CN114003038A - Positioning device of inspection robot, inspection robot and inspection system - Google Patents
Positioning device of inspection robot, inspection robot and inspection system Download PDFInfo
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- CN114003038A CN114003038A CN202111275385.9A CN202111275385A CN114003038A CN 114003038 A CN114003038 A CN 114003038A CN 202111275385 A CN202111275385 A CN 202111275385A CN 114003038 A CN114003038 A CN 114003038A
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- 238000007689 inspection Methods 0.000 title claims abstract description 130
- 238000001514 detection method Methods 0.000 claims description 18
- 239000003550 marker Substances 0.000 claims description 12
- 238000012545 processing Methods 0.000 description 11
- 239000007789 gas Substances 0.000 description 5
- 239000000523 sample Substances 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000000041 tunable diode laser absorption spectroscopy Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 238000000862 absorption spectrum Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000001285 laser absorption spectroscopy Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The embodiment of the application provides a positioner who patrols and examines robot, patrols and examines robot and system of patrolling and examining. The positioning device of the inspection robot comprises a wireless information collector and an identifier, wherein the wireless information collector is arranged on one of the inspection robot and a track, the identifier is arranged on the other of the inspection robot and the track, the wireless information collector and the identifier can move relatively, unique identification information is configured in the identifier, when the identifier is located in the identification range of the wireless information collector, the wireless information collector reads the unique identification information from the identifier, and the position of the inspection robot on the track is determined according to the unique identification information.
Description
Technical Field
The embodiment of the application relates to the technical field of mechanical equipment, in particular to a positioning device of an inspection robot, the inspection robot and an inspection system.
Background
The inspection robot is used for patrolling and checking in a workplace and finding out abnormity and potential safety hazards in time, so that the safety of the workplace is ensured. For example, images of certain positions of a workplace are shot through a camera mounted on the inspection robot, so that whether danger and potential safety hazards exist in the workplace or whether equipment is in a normal operation state or not is determined according to the images. Based on the difference of the installation and the use mode of the inspection robot, the inspection robot can be divided into a rail type inspection robot, a walking type inspection robot, a head-mounted inspection robot and the like. It needs a special track for the rail type inspection robot to support and move the inspection robot.
The conventional track type inspection robot can count mileage so as to determine whether the track type inspection robot reaches a required position. The conventional mileage counting mode is to detect the number of turns of a driving wheel of the track type inspection robot according to a counter arranged in the track type inspection robot, calculate the moving distance of the track type inspection robot by combining the perimeter of the driving wheel, and further determine the position of the track type inspection robot. The problem of this kind of mode lies in, when the track formula patrols and examines the robot and appear skidding the wait condition, the track formula patrols and examines the robot and has actually moved a section distance, but because the drive wheel does not rotate, leads to the displacement of count and actual displacement inconsistent, causes the track formula to patrol and examine the location of robot inaccurate, has influenced and has patrolled and examined the effect.
Disclosure of Invention
In view of the above, embodiments of the present disclosure provide a positioning device for an inspection robot, and an inspection system solution to at least partially solve the above problems.
According to the embodiment of the application, the positioning device of the inspection robot comprises a wireless information collector and an identifier, wherein the wireless information collector is arranged on one of the inspection robot and a track, the identifier is arranged on the other of the inspection robot and the track, the wireless information collector and the identifier can move relatively, unique identification information is configured in the identifier, and when the identifier is located in the identification range of the wireless information collector, the wireless information collector reads the unique identification information from the identifier so as to determine the position of the inspection robot on the track according to the unique identification information.
Optionally, the wireless information collector is arranged on the inspection robot and can move on the rail along with the inspection robot, a plurality of markers are arranged on the rail, and a space is reserved between every two adjacent markers.
Optionally, the identifier includes radio frequency identification tags, each radio frequency identification tag is configured with a unique number corresponding to the identifier as unique identification information, and the wireless information collector includes a radio frequency reader for reading the radio frequency identification tags.
According to another aspect of the application, a patrol robot is provided, which comprises a robot main body and the positioning device, wherein the wireless information collector or the identifier of the positioning device is arranged on the robot main body.
Optionally, the robot main body comprises a first embedded processor, the wireless information collector is arranged in the robot main body and is in data connection with the first embedded processor, the wireless information collector sends the read unique identification information of the identifier to the first embedded processor, and the first embedded processor determines the position of the inspection robot based on the corresponding relation between the preset unique identification information and the position.
Optionally, the robot main body further comprises an industrial personal computer, the first embedded processor is in data connection with the industrial personal computer, and the determined position is transmitted to the industrial personal computer.
Optionally, the inspection robot further comprises a front ultrasonic obstacle avoidance sensor, the front ultrasonic obstacle avoidance sensor is installed on the front side of the robot body in the walking direction, the front ultrasonic obstacle avoidance sensor is connected with the first embedded processor and sends ultrasonic detection data to the first embedded processor, and the first embedded processor determines whether an obstacle exists in the front of the inspection robot according to the ultrasonic detection data.
Optionally, the robot main body further comprises a rear ultrasonic obstacle avoidance sensor, the rear ultrasonic obstacle avoidance sensor is installed on the rear side of the robot main body in the walking direction, the rear ultrasonic obstacle avoidance sensor is connected with the first embedded processor and sends ultrasonic detection data to the first embedded processor, and the first embedded processor determines whether an obstacle exists behind the inspection robot according to the ultrasonic detection data.
Optionally, the robot main body further includes a second embedded processor and a patrol inspection sensor connected to the second embedded processor, and the patrol inspection sensor sends patrol inspection environment data obtained by detection to the second embedded processor.
According to another aspect of the present application, there is provided an inspection system, including: the track and above-mentioned inspection robot, inspection robot movably sets up in the track.
The utility model provides a positioner includes wireless information collector and marker, dispose unique identification information in the marker, so that can distinguish each other between the different markers, thereby make the marker and patrol and examine and produce corresponding relation between the position that the robot removed, wireless information collector can read the unique identification information in the marker like this, follow-up actual position that the robot was patrolled and examined in the track can be confirmed according to this unique identification information, from this, the accuracy to patrolling and examining the robot location has been promoted, solve because the inaccurate problem of location that the condition such as the drive wheel of patrolling and examining the robot skidded.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the embodiments of the present application, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is a schematic diagram of the positioning device of the inspection robot, a rail and the inspection robot in cooperation according to the embodiment of the application;
fig. 2 is a schematic connection relationship diagram of a robot main body of the inspection robot according to the embodiment of the present application.
Reference numerals:
10. a track; 20. a robot main body; 21. a first embedded processor; 22. an industrial personal computer; 23. a front ultrasonic obstacle avoidance sensor; 24. a second embedded processor; 251. an interphone; 252. a battery controller; 253. a driver; 254. a gas probe; 255. a tunable semiconductor laser absorption spectrum sensor; 256. a camera; 257. a holder; 258. a WIFI unit; 259. a switch; 261. an infrared sensor; 262. a power source; 31. a wireless information collector; 32. and a marker.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application shall fall within the scope of the protection of the embodiments in the present application.
As shown in fig. 1 and 2, the track 10 of the inspection robot may be secured to a fixture, such as a roof, wall, or other upright that suspends the track 10. The inspection robot is movably arranged on the track 10 and moves in the inspection environment along the track 10, so that inspection environment data required in the inspection environment are collected, and the safety of the inspection environment is determined according to the inspection environment data.
In this embodiment, a positioning device for an inspection robot is provided, the positioning device includes a wireless information collector 31 and an identifier 32, the wireless information collector 31 is disposed on one of the inspection robot and the track 10, the identifier 32 is disposed on the other of the inspection robot and the track 10, the wireless information collector 31 and the identifier 32 are movable relatively, unique identification information is configured in the identifier 32, and when the identifier 32 is within the identification range of the wireless information collector 31, the wireless information collector 31 reads the unique identification information from the identifier 32 to determine the position of the inspection robot on the track 10 according to the unique identification information.
The positioning device comprises a wireless information collector 31 and an identifier 32, unique identification information is configured in the identifier 32, so that different identifiers 32 can be distinguished from each other, and a corresponding relation is generated between the identifier 32 and the position where the inspection robot moves, so that the wireless information collector 31 can read the unique identification information in the identifier 32, and the actual position of the inspection robot on the track 10 can be determined according to the unique identification information subsequently, thereby improving the accuracy of positioning the inspection robot, and solving the problem of inaccurate positioning caused by the conditions of slipping of a driving wheel of the inspection robot and the like.
In one possible mode, the wireless information collector 31 is one, is arranged on the inspection robot and can move on the track 10 along with the inspection robot, a plurality of markers 32 are arranged on the track 10, and a space is formed between every two adjacent markers 32. In this way, the markers 32 with simple structure and small occupied space are arranged on the track 10 and do not need to be moved, so that the cost is not too high even if the number of the markers 32 is large, and the markers 32 are convenient to install.
The wireless information collector 31 can read the unique identification information in the identifier 32 and perform some data processing, compared with the identifier 32, the structure of the wireless information collector 31 is more complex and the cost is higher, and in order to reduce the cost, the positioning device comprises the wireless information collector 31 which is arranged on the inspection robot and moves along with the inspection robot.
In order to avoid the positioning device interfering with the normal movement of the inspection robot, data transmission is performed between the wireless information collector 31 and the identifier 32 in a wireless mode (such as sound, light or electromagnetic signals).
Taking a radio frequency manner as an example, the identifier 32 includes radio frequency identification tags (RFID), each of the radio frequency identification tags is configured with a unique number corresponding to the identifier 32 as unique identification information, and the wireless information acquirer 31 includes a radio frequency reader for reading the radio frequency identification tags. When the wireless information acquirer 31 moves below a certain radio frequency identification tag, the unique number is read from the radio frequency identification tag. The position of the inspection robot on the track 10 can be determined according to the unique number, so that the inspection robot can be accurately positioned.
In another possible manner, the identifier 32 may be a two-dimensional code, and the wireless information collector 31 may be a camera having a two-dimensional code recognition function. When the camera moves below the identifier 32, the unique number in the two-dimensional code is obtained by scanning the two-dimensional code, so that the position of the inspection robot is determined according to the unique number.
Of course, in other embodiments, the identifier 32 may be disposed on the inspection robot and move along with the inspection robot, the plurality of wireless information collectors 31 are disposed on the track 10, when the identifier 32 moves below a certain wireless information collector 31, the wireless information collector 31 collects the unique identification information, and the position of the inspection robot may be determined according to the position of the wireless information collector 31 collecting the unique identification information.
According to another aspect of the present application, there is provided an inspection robot including a robot main body 20 and the above-described positioning device, a wireless information collector 31 or a marker 32 of the positioning device being provided to the robot main body 20. The inspection robot adopts the wireless information collector 31 and the identifier 32 for positioning, and solves the problem that the positioning is inaccurate when the driving wheel slips when the rotating turns of the driving wheel are detected by a counter to determine the moving position of the inspection robot in the prior art. In addition, this positioner has still solved the current induction coil who exists through induction coil determination patrols and examines the position of robot and drops or the problem that can't pinpoint after damaging.
In this embodiment, in order to improve the data processing capability of the inspection robot, the robot main body 20 includes a first embedded processor 21, the wireless information collector 31 is disposed in the robot main body 20 and is in data connection with the first embedded processor 21, the wireless information collector 31 sends the read unique identification information of the identifier 32 to the first embedded processor 21, and the first embedded processor 21 determines the position of the inspection robot based on the preset corresponding relationship between the unique identification information and the position.
The first embedded processor 21 is used for performing navigation control on the inspection robot, and in order to realize the navigation control, the first embedded processor 21 is connected with the wireless information collector 31, so that the inspection robot is positioned, and then the inspection robot can be subjected to navigation control according to the positioning, such as controlling the inspection robot to move or stop.
Taking the wireless information collector 31 as an rf reader as an example, the first embedded processor 21 is pre-configured with a correspondence relationship between unique identification information and a position, where the correspondence relationship is, for example: rf tag 1 is located 0m from the start of track 10 (i.e., at the start of track 10), rf tag 2 is located 3m from the start of track 10, rf tag 3 is located 6m from the start of track 10, and so on.
The first embedded processor 21 and the radio frequency reader can be connected through an RS485 protocol, receive unique identification information in the radio frequency tag collected by the radio frequency reader, and according to the unique identification information and the preset corresponding relation, the distance from the inspection robot to the starting point of the track 10 can be determined, and the position of the inspection robot on the track 10 is also determined.
As shown in fig. 2, the inspection robot further includes a front ultrasonic obstacle avoidance sensor 23, a rear ultrasonic obstacle avoidance sensor (not shown), a battery controller (BMS)252, a driver 253, and the like.
The front ultrasonic obstacle avoidance sensor 23 is mounted on the front side of the robot main body 20 in the walking direction, the front ultrasonic obstacle avoidance sensor 23 is connected with the first embedded processor 21 and sends ultrasonic detection data to the first embedded processor 21, and the first embedded processor 21 determines whether an obstacle exists in front of the inspection robot according to the ultrasonic detection data.
Specifically, the front-side ultrasonic obstacle avoidance sensor 23 is connected to the first embedded processor 21 through an RS485 protocol, thereby implementing data transmission. The front ultrasonic obstacle avoidance sensor 23 can emit ultrasonic waves outwards and receive signals reflected by an external object as ultrasonic detection data, and the front ultrasonic obstacle avoidance sensor 23 sends the ultrasonic detection data to the first embedded processor 21. The first embedded processor 21 determines whether an obstacle exists in a certain distance ahead according to the ultrasonic detection data, and if so, the first embedded processor can send a signal to the driver to enable the driver to control the motor to stop rotating, so that the obstacle is prevented from colliding.
Optionally, the robot main body 20 further includes a rear ultrasonic obstacle avoidance sensor, the rear ultrasonic obstacle avoidance sensor is installed on the rear side of the robot main body 20 in the traveling direction, the rear ultrasonic obstacle avoidance sensor is connected to the first embedded processor 21 and sends the ultrasonic detection data to the first embedded processor 21, and the first embedded processor 21 determines whether an obstacle exists behind the inspection robot according to the ultrasonic detection data. The front and rear sides can be realized by configuring the front side ultrasonic obstacle avoidance sensor and the rear side ultrasonic obstacle avoidance sensor, and the walking safety is ensured.
The battery controller 252 is connected to the first embedded processor 21, and the battery controller can detect the power of the battery and transmit the power of the battery to the first embedded processor 21, so that the first embedded processor 21 can control whether the inspection robot moves according to the power.
Optionally, the robot body 20 further includes an industrial personal computer 22, and the first embedded processor 21 is in data connection with the industrial personal computer 22 and transmits the determined position to the industrial personal computer 22. The industrial personal computer 22 is used for processing more complex business logic in the inspection robot and processing external communication.
As shown in fig. 2, the industrial personal computer 22 is provided with a network port, and is connected to the network port of the switch 259 through the network port, thereby implementing communication. The switch 259 is connected with the WIFI unit 258 and the infrared sensor 261 through a network port, and data transmission is achieved. The first embedded processor 21 is connected with the industrial personal computer 22 through an RS232 protocol and transmits data.
The industrial personal computer 22 can also be connected with the interphone 251 through a USB interface to realize sound collection and processing.
Optionally, the robot main body 20 further includes a second embedded processor 24 and a patrol sensor connected to the second embedded processor 24, and the patrol sensor transmits patrol environment data obtained by detection to the second embedded processor 24.
The second embedded processor 24 is used for processing the inspection environment data obtained by the inspection sensor carried on the inspection robot. The data that the sensor was gathered is patrolled and examined to the difference may be different, also can carry on the different sensor of patrolling and examining according to the demand of patrolling and examining of difference. For example, in the present embodiment, the inspection robot includes a gas probe 254, a tunable semiconductor laser absorption spectroscopy sensor 255(TDLAS), a high-definition camera 256, and the like. In order to guarantee the stability of the image collected by the camera 256, the inspection robot further comprises a cloud platform 257, wherein the cloud platform 257 is used for bearing the camera, so that vibration is reduced and transmitted to the camera 256, and the definition of the image collected by the high-definition camera 256 is improved.
The gas probe 254, TDLAS sensor and camera 256 are coupled to the second embedded processor 24 via the RS485 protocol for data transfer.
For example, the gas probe 254 is used to detect the content of one or more gases in the inspection environment as inspection environment data, and send the inspection environment data to the second embedded processor 24, so that the second embedded processor processes the data, and can send the processing result to the industrial personal computer 22 through the RS232 protocol. The industrial personal computer 22 may perform other processing according to the processing result, or may transmit the processing result to other devices (such as an upper computer).
The TDLAS sensor is coupled to the second embedded processor 24 and transmits the sensed sensor data to the second embedded processor 24 for processing thereby.
The camera is used for collecting images and sending the collected images to the second embedded processor 24, and the second embedded processor 24 processes the images.
The electrical devices may be powered by the power source 262.
According to another aspect of the present application, there is provided an inspection system, including: a track 10 and the inspection robot, wherein the inspection robot is movably arranged on the track 10.
A plurality of identifiers 32 can be arranged on the track 10 of the inspection system, and the identifiers 32 can be radio frequency tags, and each radio frequency tag has unique identification information. The first embedded processor 21 is added in the inspection robot, so that the inspection robot can process the unique identification information, the unique identification information in the identifier 32 can be read when the wireless information collector 31 on the inspection robot moves to a position corresponding to the identifier 32, and the position of the inspection robot on the track can be determined according to the unique information identifier.
The positioning mode solves the problem that the real position cannot be determined when the position counted and calculated by the counter is inconsistent with the position detected by the proximity switch due to the fact that the driving wheel slips when the existing inspection robot controlled by the PLC uses the proximity switch and the counter to perform positioning.
In addition, when the marker 32 is accidentally dropped or cannot be used, the positioning mode is not influenced, the positioning can be accurately carried out, and the positioning error cannot be caused even if the driving wheel slips. Moreover, if a new positioning point needs to be added, a new identifier 32 can be added to the track 10, unique identification information is written in the identifier 32, and the corresponding relationship between the unique identification information and the position is preset, so that the new positioning point can be conveniently added without any adjustment on positioning logic, and the cost for adding the new positioning point is saved.
The above embodiments are only used for illustrating the embodiments of the present application, and not for limiting the embodiments of the present application, and those skilled in the relevant art can make various changes and modifications without departing from the spirit and scope of the embodiments of the present application, so that all equivalent technical solutions also belong to the scope of the embodiments of the present application, and the scope of patent protection of the embodiments of the present application should be defined by the claims.
Claims (10)
1. The utility model provides a positioner of inspection robot, characterized in that includes wireless information collector (31) and marker (32), wireless information collector (31) set up on one in inspection robot and track (10), marker (32) set up the inspection robot with on another in track (10), just wireless information collector (31) with marker (32) relative movement, dispose unique identification information in marker (32) are in when the identification range of wireless information collector (31), wireless information collector (31) are followed read in marker (32) unique identification information is with according to unique identification information confirms the inspection robot is in position on track (10).
2. The inspection robot positioning device according to claim 1, wherein the wireless information collector (31) is disposed on the inspection robot and is movable with the inspection robot on the track (10), the track (10) is provided with a plurality of markers (32), and a space is provided between two adjacent markers (32).
3. The inspection robot positioning device according to claim 2, wherein the identifiers (32) include radio frequency identification tags, each radio frequency identification tag has a unique number configured therein as the unique identification information, the wireless information collector (31) includes a radio frequency reader for reading the radio frequency identification tags.
4. An inspection robot, characterized by comprising a robot main body (20) and the positioning device of any one of claims 1-3, wherein the wireless information collector (31) or the identifier (32) of the positioning device is provided to the robot main body (20).
5. The inspection robot according to the claim 4, wherein the robot body (20) comprises a first embedded processor (21), the wireless information collector (31) is arranged on the robot body (20) and is in data connection with the first embedded processor (21), the wireless information collector (31) sends the read unique identification information of the identifier (32) to the first embedded processor (21), and the first embedded processor (21) determines the position of the inspection robot based on the corresponding relation between the preset unique identification information and the position.
6. The inspection robot according to claim 5, wherein the robot body (20) further includes an industrial personal computer (22), and the first embedded processor (21) is in data connection with the industrial personal computer (22) and transmits the determined position to the industrial personal computer (22).
7. The inspection robot according to the claim 5, further comprising a front ultrasonic obstacle avoidance sensor (23), wherein the front ultrasonic obstacle avoidance sensor (23) is installed on the front side of the robot body (20) in the walking direction, the front ultrasonic obstacle avoidance sensor (23) is connected with the first embedded processor (21) and sends ultrasonic detection data to the first embedded processor (21), and the first embedded processor (21) determines whether an obstacle exists in front of the inspection robot according to the ultrasonic detection data.
8. The inspection robot according to the claim 5, wherein the robot body (20) further comprises a rear ultrasonic obstacle avoidance sensor installed at the rear side of the robot body (20) in the traveling direction, the rear ultrasonic obstacle avoidance sensor is connected with the first embedded processor (21) and sends ultrasonic detection data to the first embedded processor (21), and the first embedded processor (21) determines whether an obstacle exists behind the inspection robot according to the ultrasonic detection data.
9. The inspection robot according to claim 4, wherein the robot body (20) further includes a second embedded processor (24) and an inspection sensor connected to the second embedded processor (24), the inspection sensor transmitting inspection environment data obtained by the detection to the second embedded processor (24).
10. An inspection system, comprising: the inspection robot according to any one of claims 4-9, being movably mounted to the track (10).
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| CN202111275385.9A CN114003038A (en) | 2021-10-29 | 2021-10-29 | Positioning device of inspection robot, inspection robot and inspection system |
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| CN202111275385.9A CN114003038A (en) | 2021-10-29 | 2021-10-29 | Positioning device of inspection robot, inspection robot and inspection system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115712302A (en) * | 2022-11-16 | 2023-02-24 | 上海山源电子科技股份有限公司 | Method for calibrating inspection position of robot track for mine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115712302A (en) * | 2022-11-16 | 2023-02-24 | 上海山源电子科技股份有限公司 | Method for calibrating inspection position of robot track for mine |
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