CN209289287U - Patrol and examine robot control system - Google Patents
Patrol and examine robot control system Download PDFInfo
- Publication number
- CN209289287U CN209289287U CN201821785141.9U CN201821785141U CN209289287U CN 209289287 U CN209289287 U CN 209289287U CN 201821785141 U CN201821785141 U CN 201821785141U CN 209289287 U CN209289287 U CN 209289287U
- Authority
- CN
- China
- Prior art keywords
- signal
- control system
- control unit
- crusing robot
- connect
- 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.)
- Active
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 94
- 238000001514 detection method Methods 0.000 claims abstract description 45
- 238000007689 inspection Methods 0.000 claims description 29
- 230000005540 biological transmission Effects 0.000 claims description 16
- 238000004891 communication Methods 0.000 claims description 12
- 230000004888 barrier function Effects 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 5
- 230000009471 action Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000411 inducer Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The application relates to a control system of a patrol robot, which comprises a crawler-type travelling mechanism, a holder mechanism, a detection assembly and a micro control device. The crawler-type traveling mechanism comprises two driving wheels. The holder mechanism is arranged on the crawler-type travelling mechanism. The detection assembly is arranged on the holder mechanism and used for detecting the surrounding environment and the equipment. The miniature control device is in signal connection with the crawler-type travelling mechanism, the holder mechanism and the detection assembly respectively. The miniature control device controls the traveling speed and direction of the crawler-type traveling mechanism through the two driving wheels. The robot control system that patrols and examines is less and the action is nimble for the aforesaid, crawler-type running gear combines miniature controlling means can reduce the volume of patrolling and examining robot control system to the realization is patrolled and examined narrow road surface or the narrow place in space.
Description
Technical field
This application involves power circuit polling technical fields, more particularly to a kind of crusing robot control system.
Background technique
With the development of society, effect of the electric power in we live is more and more important, electric inspection process is as guarantee electric power
The important means of normal operation, has been subjected to the attention of power industry, and achieves huge progress.At present such as substation, electricity
The inspection work of the installations and facilities in the electric power place such as cable tunnel can be divided into manual inspection and crusing robot inspection two ways, people
Work inspection heavy workload and there are certain risks.With economic and science and technology development, robot routine inspection mode will gradually be taken
For manual inspection.
The performance of electric inspection process robot has been able to meet the inspection requirement in institute's number electric power place greatly absolutely on the market at present,
But still there are some application problems.For example, the volume of crusing robot is larger, required running space can be very when walking
Greatly, the road surface for usually requiring one fixed width could normally execute inspection work.For the road narrows such as such as cable duct or space
Narrow environment, crusing robot can not reach target position and complete inspection work.Since crusing robot is some relatively narrow
It walks in narrow environment not flexible, is easy to cause automated navigation system error to be difficult to realize autonomous.For cable duct etc.
The region of road narrows or narrow space, crusing robot are unable to complete inspection work, it is still desirable to rely on human inspection side
Formula completes inspection, increases inspection workload.
Utility model content
Based on this, it is necessary to it is larger for crusing robot volume, cause to be unable to complete road pavement or narrow space
Place carries out the problem of inspection, provides a kind of crusing robot control system.
A kind of crusing robot control system, comprising:
Crawler type walking mechanism, including two driving wheels；
Cradle head mechanism is set to the crawler type walking mechanism；
Detection components are set to the cradle head mechanism, for detecting to ambient enviroment and equipment；And
Micro control unit, respectively with the crawler type walking mechanism, the cradle head mechanism and the detection components signal
Connection；
Wherein, the micro control unit controls the walking speed of the crawler type walking mechanism by described two driving wheels
Degree and direction.
Above-mentioned crusing robot control system, by the way that crawler type walking mechanism is arranged, the micro control unit controls institute
The speed of travel and direction to the crawler type walking mechanism may be implemented in the described two driving wheels for stating crawler type walking mechanism
Control.The crawler type walking mechanism small volume and action flexibly, in conjunction with the micro control unit, can reduce inspection
The volume of robot control system carries out inspection to the place of narrow road surface or narrow space to realize.
The crawler type walking mechanism includes: in one of the embodiments,
Movable motor is mechanically connected with described two driving wheels；And
Movable motor driver is connect with the micro control unit signal, for controlling the movable motor rotation side
To and angle.
The cradle head mechanism includes: in one of the embodiments,
PTZ level motor, for controlling horizontally rotating for the cradle head mechanism；
Holder motor vertical, for controlling the pitching movement of the cradle head mechanism；And
Horizontal stage electric machine driver is connect with the micro control unit signal, and respectively with the PTZ level motor and
Holder motor vertical signal connection, for control the PTZ level motor and the holder motor vertical rotation direction and
Angle.
The detection components include: in one of the embodiments,
Temperature-detecting device is connect, for detecting the temperature of environment and equipment with the micro control unit signal；
Image collecting device is connect, for acquiring the image information of environment and equipment with the micro control unit signal；
And
Obstacle detecting device is connect with the micro control unit signal, for detecting crusing robot movement front
Barrier.
In one of the embodiments, further include wireless communication apparatus, connect, be used for the micro control unit signal
Transmit the collected information of the detection components.
The wireless communication apparatus includes: in one of the embodiments,
Wireless transmitter, for receiving the concurrent inspection measurement information of control instruction；And
Wireless image transmission device is connect with the micro control unit signal.
In one of the embodiments, further include remote control device, respectively with the wireless transmitter and the no line chart
As the connection of transmitting device wireless signal, for sending the control instruction and receiving the detection information.
The remote control device includes: in one of the embodiments,
Display device；And
Remote control apparatus is connect with the display device signal, and respectively with the wireless transmitter and the nothing
Line image transmitting device wireless signal connection, for sending the control instruction and receiving the detection information.
The remote control device further includes remotely controlling distant bar in one of the embodiments, with the remote control apparatus
Signal connection, for remotely controlling the crawler type walking mechanism and the cradle head mechanism.
In one of the embodiments, further include power supply device, by the micro control unit respectively with the crawler belt
Formula walking mechanism, the cradle head mechanism and detection components electrical connection.
In the above-described embodiments, by the way that the PTZ level motor and the holder motor vertical, the holder machine is arranged
Structure can carry out comprehensive detection to ambient enviroment and equipment while carrying the detection components.It is adopted by described image
Acquisition means and the wireless image transmission device combine, it can be ensured that ambient enviroment can be with real-time display in the display device
On.In conjunction with the obstacle detecting device, use of the staff to the crusing robot control system can be convenient, it is ensured that institute
The place progress inspection of narrow road surface or narrow space can be entered by stating crusing robot control system, and then save manpower money
Source.
Detailed description of the invention
Fig. 1 is a kind of crusing robot control system connection relationship diagram provided by the embodiments of the present application；
Fig. 2 is another crusing robot control system connection relationship diagram provided by the embodiments of the present application.Attached drawing mark
Number explanation:
100 crusing robot control systems
110 crawler type walking mechanisms
111 driving wheels
112 movable motors
113 movable motor drivers
120 cradle head mechanisms
121 PTZ level motors
122 holder motor verticals
123 horizontal stage electric machine drivers
130 detection components
131 temperature-detecting devices
132 image collecting devices
133 obstacle detecting devices
140 micro control units
150 wireless communication apparatus
151 wireless transmitters
152 wireless image transmission devices
160 remote control devices
161 display devices
162 remote control apparatuses
163 remotely control distant bar
170 power supply devices
Specific embodiment
In order to make the above objects, features, and advantages of the present application more apparent, with reference to the accompanying drawing to the application
Specific embodiment be described in detail.Many details are explained in the following description in order to fully understand this Shen
Please.But the application can be implemented with being much different from other way described herein, those skilled in the art can be not
Similar improvement is done in the case where violating the application intension, therefore the application is not limited by following public specific implementation.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.
Unless otherwise defined, all technical and scientific terms used herein and the technical field for belonging to the application
The normally understood meaning of technical staff is identical.The term used in the description of the present application is intended merely to description tool herein
The purpose of the embodiment of body, it is not intended that in limitation the application.Term " and or " used herein includes one or more phases
Any and all combinations of the listed item of pass.
Referring to Figure 1, the embodiment of the present application provides a kind of crusing robot control system 100.The crusing robot control
System 100 processed includes crawler type walking mechanism 110, cradle head mechanism 120, detection components 130 and micro control unit 140.It is described
Crawler type walking mechanism 110 includes two driving wheels 111.The cradle head mechanism 120 is set to the crawler type walking mechanism
110.The detection components 130 are set to the cradle head mechanism 120, for detecting to ambient enviroment and equipment.It is described micro-
Type control device 140 respectively with 130 signal of the crawler type walking mechanism 110, the cradle head mechanism 120 and the detection components
Connection.Wherein, the micro control unit 140 controls the crawler type walking mechanism 110 by described two driving wheels 111
The speed of travel and direction.
The crawler type walking mechanism 110 is responsible for walking function, is adapted to flat and certain slope ground running, structure
Simply.The crawler type walking mechanism 110 may include described two driving wheels 111.It is appreciated that the crawler-type traveling machine
Structure 110 can also include driven wheel, inducer and bogie wheel.In one embodiment, described two driving wheels 111, which mainly rise, drives
Movement is used, and turning for the crawler type walking mechanism 110 can be controlled by controlling the speed difference of described two driving wheels 111
To.The crawler type walking mechanism 110 is arranged in the crusing robot control system 100.Pass through the micro control unit 140
The described two driving wheels 111 for controlling the crawler type walking mechanism 110 may be implemented to the crawler type walking mechanism 110
The speed of travel and direction control, enhancing is described by the crawler type walking mechanism 110, the cradle head mechanism 120, the inspection
Survey the flexibility for the robot body that component 130 and the micro control unit 140 form.
The cradle head mechanism 120 can carry the detection components 130 and execute Detection task, and the cradle head mechanism 120 rises
Supporting role.The level of the adjustable detection components 130 of cradle head mechanism 120 and the angle of pitching, were suitable for week
Collarette border and equipment are detected.It is appreciated that the cradle head mechanism 120 can expand the detection model of the detection components 130
It encloses, realizes the effects of crusing robot control system 100 is to a wide range of detection of ambient enviroment and comprehensive observation.
The detection components 130 can be used to implement the detection to ambient enviroment and equipment.Pass through the detection components
130, whether the temperature that can detecte environment and equipment is abnormal.It is appreciated that can be obtained in real time by the detection components 130
The image of ambient enviroment or instrumentation.In one embodiment, the detection components 130 can issue front obstacle
It reminds.
The micro control unit 140 can be micro-control unit (Microcontroller Unit, MCU), also known as singly
Piece microcomputer (Single Chip Microconmputer) or single-chip microcontroller, volume very little.The MCU can be survey monitor
The master control set of device people control system 100 is rotated for that will control the cradle head mechanism 120, to pass through the detection components
130 detection device states and environmental information, and send video and testing result.Meanwhile the micro control unit 140 can connect
Remote control commands are received, the crawler type walking mechanism 110 is made to walk by specified order.In the present embodiment, the crawler type row
It walks 110 small volume of mechanism and action flexibly, in conjunction with the micro control unit 140, can reduce the robot body
Volume carries out inspection to the place of narrow road surface or narrow space so as to carry various detecting instruments realizations.
Please also refer to Fig. 2, in one embodiment, the crawler type walking mechanism 110 includes movable motor 112 and row
Walk motor driver 113.The movable motor 112 is mechanically connected with described two driving wheels 111.The movable motor driver
113 connect with 140 signal of micro control unit, for controlling 112 rotation direction of movable motor and angle.The row
Motor driver 113 is walked for receiving the control instruction of the micro control unit 140, and controls 112 turns of the movable motor
It is dynamic.So that it is guaranteed that the crawler type walking mechanism 110 is mobile to specified direction.
In one embodiment, the cradle head mechanism 120 includes PTZ level motor 121, holder motor vertical 122 and cloud
Platform motor driver 123.The PTZ level motor 121 is for controlling horizontally rotating for the cradle head mechanism 120.The holder
Motor vertical 122 is used to control the pitching movement of the cradle head mechanism 120.The horizontal stage electric machine driver 123 with it is described miniature
The connection of 140 signal of control device.The horizontal stage electric machine driver 123 respectively with the PTZ level motor 121 and the holder
122 signal of motor vertical connection, for controlling the PTZ level motor 121 and 122 rotation direction of holder motor vertical
And angle.
The PTZ level motor 121 is for controlling the cradle head mechanism 120 rotation in the horizontal direction, the rotation model
Enclose is 0 degree to 360 degree.The slewing area may be implemented the detection components 130 and detect in the horizontal direction without dead angle.It is described
Holder motor vertical 122 is used to control the pitch angle of the cradle head mechanism 120.The pitch angle range is -45 degree to 90
Degree.The rotation of the cradle head mechanism 120 in the vertical direction may be implemented in the holder motor vertical 122.Pass through the holder
The cooperation of horizontal motor 121 and the holder motor vertical 122, the cradle head mechanism 120 can carry the detection components 130
Comprehensive detection is carried out to ambient enviroment and equipment.
In one embodiment, the detection components 130 include temperature-detecting device 131, image collecting device 132 and barrier
Hinder detection device 133.The temperature-detecting device 131 is connect with 140 signal of micro control unit, for detect environment and
The temperature of equipment.Described image acquisition device 132 is connect with 140 signal of micro control unit, for acquiring environment and setting
Standby image information.The obstacle detecting device 133 is connect with 140 signal of micro control unit, for detecting survey monitor
Device people moves the barrier in front.
The temperature-detecting device 131 can be infrared thermal imager, and whether the temperature for detecting environment and equipment is different
Often.If it was found that exception information is sent to staff by the micro control unit 140 if temperature anomaly.Described image is adopted
Acquisition means 132 can be Visible Light Camera, for shooting the image of such as instrument board equipment.In one embodiment, described can
The video of shooting or image can be sent to staff by the micro control unit 140 by light-exposed camera.Staff
The crawler type walking mechanism 110 and cradle head mechanism 120 are controlled by the front video that described image acquisition device 132 is shot
Movement.It is appreciated that the detection components 130 further include light compensating lamp.The light compensating lamp can be used for increasing illuminance, improve institute
State the shooting quality of Visible Light Camera.It is especially in dark weather or the weak place of illuminance, the Visible Light Camera needs
Work is assisted using light compensating lamp.The light compensating lamp can be LED light.The obstacle detecting device 133 can be laser sensor,
The laser sensor can be set to the crawler type walking mechanism 110, the cradle head mechanism 120 can be further decreased
Volume.The laser sensor judges that can robot move on for detecting front obstacle.Since staff sees
The video information measured may bump against barrier when controlling the crawler type walking mechanism 110 because there may be parallaxes for angle problem
Hinder object, the letter of " there is barrier in front, cannot pass through " can be sent to staff by the micro control unit 140 at this time
Breath, reminds staff.
In one embodiment, the crusing robot control system 100 further includes wireless communication apparatus 150.The nothing
Line communication device 150 is connect with 140 signal of micro control unit, is used for transmission the collected letter of the detection components 130
Breath.It is appreciated that by the wireless communication apparatus 150, when the temperature-detecting device 131 finds temperature anomaly situation,
The exception information is reported to the micro control unit 140.The exception information is sent out by the wireless communication apparatus 150
Give staff.In one embodiment, the realtime graphic that described image acquisition device 132 acquires passes through the wireless telecommunications
Device 150 is transmitted.Equally, when the obstacle detecting device 133 finds barrier, described " there is barrier in front, cannot
Pass through " information can be sent by the wireless communication apparatus 150.
In one embodiment, the wireless communication apparatus 150 includes that wireless transmitter 151 and wireless image transmission fill
Set 152.The wireless transmitter 151 is for receiving the concurrent inspection measurement information of control instruction.The wireless image transmission device
152 connect with 140 signal of micro control unit.The wireless transmitter 151 and the wireless image transmission device 152
Radio frequency (Radio Frequency, RF) wireless transmit-receive technology can be used, the radio frequency is that a kind of high-frequency ac changes electromagnetic wave
Abbreviation.It is appreciated that the wireless transmitter 151 is for receiving control instruction and sending temperature or obstacle to staff
The information warnings such as object.The wireless image transmission device 152 is used to send video image to staff, provides to staff
The video information in front.
In one embodiment, the crusing robot control system 100 further includes remote control device 160.The remote control dress
It sets 160 to connect with the wireless transmitter 151 and 152 wireless signal of wireless image transmission device respectively, for sending
The control instruction simultaneously receives the detection information.By the crawler type walking mechanism 110, the cradle head mechanism 120 and described
The inspection machine human body and institute that detection components 130, the micro control unit 140 and the wireless communication apparatus 150 are constituted
It states and information transmission and communication is carried out by RF radio receiving transmitting module between remote control device 160.By using the remote control device
160, it solves since narrow space barrier is excessive, terrain environment is complicated, autonomous navigation system is easy to appear the problem of mistake.
In one embodiment, the remote control device 160 includes display device 161 and remote control apparatus 162.It is described remote
Process control device 162 is connect with 161 signal of display device.The remote control apparatus 162 respectively with the wireless receiving and dispatching
Device 151 is connected with 152 wireless signal of wireless image transmission device, for sending the control instruction and receiving the inspection
Measurement information.The display device 161 is for showing the video image transmitted from the wireless image transmission device 152, side
Just staff understands the ambient conditions in front.The remote control apparatus 162 can control the display device 161 show it is different
Normal temperature information and obstacle information, sound an alarm staff.Staff can show according to the display device 161
Information send control instruction control the walking of the crawler type walking mechanism 110 and the posture of the cradle head mechanism 120.
In one embodiment, the remote control device 160 further includes remotely controlling distant bar 163.The distant bar of the control 163 with
162 signal of the remote control apparatus connection, for remotely controlling the crawler type walking mechanism 110 and the cradle head mechanism
120.It is described remotely control distant bar 163 can be for two.It is described two remotely to control distant bar 163 and all around move,
One of them is described remotely to control distant bar 163 and controls the crawler type walking mechanism 110 and all around move, another is described remote
Cheng Yao bar 163 controls the pitching and horizontal rotation of the cradle head mechanism 120.Staff can be aobvious by the display device 161
The video information shown operates the movement that the long-range control rocking bar 163 controls the inspection machine human body.
In one embodiment, the crusing robot control system 100 further includes power supply device 170.The power supply dress
Set 170 by the micro control unit 140 respectively with the crawler type walking mechanism 110, the cradle head mechanism 120 and described
Detection components 130 are electrically connected.The power supply device 170 is used to be the crawler type walking mechanism 110, the cradle head mechanism 120
It powers with the detection components 130 and the micro control unit 140.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
The limitation to claim therefore cannot be interpreted as.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the concept of this application, various modifications and improvements can be made, these belong to the protection of the application
Range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.
Claims (10)
1. a kind of crusing robot control system (100) characterized by comprising
Crawler type walking mechanism (110), including two driving wheels (111)；
Cradle head mechanism (120) is set to the crawler type walking mechanism (110)；
Detection components (130) are set to the cradle head mechanism (120), for detecting to ambient enviroment and equipment；And
Micro control unit (140), respectively with the crawler type walking mechanism (110), the cradle head mechanism (120) and the inspection
Survey the connection of component (130) signal；
Wherein, the micro control unit (140) controls the crawler type walking mechanism by described two driving wheels (111)
(110) the speed of travel and direction.
2. crusing robot control system (100) according to claim 1, which is characterized in that the crawler-type traveling machine
Structure (110) includes:
Movable motor (112) is mechanically connected with described two driving wheels (111)；And
Movable motor driver (113) is connect, for controlling the movable motor with the micro control unit (140) signal
(112) rotation direction and angle.
3. crusing robot control system (100) according to claim 1, which is characterized in that the cradle head mechanism (120)
Include:
PTZ level motor (121), for controlling horizontally rotating for the cradle head mechanism (120)；
Holder motor vertical (122), for controlling the pitching movement of the cradle head mechanism (120)；And
Horizontal stage electric machine driver (123) is connect with the micro control unit (140) signal, and respectively with the PTZ level
Motor (121) is connected with holder motor vertical (122) signal, for controlling the PTZ level motor (121) and described
Holder motor vertical (122) rotation direction and angle.
4. crusing robot control system (100) according to claim 1, which is characterized in that the detection components (130)
Include:
Temperature-detecting device (131) is connect, for detecting the temperature of environment and equipment with the micro control unit (140) signal
Degree；
Image collecting device (132) is connect, for acquiring the figure of environment and equipment with the micro control unit (140) signal
As information；And
Obstacle detecting device (133) is connect with the micro control unit (140) signal, for detecting crusing robot movement
The barrier in front.
5. crusing robot control system (100) according to claim 1, which is characterized in that further include wireless telecommunications dress
(150) are set, are connect with the micro control unit (140) signal, the detection components (130) collected letter is used for transmission
Breath.
6. crusing robot control system (100) according to claim 5, which is characterized in that the wireless communication apparatus
(150) include:
Wireless transmitter (151), for receiving the concurrent inspection measurement information of control instruction；And
Wireless image transmission device (152) is connect with the micro control unit (140) signal.
7. crusing robot control system (100) according to claim 6, which is characterized in that further include remote control device
(160), it connect, is used for the wireless transmitter (151) and the wireless image transmission device (152) wireless signal respectively
It sends the control instruction and receives the detection information.
8. crusing robot control system (100) according to claim 7, which is characterized in that the remote control device (160)
Include:
Display device (161)；And
Remote control apparatus (162) is connect with the display device (161) signal, and respectively with the wireless transmitter
(151) it is connected with wireless image transmission device (152) wireless signal, for sending the control instruction and receiving the inspection
Measurement information.
9. crusing robot control system (100) according to claim 8, which is characterized in that the remote control device (160)
Further include remotely controlling distant bar (163), is connect with the remote control apparatus (162) signal, for remotely controlling the crawler belt
Formula walking mechanism (110) and the cradle head mechanism (120).
10. crusing robot control system (100) according to claim 1, which is characterized in that further include power supply device
(170), by the micro control unit (140) respectively with the crawler type walking mechanism (110), the cradle head mechanism
(120) it is electrically connected with the detection components (130).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821785141.9U CN209289287U (en) | 2018-10-31 | 2018-10-31 | Patrol and examine robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821785141.9U CN209289287U (en) | 2018-10-31 | 2018-10-31 | Patrol and examine robot control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209289287U true CN209289287U (en) | 2019-08-23 |
Family
ID=67647505
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821785141.9U Active CN209289287U (en) | 2018-10-31 | 2018-10-31 | Patrol and examine robot control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209289287U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109291053A (en) * | 2018-10-31 | 2019-02-01 | 深圳供电局有限公司 | Patrol and examine robot control system |
| CN111152217A (en) * | 2019-12-30 | 2020-05-15 | 深圳优地科技有限公司 | Speed control method and device, robot and storage medium |
-
2018
- 2018-10-31 CN CN201821785141.9U patent/CN209289287U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109291053A (en) * | 2018-10-31 | 2019-02-01 | 深圳供电局有限公司 | Patrol and examine robot control system |
| CN111152217A (en) * | 2019-12-30 | 2020-05-15 | 深圳优地科技有限公司 | Speed control method and device, robot and storage medium |
| CN111152217B (en) * | 2019-12-30 | 2021-09-17 | 深圳优地科技有限公司 | Speed control method and device, robot and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109291053A (en) | Patrol and examine robot control system | |
| CN109291035A (en) | Small-sized inspection robot and small-sized inspection robot system | |
| US11555912B2 (en) | Automatic wall climbing type radar photoelectric robot system for non-destructive inspection and diagnosis of damages of bridge and tunnel structure | |
| EP3104184B1 (en) | Method and apparatus for locating faults in overhead power transmission lines | |
| CN209289287U (en) | Patrol and examine robot control system | |
| CN102546689A (en) | Real-time line walking system of unmanned aerial vehicle | |
| CN105345805A (en) | Campus night safety patrol robot | |
| CN201918664U (en) | Line-walking real-time system of unmanned aerial vehicle | |
| CN204576751U (en) | The real-time security control system of hot line maintenance | |
| JP6298221B2 (en) | Path detection system based on solar blind ultraviolet light signal | |
| CN103675609A (en) | Power line patrol equipment and system | |
| CN107037845A (en) | One kind is taken photo by plane UAV Flight Control System | |
| CN105022392A (en) | Granary environment trolley control method | |
| CN107181201A (en) | A kind of aerial barrier clearing device and system based on laser | |
| CN205081392U (en) | Robot is patrolled and examined to circuit intelligence | |
| CN110315499A (en) | Inspection robot for power distribution room | |
| CN108189633A (en) | A kind of land and air double-used machine people Reconnaissance system | |
| CN207439401U (en) | A kind of electric power line pole tower construction work monitors system | |
| CN209289259U (en) | Small-sized inspection robot and small-sized inspection robot system | |
| CN106647468A (en) | Poisonous gas leakage source point intelligent detection device | |
| CN110267004B (en) | Unmanned aerial vehicle surveys monitored control system | |
| CN103659841A (en) | Automatic aligning system and method for patrol robot device | |
| CN203012513U (en) | Wireless model airplane control system | |
| CN104536460A (en) | Method for patrolling concave mountain slope electric transmission line by unmanned aerial vehicle | |
| CN209168187U (en) | Electric power line patrol system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |