CN115780345A - Distributed laser radar dirty state sensing and comprehensive cleaning implementation method and system - Google Patents
Distributed laser radar dirty state sensing and comprehensive cleaning implementation method and system Download PDFInfo
- Publication number
- CN115780345A CN115780345A CN202211154599.5A CN202211154599A CN115780345A CN 115780345 A CN115780345 A CN 115780345A CN 202211154599 A CN202211154599 A CN 202211154599A CN 115780345 A CN115780345 A CN 115780345A
- Authority
- CN
- China
- Prior art keywords
- laser radar
- controller
- module
- end equipment
- cleaning
- 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
- 238000004140 cleaning Methods 0.000 title claims abstract description 58
- 238000000034 method Methods 0.000 title claims abstract description 14
- 239000007788 liquid Substances 0.000 claims description 36
- 238000005507 spraying Methods 0.000 claims description 10
- 239000007921 spray Substances 0.000 claims description 9
- 238000011109 contamination Methods 0.000 claims description 8
- 230000001681 protective effect Effects 0.000 claims description 8
- 238000005201 scrubbing Methods 0.000 claims description 8
- 239000002131 composite material Substances 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 6
- 230000003993 interaction Effects 0.000 claims description 5
- 238000005406 washing Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 239000000428 dust Substances 0.000 claims description 4
- 230000008447 perception Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 7
- 238000001514 detection method Methods 0.000 description 14
- 230000006870 function Effects 0.000 description 14
- 239000000243 solution Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 239000000306 component Substances 0.000 description 4
- 239000003344 environmental pollutant Substances 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 231100000719 pollutant Toxicity 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000013589 supplement Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Classifications
-
- 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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention relates to a distributed laser radar dirty state sensing and comprehensive cleaning implementation method and a system, and the method comprises a back-end device; the rear-end equipment is electrically connected with a plurality of front-end equipment through an RS485 bus; a controller is arranged in the back-end equipment; the controller is electrically connected with the terminal box; the front-end equipment comprises an electric connection actuator and a laser radar; the actuator is electrically connected with the controller; the controller is loaded with background software. The invention has reasonable design, compact structure and convenient use.
Description
Technical Field
The invention relates to a laser radar dirt detection technology, a stepping motor driving technology, a linear driver driving technology, a magnetic induction technology and a master-slave bus communication technology. Distributed laser radar dirty state perception and comprehensive cleaning realization method and system.
Background
At present, in various industrial applications, most domestic scheme providers apply imported or domestic laser radars, and matched cleaning schemes and devices are provided in industrial applications. In industrial application, a multi-laser radar scheme is generally adopted, and a plurality of laser radars work cooperatively to complete a specific industrial application function. The lidar cleaning problem is therefore a distributed lidar self-cleaning problem.
The laser radar is widely applied to the industry fields of material checking in mines and port stock yards, detection of highways, railway vehicles, foreign matter and the like.
In the application scene of the laser radar, various pollutants such as dust, oil stains and the like which seriously affect the measurement performance of the laser radar exist on the spot.
Pollutants are attached to the surface of the laser radar light-transmitting cover, so that the laser radar detection can be disabled or the detection distance or accuracy of the laser radar can be greatly reduced.
In the traditional mode, manual cleaning is carried out at certain intervals, but the mine industry is mainly concerned with underground operation, the port industry is mainly concerned with high-altitude operation, the highway traffic is mainly concerned with road closing operation, and the railway industry is mainly concerned with construction examination and approval and skylight point operation. Therefore, the manual regular cleaning of the laser radar has a very important influence on the maintenance cost and the operation timeliness of application systems in various industries. The method is practically related to the usability and reliability of the industry system application and the overall development of the industry intelligent work.
Before improvement, a fixed rotary cleaning scheme is adopted: the chassis fixing frame, the electromagnet and the scrubbing component are adopted. 360 degrees of omnidirectional scrubbing can be realized.
The multi-nozzle cleaning scheme comprises the following steps: along the 360-degree circumferential direction, a plurality of nozzles are arranged and cleaned by adopting gas or liquid injection.
The existing cleaning mode is a scheme aiming at a single radar and a single cleaning mode. The actual influence of various application scenes cannot be fully considered, and the comprehensive cleaning processing capability is not provided.
Disclosure of Invention
The invention aims to solve the technical problem of providing a distributed laser radar dirty state sensing and comprehensive cleaning implementation method and system. The invention provides a comprehensive cleaning scheme with unique characteristics aiming at the self-cleaning requirement of the laser radar, deeply digging industrial pain points and integrating industrial requirements in the practical application process of wide industries.
In order to solve the problems, the technical scheme adopted by the invention is as follows:
a distributed laser radar dirty state sensing and comprehensive cleaning system comprises a back-end device; the rear-end equipment is electrically connected with a plurality of front-end equipment through an RS485 bus; a controller is arranged in the back-end equipment; the controller is electrically connected with the terminal box; the front-end equipment comprises an electric connection actuator and a laser radar; the actuator is electrically connected with the controller; the controller is loaded with background software.
As a further improvement of the above technical solution:
the actuator is electrically connected with a flowmeter, an electromagnetic valve, a dustproof shielding device and an elastic scrubber.
The controller is electrically connected with the pump body, the manometer and the liquid level meter.
The back-end equipment is provided with a liquid storage box outer box with a joint A, an aerial plug A, a power interface and a signal interface, and a liquid storage box inner box is arranged in the liquid storage box outer box; the liquid level meter is arranged on the inner tank of the liquid storage tank; the pump body is connected with the inner tank of the liquid storage tank through a spraying pipeline I; the pump body is connected with a pressure gauge through a check valve, and the pressure gauge is connected with a connector B through a spraying pipeline II, a connector A and a spraying pipeline III; the controller is connected with the power supply through a power supply wiring and a power supply interface; the controller is connected with the aviation plug A through a composite cable I; the front-end equipment is provided with a protective cover with a joint B and an aerial plug B; the aerial plug B is connected with the aerial plug A through a composite cable II; the laser radar is arranged in the protective cover, and a pressure nozzle is arranged in the protective cover; the elasticity scrubber is used for washing laser radar, and the pressure shower nozzle is used for washing laser radar, and dustproof shielding ware is used for sheltering from laser radar.
The background software is provided with a task scheduling module for scheduling and executing tasks; the port configuration module is used for carrying out port transmission on the task signal; the controller information interaction module is used for carrying out information transmission with the controller; the warning display module is used for warning when the task is scheduled to be the warning module; the device comprises a parameter setting module, a state query module, a historical record query module, a manual command module and a timing module.
The controller is provided with a port configuration module, a task scheduling module and a signal monitoring module, and is interacted with background software and execution information.
The executor comprises port configuration, flow monitoring, IO monitoring, drive control, spray execution, scrubbing and shielding device control, information interaction with a controller, state inquiry, spray starting, scrubbing starting and shielding device opening and closing.
A distributed laser radar dirty state perception and comprehensive cleaning realization method executes the following steps, when the laser radar is used for dirty cleaning; firstly, starting a pump body, conveying cleaning liquid in a liquid storage tank to a corresponding pressure spray head to supply liquid, flushing a laser radar, and meanwhile, wiping by an elastic scrubber; when the laser radar is out of work, the dustproof shielding device shields the laser radar.
In the industries of mines, ports, roads, railways and the like, the device can stably work for a long time, and frequent manual operation intervention is avoided.
Different dirty media and different dirty degrees are analyzed in various application fields. Therefore, to effectively solve the problem of contamination in various industrial applications, it is impossible to perform an optimal cleaning process only in a certain manner. Therefore, the invention creatively provides a solution idea of radar dirty state sensing and comprehensive cleaning scheme.
The scheme can be used for combining different cleaning schemes and different driving modes at zero intervals according to different field conditions, so that the multifunctional cleaning robot has the characteristics of strong pertinence, flexibility, high efficiency, low manual intervention degree and the like, and is reasonable in design, low in cost, firm, durable, safe, reliable, simple to operate, time-saving, labor-saving, capital-saving, compact in structure and convenient to use.
Drawings
FIG. 1 is a schematic diagram of the system components of the present invention.
Fig. 2 is a schematic diagram of the hardware structure of the system of the present invention.
FIG. 3 is a functional block diagram of background software of the present invention.
Fig. 4 is a functional block diagram of the controller of the present invention.
FIG. 5 is a functional block diagram of an actuator of the present invention.
Wherein: 1. a back-end device; 2. an outer tank of the liquid storage tank; 3. a terminal box; 4. a power interface; 5. a signal interface; 6. an inner tank of the liquid storage tank; 7. a liquid level meter; 8. a spray pipeline I; 9. a pump body; 10. a check valve; 11. a pressure gauge; 12. a controller; 13. a power connection; 14. a spray pipeline II; 15. a composite cable I; 16. a joint A; 17. b, aerial plug A; 18. a spray pipeline III; 19. a composite cable II; 20. a protective cover; 21. a front-end device; 22. a joint B; 23. b, aerial plug B; 24. a flow meter; 25. an electromagnetic valve; 26. An actuator; 27. a pressure nozzle; 28. a dust shield; 29. an elastic scrubber; 30. a laser radar.
Detailed Description
Existing cleaning solutions, which are either liquid or gas cleaning solutions provided for only a single lidar, lack the overall control measures in distributed radar applications.
For example, if each radar needs to provide a separate source of cleaning medium (liquid or gas), it is desirable to manually replenish the cleaning medium every three months. Many sites simply cannot meet the installation space required. Moreover, industrial application lidar is installed in a position which is difficult to access by personnel, the direct cost required for manual direct front end supplement of cleaning media is very considerable, and the time cost required for operation permission is also very considerable.
The present invention is designed for distributed applications. The system comprises 1 rear-end device 1, 1-3 front-end devices 21 and 1 terminal box 3, and can support distributed application and automatic cleaning of 1-3 laser radars.
The back-end equipment 1 is installed and deployed in the easy vicinity of a person.
The terminal block 3 is installed in a shift room or in a place where a person such as the backend apparatus 1 can easily access.
The front-end device 21 and the laser radar 30 are integrally mounted.
The replenishment of the cleaning medium need only be carried out at the backend apparatus 1.
The background software or the terminal box 3 has the function of supplementing and alarming cleaning media.
The back-end equipment 1 comprises a liquid storage box outer box 2, and a liquid storage box inner box 6 is arranged in the liquid storage box outer box 2; the tank case 2 is provided with components such as a level gauge 7, a pump body 9, a pressure gauge 11, and a controller 12. The rear-end equipment 1 realizes the functions of liquid level detection, liquid level alarm, pressure detection, pressure compensation and opening and closing control of the pump through the controller 12.
The front-end equipment 21 comprises a protective cover 20, an elastic scrubber 29, a dustproof shield 28, a flow meter 24, an electromagnetic valve 25, a pressure spray head 27, an actuator 26 and the like. The front-end device 21 realizes the functions of contamination detection of the laser radar 30, rotation control of the elastic scrubber 29, opening and closing control of the dustproof shielding device 28, flow detection and electromagnetic valve control through the actuator 26. The resilient scrubber 29 may be a flexible rod or fabric strip or air stream driven by a motor through a robotic arm, or the like.
All the components are connected through an RS485 bus.
The back-end equipment controller is core control equipment, and background software carried by the back-end equipment controller has the functions of cleaning scheme parameter setting, manual cleaning, time correction, front-end equipment state display and the like.
The terminal box 3 has the functions of manual cleaning and liquid shortage warning, and has unified rear-end control equipment. The back-end controller is a system core component.
And the interaction and control function of receiving commands and information among the background software, the terminal box and the front-end equipment is realized. The controller has the functions of liquid level detection, pressure detection and pump control at the same time.
The system is provided with the front-end equipment which is installed dispersedly, and supports a networking application mode of the multiple front-end equipment according to different application field requirements. The system supports a working mode of synchronous cleaning of multiple front-end devices or independent cleaning of each front-end device. The front-end equipment has the functions of flow detection, spraying and scrubbing control, dust-proof shield control and the like. Automatic dirt detection and protection cleaning integrated design
In order to further reduce the frequency of manual liquid supplement and improve the usability of the system, the system and the laser radar are closely coupled in function. The system detects the dirty condition of the laser radar in the operation in real time, and automatically starts the self-cleaning function of the laser radar according to a preset cleaning scheme once the dirty degree is found to possibly influence the function or the performance of the laser radar. Therefore, the non-effective cleaning action is reduced to the maximum extent, and the cleaning frequency and the cleaning liquid consumption in the integral operation of the system are greatly reduced.
Meanwhile, the system is provided with a dustproof shielding device, and the spraying and elastic scrubbing device are integrally designed.
When the front-end equipment is in a non-operation state, the dustproof shielding function is started, so that the laser radar is positioned in a relatively closed box body, the dirty influence of a dust environment on the laser radar is effectively reduced, and the interval time of the self-cleaning function is required to be started by the laser radar in an extension mode to the maximum extent.
The design idea of integrating automatic dirt detection and protection cleaning of the system is very important for effectively reducing the operation times of underground, high-altitude, road closure or skylight points and reducing the operation cost, and the usability of the system is greatly improved.
The invention adopts the idea of system design, provides a distributed design, protection and cleaning integrated comprehensive cleaning scheme and an automatic dirt detection concept on the basis of deeply analyzing the field service requirement and the service pain point, and completes the example design and the field operation of the system on the basis.
At present, other laser radar cleaning equipment in China is designed only for a single radar, and cannot combine application requirements of various fields in the field to provide a comprehensive and thorough solution.
The present invention has been described in sufficient detail for clarity of disclosure and is not exhaustive of the prior art.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; it is obvious as a person skilled in the art to combine several aspects of the invention. And such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. The utility model provides a dirty state perception of distributing type laser radar and synthesize clean system which characterized in that: comprises a backend device (1); the rear-end equipment (1) is electrically connected with a plurality of front-end equipment (21) through an RS485 bus; a controller (12) is arranged in the back-end equipment (1); the controller (12) is electrically connected with the terminal box (3); the front-end equipment (21) comprises an electric connection actuator (26) and a laser radar (30); the actuator (26) is electrically connected with the controller (12); the controller (12) is loaded with background software.
2. The distributed lidar contamination status sensing and integrated cleaning system of claim 1, wherein: the actuator (26) is electrically connected with a flow meter (24), an electromagnetic valve (25), a dustproof shielding device (28) and an elastic scrubber (29).
3. The distributed lidar contamination status sensing and integrated cleaning system of claim 2, wherein: the controller (12) is electrically connected with the pump body (9), the pressure gauge (11) and the liquid level meter (7).
4. The distributed lidar contamination status sensing and integrated cleaning system of claim 3, wherein: the back-end equipment (1) is provided with a liquid storage box outer box (2) with a joint A (16), an aerial plug A (17), a power interface (4) and a signal interface (5), and a liquid storage box inner box (6) is arranged in the liquid storage box outer box (2); the liquid level meter (7) is arranged on the liquid storage tank inner box (6); the pump body (9) is connected with the inner tank (6) of the liquid storage tank through a spraying pipeline I (8); the pump body (9) is connected with a pressure gauge (11) through a check valve (10), and the pressure gauge (11) is connected with a joint B (22) through a spraying pipeline II (14), a joint A (16) and a spraying pipeline III (18); the controller (12) is connected with a power supply through a power supply wiring (13) and a power supply interface (4); the controller (12) is connected with the aerial plug A (17) through a composite cable I (15); the front-end equipment (21) is provided with a protective cover (20) with a joint B (22) and an aerial plug B (23); the aviation plug B (23) is connected with the aviation plug A (17) through a composite cable II (19); the laser radar (30) is arranged in the protective cover (20), and a pressure spray head (27) is arranged in the protective cover (20); the elastic scrubber (29) is used for washing the laser radar (30), the pressure nozzle (27) is used for washing the laser radar (30), and the dustproof shielding device (28) is used for shielding the laser radar (30).
5. The distributed lidar contamination state sensing and integrated cleaning implementation method and system according to claim 1, wherein: the background software is provided with a task scheduling module for scheduling and executing tasks; the port configuration module is used for carrying out port transmission on the task signal; the controller information interaction module is used for carrying out information transmission with the controller (12); the warning display module is used for warning when the task is scheduled to be the warning module; the device comprises a parameter setting module, a state query module, a historical record query module, a manual command module and a timing module.
6. The distributed lidar contamination state sensing and integrated cleaning implementation method and system according to claim 1, wherein: the controller (12) is provided with a port configuration module, a task scheduling module and a signal monitoring module, and interacts with background software and execution information.
7. The distributed lidar contamination state sensing and integrated cleaning implementation method and system according to claim 1, wherein: the actuator (26) is provided with port configuration, flow monitoring, IO monitoring, drive control execution spraying, scrubbing and shielding device control, and is in information interaction with the controller, state inquiry, spraying starting, scrubbing starting and shielding device opening and closing.
8. A distributed laser radar dirty state sensing and comprehensive cleaning implementation method is characterized by comprising the following steps: performing the following steps, when the laser radar (30) is performed for dirt cleaning; firstly, starting a pump body (9), conveying cleaning liquid in a tank (6) in a liquid storage tank to a corresponding pressure spray head (27) for liquid, washing a laser radar (30), and meanwhile, wiping the liquid through an elastic scrubber (29); when the laser radar (30) does not work, the dust shield (28) shields the laser radar (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211154599.5A CN115780345A (en) | 2022-09-22 | 2022-09-22 | Distributed laser radar dirty state sensing and comprehensive cleaning implementation method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211154599.5A CN115780345A (en) | 2022-09-22 | 2022-09-22 | Distributed laser radar dirty state sensing and comprehensive cleaning implementation method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115780345A true CN115780345A (en) | 2023-03-14 |
Family
ID=85432103
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211154599.5A Pending CN115780345A (en) | 2022-09-22 | 2022-09-22 | Distributed laser radar dirty state sensing and comprehensive cleaning implementation method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115780345A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109027925A (en) * | 2018-08-03 | 2018-12-18 | 葛顺英 | A kind of solar street light with cleaning function |
| CN208559286U (en) * | 2018-05-18 | 2019-03-01 | 北京汽车集团有限公司 | The cleaning systems and vehicle of laser radar |
| CN110488305A (en) * | 2018-05-15 | 2019-11-22 | 现代摩比斯株式会社 | Device and method for cleaning optical detection and distance measuring sensor |
| CN111389778A (en) * | 2020-05-15 | 2020-07-10 | 吉林大学 | Protection and cleaning device and cleaning method for vehicle body embedded type solid-state laser radar |
| CN112824926A (en) * | 2019-11-20 | 2021-05-21 | 上海为彪汽配制造有限公司 | Unmanned aerial vehicle radar cleaning method and unmanned aerial vehicle |
| CN213409506U (en) * | 2020-10-26 | 2021-06-11 | 北京罗克维尔斯科技有限公司 | Cleaning device and radar |
| CN215867095U (en) * | 2021-03-31 | 2022-02-18 | 北京万集科技股份有限公司 | Protective device for vehicle-mounted local view field laser radar |
| CN114653642A (en) * | 2020-12-22 | 2022-06-24 | 广东博智林机器人有限公司 | Laser radar cleaning device and building equipment |
| CN217141433U (en) * | 2022-04-28 | 2022-08-09 | 三一机器人科技有限公司 | Cleaning device and production line |
-
2022
- 2022-09-22 CN CN202211154599.5A patent/CN115780345A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110488305A (en) * | 2018-05-15 | 2019-11-22 | 现代摩比斯株式会社 | Device and method for cleaning optical detection and distance measuring sensor |
| CN208559286U (en) * | 2018-05-18 | 2019-03-01 | 北京汽车集团有限公司 | The cleaning systems and vehicle of laser radar |
| CN109027925A (en) * | 2018-08-03 | 2018-12-18 | 葛顺英 | A kind of solar street light with cleaning function |
| CN112824926A (en) * | 2019-11-20 | 2021-05-21 | 上海为彪汽配制造有限公司 | Unmanned aerial vehicle radar cleaning method and unmanned aerial vehicle |
| CN111389778A (en) * | 2020-05-15 | 2020-07-10 | 吉林大学 | Protection and cleaning device and cleaning method for vehicle body embedded type solid-state laser radar |
| CN213409506U (en) * | 2020-10-26 | 2021-06-11 | 北京罗克维尔斯科技有限公司 | Cleaning device and radar |
| CN114653642A (en) * | 2020-12-22 | 2022-06-24 | 广东博智林机器人有限公司 | Laser radar cleaning device and building equipment |
| CN215867095U (en) * | 2021-03-31 | 2022-02-18 | 北京万集科技股份有限公司 | Protective device for vehicle-mounted local view field laser radar |
| CN217141433U (en) * | 2022-04-28 | 2022-08-09 | 三一机器人科技有限公司 | Cleaning device and production line |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102395837A (en) | Heliostat field cleaning system | |
| CN1616157A (en) | Multifunction integrated cleaning robot for ventilation pipeline | |
| CN115780345A (en) | Distributed laser radar dirty state sensing and comprehensive cleaning implementation method and system | |
| CN203305210U (en) | Composite industrial robot | |
| CN205165041U (en) | Automatic change spraying machine people | |
| CN219275887U (en) | Cleaning device of track inspection robot | |
| CN209549036U (en) | Road dust suppression system | |
| CN109877109B (en) | Optical glass window self-cleaning air knife control system and device for remote measurement and remote sensing | |
| CN110044281A (en) | Devices and methods therefor for the detection of fastener elasticity | |
| CN206842887U (en) | Safety of gantry crane monitoring system | |
| CN212510071U (en) | Sewage pipeline detection robot system | |
| CN209621380U (en) | The valve control device of automatic protection motor, the Main Control Tank for device for reducing dust | |
| CN208407390U (en) | Collect high-pressure wash and the spraying single water pump driving water route and its dust suppression vehicle of dust suppression | |
| CN221231109U (en) | AGV type cleaning equipment | |
| CN214631924U (en) | Cleaning device | |
| CN219519738U (en) | Laser radar cleaning device for mining truck | |
| CN213946464U (en) | Automatic cleaning industrial robot | |
| CN109407074A (en) | A kind of infrared distance measurement radar | |
| CN212714420U (en) | Road detection vehicle operation monitoring device | |
| CN207949269U (en) | A kind of auto repair maintenance cleaning brush | |
| CN213287411U (en) | Robot laser range finder camera lens protection device | |
| CN2714395Y (en) | Railway locomotive wheel track lubrication control device | |
| CN218255191U (en) | A buffer that is used for robot automatic measure automobile body colour difference | |
| CN210572105U (en) | Multi-channel grounding grid corrosion diagnosis and evaluation device | |
| CN214311395U (en) | Bridge health detection early warning analysis device |
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 |