CN201989147U - Inspection robot for cable tunnel - Google Patents
Inspection robot for cable tunnel Download PDFInfo
- Publication number
- CN201989147U CN201989147U CN2010206867421U CN201020686742U CN201989147U CN 201989147 U CN201989147 U CN 201989147U CN 2010206867421 U CN2010206867421 U CN 2010206867421U CN 201020686742 U CN201020686742 U CN 201020686742U CN 201989147 U CN201989147 U CN 201989147U
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Abstract
The utility model relates to an inspection robot for a cable tunnel, which comprises a robot body, an autonomous mobile device and a mechanical arm, wherein the autonomous mobile device is installed on the robot body, is installed on a rail in a suspended manner and moves along the rail; the mechanical arm is installed on the robot body, and a holder is arranged at the tail end of the mechanical arm; the robot body is provided with a control device and a power supply device, the power supply device is electrically connected with a cable in an inductive manner, and the cable is connected with an external power supply cabinet. The inspection robot has the advantages of higher waterproof and electromagnetic interference-resistant levels, safe power supply and reliable communication, therefore, the limit to the movement ability of the robot due to complex ground environment can be overcome, dead angle-free images monitoring of the equipment in the tunnel can be realized, damaged and thermal defect positions of the equipment can be detected and positioned, and the whole environment in the tunnel can be monitored.
Description
Technical field
The utility model relates to field of special robots, a kind of specifically cable tunnel crusing robot.
Background technology
At present, domestic many cities, large power plant and industrial and mining enterprises adopt buried cable tunnel supply electric energy in succession, when having alleviated ground and setting up the contradiction of formed and road traffic and space, have also formed new potential safety hazard.The hazards that exist in the cable tunnel comprise device damage, fire, water logging, pernicious gas and artificial destruction etc.And if environmental informations such as the temperature in the existing tunnel, smog, toxic gas and ponding are set up complete monitoring system network, the cost of investment height, benefit is not obvious.At present substantially based on hand inspection, but dangerous big, efficient is low.
The cable tunnel crusing robot system, comprehensively realize the fire prevention in tunnel, the automation of monitoring harmful gases work in the mode of robot, change personal monitoring's behindhand type in the past, reduce labour intensity and work danger, increasing work efficiency also can effectively reduce cost.
Be applied to the robot that patrols and examines the cable tunnel at present seldom, and all be to adopt wheeled or track structure moves on the ground, have following shortcoming:
1. limited by surface condition, scope of activities is limited.Some location is stair in the tunnel, and is placing cable on a lot of local ground, and robot can't pass through.The ponding that rains in addition in the tunnel, back may make the robot can't operate as normal.
2. can't accomplish omnibearing observation to cable machinery.Because robot on the ground, camera can only be looked up cable machinery, and can not closely observe.
3. need artificial charging, still can not accomplish full utonomous working.
The utility model content
Limited at the scope of activities that exists in the prior art, can not closely observe and weak point such as the artificial charging of needs, the technical problems to be solved in the utility model provides a kind of cable tunnel crusing robot of function practicality, can realize the Equipment Inspection in the tunnel, environmental monitoring work.
For solving the problems of the technologies described above, the utility model is achieved through the following technical solutions:
The utility model cable tunnel crusing robot comprises: robot body, autonomous mobile device and mechanical arm, autonomous mobile device wherein is installed on the robot body, and this autonomous mobile device hangs to be installed in orbit, moves along track; Mechanical arm is installed on the robot body, and the end of mechanical arm is provided with The Cloud Terrace; Robot body is provided with control device and electric supply installation, and the cable that electric supply installation is connected with the externally fed cabinet carries out induction type and is electrically connected.
Described autonomous mobile device comprises a driving wheel and a driven pulley, and driving wheel and driven pulley are located on the track rail level, by connector robot body is hung and is installed in a track side relative with rail level.
Described mechanical arm has two frees degree, comprises upper arm and underarm, is provided with the Sensor box that is used to install various kinds of sensors on the The Cloud Terrace of underarm end, and The Cloud Terrace has pitching and two frees degree of side-sway.
Described control device comprises master computer, bus communication expansion card, wireless communication module, a plurality of Electric Machine Control driver and video server, and wherein video server is accepted vision signal by camera and is uploaded to the remote monitoring computer by wireless communication module; Each Electric Machine Control driver links to each other with the control line or the holding wire of motor separately, communicates with master computer by the bus communication expansion card to be connected; The data of master computer are uploaded to the remote monitoring computer by wireless communication module.
Described video server also is connected with the infrared thermal imaging device, and video server is uploaded to the remote monitoring computer with the infrared thermal imaging signal of infrared thermal imaging device by wireless communication module.
Also have the sensor, the sensor that is used for detected temperatures that are used to detect barrier, be used to detect the sensor of inflammable gas and whether be used to detect the sensor that bumps with other object, above-mentioned various kinds of sensors signal is delivered to master computer through data collecting card.
Track is provided with self locating device, promptly is provided with a plurality of locating holes in orbit, is provided with the photoelectric sensor of responding to locating hole at robot body, and photoelectric sensor is delivered to master computer by data collecting card with signal.
Track is provided with self locating device, promptly is provided with a plurality of RFID labels in orbit, is provided with rfid interrogator in robot body, and rfid interrogator links to each other with master computer.
Described electric supply installation adopts the non-contact power mode, comprises electricity pickup and transformer, and wherein electricity pickup is accepted the electric energy of cable with way of electromagnetic induction, and being converted to the correspondent voltage grade through transformer is electricity consumption device power supply in the robot body.
The utlity model has following beneficial effect and advantage:
1. the utility model robot is erected on the track of tunnel top, the autonomous slip, and scope of activities has unrestricted; Scopes such as the camera that carries by the mechanical arm that can stretch flexibly and The Cloud Terrace, infrared thermography realized to equipment in the tunnel closely, omnibearing observation;
The utility model since the power input power cord road of electric power system be not electrically connected with physics with loaded line and contact, power supply is by the transmission of magnetic field coupling carrying out electric energy, has reliability, safe, need not circuit connects, maintainability, air-tightness, good waterproof performance, be suitable for characteristics such as unattended, thereby solved the problem of artificial charging.
3. the utility model can detect and positioning equipment breakage, thermal defect position and realize monitoring to the integrated environment in tunnel, can be widely used in power cable tunnel, the combustion gas of various circumstance complications, the equipment routing inspection in heating pad pipe threaded list road.
Description of drawings
Fig. 1 facade structures front view of the present utility model;
Fig. 2 is an electrical system block diagram of the present utility model.
The specific embodiment
Cable tunnel of the present utility model crusing robot, as shown in Figure 1, comprise robot body 5, autonomous mobile device 2 and mechanical arm 6, autonomous mobile device 2 wherein is installed on the robot body 5, this autonomous mobile device 2 hangs and is installed on the track 4, moves along track 4; Mechanical arm 6 is installed on the robot body 5, and the end of mechanical arm 6 is provided with The Cloud Terrace 8; Be provided with control device and electric supply installation in the robot body 5, the cable 3 that electric supply installation is connected with the externally fed cabinet carries out induction type and is electrically connected.
Autonomous mobile device 2 comprises a driving wheel and a driven pulley, and driving wheel and driven pulley are located on track 4 rail levels, by connector robot body 5 is hung and is installed in track 4 side relative with rail level.
The control section of autonomous mobile device 2 comprises 1 dc brushless motor (having reduction box), and wherein dc brushless motor is connected with control driver in the control device, and reduction box is connected with driving wheel.Driving wheel is installed in the top of robot body 5, is fixed on by corresponding mechanical part on the track 4 that is erected at tunnel top, and robot just can move on track 4 like this.
Described mechanical arm 6 has two frees degree, comprises upper arm and underarm, is provided with the Sensor box 7 that is used to install various kinds of sensors on the The Cloud Terrace 8 of underarm end, and The Cloud Terrace 8 has pitching and two frees degree of side-sway, can carry out the motion of pitching and side-sway.The Cloud Terrace links to each other by 2DOF mechanical arm 6 with robot body 5, robot body 5 is by the motion of control mechanical arm 6 with The Cloud Terrace 8, can make each environment sensing arrive each position of cable and other equipment be in differing heights, not have dead angle observation from different perspectives with sensor.
Described control device comprises master computer, bus communication expansion card, wireless communication module, a plurality of Electric Machine Control driver and video server, and wherein video server is accepted vision signal by camera and is uploaded to the remote monitoring computer by wireless communication module; Each Electric Machine Control driver links to each other with the control line or the holding wire of motor separately, communicates with master computer by the bus communication expansion card to be connected; The data of master computer are uploaded to the remote monitoring computer by wireless communication module.
The ROBOT CONTROL device is installed in the robot body 5, master computer is integrated CPU, on-chip memory, display system, timer system, serial port, interruption and resetting system, master computer carries out comprehensive analysis processing to the information that the control command that receives and described sensing device perceive, and sends the described actuating unit of instruction control and finishes relevant work.
Actuating unit comprises the executing agency of autonomous mobile device 2, mechanical arm 6 and The Cloud Terrace 8, the movable motor of autonomous mobile device 2 is controlled driver drives by movable motor, the 1st, 2 swing arm motors of mechanical arm 6 are by the 1st, 2 swing arm Electric Machine Control driver drives, and the horizontal stage electric machine of The Cloud Terrace 8 is controlled actuator driven pitching motor and side-sway motor.
Track 4 is provided with self locating device, promptly is provided with a plurality of locating holes on track 4, is provided with the photoelectric sensor of responding to locating hole at robot body 5, and photoelectric sensor is delivered to master computer by data collecting card with signal.
Perhaps be provided with self locating device on track 4, promptly be provided with a plurality of RFID labels on track 4, be provided with rfid interrogator at robot body 5, rfid interrogator links to each other with master computer.
Carry low profile photovoltaic sensor and rfid interrogator on the robot body 5, be installed in mechanical locating hole and/or RFID label realization self-locating function on the track 4, make robot can judge self initial position and position of failure point by detection.
Video server also is connected with the infrared thermal imaging device, and video server is uploaded to the remote monitoring computer with the infrared thermal imaging signal of infrared thermal imaging device by wireless communication module.Robot is by carrying a visible image capturing photographic images and infrared thermography checkout equipment thermal defect.
Sensor (sonac), the sensor (temperature sensor) that is used for detected temperatures that can respond to the detection barrier, the sensor (combustible gas sensor) that is used to detect inflammable gas and detection are installed in the Sensor box 7 of the utility model The Cloud Terrace 8 whether collide the sensor (photoelectric sensor) of other article collision, above-mentioned various kinds of sensors signal is delivered to master computer through data collecting card.
Electric supply installation adopts the non-contact power mode, comprises electricity pickup and transformer, and wherein electricity pickup is accepted the electric energy of cable 3 with way of electromagnetic induction, and being converted to the correspondent voltage grade through transformer is electricity consumption devices power supply in the robot body 5.
Powering shelf is installed in the tunnel, and alternating current is connected on installation two parallel service cables 3 in orbit.Electricity pickup and transformer are installed in robot body 5, can with the effect of service cable generation electromagnetic induction, pick up electric energy from cable and use for robot.Because the power input power cord road of electric power system is not electrically connected with physics with loaded line and contacts, power supply is by the transmission of magnetic field coupling carrying out electric energy, have reliability, safe, need not circuit and connect maintenance, air-tightness, good waterproof performance, be suitable for characteristics such as unattended, thereby solved the problem of artificial charging.
The utility model is by wireless communication module built-in in the robot body 5 and be erected at communication network in the tunnel, can with the remote monitoring computer real-time communication outside the tunnel.By the wireless communication module that is connected with master computer, sensor information can be uploaded the also control instruction of receiving remote supervisory control comuter.By the wireless communication module that links to each other with video server, the ordinary video of visible image capturing head shooting, the thermal map spectrum video that the infrared thermography inspection is taken are uploaded to the remote monitoring computer, check for the staff.
In the present embodiment, adopt track that the motion path of robot is set in tunnel top, broken away from the complicated ground environmental limit, and adopt contactless power supply system to solve 24 hours full-time powerup issues of robot.Carrying scopes such as camera, infrared thermography by the mechanical arm that can stretch flexibly and realizing no dead angle picture control equipment in the tunnel, detect and can the positioning equipment breakage, thermal defect position and to the monitoring of the integrated environment in tunnel.
The technical scheme that is provided by above-mentioned utility model as can be seen, cable tunnel described in the utility model crusing robot has higher waterproof and anti-levels of electromagnetic interference, the power supply mode of safety, reliable communication modes can be widely used in power cable tunnel, the combustion gas of various circumstance complications, the equipment routing inspection in heating pad pipe threaded list road.
The above; it only is the preferable specific embodiment of the utility model; but protection domain of the present utility model is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the utility model discloses; the variation that can expect easily or replacement all should be encompassed within the protection domain of the present utility model.
Claims (9)
1. cable tunnel crusing robot, it is characterized in that comprising: robot body (5), autonomous mobile device (2) and mechanical arm (6), wherein on the robot body (5) autonomous mobile device (2) is installed, this autonomous mobile device (2) hangs and is installed on the track (4), moves along track (4); Mechanical arm (6) is installed on the robot body (5), and the end of mechanical arm (6) is provided with The Cloud Terrace (8); Robot body (6) is provided with control device and electric supply installation, and the cable (3) that electric supply installation is connected with externally fed cabinet (1) carries out induction type and is electrically connected.
2. by the described cable tunnel of claim 1 crusing robot, it is characterized in that: described autonomous mobile device (2) comprises a driving wheel and a driven pulley, driving wheel and driven pulley are located on track (4) rail level, by connector robot body (5) are hung and are installed in track (a 4) side relative with rail level.
3. by the described cable tunnel of claim 1 crusing robot, it is characterized in that: described mechanical arm (6) has two frees degree, comprise upper arm and underarm, be provided with the Sensor box (7) that is used to install various kinds of sensors on the The Cloud Terrace (8) of underarm end, The Cloud Terrace (8) has pitching and two frees degree of side-sway.
4. by the described cable tunnel of claim 1 crusing robot, it is characterized in that: described control device comprises master computer, bus communication expansion card, wireless communication module, a plurality of Electric Machine Control driver and video server, and wherein video server is accepted vision signal by camera and is uploaded to the remote monitoring computer by wireless communication module; Each Electric Machine Control driver links to each other with the control line or the holding wire of motor separately, communicates with master computer by the bus communication expansion card to be connected; The data of master computer are uploaded to the remote monitoring computer by wireless communication module.
5. by the described cable tunnel of claim 4 crusing robot, it is characterized in that: described video server also is connected with the infrared thermal imaging device, and video server is uploaded to the remote monitoring computer with the infrared thermal imaging signal of infrared thermal imaging device by wireless communication module.
6. by the described cable tunnel of claim 4 crusing robot, it is characterized in that: also have the sensor, the sensor that is used for detected temperatures that are used to detect barrier, be used to detect the sensor of inflammable gas and whether be used to detect the sensor that bumps with other object, above-mentioned various kinds of sensors signal is delivered to master computer through data collecting card.
7. by the described cable tunnel of claim 1 crusing robot, it is characterized in that: track (4) is provided with self locating device, promptly on track (4), be provided with a plurality of locating holes, be provided with the photoelectric sensor of induction locating hole in robot body (5), photoelectric sensor is delivered to master computer by data collecting card with signal.
8. by the described cable tunnel of claim 1 crusing robot, it is characterized in that: track (4) is provided with self locating device, promptly be provided with a plurality of RFID labels on track (4), be provided with rfid interrogator at robot body (5), rfid interrogator links to each other with master computer.
9. by the described cable tunnel of claim 1 crusing robot, it is characterized in that: described electric supply installation adopts the non-contact power mode, comprise electricity pickup and transformer, wherein electricity pickup is accepted the electric energy of cable (3) with way of electromagnetic induction, and being converted to the correspondent voltage grade through transformer is electricity consumption device power supply in the robot body (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206867421U CN201989147U (en) | 2010-12-29 | 2010-12-29 | Inspection robot for cable tunnel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206867421U CN201989147U (en) | 2010-12-29 | 2010-12-29 | Inspection robot for cable tunnel |
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| CN201989147U true CN201989147U (en) | 2011-09-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010206867421U Expired - Lifetime CN201989147U (en) | 2010-12-29 | 2010-12-29 | Inspection robot for cable tunnel |
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Cited By (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102436231A (en) * | 2011-10-13 | 2012-05-02 | 深圳市锐能机械有限公司 | System for checking and monitoring container |
| CN102562154A (en) * | 2010-12-29 | 2012-07-11 | 沈阳新松机器人自动化股份有限公司 | Cable tunnel routing inspection robot |
| CN102566552A (en) * | 2012-02-06 | 2012-07-11 | 重庆市鹏创道路材料有限公司 | Road tunnel intelligent overhaul robot facing Internet of things and 3D GIS |
| CN102699895A (en) * | 2012-06-04 | 2012-10-03 | 山东大陆科技有限公司 | Meal delivering robot and meal delivering method |
| CN102750752A (en) * | 2012-06-14 | 2012-10-24 | 山东康威通信技术股份有限公司 | Power tunnel comprehensive environment automatic tour inspection system |
| CN102761158A (en) * | 2012-07-11 | 2012-10-31 | 华北电力大学 | Charging management system and method for tunnel cable inspection robot |
| CN102768517A (en) * | 2012-07-11 | 2012-11-07 | 华北电力大学 | Cable tunnel monitoring robot system |
| CN102841584A (en) * | 2012-08-24 | 2012-12-26 | 华北电力大学 | Cable tunnel environment parameter monitoring system |
| CN102891986A (en) * | 2012-09-28 | 2013-01-23 | 华北电力大学 | Multi-path video real-time monitoring system and method of tunnel cable |
| CN103002574A (en) * | 2012-09-28 | 2013-03-27 | 华北电力大学 | System and method for positioning inspection robot in cable tunnel on basis of wireless network |
| CN103986919A (en) * | 2014-06-09 | 2014-08-13 | 福州大学 | Rail aerial patrolling monitor system |
| CN105397795A (en) * | 2015-12-10 | 2016-03-16 | 深圳市施罗德工业测控设备有限公司 | Rail type polling robot |
| CN105487507A (en) * | 2015-11-26 | 2016-04-13 | 深圳市施罗德工业测控设备有限公司 | Intelligent pipe network system bases on railway robot |
| CN105680364A (en) * | 2016-01-06 | 2016-06-15 | 山东康威通信技术股份有限公司 | Orbit-change mechanism control system for electric power tunnel inspection robot and method |
| CN105804793A (en) * | 2016-03-17 | 2016-07-27 | 王露露 | Robot for cable tunnel |
| CN105945900A (en) * | 2016-06-03 | 2016-09-21 | 国网宁夏电力公司检修公司 | Indoor inspection robot for transformer substation |
| CN106608265A (en) * | 2015-10-16 | 2017-05-03 | 张鹏 | Rail type mobile robot |
| CN107170205A (en) * | 2017-06-29 | 2017-09-15 | 浙江图讯科技股份有限公司 | A kind of checking maintenance method for early warning and its early warning system |
| CN108923325A (en) * | 2018-08-24 | 2018-11-30 | 国网河北省电力有限公司沧州供电分公司 | Tunnel extension rail inspection device |
| CN109895116A (en) * | 2019-04-04 | 2019-06-18 | 广东电网有限责任公司 | A kind of electric power piping lane track machine people method for inspecting and device |
| CN109915211A (en) * | 2019-04-10 | 2019-06-21 | 山东省交通规划设计院 | A kind of vcehicular tunnel inspection and dynamic pipe cultivating one robot and its method |
| CN110562299A (en) * | 2019-09-12 | 2019-12-13 | 辽宁鼎汉奇辉电子系统工程有限公司 | Intelligent inspection device for invasion of railway key regional personnel |
| CN110788831A (en) * | 2019-10-11 | 2020-02-14 | 东南大学 | Rail-moving type large-arm exhibition robot |
| CN111815797A (en) * | 2020-07-06 | 2020-10-23 | 南方科技大学 | Monitoring device for power inspection robot |
| CN112109067A (en) * | 2020-09-05 | 2020-12-22 | 合肥匠新笃志智能科技有限公司 | Rail-mounted vision robot system |
| WO2021068848A1 (en) * | 2019-10-09 | 2021-04-15 | 山东大学 | Tunnel structure disease multi-scale measurement and intelligent diagnosis system and method |
| CN113640308A (en) * | 2021-08-31 | 2021-11-12 | 郑州铁路职业技术学院 | Track abnormity monitoring system based on machine vision |
| CN113714997A (en) * | 2021-08-31 | 2021-11-30 | 中铁第四勘察设计院集团有限公司 | Tunnel inspection system based on suspension type inspection robot |
| CN116989853A (en) * | 2023-09-26 | 2023-11-03 | 中国农业科学院农业信息研究所 | Three-dimensional indoor space information detection system and method |
-
2010
- 2010-12-29 CN CN2010206867421U patent/CN201989147U/en not_active Expired - Lifetime
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| CN102562154A (en) * | 2010-12-29 | 2012-07-11 | 沈阳新松机器人自动化股份有限公司 | Cable tunnel routing inspection robot |
| CN102436231A (en) * | 2011-10-13 | 2012-05-02 | 深圳市锐能机械有限公司 | System for checking and monitoring container |
| CN102566552A (en) * | 2012-02-06 | 2012-07-11 | 重庆市鹏创道路材料有限公司 | Road tunnel intelligent overhaul robot facing Internet of things and 3D GIS |
| CN102699895A (en) * | 2012-06-04 | 2012-10-03 | 山东大陆科技有限公司 | Meal delivering robot and meal delivering method |
| CN102750752B (en) * | 2012-06-14 | 2014-11-26 | 山东康威通信技术股份有限公司 | Power tunnel comprehensive environment automatic tour inspection system |
| CN102750752A (en) * | 2012-06-14 | 2012-10-24 | 山东康威通信技术股份有限公司 | Power tunnel comprehensive environment automatic tour inspection system |
| CN102761158A (en) * | 2012-07-11 | 2012-10-31 | 华北电力大学 | Charging management system and method for tunnel cable inspection robot |
| CN102768517A (en) * | 2012-07-11 | 2012-11-07 | 华北电力大学 | Cable tunnel monitoring robot system |
| CN102761158B (en) * | 2012-07-11 | 2015-01-07 | 华北电力大学 | Charging management system and method for tunnel cable inspection robot |
| CN102841584A (en) * | 2012-08-24 | 2012-12-26 | 华北电力大学 | Cable tunnel environment parameter monitoring system |
| CN103002574B (en) * | 2012-09-28 | 2017-02-22 | 华北电力大学 | System and method for positioning inspection robot in cable tunnel on basis of wireless network |
| CN103002574A (en) * | 2012-09-28 | 2013-03-27 | 华北电力大学 | System and method for positioning inspection robot in cable tunnel on basis of wireless network |
| CN102891986A (en) * | 2012-09-28 | 2013-01-23 | 华北电力大学 | Multi-path video real-time monitoring system and method of tunnel cable |
| CN103986919A (en) * | 2014-06-09 | 2014-08-13 | 福州大学 | Rail aerial patrolling monitor system |
| CN106608265A (en) * | 2015-10-16 | 2017-05-03 | 张鹏 | Rail type mobile robot |
| CN105487507A (en) * | 2015-11-26 | 2016-04-13 | 深圳市施罗德工业测控设备有限公司 | Intelligent pipe network system bases on railway robot |
| CN105397795A (en) * | 2015-12-10 | 2016-03-16 | 深圳市施罗德工业测控设备有限公司 | Rail type polling robot |
| CN105397795B (en) * | 2015-12-10 | 2018-01-16 | 深圳市施罗德工业测控设备有限公司 | A kind of rail mounted crusing robot |
| CN105680364A (en) * | 2016-01-06 | 2016-06-15 | 山东康威通信技术股份有限公司 | Orbit-change mechanism control system for electric power tunnel inspection robot and method |
| CN105804793A (en) * | 2016-03-17 | 2016-07-27 | 王露露 | Robot for cable tunnel |
| CN105945900A (en) * | 2016-06-03 | 2016-09-21 | 国网宁夏电力公司检修公司 | Indoor inspection robot for transformer substation |
| CN107170205A (en) * | 2017-06-29 | 2017-09-15 | 浙江图讯科技股份有限公司 | A kind of checking maintenance method for early warning and its early warning system |
| CN108923325A (en) * | 2018-08-24 | 2018-11-30 | 国网河北省电力有限公司沧州供电分公司 | Tunnel extension rail inspection device |
| CN109895116A (en) * | 2019-04-04 | 2019-06-18 | 广东电网有限责任公司 | A kind of electric power piping lane track machine people method for inspecting and device |
| CN109895116B (en) * | 2019-04-04 | 2022-01-21 | 广东电网有限责任公司 | Power pipe gallery track robot patrol inspection method and device |
| CN109915211A (en) * | 2019-04-10 | 2019-06-21 | 山东省交通规划设计院 | A kind of vcehicular tunnel inspection and dynamic pipe cultivating one robot and its method |
| CN110562299A (en) * | 2019-09-12 | 2019-12-13 | 辽宁鼎汉奇辉电子系统工程有限公司 | Intelligent inspection device for invasion of railway key regional personnel |
| WO2021068848A1 (en) * | 2019-10-09 | 2021-04-15 | 山东大学 | Tunnel structure disease multi-scale measurement and intelligent diagnosis system and method |
| CN110788831A (en) * | 2019-10-11 | 2020-02-14 | 东南大学 | Rail-moving type large-arm exhibition robot |
| CN111815797A (en) * | 2020-07-06 | 2020-10-23 | 南方科技大学 | Monitoring device for power inspection robot |
| CN112109067A (en) * | 2020-09-05 | 2020-12-22 | 合肥匠新笃志智能科技有限公司 | Rail-mounted vision robot system |
| CN113640308A (en) * | 2021-08-31 | 2021-11-12 | 郑州铁路职业技术学院 | Track abnormity monitoring system based on machine vision |
| CN113714997A (en) * | 2021-08-31 | 2021-11-30 | 中铁第四勘察设计院集团有限公司 | Tunnel inspection system based on suspension type inspection robot |
| CN113640308B (en) * | 2021-08-31 | 2024-03-29 | 夏冰心 | Rail anomaly monitoring system based on machine vision |
| CN116989853A (en) * | 2023-09-26 | 2023-11-03 | 中国农业科学院农业信息研究所 | Three-dimensional indoor space information detection system and method |
| CN116989853B (en) * | 2023-09-26 | 2023-12-22 | 中国农业科学院农业信息研究所 | Three-dimensional indoor space information detection system and method |
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