CN114609188B - An automatic inspection system for water diversion tunnel - Google Patents
An automatic inspection system for water diversion tunnel Download PDFInfo
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- CN114609188B CN114609188B CN202210063431.7A CN202210063431A CN114609188B CN 114609188 B CN114609188 B CN 114609188B CN 202210063431 A CN202210063431 A CN 202210063431A CN 114609188 B CN114609188 B CN 114609188B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N25/00—Investigating or analyzing materials by the use of thermal means
- G01N25/72—Investigating presence of flaws
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
- G01C22/02—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers by conversion into electric waveforms and subsequent integration, e.g. using tachometer generator
- G01C22/025—Differential odometers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/62—Systems in which the material investigated is excited whereby it emits light or causes a change in wavelength of the incident light
- G01N21/63—Systems in which the material investigated is excited whereby it emits light or causes a change in wavelength of the incident light optically excited
- G01N21/64—Fluorescence; Phosphorescence
- G01N21/6428—Measuring fluorescence of fluorescent products of reactions or of fluorochrome labelled reactive substances, e.g. measuring quenching effects, using measuring "optrodes"
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/62—Systems in which the material investigated is excited whereby it emits light or causes a change in wavelength of the incident light
- G01N21/63—Systems in which the material investigated is excited whereby it emits light or causes a change in wavelength of the incident light optically excited
- G01N21/64—Fluorescence; Phosphorescence
- G01N21/6428—Measuring fluorescence of fluorescent products of reactions or of fluorochrome labelled reactive substances, e.g. measuring quenching effects, using measuring "optrodes"
- G01N2021/6439—Measuring fluorescence of fluorescent products of reactions or of fluorochrome labelled reactive substances, e.g. measuring quenching effects, using measuring "optrodes" with indicators, stains, dyes, tags, labels, marks
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
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- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Immunology (AREA)
- General Health & Medical Sciences (AREA)
- Pathology (AREA)
- Biochemistry (AREA)
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- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Acoustics & Sound (AREA)
- Automation & Control Theory (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Optics & Photonics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Computer Networks & Wireless Communication (AREA)
- Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)
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Abstract
The invention relates to an automatic inspection system of a diversion tunnel, which comprises a track, an inspection device running on the track and a positioning device for positioning the inspection device, wherein the positioning device comprises a position corrector and an odometer, the odometer is matched with a tunnel map for positioning the inspection device, the tunnel is provided with a mark for determining position coordinates, and the corrector is matched with the mark and the tunnel map for correcting errors of the odometer. The invention solves the problems that electric power is difficult to arrange in the diversion tunnel, the automatic inspection device is difficult to determine the accurate position of the automatic inspection device in the diversion tunnel, and the detection device is usually carried manually or manually to carry out the detection.
Description
Technical Field
The invention relates to an automatic inspection system for a diversion tunnel.
Background
The diversion tunnel is a common diversion engineering building, and is usually detected by adopting a manual census method, wherein manual census is firstly carried out, and after the defects are found, professionals are arranged to measure, detect and verify the found defects one by one. The method has the advantages that the method is characterized in that the method comprises the steps of carrying out a water diversion tunnel, arranging electric facilities in the tunnel, arranging lighting facilities in the tunnel, manually screening, comprehensively finding tunnel cracks by means of the carried limited lighting facilities, and carrying detection equipment for entering the tunnel, wherein the automatic inspection system cannot be used because the electric facilities cannot be arranged, the automatic inspection system cannot be used, and the automatic inspection system can only be carried into the tunnel manually.
Disclosure of Invention
The invention aims to provide an automatic inspection system which can be used in a diversion tunnel.
The automatic inspection system for the diversion tunnel comprises a track, an inspection device running on the track and a positioning device for positioning the inspection device, wherein the positioning device comprises a position corrector and an odometer, the odometer is matched with a tunnel map for positioning the inspection device, the tunnel is provided with a mark for determining position coordinates, and the corrector is matched with the mark and the tunnel map for correcting errors of the odometer.
Further, the marker is a magnet placed in the inner wall of the tunnel, the corrector is a magnetic inductor, and when the magnetic inductor induces magnetic flux, the position coordinate of the marker is used as the current position information of the inspection device.
The marker may be engaged with the appliance to form a loop in the appliance or a current may be formed in the loop of the appliance for the appliance to identify the marker and take the position coordinates of the marker as the current position information of the inspection device.
Further, the mark is the dead lever, the unscrambler includes the stopper that can follow the recess of unscrambler and with positive electrode and the negative electrode of stopper isolation, the dead lever is used for promoting the stopper to remove the isolation to stopper positive motor and negative electrode for positive electrode and negative electrode that are connected with power module positive and negative respectively can move in opposite directions and form the conductive loop and produce the current signal after the electricity is connected.
The marker may further comprise magnets provided on both sides of the track, the magnets being configured to generate a magnetic field between the magnets on both sides, an induction coil being provided in a marker identification circuit of the appliance, the induction coil cutting the magnetic field when the induction coil passes through the magnetic field, an induced current being generated in the marker identification circuit to form a current signal.
Further, the system also comprises a calibration device, and when the inspection device detects abnormality, the microprocessor of the inspection device or the manual control calibration device calibrates the section of tunnel.
Furthermore, the calibration device is a spray cylinder, fluorescent powder and compressed gas are arranged in the spray cylinder, an electromagnetic valve is arranged in a spray pipe of the spray cylinder, and the electromagnetic valve can be opened and closed under micro-treatment or manual control.
Further, the track is established at the top of tunnel, is applicable to and hangs the connecting rod on the track, the unscrambler is connected with the connecting rod and establishes in tunnel top below, patrol and examine the device and be connected with the connecting rod and establish in the below of unscrambler, the connecting rod is connected one end with patrol and examine the device and is used for adjusting patrol and examine the device fore-and-aft position for telescopic structure.
Further, the top of tunnel is equipped with the track mounting groove, and the outside of mounting groove is equipped with rotatory waterproof door of opening, and track surface mounting has the waterproof layer, waterproof door and tunnel wall connection one side are equipped with elastic sealing strip.
Further, the pressure equipment spring is used for keeping the water proof door and keeps normally closed between water proof door and the track, the connecting rod is equipped with and is used for opening water proof door's opener, water proof door one end is equipped with the inclined plane, the both sides and the preceding terminal surface of opener are equipped with the inclined plane, and the both sides and the inclined plane of front end of opener are equipped with the gyro wheel, the gyro wheel cooperates with the inclined plane of water proof door and is used for overcoming the pulling force of spring for water proof door opens.
The beneficial effects of the invention are as follows:
(1) In the diversion tunnel, no electric power is arranged, water is conveyed in the tunnel, so that base stations are difficult to arrange like ordinary tunnels and mine tunnels, and the automatic inspection facilities are positioned by using positioning technologies such as WiFi, UWB and the like, and a mark is arranged in the tunnel according to the preset distance, and after the self-walking inspection device runs the preset distance, the position of the inspection device is corrected by the mark, so that the error of the odometer is eliminated, the odometer can relatively accurately determine the real-time position, and the detected defect position is marked in the detected cloud picture.
(2) The specific embodiment of the invention is also provided with the calibration device, and after the automatic inspection device discovers the defects of the tunnel, professional personnel and equipment are required to be arranged to perform professional measurement on the positions of the defects.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention;
FIG. 2 is a schematic view of a track and a watertight door;
FIG. 3 is a schematic view of a connecting rod and positioning device;
FIG. 4 is a schematic cross-sectional view perpendicular to the track direction of example 2;
FIG. 5 is a schematic cross-sectional view of example 2 parallel to the track direction;
fig. 6 is a schematic diagram of example 1 and example 3;
FIG. 7 is a schematic illustration of a spray cartridge;
FIG. 8 is a schematic diagram of an automated inspection system;
fig. 9 is a schematic view of a waterproof door and a connecting rod.
The reference numerals are 1, a track, 2, a patrol device, 3, an appliance, 4, a permanent magnet, 5, a fixing rod, 6, a groove, 7, a limiting block, 8, a positive electrode, 9, a negative electrode, 10, a connecting base, 11, a spring, 12, a spray cylinder, 13, an electromagnetic valve, 14, a connecting rod, 15, a mounting groove, 16, a waterproof door, 17, a waterproof layer, 18, an elastic sealing strip, 19, an opener, 20 and a roller.
Detailed Description
In order to further describe the technical means and effects adopted by the present invention for achieving the intended purpose, the following detailed description will refer to the specific implementation, structure, characteristics and effects according to the present invention with reference to the accompanying drawings and preferred embodiments.
Referring to fig. 1 to 9, the automatic inspection system of the diversion tunnel comprises a track 1, an inspection device 2 running on the track 1 and a positioning device for positioning the inspection device 2, wherein the positioning device comprises a position corrector 3 and an odometer, the odometer is matched with a tunnel map for positioning the inspection device 2, the tunnel is provided with a mark with determined position coordinates, and the corrector 3 is matched with the mark and the tunnel map for correcting errors of the odometer. In this embodiment, the inspection device 2 generally includes a high-precision thermal infrared imager, a laser scanner or an ultrasonic detector, a microprocessor, a memory for storing data, a communication module for transmitting data with the outside, a running device for driving the inspection device 2 to move forward, a power module, a server and a display screen, wherein the server and the display screen are arranged outside and connected with the inspection device 2, and the microprocessor can transmit the data detected by the inspection device 2 to the server in real time through the communication module. The track 1 is arranged at the top of the tunnel, the inspection device 2 is hung on the track 1, and the travelling mechanism comprises a wheel rail and a driving device. The method comprises the following steps that before a patrol device 2 enters a tunnel, the position of the patrol device is accurately determined through a satellite positioning system such as Beidou and the like, initial position information is formed and stored in a memory, the patrol device 2 moves along a track 1 into the tunnel under the drive of a travelling mechanism at a certain speed, the moving speed is usually 2km/h, the patrol device 2 starts to work, the defect of the tunnel is detected, an odometer records the walking distance of the patrol mechanism, travelling mileage data are transmitted to a microprocessor in real time, the microprocessor compares the real-time mileage data of the odometer with the initial position information and a tunnel map, real-time position coordinates of the patrol device 2 are calculated, the real-time position is used as the position information of the tunnel detected by the current patrol device 2, and cloud images or detection section information formed by detection are transmitted to a server or stored in the memory.
Embodiment 1 provides a scheme for correcting the position by using a magnetic sensor, wherein the magnetic sensor is marked as a magnetic mark point and comprises a permanent magnet arranged on the inner wall of a tunnel, and the corrector 3 comprises the magnetic sensor, and when the magnetic sensor induces magnetic flux, the position coordinate of the mark is used as the current position information of the inspection device. In this embodiment, a plurality of magnets 4 are arranged on the tunnel roof in advance according to a predetermined distance, each magnet 4 is numbered sequentially, position coordinate information of each magnet 4 is recorded on a tunnel map in advance, when the patrol device 2 passes through the positions of the magnets 4 in sequence, the magnetic sensor senses magnetic flux, and transmits the sensing information to the microprocessor, and the microprocessor uses the corresponding sequence of marking position information in the tunnel map as current coordinate information and corrects mileage information of the odometer by using the position information. The magnetic mark points buried in the different positions have different magnetic intensities, the intensity data are stored in the memory in advance, and the microprocessor determines the coordinate positions of the mark points by comparing the magnetic field intensity data sensed by the magnetic sensor with the intensity data in the memory and corrects the coordinate positions. According to the method, the problem that when a certain magnetic mark point fails, the position correction is performed according to the sequence of the mark points, the mark in the latter sequence is used as the mark in the former sequence, so that the correction is performed by using the wrong position coordinates is solved, and meanwhile, the interference of the natural permanent magnet in the tunnel can be avoided.
As shown in fig. 3, 4 and 5, the above-mentioned mark may also be used in conjunction with the corrector 3 to form a conductive loop in the corrector 3 or to form a current in the loop of the corrector 3 for the corrector 3 to recognize the mark and use the position coordinates of the mark as the current position information of the positioning device.
Referring to fig. 4, embodiment 2 shows a scheme of precisely correcting the position of the inspection device 2 by using collision induction, labeled as a fixing rod 5, the corrector 3 includes a stopper 7 movable along a groove 6 of the corrector 3 and isolating a positive electrode 8 from a negative electrode 9 by the stopper 7, the fixing rod 5 is used for pushing the stopper 7 to release the isolation of the positive electrode 8 from the negative electrode 9 by the stopper 7, and a connection base 10 of the positive electrode 8 and/or the negative electrode 9 is typically press-fitted with a spring 11, so that the positive electrode 8 and the negative electrode 9 connected with the positive electrode and the negative electrode of the power module respectively can move in opposite directions to be electrically connected to form a conductive loop to generate a current signal. The fixed rod 5 is fixed at the top of the tunnel in advance and can be matched with the limiter, when the inspection device 2 passes through the fixed rod 5 at a certain speed, the fixed rod 5 has a certain speed relative to the inspection device 2, the fixed rod 5 collides with the limiting block 7 and pushes the limiting block 7 to move downwards along the groove 6 along the inclined plane of the limiting block 7 until the limiting block 7 releases the isolation of the positive electrode 8 and the negative electrode 9, and the positive electrode 8 and the negative electrode 9 run in opposite directions under the action of the elasticity of the spring 11 and form contact conductive loop conduction to generate an electric signal. After the fixed rod 5 moves from above the limiting block 7, the limiting block 7 is reset under the action of the bottom spring 11, and the limiting block 7 is provided with an inclined plane for separating the positive electrode 9 from the negative electrode 9. The microprocessor corrects the position of the inspection device 2 according to the electric signal. Since the fixing rod 5 is in contact with the appliance 3 and generates an electric signal in an extremely short distance in this embodiment, accurate correction of the position can be achieved as compared with embodiment 1.
Referring to fig. 5, embodiment 3 further includes magnets 4 provided at both sides of the track 1, the magnets 4 are used to generate a magnetic field between the magnets 4 at both sides, an induction coil is provided in a tag recognition circuit of the corrector 3, and when the induction coil passes through the magnetic field, the induction coil cuts the magnetic field, and an induced current is generated in the tag recognition circuit to form a current signal, which can be sensed by a current sensor, and the microprocessor corrects the position of the inspection device 2 according to the current signal. The magnet 4 is preferably a permanent magnet 4.
In embodiments 2 and 3, the fixing rod 5 or the magnet 4 may fall off, so that a certain mark fails, but in the embodiments, the sequential positions of the marks are corrected sequentially, when a certain mark point does not function properly, the position coordinates of the subsequent position correction may be corrected by using wrong position coordinates, in this embodiment, when the microprocessor corrects the position, the position coordinates of the mark may be compared with real-time position coordinates calculated according to the odometer, and when the difference between the position coordinates of the two is greater than the error value, the microprocessor sends alarm information to the server, and the server staff manually corrects the position of the inspection device 2.
Referring to fig. 3 and 7, in the foregoing embodiment 1, embodiment 2 and embodiment 3, the device further includes a calibration device, when the inspection device 2 detects an abnormality, the microprocessor of the inspection device 2 or the calibration device is controlled manually to calibrate the tunnel, the calibration device may include a spray tube 12, the spray tube 12 is internally provided with fluorescent powder and compressed gas, an electromagnetic valve 13 is disposed in a spray tube of the spray tube 12, the electromagnetic valve 13 may be opened and closed under micro-processing or manual control, and when the abnormality is detected, the microprocessor controls the electromagnetic valve 13 of the spray tube 12 to be opened, and the fluorescent powder is sprayed and adhered on the tunnel wall under the action of the compressed gas. The diversion tunnel is difficult to locate, even if the automatic inspection device 2 has determined the approximate scope of the defect, the following professional still needs to spend more time to find the actual position of the defect marked by the inspection device 2, and the embodiment can enable the following professional inspector to quickly find the defect position by combining the illumination facility with the defect cloud picture. The corresponding fluorescent powder can also be magnetic powder, and the calibrating device can also be other devices in the prior art.
Referring to fig. 1,2 and 3, in the above embodiment, the track 1 is disposed at the top of the tunnel, the connecting rod 14 is suspended on the track 1, the corrector 3 is connected with the connecting rod 14 and disposed below the top of the tunnel, the inspection device 2 is connected with the connecting rod 14 and disposed below the corrector 3, one end of the connecting rod 14 connected with the inspection device 2 is in a telescopic structure for adjusting the longitudinal position of the inspection device 2, and the inspection device 2 is generally suitable for being disposed on the central line of the tunnel.
Referring to fig. 2 and 3, in the above embodiment, the top of the tunnel is provided with a placement groove 15 of the track 1, the outer side of the placement groove 15 is provided with a rotary opening waterproof door 16, the surface of the track 1 is provided with a waterproof layer 17, and one side of the waterproof door 16 connected with the tunnel wall is provided with an elastic sealing strip 18. The spring 11 is arranged between the waterproof door 16 and the track 1 in a pressing mode to keep the waterproof door 16 normally closed, the connecting rod 14 is provided with an opener 19 for opening the waterproof door 16, one end of the waterproof door 16 is provided with inclined planes, two sides and the front end face of the opener 19 are provided with inclined planes, the inclined planes of the two sides and the front end of the opener 19 are provided with rollers 20, and the rollers 20 are matched with the inclined planes of the waterproof door 16 to overcome the pulling force of the spring 11 so that the waterproof door 16 is opened.
The present invention is not limited in any way by the above-described preferred embodiments, but is not limited to the above-described preferred embodiments, and any person skilled in the art will appreciate that the present invention can be embodied in the form of a program for carrying out the method of the present invention, while the above disclosure is directed to equivalent embodiments capable of being modified or altered in some ways, it is apparent that any modifications, equivalent variations and alterations made to the above embodiments according to the technical principles of the present invention fall within the scope of the present invention.
Claims (6)
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210063431.7A CN114609188B (en) | 2022-01-20 | 2022-01-20 | An automatic inspection system for water diversion tunnel |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210063431.7A CN114609188B (en) | 2022-01-20 | 2022-01-20 | An automatic inspection system for water diversion tunnel |
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| CN114609188A CN114609188A (en) | 2022-06-10 |
| CN114609188B true CN114609188B (en) | 2025-06-20 |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107688341A (en) * | 2016-08-05 | 2018-02-13 | 深圳市朗驰欣创科技股份有限公司 | The control method and control system of electric power tunnel lamp automatic detecting |
| CN112729405A (en) * | 2020-12-29 | 2021-04-30 | 上海市东方海事工程技术有限公司 | Suspension type tunnel inspection device, system and method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4641306B2 (en) * | 2004-05-28 | 2011-03-02 | 三菱電機株式会社 | Rail joint detection device for elevator and elevator device |
| CN105082180B (en) * | 2015-08-04 | 2018-01-02 | 杭州华能工程安全科技股份有限公司 | A kind of Tunnel testing robot and detection method |
| CN110341749B (en) * | 2019-07-24 | 2021-04-16 | 武汉大学 | Track disease inspection robot system and control method |
| CN110553663A (en) * | 2019-10-08 | 2019-12-10 | 上海市东方海事工程技术有限公司 | Comprehensive track detection method and system based on RFID (radio frequency identification) positioning technology |
| CN213928637U (en) * | 2020-10-27 | 2021-08-10 | 中国大唐集团新能源科学技术研究院有限公司 | Automatic inspection device for pipeline type wind turbine generator cabin |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107688341A (en) * | 2016-08-05 | 2018-02-13 | 深圳市朗驰欣创科技股份有限公司 | The control method and control system of electric power tunnel lamp automatic detecting |
| CN112729405A (en) * | 2020-12-29 | 2021-04-30 | 上海市东方海事工程技术有限公司 | Suspension type tunnel inspection device, system and method |
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