CN113643526A - City underground pipe gallery positioning device and system thereof - Google Patents
City underground pipe gallery positioning device and system thereof Download PDFInfo
- Publication number
- CN113643526A CN113643526A CN202111062845.XA CN202111062845A CN113643526A CN 113643526 A CN113643526 A CN 113643526A CN 202111062845 A CN202111062845 A CN 202111062845A CN 113643526 A CN113643526 A CN 113643526A
- Authority
- CN
- China
- Prior art keywords
- pipe gallery
- underground pipe
- positioning device
- plc controller
- organism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
Abstract
The invention belongs to the technical field of unmanned intelligent equipment based on the Internet of things, and particularly relates to urban underground pipe gallery positioning equipment. According to the invention, the condition of the underground pipe gallery can be scanned by using the laser sensor, when abnormal conditions of the underground pipe gallery are scanned, the camera can be used for shooting pictures, then the abnormal pictures are fed back to the PLC, and under the use of the wireless transmission module, the PLC is in communication connection with the server, so that abnormal data of the underground pipe gallery can be remotely monitored and timely processed in real time, meanwhile, the gas sensor can be used for detecting toxic and harmful gases in the underground pipe gallery, and the safety of people entering the underground pipe gallery for maintenance can be ensured.
Description
Technical Field
The invention relates to the technical field of unmanned intelligent equipment based on the Internet of things, in particular to urban underground pipe gallery positioning equipment and a system thereof.
Background
The urban underground pipe gallery refers to pipelines and auxiliary facilities for water supply, drainage, gas, heat, electric power, communication, broadcast television, industry and the like in the urban range, and is an important infrastructure and a 'life line' for guaranteeing urban operation.
In recent years, along with the rapid development of the urbanization speed of China, urban underground pipe galleries are being built at an accelerated speed, the scale is continuously enlarged, the problems of the traditional inspection mode are obvious, the main problems include that the internal environment of the urban underground pipe gallery is severe, the inspection process is complex, the inspection content is more and complex, the manual inspection task is heavy, the requirement on the comprehensive capability of personnel is high, and the physical and mental health of the inspection personnel is influenced.
At present, the problems of incomplete routing inspection coverage range and irregular routing inspection flow can be frequently encountered by depending on personnel for routing inspection, and even if multi-party resources are utilized, routing inspection blind areas can exist, so that an ideal effect can not be achieved. Due to the problems, the traditional method is adopted at present, so that small hidden dangers gradually develop into big problems, accidents such as large-scale water cut-off, power failure, communication interruption, foundation sinking and the like occur in many cities in succession, and the normal life of citizens is seriously influenced by the problems. Therefore, the invention provides urban underground pipe gallery positioning equipment and a system thereof.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides urban underground pipe gallery positioning equipment and a system thereof, which solve the problems that the underground pipe gallery depends on personnel to patrol, the patrol coverage range is not comprehensive and the patrol flow is irregular, and even if multi-party resources are utilized, patrol blind areas exist and the ideal effect cannot be achieved.
The second technical proposal.
The invention specifically adopts the following technical scheme for realizing the purpose:
the utility model provides a city underground pipe gallery positioning device, includes T type stores pylon, T type stores pylon is fixed in underground pipe gallery's top and is used for spacing positioning device, the upper surface of T type stores pylon is equipped with the slide rail that is used for positioning device to slide, the surface mounting of T type stores pylon has signal receiver, the bottom of T type stores pylon is equipped with the organism, the interior diapire of organism is installed and is used for the PLC controller of positioning device control, the rear of PLC controller is equipped with the power module that is used for positioning device to provide the power, the place ahead of PLC controller is equipped with the storage module that is used for positioning device storage information, the camera that is used for monitoring underground pipe gallery is installed to the bottom of organism, the front surface mounting of organism has the gas sensor who is used for gaseous detection of underground pipe gallery, the laser sensor who is used for scanning and establishing the underground pipe gallery condition is installed at the right side center of organism, the top of organism has the cover through screwed connection, the top of cover is equipped with the fixed slot, the inner wall of fixed slot rotates through the bearing has the outside that twin-screw and twin-screw other end extended to the cover, twin-screw surface thread has the T template, the surface mounting of T template has the output of motor and motor to be connected with the bull stick, the end connection of bull stick has the guide pulley that is used for the endwall to slide in the slide rail, signal transmitter and signal receiver's highly equal is installed to the another side of T template.
Further, the top of cover is equipped with louvre and is used for discharging the heat that the inside electronic component of organism produced, the inner wall of louvre is connected with and is used for preventing that the dust from getting into the inside dust screen of organism.
Further, the shape of organism is T type form, the light that is used for providing underground pipe gallery ambient lighting degree is all installed to the both sides of organism, the input of light and the output electric connection of PLC controller.
Furthermore, one end of the double screw rod extending to the outside of the cover is connected with a rotating handle for rotating the double screw rod, and the surface of the rotating handle is provided with anti-skid grains.
Furthermore, the signal receiver is an inductor, the signal transmitter is a proximity switch, and the output ends of the signal receiver and the signal transmitter are electrically connected with the input end of the PLC.
Further, the output end of the power supply module is electrically connected with the input end of the PLC controller, and the output end of the PLC controller is electrically connected with the input ends of the storage module and the motor.
Further, the output end of the gas sensor and the output end of the laser sensor are both electrically connected with the input end of the PLC controller, and the output end of the PLC controller is electrically connected with the input end of the camera.
The invention also provides a positioning equipment system of the urban underground pipe gallery, which comprises the positioning equipment of any one of claims 1 to 7, and further comprises a wireless transmission module and a server, wherein the wireless transmission module is used for the networking control of the PLC and the server.
(III) advantageous effects
Compared with the prior art, the invention provides urban underground pipe gallery positioning equipment and a system thereof, which have the following beneficial effects:
1. according to the invention, the signal emitter is integrated on the T-shaped plate at the top of the cover, so that the signal emitter can advance along the rail along with the positioning equipment on the T-shaped hanging rack, and the signal receivers are uniformly arranged on the T-shaped hanging rack at intervals, at the moment, the position of the positioning equipment advancing from the position of one signal receiver to the position of the next signal receiver is fixed, when the positioning equipment advances to the position of one signal receiver, a signal can be sent to the PLC, the PLC sends an instruction to perform forced calibration on the advancing distance of the positioning equipment, and therefore, the calculation error of the advancing distance is eliminated, and accurate positioning can be performed on an abnormal picture monitored by a camera at the bottom of the machine body on the underground pipe gallery.
2. According to the invention, the condition of the underground pipe gallery can be scanned by using the laser sensor, when abnormal conditions of the underground pipe gallery are scanned, the camera can be used for shooting pictures, then the abnormal pictures are fed back to the PLC, and under the use of the wireless transmission module, the PLC is in communication connection with the server, so that abnormal data of the underground pipe gallery can be remotely monitored and timely processed in real time, meanwhile, the gas sensor can be used for detecting toxic and harmful gases in the underground pipe gallery, and the safety of people entering the underground pipe gallery for maintenance can be ensured.
3. According to the invention, through the use of the double screws and the T-shaped plates, the positioning equipment can be conveniently installed and positioned on the T-shaped hanging rack, the traditional manual inspection mode is replaced by the positioning equipment designed by the invention, the inspection coverage range of the underground pipe gallery through the positioning equipment is more comprehensive, and the inspection working efficiency is higher.
Drawings
Fig. 1 is a schematic structural diagram of a positioning device for an urban underground pipe gallery in an embodiment of the invention;
FIG. 2 is a cross-sectional view of the body of the present invention;
FIG. 3 is a top view of the lid of the present invention;
fig. 4 is a connection block diagram of a positioning device system of an urban underground pipe gallery in the embodiment of the invention.
In the figure: 1. a T-shaped hanger; 2. a slide rail; 3. a signal receiver; 4. a body; 5. a PLC controller; 6. a power supply module; 7. a storage module; 8. a camera; 9. a gas sensor; 10. a laser sensor; 11. a machine cover; 12. fixing grooves; 13. double screw; 14. a T-shaped plate; 15. a motor; 16. a rotating rod; 17. a guide wheel; 18. a signal transmitter; 19. heat dissipation holes; 20. a dust screen; 21. an illuminating lamp; 22. turning a handle; 23. and a wireless transmission module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.
Examples
As shown in fig. 1-4, an embodiment of the invention provides a positioning device for an urban underground pipe gallery, which includes a T-shaped hanger 1, the T-shaped hanger 1 is fixed at the top of the underground pipe gallery for limiting the positioning device, a slide rail 2 for sliding the positioning device is arranged on the upper surface of the T-shaped hanger 1, a signal receiver 3 is mounted on the surface of the T-shaped hanger 1, a machine body 4 is arranged at the bottom of the T-shaped hanger 1, a PLC controller 5 for controlling the positioning device is mounted on the inner bottom wall of the machine body 4, a power module 6 for providing power for the positioning device is arranged behind the PLC controller 5, a storage module 7 for storing information for the positioning device is arranged in front of the PLC controller 5, a camera 8 for monitoring the underground pipe gallery is mounted at the bottom of the machine body 4, a gas sensor 9 for detecting gas in the underground pipe gallery is mounted on the front surface of the machine body 4, the laser sensor 10 for scanning and establishing the underground pipe gallery condition is installed in the right side center of the machine body 4, the top of the machine body 4 is connected with a machine cover 11 through a screw, a fixing groove 12 is formed in the top of the machine cover 11, a double screw 13 is arranged on the inner wall of the fixing groove 12 in a rotating mode through a bearing, the other end of the double screw 13 extends to the outside of the machine cover 11, a T-shaped plate 14 is arranged on the surface of the double screw 13 in a threaded mode, a motor 15 is installed on the surface of the T-shaped plate 14, a rotating rod 16 is connected to the output end of the motor 15, a guide wheel 17 used for sliding on the bottom wall of the sliding rail 2 is connected to the end portion of the rotating rod 16, a signal emitter 18 is installed on the other side of the T-shaped plate 14, the height of the signal emitter 18 is equal to that of the signal receiver 3, through the rotation of the double screw 13, the two T-shaped plates 14 move oppositely or oppositely on the surface of the double screw 13, the distance of the guide wheel 17 can be adjusted, and the guide wheel 17 corresponds to the sliding rail 2 for limiting, the positioning equipment can be positioned on the T-shaped hanging rack 1, then the motor 15 is controlled by the PLC 5 to drive the rotating rod 16 to rotate, the guide wheel 17 moves in the slide rail 2, the positioning equipment moves on the T-shaped hanging rack 1, when the positioning equipment moves from the position of one signal receiver 3 to the position of the next signal receiver 3, the signal transmitters 18 arranged in the positioning equipment can all send signals to the PLC 5, the PLC 5 sends instructions to forcibly correct the moving distance of the positioning equipment, the camera 8 at the bottom of the machine body 4 can be ensured to accurately position the abnormal picture monitored by the underground pipe gallery, the laser sensor 10 can scan the condition of the underground pipe gallery, the abnormal condition is scanned to the underground pipe gallery and can be shot by the camera 8, and then the abnormal picture is fed back to the PLC 5, under wireless transmission module 23's use for PLC controller 5 carries out the communication with the server and is connected, can long-rangely monitor and in time handle the unusual data of underground pipe gallery in real time, and gas sensor 9 can detect poisonous and harmful gas in the underground pipe gallery simultaneously, security when can guaranteeing that people get into underground pipe gallery and overhaul.
As shown in fig. 3, in some embodiments, the top of the cover 11 is provided with heat dissipation holes 19 and the heat dissipation holes 19 are used for discharging heat generated by electronic components inside the machine body 4, the inner wall of the heat dissipation holes 19 is connected with a dust screen 20 for preventing dust from entering the machine body 4, the heat dissipation holes 19 are used for discharging heat generated by components inside the machine body 4, thereby avoiding the problem that the internal components inside the machine body 4 are damaged due to overhigh temperature inside the machine body 4, the dust screen 20 is used for matching with the heat dissipation holes 19, so as to avoid dust from entering the machine body 4, and further prolonging the service life of the internal components inside the machine body 4.
As shown in fig. 2, in some embodiments, the shape of organism 4 is the T type form, and light 21 that is used for providing underground pipe gallery ambient lighting is all installed to the both sides of organism 4, and light 21's input and PLC controller 5's output electric connection, light 21 can guarantee that the underground pipe gallery uses when visibility is lower, can effectively avoid camera 8 to shoot the problem of unclear in that the underground pipe gallery is darker.
As shown in fig. 1 and 3, in some embodiments, one end of the twin-screw 13 extending to the outside of the machine cover 11 is connected with a rotating handle 22 for rotating the twin-screw 13, the surface of the rotating handle 22 is provided with anti-skid threads, the rotating handle 22 enables the double threads 13 to be more time-saving and labor-saving when rotating, and the anti-skid threads ensure the stability of the rotating handle 22 when rotating.
As shown in fig. 4, in some embodiments, the signal receiver 3 is an inductor, the signal transmitter 18 is a proximity switch, the output ends of the signal receiver 3 and the signal transmitter 18 are both electrically connected to the input end of the PLC controller 5, the signal receiver 3 is of a type E3F-20C1, the signal transmitter 18 is of a type LJ12A3-4-Z/BX, the signal receiver 3 and the signal transmitter 18 are used to facilitate accurate positioning of an abnormal condition generated when the positioning device is used for inspection in an underground pipe gallery, and the PLC controller 5 is of a type AMX-FX3U-26MT-E to facilitate control and signal reception of elements in the positioning device, so that the positioning device is more intelligent when inspecting the underground pipe gallery.
As shown in fig. 4, in some embodiments, the output end of the power module 6 is electrically connected with the input end of the PLC controller 5, the output end of the PLC controller 5 is electrically connected with the input ends of the storage module 7 and the motor 15, the model of the power module 6 is RMF50-150, which can provide power for the positioning device, thereby ensuring the normal use of the positioning device, the model of the storage module 7 is WDBBGB0080HBK, which can store the data of the positioning device, and the data of the positioning device in the later period can be conveniently searched.
As shown in fig. 4, in some embodiments, the output of gas sensor 9 and the output of laser sensor 10 all with PLC controller 5's input electric connection, PLC controller 5's output and camera 8's input electric connection, gas sensor 9's model is SGP33, a gaseous real-time detection for in to the underground pipe gallery, security when can guarantee that the staff gets into the underground pipe gallery and overhaul, laser sensor 10's model is HPS-LCB02, be for scanning the underground pipe gallery condition in order to facilitate, improve the accuracy of positioning device when patrolling and examining.
As shown in fig. 4, the invention further provides an urban underground pipe gallery positioning device system, which comprises the positioning device according to any one of claims 1 to 7, and further comprises a wireless transmission module 23 and a server, wherein the wireless transmission module 23 is used for networking control of the PLC controller 5 and the server, and the wireless transmission module 23 is of an ESP8226 type, so that the PLC controller 5 in the positioning device can be in communication connection with the server, and the positioning device can be remotely controlled.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The utility model provides a city underground pipe gallery positioning device, includes T type stores pylon (1), its characterized in that: the top that T type stores pylon (1) is fixed in the underground pipe gallery is used for spacing positioning device, the upper surface of T type stores pylon (1) is equipped with slide rail (2) that is used for positioning device to slide, the surface mounting of T type stores pylon (1) has signal receiver (3), the bottom of T type stores pylon (1) is equipped with organism (4), the interior diapire of organism (4) is installed and is used for PLC controller (5) of positioning device control, the rear of PLC controller (5) is equipped with power module (6) that are used for positioning device to provide the power, the place ahead of PLC controller (5) is equipped with storage module (7) that are used for positioning device storage information, camera (8) that are used for the underground pipe gallery control are installed to the bottom of organism (4), the front surface mounting of organism (4) has gas sensor (9) that are used for the gaseous detection of underground pipe gallery, the right center of the machine body (4) is provided with a laser sensor (10) for scanning and establishing the condition of the underground pipe gallery, the top of the machine body (4) is connected with a machine cover (11) through a screw, the top of the machine cover (11) is provided with a fixed groove (12), the inner wall of the fixed groove (12) is provided with a double screw (13) through a bearing in a rotating way, the other end of the double screw (13) extends to the outside of the cover (11), a T-shaped plate (14) is threaded on the surface of the double screw (13), a motor (15) is installed on the surface of the T-shaped plate (14), the output end of the motor (15) is connected with a rotating rod (16), the end part of the rotating rod (16) is connected with a guide wheel (17) which is used for sliding on the bottom wall of the sliding rail (2), and a signal emitter (18) is arranged on the other surface of the T-shaped plate (14), and the heights of the signal emitter (18) and the signal receiver (3) are equal.
2. The urban underground pipe gallery positioning device according to claim 1, characterized in that: the top of cover (11) is equipped with louvre (19) and is used for discharging the heat that the inside electronic component of organism (4) produced, the inner wall of louvre (19) is connected with and is used for preventing that the dust from getting into inside dust screen (20) of organism (4).
3. The urban underground pipe gallery positioning device according to claim 1, characterized in that: the shape of organism (4) is the T type form, light (21) that are used for providing underground pipe gallery ambient lighting degree are all installed to the both sides of organism (4), the input of light (21) and the output electric connection of PLC controller (5).
4. The urban underground pipe gallery positioning device according to claim 1, characterized in that: one end of the double screw (13) extending to the outside of the machine cover (11) is connected with a rotating handle (22) used for rotating the double screw (13), and the surface of the rotating handle (22) is provided with anti-skid grains.
5. The urban underground pipe gallery positioning device according to claim 1, characterized in that: the signal receiver (3) is an inductor, the signal transmitter (18) is a proximity switch, and the output ends of the signal receiver (3) and the signal transmitter (18) are electrically connected with the input end of the PLC (5).
6. The urban underground pipe gallery positioning device according to claim 1, characterized in that: the output end of the power module (6) is electrically connected with the input end of the PLC controller (5), and the output end of the PLC controller (5) is electrically connected with the input ends of the storage module (7) and the motor (15).
7. The urban underground pipe gallery positioning device according to claim 1, characterized in that: the output end of the gas sensor (9) and the output end of the laser sensor (10) are electrically connected with the input end of the PLC controller (5), and the output end of the PLC controller (5) is electrically connected with the input end of the camera (8).
8. The utility model provides a city underground pipe gallery positioning device system which characterized in that: the positioning device comprises any one of claims 1-7, and further comprises a wireless transmission module (23) and a server, wherein the wireless transmission module (23) is used for the PLC controller (5) to perform networking control with the server.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111062845.XA CN113643526A (en) | 2021-09-10 | 2021-09-10 | City underground pipe gallery positioning device and system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111062845.XA CN113643526A (en) | 2021-09-10 | 2021-09-10 | City underground pipe gallery positioning device and system thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113643526A true CN113643526A (en) | 2021-11-12 |
Family
ID=78425551
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111062845.XA Pending CN113643526A (en) | 2021-09-10 | 2021-09-10 | City underground pipe gallery positioning device and system thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113643526A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114567714A (en) * | 2022-02-23 | 2022-05-31 | 宋晓静 | Municipal works design is with unmanned mapping recording device of underground pipe gallery |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN210557563U (en) * | 2019-07-22 | 2020-05-19 | 广东省能源集团有限公司珠海发电厂 | Coal conveying trestle rail type automatic inspection device |
| CN111300453A (en) * | 2020-03-31 | 2020-06-19 | 中自机器人技术(安庆)有限公司 | Intelligent inspection robot for comprehensive pipe rack |
| CN210899299U (en) * | 2019-11-19 | 2020-06-30 | 郑州海为电子科技有限公司 | Tunnel monitoring system |
| CN211087326U (en) * | 2020-02-18 | 2020-07-24 | 西安金源电气股份有限公司 | Electric power utility tunnel patrols and examines robot system |
| CN112077823A (en) * | 2020-08-05 | 2020-12-15 | 嘉兴学院 | Mobile platform of pipe gallery inspection robot |
| CN113021307A (en) * | 2021-04-15 | 2021-06-25 | 山东东辰共赢服务有限公司 | Positioning inspection system and method for power plant rail type inspection robot |
-
2021
- 2021-09-10 CN CN202111062845.XA patent/CN113643526A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN210557563U (en) * | 2019-07-22 | 2020-05-19 | 广东省能源集团有限公司珠海发电厂 | Coal conveying trestle rail type automatic inspection device |
| CN210899299U (en) * | 2019-11-19 | 2020-06-30 | 郑州海为电子科技有限公司 | Tunnel monitoring system |
| CN211087326U (en) * | 2020-02-18 | 2020-07-24 | 西安金源电气股份有限公司 | Electric power utility tunnel patrols and examines robot system |
| CN111300453A (en) * | 2020-03-31 | 2020-06-19 | 中自机器人技术(安庆)有限公司 | Intelligent inspection robot for comprehensive pipe rack |
| CN112077823A (en) * | 2020-08-05 | 2020-12-15 | 嘉兴学院 | Mobile platform of pipe gallery inspection robot |
| CN113021307A (en) * | 2021-04-15 | 2021-06-25 | 山东东辰共赢服务有限公司 | Positioning inspection system and method for power plant rail type inspection robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114567714A (en) * | 2022-02-23 | 2022-05-31 | 宋晓静 | Municipal works design is with unmanned mapping recording device of underground pipe gallery |
| CN114567714B (en) * | 2022-02-23 | 2023-11-28 | 浙江蓝致城市规划设计有限公司 | Unmanned survey and drawing recorder of underground pipe gallery for municipal engineering design |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210233046U (en) | Rail mounted utility tunnel patrols and examines robot and system | |
| CN111300453A (en) | Intelligent inspection robot for comprehensive pipe rack | |
| CN113643526A (en) | City underground pipe gallery positioning device and system thereof | |
| CN210720194U (en) | Tunnel inspection image acquisition device and tunnel inspection system | |
| CN104935897A (en) | Infrared intelligent online monitoring system for direct-current convertor station valve hall | |
| CN105353029A (en) | Bearing roller automatic flaw detection device | |
| CN103434268A (en) | Detection system for printing device | |
| CN105320141A (en) | Method for inspecting electrical equipment in transformer substation | |
| CN115661964A (en) | Intelligent inspection system for comprehensive pipe gallery | |
| CN212312040U (en) | Intelligent inspection robot for comprehensive pipe rack | |
| CN201732061U (en) | Wheelset fluorescent magnetic particle inspection machine | |
| CN218978004U (en) | Filter rod tipping quality on-line monitoring system based on visual detection | |
| CN213083143U (en) | Shield construction tunnel inspection robot | |
| CN116523893B (en) | Flying steel detection system and method based on machine vision | |
| CN104990610A (en) | Crystallizing device liquid level measuring system and measuring method | |
| CN204887277U (en) | Tunnel water damage intelligent monitoring system based on video event detection | |
| CN203543350U (en) | Detection system for printing device | |
| CN108222085B (en) | Underground comprehensive pipe gallery wall damage monitoring device and method | |
| CN110648419A (en) | Inspection system and method for pipe gallery inspection robot | |
| CN205193011U (en) | Bearing roller automatic flaw detection detection device | |
| CN112728286B (en) | Pipeline leakage detection ball based on wireless sound shadow detection | |
| CN218441443U (en) | Wisdom piping lane supervisory equipment | |
| CN219758065U (en) | Filter rod transmitter detection device | |
| CN204788558U (en) | Crystallizer liquid level measurement system | |
| CN210687633U (en) | Automatic recognition device for black smoke motor vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20211112 |
|
| RJ01 | Rejection of invention patent application after publication |