CN109905667A - A kind of video monitoring system suitable for large span special construction bridge - Google Patents
A kind of video monitoring system suitable for large span special construction bridge Download PDFInfo
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- CN109905667A CN109905667A CN201910120475.7A CN201910120475A CN109905667A CN 109905667 A CN109905667 A CN 109905667A CN 201910120475 A CN201910120475 A CN 201910120475A CN 109905667 A CN109905667 A CN 109905667A
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Abstract
The present invention relates to a kind of video monitoring systems suitable for large span special construction bridge, comprising: is laid in monitoring device and the remote server connecting with the monitoring device in the bridge structure；The monitoring device includes: fixed point video camera and dollying Monitor And Control Subsystem；The fixed point video camera is realized by optical fiber and is transmitted with the remote server data；The dollying Monitor And Control Subsystem includes: guide rail, power supply unit and the guide tracked crusing robot for carrying video camera；The guide tracked crusing robot is realized by MESH network transceiver and is transmitted with the remote server data；The remote server realizes that the video camera carried to the fixed point video camera, guide tracked crusing robot and guide tracked crusing robot carries out action control, acquisition and processing monitoring information, and alarms abnormal conditions.The system, which is realized, carries out conduct monitoring at all levels to bridge structure；The labor intensity that personnel are greatly reduced while guaranteeing detection accuracy, improves work efficiency.
Description
Technical field
The present invention relates to technical field of bridge engineering, in particular to a kind of video suitable for large span special construction bridge
Monitoring system.
Background technique
Road bureau high-speed rail track division subordinate where most large span special construction bridges are divided by route mileage in high-speed rail
Other bridges in workshop, with administrative mileage uniformly carry out maintenance and management, and the feeding unit of pipe is seldom directed to certain seat or a few seats are big
Span special construction bridge specially arranges workshop to be managed.Although only a few Very Large Bridge specially sets up workshop, it is engaged in inspection
Maintenance work, but still remain the problems such as service personnel lacks, working efficiency is low and inspection is not in place.Recently as bridge
The development of technology, bridge structure design is more diversified, the engineering scale of construction is big, structural member is complicated, even more increases manual inspection
Difficulty, therefore, improve bridge routine inspection mode, upgrading inspection device have urgent necessity.
Above-mentioned so-called special construction bridge, generally refers to: continuous bridge, steel truss girder bridge, cable-stayed bridge, arch bridge, combination knot
Structure etc..
In recent years, the development of computer technology and the universal of network are greatly promoted the development of Video Supervision Technique and answer
Started by simple scene surveillance function with, video monitoring system towards having data analysis, target tracking and Risk-warning etc. concurrently
The intelligent direction of function develops, and application range is also extended by traditional key monitoring unit towards every profession and trade and place.Example
Such as, by installing video camera in freeway toll station, Important Sections and bridge tunnel equipotential, express highway intelligent can be established
Platform is managed, according to the Real-time image analysis of traffic information, realizes the real time monitoring to traffic information, violation vehicle detection, road
The early warning etc. of face unusual condition；
Currently, intelligent video monitoring system has obtained well in fields such as traffic, security protection, construction monitoring and industrial inspections
Using, and its in railroad bridge inspection there has been no practical application example, intelligent video monitoring system is applied to railway by research
The inspection of bridge works, for overcoming the problems, such as that railroad bridge inspection heavy workload, low efficiency, operation are nonstandard with important meaning
Justice.
The visual examination of bridge mainly or by manually range estimation, telescope is observed in current Bridges in Our Country inspection work
Or scaffold closely observation etc. is set up, these method operating efficiencies are low, take up a large area, and influence traffic safety, and operation is not
Specification, construction risk are larger.
Summary of the invention
It is an object of the present invention to which the visual examination for large span special construction bridge works, propose that one kind is suitable for
The inspection that intelligent Video Surveillance Technology is applied to railroad bridge is worked, railroad bridge is overcome to patrol by the video surveillance program of bridge
Examine heavy workload, low efficiency and the nonstandard problem of operation.
In order to solve the above-mentioned technical problem, the embodiment of the present invention provides a kind of view suitable for large span special construction bridge
Frequency monitoring system, comprising:
It is laid in monitoring device and the remote server connecting with the monitoring device on the structural bridge；
The monitoring device includes: fixed point video camera and dollying Monitor And Control Subsystem；
The fixed point video camera is realized by optical fiber and is transmitted with the remote server data；
The dollying Monitor And Control Subsystem includes: guide rail, power supply unit and the guide tracked inspection machine for carrying video camera
People；The guide rail is laid on the structural bridge, and the guide tracked crusing robot operates on the guide rail, the power supply
Device is used to provide power supply for the guide tracked crusing robot；
The guide tracked crusing robot is realized by MESH network transceiver and is transmitted with the remote server data；
The remote server is realized to the fixed point video camera, guide tracked crusing robot and guide tracked inspection machine
The video camera that people is carried carries out action control, acquisition and processing monitoring information, and alarms abnormal conditions.
In one embodiment, the fixed point video camera uses holder integration high-definition network camera；Multiple clouds
Pre-determined distance is spaced between platform integration high-definition network camera to be arranged on the truss of bridge；The pre-determined distance is less than described
The diameter of holder integration high-definition network camera visual range.
In one embodiment, the video camera that the guide tracked crusing robot carries is that holder integration high-definition network is taken the photograph
Camera；
The guide tracked crusing robot also carries sound pick-up, stereo set and sensing equipment.
In one embodiment, the sensing equipment includes one or more of:
Temperature Humidity Sensor, air speed measuring apparatus, precipitation rain fall sensor, gas sensor and avoiding obstacles by supersonic wave sensor.
In one embodiment, the guide rail is in I-shaped, using aluminum alloy material；The guide rail bottom is solid by bracket
It is scheduled on the truss of bridge.
In one embodiment, the guide rail is connected by more single tracks；Expansion joint is equipped between two single tracks.
In one embodiment, the guide tracked crusing robot is powered using rechargeable lithium battery, using wireless charging
Mode；
The power supply unit include: charge distribution box and with the wireless transmission coil box that connect of charging distribution box；
The charging distribution box is located at the side of the guide rail；The charge point plane direction guiding rail of the wireless transmission coil box, passes through branch
Support member is fixed on the truss of guide rail bottom or bridge.
In one embodiment, the guide tracked crusing robot has battery capacity detection module, when battery capacity is low
When preset threshold, stop inspection and return to charging point to charge.
In one embodiment, the remote server includes:
Module is obtained, the video camera transmitting carried for obtaining the fixed point video camera and the guide tracked crusing robot
Video data；
Analysis module, for analyzing the video data；
Control module, for according to the analysis of the analysis module as a result, to the fixed point video camera and described guide tracked
The video camera that crusing robot carries carries out action control；
Alarm module, for reminding alert as a result, issuing according to the analysis of the analysis module；
Setup module, for monitoring time, period, route, the default inspection mesh of the guide tracked crusing robot to be arranged
Mark.
It is an advantage of the current invention that a kind of video monitoring system suitable for large span special construction bridge of the invention,
The system includes being laid in monitoring device and the remote server connecting with the monitoring device on the structural bridge；The prison
Control equipment includes: fixed point video camera and dollying Monitor And Control Subsystem；The system is using the camera supervised and dollying of fixed point
Monitor And Control Subsystem monitors the mode matched, realizes and carries out conduct monitoring at all levels to bridge structure；While guaranteeing detection accuracy
The labor intensity for greatly reducing personnel, improves work efficiency.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by written explanation
Specifically noted structure is achieved and obtained in book, claims and attached drawing.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the structure of the video monitoring system provided in an embodiment of the present invention suitable for large span special construction bridge
Figure；
Fig. 2 is the structure chart of dollying Monitor And Control Subsystem provided in an embodiment of the present invention；
Fig. 3 is fixed point video camera facade layout drawing provided in an embodiment of the present invention；
Fig. 4 is fixed point video camera provided in an embodiment of the present invention in bridge section installation position figure；
Fig. 5 is the structure chart of guide tracked crusing robot 123 provided in an embodiment of the present invention；
Fig. 6 is guide rail sectional view provided in an embodiment of the present invention；
Fig. 7 A is guide rail docking structure schematic diagram provided in an embodiment of the present invention；
Fig. 7 B is the structural schematic diagram after guide rail provided in an embodiment of the present invention docking；
Fig. 8 A is guide rail docking structure schematic diagram provided in an embodiment of the present invention；
Fig. 8 B is the structural schematic diagram after guide rail provided in an embodiment of the present invention docking；
Fig. 9 is guide tracked crusing robot provided in an embodiment of the present invention along guide rail operation schematic diagram；
Figure 10 A is the schematic diagram of distribution box in 122 structure of power supply unit provided in an embodiment of the present invention；
Figure 10 B is wireless charging schematic diagram in 122 structure of power supply unit provided in an embodiment of the present invention；
Figure 11 is certain bridge provided in an embodiment of the present invention charging point arrangement schematic diagram；
Figure 12 is the structural block diagram of remote server 2 provided in an embodiment of the present invention.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
The embodiment of the invention provides a kind of video monitoring systems suitable for large span special construction bridge, referring to Fig.1
It is shown, it is the schematic diagram of Partial Bridges section, comprising:
The remote server 2 for being laid in monitoring device 1 in bridge structure and being connect with monitoring device 1；
Wherein, monitoring device 1 includes: fixed point video camera 11 and dollying Monitor And Control Subsystem 12；
Video camera 11 is pinpointed to realize and the transmitting of 2 data of remote server by optical fiber；
Referring to shown in Fig. 2, dollying Monitor And Control Subsystem 12 includes: guide rail 121, power supply unit 122 and carrying video camera
Guide tracked crusing robot 123；Guide rail 121 is laid in bridge structure, and guide tracked crusing robot 123 operates on guide rail
121, power supply unit 122 is used to provide power supply for guide tracked crusing robot 123；
Guide tracked crusing robot 123 is realized by MESH network transceiver and is transmitted with 2 data of remote server；
Remote server 2 is realized to fixed point video camera 11, guide tracked crusing robot 123 and guide tracked crusing robot
The video camera of carrying carries out action control, acquisition and processing monitoring information, and alarms abnormal conditions.
In the present embodiment, which carries out bridge appearance state using fixed point video camera and dollying Monitor And Control Subsystem
Monitoring.Video camera is pinpointed, is fixed on bridge rod piece by way of cuff at respective point according to bridge monitoring point arrangement
On, each video camera can realize that the multi-angle of view within the scope of this monitors at corresponding monitoring point.Dollying Monitor And Control Subsystem, passes through
The reasonable Arrangement guide rail on bridge, the guide tracked crusing robot for carrying video camera operate on guide rail, it can be achieved that bridge
The detection of mobile video monitor and bridge other information, and can be to a certain locations of structures multi-angle observation.
Wherein, fixed point video camera and remote server are by optical fiber realization data transmitting, and carry the guide tracked of video camera
Crusing robot, which then passes through, realizes wireless data delivery between MESH network transceiver and remote server.Remote server according to
Staff's operation can issue corresponding control instruction to fixed point video camera and guide tracked crusing robot, to realize that front end is set
Standby action control.Front-end camera passes data to remote server after collecting image data, and remote server connects
Corresponding monitoring data are received, to handle it.
The system works for the visual examination of large span special construction bridge, is taken the photograph using camera supervised and movement is pinpointed
As the mode that Monitor And Control Subsystem monitoring matches, realizes and conduct monitoring at all levels is carried out to bridge structure；By intelligent Video Surveillance Technology
Inspection applied to railroad bridge works, and the labor intensity of personnel is greatly reduced while guaranteeing detection accuracy, is improved
Working efficiency；Overcome the problems, such as that railroad bridge inspection heavy workload, low efficiency and operation are nonstandard.
It can be as shown in figure 3, i.e. first by bridge appropriate location (such as on truss apart from bridge floor height 2-3 meters) cloth
If a certain number of fixed point video cameras, bridge structure range is farthest covered, secondly, in bridge suitable position such as in purlin
Apart from 2-3 meters of bridge floor height on frame) guide rail is laid, the guide tracked crusing robot of video camera is carried, to assist fixed point video camera
Conduct monitoring at all levels is carried out to bridge structure.
In one embodiment, holder integration high-definition network camera such as can be used in above-mentioned fixed point video camera 11；It is more
Pre-determined distance is spaced between a holder integration high-definition network camera to be arranged on the truss of bridge；Pre-determined distance is less than holder
The diameter of integrated high-definition network camera visual range.
Wherein: holder integration high-definition network camera is exactly that holder, shield, decoder combine, realizes shield
Up and down, the device of left and right movement.Integrated intelligent high-speed horizontal stage cooperates the design of integrated camera movement, and high speed may be implemented
The similar functions of ball, and the included rain brush of its shield, the monitoring angle design faced upward, and and infrared lamp, laser, thermal imaging system
Etc. equipment easy expansion, towards intelligence, networking, more fully direction develop.
Holder integration high-definition network camera, for example existing Hitachi (HITACHI), Sony on the market can be used
(SONY), the product of the brands such as long-drawn-out gram (LG), generation woods (CNB).Its design parameter please refers to the specific integrated camera of the producer
Specification.Holder integration high-definition network camera core rapid heat dissipation；Simple installation, cloud platform rotation is flexible, and noise is small, shoots model
Wide, the multinomial automatic function of video camera is enclosed, for perfect good picture, RS485 bus can be used and remote server is realized and connected
It connects.
Such as: fixed point video camera is for the purpose of realizing the monitoring of the multi-angle of view in bridge near nodal region.Video camera is adopted
With holder integration high-definition network camera, vision effective distance reaches 200m or more, it can be achieved that 360 ° of horizontal direction rotations, hang down
Histogram has Smart function, it can be achieved that tracking manually, panorama tracking, the cruise tracking of more scenes to multi-angle rotation, and
Human face detection, region intrusion detecting cross the border and detect and fast move detecting, parking detecting etc..
In view of bridge structure rod piece is intricate and the size of shot by camera object and clarity etc., video camera cloth
Consider that set monitoring point quantity and position should be able to all cover bridge range by visible sensation distance 100m when setting.As shown in Figure 3
It is video camera in certain Longspan Bridge facade layout drawing, central cam block is the position for pinpointing video camera 11, and circle of dotted line is with fixed
Point video camera is the center of circle, and radius 100m circle represents the visual range of video camera, video camera is centrosymmetrically arranged by bridge span.
Fig. 4 show fixed point video camera in bridge section installation position, pinpoints position for video camera in route two sides close to main truss position, uses
The mode of cuff is fixed on bridge rod piece, height 2m~3m.It is big that bridge can be realized according to Fig. 3, Fig. 4 point arrangement video camera
The monitoring of range outer state.
In one embodiment, the video camera that guide tracked crusing robot 123 carries is similarly holder integration high definition net
Network video camera；It is specific to introduce the description that can refer in above-described embodiment.In addition, the guide tracked crusing robot 123 can also be taken
Carry sound pick-up, stereo set and sensing equipment etc.；
Dollying monitoring purpose is the influence to overcome bridge structure rod piece complexity, reduces blind area of monitoring, realizes bridge
The multi-aspect imaging of the conduct monitoring at all levels of apparent condition and a certain locations of structures.Dollying monitoring mainly passes through guide tracked inspection
Robot realizes.
Referring to Figure 5, guide tracked crusing robot 123 can configure different sensors according to monitoring purpose difference,
Remote server 2 can be also cooperated to realize acquisition and processing to bridge difference information.Such as by being taken in guide tracked crusing robot
The dollying monitoring of bridge can be realized by carrying holder integration high-definition network camera 1231, by carrying sound pick-up 1232 and sound
The remote speech intercommunication of robot front end Yu remote server 2 can be realized by ringing equipment 1233, by carrying Temperature Humidity Sensor
1234, air speed measuring apparatus 1235 and precipitation rain fall sensor 1236, gas sensor 1237 can realize bridge environment weather monitoring etc..
Avoiding obstacles by supersonic wave sensor 1238 can also be carried, for detecting whether have foreign matter on guide rail, before hindering robot
Row；When foreign matter occurs in judgement, it can realize and alarm to remote server.
Wherein, specific guide tracked crusing robot 123, can be used existing city piping lane rail mounted survey monitor on the market
Device people is custom made with above-mentioned required sensor device on its basis.
In one embodiment, the function of guide rail is to enable guide tracked crusing robot smoothly to reach needed for bridge
The structure position of inspection, so as to take the pictorial information of structure.Aluminum alloy material can be used in guide rail, to mitigate to bridge
Load, while but also with very high intensity.
For example full-bridge arrangement guide rail can be and be docked by the single guide rail of more root longs about 6m, stay between two docking guide rails
There is expansion joint, guide rail can be prevented because of destruction caused by variation of ambient temperature, be illustrated in figure 6 guide rail sectional view, Fig. 7 A, 7B are pair
Connect structural schematic diagram.
Such as: according to bridge structure form, it can lay and lead along bridge length direction at main truss between every 2 main trusses
Rail, guide rail installation are used bracket institution, are coupled using anchor ear and bridge structure, are as shown in Figure 8 A certain bridge guide rail facade
Layout drawing, Fig. 8 B are section layout drawing, and Fig. 9 show guide tracked crusing robot along guide rail operation schematic diagram.
In one embodiment, it is contemplated that the abominable of bridge working environment, guide tracked crusing robot use high-performance
Lithium battery power supply, and battery uses wireless charging scheme.
As shown in Figure 10 A-10B, power supply unit 122 includes: charging distribution box 1221 and connect with charging distribution box
Wireless transmission coil box 1222；Wherein: charging distribution box 1221 is located at the side of guide rail 121, and it is suitable near charge point to be mounted on
Position；The charge point plane direction guiding rail 121 of wireless transmission coil box 1222 is fixed on guide rail bottom or bridge by supporting element
On truss.1222 installation site of wireless transmission coil box is guide tracked crusing robot charging point.
Further, guide tracked crusing robot 123 carries battery capacity detection module, can manually be arranged under electricity alarm
Limit can be automatically stopped current patrol task when electricity is lower than setting value, and sound an alarm, later autonomous operation to charging point
It charges.
Above-mentioned charging point is normally at bridge both ends and span centre, arranges illustrate for certain bridge charge point as shown in figure 11
Figure.
Further, referring to Fig.1 shown in 2, which includes:
Module 21 is obtained, is passed for obtaining the video camera that the fixed point video camera and the guide tracked crusing robot carry
The video data passed；
Analysis module 22, for analyzing the video data；
Control module 23, for the analysis according to the analysis module as a result, to the fixed point video camera and the guide rail
The video camera that formula crusing robot carries carries out action control；
Alarm module 24, for reminding alert as a result, issuing according to the analysis of the analysis module；
Setup module 25, for monitoring time, period, the route, default inspection of the guide tracked crusing robot to be arranged
Target；And the threshold value for battery capacity detection module in guide tracked crusing robot 123 to be arranged, such as settable alarm threshold value
It charges when electricity is 10%, that is, to control the guide tracked stopping inspection of crusing robot 123 and returning to charging point.
In the present embodiment, remote server is the control section of bridge video monitoring system, and major function is aobvious in real time
Show monitoring information, action control, acquisition and processing monitoring information are carried out to fixed point video camera and guide tracked crusing robot and is right
Abnormal conditions alarm etc..Specific detection, for example whether bolt falls off, whether paint film falls off in steel construction, instead of the patrol worker day for human beings
Normal inspection work.
System can set automatic detecting task, and task can be flexibly fixed according to monitoring time, period, route, target type etc.
System, the personnel of working at the same time can manually control guide tracked crusing robot by remote server and fixed point video camera work is corresponding dynamic
Make；It can be after real-time monitoring pinpoints the video information and processing of video camera and guide tracked crusing robot terminal by remote server
Data result；Inspection data are stored, are analyzed, and are alarmed in time abnormal conditions.
It should be noted last that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting.Although ginseng
It is described the invention in detail according to embodiment, those skilled in the art should understand that, to technical side of the invention
Case is modified or replaced equivalently, and without departure from the spirit and scope of technical solution of the present invention, should all be covered in the present invention
Scope of the claims in.
Claims (9)
1. a kind of video monitoring system suitable for large span special construction bridge characterized by comprising
It is laid in monitoring device and the remote server connecting with the monitoring device on the structural bridge；
The monitoring device includes: fixed point video camera and dollying Monitor And Control Subsystem；
The fixed point video camera is realized by optical fiber and is transmitted with the remote server data；
The dollying Monitor And Control Subsystem includes: guide rail, power supply unit and the guide tracked crusing robot for carrying video camera；Institute
It states guide rail to be laid on the structural bridge, the guide tracked crusing robot operates on the guide rail, the power supply unit
For providing power supply for the guide tracked crusing robot；
The guide tracked crusing robot is realized by MESH network transceiver and is transmitted with the remote server data；
The fixed point video camera, guide tracked crusing robot and guide tracked crusing robot are taken in the remote server realization
The video camera of load carries out action control, acquisition and processing monitoring information, and alarms abnormal conditions.
2. a kind of video monitoring system suitable for large span special construction bridge as described in claim 1, which is characterized in that
The fixed point video camera uses holder integration high-definition network camera；Multiple holder integration high-definition network cameras it
Between interval pre-determined distance be arranged on the truss of bridge；The pre-determined distance is less than the holder integration high-definition network camera
The diameter of visual range.
3. a kind of video monitoring system suitable for large span special construction bridge as described in claim 1, which is characterized in that
The video camera that the guide tracked crusing robot carries is holder integration high-definition network camera；
The guide tracked crusing robot also carries sound pick-up, stereo set and sensing equipment.
4. a kind of video monitoring system suitable for large span special construction bridge as claimed in claim 3, which is characterized in that
The sensing equipment includes one or more of:
Temperature Humidity Sensor, air speed measuring apparatus, precipitation rain fall sensor, gas sensor and avoiding obstacles by supersonic wave sensor.
5. a kind of video monitoring system suitable for large span special construction bridge as described in claim 1, which is characterized in that
The guide rail is in I-shaped, using aluminum alloy material；The guide rail bottom is fixed by the bracket on the truss of bridge.
6. a kind of video monitoring system suitable for large span special construction bridge as claimed in claim 5, which is characterized in that
The guide rail is connected by more single tracks；Expansion joint is equipped between two single tracks.
7. a kind of video monitoring system suitable for large span special construction bridge as described in claim 1, which is characterized in that
The guide tracked crusing robot is powered using rechargeable lithium battery, using wireless charging mode；
The power supply unit include: charge distribution box and with the wireless transmission coil box that connect of charging distribution box；It is described
Charging distribution box is located at the side of the guide rail；The charge point plane direction guiding rail of the wireless transmission coil box, passes through supporting element
It is fixed on the truss of guide rail bottom or bridge.
8. a kind of video monitoring system suitable for large span special construction bridge as claimed in claim 7, which is characterized in that
The guide tracked crusing robot has battery capacity detection module, when battery capacity is lower than preset threshold, stops inspection simultaneously
Charging point is returned to charge.
9. such as a kind of described in any item video monitoring systems suitable for large span special construction bridge of claim 1-8,
It is characterized in that, the remote server includes:
Module is obtained, for obtaining the view for the video camera transmitting that the fixed point video camera and the guide tracked crusing robot carry
Frequency evidence；
Analysis module, for analyzing the video data；
Control module, for the analysis according to the analysis module as a result, to the fixed point video camera and the guide tracked inspection
The video camera that robot carries carries out action control；
Alarm module, for reminding alert as a result, issuing according to the analysis of the analysis module；
Setup module, for monitoring time, period, the route, default inspection target of the guide tracked crusing robot to be arranged.
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| CN110933365A (en) * | 2019-11-04 | 2020-03-27 | 山东康威通信技术股份有限公司 | Two-dimensional holder device and method for realizing dynamic video monitoring based on window |
| CN114571489A (en) * | 2022-05-06 | 2022-06-03 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Be applied to intelligent robot of patrolling and examining of railway bridge |
| CN115600294A (en) * | 2022-10-25 | 2023-01-13 | 中铁十局集团第四工程有限公司（Cn） | Construction monitoring method for large-scale swivel bridge |
| CN116546170A (en) * | 2023-06-25 | 2023-08-04 | 广东云下汇金科技有限公司 | Intelligent remote inspection method and system for data center |
| CN117705800A (en) * | 2023-11-23 | 2024-03-15 | 华南理工大学 | Mechanical arm vision bridge detection system based on guide rail sliding and control method thereof |
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| CN110933365A (en) * | 2019-11-04 | 2020-03-27 | 山东康威通信技术股份有限公司 | Two-dimensional holder device and method for realizing dynamic video monitoring based on window |
| CN114571489A (en) * | 2022-05-06 | 2022-06-03 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Be applied to intelligent robot of patrolling and examining of railway bridge |
| CN115600294A (en) * | 2022-10-25 | 2023-01-13 | 中铁十局集团第四工程有限公司（Cn） | Construction monitoring method for large-scale swivel bridge |
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Application publication date: 20190618 |