CN207359084U - A kind of oil gas field fire-fighting is remotely controlled crusing robot system - Google Patents
A kind of oil gas field fire-fighting is remotely controlled crusing robot system Download PDFInfo
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- CN207359084U CN207359084U CN201721211755.1U CN201721211755U CN207359084U CN 207359084 U CN207359084 U CN 207359084U CN 201721211755 U CN201721211755 U CN 201721211755U CN 207359084 U CN207359084 U CN 207359084U
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Abstract
The utility model discloses a kind of oil gas field fire-fighting to be remotely controlled crusing robot system, it includes robot detection platform and remote controler；Robot detection platform includes chassis, and motion module and the chassis body for carrying motion module are provided with chassis, gas sensor installs case, control cabinet and mechanical arm are provided with chassis body；Holder is provided with mechanical arm, camera module is provided with holder；Gas sensing module is provided with gas sensor installs case, the data processing module and first communication module of interconnection are provided with control cabinet；Gas sensing module and camera module connect the signal input part of data processing module respectively；Motion module and mechanical arm connect the signal output part of data processing module respectively.The utility model is suitable for oil gas field Daily Round Check, emergency management and rescue and rescue and relief work operation, can carry out the functions such as live combustable gas concentration detection, visual pattern collection, humiture information gathering, eliminate safe hidden trouble.
Description
Technical field
It the utility model is related to oil gas field fire protection patrol field, and in particular to a kind of oil gas field fire-fighting is remotely controlled crusing robot
System.
Background technology
In the production process of oil gas field, fuel gas is often supervened, once the concentration of fuel gas reaches one
Determine degree, burning or explosion can be produced at any time, jeopardize property and life security.Existing oil gas field fire protection equipment is usually fixed
In specific location, its detection faces is small, has detection loophole, produces security risk so that the safety coefficient of oil gas field is low.
Utility model content
For above-mentioned deficiency of the prior art, a kind of oil gas field fire-fighting remote control crusing robot provided by the utility model
There is detection loophole, so that oil gas field production safety is hidden in the mode that system solves existing fixed detection oil gas field fuel gas
Suffer from the problem of high.
In order to reach foregoing invention purpose, the technical solution adopted in the utility model is：
A kind of oil gas field fire-fighting remote control crusing robot system is provided, it includes robot detection platform and remote controler；Machine
Device people detection platform includes chassis, motion module and the chassis body for carrying motion module, chassis master being provided with chassis
Gas sensor installs case, control cabinet and mechanical arm are provided with body；Holder is provided with mechanical arm, shooting is provided with holder
Module；Gas sensing module is provided with gas sensor installs case, the data processing mould of interconnection is provided with control cabinet
Block and first communication module；Gas sensing module and camera module connect the signal input part of data processing module respectively；Movement
Module and mechanical arm connect the signal output part of data processing module respectively；
Remote controler includes the second communication module being adapted with first communication module, and is connected with second communication module
Controller, controller includes control signal input module and display screen.
Further, motion module includes the driving device being arranged on chassis body, driving device connection data processing
The signal output part of module；Driving wheel mounting bracket is both provided with left and right sides of chassis body, after two driving wheel mounting brackets
End is both provided with driving wheel, and the front end of two driving wheel mounting brackets is both provided with driven wheel, and two driving wheels connect driving respectively
Device；Crawler belt is arranged with the driving wheel and driven wheel of chassis body the same side.
Further, driving device includes motor drive module and is connected respectively with motor drive module signal output part
Two driving motors, two driving motors connect two driving wheels respectively, the signal input part connection number of motor drive module
According to the signal output part of processing module.
Further, the upper end of two driving wheel mounting brackets is both provided with crawler belt upper bracket, is set on each crawler belt upper bracket
It is equipped with least one carrier wheel；The lower end of two driving wheel mounting brackets is both provided with crawler belt lower carriage, on each crawler belt lower carriage
It is provided with least one support wheel.
Further, it is provided with strainer between driving wheel mounting bracket and driven wheel.
Further, mechanical arm include be installed on chassis body on base, be arranged on base three-mechanical arm, with
The second mechanical arm that three-mechanical arm is flexibly connected and the first mechanical arm being flexibly connected with second mechanical arm；Three-mechanical arm with
Second mechanical arm is connected by the first torque-motor, and second mechanical arm is connected with first mechanical arm by the second torque-motor；The
One torque-motor and the second torque-motor are connected to the different output terminals of torque-motor drive module, torque-motor driving mould
The signal output part of the signal input part connection data processing module of block.
Further, gas sensing module includes sensing methane concentration device, oxygen concentration sensor, carbonomonoxide concentration biography
Sensor, concentration of hydrogen sulfide sensor and Temperature Humidity Sensor.
Further, camera module includes infrared thermoviewer and/or binocular camera.
Further, left rotation and right rotation mechanism is provided between base and three-mechanical arm, left rotation and right rotation mechanism includes left and right
Rotatable connection seat and the electric rotating machine being arranged on left rotation and right rotation connecting seat, the signal of electric rotating machine connection data processing module are defeated
Outlet.
Further, the front end on chassis is provided with fisheye camera, the signal input of fisheye camera connection data processing module
End.
The beneficial effects of the utility model are：
1st, the utility model is suitable for oil gas field Daily Round Check, emergency management and rescue and rescue and relief work operation, possesses fuel gas
(CH4), oxygen, carbon monoxide, four class gas real time monitoring function of hydrogen sulfide, live visual pattern collection can be carried out, is warm and humid
The functions such as information gathering are spent, while the portable equipments such as infrared thermoviewer can be carried as needed, can be completed under complicated environmental condition
Remote control, data-transformation facility, the carry out remote control flow detection to oil gas field, eliminates safe hidden trouble.
2nd, the chassis of the utility model uses rear-guard form, and driven wheel between front-wheel and driving wheel mounting bracket as setting
Strainer can effectively buffer the barrier of driven wheel contact, avoid the hard contact of robot and barrier, entrust at the same time
Wheel and support wheel can keep the tensioning state of crawler belt at any time, avoid crawler belt from departing from driving wheel or driven wheel.
3rd, each gas concentration sensor can detect the inflammable gas that oil gas field is also easy to produce, and feed data back in real time distant
Device is controlled, real time data is checked for operating personnel；Meanwhile fisheye camera also by the posture for recording holder and feeds back to remote controler, grasps
The orientation of holder can specifically be understood by making personnel, easy to understand the specific orientation that camera module claps picture.
4th, the mechanical arm of the utility model can carry out the adjustment of Azimuth And Elevation under the observation of operating personnel, effectively carry
Height adjustment efficiency.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the structure diagram on the utility model chassis；
Fig. 3 is the structure diagram of the utility model mechanical arm.
Wherein：1st, gas sensor installs case；2nd, control cabinet；3rd, holder；4th, mechanical arm；5th, fisheye camera；6th, chassis；7、
Driving wheel；8th, chassis body；9th, driving device；10th, carrier wheel；11st, crawler belt；12nd, driven wheel；13rd, strainer；14th, support
Wheel；15th, crawler belt upper bracket；16th, crawler belt lower carriage；17th, driving wheel mounting bracket；18th, first mechanical arm；19th, second mechanical arm；
20th, the first torque-motor；21st, three-mechanical arm；22nd, base.
Embodiment
Specific embodiment of the present utility model is described below, in order to facilitate understanding by those skilled in the art
The utility model, it should be apparent that the utility model is not limited to the scope of embodiment, to the common skill of the art
For art personnel, if various change appended claim limit and the spirit and scope of definite the utility model in,
These changes are it will be apparent that all utilize the innovation and creation of the utility model design in the row of protection.
As shown in Figure 1, oil gas field fire-fighting remote control crusing robot system includes robot detection platform and remote controler；Machine
Device people detection platform includes chassis 6, motion module and the chassis body 8 for carrying motion module, chassis being provided with chassis 6
Gas sensor installs case 1, control cabinet 2 and mechanical arm 4 are provided with main body 8；Holder 3 is provided with mechanical arm 4, on holder 3
It is provided with camera module；Gas sensing module is provided with gas sensor installs case 1, interconnection is provided with control cabinet 2
Data processing module and first communication module；Gas sensing module and camera module connect the signal of data processing module respectively
Input terminal；Motion module and mechanical arm 4 connect the signal output part of data processing module respectively；
Remote controler includes the second communication module being adapted with first communication module, and is connected with second communication module
Controller, controller includes control signal input module and display screen.
As shown in Fig. 2, motion module includes the driving device 9 being arranged on chassis body 8, driving device 9 connects data
The signal output part of processing module；The left and right sides of chassis body 8 is both provided with driving wheel mounting bracket 17, two driving wheel installations
The rear end of frame 17 is both provided with driving wheel 7, and the front end of two driving wheel mounting brackets 17 is both provided with driven wheel 12, two driving wheels
7 connect driving device 9 respectively；Crawler belt 11 is arranged with the driving wheel 7 and driven wheel 12 of 8 the same side of chassis body.
Two drives that driving device 9 includes motor drive module and is connected respectively with motor drive module signal output part
Dynamic motor, two driving motors connect two driving wheels 7, the signal input part connection data processing mould of motor drive module respectively
The signal output part of block.
The upper end of two driving wheel mounting brackets 17 is both provided with crawler belt upper bracket 15, is provided with each crawler belt upper bracket 15
At least one carrier wheel 10；The lower end of two driving wheel mounting brackets 17 is both provided with crawler belt lower carriage 16, each crawler belt lower carriage
At least one support wheel 14 is provided with 16.
Strainer 13 is provided between driving wheel mounting bracket 17 and driven wheel 12.
As shown in figure 3, mechanical arm 4 includes the base 22 being installed on chassis body 8, the 3rd machine being arranged on base 22
Tool arm 21, the second mechanical arm 19 being flexibly connected with three-mechanical arm 21 and the first machinery being flexibly connected with second mechanical arm 19
Arm 18；Three-mechanical arm 21 is connected with second mechanical arm 19 by the first torque-motor 20 (sequence number 20 in such as Fig. 3), the second machine
Tool arm 19 is connected with first mechanical arm 18 by the second torque-motor (the second torque-motor is identical with the first torque-motor 20)；The
One torque-motor 20 and the second torque-motor are connected to the different output terminals of torque-motor drive module, torque-motor driving
The signal output part of the signal input part connection data processing module of module.
Gas sensing module includes sensing methane concentration device, oxygen concentration sensor, carbonomonoxide concentration sensor, vulcanization
Hydrogen concentration sensor and Temperature Humidity Sensor.
Camera module includes infrared thermoviewer and/or binocular camera.
Left rotation and right rotation mechanism is provided between base 22 and three-mechanical arm 21, left rotation and right rotation mechanism connects including left rotation and right rotation
Joint chair and the electric rotating machine being arranged on left rotation and right rotation connecting seat, electric rotating machine connect the signal output part of data processing module.
The front end on chassis 6 is provided with fisheye camera 5, and fisheye camera 5 connects the signal input part of data processing module.Chassis
The voice detector being connected with data processing module is additionally provided with 6, for detecting the sound status and volume of environment.
In one embodiment of the utility model, data processing module by RS485 buses and first communication module into
Row communication, is then communicated by first communication module with remote controler again.Data processing module is used to be embedded in based on Cortex-M4
Decline controller STM32F407 and embedded real-time operating system μ C/OS-II, with reliability is high, processing speed is fast, power consumption
The advantages that low, information security, system support the synchronization and communication between multiple task management and task, can to multiple sensor informations into
Row processing in real time, realizes autonomous control, meets the control under complicated environmental condition and the needs of audio video transmission.Motor drives mould
Block uses the MEGA8 technical grade chip microcontrollers of ATMEL, realizes the driving to motor using high-power MOS FET, realizes to straight
The rotating speed control and position control of galvanic electricity machine.The control of all the sensors, mechanical arm 4 and electric rotating machine uses the MEGA8 of ATMEL
SCM system realize to sensing data receive and send and gesture stability to mechanical arm 4 and electric rotating machine.Each control
All connected between system processed by universal serial bus RS-485.Control system modularized design causes various pieces independent control,
Repaired easy to the rapid translating of systemic-function and equipment fault.Control System Software is embedded real-time operating system μ C/OS-
II, the operating system have obtained license of the Federal Aviation management board to commercial aircraft in aviation program, have met RTCA
The certification of DO -178B standards.
The joint both ends of mechanical arm 4 are connected using the rolling bearing of with closure, can both effectively reduce frictional force, improve power
The efficiency of square motor driving, and the degree of protection of robot entirety can be improved to being sealed at cradle head.The control of robot
Case 2 processed is located at the rear portion of chassis body 8 and between two driving crawler belt 11, reduces the height of C.G. of robot entirety.Control
Case 2 divides bottom cavity and cover board two parts, and bottom cavity thickness 10mm, cover board thickness 5mm, using seal with elastometic washer, meet that IP54's and IK06 is anti-
Protect class requirement.Control cabinet 2 is connected by hold-down support with robot chassis body 8, is bolted.
The utility model is suitable for oil gas field Daily Round Check, emergency management and rescue and rescue and relief work operation, possesses fuel gas
(CH4), oxygen, carbon monoxide, four class gas real time monitoring function of hydrogen sulfide, live visual pattern collection can be carried out, is warm and humid
The functions such as information gathering are spent, while the portable equipments such as infrared thermoviewer can be carried as needed, can be completed under complicated environmental condition
Remote control, data-transformation facility, the carry out remote control flow detection to oil gas field, eliminates safe hidden trouble.
Claims (10)
1. a kind of oil gas field fire-fighting is remotely controlled crusing robot system, it is characterised in that：Including robot detection platform and remote controler；
The robot detection platform includes chassis (6), and motion module is provided with and for carrying the movement mould on the chassis (6)
The chassis body (8) of block, is provided with gas sensor installs case (1), control cabinet (2) and mechanical arm on the chassis body (8)
(4)；Holder (3) is provided with the mechanical arm (4), camera module is provided with the holder (3)；The gas sensor peace
Gas sensing module is provided with vanning (1), the data processing module and first of interconnection is provided with the control cabinet (2)
Communication module；The gas sensing module and camera module connect the signal input part of the data processing module respectively；It is described
Motion module and mechanical arm (4) connect the signal output part of the data processing module respectively；
The remote controler includes the second communication module that is adapted with the first communication module, and communicates mould with described second
The controller that block is connected, the controller include control signal input module and display screen.
2. oil gas field fire-fighting according to claim 1 is remotely controlled crusing robot system, it is characterised in that：The motion module
Including the driving device (9) being arranged on the chassis body (8), the driving device (9) connects the data processing module
Signal output part；Driving wheel mounting bracket (17), two driving wheels are both provided with left and right sides of the chassis body (8)
The rear end of mounting bracket (17) is both provided with driving wheel (7), and the front ends of two driving wheel mounting brackets (17) is both provided with driven
Take turns (12), two driving wheels (7) connect the driving device (9) respectively；Drive positioned at the chassis body (8) the same side
Crawler belt (11) is arranged with driving wheel (7) and driven wheel (12).
3. oil gas field fire-fighting according to claim 2 is remotely controlled crusing robot system, it is characterised in that：The driving device
(9) motor drive module and two driving motors being connected respectively with the motor drive module signal output part are included, two
A driving motor connects two driving wheels (7) respectively, described in the signal input part connection of the motor drive module
The signal output part of data processing module.
4. oil gas field fire-fighting according to claim 2 is remotely controlled crusing robot system, it is characterised in that：Two drivings
The upper end of wheel mounting bracket (17) is both provided with crawler belt upper bracket (15), and at least one is provided with each crawler belt upper bracket (15)
A carrier wheel (10)；The lower end of two driving wheel mounting brackets (17) is both provided with crawler belt lower carriage (16), each shoe
At least one support wheel (14) is provided with band lower carriage (16).
5. oil gas field fire-fighting according to claim 2 is remotely controlled crusing robot system, it is characterised in that：The driving wheel peace
Shelve and strainer (13) is provided between (17) and driven wheel (12).
6. oil gas field fire-fighting according to claim 2 is remotely controlled crusing robot system, it is characterised in that：The mechanical arm
(4) base (22) being installed on the chassis body (8), the three-mechanical arm being arranged on the base (22) are included
(21), the second mechanical arm (19) that is flexibly connected with the three-mechanical arm (21) and with the second mechanical arm (19) activity even
The first mechanical arm (18) connect；The three-mechanical arm (21) is connected with second mechanical arm (19) by the first torque-motor (20)
Connect, the second mechanical arm (19) is connected with first mechanical arm (18) by the second torque-motor；First torque-motor
(20) and the second torque-motor is connected to the different output terminals of torque-motor drive module, the torque-motor drive module
Signal input part connect the signal output part of the data processing module.
7. oil gas field fire-fighting according to claim 1 is remotely controlled crusing robot system, it is characterised in that：The gas sensing
Module includes sensing methane concentration device, oxygen concentration sensor, carbonomonoxide concentration sensor, concentration of hydrogen sulfide sensor and temperature
Humidity sensor.
8. oil gas field fire-fighting according to claim 1 is remotely controlled crusing robot system, it is characterised in that：The camera module
Including infrared thermoviewer and/or binocular camera.
9. oil gas field fire-fighting according to claim 6 is remotely controlled crusing robot system, it is characterised in that：The base (22)
Left rotation and right rotation mechanism is provided between three-mechanical arm (21), the left rotation and right rotation mechanism includes left rotation and right rotation connecting seat and sets
The electric rotating machine on the left rotation and right rotation connecting seat is put, the electric rotating machine connects the signal output of the data processing module
End.
10. crusing robot system is remotely controlled according to any oil gas field fire-fightings of claim 1-9, it is characterised in that：It is described
The front end on chassis (6) is provided with fisheye camera (5), and the fisheye camera (5) connects the signal input of the data processing module
End.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721211755.1U CN207359084U (en) | 2017-09-20 | 2017-09-20 | A kind of oil gas field fire-fighting is remotely controlled crusing robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721211755.1U CN207359084U (en) | 2017-09-20 | 2017-09-20 | A kind of oil gas field fire-fighting is remotely controlled crusing robot system |
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| Publication Number | Publication Date |
|---|---|
| CN207359084U true CN207359084U (en) | 2018-05-15 |
Family
ID=62348873
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721211755.1U Expired - Fee Related CN207359084U (en) | 2017-09-20 | 2017-09-20 | A kind of oil gas field fire-fighting is remotely controlled crusing robot system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108537913A (en) * | 2018-06-15 | 2018-09-14 | 浙江国自机器人技术有限公司 | A kind of cruising inspection system |
| CN108748079A (en) * | 2018-06-29 | 2018-11-06 | 深圳市越疆科技有限公司 | A kind of mobile mechanical arm, control method and its remote control system |
| CN109119923A (en) * | 2018-08-03 | 2019-01-01 | 合肥工业大学 | Transformer and distribution station device intelligence cruising inspection system and its method for inspecting |
| CN109129517A (en) * | 2018-10-19 | 2019-01-04 | 广东电网有限责任公司 | A kind of crusing robot with detection device |
| CN109178125A (en) * | 2018-08-23 | 2019-01-11 | 合肥合安智为科技有限公司 | A kind of fire alarm crusing robot chassis structure |
| CN109202965A (en) * | 2018-10-23 | 2019-01-15 | 深圳市朗驰欣创科技股份有限公司 | A kind of Intelligent Mobile Robot camera collision avoidance system |
| CN109397236A (en) * | 2018-09-10 | 2019-03-01 | 中化兴中石油转运（舟山）有限公司 | A kind of oil depot global function crusing robot |
| CN109484501A (en) * | 2018-11-26 | 2019-03-19 | 国网江苏省电力有限公司徐州供电分公司 | A kind of robot for load balance |
| CN109732618A (en) * | 2019-01-23 | 2019-05-10 | 国家电网有限公司 | It is a kind of for the inspection machine people of pump-storage generator and its control method |
| CN110034511A (en) * | 2019-04-23 | 2019-07-19 | 国网安徽省电力有限公司电力科学研究院 | A kind of method of the miniature inspection device of cable duct of substation and its long-range monitoring cable duct |
| CN110059669A (en) * | 2019-04-29 | 2019-07-26 | 四川农业大学 | A kind of intelligent grass-removing people's Boundary Recognition method based on microprocessor |
| CN110207659A (en) * | 2019-06-27 | 2019-09-06 | 长沙理工大学 | A kind of operating mechanism of the terrain detection device of unmanned outdoor vehicles |
| CN111015687A (en) * | 2019-12-31 | 2020-04-17 | 江苏顺飞信息科技有限公司 | Industrial combustible gas leakage source detection robot and working method |
| CN111203847A (en) * | 2018-11-21 | 2020-05-29 | 中国石化销售有限公司华南分公司 | Wheeled explosion-proof type inspection robot and wheeled explosion-proof type inspection robot system |
| CN112720406A (en) * | 2020-12-14 | 2021-04-30 | 北京建筑大学 | Fire-fighting patrol robot, patrol system and flame detection method for rail vehicle factory building |
| CN112828850A (en) * | 2021-01-18 | 2021-05-25 | 季华实验室 | Five-sense special robot |
| CN113021298A (en) * | 2021-04-07 | 2021-06-25 | 南京理工大学紫金学院 | Mine environment detection robot |
| CN114310937A (en) * | 2021-12-16 | 2022-04-12 | 杭州申昊科技股份有限公司 | Explosion-proof inspection robot capable of being monitored in integrated mode |
| CN114407048A (en) * | 2022-03-02 | 2022-04-29 | 深圳深海智人机器人技术有限公司 | Positive pressure crawler-type full-autonomous inspection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108537913A (en) * | 2018-06-15 | 2018-09-14 | 浙江国自机器人技术有限公司 | A kind of cruising inspection system |
| CN108748079A (en) * | 2018-06-29 | 2018-11-06 | 深圳市越疆科技有限公司 | A kind of mobile mechanical arm, control method and its remote control system |
| CN109119923A (en) * | 2018-08-03 | 2019-01-01 | 合肥工业大学 | Transformer and distribution station device intelligence cruising inspection system and its method for inspecting |
| CN109119923B (en) * | 2018-08-03 | 2020-11-24 | 合肥工业大学 | Intelligent inspection system and method for substation equipment |
| CN109178125A (en) * | 2018-08-23 | 2019-01-11 | 合肥合安智为科技有限公司 | A kind of fire alarm crusing robot chassis structure |
| CN109397236A (en) * | 2018-09-10 | 2019-03-01 | 中化兴中石油转运（舟山）有限公司 | A kind of oil depot global function crusing robot |
| CN109129517A (en) * | 2018-10-19 | 2019-01-04 | 广东电网有限责任公司 | A kind of crusing robot with detection device |
| CN109129517B (en) * | 2018-10-19 | 2023-11-07 | 广东电网有限责任公司 | Inspection robot with detection device |
| CN109202965A (en) * | 2018-10-23 | 2019-01-15 | 深圳市朗驰欣创科技股份有限公司 | A kind of Intelligent Mobile Robot camera collision avoidance system |
| CN111203847A (en) * | 2018-11-21 | 2020-05-29 | 中国石化销售有限公司华南分公司 | Wheeled explosion-proof type inspection robot and wheeled explosion-proof type inspection robot system |
| CN109484501A (en) * | 2018-11-26 | 2019-03-19 | 国网江苏省电力有限公司徐州供电分公司 | A kind of robot for load balance |
| CN109732618A (en) * | 2019-01-23 | 2019-05-10 | 国家电网有限公司 | It is a kind of for the inspection machine people of pump-storage generator and its control method |
| CN110034511A (en) * | 2019-04-23 | 2019-07-19 | 国网安徽省电力有限公司电力科学研究院 | A kind of method of the miniature inspection device of cable duct of substation and its long-range monitoring cable duct |
| CN110034511B (en) * | 2019-04-23 | 2024-04-30 | 国网安徽省电力有限公司电力科学研究院 | Miniature inspection device for transformer substation cable trench and method for remotely monitoring cable trench |
| CN110059669A (en) * | 2019-04-29 | 2019-07-26 | 四川农业大学 | A kind of intelligent grass-removing people's Boundary Recognition method based on microprocessor |
| CN110207659A (en) * | 2019-06-27 | 2019-09-06 | 长沙理工大学 | A kind of operating mechanism of the terrain detection device of unmanned outdoor vehicles |
| CN111015687A (en) * | 2019-12-31 | 2020-04-17 | 江苏顺飞信息科技有限公司 | Industrial combustible gas leakage source detection robot and working method |
| CN112720406A (en) * | 2020-12-14 | 2021-04-30 | 北京建筑大学 | Fire-fighting patrol robot, patrol system and flame detection method for rail vehicle factory building |
| CN112828850A (en) * | 2021-01-18 | 2021-05-25 | 季华实验室 | Five-sense special robot |
| CN113021298A (en) * | 2021-04-07 | 2021-06-25 | 南京理工大学紫金学院 | Mine environment detection robot |
| CN114310937A (en) * | 2021-12-16 | 2022-04-12 | 杭州申昊科技股份有限公司 | Explosion-proof inspection robot capable of being monitored in integrated mode |
| CN114407048A (en) * | 2022-03-02 | 2022-04-29 | 深圳深海智人机器人技术有限公司 | Positive pressure crawler-type full-autonomous inspection robot |
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