CN112797906A - Fireproof detection method and system for building - Google Patents
Fireproof detection method and system for building Download PDFInfo
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- CN112797906A CN112797906A CN202110002591.6A CN202110002591A CN112797906A CN 112797906 A CN112797906 A CN 112797906A CN 202110002591 A CN202110002591 A CN 202110002591A CN 112797906 A CN112797906 A CN 112797906A
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- 230000009194 climbing Effects 0.000 claims abstract description 44
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- 239000000284 extract Substances 0.000 claims abstract description 14
- 238000010276 construction Methods 0.000 claims abstract description 9
- 230000002265 prevention Effects 0.000 claims abstract description 7
- 238000012545 processing Methods 0.000 claims description 7
- 230000001174 ascending effect Effects 0.000 claims description 2
- 238000001179 sorption measurement Methods 0.000 description 12
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- 239000011449 brick Substances 0.000 description 4
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
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Abstract
The application provides a fire prevention detection method and a fire prevention detection system for a building, wherein the method comprises the following steps: the wall climbing robot collects a current position and a corresponding building number, and extracts a first drawing corresponding to the building number to be verified according to the current position and the corresponding building number; the wall climbing robot extracts the position and the design height of a firewall in a first drawing, collects n pictures at a constant motion speed v and a preset frequency f, and splices the n pictures to obtain an integral picture; and the wall climbing robot carries out integral identification on the integral picture to determine the actual height of the firewall, the actual height is compared with the design height, and if the actual height is more than or equal to the design height, the firewall construction of the first drawing is determined to be qualified. The technical scheme provided by the application has the advantage of low cost.
Description
Technical Field
The application relates to the technical field of images and buildings, in particular to a fireproof detection method and system for a building.
Background
Buildings are a general term for buildings and structures. The artificial environment is created by people by using the grasped substance technical means and applying certain scientific laws, geomantic omen and aesthetic rules in order to meet the needs of social life. Some categories distinguish buildings from non-architectural structures that people do not occupy for a long time in order to clearly express usability, and some architects also intend to subdivide buildings created with people conscious appearance into "buildings" (Architecture) in order to avoid confusion. It should be noted that sometimes buildings may also be extended to include "non-building structures" such as bridges, towers, tunnels, etc.
The existing building verification needs to detect fire prevention, but the existing fire prevention detection is manual detection and cannot realize automatic detection.
Disclosure of Invention
The embodiment of the application provides a fireproof detection method of a building and a related product, which can realize automatic verification of the fireproof of an outer wall of the building and reduce the cost of building verification.
In a first aspect, an embodiment of the present application provides a fire prevention detection method for a building, where the method is applied to a wall climbing robot, and the method includes the following steps:
the wall climbing robot collects a current position and a corresponding building number, and extracts a first drawing corresponding to the building number to be verified according to the current position and the corresponding building number;
the wall climbing robot extracts the position and the design height of a firewall in a first drawing, collects n pictures at a constant motion speed v and a preset frequency f, and splices the n pictures to obtain an integral picture;
and the wall climbing robot carries out integral identification on the integral picture to determine the actual height of the firewall, the actual height is compared with the design height, and if the actual height is more than or equal to the design height, the firewall construction of the first drawing is determined to be qualified.
In a second aspect, a fire protection detection system for a building is provided, the system being applied to a wall climbing robot, the system comprising:
the acquisition unit is used for acquiring the current position and the corresponding building number;
the processing unit is used for extracting a first drawing corresponding to the building number to be verified according to the current position and the corresponding building number; extracting the position and the design height of a firewall in a first drawing, collecting n pictures at a constant motion speed v and a preset frequency f, and splicing the n pictures to obtain an integral picture; and integrally identifying the whole picture to determine the actual height of the firewall, comparing the actual height with the design height, and determining that the firewall construction of the first drawing is qualified if the actual height is greater than or equal to the design height.
In a third aspect, a computer-readable storage medium is provided, which stores a program for electronic data exchange, wherein the program causes a terminal to execute the method provided in the first aspect.
In a fourth aspect, a terminal for performing the method steps provided in the first aspect is provided
The embodiment of the application has the following beneficial effects:
according to the technical scheme, the wall climbing robot collects the current position and the corresponding building number, and extracts the first drawing corresponding to the building number to be verified according to the current position and the corresponding building number; the wall climbing robot extracts the position and the design height of a firewall in a first drawing, and splices n pictures at a constant motion speed v and a preset frequency f to obtain an integral picture; and the wall climbing robot carries out integral identification on the integral picture to determine the actual height of the firewall, the actual height is compared with the design height, and if the actual height is more than or equal to the design height, the firewall construction of the first drawing is determined to be qualified. Therefore, the firewall can be automatically detected, manual verification is avoided, and the building detection efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a wall climbing robot 1A according to an embodiment of the present disclosure.
Fig. 2 is a schematic structural diagram of a partial cross-sectional view of a first driving part of a wall-climbing robot 1A in the AA direction according to an embodiment of the present application.
Fig. 3 is a schematic front view of a first connection portion of the wall climbing robot 1A according to the present embodiment.
Fig. 4 is a schematic view of a flow of a fire detection method of a building.
FIG. 5 is a schematic diagram of image stitching provided herein;
FIG. 6 is a schematic diagram of a firewall;
fig. 7 is a schematic view of the external shape of a general wall.
Detailed Description
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 some, but not all, embodiments of the present application. 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.
The terms "first," "second," "third," and "fourth," etc. in the description and claims of this application and in the accompanying drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, result, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The wall climbing robot 1A can be applied to the field of buildings and is used for assisting in completing three-dimensional measurement, environment monitoring, building verification and other automatic tasks of buildings. The wall climbing robot can comprise the following steps according to different verifications: the distance measuring module, the camera module (i.e. the camera), the communication module, the processing module (processor) and the storage module (memory), because the distance measuring module and the camera module can be arranged at the relevant positions of the wall climbing robot according to different detection scenes, and the relevant positions are not fixed, the specific positions of the distance measuring module and the camera module (i.e. the camera) are not shown in fig. 1, 2 and 3, and the communication module, the processing module (processor) and the storage module can be arranged inside the wall climbing robot, so that the communication module, the processing module (processor) and the storage module are not shown in fig. 1, 2 and 3. In order to realize different functions, the wall-climbing robot may further include a GPS positioning module, a touch display screen, a height measurement module set, a battery, and the like, where the height measurement module set may include: barometers, accelerometers, ultrasonic transceivers, and the like. The height measurement module group is used for realizing height measurement.
The wall climbing robot 1A includes a first movable portion 10A and a second movable portion 20A which are orthogonally arranged, the second movable portion 20A is located at a lower side of the first movable portion 10A and is used for bearing the first movable portion 10A, the first movable portion 10A includes a first driving portion 110A and a first supporting portion 120A which are orthogonally arranged, the second movable portion 20A includes a second driving portion 210A and a second supporting portion 220A which are orthogonally arranged, the first driving portion 110A and the second supporting portion 220A are located in the same plane, and the first movable portion 10A and the second driving portion 210A are located in the same plane. The first driving portion 110A and the second driving portion 210A have the same structure, and the first supporting portion 120A and the second supporting portion 220A have the same structure. The first driving portion 110A and the second driving portion 210A are detachably connected together by four symmetrically distributed bending connection portions 30A.
The first supporting part 120A includes a first telescopic adsorption part 121A arranged at intervals, a second telescopic adsorption part 122A and a first supporting rod 123A connecting the first telescopic adsorption part 121A and the second telescopic adsorption part 122A, the second supporting part 220A includes a third telescopic adsorption part 221A arranged at intervals, a fourth telescopic adsorption part 222A and a second supporting rod 223A connecting the third telescopic adsorption part 221A and the fourth telescopic adsorption part 222A, the first telescopic adsorption part 121A, the second telescopic adsorption part 122A, the third telescopic adsorption part 221A and the fourth telescopic adsorption part 222A are mutually matched and adsorbed on a wall surface, and the device is applied to automatic work such as three-dimensional measurement and environmental monitoring of buildings. The first telescopic suction part 121A, the second telescopic suction part 122A, the third telescopic suction part 221A, and the fourth telescopic suction part 222A may be electric telescopic suction cups.
The first driving portion 110A includes a first bearing seat 111A, a first mounting plate 112A, a second mounting plate 113A, and a first lead screw 114A, the first bearing seat 111A is provided with a groove J, the first mounting plate 112A and the second mounting plate 113A are detachably mounted at opposite ends of the first bearing seat 111A, the first lead screw 114A is housed in the groove J and rotatably mounted on the first mounting plate 112A and the second mounting plate 113A, a first ball bearing 115A is disposed at a mounting position of the first lead screw 114A and the first mounting plate 112A, a first end cap 116A is disposed at a side of the first mounting plate 112A away from the first bearing seat 111A, the first end cap 116A covers the first ball bearing 115A, a second ball bearing 117A is disposed at a mounting position of the first lead screw 114A and the second mounting plate 113A, a second end cap 118A is disposed at a side of the second mounting plate 113A close to the first bearing seat 111A, the second end cap 118A covers the second ball bearing 117A, a first stepping motor 119A is disposed on a side of the second mounting plate 113A away from the first bearing seat 111A, and the first stepping motor 119A is used for driving the first lead screw 114A to rotate. The two sides of the first ball bearing 115A are respectively provided with a first snap spring K1 and a second snap spring K2, the peripheral sides of the first snap spring K1 and the second snap spring K2 are abutted against the inner ring of the first ball bearing 115A, the first snap spring K1 and the second snap spring K2 are mutually matched to limit the first screw rod 114A, the first screw rod 114A is prevented from shaking in the moving process, and the first screw rod and the second screw rod cannot interfere with each other in relative rotation between the inner ring and the outer ring of the first ball bearing 115A.
The first driving portion 110A is slidably connected to the first supporting rod 123A through a first connecting portion 150A and a second connecting portion 160A disposed at an interval, and the first connecting portion 150A and the second connecting portion 160A have the same structural shape, and the first connecting portion 150A is taken as an example for description. One part of the first connecting portion 150A is detachably mounted on the first supporting rod 123A through a screw, the other part of the first connecting portion 150A is provided with a threaded hole, and the threaded hole and the first lead screw 114A form a threaded fit, when the first stepping motor 119A drives the first lead screw 114A to rotate, the first connecting portion 150A and the second connecting portion 160A are driven to slide back and forth along the extending direction of the groove J of the first bearing seat 111A, and then the first supporting rod 123A is driven to slide relative to the first movable portion 10A. Similarly, the working principle of the second movable part 20A is the same as that of the first movable part 10A, and the second movable part 20A and the first movable part 10A are matched with each other, so that the wall-climbing robot 1A can flexibly move in a three-dimensional plane, and tasks such as three-dimensional measurement and environment monitoring of a building are completed. Wherein, the first connecting portion 150A is matched with the working portion of the groove J, the first connecting portion 150A includes a matching surface matched with the groove J, the matching surface includes a first surface M1, a second surface M2, a third surface M3, a fourth surface M4, a fifth surface M5, a sixth surface M6 and a seventh surface M7 which are connected in sequence, the first surface M1 and the second surface M2 are parallel and attached to the side wall of the groove J, the fourth surface M4 and the first surface M1 are orthogonal and attached to the bottom wall of the groove J, the second surface M2 and the third surface M3 are connected in a bending way, the fifth surface M5 and the sixth surface M6 are connected in a bending way, a dihedral angle formed between the first surface M1 and the second surface M2 is larger than a dihedral angle formed between the second surface M2 and the third surface M3, a dihedral angle formed between the second surface M3 and the third surface M3 is larger than a dihedral angle formed between the fourth surface M3 and the fifth surface 3, the dihedral angle that forms between fifth face M5 and the sixth M6 is less than the dihedral angle that forms between sixth M6 and the seventh M7, and fourth face M4 is greater than any several other faces for fourth face M4 is comparatively firm to support and is held in the diapire of recess J, curved surface and recess J through this kind of gradual change formula form the cooperation, can effectually play limiting displacement on the one hand, on the other hand, can also be when guaranteeing smooth and easy slip, provide stronger support force, ensure the stationarity of motion. The matching surface further comprises a clamping surface M8 connected to the first surface M1 and the seventh surface M7, the clamping surface is provided with a clamping groove J1, and part of the side wall of the first bearing seat 111A forming the groove J extends into the clamping groove J1 to prevent the first connecting part 150A from being separated from the groove J. The cross section of the buckling groove J1 is in a trapezoid structure, so that the first connecting part 150A and the groove J can slide smoothly while stress concentration is reduced. It should be noted that the second driving portion 210A is also slidably connected to the second support bar 223A through a third connecting portion and a fourth connecting portion that are arranged at intervals, and the third connecting portion and the fourth connecting portion have the same structure and are consistent with the first connecting portion 150A, which is not described herein again. Through mutually supporting of first movable part 10A and second movable part 20A, when first movable part 10A is fixed in the wall surface, control second movable part 20A and remove first movable part 10A relatively, when second movable part 20A is fixed in the wall surface, control first movable part 10A and remove second movable part 20A relatively, so, alright in order to control the nimble removal of climbing robot 1A on whole wall surface, and then realize tasks such as three-dimensional measurement, environmental monitoring, the flexibility ratio of climbing robot 1A motion has been improved.
Referring to fig. 4, fig. 4 provides a fire-protection detection method for a building, which may be performed by a wall-climbing robot, the specific structure of which may be shown in fig. 1, 2 and 3, and the method shown in fig. 4, including the following steps:
step S401, the wall climbing robot collects the current position and the corresponding building number, and extracts a first drawing corresponding to the building number to be verified according to the current position and the corresponding building number;
the specific implementation method of the step S401 may include:
the wall climbing robot collects the coordinates of the current position and the building number input by the verifier, determines the name of the building community according to the coordinates, and extracts a first drawing corresponding to the building number from a drawing library of the building community according to the building number.
S402, extracting the position and the design height of a firewall in a first drawing by a wall climbing robot, collecting n pictures at a constant motion speed v and a preset frequency f, and splicing the n pictures to obtain an integral picture;
above-mentioned wall climbing robot draws position and the design height of preventing hot wall in the first drawing and specifically can include:
the wall climbing robot extracts the component number in the first drawing, acquires the height value in the first component from the first component with the query name of the firewall according to the component number, and determines the height value as the design height.
And S403, the wall climbing robot performs integral identification on the integral picture to determine the actual height of the firewall, the actual height is compared with the design height, and if the actual height is larger than or equal to the design height, the firewall construction of the first drawing is determined to be qualified.
According to the technical scheme, the wall climbing robot collects the current position and the corresponding building number, and extracts a first drawing corresponding to the building number to be verified according to the current position and the corresponding building number; the wall climbing robot extracts the position and the design height of a firewall in a first drawing, and splices n pictures at a constant motion speed v and a preset frequency f to obtain an integral picture; and the wall climbing robot carries out integral identification on the integral picture to determine the actual height of the firewall, the actual height is compared with the design height, and if the actual height is more than or equal to the design height, the firewall construction of the first drawing is determined to be qualified. Therefore, the firewall can be automatically detected, manual verification is avoided, and the building detection efficiency is improved.
In an optional scheme, the splicing the n pictures to obtain an overall picture specifically may include:
the wall climbing robot calculates the moving distance s of each shooting; (ii) s ═ v/f; the wall climbing robot acquires a base distance s0 corresponding to a single shot picture in the moving direction of the wall climbing robot and the number h0 of pixel points in the moving direction; determining the number h1 of overlapped pixels between two adjacent pictures of the n pictures in the moving direction, wherein h1 is h0 [ (s0-s)/s0], arranging the n pictures according to the ascending order of the acquisition time to obtain a first sequence, and moving the rest pictures except the first picture in the first sequence in the reverse direction of the moving direction to h1 to obtain an integral picture.
Referring to fig. 5, fig. 5 is a schematic splicing diagram, where S is S0/2 as an example, the moving direction is shown by an arrow in fig. 5, that is, each time a picture is acquired, half of the pictures are overlapped, and at this time, an overall picture can be obtained by moving the remaining pictures (except the first picture) forward by S0 which is half (i.e., the direction opposite to the moving direction).
This kind of operation is because, holistic picture can't be gathered to this picture of gathering, if the whole picture of outer wall, the inspection to the crack can't be realized to the definition of its picture, consequently this application realizes the collection of whole picture through gathering the scheme of splicing after n pictures, and then has avoided the crack because the number of times fracture that the picture was gathered.
In an optional scheme, the integrally recognizing the overall picture by the wall-climbing robot to determine the actual height of the firewall specifically includes:
the wall climbing robot identifies RGB values of all pixel points of an integral picture, connects adjacent pixel points with the same RGB value and the number within a set range to obtain n connecting lines, reserves m parallel connecting lines in the n connecting lines, obtains the distance L of 2 adjacent connecting lines in the m connecting lines, counts the x-th connecting line with the highest height in the m connecting lines if the distance L is within the distance range, and determines the height of the x-th connecting line as the actual height of the firewall.
Referring to fig. 6 and 7, fig. 6 is a schematic view of the shape of a firewall, and fig. 7 is a schematic view of the shape of a general wall, as shown in fig. 6 and 7, since the firewall is formed by splicing firewall bricks, and the height of the firewall bricks is much greater than that of the general bricks, the actual height of the firewall can be identified according to the spliced gap. Based on the principle, the adjacent pixel points with the same RGB value and the quantity within the set range are connected, so that all gaps of the wall body can be identified and determined, and the height of the firewall can be determined by removing common wall bricks within the set range after the adjacent distance L is determined.
The application provides a fire prevention detecting system of building, the system is applied to wall climbing robot, the system includes:
the acquisition unit is used for acquiring the current position and the corresponding building number;
the processing unit is used for extracting a first drawing corresponding to the building number to be verified according to the current position and the corresponding building number; extracting the position and the design height of a firewall in a first drawing, collecting n pictures at a constant motion speed v and a preset frequency f, and splicing the n pictures to obtain an integral picture; and integrally identifying the whole picture to determine the actual height of the firewall, comparing the actual height with the design height, and determining that the firewall construction of the first drawing is qualified if the actual height is greater than or equal to the design height.
The processing unit of the present application may also be configured to perform a refinement scheme of the embodiment shown in fig. 4, which is not described herein again.
Embodiments of the present application also provide a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program enables a computer to execute part or all of the steps of any one of the fire detection methods for buildings as described in the above method embodiments.
Embodiments of the present application also provide a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps of any one of the fire detection methods for buildings as described in the above method embodiments.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are exemplary embodiments and that the acts and modules referred to are not necessarily required in this application.
In the foregoing embodiments, 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.
The foregoing detailed description of the embodiments of the present application has been presented to illustrate the principles and implementations of the present application, and the above description of the embodiments is only provided to help understand the method and the core concept of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (6)
1. A fire prevention detection method for a building, which is applied to a wall climbing robot, and comprises the following steps:
the wall climbing robot collects a current position and a corresponding building number, and extracts a first drawing corresponding to the building number to be verified according to the current position and the corresponding building number;
the wall climbing robot extracts the position and the design height of a firewall in a first drawing, collects n pictures at a constant motion speed v and a preset frequency f, and splices the n pictures to obtain an integral picture;
and the wall climbing robot carries out integral identification on the integral picture to determine the actual height of the firewall, the actual height is compared with the design height, and if the actual height is more than or equal to the design height, the firewall construction of the first drawing is determined to be qualified.
2. The method according to claim 1, wherein the splicing the n pictures to obtain an overall picture specifically comprises:
the wall climbing robot calculates the moving distance s of each shooting; (ii) s ═ v/f; the wall climbing robot acquires a base distance s0 corresponding to a single shot picture in the moving direction of the wall climbing robot and the number h0 of pixel points in the moving direction; determining the number h1 of overlapped pixels between two adjacent pictures of the n pictures in the moving direction, wherein h1 is h0 [ (s0-s)/s0], arranging the n pictures according to the ascending order of the acquisition time to obtain a first sequence, and moving the rest pictures except the first picture in the first sequence in the reverse direction of the moving direction to h1 to obtain an integral picture.
3. The method according to claim 1, wherein the step of the wall-climbing robot performing the overall recognition on the overall picture to determine the actual height of the firewall specifically comprises:
the wall climbing robot identifies RGB values of all pixel points of an integral picture, connects adjacent pixel points with the same RGB value and the number within a set range to obtain n connecting lines, reserves m parallel connecting lines in the n connecting lines, obtains the distance L of 2 adjacent connecting lines in the m connecting lines, counts the x-th connecting line with the highest height in the m connecting lines if the distance L is within the distance range, and determines the height of the x-th connecting line as the actual height of the firewall.
4. The method of claim 1, wherein the wall-climbing robot collects a current position and a corresponding building number, and the extracting a first drawing corresponding to the building number to be verified according to the current position and the corresponding building number specifically comprises:
the wall climbing robot collects the coordinates of the current position and the building number input by the verifier, determines the name of the building community according to the coordinates, and extracts a first drawing corresponding to the building number from a drawing library of the building community according to the building number.
5. A fire detection system for a building, the system being applied to a wall climbing robot, the system comprising:
the acquisition unit is used for acquiring the current position and the corresponding building number;
the processing unit is used for extracting a first drawing corresponding to the building number to be verified according to the current position and the corresponding building number; extracting the position and the design height of a firewall in a first drawing, collecting n pictures at a constant motion speed v and a preset frequency f, and splicing the n pictures to obtain an integral picture; and integrally identifying the whole picture to determine the actual height of the firewall, comparing the actual height with the design height, and determining that the firewall construction of the first drawing is qualified if the actual height is greater than or equal to the design height.
6. A computer-readable storage medium storing a program for electronic data exchange, wherein the program causes a terminal to perform the method as provided in any one of claims 1-4.
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| CN202110002591.6A CN112797906B (en) | 2021-01-04 | 2021-01-04 | Fireproof detection method and system for building |
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| CN202110002591.6A CN112797906B (en) | 2021-01-04 | 2021-01-04 | Fireproof detection method and system for building |
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| CN112797906A true CN112797906A (en) | 2021-05-14 |
| CN112797906B CN112797906B (en) | 2022-09-27 |
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| 张羽等: "一种基于新型球形螺旋桨的爬墙机器人", 《现代制造技术与装备》 * |
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| CN112797906B (en) | 2022-09-27 |
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