CN106863327A - A kind of intelligent machine arm dust pelletizing system based on human bioequivalence - Google Patents
A kind of intelligent machine arm dust pelletizing system based on human bioequivalence Download PDFInfo
- Publication number
- CN106863327A CN106863327A CN201710195914.1A CN201710195914A CN106863327A CN 106863327 A CN106863327 A CN 106863327A CN 201710195914 A CN201710195914 A CN 201710195914A CN 106863327 A CN106863327 A CN 106863327A
- Authority
- CN
- China
- Prior art keywords
- pelletizing system
- dust pelletizing
- intelligent machine
- sensor
- machine arm
- 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.)
- Pending
Links
- 239000000428 dust Substances 0.000 title claims abstract description 74
- 238000005453 pelletization Methods 0.000 title claims abstract description 36
- 238000001514 detection method Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 abstract description 9
- 238000004134 energy conservation Methods 0.000 abstract description 3
- 230000007812 deficiency Effects 0.000 abstract description 2
- 230000036541 health Effects 0.000 abstract description 2
- 230000006872 improvement Effects 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000000875 corresponding effect Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000005616 pyroelectricity Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B15/00—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area
- B08B15/04—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area from a small area, e.g. a tool
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/086—Proximity sensors
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
A kind of intelligent machine arm dust pelletizing system based on human bioequivalence belongs to occupational health technical field, including main controller, mechanical arm, sensor cluster and limit sensors, the mechanical arm includes dust shield, machinery frame, machinery frame vertical rod, servomotor base, servomotor, stepper motor, hose and servo controller.The present invention realizes positioning the crossings on different level of human body in dedusting region by laying sensor cluster in dedusting region, can position of the automatic identification human body target in dedusting region, this dust pelletizing system can be automatically opened or closed with the appearing and subsiding of human body；The position of hose and the direction of dust shield intelligence can change with the movement of position of human body, so as to carry out the intelligent dedusting of efficient, energy-conservation and hommization, the deficiency of traditional dust removal with machine for manually changing dust pelletizing system direction is changed, can be extensively using the place for needing improvement practitioner's working environment.
Description
Technical field
The invention belongs to occupational health technical field, especially relate to a kind of intelligent machine arm based on human bioequivalence and remove
Dirt system.
Background technology
In power industry device fabrication enterprise, practitioner works in being chronically at poor air ambient.Traditional
Cleaner is generally the mode of simple and mechanical unified exhaust duct dedusting, its hose and dust shield or fixed-direction, or is needed
To adjust manually, it is impossible to change with the movement of people, dust removing effects are bad.
Therefore being needed badly in the middle of prior art wants a kind of new technical scheme to solve this problem.
The content of the invention
The technical problems to be solved by the invention are：A kind of intelligent machine arm dust pelletizing system based on human bioequivalence is provided to use
Can not change with the movement of people in the cleaner for solving traditional, the bad technical problem of dust removing effects.
A kind of intelligent machine arm dust pelletizing system based on human bioequivalence, including main controller, mechanical arm, sensor cluster and limit
Level sensor,
The mechanical arm includes dust shield, machinery frame, machinery frame vertical rod, servomotor base, servomotor, stepping
Motor, hose and servo controller；One end of the machinery frame is fixedly connected with dust shield, the other end of machinery frame
It is connected with machinery frame vertical rod by rotary shaft I；The bottom of the machinery frame vertical rod is by rotary shaft II and servomotor bottom
Seat connection；The servomotor base is connected with servomotor；The servomotor is connected with servo controller；The stepping electricity
Machine at least two, one of stepper motor is connected by driving chain with the rotary shaft I, and another stepper motor passes through
Driving chain is connected with the rotary shaft II；One end of the hose is fixedly connected with dust shield, hose it is another
The through hole set through the lower sidewall of machinery frame vertical rod is held to be connected to the outside of machinery frame vertical rod and with asepwirator pump；
The sensor cluster is used for the human body positioning in its detection zone；
The limit sensors are fixedly mounted on dust shield, the rotational angle for limiting dust shield；
The main controller is connected with servo controller, stepper motor, asepwirator pump, sensor cluster and limit sensors,
Main controller is turned to by servo controller and step motor control mechanical arm, stretched, positioned and preventing collision protection.
The main controller uses MSP430 single-chip microcomputers.
The hose is located at the inside of machinery frame and machinery frame vertical rod.
The sensor cluster includes pyroelectric infrared sensor, distance measuring sensor and photoelectric sensor.
The quantity of the sensor cluster is two or more, wherein, at least one sensor cluster is fixedly mounted on machinery
Skeletal internal and positioned at the junction of machinery frame and dust shield, remaining sensor cluster is fixedly mounted on the intelligent machine
In the dedusting region of tool arm dust pelletizing system.
The sensor cluster sets in the horizontal direction on the side wall in the dedusting region of the intelligent machine arm dust pelletizing system
An at least row is equipped with, an at least row is provided with the top of the dedusting region of the intelligent machine arm dust pelletizing system.
The quantity at least two of the limit sensors, limit sensors are fixedly mounted on the both sides of dust shield.
The distance measuring sensor is radar sensor.
By above-mentioned design, the present invention can bring following beneficial effect：
The present invention realizes that the crossings on different level to human body in dedusting region is determined by laying sensor cluster in dedusting region
Position, can position of the automatic identification human body target in dedusting region, this dust pelletizing system can with the appearing and subsiding of human body from
It is dynamic to open or close；The position of hose and the direction of dust shield intelligence can change with the movement of position of human body, so that
The intelligent dedusting of efficient, energy-conservation and hommization is carried out, traditional machinery for manually changing dust pelletizing system direction is changed and is removed
The deficiency of dirt, can be extensively using the place for needing improvement practitioner's working environment.
Mechanical arm is the mechanical arm that six degree of freedom is rotated, and is rotated by servomotor and step motor control.Main controller root
Dust shield is moved to the position nearer apart from human body by the positional information of the human body target monitored according to sensor cluster, control machinery arm
Put, realize more accurate, intelligence dust removing effects, and guarantee will not touch human body, realize the protection to people.
The present invention changes mechanical arm or mechanical structure class device is unable to the shortcoming of intelligent behaviour, and monolithic is used by design
The control system and servo-control system of movement piece are combined, and control drives servomotor, stepper motor, will original single entirety
Machine driving become the controllable intelligent behaviour machinery arm unit of intelligence, with reference to the cleaner of high-efficiency environment friendly energy-conservation, to reach
Intelligent automatic tracing positioning target and the purpose of automatic dust removing work.
Brief description of the drawings
Below in conjunction with the drawings and specific embodiments, the present invention is further illustrated：
Fig. 1 is a kind of workflow block diagram of the intelligent machine arm dust pelletizing system based on human bioequivalence of the present invention.
Fig. 2 be in a kind of intelligent machine arm dust pelletizing system based on human bioequivalence of the present invention sensor cluster in vertical direction
Detection direction schematic diagram.
Fig. 3 is that sensor cluster is in the horizontal direction in a kind of intelligent machine arm dust pelletizing system based on human bioequivalence of the present invention
Detection direction schematic diagram.
Fig. 4 is the crossings on different level of sensor cluster in a kind of intelligent machine arm dust pelletizing system based on human bioequivalence of the present invention
Detection schematic diagram.
Fig. 5 is that the layout of sensor cluster in a kind of intelligent machine arm dust pelletizing system based on human bioequivalence of the present invention is illustrated
Figure.
Fig. 6 is the layout side-looking of sensor cluster in a kind of intelligent machine arm dust pelletizing system based on human bioequivalence of the present invention
Schematic diagram.
Fig. 7 is the structural representation of mechanical arm in a kind of intelligent machine arm dust pelletizing system based on human bioequivalence of the present invention.
1- main controllers, 2- mechanical arms, 3- sensor clusters, 4- limit sensors, 201- dust shields, 202- machinery bones in figure
Frame, the vertical rod of 203- machinery frames, 204- servomotors base, 205- servomotors, 206- stepper motors, 207- hoses.
Specific embodiment
As illustrated, a kind of intelligent machine arm dust pelletizing system based on human bioequivalence, including main controller 1, mechanical arm 2, biography
Sensor component 3 and limit sensors 4,
The mechanical arm 2 include dust shield 201, machinery frame 202, machinery frame vertical rod 203, servomotor base 204,
Servomotor 205, stepper motor 206, hose 207 and servo controller；One end of the machinery frame 202 and dust shield
201 are fixedly connected, and the other end of machinery frame 202 is connected by rotary shaft I with machinery frame vertical rod 203；The machinery frame
The bottom of vertical rod 203 is connected by rotary shaft II with servomotor base 204；The servomotor base 204 and servomotor
205 connections；The servomotor 205 is connected with servo controller；The quantity of the stepper motor 206 is two, one of them
Stepper motor 206 is connected by driving chain with the rotary shaft I, another stepper motor 206 by driving chain with it is described
Rotary shaft II is connected；The hose 207 is located at the inside of machinery frame 202 and machinery frame vertical rod 203, hose
207 one end is fixedly connected with dust shield 201, and the other end of hose 207 passes through the lower sidewall of machinery frame vertical rod 203
The through hole of setting is connected to the outside of machinery frame vertical rod 203 and with asepwirator pump；
The sensor cluster 3 includes pyroelectric infrared sensor, distance measuring sensor and photoelectric sensor, and pyroelectricity
In a sleeve pipe, sensor cluster 3 is used to feel the combination of infrared sensor, distance measuring sensor and photoelectric sensor three kinds of sensors
Know the position and movement information of human body target.The quantity of sensor cluster 3 is two or more, wherein at least one sensor cluster
3 are fixedly mounted on the inside of machinery frame 202 and positioned at machinery frame 202 and the junction of dust shield 201, for preventing machinery
Arm collides human body target when acting, and remaining sensor cluster 3 is fixedly mounted on removing for the intelligent machine arm dust pelletizing system
In dirt region, sensor cluster 3 is horizontally disposed on the side wall in the dedusting region of the intelligent machine arm dust pelletizing system
There is an at least row, an at least row is provided with the top of the dedusting region of the intelligent machine arm dust pelletizing system, realize workspace
Crossings on different level in domain to human body is positioned, as shown in Figure 4；
The quantity of the limit sensors 4 is two, and limit sensors 4 are fixedly mounted on the both sides of dust shield 201, prevent
The angle of the left-right rotation of dust shield 201 is excessive, with the connecting portion for avoiding injuring behind dust shield 201；
The main controller 1 and servo controller, stepper motor 206, asepwirator pump, sensor cluster 3 and limit sensors 4
Connection.
The main controller 1 uses the MSP430 single-chip microcomputers of low-power consumption, is the control unit of the system.Main controller 1 is according to biography
The positional information of the human body target of the monitoring of sensor component 3, control machinery arm 2 moves to dust shield 201 nearer apart from human body
Position, realizes more accurate, intelligence dust removing effects, realizes the protection to people.
The principle of the pyroelectric infrared sensor is, according to 37 ° or so of human body stationary temperature, to give off certain wave
The infrared ray of 10UM long or so, pyroelectric infrared-sensing element provides corresponding letter according to the infrared ray for receiving specific wavelength
Number, while having the advantages that low energy consumption, and volume radiosensitive to thermal source are small.
The distance measuring sensor is radar sensor, and launch electromagnetic wave by electromagnetic wave detection target exploitation is carried out to target
The back wave after irradiation target is irradiated and received, distance of the target away from electromagnetic emission point, distance change, orientation is thus obtained high
The information such as degree.
The photoelectric sensor is the sensor using photoelectric cell as detecting element, optical signal infrared ray, visible ray
And the optical signal such as ultraviolet radiation is transformed into electric signal, its principle is that measured change is first converted into the change of optical signal
Change, then further convert optical signals into electric signal by photoelectric cell.
The present invention is in order to be made a response to object shading in target area, by photoelectric sensor using photoelectric sensor
Work so as to control the action of distance measuring sensor, when photoelectric sensor receives change information, pass information to main controller
1, main controller 1 is analyzed to sensor information and determines whether to find range shading object in target area, such as needs range finding,
Then order distance measuring sensor work, and data measured is uploaded to main controller 1.
The characteristic that the present invention is irradiated using linear sensor, by sensor cluster, 3 points is the sensor cluster 3 of vertical direction
With the sensor cluster 3 of horizontal direction, while sensor straight line irradiation can be depicted as geometric triangulation shape, such as Fig. 2 and Fig. 3 institutes
Show, therefore vertical direction sensor cluster 3 thus can accurately be shown to any length of side evaluation using formula of mathematical
With the intersection information of horizontal direction sensor cluster 3, MSP430 SCM systems are according to detected by sensor cluster 3
Information, for realizing in search coverage to the crossings on different level of human body target positioning, as shown in Figure 4.
As shown in fig. 7, mechanical arm 2 is intelligent machine motor unit, from the mechanical arm that six degree of freedom is rotated, by stepping electricity
Machine 206, servomotor 205, servo controller, hose 207, sensor cluster 3, limit sensors 4, machinery frame 202
Deng composition.Servo controller is the controller of the work of servomotor 205, because the present invention is patrolled using servo controller for programmable
Device (PLC) is collected, PLD (PLC) is all with pulse signal, so servo controller is according to main controller 1
Instruction, the revolution of precalculated servomotor 205 or the distance to be walked, pulse signal is sent out in proportion to be made to watch to servo controller
Take motor 205 and reach and be accurately controlled.Emphasis unit of the invention be servo controller directly according to main controller 1 be transmitted through come fortune
The signal that line command data are directly changed into control servomotor 205 completes intelligent machine action.
In the present invention, employ servomotor 205 and stepper motor 206 is combined, intelligence is carried out under the instruction of main controller 1
Can action.The wherein operation principle of stepper motor 206 and servomotor 205 compares similar, but stepper motor 206 does not need servo
Controller, stepper motor 206 performs the machinery of the angular displacement of stepper motor 206 or point displacement of the lines according to the pulse command of main controller 1
Action, any action of stepper motor 206 each depends on digital pulse signal.Therefore servomotor 205 and stepper motor 206 exist
It is similar in control, it is also by digital pulse signal control, with the use of the intelligent behaviour control for completing whole mechanical arm so that
The accurate intelligently corresponding actions of each mechanical component of mechanical arm.
By the inside of the built-in machines arm 2 of hose 207, so both can guarantee that mechanical arm 2 was not divulged information in intelligent behaviour
The limitation of pipeline, can not disturb whole intelligent machine arm unit constantly to carry out dedusting work on the premise of acting again.In mechanical arm 2
The left and right sides of dust shield 201, be respectively mounted with a limit sensors 4, prevent the angle of the left-right rotation of dust shield 201 excessive,
With the connecting portion for avoiding injuring behind dust shield 201.A sensor cluster 3 is also equipped with mechanical arm 2, for anticollision
Etc. Intelligent treatment.
The intelligent machine arm dust pelletizing system of present invention design is beaten automatically with the appearing and subsiding of human body in dedusting region
Open or close and close, dedusting region can also be called search coverage；When people is in search coverage, this dust pelletizing system can Based Intelligent Control suction
Dirt flexible pipe 207 is automatically moved to the position nearer apart from human body, and by the position where the direction alignment human body of dust shield 201.
The present invention is combined in a sleeve pipe by by three kinds of sensors, a sensor cluster 3 is formed, using this three kinds
Sensor, crossings on different level layout is carried out in search coverage, by after the SCM system calculation process of main controller 1, realizing to visiting
Human body target is accurately positioned in survey region.
The present invention utilizes SCM system, stepper motor 206 and the integration of operation of servomotor 205 of main controller 1, by control
The parameters such as the speed of motor processed, angle and displacement, realize auto-steering, stretching, extension, positioning and the anti-collision of the mechanical arm 2 of six degree of freedom
Hit the intelligent action such as protection.
Claims (8)
1. a kind of intelligent machine arm dust pelletizing system based on human bioequivalence, it is characterized in that：Including main controller (1), mechanical arm (2),
Sensor cluster (3) and limit sensors (4),
The mechanical arm (2) includes dust shield (201), machinery frame (202), machinery frame vertical rod (203), servomotor base
(204), servomotor (205), stepper motor (206), hose (207) and servo controller；The machinery frame (202)
One end be fixedly connected with dust shield (201), the other end of machinery frame (202) is by rotary shaft I and machinery frame vertical rod
(203) connect；The bottom of the machinery frame vertical rod (203) is connected by rotary shaft II with servomotor base (204)；It is described
Servomotor base (204) is connected with servomotor (205)；The servomotor (205) is connected with servo controller；The step
Stepper motor (206) at least two, one of stepper motor (206) is connected by driving chain with the rotary shaft I, another
Individual stepper motor (206) is connected by driving chain with the rotary shaft II；One end of the hose (207) and dust shield
(201) it is fixedly connected, the other end of hose (207) passes through the through hole of the lower sidewall setting of machinery frame vertical rod (203)
It is connected to the outside of machinery frame vertical rod (203) and with asepwirator pump；
The sensor cluster (3) is for the human body positioning in its detection zone；
The limit sensors (4) are fixedly mounted on dust shield (201), the rotational angle for limiting dust shield (201)；
The main controller (1) and servo controller, stepper motor (206), asepwirator pump, sensor cluster (3) and spacing sensing
Device (4) is connected, main controller (1) is turned to by servo controller and stepper motor (206) control machinery arm (2), stretched, positioning and
Preventing collision protection.
2. a kind of intelligent machine arm dust pelletizing system based on human bioequivalence according to claim 1, it is characterized in that：The master
Control device (1) uses MSP430 single-chip microcomputers.
3. a kind of intelligent machine arm dust pelletizing system based on human bioequivalence according to claim 1, it is characterized in that：The suction
Dirt flexible pipe (207) is positioned at machinery frame (202) and the inside of machinery frame vertical rod (203).
4. a kind of intelligent machine arm dust pelletizing system based on human bioequivalence according to claim 1, it is characterized in that：The biography
Sensor component (3) includes pyroelectric infrared sensor, distance measuring sensor and photoelectric sensor.
5. a kind of intelligent machine arm dust pelletizing system based on human bioequivalence according to claim 1 or 4, it is characterized in that：Institute
The quantity of sensor cluster (3) is stated for two or more, wherein, at least one sensor cluster (3) is fixedly mounted on machinery frame
(202) inside and positioned at machinery frame (202) and the junction of dust shield (201), the fixed peace of remaining sensor cluster (3)
In the dedusting region of the intelligent machine arm dust pelletizing system.
6. a kind of intelligent machine arm dust pelletizing system based on human bioequivalence according to claim 5, it is characterized in that：The biography
Sensor component (3) is horizontally disposed on the side wall in the dedusting region of the intelligent machine arm dust pelletizing system at least one
Row, is provided with an at least row at the top of the dedusting region of the intelligent machine arm dust pelletizing system.
7. a kind of intelligent machine arm dust pelletizing system based on human bioequivalence according to claim 1, it is characterized in that：The limit
The quantity at least two of level sensor (4), limit sensors (4) are fixedly mounted on the both sides of dust shield (201).
8. a kind of intelligent machine arm dust pelletizing system based on human bioequivalence according to claim 4, it is characterized in that：The survey
It is radar sensor away from sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710195914.1A CN106863327A (en) | 2017-03-29 | 2017-03-29 | A kind of intelligent machine arm dust pelletizing system based on human bioequivalence |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710195914.1A CN106863327A (en) | 2017-03-29 | 2017-03-29 | A kind of intelligent machine arm dust pelletizing system based on human bioequivalence |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106863327A true CN106863327A (en) | 2017-06-20 |
Family
ID=59160343
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710195914.1A Pending CN106863327A (en) | 2017-03-29 | 2017-03-29 | A kind of intelligent machine arm dust pelletizing system based on human bioequivalence |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106863327A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107713908A (en) * | 2017-11-14 | 2018-02-23 | 国网黑龙江省电力有限公司信息通信公司 | A kind of dust removal method of calculator room equipment |
| CN107918390A (en) * | 2017-11-14 | 2018-04-17 | 国网黑龙江省电力有限公司信息通信公司 | A kind of dust pelletizing system of the calculator room equipment based on machine vision |
| CN112139713A (en) * | 2020-09-29 | 2020-12-29 | 山东一清环保设备有限公司 | Welding smoke purifying robot and using method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120111845A1 (en) * | 2009-07-17 | 2012-05-10 | Diversitech Equipment And Sales (1984) Ltd. | Fume extraction system with automatic fume hood positioning |
| CN104627770A (en) * | 2015-02-26 | 2015-05-20 | 苏州常实工业设备有限公司 | Human body recognition protecting device of elevator |
| CN105243773A (en) * | 2015-09-25 | 2016-01-13 | 国网山东省电力公司经济技术研究院 | Portable intelligent alarm fence and human proximity detection method |
| CN205852109U (en) * | 2016-08-10 | 2017-01-04 | 湖南华菱节能环保科技有限公司 | Automatic tracking welding connects cleaner unit |
| CN206677966U (en) * | 2017-03-29 | 2017-11-28 | 国家电网公司 | A kind of intelligent machine arm dust pelletizing system based on human bioequivalence |
-
2017
- 2017-03-29 CN CN201710195914.1A patent/CN106863327A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120111845A1 (en) * | 2009-07-17 | 2012-05-10 | Diversitech Equipment And Sales (1984) Ltd. | Fume extraction system with automatic fume hood positioning |
| CN104627770A (en) * | 2015-02-26 | 2015-05-20 | 苏州常实工业设备有限公司 | Human body recognition protecting device of elevator |
| CN105243773A (en) * | 2015-09-25 | 2016-01-13 | 国网山东省电力公司经济技术研究院 | Portable intelligent alarm fence and human proximity detection method |
| CN205852109U (en) * | 2016-08-10 | 2017-01-04 | 湖南华菱节能环保科技有限公司 | Automatic tracking welding connects cleaner unit |
| CN206677966U (en) * | 2017-03-29 | 2017-11-28 | 国家电网公司 | A kind of intelligent machine arm dust pelletizing system based on human bioequivalence |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107713908A (en) * | 2017-11-14 | 2018-02-23 | 国网黑龙江省电力有限公司信息通信公司 | A kind of dust removal method of calculator room equipment |
| CN107918390A (en) * | 2017-11-14 | 2018-04-17 | 国网黑龙江省电力有限公司信息通信公司 | A kind of dust pelletizing system of the calculator room equipment based on machine vision |
| CN107713908B (en) * | 2017-11-14 | 2020-06-23 | 国网黑龙江省电力有限公司信息通信公司 | Dust removal method for machine room equipment |
| CN112139713A (en) * | 2020-09-29 | 2020-12-29 | 山东一清环保设备有限公司 | Welding smoke purifying robot and using method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103431812B (en) | A kind of clean robot based on ultrasonic radar detection and ambulation control method thereof | |
| CN209574563U (en) | Clean robot | |
| CN205219101U (en) | Service robot of family | |
| CN106863327A (en) | A kind of intelligent machine arm dust pelletizing system based on human bioequivalence | |
| CN102590884A (en) | Human body positioning and following system and method based on pyroelectric infrared sensors | |
| CN102890509B (en) | Automatic drive device, guidance system and moving method thereof | |
| CN206227364U (en) | Batterylaying healthy behavior monitoring system based on robot | |
| CN206677966U (en) | A kind of intelligent machine arm dust pelletizing system based on human bioequivalence | |
| WO2018228254A1 (en) | Mobile electronic device and method for use in mobile electronic device | |
| CN107065673A (en) | A kind of warmhouse booth ambient intelligence monitoring system based on robot | |
| CN109176503A (en) | A kind of intelligent path detection robot and path detection method based on bionical antenna | |
| CN103934819A (en) | Manipulator and composite material large-scale shell automatic profile modeling system | |
| CN202825840U (en) | Visual robot under the condition of wireless network | |
| CN107765681A (en) | A kind of crusing robot and cruising inspection system | |
| CN110108202A (en) | A kind of hydraulic support apparatus for detecting position and posture and method | |
| CN206459622U (en) | Gardens town road traffic survey tool | |
| CN106123956A (en) | Room automatic detection device and method in a kind of closing based on image real-time acquisition and simulation comparison technology | |
| CN206291284U (en) | A kind of automatic anti-tampering range hood | |
| CN106534791A (en) | Three-dimensional motion observation and intelligent tracking device of large spiders | |
| CN202453519U (en) | Human body positioning and following system based on pyroelectric infrared sensor | |
| CN204189024U (en) | A kind of signals collecting robot | |
| CN206684540U (en) | A kind of warmhouse booth ambient intelligence monitoring system based on FPGA | |
| CN207182092U (en) | A kind of drive device for mobile robot | |
| CN209755231U (en) | Robot system for tunnel inspection | |
| CN103993571A (en) | Linkage control system capable of allowing dust suction inlet of track street clearing vehicle to avoid obstacles accurately |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |