CN212056756U - Pipeline radar detection robot - Google Patents
Pipeline radar detection robot Download PDFInfo
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- CN212056756U CN212056756U CN202020204771.3U CN202020204771U CN212056756U CN 212056756 U CN212056756 U CN 212056756U CN 202020204771 U CN202020204771 U CN 202020204771U CN 212056756 U CN212056756 U CN 212056756U
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Abstract
The utility model discloses a pipeline radar detection robot, including the robot body, the robot body front portion is equipped with directional drilling lifting device, be equipped with directional drilling rotary device on the directional drilling lifting device, be equipped with directional drilling pendulous device on the directional drilling rotary device, be equipped with radar installation and camera device on the directional drilling pendulous device, the robot body bottom is equipped with drive arrangement; the directional drilling lifting device is electrically inserted into the robot body through a first waterproof quick plugging aviation plug socket; the radar device and the camera device are respectively electrically inserted into the robot body through a second waterproof quick plugging aviation plug socket, the robot body is electrically connected with a cable, and the cable is electrically connected with a control system. The angle of camera, radar can be adjusted, and the modularization connection can be realized, the operation under the complex environment of being convenient for. The utility model discloses be applied to pipeline inspection technical field.
Description
Technical Field
The utility model relates to a pipeline inspection technical field, concretely relates to pipeline radar detection robot.
Background
The pipeline detection robot (cctv) is a pipeline endoscopic camera detection device, is widely applied to industries such as military affairs, electric power, thermal power plants, petroleum and petrochemical industry, nondestructive testing, municipal water supply and drainage, archaeology and the like, and has the advantages of quickly detecting and diagnosing the internal structure of a pipeline. The current pipeline endoscopic camera detection equipment mainly detects structural defects (such as cracking, deformation, dislocation, disjointing and the like) and functional defects (such as deposition, structures, obstacles, tree roots and the like) in the pipeline.
The urban underground pipeline is an important influence factor of healthy and peaceful life of urban residents, the mileage of the water supply and drainage pipeline is the largest in quantity in the urban underground pipeline, the water supply and drainage pipeline is more easily damaged relative to other pipelines, the damage of the water supply and drainage pipeline is a source factor causing urban underground cavities to form and collapse accidents, and therefore the regular maintenance of the urban water supply and drainage pipeline has important significance for improving the life safety factor of the urban residents, improving the life quality of the residents and reducing the occurrence of secondary disasters.
The pipeline inspection robot in the market at present mainly detects the internal structure defects and the functional defects of a pipeline, equipment for detecting the external environment of a deeply buried underground pipeline is usually detected by using a ground penetrating radar on the ground, the ground penetrating radar detection is a detection method for determining the internal distribution rule of a medium by using high-frequency radio waves, and the material components in the medium are judged according to the propagation rule of electromagnetic pulses in the medium in the detection. Ground penetrating radars use electromagnetic waves for detection, and the propagation of electromagnetic waves in an underground medium is susceptible to the combined effects of permittivity, conductivity, and permeability.
Because the urban underground drainage pipeline is positioned at a relatively deep underground part, the underground climate condition changes rapidly, and the influence of the dry and wet conditions of the ground on the dielectric constant seriously influences the detection result, the accuracy of the ground penetration radar detection applied to the underground pipeline detection cannot be guaranteed, and the information such as the loose soil body deeply buried at the periphery of the underground pipeline, the cavity formed by water seepage and flow and the like cannot be detected; therefore, it is imperative to develop a radar detection robot for a pipeline, which can detect the external condition of the pipeline in the pipeline.
Patent document with application number CN201920060846.2 discloses a ship type underground sewer line inspection robot, including the hull, set up the communication joint quick detach box in the ship case of hull, set up at the front end of communication joint quick detach box, be used for avoiing the obstacle radar, set up at the rear end of communication joint quick detach box, be used for driving the propeller that the hull was marchd, the lock is in translucent cover on the communication joint quick detach box, by the collection protection chamber that translucent cover and communication joint quick detach box constitute jointly fixes on the communication joint quick detach box, arrange in gather the protection intracavity, and be the rotatory camera of full angle, and follow the perpendicular to the hull advancing direction evenly lays on the communication joint quick detach box, be used for shooting the image of underground sewer line inner wall, and arrange in gather the three high definition camera of group in the protection intracavity.
The ship-shaped underground sewage pipeline detection robot disclosed by the patent document adopts a device for carrying a camera and a radar detection pipeline by a robot, but the robot cannot adjust the angles of the camera and the radar when in operation, and all parts are not connected by module blocks, so that the robot is not convenient for operation in a complex environment.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a pipeline radar detection robot can adjust the angle of camera, radar, can realize the modularization and connect, the operation under the complex environment of being convenient for.
In order to achieve the purpose, the utility model provides a pipeline radar detection robot, including the robot body, the robot body front portion is equipped with directional drilling lifting device, be equipped with directional drilling rotary device on the directional drilling lifting device, be equipped with directional drilling pendulous device on the directional drilling rotary device, be equipped with radar device and camera device on the directional drilling pendulous device, the robot body bottom is equipped with drive arrangement;
the directional drilling lifting device is electrically inserted into the robot body through a first waterproof quick plugging aviation plug socket;
the radar device and the camera device are respectively electrically inserted into the robot body through a second waterproof quick plugging aviation plug socket, the robot body is electrically connected with a cable, and the cable is electrically connected with a control system.
The radar device comprises a radar antenna rear cover, a radar data acquisition card and a power panel; the device comprises a radar transmitter, a radar receiver, a radar probe, an antenna cover plate, an antenna base, an antenna rear base and a metal cable fixing head; the radar data acquisition card, the power panel, the radar transmitter and the radar receiver are assembled inside the radar antenna rear cover, and the antenna rear seat is connected with the radar antenna rear cover through a screw; the metal cable fixing head is assembled on the rear cover of the radar antenna. The radar probe is assembled inside the antenna pedestal, the antenna cover plate is connected with the antenna pedestal through threads, and the antenna pedestal is connected with the antenna back seat through threads.
The utility model discloses a pipeline radar detection robot can detect the pipeline that is not less than DN300mm, can carry out accurate location to the position of pipeline defect simultaneously and indicate. During detection, the walking speed of the robot body can reach 1m/s at most, and the speed can be adjusted in a stepless manner. Obstacles with obstacle-crossing capability up to 35mm in height can easily cross.
The camera device comprises a camera shell, a lens locking nut, toughened glass, an illuminating lamp and a camera backseat; the front of the camera shell is provided with toughened glass, and the front of the camera shell is provided with a lens locking nut for locking the toughened glass; the left side and the right side of the camera shell are connected with an illuminating lamp through screws; the rear part of the camera shell is provided with a camera backseat through a screw connection.
The camera device comprises high definition network camera (20 times optical zoom) and CREE highlight cold light shadowless lamp, and the position between the two is rationally designed, so that the lamp light can provide enough illumination brightness for the camera, and the interior of the pipeline is in a list. The camera, the light and the main control board are connected through the aviation plug, and different camera assemblies can be replaced according to different pipeline conditions.
In a further improvement, the robot body is filled with inert gas, and the robot body is internally provided with a gas pressure sensor which is electrically connected with the control system through a cable. The air pressure sensor can detect the air pressure of the robot body and the directional drilling lifting device, the air pressure condition in the chassis of the robot body can be detected in real time, and the good sealing effect in the chassis can be kept. When the air pressure sensor detects that the air pressure of the inert gas in the robot body exceeds a certain range, the air pressure sensor can detect the change of the air pressure in the pipeline through the control system and make certain control through the control system. The explosion-proof safety and the waterproof safety of the robot body in the underground pipeline can be guaranteed.
Further improved, the robot body is internally provided with an inclination angle sensor, and the inclination angle sensor is electrically connected with a control system through a cable. The inclination angle of the robot body can be detected through the inclination angle sensor, the inclination angle can be analyzed through the control system, and before the robot body overturns, the position of the robot body can be adjusted in time, so that the robot body is prevented from overturning.
In a further improvement, the rear part of the robot body is provided with an obstacle avoidance ring. Keep away the barrier ring and retreat for the robot body and provide collision avoidance, the part on the effective robot body causes the damage because of reasons such as collision, keeps away the barrier ring and accepts the position for cable drag power, prevents effectively that the cable from causing damage and communication smoothly because of dragging.
In a further improvement, the barrier-avoiding ring is provided with a line pressing device, and the cable is fixed on the line pressing device in a penetrating manner. Wire pressing device includes first fixed plate and second fixed plate, and when two fixed plates laminated, formed the through-hole between two fixed plates, the cable was established in the through-hole through first fixed plate and second fixed plate pressure, has formed fixed effect to the cable, prevents that the cable from causing the communication unsmooth because of pulling.
In a further improvement, the obstacle avoidance ring is connected with the line pressing device through a locking device. The locking device comprises a groove arranged on the first fixing plate, the opening of the groove is connected through a bolt or a bolt, the first fixing plate is clamped behind the obstacle avoidance ring through the groove, and the first fixing plate is locked on the obstacle avoidance ring through the bolt or the bolt. Thereby the line ball device and the obstacle avoidance ring are connected.
Further improved, the front part of the robot body is rotatably provided with a hoisting ring, and the directional drilling lifting device is rotatably arranged on the hoisting ring. The hoisting ring is rotatably and adjustably mounted on the robot body through a bolt.
In a further improvement, the driving device comprises at least two motors and at least four driving wheels, each motor and each driving wheel are respectively arranged at two sides of the robot body, and the driving wheels at two sides form differential driving under the action of each motor. The two motors are both foreign high-power high-torque driving motors, and the motors drive the bevel gear transmission mechanism and the chain wheel and chain transmission mechanism to rotate so as to further drive the driving wheels at the two sides to rotate and walk. The two motors are independently controlled and driven by differential speed, so that the robot can turn in situ.
In a further improvement, the driving wheel comprises an aluminum main body, and the tread of the aluminum main body is filled with a protective sleeve. The protective sleeve is made of materials such as pouring PU, natural rubber and the like so as to improve the durability of the product and enhance the corrosion resistance and the acid and alkali resistance.
In a further improvement, the end part of the driving wheel far away from the robot body is rounded. The curved surface of the pipeline can be attached to the curved surface of the fillet of the end part of the driving wheel.
Compared with the prior art, the utility model discloses technical scheme's beneficial effect:
the directional drilling lifting device comprises a four-bar mechanism and a first motor which are connected in a transmission way, one end of the four-bar mechanism is connected to the robot body, the first motor is electrically inserted into the robot body through a first waterproof quick plug aviation plug socket, and the four-bar mechanism is driven by the first motor to form a lifting action; the directional drilling rotating device comprises a planetary gear mechanism and a second motor which are in transmission connection, the second motor is arranged on the four-bar mechanism and is electrically connected with the robot body, and the planetary gear mechanism is driven to rotate by the second motor; the directional drilling swing device comprises a worm gear mechanism and a third motor which are connected in a transmission mode, the third motor is arranged at the output end of the planetary gear mechanism, the third motor is electrically connected with the robot body, the worm gear mechanism is driven by the third motor to form horizontal swing movement, and the radar device and the camera device are arranged on the worm gear mechanism, so that the radar device and the camera device can have lifting, rotating and swinging movements and can adapt to operation in various complex environments.
The directional drilling lifting device, the radar device, the camera device and the robot body can be connected in a modularized manner through the first waterproof quick plugging aviation plug socket and the second waterproof quick plugging aviation plug socket, and assembly is facilitated.
The utility model discloses a control system carries out unified control to above-mentioned part, specifically, control system can be for the PC end, perhaps the equipment of other controls.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a perspective view of a pipeline radar detection robot;
FIG. 2 is a perspective view of the pipeline radar detection robot from another perspective;
FIG. 3 is a front view of a pipe radar detection robot;
FIG. 4 is a schematic structural diagram of an image capturing device;
FIG. 5 is a schematic structural diagram of a wire pressing device;
FIG. 6 is a schematic structural view of a lifting ring;
FIG. 7 is a schematic structural view of a radar apparatus;
fig. 8 is a cross-sectional view taken at a-a in fig. 7.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that all the directional indicators in the embodiments of the present invention, such as upper, lower, left, right, front and rear … …, are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture as shown in the drawings, and if the specific posture is changed, the directional indicator is changed accordingly.
In the present application, unless expressly stated or limited otherwise, the terms "connected" and "fixed" are to be construed broadly, e.g., "fixed" may be fixedly connected or detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
Referring to fig. 1 to 8, a pipeline radar detection robot includes a robot body 1, a directional drilling lifting device 11 is arranged at the front part of the robot body 1, a directional drilling rotating device 12 is arranged on the directional drilling lifting device 11, a directional drilling swinging device 13 is arranged on the directional drilling rotating device 12, a radar device 2 and a camera device 3 are arranged on the directional drilling swinging device 13, and a driving device is arranged at the bottom of the robot body 1;
the directional drilling lifting device 11 is electrically inserted into the robot body 1 through a first waterproof quick plugging aviation plug socket 14;
The directional drilling lifting device 11 of the embodiment comprises a four-bar linkage mechanism and a first motor which are in transmission connection, one end of the four-bar linkage mechanism is connected to the robot body 1, the first motor is electrically inserted into the robot body 1 through a first waterproof quick plug-pull aviation plug socket 14, and the four-bar linkage mechanism is driven by the first motor to form a lifting action; the directional drilling rotating device 12 comprises a planetary gear mechanism and a second motor which are in transmission connection, the second motor is arranged on the four-bar linkage mechanism and is electrically connected with the robot body 1, and the planetary gear mechanism is driven to rotate by the second motor; directional drilling pendulous device 13 includes that the transmission links to each other worm gear mechanism and third motor, and the output at planetary gear mechanism is established to the third motor, and third motor and robot body 1 electrical property link to each other, drive worm gear mechanism through the third motor and form the action of horizontal hunting, and radar installations 2 and camera device 3 dress are on worm gear mechanism to make radar installations 2 and camera device 3 can have the lifting, rotatory and wobbling action, can adapt to the operation of multiple complex environment.
The directional drilling lifting device 11, the radar device 2, the camera device 3 and the robot body 1 can be connected in a modularized manner through the first waterproof quick plugging aviation plug socket 14 and the second waterproof quick plugging aviation plug socket 15, and assembly is facilitated.
The present embodiment performs unified control on the above components through a control system, specifically, the control system may be a PC terminal, or other controlled devices.
The radar device 2 comprises a radar antenna rear cover 21, a radar data acquisition card 22 and a power panel 23; a radar transmitter 24, a radar receiver 25, a radar probe 26, an antenna cover plate 27, an antenna pedestal 28, an antenna backseat 29 and a metal cable fixing head 30; the radar data acquisition card 22, the power panel 23, the radar transmitter 24 and the radar receiver 25 are assembled inside the radar antenna rear cover 21, and the antenna rear seat 29 is connected with the radar antenna rear cover 21 through screws; the metal cable fixing head 30 is fitted to the radar antenna back cover 21. The radar probe 26 is mounted inside an antenna mount 28, an antenna cover 27 is screwed to the antenna mount 28, and the antenna mount 28 is screwed to an antenna backseat 29. Of course, the radar device 2 of the present embodiment may also be of other models or other structures as long as detection can be completed.
The pipeline radar detection robot of the embodiment can detect the pipeline which is not less than DN300mm, and can accurately position the position with the defect of the pipeline. During detection, the walking speed of the robot body 1 can reach 1m/s at most, and the speed can be adjusted in a stepless manner. Obstacles with obstacle-crossing capability up to 35mm in height can easily cross.
The camera device 3 comprises a camera shell 31, a lens locking nut 32, toughened glass 33, an illuminating lamp 34 and a camera backseat 35; the front of the camera shell 31 is provided with toughened glass 33, and the front of the camera shell 31 is provided with a lens locking nut 32 for locking the toughened glass 33; the left side and the right side of the camera shell 31 are connected with illuminating lamps 34 through screws; the rear part of the camera shell 31 is provided with a camera rear seat 35 through screw connection. Of course, the imaging device 3 of the present embodiment may also be of other models or other structures as long as the imaging detection can be completed.
The camera device 3 consists of a high-definition network camera (20 times optical zoom) and a CREE high-brightness cold light shadowless lamp, and the position between the high-definition network camera and the CREE high-brightness cold light shadowless lamp is reasonably designed, so that the lamp light can provide enough illumination brightness for the camera, and the interior of the pipeline is in a list. The camera, the light and the main control board are connected through the aviation plug, and different camera assemblies can be replaced according to different pipeline conditions.
In this embodiment, as a further improvement of the above technical solution, the robot body 1 is filled with an inert gas, and the robot body 1 is provided with an air pressure sensor therein, and the air pressure sensor is electrically connected to the control system through a cable 16. The air pressure sensor can detect the air pressure of the robot body 1 and the directional drilling lifting device 11, the air pressure condition in the chassis of the robot body 1 can be detected in real time, and the good sealing effect in the chassis can be kept. When the air pressure sensor detects that the air pressure of the inert gas in the robot body 1 exceeds a certain range, the air pressure sensor can detect the change of the air pressure in the pipeline through the control system and make certain control through the control system. The explosion-proof safety and the waterproof safety of the robot body 1 in the underground pipeline can be guaranteed.
In this embodiment, as a further improvement of the above technical solution, an inclination sensor is disposed in the robot body 1, and the inclination sensor is electrically connected to the control system through a cable 16. The inclination angle of the robot body 1 can be detected through the inclination angle sensor, the inclination angle can be analyzed through the control system, and before the robot body 1 overturns, the position of the robot body 1 can be adjusted in time, so that the robot body 1 is prevented from overturning.
In this embodiment, as a further improvement of the above technical solution, the rear portion of the robot body 1 is provided with an obstacle avoidance ring 4. Keep away barrier ring 4 and retreat for robot body 1 and provide collision avoidance, effective part on the robot body 1 causes the damage because of reasons such as collision, keeps away barrier ring 4 and accepts the position for cable 16 dragging force, prevents effectively that cable 16 from causing damage and communication smoothly because of dragging.
In this embodiment, as a further improvement of the above technical solution, a wire pressing device 5 is disposed on the obstacle avoidance ring 4, and the cable 16 is inserted and fixed on the wire pressing device 5. The wire pressing device 5 comprises a first fixing plate 51 and a second fixing plate 52, when the two fixing plates are attached to each other, a through hole 53 is formed between the two fixing plates, the cable 16 is pressed in the through hole 53 through the first fixing plate 51 and the second fixing plate 52, a fixing effect is formed on the cable 16, and the cable 16 is prevented from being unsmooth in communication due to dragging.
In this embodiment, as a further improvement of the above technical solution, the obstacle avoidance ring 4 is connected to the line pressing device 5 through the locking device 6. The locking device 6 includes a groove 61 formed on the first fixing plate 51, an opening of the groove 61 is connected by a fixing member 62, and the fixing member 62 is a bolt or a bolt. The first fixing plate 51 is clamped behind the obstacle avoidance ring 4 through the groove 61, and the first fixing plate 51 is locked on the obstacle avoidance ring 4 through a bolt or a bolt. Thereby the line pressing device 5 and the obstacle avoidance ring 4 are connected.
In this embodiment, as a further improvement of the above technical solution, the front portion of the robot body 1 is rotatably provided with a hoisting ring 7, and the directional drilling lifting device 11 is rotatably provided on the hoisting ring 7. The hoisting ring 7 is rotatably and adjustably mounted on the robot body 1 through a bolt.
In this embodiment, as a further improvement of the above technical solution, the driving device includes at least two motors and at least four driving wheels 8, each motor and each driving wheel 8 are respectively disposed on two sides of the robot body 1, and the driving wheels 8 on the two sides form differential driving under the action of each motor. Foreign high-power high-torque driving motors are selected for the two motors, and the motors drive the bevel gear transmission mechanism and the chain wheel and chain transmission mechanism to rotate so as to further drive the driving wheels 8 on the two sides to rotate and walk. The two motors are independently controlled and driven by differential speed, so that the robot can turn in situ.
In the present embodiment, as a further improvement of the above technical solution, the driving wheel 8 includes an aluminum body, and a tread of the aluminum body is filled with the protective sleeve 81. The protective sleeve 81 is made of materials such as cast PU and natural rubber, so that the durability of the product is improved, and the corrosion resistance and the acid and alkali resistance are enhanced.
In this embodiment, as a further improvement of the above technical solution, a rounded corner 82 is formed at an end of the driving wheel 8 away from the robot body 1. The curved surface of the pipe can be fitted by the arc-shaped curved surface of the rounded corner 82 at the end of the driving wheel 8. Specifically, fillet 82 establishes at the tip of protective sheath 81, and protective sheath 81 global evenly distributed has the mud guiding gutter, can make the rolling in-process of drive wheel 8 in the pipeline, gets rid of the mud on the drive wheel 8, and has skid-proof effect.
The above only is the preferred embodiment of the present invention, not so limiting the patent scope of the present invention, all under the concept of the present invention, the equivalent structure transformation made by the contents of the specification and the drawings is utilized, or the direct/indirect application is included in other related technical fields in the patent protection scope of the present invention.
Claims (10)
1. A pipeline radar detection robot is characterized by comprising a robot body, wherein a directional drilling lifting device is arranged at the front part of the robot body, a directional drilling rotating device is arranged on the directional drilling lifting device, a directional drilling swinging device is arranged on the directional drilling rotating device, a radar device and a camera device are arranged on the directional drilling swinging device, and a driving device is arranged at the bottom of the robot body;
the directional drilling lifting device is electrically inserted into the robot body through a first waterproof quick plugging aviation plug socket;
the radar device and the camera device are respectively electrically inserted into the robot body through a second waterproof quick plugging aviation plug socket, the robot body is electrically connected with a cable, and the cable is electrically connected with a control system.
2. The radar pipeline detection robot as claimed in claim 1, wherein an inert gas is filled in the robot body, an air pressure sensor is arranged in the robot body, and the air pressure sensor is electrically connected with the control system through a cable.
3. The radar pipeline inspection robot of claim 1, wherein the robot body is internally provided with an inclination sensor, and the inclination sensor is electrically connected with a control system through a cable.
4. The radar detection robot for pipelines according to claim 1, wherein an obstacle avoidance ring is arranged at the rear part of the robot body.
5. The radar pipeline detection robot as recited in claim 4, wherein a cable pressing device is disposed on the obstacle avoidance ring, and the cable is inserted and fixed on the cable pressing device.
6. The pipeline radar detection robot as recited in claim 5, wherein the obstacle avoidance ring and the line pressing device are connected through a locking device.
7. The pipeline radar detection robot as claimed in any one of claims 1 to 6, wherein a hoisting ring is rotatably arranged on the robot body.
8. The pipe radar detection robot as claimed in any one of claims 1 to 6, wherein the driving device comprises at least two motors and at least four driving wheels, each motor and each driving wheel are respectively arranged on two sides of the robot body, and the driving wheels on the two sides form differential driving under the action of each motor.
9. The pipe radar detection robot of claim 8, wherein the drive wheel comprises an aluminum body with a tread filled with a protective jacket.
10. The pipe radar detection robot of claim 8, wherein an end of the drive wheel distal from the robot body is rounded.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020204771.3U CN212056756U (en) | 2020-02-24 | 2020-02-24 | Pipeline radar detection robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020204771.3U CN212056756U (en) | 2020-02-24 | 2020-02-24 | Pipeline radar detection robot |
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| CN212056756U true CN212056756U (en) | 2020-12-01 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111365620A (en) * | 2020-02-24 | 2020-07-03 | 郑州大学 | Pipeline radar detection robot |
| CN113357479A (en) * | 2021-06-02 | 2021-09-07 | 厦门空滦贸易有限公司 | Pipeline exploration system |
-
2020
- 2020-02-24 CN CN202020204771.3U patent/CN212056756U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111365620A (en) * | 2020-02-24 | 2020-07-03 | 郑州大学 | Pipeline radar detection robot |
| CN113357479A (en) * | 2021-06-02 | 2021-09-07 | 厦门空滦贸易有限公司 | Pipeline exploration system |
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