GB2601266A - High-pole lamp post robot - Google Patents
High-pole lamp post robot Download PDFInfo
- Publication number
- GB2601266A GB2601266A GB2202439.2A GB202202439A GB2601266A GB 2601266 A GB2601266 A GB 2601266A GB 202202439 A GB202202439 A GB 202202439A GB 2601266 A GB2601266 A GB 2601266A
- Authority
- GB
- United Kingdom
- Prior art keywords
- lamp post
- high mast
- circular body
- leg
- mast lamp
- 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.)
- Granted
Links
- 238000012544 monitoring process Methods 0.000 claims abstract description 28
- 238000010422 painting Methods 0.000 claims description 5
- 238000000227 grinding Methods 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 abstract description 8
- 238000012423 maintenance Methods 0.000 abstract description 6
- 238000007689 inspection Methods 0.000 description 16
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 3
- 238000005498 polishing Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Disclosed is a high-pole lamp post robot, comprising an annular body (10), a plurality of arm-type driving wheel mechanisms (20), a plurality of monitoring modules (30), and a control system (40). The plurality of arm-type driving wheel mechanisms are fixed to the annular body and extend downwards from the annular body, with one end of the arm-type driving wheel mechanisms being connected to an outer side of the annular body at equal intervals, and the other ends thereof being provided with a driving wheel (210, 220) and abutting against a surface of a pole body of a high-pole lamp post. The plurality of monitoring modules are connected to the annular body at equal intervals. With the above-mentioned structure, the high-pole lamp post robot can vertically move on the high-pole lamp post by means of the arm-type driving wheel mechanisms, and then detects the high-pole lamp post by means of the monitoring modules, so as to detect every detail on the surface more accurately at close range, in addition to reducing the cost and risk associated with manual maintenance.
Description
HIGH-POLE LAMP POST ROBOT
Abstract: Disclosed is a high mast lamp post robot comprising an annular body (10), a plurality of arm-type driving wheel mechanisms (20), a plurality of monitoring modules (30), and a control system (40). The plurality of arm-type driving wheel mechanisms are fixed to the annular body and extend downwards from the annular body, with one end of the arm-type driving wheel mechanisms being connected to an outer side of the annular body at equal intervals, and the other ends thereof being provided with a driving wheel (210, 220) and abutting against a surface of a pole of a high mast lamp post. The plurality of monitoring nodules are connected to the annular body at equal intervals. With the above-mentioned structure, the high mast lamp post robot can vertically move on the high-pole lamp post by means of the arm-type driving wheel mechanisms, and then detects the high mast lamp post by means of the monitoring modules, so as to detect every detail on the surface more accurately at close range, in addition to reducing the cost and risk associated with manual maintenance.
Field of the Invention:
[0001] The present invention relates to robots, particularly to an inspection and maintenance robots for high mast lamp posts.
Background of the Invention:
[0002] High mast lamp posts are normally located near places that require high illumination for larger areas, such as stadiums or highways. Each includes high power lighting apparatus lifted tens of meters away from the ground by a pole. For the regular inspection and maintenance, an existing method is to inspect the conditions of the high mast lamp post visually using binoculars from a ground location. Obviously at such a distance, the inspector who stands on near ground level can hardly get a close inspection of the pole surface of the high mast lamp post, particularly to the unobvious flaws, thin cracks, and corrosions of the pole surface.
[0003] Another method for inspection is to use a bucket truck that carries a person to a higher level for closer inspection. The bucket truck method, however, is not only expensive, but also imposes significant risks for the person working at such height.
Summary:
[0004] It is an objective of the present invention to provide a robot for high mast lamp posts, which can perform close inspection of the high mast lamp post pole surface, so to not only lowers the maintenance costs and risks of inspections, but also increases the inspection accuracy.
[0005] According to one aspect of the present invention, The robot for inspecting high mast lamp post comprises a circular body, a multiple roller legs assembly, a plurality of wireless monitoring modules and a control system. The roller legs assembly is secured at the bottom side of the circular body and extends downwards from the circular body. One end of each roller leg is equidistantly connected to the outer rim of the circular body, and the other end of the roller leg has a roller wheel engaged to the pole surface of the high mast lamp post. The wireless monitoring modules are equidistantly spaced and mounted on the circular body. The control system is configured for controlling the roll er legs assembly to drive the monitor modules that inspects the pole surface of the high mast lamp post.
[0006] In one embodiment, each roller leg comprises a first leg and a second leg.
The first leg has an end connected to an outer rim of the circular body, and another end of the first leg is coupled with a single-wheel roller. The second leg has an end connected to the outer rim of the circular body, and another end of the second leg is coupled with a double-wheel roller.
[0007] Accordingly, based on the aforesaid structure, the high mast lamp post robot is able to be driven by the roller legs, which moves up and down and inspect the high mast lamp post with its monitoring modules. This not only lowers the maintenance costs and risks of manual inspections, but also more accurately perform close inspection of every detail on the high mast lamp post pole surface.
[0008] Another objective of the present invention is to provide a high mast lamp post robot which is able to perform on-site operations and can be remotely or autonomously controlled, avoiding the risk of having human workers working at high elevations.
[0009] According to another aspect of the present invention, provided is a high mast lamp post robot comprising a multiple roller legs assembly and at least one robotic arm. The roller legs assembly is secured at the circular body and extends downwards from the circular body to the pole surface of the high mast lamp post One end of the robotic arm is connected to a circular track located on the inner rim of the circular body, while the other end is linked to a working module to perform specific tasks.
[0010] The working module is interchangeable to extend the functi onaliti es of the arm and satisfies various needs. The functional ides include, but are not limited to, surface testing, grinding, polishing, painting, cleaning, ultrasonic for internal sensing and lamp inspections.
[0011] Accordingly, the robotic arm allows the high mast lamp post robot of the present invention perform a close on-site operation directly, avoiding the risk of having human workers working at high elevations.
Brief Description of the Drawings:
[0012] FIG. 1 is an illustrative diagram of a high mast lamp post robot in accordance with one embodiment of the present invention.
[0013] FIG. 2 is another perspective illustration of the high mast lamp post robot of FIG. 1.
[0014] FIG. 3 is a block diagram of the control system in accordance with one embodiment of the present invention.
[0015] FIG. 4 is an illustrative diagram of a high mast lamp post robot in accordance with one embodiment of the present invention.
[0016] FIG. 5 is another perspective illustration of the high mast lamp post robot [0017] FIG. 6 is a block diagram of the control system in accordance with one embodiment of the present invention.
Detailed Description:
[0018] With reference to FIG s. 1 to 3, FIG. 1 is an an illustrative diagram of a high mast lamp post robot in accordance with one embodiment of the present invention; FIG. 2 is another perspective illustration of the high mast lamp post robot of FIG. 1; and FIG. 3 is a block diagram of the control system in accordance with one embodiment of the present invention. The monitoring module and the control system of FIG. 1 are omitted from FIG. 2 for clarity.
[0019] As shown in FIG s.1 and 2, in one embodiment, the high mast lamp post robot comprises a circular body 10, multiple roller legs assembly 20, a plurality of monitoring modules 30 and a control system 40. The circular body 10 is a ring having an inner hole 11 which may be composed of two assembled semi-circle shaped rings. The inner hole 11 is configured for receiving a pole having a diameter of a range of 230 to 800 mi Ili meters. The roller legs 20 are equi distantly spaced apart and mounted on to the outer rim of circular body 10 and each roller leg 20 has two ends. One end of the roller leg 20 is connected to the outer rim of the circular body 10, and the other end of the roller leg 20 is connected to roller wheels 210, 220 engaged to the pole surface of the high mast lamp post. The monitoring modules 30 are equidistantly spaced apart and mounted on the circular body 10. The conlrol system 40 is electrically connected to the roller legs assembly 20 and the monitoring modules 30. The roller wheel 210/220 is engaged to the pole surface and configures to drive the high mast lamp post robot with the monitoring modules 30 moving up and down along the high mast lamp post to perform inspection on the pole surface.
[0020] Each of the roller legs 20 comprises a first leg 21 and a second leg 22. In this embodi ment the first leg 21 is composed of two pivotally connected leg portions and has a hydraulic cylinder rod 211 connected between two distal ends of the leg portions. One end of the first leg 21 is connected to the circular body 10, and the other end of the first leg 21 is connected to a single-wheel roller 210. The control system 40 controls the hydraulic cylinder rod 211 to move the first leg 21 and drives the single-wheel roller 210.
[0021] The second leg 22 is also composed of two pivotally connected leg portions and has a hydraulic cylinder rod 221 connected between two distal ends of the leg portions. One end of the second leg 22 is connected to the circular body 10, and the other end of the second leg 22 is connected to a double-wheel roller 220. Simultaneously, the control system 40 controls the hydraulic cylinder rod 221 to move the first leg 22and drives the double-wheel roller 220.
[0022] As shown in FIG. 3, the control system 40 comprises a control unit 41, a power suppling module 42, a G PS module 43, an electronic compass 44 and a wireless transmitting module 45. The power suppling module 42 is configured to supply power to all electronic components. The G PS module 43 is used for positioning. The electronic compass 44 is configured to assist the G PS module 43 for positioning, direction, tilts, and movi ng speeds of the robot H owever, a person skilled in the art will realize that the electronic compass 44 can easily incorporate the functions of an accelerolieter and gyroscope sensor, hence be able to determine the speed and calculate its posit ons, thus it is not further described herein.
[0023] When the circular body 10 is secured around the high mast lamp post, the control system 40 controls the hydraulic cylinder rod 211. By the extension and retraction of hydraulic cylinder rod 221, it moves the first leg 21 and the second leg 22 respecfively to make the single-wheel roller 210 and the double-wheel roller 220 engage to the surface of the pole. The rollers rotate to allow the robot to move up and down along the high mast lamp post [0024] A person at ground level is able to transmit a command to the control unit 41 via the wireless transmitting module 45. The control unit 41 instructs the robot to a specific position by using the G PS module 43 and the el ectroni c compass 44 based on the received command. In addition, the control unit 41 determines the location of the robot using the G PS nodule 43 and the electronic compass 44, and transmit the robots location information via the wireless transmi tti ng module 45 to the ground crews terminal equipment for positioning the robot [0025] In one embodiment, the number of roller legs 20 is 3, and each roller leg has a first leg 21 and a second leg 22. In other words, the high mast lamp post robot in accordance with this embodi ment has 6 legs that are distributed 30 degrees evenly around the circular body 10 and extend downwards. The number of the monitoring modules 30 is 6. The mounti ng positions of monitoring modules 30 may correspond to the legs.
[0026] Each monitoring module 30 comprises a camera for capturing images of the pole surface of the high mast lamp post. The images captured by the monitoring module 30 is transmitted via wired or wireless transmission to the ground crew for further inspection. T he monitoring modules 30 captures images at 360-degree angles to present images in a seamlessly integrated manner. The wireless transmitting module 45 streams the images directly to a terminal device (e.g., mobile phone, tablet or notebook computer of the ground crew). Alternatively, the images may be stored in non-transient memory for later downloading and further processing by a remote device.
[0027] Moreover, there may be a downward monitoring nodule (not shown) mounted underneath the circular body 10. The downward monitoring nodule and the monitoring module 30 have similar fund onal iti es. The differences are that the downward monitoring module is disposed at a different location and provides another shooting angle. In this manner, the ground crew is provided with upward, downward, left, and right 720-degrees view without blind spots.
[0028] Accordingly, through the use of the roller legs, the high mast lamp post robot is able to navigate up and down along the high mast lamp post to perform the inspection with the monitoring modules. This not only lowers the costs and risks, but also increases the inspection coverage and detail resolution on the pole surface of the high mast lamp post.
[0029] With references to FIGs. 4 to 6, FIG. 4 is an exemplary diagram illustrating an high mast lamp post robot in accordance with one embodiment of the present i nventi on; FIG. 5 is another perspective illustration of the high mast lamp post robot of FIG. 4; and FIG. 6 is a block diagram of the control system in accordance with one embodi ment of the present invention. The present embodiment is similar to the above described embodiment. The major difference is that the present embodiment further comprises at least one robotic arm to perform specific tasks, avoiding the risk of having human worker to work at such height As shown in FIG. 4, the monitoring module 30 is disposed between the first leg 21 and the second leg 22. Similarly, the positions of the monitoring modules 30 are corresponded to the roller legs, and are equidistantly spaced apart and mounted on the circular body 10.
[0030] In this embodiment, as shown in FIGs. 4 and 5, one or more arm 50 is connected to the circular body 10. The circular body 10 has a circular track 12 formed at the inner rim of the circular body 10. The arm 50 is extended upwards and has an end connected to a slider 51 that is installed inside the circular track 12 of the circular body 10. The other end of the arm is connected to a working module 52 corresponding to a target task. The slider 51 is able to drive the arm 50 horizontally 360-degrees to perform the task.
[0031] Moreover, in order to satisfy the needs of different tasks, the working module 52 is replaceable and interchangeable. As shown in FIG. 4, the working module 52 is illustrated as a painting module for painting tasks. The working module 52 of FIG. 5 is illustrated as a grading module for grading and/or polishing tasks. Further, the working module 52 may be an ultrasonic sensing module to sense unobvious flaws, thin cracks, and corrosions that are unidentified by the human eyes.
For example, the ultrasonic sensing module is able to sense inside the pole or inspect the conditions of the bolts and nuts of the high mast lamp post, such as loose or damaged.
[0032] With further reference to FIG. 6, the control system 40 further comprises an extension control module 46 that corresponds and is el eclri cal I y connected to the arm 50. In another embodiment, the extension control module 46 may integrate within the control unit 41.
[0033] In the above embodi merit, the roller legs 20 are mounted on the outer rim of the circular body 10 and the arm 50 is mounted on the inner rim of the circular body 10. However, a person skilled in the art can realize that the circular track 11 may form at the outer rim of the circular body 10 and the roller legs 20 may be mounted on the inner rim of the circular body 10.
[0034] Accordingly, the arm is able to all ow the high mast lamp post robot to perform a close on-site operation directly at the high mast lamp post, which avoids the risk of having human worker to work at such height Furthermore, the working module extends to the functional ides of the arm and satisfies various needs. The functions include, but are not limited to surface testing, grinding, polishing, painting, cleaning, ultrasonic for internal sensing and lamp inspections.
[0035] While the disclosure has been described in connection with a number of embodi ments and implementations, the disclosure is not Ii mited, but covers various obvious modifications and equivalent arrangements, which fall within the appended claims. Although features of the disclosure are expressed in certain combinations among the claims, it is still uncertain that these features can be arranged in any combination and order.
Claims (1)
- Claims: 1. A high mast lamp post robot for inspecting high mast lamp posts, comprising: a circular body; a plurality of roller legs mounted on to the circular body and extended downwards from the circular body, one ends of the roller legs being equidistantly spaced apart and connected to an outer rim of the circular body, another end of each of the roller legs having a roller wheel that is engaged to pole surface of the high mast lamp post, wherein each of the roller legs comprises: a first leg having one end connected to and outer rim of the circular body and another end linked to a single-wheel roller; a second leg having one end connected to and outer rim of the circular body and another end linked to a double-wheel roller; a plurality of monitoring modules being equi distantly spaced apart and mounted on the circular body; and a control system configured for control I ing the roller legs to drive the high mast lamp post with the monitor modules inspecting pole surface of the high mast lamp post 2. The high mast lamp post robot as claimed in claim 1, wherein the circular body has a circular track formed at an inner rim of the circular body, and at least one arm is installed to the circular track and extends upwardly from the circular body, wherein the arm is able to slide 360 degrees along the circular track to perform a specific task.3. The high mast lamp post robot as claimed in claim 2, wherein the arm has a grinding module.4. The high mast lamp post robot as claimed in claim 2, wherein the arm has a painting module.5. The high mast lamp post robot as claimed in claim 2, wherein the arm has an ultrasonic sensing module.6. The high mast lamp post robot as claimed in claim 1, wherein the first leg is composed of two pivotally connected leg pordons, an end of the first leg is connected to the outer rim of the circular body, and another end of the first leg is linked to a single-wheel roller, and the first leg has a hydraulic cylinder rod connected between two distal ends of the leg portions; wherein the control system conlrols the hydraulic cylinder rod and drives the single-wheel roller of the fi rst leg.7. The high mast lamp post robot as claimed in claim 1, wherein the second leg is composed of two pivotally connected leg portion, an end of the second leg is connected to the outer rim of the circular body, and another end of the second leg is linked to a double-wheel roller, and the second leg has a hydraulic cylinder rod connected between two distal ends of the leg portions; wherein the control system controls the hydraulic cylinder rod and drives the double-wheel roller of the second leg.8. The high mast lamp post robot as claimed in claim 1, wherein the control system comprises a control unit a power suppling module, a G PS module, an electronic compass and a wireless transmitting module.9. The high mast lamp post robot as clairjtij in claim 8, wherein a person on the ground uses a terminal device to transmit a command to the control unit via the wireless transmitd ng module, and the control unit instructs the high mast lamp post robot to move to a specific position by using the G PS module and the electronic compass based on the received comrnand.10. The high mast lamp post robot as clairjui in claim 8, wherein the control unit 41 determines a position of the high mast lamp post robot by using the G PS module 43 and the electronic compass 44, and transmits the position of the high mast lamp post robot to a terminal device being used by a person on the ground via the wireless transmitting module 45 for position setting.11. The high mast lamp post robot as claimed in claim 1, further comprising a downward monitoring module mounted underneath the circular body.12. A high mast lamp post robot for inspecting high mast lamp posts, comprising: a circular body having a circular track formed at an inner rim of the circular body; a plurality of roller legs mounted on to the circular body and extended downwards from the circular body, one ends of the roller legs being equidistantly spaced apart and connected to an outer rim of the circular body, another end of each of the roller legs having a roller wheel that is engaged to pole surface of the high mast lamp post at least one arm being instal led onto the circular track through a slider, being extended upwardly from circular body, and being configured to perform a specific task; a plurality of monitori ng modules being equidistantly spaced apart and mounted on the circular body; and a control system being configured for controlling the roller legs to drive the monitor modules that inspects the pole surface of the high mast lamp post
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| HK19127195 | 2019-07-23 | ||
| PCT/CN2020/102768 WO2021013098A1 (en) | 2019-07-23 | 2020-07-17 | High-pole lamp post robot |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| GB202202439D0 GB202202439D0 (en) | 2022-04-06 |
| GB2601266A true GB2601266A (en) | 2022-05-25 |
| GB2601266B GB2601266B (en) | 2024-05-08 |
Family
ID=74192743
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB2202439.2A Active GB2601266B (en) | 2019-07-23 | 2020-07-17 | High-pole lamp post robot |
Country Status (4)
| Country | Link |
|---|---|
| CN (1) | CN114222698A (en) |
| AU (1) | AU2020318124A1 (en) |
| GB (1) | GB2601266B (en) |
| WO (1) | WO2021013098A1 (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104369789A (en) * | 2014-11-10 | 2015-02-25 | 南京邮电大学 | Two-degree-of-freedom digging line robot based on combination driving technology |
| CN106314583A (en) * | 2016-09-18 | 2017-01-11 | 三峡大学 | Articulated-type rod climbing detection robot |
| CN106423659A (en) * | 2016-08-30 | 2017-02-22 | 成都元始信息科技有限公司 | Intelligent climbing paint spraying robot |
| CN106556684A (en) * | 2016-12-01 | 2017-04-05 | 华南理工大学广州学院 | A kind of new electrically driven (operated) detector for cables and detection method |
| US20170180612A1 (en) * | 2015-12-22 | 2017-06-22 | Tech4Imaging Llc | High mass light pole inspection and transport system |
| US20190134824A1 (en) * | 2017-09-21 | 2019-05-09 | Infrastructure Preservation Corporation | Robotic repair system for high mast light poles |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2352930B2 (en) * | 2010-11-23 | 2011-07-18 | Universidad De Oviedo | ROBOTIC PLATFORM FOR POST ASCENT. |
| FI125939B (en) * | 2010-12-30 | 2016-04-15 | Meclimb Oy | Method and apparatus for transporting tools to a workplace along an elongated piece and use of the apparatus |
| CN102582713A (en) * | 2012-02-23 | 2012-07-18 | 西华大学 | Pole-climbing robot with various section shapes |
| CN108499933B (en) * | 2018-03-28 | 2019-06-21 | 山东理工大学 | A kind of pole-climbing sweeping robot |
-
2020
- 2020-07-17 WO PCT/CN2020/102768 patent/WO2021013098A1/en active Application Filing
- 2020-07-17 CN CN202080052790.1A patent/CN114222698A/en active Pending
- 2020-07-17 GB GB2202439.2A patent/GB2601266B/en active Active
- 2020-07-17 AU AU2020318124A patent/AU2020318124A1/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104369789A (en) * | 2014-11-10 | 2015-02-25 | 南京邮电大学 | Two-degree-of-freedom digging line robot based on combination driving technology |
| US20170180612A1 (en) * | 2015-12-22 | 2017-06-22 | Tech4Imaging Llc | High mass light pole inspection and transport system |
| CN106423659A (en) * | 2016-08-30 | 2017-02-22 | 成都元始信息科技有限公司 | Intelligent climbing paint spraying robot |
| CN106314583A (en) * | 2016-09-18 | 2017-01-11 | 三峡大学 | Articulated-type rod climbing detection robot |
| CN106556684A (en) * | 2016-12-01 | 2017-04-05 | 华南理工大学广州学院 | A kind of new electrically driven (operated) detector for cables and detection method |
| US20190134824A1 (en) * | 2017-09-21 | 2019-05-09 | Infrastructure Preservation Corporation | Robotic repair system for high mast light poles |
Also Published As
| Publication number | Publication date |
|---|---|
| AU2020318124A1 (en) | 2022-02-24 |
| GB202202439D0 (en) | 2022-04-06 |
| CN114222698A (en) | 2022-03-22 |
| GB2601266B (en) | 2024-05-08 |
| WO2021013098A1 (en) | 2021-01-28 |
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