CN113442138B - Routing inspection path planning method for climbing robot in tunnel - Google Patents
Routing inspection path planning method for climbing robot in tunnel Download PDFInfo
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- CN113442138B CN113442138B CN202110718693.8A CN202110718693A CN113442138B CN 113442138 B CN113442138 B CN 113442138B CN 202110718693 A CN202110718693 A CN 202110718693A CN 113442138 B CN113442138 B CN 113442138B
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- 230000009194 climbing Effects 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000007689 inspection Methods 0.000 title claims abstract description 22
- 238000001514 detection method Methods 0.000 claims abstract description 32
- 230000005484 gravity Effects 0.000 claims description 37
- 239000000306 component Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 201000010099 disease Diseases 0.000 description 4
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000001960 triggered effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
Abstract
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CN202110718693.8A CN113442138B (en) | 2021-06-28 | 2021-06-28 | Routing inspection path planning method for climbing robot in tunnel |
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CN202110718693.8A CN113442138B (en) | 2021-06-28 | 2021-06-28 | Routing inspection path planning method for climbing robot in tunnel |
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CN113442138A CN113442138A (en) | 2021-09-28 |
CN113442138B true CN113442138B (en) | 2022-08-23 |
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CN202110718693.8A Active CN113442138B (en) | 2021-06-28 | 2021-06-28 | Routing inspection path planning method for climbing robot in tunnel |
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Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN114211512B (en) * | 2022-02-23 | 2022-05-13 | 中铁十二局集团山西建筑构件有限公司 | Whole-face loop inspection method for tunnel lining detection climbing robot |
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CN104266591A (en) * | 2014-09-29 | 2015-01-07 | 樊晓莉 | Displacement detection method for moving device in tunnel |
DE102014004060A1 (en) * | 2014-03-10 | 2015-09-10 | Northrop Grumman Litef Gmbh | METHOD AND DEVICE FOR DETERMINING NAVIGATION DATA |
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CN108387109A (en) * | 2018-02-01 | 2018-08-10 | 中冶长天国际工程有限责任公司 | A kind of dynamic monitor and monitoring method of the peeling of ceramic roller kiln furnace lining |
CN108663063A (en) * | 2018-05-09 | 2018-10-16 | 宁波拓邦智能控制有限公司 | Overlay path planing method, device, equipment, computer installation and storage medium |
CN109073377A (en) * | 2016-04-26 | 2018-12-21 | 兴仁Enc株式会社 | Utilize the behavior determination and maintenance method of multi-axial sensor |
CN109760837A (en) * | 2019-02-21 | 2019-05-17 | 西京学院 | A kind of cable duct and the patrol unmanned machine system in tunnel |
CN110261849A (en) * | 2019-07-24 | 2019-09-20 | 长江师范学院 | Tunnel lining structure detection device |
CN111290388A (en) * | 2020-02-25 | 2020-06-16 | 苏州科瓴精密机械科技有限公司 | Path tracking method, system, robot and readable storage medium |
WO2021068848A1 (en) * | 2019-10-09 | 2021-04-15 | 山东大学 | Tunnel structure disease multi-scale measurement and intelligent diagnosis system and method |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20060290673A1 (en) * | 2005-06-20 | 2006-12-28 | Yankee Technology Co., Ltd. | Bi-directional induction mouse component part |
CN104034318B (en) * | 2013-03-08 | 2018-01-05 | 科沃斯机器人股份有限公司 | Vertical calibration equipment and its glass-cleaning robot with the vertical calibration equipment |
EP3601954A4 (en) * | 2017-03-27 | 2021-01-20 | HRL Laboratories, LLC | Adaptive downhole inertial measurement unit calibration method and apparatus for autonomous wellbore drilling |
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2021
- 2021-06-28 CN CN202110718693.8A patent/CN113442138B/en active Active
Patent Citations (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102010048574A1 (en) * | 2010-10-18 | 2012-04-19 | Rayonex Schwingungstechnik Gmbh | Method and system for determining the position of a device |
DE102014004060A1 (en) * | 2014-03-10 | 2015-09-10 | Northrop Grumman Litef Gmbh | METHOD AND DEVICE FOR DETERMINING NAVIGATION DATA |
CN103995534A (en) * | 2014-05-13 | 2014-08-20 | 北京艾科尔明国际科技发展有限公司 | Mobile path control system and control method for patrolling robot |
CN104266591A (en) * | 2014-09-29 | 2015-01-07 | 樊晓莉 | Displacement detection method for moving device in tunnel |
CN204854725U (en) * | 2015-07-03 | 2015-12-09 | 陈廷 | Horizontal detection device and use device's nuclear -powered submarine |
CN109073377A (en) * | 2016-04-26 | 2018-12-21 | 兴仁Enc株式会社 | Utilize the behavior determination and maintenance method of multi-axial sensor |
CN108387109A (en) * | 2018-02-01 | 2018-08-10 | 中冶长天国际工程有限责任公司 | A kind of dynamic monitor and monitoring method of the peeling of ceramic roller kiln furnace lining |
CN108663063A (en) * | 2018-05-09 | 2018-10-16 | 宁波拓邦智能控制有限公司 | Overlay path planing method, device, equipment, computer installation and storage medium |
CN109760837A (en) * | 2019-02-21 | 2019-05-17 | 西京学院 | A kind of cable duct and the patrol unmanned machine system in tunnel |
CN110261849A (en) * | 2019-07-24 | 2019-09-20 | 长江师范学院 | Tunnel lining structure detection device |
WO2021068848A1 (en) * | 2019-10-09 | 2021-04-15 | 山东大学 | Tunnel structure disease multi-scale measurement and intelligent diagnosis system and method |
CN111290388A (en) * | 2020-02-25 | 2020-06-16 | 苏州科瓴精密机械科技有限公司 | Path tracking method, system, robot and readable storage medium |
Non-Patent Citations (1)
Title |
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对电缆隧道运行中巡检机器人技术的研究;李佰国;《中国新通信》;20161205(第23期);全文 * |
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Effective date of registration: 20220519 Address after: 030024 No. 130 West Mining street, Shanxi, Taiyuan Applicant after: CHINA RAILWAY 12TH BUREAU GROUP Co.,Ltd. Applicant after: CHINA RAILWAY 12TH BUREAU GROUP SHANXI BUILDING COMPONENT Co.,Ltd. Applicant after: THE 2ND ENGINEERING CO.,LTD. OF CHINA RAILWAY 12TH BUREAU GROUP Address before: 030024 No. 130 West Mining street, Shanxi, Taiyuan Applicant before: CHINA RAILWAY 12TH BUREAU GROUP Co.,Ltd. Applicant before: THE 2ND ENGINEERING CO.,LTD. OF CHINA RAILWAY 12TH BUREAU GROUP |
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EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20210928 Assignee: Yitong Engineering Testing Co.,Ltd. Shenzhen Branch Assignor: CHINA RAILWAY 12TH BUREAU GROUP SHANXI BUILDING COMPONENT Co.,Ltd. Contract record no.: X2024140000009 Denomination of invention: A Path Planning Method for Inspection of Climbing Robots in Tunnels Granted publication date: 20220823 License type: Common License Record date: 20240311 |
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