16 | 贵州理工学院 | A kind of mine safety inspection intelligent robot |
| CN210850282U (en) * | 2019-08-02 | 2020-06-26 | 武庆珍 | Highway tunnel inspection robot |
| CN110501124A (en) * | 2019-08-23 | 2019-11-26 | 北京航星网讯技术股份有限公司 | The laser gas of program-controlled lifting and horizontal sweep detects cradle head device |
| CN211223653U (en) * | 2019-12-26 | 2020-08-11 | 新疆工程学院 | Industrial inspection equipment |
| CN111609283A (en) * | 2020-04-16 | 2020-09-01 | 安徽华希电力科技有限公司 | Cable tunnel environment intelligent monitoring system |
| CN111882696A (en) * | 2020-07-31 | 2020-11-03 | 广东电网有限责任公司 | Intelligent robot for machine room inspection and inspection method thereof |
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